PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM INSTRUMENT_NAME = "RADIO SCIENCE SUBSYSTEM" TARGET_NAME = MARS DATA_SET_ID = "MGS-M-RSS-1-EXT-V1.0" PRODUCT_TYPE = TCK MISSION_NAME = "MARS GLOBAL SURVEYOR" INSTRUMENT_HOST_NAME = "MARS GLOBAL SURVEYOR" ORIGINAL_PRODUCT_ID = "mgs_sc_map4.bc" PRODUCT_ID = "9321039A.TCK" FILE_NAME = "9321039A.TCK" PRODUCT_VERSION_TYPE = "*" PRODUCER_ID = MGS_SCT PRODUCT_CREATION_TIME = 2000-02-25T00:00:00 START_TIME = 1999-11-17T00:00:04 STOP_TIME = 2000-02-08T23:59:55 ^DESCRIPTION = "TK_FTP.TXT" NOTE = " MGS Spacecraft Orientation CK File for Mapping, Cycles 10-12 =========================================================================== Created by Boris Semenov, NAIF/JPL, February 25, 2000 Orientation Data in the File -------------------------------------------------------- This file contains orientation and angular velocity data for the Mars Global Surveyor (MGS) spacecraft frame, 'MGS_SPACECRAFT', relative to the 'J2000' inertial frame. The NAIF ID code for the 'MGS_SPACECRAFT' frame is -94000. Status -------------------------------------------------------- This file was created by merging daily CK files produced by the MGS Spacecraft Team at LMA, Denver data in which were partially corrected for the on-board filter latency. Details about this correction are provided below. There is a chance that future analysis will allow further correction to these time tags -- if so, even better CK files would be available from NAIF/JPL. Time Correction -------------------------------------------------------- The data in the file were partially corrected for the spacecraft orientation quaternion telemetry time bias. This bias was originally detected by the MGS MOLA team from the instrument data collected during the eight targeting passes in SPO-1 when MOLA was allowed to remain on while the spacecraft was slewed at fairly rapid rates. Mismatch of the expected and actually measured surface profiles on these slew passes exposed the time offset of the spacecraft attitude C-kernels independent of other systematic errors, such as boresight misalignment, which could mimic a time offset. This offset appeared to be almost constant and was estimated at +1.140 seconds +- 0.010 from the MOLA shot time. It appeared that orientation data in the CK had time tags 1.14 seconds later than they should be, i.e. to obtain correct orientation at the MOLA measurement time T, someone had to read original CK pointing at the time T+1.14 sec. After extended investigation of the problem, the origin was identified to be a lag introduced by the on-board digital filter. The filter worked on the calculated raw error quaternion (also called raw delta quaternion), which was then applied to the existing filtered quaternion. Since the second order low pass only filter used during pre-mapping mission phases was supposed to be replaced with the fourth order IIR containing the notch for mapping operations, an additional series of investigation were carried out to estimate time delay which would be introduced by the mapping filter. Investigations confirmed that the second order low pass only filter introduces a 1.x seconds variable