The INSIGHT SPICE Data Archive
========================================================================

   Last update: March 20, 2023


Introduction
============

   This document describes the INSIGHT SPICE archive, containing
   observation geometry and other ancillary data in the form of SPICE
   System kernel files for the INSIGHT lander and its instruments and
   structures, and for MARCO-A and MARCO-B spacecraft and their
   instruments and structures. 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
      MK Files
   Miscellaneous Files
      Checksum Files
   File Formats
   SPICE Software and Documentation
   Contact Information
   Cognizant Persons



Overview
========

   This archive includes the complete set of INSIGHT, MARCO-A, and
   MARCO-B 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 INSIGHT launch, 2018-05-05,
   through the end time of the latest Instrument Deployment Arm (IDA)
   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.

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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. All MARCO-A and MARCO-B kernels included in the archive are labeled as being associate the INSIGHT instrument host. 3. No SCLK kernels the instrument clocks (LOBT and AOBT) are provided or planned to be provided for. 4. No deflected IDC SPKs and CKs are yet included in the archive. Some may be included in subsequent releases. 5. The IDC and ICC frames definitions provided in the INSIGHT mission FK and their parameters provided in the corresponding IKs have not been full validated and, if used to compute derived geometry for these instruments, may produce results differing from the same kinds of geometric parameters provided in the image labels. 6. The XML labels of the ancillary products have the reference_type attribute of the Internal_Reference association within the Reference_List class of the Context_Area class pointing to the latest archive description document set to "ancillary_to_data" which is not correct. The correct value "ancillary_to_document" could not be used in these labels because it is not available in the PDS4 information model (IM) 1.5.0.0 used by this archive. This value was added to IM only in the version 1.14.0.0. 7. The Miscellaneous collection was only added to the bundle in the release 10 (September 2021) and therefore the checksum tables and collection inventories and their labels that correspond to previous releases were added irregularly in that release. This is reflected in the bundle label of that particular release that contains additional Bundle_Member_Entry classes for these miscellaneous collections.

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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] | |- bundle_insight_spice_v*.xml Bundle PDS4 label, one or more versions. |- readme.txt Bundle top-level readme file. | |-[spice_kernels] Directory containing SPICE kernels. | | | |- collection_spice_kernels_v*.xml PDS4 labels for Spice Kernels collections. | |- collection_spice_kernels_inventory_v*.tab | | Spice Kernels collections' inventories. | | | |-[ck] Directory containing CK files. | | | | | |-- *.bc Binary CK files. | | +-- *.xml PDS4 labels for CK 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 documents. | |- collection_document_v*.xml PDS4 labels for document collections. |- collection_document_inventory_v*.tab | Document collections' inventories. | |- spiceds_v*.html This file and its earlier versions. +- spiceds_v*.xml PDS4 labels for this file and its earlier versions.

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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 leapseconds 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. 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. 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.

