KPL/IK RPC Instrument kernel =========================================================================== This instrument kernel (I-kernel) contains RPC sensor parameters and field-of-view definitions. Version and Date --------------------------------------------------------------------------- Version 1.7 -- June 17, 2011 -- Boris Semenov, NAIF Updated comments: documented discrepancy between the sector size keyword name for -226521/IES-E and -226530/ICA (_SECTOR_SIZES) the sector size keyword name for -226522/IES-I (_SECTOR_SIZE). Version 1.6 -- May 27, 2011 -- Boris Semenov, NAIF Fixed error in INS-226522_SECTOR_SIZE: converted negative size values to positive values. Version 1.5 -- October 18, 2006 -- Boris Semenov, NAIF Updated the date of the RPC User Manual release and fixed the typo in the legends of the IES and ICA cross-plane layout ASCII diagrams. Version 1.4 -- September 5, 2006 -- Boris Semenov, NAIF Filled in sector layout information for ICA. Version 1.3 -- August 22, 2006 -- Boris Semenov, NAIF Updated IES ion and electron sensor out-of-plane sector counts and sector view directions and sizes based on [8]. Version 1.2 -- May 1, 2006 -- Boris Semenov, NAIF Filled in sector layout information for IES ion and electron sensors. Version 1.1 -- May 31, 2005 -- Boris Semenov, NAIF Updated RPC/MAG instrument names based on the feedback comments from Dr. Ingo Richter [7]. Version 1.0 -- March 15, 2005 -- Boris Semenov, NAIF/JPL Version number change for the first official release. Version 0.1 -- September 24, 2004 -- Boris Semenov, NAIF/JPL Initial release. Version 0.0 -- September 24, 2004 -- Boris Semenov, NAIF/JPL This version number was skipped. References --------------------------------------------------------------------------- 1. ``Kernel Pool Required Reading'' 2. ``C-kernel Required Reading'' 3. ``RPC EID, Part B'', ROS-EST-RO-3012/EID B, 2001-05-15 4. Rosetta Frames Definition Kernel (FK), latest version. 5. ``RPC User Manual'', RO-RPC-UM, 11-Nov-2005 6. ESA Science and Technology Web Server, Rosetta Instruments Area, http://sci.esa.int/science-e/www/object/index.cfm?fobjectid=35061 7. E-mail "ROSETTA RPC-MAG FK / IK Comments" from Dr. Ingo Richter, 2005/04/19. 8. E-mails from Raymond Goldstein and Aimee Mostella, SWRI, August 2006. 9. RPC-ICA-EAICD, November 5, 2003 Implementation Notes -------------------------------------------------------- Applications that need SPICE I-kernel data must ``load'' the I-kernel file, normally during program initialization. Loading the kernel using the SPICELIB routine FURNSH causes the data items and their associated values present in the kernel to become associated with a data structure called the ``kernel pool''. The application program may then obtain the value(s) for any IK data item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL. Routine GETFOV may be used if the file contains instrument field-of-view (FOV) specification. See [1] for details. This file was created with, and can be updated with a text editor or word processor. Conventions for Specifying Data -------------------------------------------------------- Data items are specified using ``keyword=value'' assignments [1]. All keywords referencing values in this I-kernel start with the characters `INS' followed by the NAIF Rosetta instrument ID code, constructed using the spacecraft ID number (-226) followed by the NAIF three digit ID number for RPC sensor or structure. The IDs for RPC are defined in [4] as follows: Instrument name ID -------------------- ------- ROS_RPC -226500 ROS_RPC_LAP1 -226511 ROS_RPC_LAP2 -226512 ROS_RPC_LAP1_URF -226515 ROS_RPC_LAP2_URF -226516 ROS_RPC_IES -226520 ROS_RPC_IES_ELECTRON -226521 ROS_RPC_IES_ION -226522 ROS_RPC_IES_URF -226525 ROS_RPC_IES_QUAD1 -226526 (*) ROS_RPC_IES_QUAD2 -226527 (*) ROS_RPC_IES_QUAD3 -226528 (*) ROS_RPC_IES_QUAD4 -226529 (*) ROS_RPC_ICA -226530 ROS_RPC_ICA_URF -226535 ROS_RPC_ICA_QUAD1 -226536 (*) ROS_RPC_ICA_QUAD2 -226537 (*) ROS_RPC_ICA_QUAD3 -226538 (*) ROS_RPC_ICA_QUAD4 -226539 (*) ROS_RPC_MAG_OB -226541 ROS_RPC_MAG_IB -226542 ROS_RPC_MAG_OB_URF -226545 ROS_RPC_MAG_IB_URF -226546 ROS_RPC_MIP -226550 ROS_RPC_MIP_R1 -226551 ROS_RPC_MIP_T1 -226552 ROS_RPC_MIP_T2 -226553 ROS_RPC_MIP_R2 -226554 ROS_RPC_MIP_URF -226555 ROS_RPC_BOOM1 -226560 ROS_RPC_BOOM2 -226570 (*) The "_QUAD#" names and IDs for IES and ICA do not correspond to any of the sensor's physical structures. They are introduced to make possible an approximation of the sensor's FOV with four rectangular 90 x 90 degrees quadrants. The remainder of the keyword is an underscore character followed by the unique name of the data item. For example, the boresight of the RPC ICA QUAD3 FOV is specified by INS-226538_BORESIGHT The upper bound on the length of all keywords is 32 characters. If a keyword is included in more than one file, or if the same keyword appears more than once within a single file, the last assignment supersedes any earlier assignments. Overview -------------------------------------------------------- From [6]: RPC (Rosetta Plasma Consortium) is a set of five instruments sharing a common electrical and data interface with the Rosetta orbiter. The RPC instruments are designed to make complementary measurements of the plasma environment around comet 67P/Churyumov-Gerasimenko. The RPC instruments are: * an Ion Composition