The Hayabusa2 SPICE Data Archive
=======================================================================
Last update: March 11, 2025
Introduction
============
This document describes the Hayabusa2 SPICE archive, containing
observation geometry and other ancillary data in the form of SPICE
System kernel files for the Hayabusa2 spacecraft and its instruments
and targets. It describes the archive directory structure, kernels
included in the archive, their naming conventions, and provides
pointers to the SPICE software and documentation.
Table of Contents
=================
Introduction
Table of Contents
Overview
Errata
Archive Contents
Kernel Types
Archived Kernel Details
SPK Files
PCK Files
IK Files
CK Files
LSK Files
SCLK Files
FK Files
DSK Files
MK Files
File Formats
Reference
Contact
Overview
========
This archive includes the complete set of Hayabusa2 SPICE data files
(kernel files), which can be accessed using SPICE software. The
SPICE data contain geometric and other ancillary information needed
to recover the full value of science instrument data. In particular
SPICE kernels provide spacecraft and planetary ephemerides,
spacecraft and instrument orientation, instrument mounting
alignments, and data needed for relevant time conversions. Data in
the SPICE kernel files must be accessed using the software called
the SPICE Toolkit produced and distributed by the Navigation and
Ancillary Information Facility (NAIF) Node of the Planetary Data
System.
This archive includes data covering from Hayabusa2 launch, 2014-12-03,
through the end time of the latest spacecraft orientation file
supplied in the archive. Until the end of the spacecraft lifespan
this archive will be accumulating with new data added according to
the project archiving plan.
Back to Table of Contents
Errata
======
1. This document is a simple HTML document. Providing documents in a
simple mark-up format was allowed by earlier versions of the PDS4
Standards but became prohibited in later versions starting summer
2015. Since using HTML documents was compliant at the time when a
similar document was first provided in the MAVEN PDS4 archive and
since NAIF strives to make bundle description document format and
style consistent across all archives, this document continues
to exist in this archive as an HTML document.
2. No Medium-Gain Antenna (MGA) CK is included. MGA CK may be added in
a future release.
3. No Ion Engine System (IES) CK is included. IES CK may be added in a
future release.
4. No Hayabusa2 spacecraft orientation kernels and trajectory kernels
containing data during the six degrees of freedom control mode are
included.
5. When loaded together, predicted, "hkattrpt" and "aocsc" spacecraft CKs
provide continuous coverage except for three small gaps in 2018 and 2019
corresponding to the periods of the six degrees of freedom control mode:
2018-10-25T02:33:19.988 2018-10-25T02:47:24.008
2019-02-21T22:10:52.994 2019-02-21T22:26:30.013
2019-07-11T00:48:28.012 2019-07-11T01:03:55.003
6. Hayabusa2 ephemerides determined as by-product of shape model have many
know gaps in SPK coverage because the trajectories were obtained from
images. Intervals of taking the images are the source of the gaps.
7. Hayabusa2 NIRS3 MK File hyb2_nirs3_v01.tm has known gaps in SPK coverage.
This file is provided to reproduce past computations done by the NIRS3
team.
8. Some Ryugu Shape models (DSKs) have duplicate vertices leading to
non-zero Euler criterion value.
9. Hayabusa2 spacecraft orientation kernels, hyb2_aocsc_????_v02.bc,
hyb2_hk_????_v02.bc, and hyb2_hkattrpt_????_v02.bc were generated with
1 day interpolation interval which are kept in the archive for
historical purpose. They provide grossly incorrect interpolated results
for many preriods due to their large interpolation interval. Their later
version (v04) are recommended to users.
10. Hayabusa2 spacecraft orientation kernels obtained as a by-product of the
production of shape models created with the SPC (Stereophotoclinometry)
method or the SfM (Structure from Motion) method,
hyb2_spc_20180619_20191119_v20200323.bc and
hyb2_sfm_20180627_20191109_v20200815.bc, were generated with complete
interpolation which are kept in the archive for historical purpose.
They provide correct attitude only at the times of images used in shape
production and produce grossly incorrect results at other times due to
complete interpolation. The later version v03 is recommended to users,
where SPC CK v03 is included in the archive and SfM CK v03 will be
available in the archive in a future release.
11. Hayabusa2 "hkattrpt" spacecraft orientation kernels version v04,
hyb2_hkattrpt_????_v04.bc, have ~1024 second interpolation interval which
is occasionally incorrect orientation.
