The Lucy SPICE Data Archive
========================================================================
Last update: October 8, 2024
Introduction
============
This document describes the Lucy SPICE archive, containing
observation geometry and other ancillary data in the form of SPICE
System kernel files for the Lucy spacecraft and its 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 the Lucy Mission 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 Lucy launch, 2021-10-16,
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. There are gaps in reconstructed Lucy spacecraft CKs during cruise.
Predicted Lucy spacecraft CKs have been included to cover gaps present
in 2021 and 2022 reconstructed CKs. Two gaps remain in 2021.
gap start gap stop gap duration(sec)
------------------- ------------------- -----------------
2021-10-19T12:24:54 2021-10-19T12:36:14 680.320050
2021-10-20T18:04:59 2021-10-20T19:45:27 6027.137650
3. lcy_ipp_rel_211018_211025_v01.bc was named as a weekly file however,
attitude information does not cover the full week. The start time should
read 211021 instead of 211018.
Relative to FRAME Interval Begin UTC Interval End UTC
----------------- ------------------------ ------------------------
LUCY_IPP_BP 2021-OCT-21 15:22:20.651 2021-OCT-25 00:22:27.628
LUCY_IPP_IG 2021-OCT-21 15:22:20.651 2021-OCT-25 00:24:08.132
4. lcy_200101_500115_231117_poly_v1.bsp was named incorectly.
The start time should read 100101 instead of 200101.
Bodies Start of Interval (UTC) End of Interval (UTC)
----------------- ------------------------ ------------------------
20015094 POLYMELE 2009-DEC-31 23:58:53.816 2050-JAN-14 23:58:50.815
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]
|
|- bundle_lucy_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 other versions.
+- spiceds_v*.xml PDS4 labels for this file and its other 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 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.
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, determined by the JPL Solar System Dynamics group and
are named DEXXX, e.g. DE440.
- Lucy spacecraft SPK relative to the sun and target bodies
These SPKs contain position and velocity of the Lucy spacecraft
relative to the Sun and target bodies in the J2000 reference
frame. They include ephemerides for target bodies as well.
These SPKs provide both reconstructed data up to the data
cut-off date and predicted data following that.
- Lucy target body SPKs
These SPKs contain ephemeris data for Lucy target bodies.
These SPKs provide both reconstructed data up to the last
ephemeris update based on JPL ephemeris date or OpNav Data
Cut Off and predicted data following that.
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.
- Lucy spacecraft SPK relative to the sun and target bodies
lcy_START_END_ENDREC_vV.bsp
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
ENDREC is the end of reconstructed data coverage
(a.k.a. data cut-off date) in YYMMDD format.
V is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
lcy_START_END_ENDREC_dinkinesh_rec_vV.bsp
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
ENDREC is the end of reconstructed data coverage
(a.k.a. data cut-off date) in YYMMDD format.
V is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Lucy target body SPKs
lcy_START_END_LAST_TARGET_vV.bsp
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
LAST is the last ephemeris update in YYMMDD format; based
on JPL ephemeris date or OpNav Data Cut Off.
TARGET is the target body abbreviation:
leuc: Leucus
orus: Orus
pmbi: Patroclus Menoetius Barycenter
poly: Polymele
donj: DonaldJohanson
eury: Eurybates
V is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
lcy_START_END_queta_vV.bsp
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
V is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
lcy_231022_231105_dsbi_placeholder_v1.bsp
A placeholder SPK containing the location of Dinkinesh and Selam
with respect to the Dinkinesh Barycenter. This SPK file was made
using preliminary published data and is to be used only until a
proper OD has been performed for the system.
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.
Back to Table of Contents
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 data set includes PC-Kernel files containing planetary
constants values used by Lucy project during the mission.
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 latest
version supersedes all similarly named
files with earlier versions.