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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, determined by the JPL Solar System Dynamics group and are named DEXXX, e.g. DE430. - Martian satellite ephemeris SPKs These SPKs contain ephemeris data for Mars, Phobos, Deimos, Sun, Earth barycenter, and Earth, determined by the JPL Solar System Dynamics group and are named MARXXX, e.g. MAR097. - reconstructed spacecraft cruise trajectory SPKs These SPKs contain the reconstructed INSIGHT spacecraft trajectory for cruise determined by the INSIGHT Navigation (NAV) team, JPL. - reconstructed spacecraft EDL trajectory SPKs These SPKs contain the reconstructed INSIGHT spacecraft trajectory during Entry Descent Landing (EDL) determined by the INSIGHT EDL team, LMCO. - actual landing site position SPKs These SPKs contain the actual location of the INSIGHT landing site in the Mars body-fixed frame, determined by the INSIGHT science team. - landing site -to- lander offset SPKs These SPKs contain the zero offset between the INSIGHT landing site and the lander. - structures SPKs These SPKs contain fixed locations of selected spacecraft structures and science instruments, based on the INSIGHT engineering documentation. - deflected IDC position SPKs These SPKs contain the deflected (gravity-compensated) position of the INSIGHT Instrument Deployment Camera (IDC), based on IDA telemetry and covering only IDC image times. - MARCO-A and MARCO-B trajectory SPKs These SPKs contain the reconstructed MARCO-A and MARCO-B spacecraft trajectories for cruise determined by the JPL Navigation (NAV) team, JPL. The SPK files are provided under the spice_kernels/spk directory and are named according to the following schemes: - planetary ephemeris SPKs deVVVs.bsp where VVV is the ephemeris version. s (optional) indicates that the original file coverage was shortened to reduce the file size. - Martian satellite ephemeris SPKs marVVVs.bsp where VVV is the ephemeris version. s (optional) indicates that the original file coverage was shortened to reduce the file size. - reconstructed spacecraft cruise trajectory SPKs insight_cru_SSS_vV.bsp where SSS is the solution source: ops operational solution V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - reconstructed spacecraft EDL trajectory SPKs insight_edl_rec_vV.bsp where V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - actual landing site position SPKs insight_ls_opsYYMMDD_iauYYYY_vV.bsp where YYMMDD is the date when the landing site location stored in the file was determined or released. YYYY is the publication year of the IAU Mars rotation model, with which this SPK should be used. V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - landing site -to- lander offset SPKs insight_atls_opsYYMMDD_vV.bsp where YYMMDD is the date consistent with the corresponding landing site position SPK. V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - structures SPKs insight_struct_vVV.bsp where VV is the version; the file with the latest version supersedes all similarly named files with earlier versions. - deflected IDC position SPKs insight_idc_rec_YYMMDD_YYMMDD_vV.bsp where YYMMDD are the file coverage start and stop dates. V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - MARCO-A and MARCO-B trajectory SPKs marcoS_YYMMDD_yymmdd_YYMMDD_vV.bsp where S is the spacecraft identifier: a MARCO-A b MARCO-B YYMMDD are the file coverage start and stop dates. yymmdd is the end date of the reconstructed part of the file. V 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 each SPK 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.

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PCK Files 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. The generic text PCK version 00010 contains data from the 2009 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 his/her 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.

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IK Files 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 INSIGHT instruments, for which common instrument geometric parameters normally stored in IKs are applicable, such as Instrument Context Camera (ICC), Instrument Deployment Camera (IDD), and Heat Flow and Physical Properties Package (HP3) Radiometer, and for the INSIGHT antennas. The IK files are provided under the spice_kernels/ik directory and are named according to the following scheme: - instruments (other than cameras) and antennae IK files insight_NAME_vVV.ti where NAME is the instrument acronym: ant (for antennae) hp3_rad (for HP3 Radiometer) VV is the version; the file with the latest version supersedes all similarly named files with earlier versions. - camera IK files insight_NAME_YYYYMMDD_c03.ti where NAME is the instrument acronym: icc (Instrument Context Camera) idc (Instrument Deployment Camera 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 IK 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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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: - reconstructed spacecraft cruise orientation CKs These CKs contain the reconstructed INSIGHT spacecraft cruise attitude determined on-board and downlinked in spacecraft telemetry. - reconstructed spacecraft EDL orientation CKs These CKs contain the reconstructed INSIGHT spacecraft EDL attitude, from the EDL entry point to landing, determined by the INSIGHT EDL team, - reconstructed spacecraft landed orientation CKs These CKs contain the reconstructed INSIGHT spacecraft landed attitude based on post-landing assessment done by the project engineering team. - cruise-lander frame connection CKs These CKs contain the fixed rotations between the INSIGHT lander and cruise frames needed to complete SPICE reference chains at all times. - MARCO-A and MARCO-B orientation CKs These CKs contain the reconstructed MARCO-A and MARCO-B attitude determined on-board and downlinked in spacecraft telemetry. - IDA orientation CKs These CKs contain the reconstructed encoder or potentiometer telemetry-based orientation of the INSIGHT Instrument Deployment Arm (IDA) joints. - deflected IDC orientation CKs These CKs contain the deflected (gravity-compensated) encoder or potentiometer telemetry-based orientation of the INSIGHT Instrument Deployment Camera (IDC). The CK files are provided under the spice_kernels/ck directory and are named according to the following scheme: - reconstructed spacecraft cruise orientation CKs insight_cru_rec_YYMMDD_YYMMDD_vVV.bc where YYMMDD are the file coverage start and stop dates. VV is the version; the file with the latest version supersedes all similarly named files with earlier versions. - reconstructed spacecraft EDL orientation CKs insight_edl_rec_vV.bc where V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - reconstructed spacecraft landed orientation CKs insight_surf_ops_vV.bc where V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - cruise-lander frame connection CKs insight_cruise2lander_vV.bc insight_lander2cruise_vV.bc where V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - MARCO-A and MARCO-B orientation CKs marcoS_cru_rec_YYMMDD_YYMMDD_vVV.bc where S is the spacecraft identifier: a MARCO-A b MARCO-B YYMMDD are the file coverage start and stop dates. VV is the version; the file with the latest version supersedes all similarly named files with earlier versions. - IDA orientation CKs insight_ida_SSS_YYMMDD_YYMMDD_vV.bc where SSS is the IDA joint angle value source: enc encoders pot potentiometers YYMMDD are the file coverage start and stop dates. V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - deflected IDC orientation CKs insight_idc_SSS_YYMMDD_YYMMDD_vV.bc where SSS is the IDA joint angle value source: enc encoders pot potentiometers YYMMDD are the file coverage start and stop dates. V 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 each CK 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.