Analyser, which measures the three-dimensional velocity distribution and mass distribution of positive ions; * an Ion and Electron Sensor, which will simultaneously measure the flux of electrons and ions in the plasma surrounding the comet,; * a Langmuir Probe, which will measure the density, temperature and flow velocity of the cometary plasma ; * a Fluxgate Magnetometer, which will measure the magnetic field in the region where the solar wind plasma interacts with the comet; and * a Mutual Impedance Probe, which will derive the electron gas density, temperature, and drift velocity in the inner coma of the comet. Mounting Alignment -------------------------------------------------------- Refer to the latest version of the Rosetta Frames Definition Kernel (FK) [4] for the RPC reference frame definitions and mounting alignment information. Boom-Mounted Sensor Locations -------------------------------------------------------- The locations of the boom-mounted RPC sensors -- MIP, MAG_OB/MAG_IB, and LAP1/LAP2 -- are provided in the Rosetta structures SPK file. Refer to the comments in that file for specifics of the data stored in it and for recipes for using that data. Sensor Sector Layout -------------------------------------------------------- This section contains assignments specifying the sensor layout by defining individual sector view directions for IES and ICA sensors. The combined aperture of each of the sensors is broken down into a number of equally or unequally spaced sectors to achieve the necessary spatial resolution within the sensor's sensor plane and in the direction normal to it. This table summarizes the individual sensor sector layout (based on [5]): --------- --------------------- --------------------- Sensor Number of Sectors Sector size, deg Name in-plane cross-plane in-plane cross-plane --------- -------- ----------- ---------- ----------- IES/E 16 16(2) 22.5 5.0 IES/I 16 16(2) 45.0/5.0(1) 5.0 ICA 16 16 22.5 4.5 --------- --------------------- --------------------- (1) IES/Ion has seven 45 degree sectors and nine 5 degree sectors. (2) While most of the IES documentation puts the number of cross-plane sectors at 18, for engineering reasons the instrument was configured to have have only 16 cross-plane sectors the with center view directions 6 degrees apart ([8]). The parameters from the table are provided for each sensor using the following keywords: NUMBER_OF_SECTORS -- contains two integers for in-plane and cross-plane sector numbers SECTOR_SIZE -- if all sectors have the same size, contains SECTOR_SIZES only two numbers (in-plane and cross-plane sector size in degrees); if sectors have different sizes, contains in-plane and cross-plane sector size in degrees for each sector. SECTOR_SIZE keyword is used for IES/I (-226522) SECTOR_SIZES keyword is used for IES/E (-226521) and ICA (-226530) FRAME -- contains the name of the frame in which the sector view directions are defined SECTOR_DIRECTIONS -- contains sector center view directions for each sector in the sensor symmetry plane. The order of vectors in the SECTOR_DIRECTIONS is different for different sensors. It is described for each particular sensor in that sensor's section of this IK. Section "IK Code Example" provided at the bottom of file includes a example C function and an example FORTRAN subroutine that can be used to retrieve values of these parameters for a specifies sensor. IES/Electron Sector Layout The IES/Electron Sector's 360.0 x 90.0 degrees aperture is split into 256 sectors -- 16 in-plane (azimuthal) by 16 cross-plane (polar). In the in-plane direction the sectors are numbered from 0 to 15, in the cross-plane direction the sectors are also numbered 0 to 15. All 16 in-plane sectors are 22.5 degrees wide with their center view directions 22.5 degrees apart. In the cross-plane direction all sectors have the same size of 5 degrees with their center view directions 6 degrees apart. In-plane the "view direction" of each sector is looking inwards, from the sector position through the center of the aperture. This diagram illustrates in-plane (azimuthal) IES/Electron sector layout: ^ +Yies | A# indicate the azimuthal V12 | V11 sector # position in V13 ....|.... V10 the sensor assembly. .' A4 | A3 `. V14.' A5 | A2`. V9 V# indicate the # sector . A6 | A1. view direction. V15. | . V8 .A7 | A0. For example, for . o--------------> +Xies Sector 2 the view .A8 / +Zies A15. direction is the vector V0 . / . V7 emanating from the .A9 / A14. aperture center through V1 .A10 / A13. V6 the point designated `. / A11 A12 .' by V2. V2 `......... ' V5 / V3 V4 V Azimuthal sector "3" view direction This diagram illustrates cross-plane (polar) IES/Electron Sensor sector layout: +Yies Polar Sector "3" ^ ^ view dir. P# indicate the polar V8 | V7 / sector # position in .