PDS_VERSION_ID = PDS3 LABEL_REVISION_NOTE = " 2002-09-27 NAIF:Elson Original; ... 2017-12-15 NAIF:Semenov reset sTOP_TIME; " RECORD_TYPE = STREAM OBJECT = DATA_SET DATA_SET_ID = "ODY-M-SPICE-6-V1.0" OBJECT = DATA_SET_INFORMATION DATA_SET_NAME = "ODY MARS SPICE KERNELS V1.0" DATA_SET_COLLECTION_MEMBER_FLG = "N" DATA_SET_TERSE_DESC = " Navigation and ancillary data in the form of SPICE System kernel files for the Odyssey spacecraft. " ABSTRACT_DESC = " This data set includes the complete set of Odyssey SPICE data files (``kernel files''), which can be accessed using SPICE software. The SPICE data contains geometric and other ancillary information needed to recover the full value of science instrument data. In particular SPICE kernels provide spacecraft and planetary ephemerides, instrument mounting alignments, spacecraft orientation, spacecraft sequences of events, and data needed for relevant time conversions. " CITATION_DESC = " Semenov, B.V., L.S. Elson, and C.H. Acton, ODYSSEY SPICE KERNELS V1.0, ODY-M-SPICE-6-V1.0, NASA Planetary Data System, 2004. " START_TIME = 2001-04-07T00:00:00 STOP_TIME = 2017-06-30T23:59:59 DATA_SET_RELEASE_DATE = 2002-09-30 PRODUCER_FULL_NAME = "BORIS V. SEMENOV" DATA_OBJECT_TYPE = "SPICE KERNEL" DETAILED_CATALOG_FLAG = "Y" DATA_SET_DESC = " Data Set Overview ================= This data set includes the complete set of SPICE data for the Mars Odyssey in the form of SPICE kernels, which can be accessed using SPICE software available to read these files. The SPICE data contains geometric and other ancillary information needed to recover the full value of science instrument data. In particular SPICE kernels provide spacecraft and planetary ephemerides, instrument mounting alignments, spacecraft orientation and spacecraft sequences of events. Data needed for relevant time conversions is also included. Data Types (SPICE kernel types) =============================== SPK kernels contain ephemerides for spacecraft, planets, satellites, comets and asteroids as well as for moving or fixed spacecraft and instrument structures. They provide position and velocity, given in a Cartesian reference frame. SPK files are located under the ``data/spk'' directory of this data set. PCK kernels 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 ``data/pck'' directory of this data set. IK kernels (Instrument description kernels) give descriptive and operational data peculiar to a particular scientific instrument, such as internal timing relative to the spacecraft clock and field-of-view model parameters. IK files are located under the ``data/ik'' directory of this data set. CK kernels describe pointing, containing a transformation traditionally called the C-matrix which is used to determine time-tagged pointing (orientation) angles for a spacecraft structure upon which science instruments are mounted. CK files are located under the ``data/ck'' directory of this data set. EK (Events) kernels are derived from the integrated sequence of events used to produce actual spacecraft commands. EK files are located under the ``data/ek'' directory of this data set. LSK (Leapseconds) kernels contain the leapseconds and the values of other constants required to perform a transformation between Universal Time Coordinated (UTC) and Ephemeris time (ET). LSK files are located under the ``data/lsk'' directory of this data set. SCLK (Spacecraft Clock) kernels contain on-board clock calibration data required to perform a mapping between Ephemeris time (ET) and spacecraft on-board time (SCLK.) SCLK files are located under the ``data/sclk'' directory of this data set. FK (Frame Definitions) kernels contain information required to define reference frames, sources of frame orientation data and inter-connections between these frames and other frames supported within the SPICE system. This includes mounting alignment information for each instrument. FK files are located under the ``data/fk'' directory of this data set. Kernel File Details =================== A brief overview of the different types of M01 kernels included in this data set is provided in the CONFIDENCE_LEVEL_NOTE section of this file while details specific to individual files are found in the ``*info.txt'' files in the corresponding data directory. The most detailed description of the data in each file is provided in metadata included inside the file -- in the description area of text kernels or in the comment area of binary kernels. Software ======== The SPICE Toolkit contains software modules needed to read SPICE kernel files. SPICELIB software is highly documented via internal headers. Additional documentation is available in separate ASCII text files called Required Reading files. For example, the S- and P- Kernel (SPK) Required Reading File, named SPK.REQ, describes use of the SPK kernel file readers and contains sample programs. The latest SPICE Toolkit for a variety of computer platforms such as PC, Mac, SUN, HP, SGI, VAX, DEC Alpha, etc. is available at the NAIF Node of PDS electronically (via anonymous FTP and WWW servers). Refer to information in ``software/softinfo.txt'' for additional details. Each version of the Toolkit is also archived at the NASA National Space Science Data Center. Loading Kernel Files into a SPICE-based Application =================================================== The easiest way to make data from a collection of SPICE kernels available to a SPICE-based application is to list these kernels in a meta-kernel and load it into the program using the high level SPICE data loader routine FURNSH. This data set provides such meta-kernel(s) under the ``extras/mk'' directory. For more information about the MGS meta-kernel(s), see the file ``extras/mk/mkinfo.txt''. " CONFIDENCE_LEVEL_NOTE = " This volume contains SPICE kernel files created during mission operations and after mission data reconstruction and analysis. Some general information about this collection follows here, but the prospective user is also referred to extensive descriptions about each file that are stored inside each kernel file. These metadata provide detailed information regarding the information source from which the data were derived, the type of processing applied to the source data, applicability of the data, etc. Metadata are located in the ``comment area'' for binary kernel types (SPK, CK, ESQ), accessible using either the COMMNT or SPACIT utility program found in the NAIF Toolkit. Metadata are located after ``\begintext'' markers within the text kernel types (PCK, IK, FK, LSK, SCLK, MK), accessible by using any available text file display tool such as a word processor, text editor, or the unix ``more'' or ``cat'' commands. In some cases data accuracy information does not exist, or may be estimated after mission completion. Where there are questions about data accuracy or ``confidence'' not addressed herein the reader is invited to examine subsequent SPICE archive releases associated with this data set (if such exist), or to contact the NAIF node of the Planetary Data System for possible further information. SPK Files ========= Three kinds of SPK files are provided in this archive: SPK files for the spacecraft orbit, SPK files for Phobos, Deimos, Mars, Earth and Sun, and SPK files for the solar array and high gain antenna structures. Spacecraft Orbit SPK Files -------------------------- Most of the included SPK files provide the orbit of the ODY spacecraft. These files came from three different producers -- Mars Odyssey Navigation Team (NAV) and Alex Konopliv and Eugene Fahnestock of the Solar System Dynamics group of JPL. The NAV SPK files provide the reconstructed trajectory solution generated for use by various project teams during mission operations. The Konopliv's and Fahnestock's solutions were done at a later time using more recent and complex models and, in general, is more accurate. Refer to the detailed comments provided in the comment area of these files for more information about accuracy of the trajectory stored in the these files, models used in process, etc. This data set also includes the orbit number files generated during the mission using the NAIF's ORBNUM utility program for each of the NAV spacecraft trajectory SPK files for the orbital phases of the mission. These files are not SPICE kernels; for this reason they are provided in the ``extras/orbnum'' directory. For more information about Mars Odyssey orbit number files, see the file ``extras/orbnum/orbinfo.txt''. Solar System Body SPK Files --------------------------- The MAR033 Martian satellite ephemeris SPK files provided in this data set were used by the project up to the fall of 2006. They contain ephemeris data for Phobos, Deimos, Earth and the sun. Formal one-sigma accuracy information for Phobos and Deimos are reported as follows: Body Downtrack Crosstrack Radial Uncertainty Uncertainty Uncertainty ------ ----------- ----------- ----------- Phobos 15 km 