time bias and showed that the fourth order IIR containing the notch introduces a 2.x seconds variable time bias. Both biases could not be reconstructed on the ground because their magnitude was a function of the input signal which was not available in the spacecraft engineering telemetry. Before start of the transition to mapping, the second order filter was in place at all times. During the transition the spacecraft used both filters by switching between them during 11 day period from February 26 through March 9, 1999, when MOC calibrations were carried out. The 4th order IIR containing the notch filter was in places during NADIR pointing periods and the second order low pass only filter was used for all Earth pointing and Moc ISH periods. Once the transition to mapping was completed, the fourth order filter was put in place for all times. Since the fourth order filter was in place during the whole period covered by this file, correction of -2.300000 seconds was applied by Spacecraft Team at LMA to the data in the original individual s/c orientation CK files. Note that this was a partial fix because as mentioned above the timing bias is variable. No additional correction was applied when the data was merged together. There are also two other known sources of timing error in the CK data which weren't addressed by this fix: -- error of up to 60 milliseconds due to inconsistent time conversions in telemetry system (TIS) and attitude quaternion formatter program (ATTREC). -- error on the order of 1-3 milliseconds due to a difference in time conversion between SFOC services (SCLKvSCET file based) and SPICE toolkit (SCLK Kernel based). Pedigree -------------------------------------------------------- The original CK files used to create this file were officially delivered to the MGS project data base by the MGS Spacecraft Team at LMA, Denver. These files contained spacecraft frame orientation relative to the J2000 inertial frame. The orientation was computed, converted to quaternions and filtered on board; filtered quaternions were transmitted to the Earth in channelized telemetry. Nominal orientation data sampling rate was 0.25 Hz. On the ground quaternions were extracted from telemetry, quaternion time tags were adjusted by -2.3 seconds, and quaternions were written to daily CK files using the ATTREC program. The individual daily files were merged together to provide complete coverage on a mission phase basis. A table containing the complete list of original CK files from which data were included in this file is provided at the end of these comments. Approximate Time Coverage -------------------------------------------------------- This file covers 10th, 11th and 12th mapping cycles of the Mapping phase of the mission: COVERAGE BEGIN TIME (UTC): 1999-NOV-17 00:00:04.360 COVERAGE END TIME (UTC): 2000-FEB-08 23:59:55.476 This file is a type 3 CK file which provides linear interpolation between orientation data points extracted from telemetry. Such interpolation is not applied to the whole coverage of the file but only inside intervals where enough orientation telemetry data was available and orientation data points were close to