12. Hayabusa2 spacecraft trajectory kernels obtained as a by-product of the
production of shape models created with the SPC (Stereophotoclinometry)
method or the SfM (Structure from Motion) method,
hyb2_spc_pos_20180619_20191119_v20200323.bsp and
hyb2_sfm_pos_20180627_20191109_v20200815.bsp were generated with complete
interpolation for each day which are kept in the archive for historical
purpose. They provide correct trajectory only at the times of images used
in shape production and produce grossly incorrect results at other
times due to very long interpolation period. It is recommended to users
that using these SPKs to compute data only at exact times of the images
used in the SPC processing or the SfM processing. The later version of
the SPK, v02 or later, is provided in this release for SPC and will be
provided in a future release for SfM.
13. There are two SPKs for the asteroid proximity phase with many known
gaps from 2018-06-03 07:08 to 2019-09-12 00:00, and there are no SPKs
with better coverages. These many gaps severely reduce usability with
SPICE APIs, such as the SPICE Geometry Finder subsystem routines.
Hayabusa2 ephemeris to keep home position for the Asteroid Proximity
phase, hyb2_hpk_20180627_20191119_v01.bsp, has many known gaps in SPK
coverage because it doesn't contain the decent operations.
Hayabusa2 ephemeris determined by LIDAR team,
lidar_derived_trj_20191114_no6dofc_v03.bsp, has many known gaps because
the trajectories were obtained from LIDAR data which have many gaps in
SPK coverage.
Back to Table of Contents
Archive Contents
================
Files in this archive are organized into a set of subdirectories
below the top-level directory. The following diagram shows the
structure and content of these directories. The directory names are
enclosed in square brackets ([]).
[top-level-directory]
|
|- readme.txt Bundle top-level readme file.
|
|-[spice_kernels] Directory containing SPICE kernels.
| |
| |-[ck] Directory containing CK files.
| | |
| | |-- *.bc Binary CK files.
| | |-- *.xml PDS4 labels for CK files.
| |
| |-[dsk] Directory containing DSK files.
| | |
| | |-- *.bds Binary DSK files.
| | |-- *.xml PDS4 labels for DSK files.
| |
| |-[fk] Directory containing FK files.
| | |
| | |-- *.tf Text FK files.
| | |-- *.xml PDS4 labels for FK files.
| |
| |-[ik] Directory containing IK files.
| | |
| | |-- *.ti Text IK files.
| | |-- *.xml PDS4 labels for IK files.
| |
| |-[lsk] Directory containing LSK files.
| | |
| | |-- *.tls Text LSK files.
| | |-- *.xml PDS4 labels for LSK files.
| |
| |--[mk] Directory containing MK files.
| | |
| | |-- *.tm Text Meta-kernel files.
| | |-- *.xml PDS4 labels for MK files.
| |
| |-[pck] Directory containing PCK files.
| | |
| | |-- *.tpc Text PCK files.
| | |-- *.xml PDS4 labels for PCK files.
| |
| |-[sclk] Directory containing SCLK files.
| | |
| | |-- *.tsc Text SCLK files.
| | |-- *.xml PDS4 labels for SCLK files.
| |
| +-[spk] Directory containing SPK files.
| |
| |-- *.bsp Binary SPK files.
| |-- *.xml PDS4 labels for SPK files.
|
|-+-[miscellaneous] Directory miscellaneous files.
| |
| |- collection_miscellaneous_v*.xml PDS4 labels for miscellaneous collections.
| |- collection_miscellaneous_inventory_v*.tab
| | Miscellaneous collections' inventories.
| |
| +-[checksum] Directory containing checksum files.
| |
| |-- *.tab Text checksum files.
| +-- *.xml PDS4 labels for checksum files.
|
+-[document] Directory containing document collection.
|
|- spiceds_v*.html This file and its earlier versions
|- spiceds_v*.xml PDS4 labels for this file and its earlier versions.
Back to Table of Contents
Kernel Types
============
Different SPICE kernel types are used to store different kinds of
ancillary data.
SPK (Spacecraft Planet Kernel) files contain ephemerides (position
and velocity) for spacecraft, planets, satellites, comets and
asteroids as well as for moving or fixed spacecraft and instrument
structures. SPK files are located under the spice_kernels/spk
directory of this archive.
PCK (Planetary Constants Kernel) files contain certain physical,
dynamical and cartographic constants for target bodies, such as size
and shape specifications, and orientation of the spin axis and prime
meridian. PCK files are located under the spice_kernels/pck
directory of this archive.
IK (Instrument Kernel) files contain instrument parameters relevant
for computing an instrument's geometry such as field-of-view
definitions, CCD, and optical distortion characteristics, and internal
timing parameters. IK files are located under the spice_kernels/ik
directory of this archive.
CK (C-matrix Kernel) files contain time varying orientations for
spacecraft, spacecraft structures, and articulating science
instruments. CK files are located under the spice_kernels/ck
directory of this archive.
