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_ext3.bc" PRODUCT_ID = "1178261A.TCK" FILE_NAME = "1178261A.TCK" PRODUCT_VERSION_TYPE = "*" PRODUCER_ID = MGS_SCT PRODUCT_CREATION_TIME = 2001-11-25T00:00:00 START_TIME = 2001-06-27T00:00:05 STOP_TIME = 2001-09-18T23:59:57 ^DESCRIPTION = "TK_FTP.TXT" NOTE = " MGS Spacecraft CK File for Extended Mission, Mapping Cycles 31-33 =========================================================================== Created by Boris Semenov, NAIF/JPL, November 25, 2001 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 the 31st, 32nd, and 33rd mapping cycles of the Extended phase of the mission: COVERAGE BEGIN TIME (UTC): 2001-JUN-27 00:00:05.586 COVERAGE END TIME (UTC): 2001-SEP-18 23:59:56.546 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.00040.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_2001-178.bc mgs_spice_c_kernel_2001-179.bc mgs_spice_c_kernel_2001-180.bc mgs_spice_c_kernel_2001-181.bc mgs_spice_c_kernel_2001-182.bc mgs_spice_c_kernel_2001-183.bc mgs_spice_c_kernel_2001-184.bc mgs_spice_c_kernel_2001-185.bc mgs_spice_c_kernel_2001-186.bc mgs_spice_c_kernel_2001-187.bc mgs_spice_c_kernel_2001-188.bc mgs_spice_c_kernel_2001-189.bc mgs_spice_c_kernel_2001-190.bc mgs_spice_c_kernel_2001-191.bc mgs_spice_c_kernel_2001-192.bc mgs_spice_c_kernel_2001-193.bc mgs_spice_c_kernel_2001-194.bc mgs_spice_c_kernel_2001-195.bc mgs_spice_c_kernel_2001-196.bc mgs_spice_c_kernel_2001-197.bc mgs_spice_c_kernel_2001-198.bc mgs_spice_c_kernel_2001-199.bc mgs_spice_c_kernel_2001-200.bc mgs_spice_c_kernel_2001-201.bc mgs_spice_c_kernel_2001-202.bc mgs_spice_c_kernel_2001-203.bc mgs_spice_c_kernel_2001-204.bc mgs_spice_c_kernel_2001-205.bc mgs_spice_c_kernel_2001-206.bc mgs_spice_c_kernel_2001-207.bc mgs_spice_c_kernel_2001-208.bc mgs_spice_c_kernel_2001-209.bc mgs_spice_c_kernel_2001-210.bc mgs_spice_c_kernel_2001-211.bc mgs_spice_c_kernel_2001-212.bc mgs_spice_c_kernel_2001-213.bc mgs_spice_c_kernel_2001-214.bc mgs_spice_c_kernel_2001-215.bc mgs_spice_c_kernel_2001-216.bc mgs_spice_c_kernel_2001-217.bc mgs_spice_c_kernel_2001-218.bc mgs_spice_c_kernel_2001-219.bc mgs_spice_c_kernel_2001-220.bc mgs_spice_c_kernel_2001-221.bc mgs_spice_c_kernel_2001-222.bc mgs_spice_c_kernel_2001-223.bc mgs_spice_c_kernel_2001-224.bc mgs_spice_c_kernel_2001-225.bc mgs_spice_c_kernel_2001-226.bc mgs_spice_c_kernel_2001-227.bc mgs_spice_c_kernel_2001-228.bc mgs_spice_c_kernel_2001-229.bc mgs_spice_c_kernel_2001-230.bc mgs_spice_c_kernel_2001-231.bc mgs_spice_c_kernel_2001-232.bc mgs_spice_c_kernel_2001-233.bc mgs_spice_c_kernel_2001-234.bc mgs_spice_c_kernel_2001-235.bc mgs_spice_c_kernel_2001-236.bc mgs_spice_c_kernel_2001-237.bc mgs_spice_c_kernel_2001-238.bc mgs_spice_c_kernel_2001-239.bc mgs_spice_c_kernel_2001-240.bc mgs_spice_c_kernel_2001-241.bc mgs_spice_c_kernel_2001-242.bc mgs_spice_c_kernel_2001-243.bc mgs_spice_c_kernel_2001-244.bc mgs_spice_c_kernel_2001-245.bc mgs_spice_c_kernel_2001-246.bc mgs_spice_c_kernel_2001-247.bc mgs_spice_c_kernel_2001-248.bc mgs_spice_c_kernel_2001-249.bc mgs_spice_c_kernel_2001-250.bc