7 km 3 km Deimos 30 km 16 km 3 km The MAR063 Martian satellite ephemeris SPK files provided in this data set superseded the MAR033 files and were used by the project starting in the fall of 2006. As the MAR033 files the MAR063 SPKs contain ephemeris data for Phobos, Deimos, Earth and the sun. Formal one-sigma accuracy information for Phobos and Deimos are reported as follows: Body Downtrack Crosstrack Radial Uncertainty Uncertainty Uncertainty ------ ----------- ----------- ----------- Phobos 5 km 2 km 2 km Deimos 10 km 3 km 3 km Accuracies for Mars-Sun and Mars-Earth directions (positions obtained from SPK files) are at the level of 0.001 arc-sec (1 sigma). Spacecraft Solar Array and HGA Structures SPK File -------------------------------------------------------------- Included in the SPK archive is a file containing location information (fixed offsets) for spacecraft structures--the high gain antenna and solar array. See the metadata in this file--found in the comment area--for detailed descriptions of how the file was produced. For more information about Mars Odyssey SPK files, see the file ``data/spk/spkinfo.txt''. CK Files ======== C-kernel files provide orientation of a structure: the spacecraft bus, the solar array, or the high gain antenna. There is only one reconstructed CK file provided for each structure for a given mission phase or a portion of a mission phase. All three kinds of reconstructed CK files are produced from engineering telemetry downlinked from the spacecraft. As is often the case with spacecraft engineering telemetry-based measurements, considerable uncertainty exists as to the accuracy of such measurements, and, data quality (accuracy and completeness) can vary significantly. For the spacecraft bus, in addition to the reconstructed CKs, this data set also includes predicted nominal nadir-pointed orientation CK files and CK files providing nominal orientation during ROTO periods. The ``nadir'' CKs contain orientation computed assuming that the spacecraft was pointing nadir at all times or was pointing off nadir by a constant yaw or roll angle (for HGA mitigation periods in 2005 and 2009). The ``ROTO'' CKs contain orientation computed assuming that the spacecraft was pointing according to the commanded off-nadir roll angle; they cover only the periods when the spacecraft was at ROTO orientations. Both types of the nominal orientation CKs should be used only when the reconstructed CKs don't provide coverage and the spacecraft is known to be in the pointing mode matching the mode represented by the nominal CK files. For such periods the nominal orientation usually matches the actual orientation to about or better than 0.2 degrees. Reconstructed Solar Array CK Files -------------------- CK files providing orientation of the solar array relative to the spacecraft bus are provided to support any spacecraft dynamics and/or instrument view obstruction analysis that would require knowledge of the solar orientation and position. Reconstructed High Gain Antenna CK Files -------------------------- CK files providing orientation of the high gain antenna (HGA) relative to the spacecraft bus are provided to support the radio science analysis, spacecraft dynamics analysis, and instrument view obstruction analysis. Reconstructed Spacecraft Bus CK Files ----------------------- CK files providing the orientation of the spacecraft bus (``the spacecraft'') are provided to support interpretation of data obtained by all science experiments. At the time of this archive release there are no known reports assessing accuracy of the orientation provided in these files. Caution on Using CK Files ------------------------- While not a data accuracy issue, the CK user is nevertheless cautioned to understand and properly use the data found and tolerance arguments that are inputs to the CK reader provided in the SPICE Toolkit. Descriptions about how to read CK files are found in the CK reader routine headers (top of the source code files) and in the ``CK Required Reading'' document; these are contained in each SPICE Toolkit package. For more information about Mars Odyssey CK files, see the file ``data/ck/ckinfo.txt''. PCK Files ========= PCK files provide size, shape and orientation data for ``target'' bodies such as Mars, Phobos and Deimos. A description of these data items and reference to their source is provided inside the PCK file, which is a simple text file that can be viewed using any word