LSK (Leapseconds Kernel) files contain the leap seconds and the
values of other constants required to perform a transformation
between Universal Time Coordinated (UTC) and Ephemeris time (ET),
which is also known as Barycentric Dynamical Time (TDB). LSK
files are located under the spice_kernels/lsk directory of
this archive.
SCLK (Spacecraft Clock Kernel) files contain on-board clock
calibration data required to perform a transformation between
Ephemeris time (ET) and spacecraft on-board time (SCLK). SCLK files
are located under the spice_kernels/sclk directory of this
archive.
FK (Frame definitions Kernel) files contain information required to
define reference frames, sources of frame orientation data and
connections between these frames and other frames supported within
the SPICE system. The science instrument frame definitions provided
in the FK files include mounting alignment information for the
instruments. FK files are located under the spice_kernels/fk
directory of this archive.
DSK (Digital Shape Kernel) files contain detailed shape models for
extended objects such as planets, natural satellites, asteroids, and
comet nuclei. DSK files are located under the spice_kernels/dsk
directory of this archive.
MK (Meta-Kernel) files list sets of related SPICE kernels that
should be used together, providing an easy way to make data from
these kernel sets available to a SPICE-based application by loading
meta-kernels into the program using the high-level SPICE data loader
routine FURNSH. MK files are located the spice_kernels/mk
directory of this archive.
Back to Table of Contents
Archived Kernel Details
=======================
The subsections below provide details, such as file naming
conventions and specific details, for each of the kernel types
included in this archive.
Back to Table of Contents
SPK Files
SPK (Spacecraft Planet Kernel) files contain ephemerides (position
and velocity) for spacecraft, planets, satellites, comets, and
asteroids as well as for moving or fixed spacecraft and instrument
structures.
This archive includes binary SPK files containing the following
kinds of ephemeris data:
- planetary ephemeris SPKs
These SPKs contain ephemeris data for the Solar System
planet barycenters, and Sun, Mercury, Venus, Earth, and Moon.
They are produced by the JPL Solar System Dynamics group
and are originally named DEXXX, JUPXXX, or MARXXX,
e.g. DE430, JUP329, or MAR097. The original file coverages
were shortened to reduce the file size and the original file
names were renamed.
- asteroid (162173) Ryugu ephemeris SPKs
These SPKs contain ephemeris data for the asteroid (162173) Ryugu.
Two files are produced by JPL and were retrieved from JPL Horizons
On-Line Ephemeris System. The others are produced by ISAS/JAXA.
- reconstructed spacecraft trajectory SPKs
These SPKs contain final ephemeris data for the Hayabusa2
spacecraft based on the precise after-the-fact orbit
determination solutions.
- Hayabusa2 ephemeris for the Transfer phase and the Return phase
These SPKs contain intermediate version of ephemeris data for
the Hayabusa2 spacecraft.
- Hayabusa2 ephemeris for the Approach phase
These SPKs contain ephemeris data for the Hayabusa2 spacecraft
based on the precise after-the-fact orbit determination solutions.
- Hayabusa2 ephemeris to keep home position for the Asteroid
Proximity phase
These SPKs contain the predicted ephemeris for Hayabusa2
spacecraft for the asteroid proximity phase. This is the output
of estimation tool: HPNAV to perform home position keeping
operations.
- Hayabusa2 ephemeris generated by OP-NAV
These SPKs include the reconstructed ephemeris for Hayabusa2
determined by the JAXA/ISAS orbit group using OP-NAV for
the TM-ORB operation period and the MNV-ORB operation period.
- Hayabusa2 ephemeris determined by LIDAR team
These SPKs contain ephemeris data for the Hayabusa2 spacecraft
determined by the Hayabusa2 LIDAR team.
- Hayabusa2 ephemeris determined as by-product of shape model
These SPKs contain ephemeris data for the Hayabusa2 spacecraft
determined as by-product of shape model by the Hayabusa2 Shape
model team.
- Hayabusa2 spacecraft structures positions
This SPK includes the Hayabusa2 spacecraft structures positions
relative to the origin of the spacecraft frame.
- Hayabusa2 MASCOT instrument positions
This SPK includes the instrument positions of the Hayabusa2
MASCOT lander relative to the center of mass of the MASCOT
lander.
- Hayabusa2 MASCOT landing site position
This SPK includes the landing site positions of the Hayabusa2
MASCOT lander.
- Hayabusa2 MASCOT ephemeris
These SPKs contain ephemeris data for the MASCOT lander based
on the after-the-fact trajectory determination.