----|----. V3 the sensor assembly. V15 ,-' P8|P7 `/. V0 .' | P3 `. `.P15 | / P0.' V# indicate the # sector `. | / .' view direction. `. | / .' `. | / .' For example, for polar `. |/.' Sector 3 the view <-------------`o'+Xies direction is the vector +Zies .' `. emanating from the .' `. aperture center through .' `. the point designated .' `. by V3. .'P15 P0`. `. .' V15 `-. P8 P7 ,-' V0 `---------' V8 V7 In the keywords below the sector sizes and view directions are listed plane-by-plane, i.e. the first 16 vectors in the array are for azimuthal sectors 0 through 15 in polar plane 0, the next 16 vectors -- azimuthal sectors 0 through 15 in polar plane 1, and so on. The sector view direction are defined in the IES frame (ROS_RPC_IES). \begindata INS-226521_NUMBER_OF_SECTORS = ( 16, 16 ) INS-226521_SECTOR_SIZES = ( 22.50000000 5.00000000 ) INS-226521_FRAME = 'ROS_RPC_IES' INS-226521_SECTOR_DIRECTIONS = ( -0.69351992 -0.13794969 -0.70710678 -0.58793780 -0.39284748 -0.70710678 -0.39284748 -0.58793780 -0.70710678 -0.13794969 -0.69351992 -0.70710678 0.13794969 -0.69351992 -0.70710678 0.39284748 -0.58793780 -0.70710678 0.58793780 -0.39284748 -0.70710678 0.69351992 -0.13794969 -0.70710678 0.69351992 0.13794969 -0.70710678 0.58793780 0.39284748 -0.70710678 0.39284748 0.58793780 -0.70710678 0.13794969 0.69351992 -0.70710678 -0.13794969 0.69351992 -0.70710678 -0.39284748 0.58793780 -0.70710678 -0.58793780 0.39284748 -0.70710678 -0.69351992 0.13794969 -0.70710678 -0.76221332 -0.15161366 -0.62932039 -0.64617325 -0.43175916 -0.62932039 -0.43175916 -0.64617325 -0.62932039 -0.15161366 -0.76221332 -0.62932039 0.15161366 -0.76221332 -0.62932039 0.43175916 -0.64617325 -0.62932039 0.64617325 -0.43175916 -0.62932039 0.76221332 -0.15161366 -0.62932039 0.76221332 0.15161366 -0.62932039 0.64617325 0.43175916 -0.62932039 0.43175916 0.64617325 -0.62932039 0.15161366 0.76221332 -0.62932039 -0.15161366 0.76221332 -0.62932039 -0.43175916 0.64617325 -0.62932039 -0.64617325 0.43175916 -0.62932039 -0.76221332 0.15161366 -0.62932039 -0.82255575 -0.16361651 -0.54463904 -0.69732909 -0.46594040 -0.54463904 -0.46594040 -0.69732909 -0.54463904 -0.16361651 -0.82255575 -0.54463904 0.16361651 -0.82255575 -0.54463904 0.46594040 -0.69732909 -0.54463904 0.69732909 -0.46594040 -0.54463904 0.82255575 -0.16361651 -0.54463904 0.82255575 0.16361651 -0.54463904 0.69732909 0.46594040 -0.54463904 0.46594040 0.69732909 -0.54463904 0.16361651 0.82255575 -0.54463904 -0.16361651 0.82255575 -0.54463904 -0.46594040 0.69732909 -0.54463904 -0.69732909 0.46594040 -0.54463904 -0.82255575 0.16361651 -0.54463904 -0.87388608 -0.17382675 -0.45399050 -0.74084485 -0.49501670 -0.45399050 -0.49501670 -0.74084485 -0.45399050 -0.17382675 -0.87388608 -0.45399050 0.17382675 -0.87388608 -0.45399050 0.49501670 -0.74084485 -0.45399050 0.74084485 -0.49501670 -0.45399050 0.87388608 -0.17382675 -0.45399050 0.87388608 0.17382675 -0.45399050 0.74084485 0.49501670 -0.45399050 0.49501670 0.74084485 -0.45399050 0.17382675 0.87388608 -0.45399050 -0.17382675 0.87388608 -0.45399050 -0.49501670 0.74084485 -0.45399050 -0.74084485 0.49501670 -0.45399050 -0.87388608 0.17382675 -0.45399050 -0.91564194 -0.18213251 -0.35836795 -0.77624376 -0.51866950 -0.35836795 -0.51866950 -0.77624376 -0.35836795 -0.18213251 -0.91564194 -0.35836795 0.18213251 -0.91564194 -0.35836795 0.51866950 -0.77624376 -0.35836795 0.77624376 -0.51866950 -0.35836795 0.91564194 -0.18213251 -0.35836795 0.91564194 0.18213251 -0.35836795 0.77624376 0.51866950 -0.35836795 0.51866950 0.77624376 -0.35836795 0.18213251 0.91564194 -0.35836795 -0.18213251 0.91564194 -0.35836795 -0.51866950 0.77624376 -0.35836795 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0.82123284 -0.15643447 0.19268844 0.96871019 -0.15643447 -0.19268844 0.96871019 -0.15643447 -0.54873024 0.82123284 -0.15643447 -0.82123284 0.54873024 -0.15643447 -0.96871019 0.19268844 -0.15643447 -0.97944115 -0.19482296 -0.05233596 -0.83033011 -0.55480884 -0.05233596 -0.55480884 -0.83033011 -0.05233596 -0.19482296 -0.97944115 -0.05233596 0.19482296 -0.97944115 -0.05233596 0.55480884 -0.83033011 -0.05233596 0.83033011 -0.55480884 -0.05233596 0.97944115 -0.19482296 -0.05233596 0.97944115 0.19482296 -0.05233596 0.83033011 0.55480884 -0.05233596 0.55480884 0.83033011 -0.05233596 0.19482296 0.97944115 -0.05233596 -0.19482296 0.97944115 -0.05233596 -0.55480884 0.83033011 -0.05233596 -0.83033011 0.55480884 -0.05233596 -0.97944115 0.19482296 -0.05233596 -0.97944115 -0.19482296 0.05233596 -0.83033011 -0.55480884 0.05233596 -0.55480884 -0.83033011 0.05233596 -0.19482296 -0.97944115 0.05233596 0.19482296 -0.97944115 0.05233596 0.55480884 -0.83033011 0.05233596 0.83033011 -0.55480884 0.05233596 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-0.82255575 0.16361651 0.54463904 -0.76221332 -0.15161366 0.62932039 -0.64617325 -0.43175916 0.62932039 -0.43175916 -0.64617325 0.62932039 -0.15161366 -0.76221332 0.62932039 0.15161366 -0.76221332 0.62932039 0.43175916 -0.64617325 0.62932039 0.64617325 -0.43175916 0.62932039 0.76221332 -0.15161366 0.62932039 0.76221332 0.15161366 0.62932039 0.64617325 0.43175916 0.62932039 0.43175916 0.64617325 0.62932039 0.15161366 0.76221332 0.62932039 -0.15161366 0.76221332 0.62932039 -0.43175916 0.64617325 0.62932039 -0.64617325 0.43175916 0.62932039 -0.76221332 0.15161366 0.62932039 -0.69351992 -0.13794969 0.70710678 -0.58793780 -0.39284748 0.70710678 -0.39284748 -0.58793780 0.70710678 -0.13794969 -0.69351992 0.70710678 0.13794969 -0.69351992 0.70710678 0.39284748 -0.58793780 0.70710678 0.58793780 -0.39284748 0.70710678 0.69351992 -0.13794969 0.70710678 0.69351992 0.13794969 0.70710678 0.58793780 0.39284748 0.70710678 0.39284748 0.58793780 0.70710678 0.13794969 0.69351992 0.70710678 -0.13794969 0.69351992 0.70710678 -0.39284748 0.58793780 0.70710678 -0.58793780 0.39284748 0.70710678 -0.69351992 0.13794969 0.70710678 ) \begintext IES/Ion Sector Layout The