mgs_spice_c_kernel_2001-251.bc mgs_spice_c_kernel_2001-252.bc mgs_spice_c_kernel_2001-253.bc mgs_spice_c_kernel_2001-254.bc mgs_spice_c_kernel_2001-255.bc mgs_spice_c_kernel_2001-256.bc mgs_spice_c_kernel_2001-257.bc mgs_spice_c_kernel_2001-258.bc mgs_spice_c_kernel_2001-259.bc mgs_spice_c_kernel_2001-260.bc mgs_spice_c_kernel_2001-261.bc Appendix 2: Interpolation Intervals in the File -------------------------------------------------------- 2001-06-27T00:00:05.586 2001-06-27T11:59:57.580 2001-06-27T12:00:57.580 2001-06-27T17:29:53.577 2001-06-27T17:30:05.577 2001-06-27T17:30:17.577 2001-06-27T17:34:41.577 2001-06-27T19:45:33.576 2001-06-27T19:50:05.576 2001-06-27T23:59:53.574 2001-06-28T00:00:05.574 2001-06-28T11:59:57.567 2001-06-28T12:00:57.567 2001-06-28T23:59:53.561 2001-06-29T00:00:05.561 2001-06-29T07:43:33.557 2001-06-29T08:18:53.557 2001-06-29T08:24:33.557 2001-06-29T08:34:41.557 2001-06-29T08:36:45.557 2001-06-29T08:43:53.557 2001-06-29T08:43:57.557 2001-06-29T08:44:09.557 2001-06-29T09:46:49.556 2001-06-29T09:52:37.556 2001-06-29T11:59:57.555 2001-06-29T12:00:57.555 2001-06-29T23:59:53.549 2001-06-30T00:00:05.549 2001-06-30T00:26:29.549 2001-06-30T00:50:21.549 2001-06-30T11:59:57.543 2001-06-30T12:00:57.543 2001-06-30T23:59:53.537 2001-07-01T00:00:05.537 2001-07-01T04:44:49.534 2001-07-01T04:45:01.534 2001-07-01T04:47:01.534 2001-07-01T04:47:13.534 2001-07-01T11:59:57.531 2001-07-01T12:00:57.531 2001-07-01T23:47:09.525 2001-07-01T23:54:17.524 2001-07-01T23:59:53.524 2001-07-02T00:00:05.524 2001-07-02T11:59:57.518 2001-07-02T12:00:57.518 2001-07-02T23:59:53.512 2001-07-03T00:00:05.512 2001-07-03T11:59:57.506 2001-07-03T12:00:57.506 2001-07-03T23:59:53.500 2001-07-04T00:00:05.500 2001-07-04T11:59:57.494 2001-07-04T12:00:57.494 2001-07-04T18:00:57.491 2001-07-04T18:17:21.491 2001-07-04T23:59:53.488 2001-07-05T00:00:05.488 2001-07-05T05:59:53.485 2001-07-05T06:10:33.484 2001-07-05T06:11:05.484 2001-07-05T06:11:21.484 2001-07-05T11:59:57.482 2001-07-05T12:00:57.481 2001-07-05T23:59:53.475 2001-07-06T00:00:05.475 2001-07-06T11:59:57.469 2001-07-06T12:00:57.469 2001-07-06T23:59:53.463 2001-07-07T00:00:05.463 2001-07-07T08:23:45.459 2001-07-07T08:23:57.459 2001-07-07T11:59:57.457 2001-07-07T12:00:57.457 2001-07-07T23:59:53.451 2001-07-08T00:00:05.451 2001-07-08T11:59:57.444 2001-07-08T12:00:57.444 2001-07-08T23:59:53.438 2001-07-09T00:00:17.438 2001-07-09T11:59:57.432 2001-07-09T12:00:57.432 2001-07-09T22:12:17.427 2001-07-09T22:13:17.427 2001-07-09T23:59:53.426 2001-07-10T00:00:05.426 2001-07-10T11:59:57.420 2001-07-10T12:00:57.420 2001-07-10T23:59:53.413 2001-07-11T00:00:05.413 2001-07-11T11:59:57.407 2001-07-11T12:00:57.407 2001-07-11T23:59:53.401 2001-07-12T00:00:05.401 2001-07-12T11:59:57.395 2001-07-12T12:00:57.395 2001-07-12T23:59:53.389 2001-07-13T00:00:05.389 2001-07-13T11:59:57.382 2001-07-13T12:00:57.382 2001-07-13T23:59:53.376 2001-07-14T00:00:05.376 2001-07-14T11:59:57.370 2001-07-14T12:00:57.370 2001-07-14T23:59:53.364 2001-07-15T00:00:05.364 2001-07-15T11:59:57.358 2001-07-15T12:00:57.358 2001-07-15T23:59:53.352 2001-07-16T00:00:05.352 