ExoMarsRSP CK files
===========================================================================

     This ``aareadme.txt'' file describes the contents of the kernels/ck
     directory of the ExoMarsRSP SPICE Kernel Dataset.

     It was last modified on December 30, 2019 by Marc Costa Sitja, ESAC/ESA.


Brief Summary
--------------------------------------------------------

     CK (Camera-Matrix Kernel) files contain time varying orientation for
     the ExoMarsRSP rover, its structures, and science instruments.


File naming conventions
--------------------------------------------------------

   Naming Scheme for ExoMars RSP rover CKs:

      The naming scheme for the ExoMars2016 rover CKs is:

        emrsp_rm_surf[_test]_TYPE_XXXX_vNNN.bc

     where

        TYPE: Variable char that specifies the type of data in the CK file.
              Its values are:

           gnc-tlm:    This file includes gnc telemetry from the rover with
                       respect to site frames (including landing site frame).

           mech-tlm:   This file includes mechanism orientation as per rover
                       telemetry.

           interp-tlm: This file includes rover gnc and mechanisms telemetry
                       interpolated with data gaps filled assuming rover they
                       are not moving if telemetry is not available. This
                       kernel will include the gnc orientation extrapolated
                       with a zero order interpolation for 7 sols beyond the
                       latest telemetry received to allow for rover-orbiter
                       link budget calculation.

           rec:        This file includes the rover orientation relative to
                       MLG or WISDOM grid orientation relative to the latest
                       site frame.

        test: This file include data that is used for test or rehearsal
              (optional).

        XXXX: Kernel generation sol number, this corresponds to the end sol
              of its telemetry coverage. This number is 4 digits long and left
              padded with 0s starting from 0. This field is optional in case
              of kernels of type test. This number corresponds to the one
              appearing in the OEM filename.

        NNN: 3 digit version number, incremental, starting from 0.


Current CK Kernels Set
--------------------------------------------------------

   emrsp_rm_surf_test_mech-tlm_XXXX_vNNN.bc

      SPICE CK file that contains gnc telemetry from the rover with
      respect to site frames (including landing site frame). Created by
      the Rover Control Center (ROCC).


   emrsp_rm_surf_test_gnc-tlm_XXXX_vNNN.bc

      SPICE CK file that contains mechanism orientation as per rover
      telemetry. Created by the Rover Control Center (ROCC).


   emrsp_rm_surf_test_rec_XXXX_vNNN.bc

      SPICE CK file that includes the rover orientation relative to
      MLG or WISDOM grid orientation relative to the latest site frame.
      Created by the Rover Control Center (ROCC).


   emrsp_rm_surf_test_interp-tlm_XXXX_vNNN.bc

      SPICE CK file that includes rover gnc and mechanisms telemetry
      interpolated with data gaps filled assuming rover they are not moving
      if telemetry is not available. This kernel will include the gnc
      orientation extrapolated with a zero order interpolation for 7 sols
      beyond the latest telemetry received to allow for rover-orbiter link
      budget calculation.


Other directory contents
--------------------------------------------------------

   aareadme.txt         This file.


Particulars
--------------------------------------------------------

   Nothing to report.


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 the utility programs COMMNT and
     SPACIT included in the NAIF Toolkit.


Contact Information
--------------------------------------------------------

   If you have any questions regarding this file contact the
   ESA SPICE Service (ESS) at ESAC:

           Marc Costa Sitja
           (+34) 91-8131-457
           esa_spice@sciops.esa.int, marc.costa@esa.int

   or ROCC at Altec Space:

           Federico Salvioli
           (+39) 011-7430-097
           federico.salvioli@altecspace.it

   or SPICE support at IKI:

           Alexander Abbakumov
           +7 (495) 333-40-13
           aabbakumov@romance.iki.rssi.ru


References and required readings
--------------------------------------------------------

     1. ``Frames Required Reading'', NAIF Document

     2. ``C-Kernel Required Reading'', NAIF Document

     3. ``SCLK Required Reading'', NAIF Document

     4. ``TIME Required Reading'', NAIF Document


End of aareadme file.