IES/Ion Sector's 360.0 x 90.0 degrees aperture is split into 256 sectors -- 16 in-plane (azimuthal) by 16 cross-plane (polar). In the in-plane direction the sectors are numbered from 0 to 15, in the cross-plane direction the sectors are numbered 0 to 15. Not all 16 in-plane sectors have the same size: seven of them -- sectors 0-2 and 12-15 -- are 45 degrees wide while the other nine -- sectors 3-11 -- are 5 degrees wide. In the cross-plane direction all sectors have the same size of 5 degrees with their center view directions 6 degrees apart. In-plane the "view direction" of each sector is looking inwards, from the sector position through the center of the aperture. This diagram illustrates in-plane (azimuthal) IES/Ion sector layout: +Yies ^ | A# indicate the azimuthal | sector # position in V15 ....|.... V0 the sensor assembly. .' A7 A11 `. .' A3 | A12 `. V# indicate the # sector V14. | . V1 view direction. . A2 | A13 . . | . +Xies For example, for . o--------------> Sector 12 the view . / +Zies . direction is the vector . A1 / A14 . emanating from the V13. / . V2 aperture center through . / . the point designated `.A0 A15.' by V12. V12 ......... ' V3 / V11 V7 V Azimuthal sector "12" view direction This diagram illustrates cross-plane (polar) IES/Ion Sensor sector layout: +Yies Polar Sector "3" ^ ^ view dir. P# indicate the polar V8 | V7 / sector # position in .----|----. V3 the sensor assembly. V15 ,-' P8|P7 `/. V0 .' | P3 `. `.P15 | / P0.' V# indicate the # sector `. | / .' view direction. `. | / .' `. | / .' For example, for polar `. |/.' Sector 3 the view <-------------`o'+Xies direction is the vector +Zies .' `. emanating from the .' `. aperture center through .' `. the point designated .' `. by V3. .'P15 P0`. `. .' V15 `-. P8 P7 ,-' V0 `---------' V8 V7 In the keywords below the sector sizes and view directions are listed plane-by-plane, i.e. the first 16 vectors in the array are for azimuthal sectors 0 through 15 in polar plane 0, the next 16 vectors -- azimuthal sectors 0 through 15 in polar plane 1, and so on. The sector view direction are defined in the IES frame (ROS_RPC_IES). \begindata INS-226522_NUMBER_OF_SECTORS = ( 16, 16 ) INS-226522_SECTOR_SIZE = ( 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 45.00000000 5.00000000 ) INS-226522_FRAME = 'ROS_RPC_IES' INS-226522_SECTOR_DIRECTIONS = ( 0.27059805 0.65328148 -0.70710678 0.65328148 0.27059805 -0.70710678 0.65328148 -0.27059805 -0.70710678 0.47771442 -0.52133380 -0.70710678 0.43045933 -0.56098553 -0.70710678 0.37992820 -0.59636781 -0.70710678 0.32650558 -0.62721138 -0.70710678 0.27059805 -0.65328148 -0.70710678 0.21263111 -0.67437972 -0.70710678 0.15304592 -0.69034553 -0.70710678 0.09229596 -0.70105738 -0.70710678 0.03084356 -0.70643377 -0.70710678 -0.27059805 -0.65328148 -0.70710678 -0.65328148 -0.27059805 -0.70710678 -0.65328148 0.27059805 -0.70710678 -0.27059805 0.65328148 -0.70710678 0.29740088 0.71798925 -0.62932039 0.71798925 0.29740088 -0.62932039 0.71798925 -0.29740088 -0.62932039 0.52503220 -0.57297210 -0.62932039 0.47309649 -0.61655134 -0.62932039 0.41756022 -0.65543826 -0.62932039 0.35884607 -0.68933689 -0.62932039 0.29740088 -0.71798925 -0.62932039 0.23369230 -0.74117728 -0.62932039 0.16820517 -0.75872450 -0.62932039 0.10143790 -0.77049737 -0.62932039 0.03389863 -0.77640629 -0.62932039 -0.29740088 -0.71798925 -0.62932039 -0.71798925 -0.29740088 -0.62932039 -0.71798925 0.29740088 -0.62932039 -0.29740088 0.71798925 -0.62932039 0.32094533 0.77483057 -0.54463904 0.77483057 0.32094533 -0.54463904 0.77483057 -0.32094533 -0.54463904 0.56659762 -0.61833280 -0.54463904 0.51055029 -0.66536210 -0.54463904 0.45061737 -0.70732758 -0.54463904 0.38725497 -0.74390988 -0.54463904 0.32094533 -0.77483057 -0.54463904 0.25219310 -0.79985434 -0.54463904 0.18152153 -0.81879073 -0.54463904 0.10946848 -0.83149562 -0.54463904 0.03658230 -0.83787234 -0.54463904 -0.32094533 -0.77483057 -0.54463904 -0.77483057 -0.32094533 -0.54463904 -0.77483057 0.32094533 -0.54463904 -0.32094533 0.77483057 -0.54463904 0.34097343 0.82318269 -0.45399050 0.82318269 0.34097343 -0.45399050 0.82318269 -0.34097343 -0.45399050 0.60195528 -0.65691892 -0.45399050 0.54241040 -0.70688300 -0.45399050 0.47873746 -0.75146728 -0.45399050 0.41142103 -0.79033244 -0.45399050 0.34097343 -0.82318269 -0.45399050 0.26793083 -0.84976803 -0.45399050 0.19284911 -0.86988611 -0.45399050 0.11629969 -0.88338384 -0.45399050 0.03886516 -0.89015848 -0.45399050 -0.34097343 -0.82318269 -0.45399050 -0.82318269 -0.34097343 -0.45399050 -0.82318269 0.34097343 -0.45399050 -0.34097343 0.82318269 -0.45399050 0.35726576 0.86251585 -0.35836795 0.86251585 0.35726576 -0.35836795 0.86251585 -0.35726576 -0.35836795 0.63071779 -0.68830769 -0.35836795 0.56832775 -0.74065915 -0.35836795 0.50161240 -0.78737375 -0.35836795 0.43107947 -0.82809595 -0.35836795 0.35726576 -0.86251585 -0.35836795 0.28073305 -0.89037148 -0.35836795 0.20206379 -0.91145084 -0.35836795 0.12185670 -0.92559352 -0.35836795 0.04072221 -0.93269186 -0.35836795 -0.35726576 -0.86251585 -0.35836795 -0.86251585 -0.35726576 -0.35836795 -0.86251585 0.35726576 -0.35836795 -0.35726576 0.86251585 -0.35836795 0.36964381 0.89239910 -0.25881905 0.89239910 0.36964381 -0.25881905 0.89239910 -0.36964381 -0.25881905 0.65257003 -0.71215522 -0.25881905 0.58801839 -0.76632048 -0.25881905 0.51899157 -0.81465358 -0.25881905 