2001-07-16T00:26:25.351 2001-07-16T00:28:37.351 2001-07-16T11:59:57.345 2001-07-16T12:00:57.345 2001-07-16T23:59:53.339 2001-07-17T00:00:05.339 2001-07-17T11:59:57.333 2001-07-17T12:00:57.333 2001-07-17T23:59:53.327 2001-07-18T00:00:05.327 2001-07-18T00:26:25.327 2001-07-18T00:39:05.326 2001-07-18T00:49:09.326 2001-07-18T00:50:21.326 2001-07-18T00:51:53.326 2001-07-18T04:34:49.324 2001-07-18T04:41:33.324 2001-07-18T05:11:37.324 2001-07-18T11:59:57.321 2001-07-18T12:00:57.321 2001-07-18T23:59:53.314 2001-07-19T00:00:05.314 2001-07-19T11:59:57.308 2001-07-19T12:00:57.308 2001-07-19T23:59:53.302 2001-07-20T00:00:05.302 2001-07-20T11:59:57.296 2001-07-20T12:00:57.296 2001-07-20T15:11:29.294 2001-07-20T15:15:09.294 2001-07-20T23:59:53.290 2001-07-21T00:00:05.290 2001-07-21T11:59:57.283 2001-07-21T12:00:57.283 2001-07-21T23:59:53.277 2001-07-22T00:00:05.277 2001-07-22T11:59:57.271 2001-07-22T12:00:57.271 2001-07-22T23:59:53.265 2001-07-23T00:00:05.265 2001-07-23T11:59:57.259 2001-07-23T12:00:57.259 2001-07-23T23:59:53.253 2001-07-24T00:00:05.253 2001-07-24T00:26:53.252 2001-07-24T00:27:21.252 2001-07-24T01:10:29.252 2001-07-24T01:22:49.252 2001-07-24T11:59:57.246 2001-07-24T12:00:57.246 2001-07-24T23:59:53.240 2001-07-25T00:00:05.248 2001-07-25T01:09:37.247 2001-07-25T01:17:05.247 2001-07-25T11:59:57.242 2001-07-25T12:00:57.242 2001-07-25T22:39:49.236 2001-07-25T22:54:05.236 2001-07-25T23:59:53.236 2001-07-26T00:00:05.236 2001-07-26T11:59:57.222 2001-07-26T12:00:57.222 2001-07-26T23:59:53.215 2001-07-27T00:00:05.215 2001-07-27T06:48:53.212 2001-07-27T06:55:33.212 2001-07-27T11:59:57.209 2001-07-27T12:00:57.209 2001-07-27T23:59:53.203 2001-07-28T00:00:05.203 2001-07-28T00:26:29.203 2001-07-28T00:29:57.203 2001-07-28T00:29:57.203 2001-07-28T00:30:17.203 2001-07-28T00:33:29.203 2001-07-28T00:33:41.203 2001-07-28T11:59:57.197 2001-07-28T12:00:57.197 2001-07-28T23:59:53.191 2001-07-29T00:00:05.191 2001-07-29T00:26:25.190 2001-07-29T00:29:21.190 2001-07-29T00:29:25.190 2001-07-29T00:29:45.190 2001-07-29T01:06:45.190 2001-07-29T01:22:09.190 2001-07-29T11:59:57.184 2001-07-29T12:00:57.184 2001-07-29T23:59:53.178 2001-07-30T00:00:05.178 2001-07-30T08:21:21.174 2001-07-30T08:21:33.174 2001-07-30T11:59:57.172 2001-07-30T12:00:57.172 2001-07-30T23:59:53.166 2001-07-31T00:00:05.166 2001-07-31T11:59:57.160 2001-07-31T12:00:57.160 2001-07-31T23:59:53.154 2001-08-01T00:00:05.154 2001-08-01T11:59:57.147 2001-08-01T12:00:57.147 2001-08-01T13:22:33.147 2001-08-01T13:22:45.147 2001-08-01T23:59:53.141 2001-08-02T00:00:05.141 2001-08-02T11:59:57.135 2001-08-02T12:00:57.135 2001-08-02T23:27:45.129 2001-08-02T23:27:57.129 2001-08-02T23:59:53.129 2001-08-03T00:00:05.129 2001-08-03T00:26:25.129 2001-08-03T01:03:05.128 2001-08-03T11:59:57.123 2001-08-03T12:00:57.123 2001-08-03T23:59:53.116 2001-08-04T00:00:05.116 2001-08-04T11:59:57.110 2001-08-04T12:00:57.110 2001-08-04T17:06:29.108 2001-08-05T00:00:05.104 2001-08-05T09:33:29.099 2001-08-05T09:33:41.099 2001-08-05T09:39:45.099 2001-08-05T09:39:57.099 2001-08-05T11:59:57.098 2001-08-05T12:00:57.098 2001-08-05T17:18:09.095 2001-08-05T17:58:45.095 