each other in time for such interpolation to make sense. Given that nominal spacecraft quaternions rate was 0.25 Hz (one quaternion every 4 seconds) the duration of the longest interval over which the data may be interpolated was set to 8 seconds, i.e. interpolation was enabled only over a single point drop-out. For all requests for data falling between two adjacent data points separated by more than 8 seconds the SPICELIB CK readers will return a logical flag stating 'POINTING NOT FOUND'. A table containing the complete list of valid interpolation intervals in the file is provided at the end of these comments. Usage Note -------------------------------------------------------- In order to use this file an MGS SCLK file containing coefficients mapping MGS on-board time to ET must be loaded into a user's program. Related Kernels -------------------------------------------------------- This file was created with LSK file naif0007.tls and MGS SCLK file MGS_SCLKSCET.00030.tsc. Contacts -------------------------------------------------------- If you have any question regarding this data contact NAIF at JPL: Charles H. Acton, Jr (818)-354-3869 chuck.acton@jpl.nasa.gov Boris V. Semenov (818)-354-8136 boris.semenov@jpl.nasa.gov Appendix 1: List of the original CK files -------------------------------------------------------- mgs_spice_c_kernel_1999-321.bc mgs_spice_c_kernel_1999-322.bc mgs_spice_c_kernel_1999-323.bc mgs_spice_c_kernel_1999-324.bc mgs_spice_c_kernel_1999-325.bc mgs_spice_c_kernel_1999-326.bc mgs_spice_c_kernel_1999-327.bc mgs_spice_c_kernel_1999-328.bc mgs_spice_c_kernel_1999-329.bc mgs_spice_c_kernel_1999-330.bc mgs_spice_c_kernel_1999-331.bc mgs_spice_c_kernel_1999-332.bc mgs_spice_c_kernel_1999-333.bc mgs_spice_c_kernel_1999-334.bc mgs_spice_c_kernel_1999-335.bc mgs_spice_c_kernel_1999-336.bc mgs_spice_c_kernel_1999-337.bc mgs_spice_c_kernel_1999-338.bc mgs_spice_c_kernel_1999-339.bc mgs_spice_c_kernel_1999-340.bc mgs_spice_c_kernel_1999-341.bc mgs_spice_c_kernel_1999-342.bc mgs_spice_c_kernel_1999-343.bc mgs_spice_c_kernel_1999-344.bc mgs_spice_c_kernel_1999-345.bc mgs_spice_c_kernel_1999-346.bc mgs_spice_c_kernel_1999-347.bc mgs_spice_c_kernel_1999-348.bc mgs_spice_c_kernel_1999-349.bc mgs_spice_c_kernel_1999-350.bc mgs_spice_c_kernel_1999-351.bc mgs_spice_c_kernel_1999-352.bc mgs_spice_c_kernel_1999-353.bc mgs_spice_c_kernel_1999-354.bc mgs_spice_c_kernel_1999-355.bc mgs_spice_c_kernel_1999-356.bc mgs_spice_c_kernel_1999-357.bc mgs_spice_c_kernel_1999-358.bc mgs_spice_c_kernel_1999-359.bc mgs_spice_c_kernel_1999-360.bc mgs_spice_c_kernel_1999-361.bc mgs_spice_c_kernel_1999-362.bc mgs_spice_c_kernel_1999-363.bc mgs_spice_c_kernel_1999-364.bc mgs_spice_c_kernel_1999-365.bc mgs_spice_c_kernel_2000-001.bc mgs_spice_c_kernel_2000-002.bc mgs_spice_c_kernel_2000-003.bc mgs_spice_c_kernel_2000-004.bc mgs_spice_c_kernel_2000-005.bc mgs_spice_c_kernel_2000-006.bc mgs_spice_c_kernel_2000-007.bc mgs_spice_c_kernel_2000-008.bc mgs_spice_c_kernel_2000-009.bc mgs_spice_c_kernel_2000-010.bc mgs_spice_c_kernel_2000-011.bc mgs_spice_c_kernel_2000-012.bc mgs_spice_c_kernel_2000-013.bc mgs_spice_c_kernel_2000-014.bc