0.44601491 -0.85678667 -0.25881905 0.36964381 -0.89239910 -0.25881905 0.29045950 -0.92121983 -0.25881905 0.20906461 -0.94302953 -0.25881905 0.12607862 -0.95766220 -0.25881905 0.04213309 -0.96500648 -0.25881905 -0.36964381 -0.89239910 -0.25881905 -0.89239910 -0.36964381 -0.25881905 -0.89239910 0.36964381 -0.25881905 -0.36964381 0.89239910 -0.25881905 0.37797196 0.91250504 -0.15643447 0.91250504 0.37797196 -0.15643447 0.91250504 -0.37797196 -0.15643447 0.66727257 -0.72820023 -0.15643447 0.60126657 -0.78358584 -0.15643447 0.53068456 -0.83300790 -0.15643447 0.45606372 -0.87609026 -0.15643447 0.37797196 -0.91250504 -0.15643447 0.29700361 -0.94197511 -0.15643447 0.21377488 -0.96427618 -0.15643447 0.12891920 -0.97923853 -0.15643447 0.04308236 -0.98674828 -0.15643447 -0.37797196 -0.91250504 -0.15643447 -0.91250504 -0.37797196 -0.15643447 -0.91250504 0.37797196 -0.15643447 -0.37797196 0.91250504 -0.15643447 0.38215898 0.92261339 -0.05233596 0.92261339 0.38215898 -0.05233596 0.92261339 -0.38215898 -0.05233596 0.67466433 -0.73626692 -0.05233596 0.60792714 -0.79226608 -0.05233596 0.53656326 -0.84223561 -0.05233596 0.46111580 -0.88579522 -0.05233596 0.38215898 -0.92261339 -0.05233596 0.30029369 -0.95240991 -0.05233596 0.21614299 -0.97495803 -0.05233596 0.13034731 -0.99008612 -0.05233596 0.04355961 -0.99767906 -0.05233596 -0.38215898 -0.92261339 -0.05233596 -0.92261339 -0.38215898 -0.05233596 -0.92261339 0.38215898 -0.05233596 -0.38215898 0.92261339 -0.05233596 0.38215898 0.92261339 0.05233596 0.92261339 0.38215898 0.05233596 0.92261339 -0.38215898 0.05233596 0.67466433 -0.73626692 0.05233596 0.60792714 -0.79226608 0.05233596 0.53656326 -0.84223561 0.05233596 0.46111580 -0.88579522 0.05233596 0.38215898 -0.92261339 0.05233596 0.30029369 -0.95240991 0.05233596 0.21614299 -0.97495803 0.05233596 0.13034731 -0.99008612 0.05233596 0.04355961 -0.99767906 0.05233596 -0.38215898 -0.92261339 0.05233596 -0.92261339 -0.38215898 0.05233596 -0.92261339 0.38215898 0.05233596 -0.38215898 0.92261339 0.05233596 0.37797196 0.91250504 0.15643447 0.91250504 0.37797196 0.15643447 0.91250504 -0.37797196 0.15643447 0.66727257 -0.72820023 0.15643447 0.60126657 -0.78358584 0.15643447 0.53068456 -0.83300790 0.15643447 0.45606372 -0.87609026 0.15643447 0.37797196 -0.91250504 0.15643447 0.29700361 -0.94197511 0.15643447 0.21377488 -0.96427618 0.15643447 0.12891920 -0.97923853 0.15643447 0.04308236 -0.98674828 0.15643447 -0.37797196 -0.91250504 0.15643447 -0.91250504 -0.37797196 0.15643447 -0.91250504 0.37797196 0.15643447 -0.37797196 0.91250504 0.15643447 0.36964381 0.89239910 0.25881905 0.89239910 0.36964381 0.25881905 0.89239910 -0.36964381 0.25881905 0.65257003 -0.71215522 0.25881905 0.58801839 -0.76632048 0.25881905 0.51899157 -0.81465358 0.25881905 0.44601491 -0.85678667 0.25881905 0.36964381 -0.89239910 0.25881905 0.29045950 -0.92121983 0.25881905 0.20906461 -0.94302953 0.25881905 0.12607862 -0.95766220 0.25881905 0.04213309 -0.96500648 0.25881905 -0.36964381 -0.89239910 0.25881905 -0.89239910 -0.36964381 0.25881905 -0.89239910 0.36964381 0.25881905 -0.36964381 0.89239910 0.25881905 0.35726576 0.86251585 0.35836795 0.86251585 0.35726576 0.35836795 0.86251585 -0.35726576 0.35836795 0.63071779 -0.68830769 0.35836795 0.56832775 -0.74065915 0.35836795 0.50161240 -0.78737375 0.35836795 0.43107947 -0.82809595 0.35836795 0.35726576 -0.86251585 0.35836795 0.28073305 -0.89037148 0.35836795 0.20206379 -0.91145084 0.35836795 0.12185670 -0.92559352 0.35836795 0.04072221 -0.93269186 0.35836795 -0.35726576 -0.86251585 0.35836795 -0.86251585 -0.35726576 0.35836795 -0.86251585 0.35726576 0.35836795 -0.35726576 0.86251585 0.35836795 0.34097343 0.82318269 0.45399050 0.82318269 0.34097343 0.45399050 0.82318269 -0.34097343 0.45399050 0.60195528 -0.65691892 0.45399050 0.54241040 -0.70688300 0.45399050 0.47873746 -0.75146728 0.45399050 0.41142103 -0.79033244 0.45399050 0.34097343 -0.82318269 0.45399050 0.26793083 -0.84976803 0.45399050 0.19284911 -0.86988611 0.45399050 0.11629969 -0.88338384 0.45399050 0.03886516 -0.89015848 0.45399050 -0.34097343 -0.82318269 0.45399050 -0.82318269 -0.34097343 0.45399050 -0.82318269 0.34097343 0.45399050 -0.34097343 0.82318269 0.45399050 0.32094533 0.77483057 0.54463904 0.77483057 0.32094533 0.54463904 0.77483057 -0.32094533 0.54463904 0.56659762 -0.61833280 0.54463904 0.51055029 -0.66536210 0.54463904 0.45061737 -0.70732758 0.54463904 0.38725497 -0.74390988 0.54463904 0.32094533 -0.77483057 0.54463904 0.25219310 -0.79985434 0.54463904 0.18152153 -0.81879073 0.54463904 0.10946848 -0.83149562 0.54463904 0.03658230 -0.83787234 0.54463904 -0.32094533 -0.77483057 0.54463904 -0.77483057 -0.32094533 0.54463904 -0.77483057 0.32094533 0.54463904 -0.32094533 0.77483057 0.54463904 0.29740088 0.71798925 0.62932039 0.71798925 0.29740088 0.62932039 0.71798925 -0.29740088 0.62932039 0.52503220 -0.57297210 0.62932039 0.47309649 -0.61655134 0.62932039 0.41756022 -0.65543826 0.62932039 0.35884607 -0.68933689 0.62932039 0.29740088 -0.71798925 0.62932039 0.23369230 -0.74117728 0.62932039 0.16820517 -0.75872450 0.62932039 0.10143790 -0.77049737 0.62932039 0.03389863 -0.77640629 0.62932039 -0.29740088 -0.71798925 0.62932039 -0.71798925 -0.29740088 0.62932039 -0.71798925 0.29740088 0.62932039 -0.29740088 0.71798925 0.62932039 0.27059805 0.65328148 0.70710678 0.65328148 0.27059805 0.70710678 0.65328148 -0.27059805 