This archive includes binary SPK files under the spice_kernels/spk
directory and are named according to the following scheme:
- planetary ephemeris SPKs
hyb2_NAMEVVV.bsp
hyb2_NAMEVV1_NAME_VV2.bsp
where
NAME is type of file, de for JPL Development Ephemeris,
jup for jupiter system, and mar for mars system
VVV is the ephemeris version
VV1 is the ephemeris version for the first part
of the combined SPK
VV2 is the ephemeris version for the second part
of the combined SPK
- asteroid (162173) Ryugu ephemeris SPKs by JPL
2162173_ryugu_vVV.bsp
where
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- asteroid (162173) Ryugu ephemeris SPKs by ISAS/JAXA
2162173_ryugu_YYYYMMDD-yyyymmdd_NNNN_VVVVVVVV.bsp
where
YYYYMMDD is the file coverage start date
yyyymmdd is the file coverage stop date
NNNN is 0060
V is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- asteroid (162173) Ryugu ephemeris SPKs for the Approach
phase by ISAS/JAXA
2162173_ryugu_approach_od_vVV.bsp
where
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- asteroid (162173) Ryugu ephemeris SPKs for the Asteroid
Proximity phase by ISAS/JAXA
2162173_ryugu_hpk_proximity_vVV.bsp
where
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- reconstructed spacecraft trajectory SPKs
hyb2_YYYYMMDD-yyyymmdd_IIIII_final_verV.bsp
where
YYYYMMDD is the file coverage start date
yyyymmdd is the file coverage stop date
IIIII is the time interval
0001m ... 1-minute interval
0001h ... 1-hour interval
V is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 ephemeris for the Approach phase
hyb2_approach_od_vyyyymmddhhmmss.bsp
where
yyyymmddhhmmss is the creation datetime.
- Hayabusa2 ephemeris for the Transfer phase or the Return phase
hyb2_asteroid_to_earth_YYYYMMDD_vVV.bsp
hyb2_earth_to_asteroid_YYYYMMDD.bsp
where
YYYYMMDD is the creation datetime.
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 ephemeris to keep home position for the Asteroid
Proximity phase
hyb2_hpk_YYYYMMDD_yyyymmdd_vVV.bsp
where
YYYYMMDD is the file coverage start date
yyyymmdd is the file coverage stop date
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 ephemeris generated by OP-NAV
hyb2_opnav_YYYYMMDD_yyyymmdd_vVV.bsp
where
YYYYMMDD is the file coverage start date
yyyymmdd is the file coverage stop date
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 ephemeris determined by LIDAR team
lidar_derived_trj_XXXXXXXX_no6dofc_vVV.bsp
where
XXXXXXXX is the file creation date
- Hayabusa2 ephemeris determined as by-product of shape model
hyb2_TTT_pos_YYYYMMDD_yyyymmdd_vVVVVVVVV.bsp
hyb2_TTT_pos_YYYYMMDD_yyyymmdd_vVVVVVVVV_vVV.bsp
where
TTT is the name of the method; spc or sfm
YYYYMMDD is the file coverage start date
yyyymmdd is the file coverage stop date
VVVVVVVV is the version of the shape model which is
the release date to the Hayabusa2 team in
the YYYYMMDD format.
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
``_vVV'' can be omitted for the version 1.
- Hayabusa2 spacecraft structures positions
hyb2_struct_vVV.bsp
where
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 MASCOT instrument positions
hyb2_mascot_instruments_vVV.bsp
where
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 MASCOT landing site position
hyb2_mascot_ls_vVV.bsp
where
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 MASCOT ephemeris
hyb2_mascot_lander_vVV.bsp
where
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
Hayabusa2 spacecraft trajectory kernels obtained as a by-product of the
production of shape models created with the SPC (Stereophotoclinometry)
method or the SfM (Structure from Motion) method,
hyb2_spc_pos_20180619_20191119_v20200323.bsp and
hyb2_sfm_pos_20180627_20191109_v20200815.bsp were generated with complete
interpolation for each day which are kept in the archive for historical
purpose. They provide correct trajectory only at the times of images used
in shape production and produce grossly incorrect results at other times
due to very long interpolation period. It is recommended to users that
using these SPKs to compute data only at exact times of the images used
in the SPC processing or the SfM processing. The later version of the SPK,
v02 is provided in this release for SPC and will be provided in
a future release for SfM.