mgs_spice_c_kernel_2000-015.bc mgs_spice_c_kernel_2000-016.bc mgs_spice_c_kernel_2000-017.bc mgs_spice_c_kernel_2000-018.bc mgs_spice_c_kernel_2000-019.bc mgs_spice_c_kernel_2000-020.bc mgs_spice_c_kernel_2000-021.bc mgs_spice_c_kernel_2000-022.bc mgs_spice_c_kernel_2000-023.bc mgs_spice_c_kernel_2000-024.bc mgs_spice_c_kernel_2000-025.bc mgs_spice_c_kernel_2000-026.bc mgs_spice_c_kernel_2000-027.bc mgs_spice_c_kernel_2000-028.bc mgs_spice_c_kernel_2000-029.bc mgs_spice_c_kernel_2000-030.bc mgs_spice_c_kernel_2000-031.bc mgs_spice_c_kernel_2000-032.bc mgs_spice_c_kernel_2000-033.bc mgs_spice_c_kernel_2000-034.bc mgs_spice_c_kernel_2000-035.bc mgs_spice_c_kernel_2000-036.bc mgs_spice_c_kernel_2000-037.bc mgs_spice_c_kernel_2000-038.bc mgs_spice_c_kernel_2000-039.bc Appendix 2: Interpolation Intervals in the File -------------------------------------------------------- 1999-11-17T00:00:04.360 1999-11-17T11:59:56.355 1999-11-17T12:00:56.355 1999-11-18T11:59:56.344 1999-11-18T12:00:56.344 1999-11-18T17:53:24.342 1999-11-18T18:02:44.341 1999-11-18T23:58:48.339 1999-11-19T00:01:32.339 1999-11-19T00:11:24.339 1999-11-19T00:22:00.339 1999-11-19T11:59:56.334 1999-11-19T12:00:56.334 1999-11-20T11:59:56.323 1999-11-20T12:00:56.323 1999-11-21T11:34:32.313 1999-11-21T11:43:32.312 1999-11-21T11:59:56.312 1999-11-21T12:00:56.312 1999-11-22T11:59:56.302 1999-11-22T12:00:56.302 1999-11-23T02:23:40.295 1999-11-23T02:24:08.295 1999-11-23T07:10:44.293 1999-11-23T07:23:16.293 1999-11-23T11:59:56.291 1999-11-23T12:00:56.291 1999-11-23T18:40:36.288 1999-11-23T18:44:40.288 1999-11-24T05:59:40.283 1999-11-24T06:04:12.283 1999-11-24T06:16:16.283 1999-11-24T06:20:52.283 1999-11-24T06:20:52.283 1999-11-24T06:21:04.283 1999-11-24T08:36:24.282 1999-11-24T08:54:32.282 1999-11-24T11:59:56.281 1999-11-24T12:00:56.281 1999-11-25T10:07:52.271 1999-11-25T10:08:28.271 1999-11-25T10:08:28.271 1999-11-25T10:13:44.271 1999-11-25T10:44:04.271 1999-11-25T10:48:20.271 1999-11-25T11:59:56.270 1999-11-25T12:00:56.270 1999-11-26T05:08:04.262 1999-11-26T05:11:28.262 1999-11-26T10:16:16.260 1999-11-26T10:27:32.260 1999-11-26T11:59:56.259 1999-11-26T12:00:56.259 1999-11-26T17:27:12.257 1999-11-26T17:31:16.257 1999-11-27T11:59:56.249 1999-11-27T12:00:56.249 1999-11-28T11:59:56.238 1999-11-28T12:00:56.238 1999-11-29T11:59:56.228 1999-11-29T12:00:56.228 1999-11-29T16:50:20.226 1999-11-29T16:51:52.226 1999-11-30T04:42:24.220 1999-11-30T04:42:36.220 1999-11-30T04:42:48.220 1999-11-30T04:43:00.220 1999-11-30T04:43:28.220 1999-11-30T05:33:12.220 1999-11-30T05:44:24.220 1999-11-30T05:48:24.220 1999-11-30T11:59:56.217 1999-11-30T12:00:56.217 1999-12-01T11:59:56.207 1999-12-01T12:00:56.207 1999-12-02T05:43:56.199 1999-12-02T05:49:24.199 1999-12-02T08:16:52.198 1999-12-02T08:17:08.198 1999-12-02T08:17:16.198 1999-12-02T08:17:28.198 1999-12-02T08:17:48.198 1999-12-02T08:21:04.198 1999-12-02T11:59:56.196 1999-12-02T12:00:56.196 1999-12-02T21:12:04.192 1999-12-02T22:13:12.191 1999-12-03T11:59:56.185 1999-12-03T12:00:56.185 1999-12-03T16:20:40.183 1999-12-03T16:21:00.183 1999-12-03T16:21:00.183 1999-12-03T16:21:12.183 1999-12-03T16:50:44.183 1999-12-03T16:59:52.183 1999-12-04T11:59:56.175 