0.70710678 0.47771442 -0.52133380 0.70710678 0.43045933 -0.56098553 0.70710678 0.37992820 -0.59636781 0.70710678 0.32650558 -0.62721138 0.70710678 0.27059805 -0.65328148 0.70710678 0.21263111 -0.67437972 0.70710678 0.15304592 -0.69034553 0.70710678 0.09229596 -0.70105738 0.70710678 0.03084356 -0.70643377 0.70710678 -0.27059805 -0.65328148 0.70710678 -0.65328148 -0.27059805 0.70710678 -0.65328148 0.27059805 0.70710678 -0.27059805 0.65328148 0.70710678 ) \begintext ICA Sector Layout The ICA's 360.0 x 72.00 degrees aperture is split into 256 sectors -- 16 in-plane (azimuthal) by 16 cross-plane (polar). In the in-plane direction the sectors are numbered from 0 to 15, in the cross-plane direction the sectors are also numbered 0 to 15. All 16 in-plane sectors are 22.5 degrees wide with their center view directions 22.5 degrees apart. In the cross-plane direction all sectors have the same size of 4.5 degrees with their center view directions 4.5 degrees apart. In-plane the "view direction" of each sector is looking inwards, from the sector position through the center of the aperture. This diagram illustrates in-plane (azimuthal) ICA sector layout (based on Figures 2 and 3 from [9]): A# indicate the azimuthal V5 V4 sector # position in V6 ......... V3 the sensor assembly. .' A13 A12`. V7 .' A14 A11`. V2 V# indicate the # sector . A15 A10. view direction. V8 . . V1 .A0 A9. For example, for +Xica <--------------o . Sector 11 the view .A1 /|+Zica A8. direction is the vector V9 . / | . V0 emanating from the .A2 / | A7. aperture center through V10 . A3 / | A6 . V15 the point designated `. / A4 | A5 .' by V11. V11 `....|.... ' V14 / V12| V13 V | Azimuthal sector V +Yica "11" view direction This diagram illustrates cross-plane (polar) ICA Sensor sector layout (based on Figure 2 from [9]): +Yica Polar Sector "3" ^ ^ view dir. A# indicate the polar V8 | V7 / sector # position in .----|----. V3 the sensor assembly. V15 ,-' P8|P7 `/. V0 .' | P3 `. `.P15 | / P0.' V# indicate the # sector `. | / .' view direction. `. | / .' `. | / .' For example, for polar `. |/.' Sector 3 the view <-------------`o'+Xica direction is the vector +Zica .' `. emanating from the .' `. aperture center through .' `. the point designated .' `. by V3. .'P15 P0`. `. .' V15 `-. P8 P7 ,-' V0 `---------' V8 V7 In the keywords below the sector sizes and view directions are listed plane-by-plane, i.e. the first 16 vectors in the array are for azimuthal sectors 0 through 15 in polar plane 0, the next 16 vectors -- azimuthal sectors 0 through 15 in polar plane 1, and so on. The sector view directions are defined in the ICA frame (ROS_RPC_ICA). \begindata INS-226530_NUMBER_OF_SECTORS = ( 16, 16 ) INS-226530_SECTOR_SIZES = ( 22.50000000 4.50000000 ) INS-226530_FRAME = 'ROS_RPC_ICA' INS-226530_SECTOR_DIRECTIONS = ( -0.81549316 0.16221167 -0.55557023 -0.81549316 -0.16221167 -0.55557023 -0.69134172 -0.46193977 -0.55557023 -0.46193977 -0.69134172 -0.55557023 -0.16221167 -0.81549316 -0.55557023 0.16221167 -0.81549316 -0.55557023 0.46193977 -0.69134172 -0.55557023 0.69134172 -0.46193977 -0.55557023 0.81549316 -0.16221167 -0.55557023 0.81549316 0.16221167 -0.55557023 0.69134172 0.46193977 -0.55557023 0.46193977 0.69134172 -0.55557023 0.16221167 0.81549316 -0.55557023 -0.16221167 0.81549316 -0.55557023 -0.46193977 0.69134172 -0.55557023 -0.69134172 0.46193977 -0.55557023 -0.85573124 0.17021553 -0.48862124 -0.85573124 -0.17021553 -0.48862124 -0.72545392 -0.48473281 -0.48862124 -0.48473281 -0.72545392 -0.48862124 -0.17021553 -0.85573124 -0.48862124 0.17021553 -0.85573124 -0.48862124 0.48473281 -0.72545392 -0.48862124 0.72545392 -0.48473281 -0.48862124 0.85573124 -0.17021553 -0.48862124 0.85573124 0.17021553 -0.48862124 0.72545392 0.48473281 -0.48862124 0.48473281 0.72545392 -0.48862124 0.17021553 0.85573124 -0.48862124 -0.17021553 0.85573124 -0.48862124 -0.48473281 0.72545392 -0.48862124 -0.72545392 0.48473281 -0.48862124 -0.89069346 0.17716994 -0.41865974 -0.89069346 -0.17716994 -0.41865974 -0.75509345 -0.50453731 -0.41865974 -0.50453731 -0.75509345 -0.41865974 -0.17716994 -0.89069346 -0.41865974 0.17716994 -0.89069346 -0.41865974 0.50453731 -0.75509345 -0.41865974 0.75509345 -0.50453731 -0.41865974 0.89069346 -0.17716994 -0.41865974 0.89069346 0.17716994 -0.41865974 0.75509345 0.50453731 -0.41865974 0.50453731 0.75509345 -0.41865974 0.17716994 0.89069346 -0.41865974 -0.17716994 0.89069346 -0.41865974 -0.50453731 0.75509345 -0.41865974 -0.75509345 0.50453731 -0.41865974 -0.92016425 0.18303205 -0.34611706 -0.92016425 -0.18303205 -0.34611706 -0.78007759 -0.52123118 -0.34611706 -0.52123118 -0.78007759 -0.34611706 -0.18303205 -0.92016425 -0.34611706 0.18303205 -0.92016425 -0.34611706 0.52123118 -0.78007759 -0.34611706 0.78007759 -0.52123118 -0.34611706 0.92016425 -0.18303205 -0.34611706 0.92016425 0.18303205 -0.34611706 0.78007759 0.52123118 -0.34611706 0.52123118 0.78007759 -0.34611706 0.18303205 0.92016425 -0.34611706 -0.18303205 0.92016425 -0.34611706 -0.52123118 0.78007759 -0.34611706 -0.78007759 0.52123118 -0.34611706 -0.94396193 0.18776570 -0.27144045 -0.94396193 -0.18776570 -0.27144045 -0.80025228 -0.53471148 -0.27144045 -0.53471148 -0.80025228 -0.27144045 -0.18776570 -0.94396193 -0.27144045 0.18776570 -0.94396193 -0.27144045 0.53471148 -0.80025228 -0.27144045 0.80025228 -0.53471148 -0.27144045 0.94396193 -0.18776570 -0.27144045 0.94396193 0.18776570 -0.27144045 0.80025228 0.53471148 -0.27144045 0.53471148 0.80025228 -0.27144045 0.18776570 0.94396193 -0.27144045 -0.18776570 0.94396193 -0.27144045 -0.53471148 0.80025228 -0.27144045 -0.80025228 0.53471148 -0.27144045 -0.96193977 0.19134172 -0.19509032 -0.96193977 -0.19134172 -0.19509032 -0.81549316 -0.54489511 -0.19509032 -0.54489511 -0.81549316 -0.19509032 -0.19134172 -0.96193977 -0.19509032 0.19134172 -0.96193977 -0.19509032 0.54489511 -0.81549316 -0.19509032 0.81549316 -0.54489511 -0.19509032 0.96193977 -0.19134172 -0.19509032 0.96193977 0.19134172 -0.19509032 0.81549316 0.54489511 -0.19509032 0.54489511 0.81549316 -0.19509032 0.19134172 0.96193977 -0.19509032 -0.19134172 0.96193977 -0.19509032 -0.54489511 0.81549316 -0.19509032 -0.81549316 0.54489511 -0.19509032 -0.97398693 0.19373805 -0.11753740 -0.97398693 -0.19373805 -0.11753740 -0.82570624 -0.55171927 -0.11753740 -0.55171927 -0.82570624 -0.11753740 -0.19373805 -0.97398693 -0.11753740 0.19373805 -0.97398693 -0.11753740 0.55171927 -0.82570624 -0.11753740 0.82570624 -0.55171927 -0.11753740 0.97398693 -0.19373805 -0.11753740 0.97398693 0.19373805 -0.11753740 0.82570624 0.55171927 -0.11753740 0.55171927 0.82570624 -0.11753740 0.19373805 0.97398693 -0.11753740 -0.19373805 0.97398693 -0.11753740 -0.55171927 0.82570624 -0.11753740 -0.82570624 0.55171927 -0.11753740 -0.98002913 0.19493991 -0.03925982 -0.98002913 -0.19493991 -0.03925982 -0.83082858 -0.55514191 -0.03925982 -0.55514191 -0.83082858 -0.03925982 -0.19493991 -0.98002913 -0.03925982 0.19493991 -0.98002913 -0.03925982 0.55514191 -0.83082858 -0.03925982 0.83082858 -0.55514191 -0.03925982 0.98002913 -0.19493991 -0.03925982 0.98002913 0.19493991 -0.03925982 0.83082858 0.55514191 -0.03925982 0.55514191 0.83082858 -0.03925982 0.19493991 0.98002913 -0.03925982 -0.19493991 0.98002913 -0.03925982 -0.55514191 0.83082858 -0.03925982 -0.83082858 0.55514191 -0.03925982 -0.98002913 0.19493991 0.03925982 -0.98002913 -0.19493991 0.03925982 -0.83082858 -0.55514191 0.03925982 -0.55514191 -0.83082858 0.03925982 -0.19493991 -0.98002913 0.03925982 0.19493991 -0.98002913 0.03925982 0.55514191 -0.83082858 0.03925982 0.83082858 -0.55514191 0.03925982 0.98002913 -0.19493991 0.03925982 0.98002913 0.19493991 0.03925982 0.83082858 0.55514191 0.03925982 0.55514191 0.83082858 0.03925982 0.19493991 0.98002913 0.03925982 -0.19493991 0.98002913 0.03925982 -0.55514191 0.83082858 0.03925982 -0.83082858 0.55514191 0.03925982 -0.97398693 0.19373805 0.11753740 -0.97398693 -0.19373805 0.11753740 -0.82570624 -0.55171927 0.11753740 -0.55171927 -0.82570624 0.11753740 -0.19373805 -0.97398693 0.11753740 0.19373805 -0.97398693 0.11753740 0.55171927 -0.82570624 0.11753740 0.82570624 -0.55171927 0.11753740 0.97398693 -0.19373805 0.11753740 0.97398693 0.19373805 0.11753740 0.82570624 0.55171927 0.11753740 0.55171927 0.82570624 0.11753740 0.19373805 0.97398693 0.11753740 -0.19373805 0.97398693 0.11753740 -0.55171927 0.82570624 0.11753740 -0.82570624 0.55171927 0.11753740 -0.96193977 0.19134172 0.19509032 -0.96193977 -0.19134172 0.19509032 -0.81549316 -0.54489511 0.19509032 -0.54489511 -0.81549316 0.19509032 -0.19134172 -0.96193977 0.19509032 0.19134172 -0.96193977 0.19509032 0.54489511 -0.81549316 0.19509032 0.81549316 -0.54489511 0.19509032 0.96193977 -0.19134172 0.19509032 0.96193977 0.19134172 0.19509032 0.81549316 0.54489511 0.19509032 0.54489511 0.81549316 0.19509032 0.19134172 0.96193977 0.19509032 -0.19134172 0.96193977 0.19509032 -0.54489511 0.81549316 0.19509032 -0.81549316 0.54489511 0.19509032 -0.94396193 0.18776570 0.27144045 -0.94396193 -0.18776570 0.27144045 -0.80025228 -0.53471148 0.27144045 -0.53471148 -0.80025228 0.27144045 -0.18776570 -0.94396193 0.27144045 0.18776570 -0.94396193 0.27144045 0.53471148 -0.80025228 0.27144045 0.80025228 -0.53471148 0.27144045 0.94396193 -0.18776570 0.27144045 0.94396193 0.18776570 0.27144045 0.80025228 0.53471148 0.27144045 0.53471148 0.80025228 0.27144045 0.18776570 0.94396193 0.27144045 -0.18776570 0.94396193 0.27144045 -0.53471148 0.80025228 0.27144045 -0.80025228 0.53471148 0.27144045 -0.92016425 0.18303205 0.34611706 -0.92016425 -0.18303205 0.34611706 -0.78007759 -0.52123118 0.34611706 -0.52123118 -0.78007759 0.34611706 -0.18303205 -0.92016425 0.34611706 0.18303205 -0.92016425 0.34611706 0.52123118 -0.78007759 0.34611706 0.78007759 -0.52123118 0.34611706 0.92016425 -0.18303205 0.34611706 0.92016425 0.18303205 0.34611706 0.78007759 0.52123118 0.34611706 0.52123118 0.78007759 0.34611706 0.18303205 0.92016425 0.34611706 -0.18303205 0.92016425 0.34611706 -0.52123118 0.78007759 0.34611706 -0.78007759 0.52123118 0.34611706 -0.89069346 0.17716994 0.41865974 -0.89069346 -0.17716994 0.41865974 -0.75509345 -0.50453731 0.41865974 -0.50453731 -0.75509345 0.41865974 -0.17716994 -0.89069346 0.41865974 0.17716994 -0.89069346 0.41865974 0.50453731 -0.75509345 0.41865974 0.75509345 -0.50453731 0.41865974 0.89069346 -0.17716994 0.41865974 0.89069346 0.17716994 0.41865974 0.75509345 0.50453731 0.41865974 0.50453731 0.75509345 0.41865974 0.17716994 0.89069346 0.41865974 -0.17716994 0.89069346 0.41865974 -0.50453731 0.75509345 0.41865974 -0.75509345 0.50453731 0.41865974 -0.85573124 0.17021553 0.48862124 -0.85573124 -0.17021553 0.48862124 -0.72545392 -0.48473281 0.48862124 -0.48473281 -0.72545392 0.48862124 -0.17021553 -0.85573124 