There are many kinds of Ryugu SPKs. The most high quality trajectory during
the asteroid proximity phase is provided by the Ryugu ephemeris SPKs,
2162173_ryugu_YYYYMMDD-yyyymmdd_NNNN_VVVVVVVV.bsp. For the approach phase,
Ryugu ephemeris SPKs for the Approach phase, 2162173_ryugu_approach_od_vVV.bsp
will provide the best trajectory. For the other period, use the SPK by JPL
Horizons, 2162173_ryugu_vVV.bsp. These SPKs have overlaps, so it's
recommended to users for a priority from highest to the lowest order,
the asteroid proximity phase SPK, the approach phase SPK, and then the JPL
Horizons SPK.
There are many kinds of Hayabusa2 spacecraft SPKs. For any time, if there is
reconstructed spacecraft trajectory SPK,
hyb2_YYYYMMDD-yyyymmdd_IIIII_final_verV.bsp, it provides best quality
trajectory. If there are both of 1-minute interval data with 0001m for IIIII
in the filename and 1-hour interval data with 0001h for IIIII in the filename,
1-minute interval data is better. Note that these SPKs mask Hayabusa2
ephemeris for the Approach phase, hyb2_approach_od_vyyyymmddhhmmss.bsp for
most of the time. For the asteroid proximity phase, Hayabusa2 ephemeris
determined by LIDAR team which was derived from LIDAR data and HPK (Home
Position Keeping) trajectory, lidar_derived_trj_XXXXXXXX_no6dofc_vVV.bsp,
will provide higher quality trajectory than others. If one wants to compute
data at exact times of the images used in the SPC processing or the SfM
processing, Hayabusa2 ephemeris determined as by-product of shape model,
hyb2_TTT_pos_YYYYMMDD_yyyymmdd_vVVVVVVVV_vVV.bsp, might give best trajectory
than others including trajectory using LIDAR data. From 2019-09-12 to
2019-09-21 and from 2019-10-01 to 2019-10-07, Hayabusa2 ephemeris generated
by OP-NAV (Optical Navigation), hyb2_opnav_YYYYMMDD_yyyymmdd_vVV.bsp, are
available and will give better trajectory. For the other periods during the
asteroid proximity phase, Hayabusa2 ephemeris to keep home position for the
Asteroid Proximity phase, also called as HPK trajectory,
hyb2_hpk_YYYYMMDD_yyyymmdd_vVV.bsp, gives Hayabusa2 trajectory obtained as a
result of Home Position Keeping operation.
Back to Table of Contents
PCK (Planetary Constants Kernel) files contain certain physical,
dynamical, and cartographic constants for target bodies, such as
size and shape specifications, and orientation of the spin axis and
prime meridian.
This archive includes generic text PCK files produced by NAIF,
containing data from the reports of the IAU Working Group on
Cartographic Coordinates and Rotational Elements, and asteroid Ryugu
text PCK files produced by the Hayabusa2 shape model team and the
Hayabusa2 data archive team. The generic text PCK version 00010
contains data from the 2009 report, and the generic text PCK version
00011 contains data from the 2015 report.
The PCK files are provided under the spice_kernels/pck
directory and are named according to the following scheme:
- generic text PCKs
pckVVVVV.tpc
where
VVVVV is the version; the file with the largest
number is the latest, but the user of PCK
data must decide if the latest version, or an
earlier version, is appropriate for their
analysis task.
- asteroid Ryugu text PCK files
ryugu_vVV.tpc
where
VV is the version; the file with the largest
number is the latest, but the user of PCK
data must decide if the latest version, or an
earlier version, is appropriate for their
analysis task.
The most detailed description of the data in a text PCK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
IK (Instrument Kernel) files contain instrument parameters relevant
for computing an instrument's observation geometry such field-of-view
definitions, CCD and optical distortion characteristics, and internal
timing parameters.
This archive includes text IK files for all Hayabusa2 scientific
instruments. These IKs were created by Hayabusa2 instrument teams.
The IK files are provided under the spice_kernels/ik
directory and are named according to the following scheme:
- instrument IK files
hyb2_NAME_vVV.ti
where
NAME is the instrument abbreviation
lidar
nirs3
onc
tir
mascot_cam
mascot_mag
mascot_mara
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions, but the SPICE user must
decide if the latest version, or an earlier
version, is appropriate for their analysis
task.
The most detailed description of the data in a text IK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
CK Files
CK (C-matrix Kernel) files contain time varying orientations for
spacecraft, articulating spacecraft structures, and articulating
science instruments.
This archive includes binary CK files containing the following kinds
of orientation data:
- Hayabusa2 spacecraft yearly CKs based on House Keeping telemetry
These CKs created by ISAS/JAXA contain the Hayabusa2
spacecraft attitude determined on-board and downlinked in
spacecraft house keeping telemetry. There are no CKs for 2018
or later because the Hayabusa2 spacecraft yearly CKs based
on House Keeping telemetry and attitude report packet are provided.
