ExoMarsRSP SPK files
===========================================================================

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

   It was last modified on December 23, 2019 by Marc Costa Sitja, ESAC/ESA.


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

   This directory contains the SPICE SP-Kernel files for the ExoMarssRSP
   mission, including mission analysis, nominal and operational rover
   trajectory SPKs, generic planetary and satellite ephemeris SPKs.


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

   Naming Scheme for ExoMarsRSP rover SPKs:

     Naming scheme for SPKs describing landing site and sites position is:

        emrsp_rm[_test]_TYPE_vNNN.bsp

     where

        TYPE: Variable char that specifies the type of SPK file, its
              values are:

           sites:   This file provides the position of site frames with respect
                    to the MCMF frame. These frames are instantiated after each
                    absolute localizations, normally after long travelings.

           ls-plan: This file contains the location of the landing site, as
                    planned, with respect to the MCMF frame.

           ls-real: This file contains the actual location of the landing
                    site, as measured after landing, with respect to the
                    MCMF frame.

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

     Naming scheme for SPKs describing the rover and its mechanisms position.

        emrsp_rm[_test]_TYPE[_XXXX]_vNNN.bsp

     where

        TYPE: Variable char that specifies the type of SPK file, its
              values are:

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

           mech-tlm:   file including drill prismatic joint information and
                       cstm prismatic joint information as per rover telemetry
                       with respect to rover attached frames.

           interp-tlm: file including 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 position extrapolated with
                       a zero order interpolation for 7 sols beyond the latest
                       telemetry received to allow for rover-orbiter link
                       budget calculation.

           rec:        file including the rover position relative to MCMF or
                       geodetic coordinates or WISDOM grid position 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.


   Naming scheme for file describing the fixed structural offsets among rover
   frames, including both rover and instruments ones.

      emrsp_rm_struct_vNNN.bsp

   where

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

   Naming Scheme for Generic Planetary Ephemeris SPKs

     The naming scheme for generic planetary SPKs is:

        deNNNs.bsp

     where

        NNN: DE version (required; e.g. 432);


   Naming Scheme for Generic Mars Satellite Ephemeris SPKs

     The naming scheme for generic mars satellite SPKs is:

        marNNN[_EXTRA].bsp

     where

        NNN: satellite ephemeris number (required; e.g. 083);

        EXTRA: additional information token (optional);


   Naming Scheme for ESA ESTRACK ground stations SPKs

     The naming scheme for ESA ESTRACK ground stations SPKs is:

        estrack_vNN.bsp

     where

        NN: version (required; e.g. 01);


   Naming Scheme for ESA New Norcia ground station SPKs

     The naming scheme for ESA New Norcia ground stations SPKs is:

           new_norcia.bsp


Current SPK Kernels Set
--------------------------------------------------------

   emrsp_rm_gnc-tlm_XXXX_vNNN.bsp

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


   emrsp_rm_mech-tlm_XXXX_vNNN.bsp

      SPICE SPK file including drill prismatic joint information and cstm
      prismatic joint information as per rover telemetry with respect to
      rover attached frames. Created by the Rover Control Center (ROCC).


   emrsp_rm_interp-tlm_XXXX_vNNN.bsp

      SPICE SPK file including 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 position extrapolated
      with a zero order interpolation for 7 sols beyond the latest telemetry
      received to allow for rover-orbiter link budget calculation. Created by
      the Rover Control Center (ROCC).


   emrsp_rm_rec_XXXX_vNNN.bsp

      SPICE SPK file including the rover position relative to MCMF or geodetic
      coordinates or WISDOM grid position relative to the latest site frame.
      This file should be considered final for the data period it covers and
      should be used for data analysis. Created by the Rover Control Center
      (ROCC).


   emrsp_rm_sites_vNNN.bsp

       SPICE SPK file that provides the position of site frames with respect
       to the MCMF frame. These frames are instantiated after each absolute
       localizations, normally after long travelings. Created by the
       Rover Control Center (ROCC).


   emrsp_rm_ls-plan_vNNN.bsp

       SPICE SPK file that contains the location of the landing site, as
       planned, with respect to the MCMF frame. Created by the ESA SPICE
       Service (ESS).


   emrsp_rm_ls-real_vNNN.bsp

       SPICE SPK file that contains the actual location of the landing site
       as measured after landing, with respect to the MCMF frame. Created by
       the ESA SPICE Service (ESS).


   emrsp_rm_struct_vNNN.bsp

      SPICE SPK file that contains rover structures positions that
      apply during all the mission. Created by the ESA SPICE Service (ESS).


   earthstns_ru_20191031.bsp

      SPICE SPK file that defines the position for Russian ground stations,
      as seen from the center of the Earth, in the topocentric frame defined
      in the corresponding FK. Created by IKI.


   de432s.bsp

      SPICE SPK file containing JPL planetary ephemerides version DE432,
      created by NAIF, JPL.


   mar097_YYYYMMDD_YYYYMMDD.bsp

      SPICE SPK file containing JPL Martian satellite ephemerides version
      MAR097, created by NAIF, JPL.


   estrack_vNN.bsp

      SPICE SPK file that defines the position for each of the ESA ESTRACK
      ground stations, as seen from the center of the Earth, in the
      topocentric frame defined in the corresponding ESTRACK FK.


   new_norcia.bsp

      SPICE SPK file that defines the position of the ESA New Norcia
      ground station, as seen from the center of the Earth, in the
      topocentric frame defined in the corresponding New Norcia FK.


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

   aareadme.txt         This file.


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

   Nothing to report.


Kernel File Details
--------------------------------------------------------

   The most detailed description of the data in a binary SPK 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. ``SPK Required Reading'', NAIF Document


End of aareadme file.