- Lucy target text PCKs
TARGET_vVV.tpc
where
TARGET is one of the following Lucy Targets:
dinkinesh -- 152830 Dinkinesh
donaldjohanson -- 52246 Donaldjohanson
eurybates -- 3548 Eurybates
queta -- (3548) Eurybates I (Queta)
leucus -- 11351 Leucus
patroclus -- 617 Patroclus
menoetius -- (617) Patroclus I (Menoetius)
orus -- 21900 Orus
polymele -- 15094 Polymele
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
selam_placeholder_v00.tpc
A placeholder Selam PCK is included for use only until an
official Selam PCK is released by the project. It contains
values for the pole direction, rotation period and shape.
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 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 dataset contains I-kernel files for the Lucy spacecraft structures
and instruments; L'LORRI, L'RALPH, L'TES, and TTCAM.
The IK files are provided under the spice_kernels/ik
directory and are named according to the following scheme:
- Lucy Instrument IKs
lcy_NAME_vVV.ti
where
NAME is the name of the Lucy Instrument:
lorri - Lucy LOng Rage Reconnaissance Imager
(L'LORRI)
ralph - Lucy Visible/IR integrated imaging and
remote sensing package (L'RALPH)
tes - Lucy Thermal Emission Spectrometer (L'TES)
ttcam - Lucy Terminal Tracking Camera (TTCAM)
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Structures IK
lucy_struct_vVV.ti
where
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.
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.
The Lucy C-kernels provide the transformations between various frames
defined and used by the project.
This archive includes binary CK files containing the following kinds
of orientation data:
- Lucy predicted spacecraft CK
- Lucy reconstructed spacecraft CK
- Weekly coverage files
- Ad Hoc coverage files
- Lucy reconstructed CK for the Instrument Pointing Platform (IPP)
Inner and Outer gimbal frames.
- Lucy L'RALPH Instrument CK
The CK files are provided under the spice_kernels/ck
directory and are named according to the following scheme:
- Lucy predicted spacecraft CK
lcy_sc_p_START_STOP_vVV.bc
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Lucy reconstructed spacecraft CK
- Weekly coverage files
lcy_sc_rel_START_STOP_vVV.bc
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Ad Hoc coverage files
lcy_sc_r_START_STOP_vVV.bc
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Lucy reconstructed CK for the Instrument Pointing Platform (IPP)
Inner and Outer gimbal frames.
lcy_ipp_rel_START_STOP_vVV.bc
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Lucy L'RALPH Instrument CK
lcy_ralph_r_START_STOP_vVV.bc
where
START is the start of the file coverage in YYMMDD format.
END is the end of the file coverage in YYMMDD format.
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 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.
Back to Table of Contents
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 0011 contains leap second data up to
and including the July 1, 2015 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.
Back to Table of Contents
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 the following kinds of
data:
- Lucy on-board clock correlation SCLKs
This archive includes text SCLK files containing correlation data
for the main Lucy on-board clock, created by NAIF from the
SCLK_SCET files.
The SCLK files are provided under the spice_kernels/sclk
directory and are named according to the following scheme:
- Lucy on-board clock correlation SCLKs
lucy_sclkscet_VVVVV.tsc
where
VVVVV 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.
Back to Table of Contents
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 Lucy spacecraft, its structures, and science instruments.
This FK was 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:
- Lucy mission FK files
lucy_vVV.tf
where
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.
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 for a given period.
The text MK files are provided under the spice_kernels/mk
directory and are named according to the following scheme:
- Lucy yearly MK files
lucy_YYYY_vVV.tm
when
YYYY is the year covered by the kernels listed in
the MK
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
Multiple versions of a meta-kernel for the same year may exist if
new kernels were added to the archive in a later release and the
meta-kernel for that year 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 for the same year is
present, then the file with the latest version number supersedes all
earlier versions. The latest yearly meta-kernels can be loaded
together sorted by year to provide coverage for more than one year.
(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
- the latest Lucy NAV SPKs were included
- the adequate latest predicted CKs were included
- the latest reconstructed 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.
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:
- Lucy 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, 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
Back to Table of Contents
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
Back to Table of Contents
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 Alyssa Bailey, Matt Barnes, and Boris Semenov,
Planetary Data System Navigation and Ancillary Information Facility
Node, Jet Propulsion Laboratory, Pasadena, California.
End of Lucy SPICE archive description.
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