- Hayabusa2 spacecraft yearly CKs based on House Keeping telemetry
and attitude report packet
These CKs created by ISAS/JAXA contain the Hayabusa2
spacecraft attitude determined on-board and downlinked in
spacecraft house keeping telemetry and attitude report packet.
The attitude report packet is used when the downlink rate is not
enough to send house keeping packets. The attitude precision is
the same as that in house keeping telemetry.
These CKs are less accurate than the AOCSC CKs in terms of not just
less precision in source data but also in terms of less reliable
interpolation.
- Hayabusa2 spacecraft yearly CKs based on AOCSC telemetry
These CKs created by ISAS/JAXA contain the Hayabusa2
spacecraft attitude determined on-board and downlinked in
spacecraft AOCSC telemetry.
The AOCSC telemetry contains larger number of digits than HK
telemetry for the spacecraft orientation, while the time
coverage of the AOCSC is limited due to the bandwidth.
- Hayabusa2 spacecraft CKs determined as by-product of shape model
These CKs contain orientation data for the Hayabusa2 spacecraft
determined as by-product of shape model by the Hayabusa2 Shape
model team.
- Hayabusa2 spacecraft yearly predicted CKs
These CKs created by ISAS/JAXA contain the Hayabusa2
spacecraft attitude created from the command history to fill gaps
of the time coverage in the other CKs.
- Hayabusa2 spacecraft nominal orientation CK
This CK created by ISAS/JAXA contain the nominal attitude of
the Hayabusa2 spacecraft for the asteroid proximity phase.
- Hayabusa2 MASCOT lander CKs
These CKs created by DLR contain the MASCOT lander attitude
determined by analyzing images from the camera onboard Mascot.
This archive includes binary CK files under the spice_kernels/ck
directory and are named according to the following scheme:
- Hayabusa2 spacecraft yearly CKs based on House Keeping telemetry
hyb2_hk_YYYY_vVV.bc
where
YYYY is the year covered by the CK kernel
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- Hayabusa2 spacecraft yearly "hkattrpt" CKs based on House Keeping
telemetry and attitude report packet
hyb2_hkattrpt_YYYY_vVV.bc
where
YYYY is the year covered by the CK kernel
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- Hayabusa2 spacecraft yearly "aocsc" CKs based on AOCSC telemetry
hyb2_aocsc_YYYY_vVV.bc
where
YYYY is the year covered by the CK kernel
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- Hayabusa2 spacecraft yearly predicted CKs
hyb2_YYYY_pred_vVV.bc
where
YYYY is the year covered by the CK kernel
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- Hayabusa2 spacecraft CKs determined as by-product of shape model
hyb2_TTT_YYYYMMDD_yyyymmdd_vVVVVVVVV.bsp
hyb2_TTT_YYYYMMDD_yyyymmdd_vVVVVVVVV_vVV.bsp
where
TTT is the name of the method; spc or sfm
YYYYMMDD is the file coverage start date
yyyymmdd is the file coverage stop date
VVVVVVVV is the version of the shape model
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions. If no version variable
VV in the filename, it means that VV is 01.
- Hayabusa2 MASCOT lander CKs
hyb2_mascot_lander_vVV.bc
where
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
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LSK Files
LSK (Leapseconds Kernel) files contain the leapseconds and the
values of other constants required to perform a transformation
between Universal Time Coordinated (UTC) and Ephemeris time (ET),
also known as Barycentric Dynamical Time (TDB).
This archive includes generic text LSK files produced by NAIF,
containing leapsecond information based on the IERS announcements.
The generic text LSK version 0012 contains leap second data up to
and including the January 1, 2017 leapsecond.
The LSK files are provided under the spice_kernels/lsk
directory and are named according to the following scheme:
- generic text LSKs
naifVVVV.tls
where
VVVV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
The most detailed description of the data in a text LSK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
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SCLK Files
SCLK (Spacecraft Clock Kernel) files contain on-board clock
calibration data required to perform a mapping between Ephemeris
time (ET) and spacecraft on-board time (SCLK).
This archive includes text SCLK files containing correlation data
for the main Hayabusa2 on-board clock, created by the Hayabusa2
Data Archive team from the time calibration table generated by C-SODA,
ISAS/JAXA.
The SCLK files are provided under the spice_kernels/sclk
directory and are named according to the following scheme:
- main Hayabusa2 spacecraft clock SCLK files
hyb_yyyymmdd_vVV.tsc
where
yyyymmdd is the file coverage stop date
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
The most detailed description of the data in a text SCLK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
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FK Files
FK (Frame definitions Kernel) files contain information required to
define reference frames, sources of frame orientation data and
connections between these frames and other frames supported within
the SPICE system. The science instrument frame definitions provided
in the FK files include mounting alignment information for the
instruments.