1999-12-04T12:00:56.175 1999-12-04T21:50:52.170 1999-12-04T21:51:20.170 1999-12-05T11:59:56.164 1999-12-05T12:00:56.164 1999-12-05T23:59:56.159 1999-12-06T00:00:04.167 1999-12-06T07:31:28.163 1999-12-06T07:36:36.163 1999-12-06T11:59:56.161 1999-12-06T12:09:00.161 1999-12-07T11:59:56.151 1999-12-07T12:00:56.151 1999-12-07T21:06:08.147 1999-12-07T21:06:20.147 1999-12-07T21:06:28.147 1999-12-07T21:06:40.147 1999-12-07T21:06:44.147 1999-12-07T21:07:08.147 1999-12-07T21:07:08.147 1999-12-07T21:10:44.147 1999-12-08T05:59:44.143 1999-12-08T06:00:40.143 1999-12-08T06:42:12.143 1999-12-08T06:42:28.143 1999-12-08T06:42:40.143 1999-12-08T06:43:20.143 1999-12-08T06:43:20.143 1999-12-08T06:43:56.143 1999-12-08T06:44:00.143 1999-12-08T06:44:12.143 1999-12-08T06:44:12.143 1999-12-08T06:44:36.143 1999-12-08T06:44:40.143 1999-12-08T06:44:56.143 1999-12-08T06:45:36.143 1999-12-08T06:45:48.143 1999-12-08T06:46:32.143 1999-12-08T06:46:44.143 1999-12-08T06:46:52.143 1999-12-08T06:47:04.143 1999-12-08T06:47:12.143 1999-12-08T06:47:32.143 1999-12-08T06:47:32.143 1999-12-08T07:03:32.142 1999-12-08T07:03:44.142 1999-12-08T07:10:44.142 1999-12-08T07:10:44.142 1999-12-08T07:11:36.142 1999-12-08T07:11:36.142 1999-12-08T07:14:36.142 1999-12-08T07:14:36.142 1999-12-08T07:17:52.142 1999-12-08T07:17:52.142 1999-12-08T07:20:48.142 1999-12-08T07:21:00.142 1999-12-08T07:21:12.142 1999-12-08T07:38:08.142 1999-12-08T07:38:28.142 1999-12-08T07:38:48.142 1999-12-08T07:39:00.142 1999-12-08T07:39:20.142 1999-12-08T07:39:44.142 1999-12-08T07:39:48.142 1999-12-08T07:40:08.142 1999-12-08T07:40:16.142 1999-12-08T07:41:24.142 1999-12-08T07:41:24.142 1999-12-08T07:41:44.142 1999-12-08T07:41:44.142 1999-12-08T07:42:00.142 1999-12-08T07:42:20.142 1999-12-08T07:43:12.142 1999-12-08T07:43:20.142 1999-12-08T07:43:32.142 1999-12-08T07:43:32.142 1999-12-08T07:43:52.142 1999-12-08T07:43:52.142 1999-12-08T07:44:08.142 1999-12-08T07:44:40.142 1999-12-08T07:44:56.142 1999-12-08T07:45:32.142 1999-12-08T07:45:44.142 1999-12-08T07:45:48.142 1999-12-08T07:46:00.142 1999-12-08T07:46:16.142 1999-12-08T07:46:28.142 1999-12-08T07:47:04.142 1999-12-08T07:47:16.142 1999-12-08T07:48:28.142 1999-12-08T07:48:40.142 1999-12-08T07:48:40.142 1999-12-08T07:48:52.142 1999-12-08T07:49:00.142 1999-12-08T07:49:12.142 1999-12-08T07:49:20.142 1999-12-08T07:49:36.142 1999-12-08T07:49:36.142 1999-12-08T07:49:56.142 1999-12-08T07:49:56.142 1999-12-08T07:50:08.142 1999-12-08T07:50:08.142 1999-12-08T07:50:24.142 1999-12-08T07:50:24.142 1999-12-08T07:50:36.142 1999-12-08T07:51:24.142 1999-12-08T07:51:36.142 1999-12-08T07:55:12.142 1999-12-08T07:55:24.142 1999-12-08T07:56:44.142 1999-12-08T07:58:24.142 1999-12-08T11:05:20.141 1999-12-08T11:05:48.141 1999-12-08T11:05:52.141 1999-12-08T11:06:04.141 1999-12-08T11:06:16.141 1999-12-08T11:06:28.141 1999-12-08T11:17:48.141 1999-12-08T11:43:28.140 1999-12-08T11:59:56.140 1999-12-08T12:00:56.140 1999-12-08T22:11:56.136 1999-12-08T22:14:00.128 1999-12-09T02:11:12.126 1999-12-09T02:18:56.126 1999-12-09T06:37:08.124 1999-12-09T06:37:32.124 1999-12-09T11:59:56.122 1999-12-09T12:00:56.122 1999-12-10T11:59:56.111 1999-12-10T12:00:56.111 1999-12-11T06:01:24.103 1999-12-11T06:05:12.103 