2001-08-05T22:39:49.092 2001-08-05T22:53:13.092 2001-08-05T23:59:53.092 2001-08-06T00:00:05.092 2001-08-06T11:59:57.085 2001-08-06T12:00:57.085 2001-08-06T22:39:49.080 2001-08-06T22:53:17.080 2001-08-06T23:59:53.079 2001-08-07T00:00:05.079 2001-08-07T08:57:41.075 2001-08-07T09:05:53.075 2001-08-07T11:59:57.073 2001-08-07T12:00:57.073 2001-08-07T18:07:37.070 2001-08-07T22:14:05.068 2001-08-07T22:14:05.068 2001-08-07T22:14:29.068 2001-08-07T22:14:29.068 2001-08-07T22:14:49.068 2001-08-07T22:14:49.068 2001-08-07T22:15:09.068 2001-08-07T22:15:13.068 2001-08-07T22:15:29.068 2001-08-07T22:15:33.068 2001-08-07T22:15:57.068 2001-08-07T22:16:13.068 2001-08-07T22:16:25.068 2001-08-07T22:16:25.068 2001-08-07T22:16:37.068 2001-08-07T22:16:41.068 2001-08-07T22:17:45.068 2001-08-07T22:17:53.068 2001-08-07T22:18:05.068 2001-08-07T22:18:05.068 2001-08-07T22:18:25.068 2001-08-07T22:18:25.068 2001-08-07T22:19:17.068 2001-08-07T23:59:53.067 2001-08-08T00:00:05.067 2001-08-08T11:59:57.061 2001-08-08T12:00:57.061 2001-08-08T23:59:53.055 2001-08-09T00:00:05.055 2001-08-09T11:59:57.048 2001-08-09T12:00:57.048 2001-08-09T22:18:45.043 2001-08-09T22:18:57.043 2001-08-09T22:19:01.043 2001-08-09T22:19:13.043 2001-08-09T22:20:09.043 2001-08-09T22:20:21.043 2001-08-09T23:59:53.042 2001-08-10T00:00:05.042 2001-08-10T11:59:57.036 2001-08-10T12:00:57.036 2001-08-10T23:59:53.030 2001-08-11T00:00:05.030 2001-08-11T11:59:57.024 2001-08-11T12:00:57.024 2001-08-11T23:59:53.017 2001-08-12T00:00:05.017 2001-08-12T11:59:57.011 2001-08-12T12:00:57.011 2001-08-12T21:01:49.007 2001-08-12T21:02:05.007 2001-08-12T23:59:53.005 2001-08-13T00:00:05.005 2001-08-13T02:03:29.004 2001-08-13T02:19:29.004 2001-08-13T02:21:53.004 2001-08-13T02:22:09.004 2001-08-13T02:24:45.004 2001-08-13T02:24:57.004 2001-08-13T02:24:57.004 2001-08-13T02:25:13.004 2001-08-13T02:25:25.004 2001-08-13T02:25:49.004 2001-08-13T02:25:49.004 2001-08-13T02:26:13.004 2001-08-13T02:26:13.004 2001-08-13T02:26:25.004 2001-08-13T02:26:45.004 2001-08-13T02:27:13.004 2001-08-13T02:27:41.004 2001-08-13T02:27:53.004 2001-08-13T02:28:05.004 2001-08-13T02:29:29.004 2001-08-13T02:29:37.004 2001-08-13T02:30:29.004 2001-08-13T11:59:56.999 2001-08-13T12:00:56.999 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2001-09-12T13:54:04.626 2001-09-12T14:40:20.626 2001-09-12T15:15:28.626 2001-09-12T23:59:56.621 2001-09-13T11:34:16.615 2001-09-13T12:16:08.615 2001-09-13T12:18:36.615 2001-09-13T13:27:40.614 2001-09-13T13:32:00.614 2001-09-13T14:13:28.614 2001-09-13T14:16:24.614 2001-09-13T14:16:56.614 2001-09-13T15:07:16.613 2001-09-13T15:08:00.613 2001-09-13T15:08:52.613 2001-09-13T22:53:12.609 2001-09-14T11:59:56.602 2001-09-14T12:00:56.602 2001-09-14T22:39:48.597 2001-09-14T22:53:16.597 2001-09-15T11:59:56.590 2001-09-15T12:00:56.590 2001-09-15T19:33:48.586 2001-09-15T19:34:48.586 2001-09-16T11:59:56.577 2001-09-16T12:00:56.577 2001-09-17T11:59:56.569 2001-09-17T12:00:56.569 2001-09-18T11:36:08.553 2001-09-18T11:39:56.553 2001-09-18T11:59:56.553 2001-09-18T12:00:56.552 2001-09-18T22:33:16.547 2001-09-18T22:53:12.547 2001-09-18T23:59:56.546 " END