This archive includes text FK files defining reference frames for the
Hayabusa2 spacecraft, its structures, and science instruments. These
FKs were produced by the Hayabusa2 Data Archive team using the spacecraft
and instrument design documentation as well as actual instrument
alignment values determined pre-launch and as the result of in-flight
calibrations.
The FK files are provided under the spice_kernels/fk
directory and are named according to the following scheme:
- Hayabusa2 mission FK files
hyb2_vVV.tf
where
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions, although a SPICE user
might decide to use an earlier version
if trying to be consistent with some earlier
computed results.
- Hayabusa2 additional mission FK files
hyb2_hp_vVV.tf
where
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions, although a SPICE user
might decide to use an earlier version
if trying to be consistent with some earlier
computed results.
- Ryugu FK files
hyb2_ryugu_vVV.tf
where
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions, although a SPICE user
might decide to use an earlier version
if trying to be consistent with some earlier
computed results.
- Hayabusa2 DSK surface name/ID mapping FK files
hyb2_shape_vVV.tf
where
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions, although a SPICE user
might decide to use an earlier version
if trying to be consistent with some earlier
computed results.
- Hayabusa2 MASCOT FK files
hyb2_mascot_vVV.tf
where
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions, although a SPICE user
might decide to use an earlier version
if trying to be consistent with some earlier
computed results.
The most detailed description of the data in a text FK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
DSK Files
DSK (Digital Shape Kernel) files contain detailed shape models for
extended objects such as planets, natural satellites, asteroids, and
comet nuclei.
This archive includes binary DSK files containing digital shape data
for the Hayabusa2 mission target asteroid (162173) Ryugu. These DSKs were
produced by the Hayabusa2 Shape Model team.
The DSK files are provided under the spice_kernels/dsk
directory and are named according to the following scheme:
- asteroid (162173) Ryugu DSK files
ryugu_shape_SSS_RRRR_vVVVVVVVV.bds
where
SSS is the shape model source:
spc Stereo-photoclinometry
sfm Structure-from-Motion
RRRR is the number of plates; 49k, 50k, 200k, 800k, or 3m
VVVVVVVV is the version number
The most detailed description of the data in each DSK file is
provided in metadata included inside the comment area of the file.
This information can be viewed using the utility program COMMNT
included in the NAIF Toolkit.
Back to Table of Contents
MK Files
Meta-kernel (MK) files (a.k.a. 'furnsh' files) provide lists of the
archived kernels included in this archive suitable for loading into
a SPICE-based application via the high level SPICE data loader
routine FURNSH. Using meta-kernels makes it easy to load with
one call a comprehensive SPICE data collection.
This archive includes following types of MK files:
- Hayabusa2 yearly MK files
These MKs contain the data for year specified in the filename.
- Hayabusa2 NIRS3 MK Files
These MKs contain the data for calculating geometry for NIRS3
data which was used for creating data in the NIRS3 bundle.
These MKs doesn't contain any CK files and are intended for
calculation of distance between target and the spacecraft.
- Hayabusa2 ONC MK Files
There are two types of MK file, one is the Hayabusa2 ONC
LIDAR MK File, and the other is the Hayabusa2 ONC SPC MK File.
The Hayabusa2 ONC LIDAR MK File contains the kernels for
calculating geometry for ONC data using LIDAR SPK. The
Hayabusa2 ONC SPC MK File contains the kernels for calculating
geometry for ONC data using SPC-derived SPK and CK.
For some cases, SPC-derived SPK and LIDAR derived SPK
significantly differ, so there are two types of MK to switch
the other MK to easily examine which MK is better.
These MKs were used for creating data in the ONC bundle.
- Hayabusa2 LIDAR MK Files
These MKs contain the kernels for the processing of LIDAR
Level 3 and Level 4 data products for Ryugu.
The text MK files are provided under the spice_kernels/mk
directory and are named according to the following scheme:
- Hayabusa2 yearly MK files
hyb2_YYYY_vVV.tm
when
YYYY is the year covered by MK
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 NIRS3 MK files
hyb2_nirs3_vVV.tm
when
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 ONC MK files
hyb2_onc_TTT_vVV.tm
when
TTT is the kind of kernel set; lidar or spc.
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Hayabusa2 LIDAR MK files
hyb2_lidar_vVV.tm
when
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
Multiple versions of a meta-kernel may exist if new kernels were
added to the archive in a later release and the meta-kernel had to
be updated to incorporate them. The reasons for adding new kernels
include (but are not limited to) adding new kinds of kernels, adding
new versions of existing kernels containing more complete or more
accurate data, and adding new versions of existing kernels
superseding the existing kernels that had errors. If more than one
meta-kernel file is present, then the file with the latest version
number supersedes all earlier versions.