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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 INSIGHT on-board clock, text SCLK files supporting INSIGHT Local Mean Solar Time (LMST) to Ephemeris Time conversions, and text SCLK files implementing fictitious clock correlations for MARCO-A and MARCO-B required to access their CK files. The SCLK files are provided under the spice_kernels/sclk directory and are named according to the following scheme: - main INSIGHT spacecraft clock SCLK files nsy_sclkscet_VVVVV.tsc where VVVVV is the version; the file with the latest version supersedes all similarly named files with earlier versions. - INSIGHT LMST SCLK files insight_lmst_opsYYMMDD_vV.tsc where YYMMDD is the date consistent with the corresponding landing site position SPK. V is the version; the file with the latest version supersedes all similarly named files with earlier versions. - MARCO fictitious SCLK files marcoS_fake_vVV.tsc where S is the spacecraft identifier: a MARCO-A b MARCO-B 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 INSIGHT lander, its structures, and science instruments, and for MARCO-A and MARCO-B spacecraft and their structures and instruments. The MARCO-A and MARCO-B FK files also include definitions of structure and instrument FOVs. These FKs were produced by NAIF 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: - INSIGHT mission FK files insight_vVV.tf where VV is the version; the file with the latest version supersedes all similarly named files with earlier versions. - MARCO FK files marcoS_vVV.tf where S is the spacecraft identifier: a MARCO-A b MARCO-B 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 FK 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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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 for a given period. The text MK files are provided under the spice_kernels/mk directory and are named according to the following scheme: - INSIGHT whole mission MK files insight_vVV.tm when VV is the version; the file with the latest version supersedes all similarly named files with earlier versions. In addition, all meta-kernels also include keywords setting the SPICE CHRONOS utility configuration parameters (spacecraft ID, planet ID, landing UTC, landing SOL index, and Sun GM). 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, and each kind of SCLKs, IKs, FKs, SPKs, and CKs (except for IDA and IDC CKs) were included - for IDA and IDC CKs, only latest encoder-based CKs were included 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.

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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.

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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: - INSIGHT 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.

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File Formats ============ All text documents, checksum files, 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 -- are UNIX text files, with a line feed character (ASCII 10) at the end of the line, and binary kernel files -- SPKs and CKs -- 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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SPICE Software and Documentation ================================ The latest SPICE Toolkit for a variety of computer platforms, additional utility programs, documentation, tutorials, and hands-on lessons are available at the NAIF Node of the PDS: https://naif.jpl.nasa.gov specifically: Toolkit: https://naif.jpl.nasa.gov/naif/toolkit.html Utilities: https://naif.jpl.nasa.gov/naif/utilities.html Tutorials: https://naif.jpl.nasa.gov/naif/tutorials.html Lessons: https://naif.jpl.nasa.gov/naif/lessons.html

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Contact Information =============================== PDS Navigation and Ancillary Information Facility (NAIF), MAIL STOP 301-121 Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive Pasadena, CA, 91109-8099 818-354-8136 WWW Site: https://naif.jpl.nasa.gov

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Cognizant Persons ================= This archive was produced by Boris Semenov, Marc Costa Sitja, and Alyssa Bailey, Planetary Data System Navigation and Ancillary Information Facility Node, Jet Propulsion Laboratory, Pasadena, California. End of INSIGHT SPICE archive description.

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