0.48862124 0.17021553 -0.85573124 0.48862124 0.48473281 -0.72545392 0.48862124 0.72545392 -0.48473281 0.48862124 0.85573124 -0.17021553 0.48862124 0.85573124 0.17021553 0.48862124 0.72545392 0.48473281 0.48862124 0.48473281 0.72545392 0.48862124 0.17021553 0.85573124 0.48862124 -0.17021553 0.85573124 0.48862124 -0.48473281 0.72545392 0.48862124 -0.72545392 0.48473281 0.48862124 -0.81549316 0.16221167 0.55557023 -0.81549316 -0.16221167 0.55557023 -0.69134172 -0.46193977 0.55557023 -0.46193977 -0.69134172 0.55557023 -0.16221167 -0.81549316 0.55557023 0.16221167 -0.81549316 0.55557023 0.46193977 -0.69134172 0.55557023 0.69134172 -0.46193977 0.55557023 0.81549316 -0.16221167 0.55557023 0.81549316 0.16221167 0.55557023 0.69134172 0.46193977 0.55557023 0.46193977 0.69134172 0.55557023 0.16221167 0.81549316 0.55557023 -0.16221167 0.81549316 0.55557023 -0.46193977 0.69134172 0.55557023 -0.69134172 0.46193977 0.55557023 ) \begintext FOV Definitions --------------------------------------------------------------------------- This section contains definitions for the RPC IES and ICA quadrant FOVs. These definitions are provided in the format required by the SPICE (CSPICE) function GETFOV (getfov_c). The set of assignments in the data section below defines the IES and ICA quadrant FOV as 90 x 90 degrees rectangles centered around +X, +Y, -X, and -Y axes of the corresponding instrument frames. These FOVs do NOT represent actual sensor sector FOVs. Instead the combination of the four quadrant FOVs for each sensor serves as an approximation of the total 90 x 360 degrees toroidal FOV of the sensor. \begindata INS-226526_FOV_FRAME = 'ROS_RPC_IES' INS-226526_FOV_SHAPE = 'RECTANGLE' INS-226526_BORESIGHT = ( 1.000000 0.000000 0.000000 ) INS-226526_FOV_CLASS_SPEC = 'ANGLES' INS-226526_FOV_REF_VECTOR = ( 0.000000 0.000000 1.000000 ) INS-226526_FOV_REF_ANGLE = ( 45.0 ) INS-226526_FOV_CROSS_ANGLE = ( 45.0 ) INS-226526_FOV_ANGLE_UNITS = 'DEGREES' INS-226527_FOV_FRAME = 'ROS_RPC_IES' INS-226527_FOV_SHAPE = 'RECTANGLE' INS-226527_BORESIGHT = ( 0.000000 1.000000 0.000000 ) INS-226527_FOV_CLASS_SPEC = 'ANGLES' INS-226527_FOV_REF_VECTOR = ( 0.000000 0.000000 1.000000 ) INS-226527_FOV_REF_ANGLE = ( 45.0 ) INS-226527_FOV_CROSS_ANGLE = ( 45.0 ) INS-226527_FOV_ANGLE_UNITS = 'DEGREES' INS-226528_FOV_FRAME = 'ROS_RPC_IES' INS-226528_FOV_SHAPE = 'RECTANGLE' INS-226528_BORESIGHT = ( -1.000000 0.000000 0.000000 ) INS-226528_FOV_CLASS_SPEC = 'ANGLES' INS-226528_FOV_REF_VECTOR = ( 0.000000 0.000000 1.000000 ) INS-226528_FOV_REF_ANGLE = ( 45.0 ) INS-226528_FOV_CROSS_ANGLE = ( 45.0 ) INS-226528_FOV_ANGLE_UNITS = 'DEGREES' INS-226529_FOV_FRAME = 'ROS_RPC_IES' INS-226529_FOV_SHAPE = 'RECTANGLE' INS-226529_BORESIGHT = ( 0.000000 -1.000000 0.000000 ) INS-226529_FOV_CLASS_SPEC = 'ANGLES' INS-226529_FOV_REF_VECTOR = ( 0.000000 0.000000 1.000000 ) INS-226529_FOV_REF_ANGLE = ( 45.0 ) INS-226529_FOV_CROSS_ANGLE = ( 45.0 ) INS-226529_FOV_ANGLE_UNITS = 'DEGREES' INS-226536_FOV_FRAME = 'ROS_RPC_ICA' INS-226536_FOV_SHAPE = 'RECTANGLE' INS-226536_BORESIGHT = ( 1.000000 0.000000 0.000000 ) INS-226536_FOV_CLASS_SPEC = 'ANGLES' INS-226536_FOV_REF_VECTOR = ( 0.000000 0.000000 1.000000 ) INS-226536_FOV_REF_ANGLE = ( 45.0 ) INS-226536_FOV_CROSS_ANGLE = ( 45.0 ) INS-226536_FOV_ANGLE_UNITS = 'DEGREES' INS-226537_FOV_FRAME = 'ROS_RPC_ICA' INS-226537_FOV_SHAPE = 'RECTANGLE' INS-226537_BORESIGHT = ( 0.000000 1.000000 0.000000 ) INS-226537_FOV_CLASS_SPEC = 'ANGLES' INS-226537_FOV_REF_VECTOR = ( 0.000000 0.000000 1.000000 ) INS-226537_FOV_REF_ANGLE = ( 45.0 ) INS-226537_FOV_CROSS_ANGLE = ( 45.0 ) INS-226537_FOV_ANGLE_UNITS = 'DEGREES' INS-226538_FOV_FRAME = 'ROS_RPC_ICA' INS-226538_FOV_SHAPE = 'RECTANGLE' INS-226538_BORESIGHT = ( -1.000000 0.000000 0.000000 ) INS-226538_FOV_CLASS_SPEC = 'ANGLES' INS-226538_FOV_REF_VECTOR = ( 0.000000 0.000000 1.000000 ) INS-226538_FOV_REF_ANGLE = ( 45.0 ) INS-226538_FOV_CROSS_ANGLE = ( 45.0 ) INS-226538_FOV_ANGLE_UNITS = 'DEGREES' INS-226539_FOV_FRAME = 'ROS_RPC_ICA' INS-226539_FOV_SHAPE = 'RECTANGLE' INS-226539_BORESIGHT = ( 0.000000 -1.000000 0.000000 ) INS-226539_FOV_CLASS_SPEC = 'ANGLES' INS-226539_FOV_REF_VECTOR = ( 0.000000 0.000000 1.000000 ) INS-226539_FOV_REF_ANGLE = ( 45.0 ) INS-226539_FOV_CROSS_ANGLE = ( 45.0 ) INS-226539_FOV_ANGLE_UNITS = 'DEGREES' \begintext Platform ID --------------------------------------------------------------------------- This number is the NAIF instrument ID of the platform on which the sensors are mounted. For IES and ICA sensors this platform is the spacecraft; for MIP and LAP1 this platform is Boom 1; for MAG_OB, MAG_IB, and LAP2 this platform is Boom 2. \begindata INS-226520_PLATFORM_ID = ( -226000 ) INS-226530_PLATFORM_ID = ( -226000 ) INS-226550_PLATFORM_ID = ( -226560 ) INS-226511_PLATFORM_ID = ( -226560 ) INS-226541_PLATFORM_ID = ( -226570 ) INS-226542_PLATFORM_ID = ( -226570 ) INS-226512_PLATFORM_ID = ( -226570 ) \begintext IK Code Example --------------------------------------------------------------------------- This section contains an example code, in C and FORTRAN, illustrating how geometry parameters the two IES sensor and ICA can be retrieved using appropriate SPICE routine. Both examples are presented as stand-alone functions with SPICE-style header, ready to be cut-n-paste and called from an application. [TBD; see MEX ASPERA IK for similar example]