PDS_VERSION_ID          = PDS3
RECORD_TYPE             = STREAM

OBJECT                  = TEXT
   INTERCHANGE_FORMAT   = ASCII
   PUBLICATION_DATE     = 2005-01-21 
   NOTE                 = "C-Kernel Information"
END_OBJECT              = TEXT
                                                                     
END 


General information about SPICE C-kernels
=========================================

   In the SPICE system, pointing data for an instrument platform, or
   for a specific instrument, are stored in C-kernels. The pointing of
   a platform or an instrument is often expressed in terms of a
   transformation matrix from some standard reference frame to an
   instrument-fixed frame. In the past, the instrument was often a
   camera, and the transformation was thus dubbed the ``C-matrix'';
   hence the choice of C as the name for the pointing kernel.
   
   The data contained in C-kernel files can be accessed and manipulated
   by a collection of subroutines which are part of the SPICE library,
   the major component of the SPICE Toolkit. These subroutines can be
   integrated into user application programs. Information regarding how
   the Toolkit can be obtained is located in the SOFTWARE subdirectory
   of the main directory of this dataset.
   
   To use C-kernels, a Spacecraft Clock Kernel (SCLK) is required. For
   C-Kernels containing orientation of a project-defined frame, a Frame
   Definitions File (FK) is also required.
   
   Refer to the CK.REQ document provided with the Toolkit to get more
   information on how to access C-kernel data.


MER-1 C-kernels contained in this volume
======================================

   This volume contains the SPICE C-Kernel files for the MER-1 rover,
   its Instrument Deployment Device (IDD), Pancam Mast Assembly (PMA),
   and High Gain Antenna (HGA). All files are in IEEE big endian binary
   format. The following files are present in this volume. (Only file
   names are shown; the file name extensions of the binary CK files are
   always ".bc"):

   -- MER-1 rover surface orientation CK Files:
   
           mer1_surf_rover_MMMM_vV   Rover surface orientation CK files
                                     for MMMM portion of the mission:
                                     ``prim'' -- primary mission,
                                     ``ext1'' -- first part of the
                                     extended mission, and so on. These
                                     files were generated from
                                     orientation quaternions extracted
                                     from channelized telemetry and
                                     non-channelized telemetry
                                     products. The file with the latest
                                     version (vV) supersedes all files
                                     with earlier versions.
 
   -- MER-1 Instrument Deployment Device (IDD) CK Files:
 
           mer1_surf_idd_MMMM_vV     IDD orientation CK files for
                                     MMMM portion of the mission:
                                     ``prim'' -- primary mission,
                                     ``ext1'' -- first part of the
                                     extended mission, and so on. These
                                     files were generated from IDD
                                     gimbal angles extracted from
                                     channelized telemetry and
                                     non-channelized telemetry
                                     products. The file with the latest
                                     version (vV) supersedes all files
                                     with earlier versions.

           mer1_surf_iddg_MMMM_vV    Gravity-compensated IDD
                                     orientation CK files for MMMM
                                     portion of the mission: ``prim''
                                     -- primary mission, ``ext1'' --
                                     first part of the extended
                                     mission, and so on. These files
                                     were generated from
                                     gravity-compensated orientation
                                     quaternions for IDD turret head,
                                     extracted only from image
                                     telemetry products. The file with
                                     the latest version (vV) supersedes
                                     all files with earlier versions.

   -- MER-1 Pancam Mast Assembly (PMA) orientation CK Files:

           mer1_surf_pma_MMMM_vV     PMA orientation CK files for
                                     MMMM portion of the mission:
                                     ``prim'' -- primary mission,
                                     ``ext1'' -- first part of the
                                     extended mission, and so on. These
                                     files were generated from PMA
                                     gimbal angles extracted from
                                     channelized telemetry and
                                     non-channelized telemetry
                                     products. The file with the latest
                                     version (vV) supersedes all files
                                     with earlier versions.
  
   -- MER-1 High Gain Antenna orientation CK Files:

          mer1_surf_hga_MMMM_vV      HGA orientation CK files for
                                     MMMM portion of the mission:
                                     ``prim'' -- primary mission,
                                     ``ext1'' -- first part of the
                                     extended mission, and so on. These
                                     files were generated from HGA
                                     gimbal angles extracted from
                                     channelized telemetry and
                                     non-channelized telemetry
                                     products. The file with the latest
                                     version (vV) supersedes all files
                                     with earlier versions.

   -- MER-1 cruise orientation CK Files:
   
           mer1_cruise               MER-1 reconstructed cruise
                                     orientation CK file generated from
                                     cruise module orientation
                                     quaternions extracted from
                                     channelized telemetry.

  
Kernel File Details
===================

   The most detailed description of the data in a binary CK file is 
   provided in metadata included inside the comment area of the file. 
   This information can be viewed using utility programs COMMNT and 
   SPACIT included in the SPICE Toolkit.

  
Contact Information
===================

   Regarding MER project specific information provided in this
   data set and for general information about SPICE system:
   
      Charles H. Acton, Jr, 
      (818)-354-3869, 
      Charles.Acton@jpl.nasa.gov, 
      
   or 
   
      Boris Semenov 
      (818)-354-8136 
      Boris.Semenov@jpl.nasa.gov
      
   or 
   
      Lee Elson
      (818)-354-4223 
      Lee.Elson@jpl.nasa.gov

   address:
   
      Navigation and Ancillary Information Facility (NAIF)
      Jet Propulsion Laboratory
      MS 301-125L
      4800 Oak Grove Drive
      Pasadena CA 91109 USA 