(Note that on some environments loading too many kernels at once may
slow down data access.)
Although the meta-kernels were created such that on a UNIX
workstation they can be loaded into a SPICE-based application
directly from the directory in which they reside -- because the
PATH_VALUES keyword is set to '..' and '/' is used as the path
delimiter -- it is recommended that users make local copies of these
files and update the PATH_VALUES keyword in each of them to point to
the actual location of the archive's 'spice_kernels' directory on
their system. Additional changes including replacing '/' and '\' in
all path specifications and converting UNIX line terminators to
terminators native to the user's system may be required to use these
meta-kernels on non-UNIX workstation.
The following guidelines were followed to pick and set priority --
determined by the order in which the kernel files are listed, with
the latest one taking precedence -- for the kernel files included in
these meta-kernels:
- the latest archived versions of LSK, PCK, SCLK, IK, FK, generic
SPKs, fixed offset SPKs, and fixed orientation CKs were included
- the latest Ryugu SPKs were included
- the latest reconstructed Hayabusa2 NAV SPKs were included
- the latest predicted CKs were included
- the latest reconstructed "hkattrpt" CKs were included
- the latest reconstructed "aocsc" CKs were included
- latest global DSK with 800K plates was included
Note that the hkattrpt CKs are less accurate than aocsc in terms of
not just less precision in source data but also in terms of less
reliable interpolation.
Additional description of the kernels sets listed in a text MK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Following MKs are included in the archive for the record:
- Hayabusa2 yearly MK files
- hyb2_2014_v01.tm
- hyb2_2015_v01.tm
- hyb2_2016_v01.tm
- hyb2_2017_v01.tm
- hyb2_2018_v01.tm
- hyb2_2019_v01.tm
- hyb2_2020_v01.tm
- Hayabusa2 NIRS3 MK file
- hyb2_nirs3_v01.tm
- Hayabusa2 ONC MK files
- hyb2_onc_lidar_v01.tm
- hyb2_onc_spc_v01.tm
The users are recommended to not use these MKs, and use their later
versions if provided, except for reproducing past results made with these
MKs.
Back to Table of Contents
Miscellaneous Files
===================
Miscellaneous files provide value added elements that are outside the
scope of the PDS archive requirements. Miscellaneous files included in
this archive are currently limited to checksum files.
The subsection below provides details for these files.
Back to Table of Contents
Checksum Files
A checksum file provides a table of MD5 checksums for all files in the
archive as of a particular archive (bundle) version, including
checksums for all previous checksums files and their labels but
excluding the checksum for the checksum file itself and its label.
The checksum files are provided under the miscellaneous/checksum
directory and are named according to the following scheme:
- Hayabusa2 checksum files
checksum_vVVV.tab
where
VVV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions and can be
used to validate the archive in its
entirety.
Back to Table of Contents
File Formats
============
All text documents and other meta information files such as
descriptions, detached PDS4 labels, and inventory tables are stream
format files, with a carriage return (ASCII 13) and a line feed
character (ASCII 10) at the end of the records. This allows the
files to be read by most operating systems.
The text kernel files in this archive -- LSKs, PCKs, SCLKs, IKs, FKs,
and MKs -- and the checksum files are UNIX text files, with a line
feed character (ASCII 10) at the end of each line. Binary kernels
files -- SPKs, CKs, and DSKs -- are IEEE LSB binary files. While data
files in this archive can be used 'as is' with SPICE toolkits for the
majority of supported environments, converting the files to the binary
or text format native to the user's computer may be required for use of
the data with FORTRAN toolkits on incompatible environments. Refer to the
documentation provided with the SPICE Toolkit to find out whether
conversion is needed in each specific case.
NAIF provides a tool (BINGO) that can convert either binary or text
kernels from one format to another. This means that text files can
have their line terminator changed and binary files can be converted
to the native format of the platform of interest. BINGO is available
from the utilities page at the NAIF Node of the PDS:
https://naif.jpl.nasa.gov/naif/utilities.html
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Reference
=========
For more information about the SPICE system, see documentation and
tutorials available at the NAIF Node of the PDS:
https://naif.jpl.nasa.gov
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Contact
=======
Hayabusa2 Data Archive Team
Japan Aerospace Exploration Agency
Institute of Space and Astronautical Science
3-1-1 Yoshinodai, Chuo, Sagamihara, Kanagawa, 252-5210 JAPAN
email: darts-admin@ML.isas.jaxa.jp
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