1999-12-11T11:59:56.101 1999-12-11T12:00:56.101 1999-12-12T04:41:24.093 1999-12-12T05:11:28.093 1999-12-12T05:13:16.093 1999-12-12T05:15:12.093 1999-12-12T11:59:56.090 1999-12-12T12:00:56.090 1999-12-13T11:59:56.079 1999-12-13T12:00:56.079 1999-12-13T16:30:56.077 1999-12-13T16:31:12.077 1999-12-14T11:59:56.069 1999-12-14T12:00:56.069 1999-12-15T11:33:04.059 1999-12-15T11:33:20.059 1999-12-15T11:59:56.058 1999-12-15T12:00:56.058 1999-12-16T11:59:56.048 1999-12-16T12:00:56.048 1999-12-16T15:03:44.046 1999-12-16T15:05:40.046 1999-12-16T15:05:48.046 1999-12-16T15:06:20.046 1999-12-16T15:06:20.046 1999-12-16T15:07:16.046 1999-12-16T15:07:24.046 1999-12-16T15:08:00.046 1999-12-16T15:08:08.046 1999-12-16T15:08:28.046 1999-12-16T15:08:36.046 1999-12-16T15:09:00.046 1999-12-16T15:09:28.046 1999-12-16T15:09:44.046 1999-12-16T15:44:44.046 1999-12-16T15:44:56.046 1999-12-16T15:45:12.046 1999-12-16T15:45:24.046 1999-12-16T15:45:24.046 1999-12-16T15:45:36.046 1999-12-16T15:48:32.046 1999-12-16T15:54:56.046 1999-12-16T15:54:56.046 1999-12-16T15:55:08.046 1999-12-17T01:26:28.042 1999-12-17T01:26:40.042 1999-12-17T11:59:56.037 1999-12-17T12:00:56.037 1999-12-18T02:34:56.031 1999-12-18T02:35:08.031 1999-12-18T11:59:56.027 1999-12-18T12:00:56.027 1999-12-19T02:05:20.020 1999-12-19T02:05:52.020 1999-12-19T02:07:24.020 1999-12-19T02:07:36.020 1999-12-19T05:59:48.019 1999-12-19T06:10:04.019 1999-12-19T11:59:56.016 1999-12-19T12:00:56.016 1999-12-19T17:58:08.013 1999-12-19T17:58:20.013 1999-12-19T17:58:40.013 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2000-01-31T15:54:39.559 2000-01-31T16:06:31.559 2000-02-01T11:59:55.550 2000-02-01T12:00:55.550 2000-02-02T11:59:55.539 2000-02-02T12:00:55.539 2000-02-02T22:14:19.534 2000-02-02T22:14:31.534 2000-02-03T06:38:59.531 2000-02-03T06:39:15.531 2000-02-03T06:39:15.531 2000-02-03T06:55:39.530 2000-02-03T11:59:55.528 2000-02-03T12:00:55.528 2000-02-03T15:47:27.526 2000-02-03T15:47:39.526 2000-02-03T15:47:39.526 2000-02-03T15:47:51.526 2000-02-03T15:48:07.526 2000-02-03T15:50:35.526 2000-02-04T11:59:55.517 2000-02-04T12:00:55.517 2000-02-04T12:02:31.517 2000-02-04T12:02:43.517 2000-02-05T11:59:55.506 2000-02-05T12:00:55.506 2000-02-06T11:59:55.495 2000-02-06T12:00:55.495 2000-02-06T22:07:31.491 2000-02-06T22:09:19.491 2000-02-06T23:59:55.490 2000-02-07T00:00:03.497 2000-02-07T04:22:11.495 2000-02-07T04:22:39.495 2000-02-07T04:22:43.495 2000-02-07T04:23:03.495 2000-02-07T09:03:59.493 2000-02-07T09:04:19.493 2000-02-07T09:22:55.493 2000-02-07T09:23:07.493 2000-02-07T10:26:59.493 2000-02-07T10:35:07.493 2000-02-07T11:59:55.492 2000-02-07T12:00:55.492 2000-02-07T17:10:27.490 2000-02-07T17:10:55.490 2000-02-07T17:36:15.489 2000-02-07T17:36:43.489 2000-02-07T20:25:23.488 2000-02-07T20:26:07.488 2000-02-08T00:23:15.486 2000-02-08T00:46:19.486 2000-02-08T00:50:19.486 2000-02-08T01:38:19.486 2000-02-08T01:39:39.486 2000-02-08T01:40:19.486 2000-02-08T02:02:59.486 2000-02-08T02:09:03.486 2000-02-08T06:18:59.484 2000-02-08T06:23:15.484 2000-02-08T10:26:51.482 2000-02-08T11:08:35.481 2000-02-08T11:59:55.481 2000-02-08T12:00:55.481 2000-02-08T14:34:35.480 2000-02-08T15:00:59.480 2000-02-08T23:59:55.476 " END