processor, text editor or text display utility. The data for the PCK provided in this archive are official IAU/IAG/COSPAR values accepted in 2000. For more information about Mars Odyssey PCK files, see the file ``data/pck/pckinfo.txt''. FK Files ======== Frames kernel files provide specifications for how one reference frame is defined relative to another frame. The ODY FK provided in this data set contains a complete set of frame definitions for the spacecraft, its structures such as solar array and antennas, and all of its science instruments. Meta information provided in the comments included in this file consists of the frame definitions, description of the frame relationships, source of and accuracy of the mounting alignment information, etc. For more information about Mars Odyssey FK files, see the file ``data/fk/fkinfo.txt''. IK Files ======== Instrument kernel files provide specifications for the optical and physical instrument parameters and -- where applicable -- field-of-view size, shape and orientation for the named instrument. Metadata describing these estimates are provided in each IK file included in this archive. For more information about Mars Odyssey IK files, see the file ``data/ik/ikinfo.txt''. SCLK Files ========== Spacecraft Clock kernel files provide a tabulation of data needed for converting time measurements between ephemeris time (ET) and spacecraft clock time (SCLK). A SPICE SCLK file is made from a similar file--SCLK/SCET file, or SCLKvSCET file--produced by another mission entity. Each newly made SCLK file fully replaces the previous SCLK file. For ODY the time correlation accuracy provided in SCLK/SCET files is informally reported by the Lockheed Martin spacecraft team to be better than 100 milliseconds during cruise and better than 10 milliseconds during orbital phases. (NAIF has not attempted to obtain or produce an independent corroboration of these LMA estimates.) The SPICE SCLK file has essentially the same accuracy as the SCLK/SCET file. SPICE software does not prohibit an SCLK file from being used for time conversions occurring for ``future times'' (or more accurately, for epochs that occur later than the epoch of the last telemetry data used in producing the last correlation coefficients found in the SCLK file). Such ``predict'' time conversions are likely to be inaccurate (changed somewhat) once the epoch of interest has been passed. For more information about Mars Odyssey SCLK files, see the file ``data/sclk/sclkinfo.txt''. LSK Files ========= Leapseconds kernel files provide a tabulation of ``leapseconds'' and some other terms used in converting time measurements between ephemeris time (ET) and Universal Time (UTC). ``Spacecraft Event Time'' (SCET) is the commonly used name for UTC events measured at the spacecraft. Metadata describing how the LSK data are obtained or computed is contained inside the LSK text file. The time conversion provided by SPICE LSK files is accurate to approximately 0.000030 seconds. For more information about Mars Odyssey LSK files, see the file ``data/lsk/lskinfo.txt''. EK Files ======== Two kinds of Events kernel (EK) files are included in this archive: Experimenter's Notebook EKs and Sequence EKs. Each of these kinds is briefly described below. Experimenter's Notebook EKs kernels are a digital analog to the traditional paper laboratory notebook. Hence Experimenter's Notebook entries represent truth only as seen by the author of the notes--there is no attempt made to independently validate any aspect of Experimenter's Notebook information. Sequence EKs comprise a summary of all commands sent to the spacecraft as well as some ground system events and instrument state (status) summaries. All Sequence EK entries are time tagged. In this archive includes Sequence EKs created the automated process for providing ``as run'' inputs reflecting what was actually sent to the spacecraft, and what execution times were used. For more information about Mars Odyssey EK files, see the file ``data/ek/ekinfo.txt''. " END_OBJECT = DATA_SET_INFORMATION OBJECT = DATA_SET_MISSION MISSION_NAME = "2001 MARS ODYSSEY" END_OBJECT = DATA_SET_MISSION OBJECT = DATA_SET_TARGET TARGET_NAME = MARS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_HOST INSTRUMENT_HOST_ID = "ODY" INSTRUMENT_ID = "SPICE" END_OBJECT = DATA_SET_HOST OBJECT = DATA_SET_REFERENCE_INFORMATION REFERENCE_KEY_ID = UNK END_OBJECT = DATA_SET_REFERENCE_INFORMATION END_OBJECT = DATA_SET END