KPL/FK

Generic Frame Definition Kernel File for IMPEx
===========================================================================

   This frame kernel defines a number of mission independent frames that
   could be used by any of the users of 3DView IMPEx,
   and that are not ``built'' in the SPICE toolkit.


Version and Date
========================================================================

   Version 0.0 -- July 5, 2013 -- Laurent Beigbeder, GFI Informatique

      Initial version.

   Version 0.1 -- December 11, 2013 -- Laurent Beigbeder, GFI Informatique

      Saturn, Jupiter, Earth and small bodies frames added

   Version 0.2 -- April 29, 2015 -- Laurent Beigbeder, GFI Informatique

      JSM frame correction on dipole axis

References
========================================================================

   1. Frames Required Reading
   2. Kernel Pool Required Reading
   3. http://impex.latmos.ipsl.fr/doc/impex+spase_latest.xsd
   4. Khurana, 2004, pp. 3-5
   5. Russel, 1993, p. 694
   6. Zarka, 2005, pp. 375 377
   7. Seidelmann, P.K., Abalakin, V.K., Bursa, M., Davies, M.E., Bergh, C
      de, Lieske, J.H., Oberst, J., Simon, J.L., Standish, E.M., Stooke,
      and Thomas, P.C. (2002). ``Report of the IAU/IAG Working Group on
      Cartographic Coordinates and Rotational Elements of the Planets and
      Satellites: 2000'' Celestial Mechanics and Dynamical Astronomy, v.8
      Issue 1, pp. 83-111.
   8.   "Geophysical Coordinate Transformations", Christopher T. Russel,
           at: http://www-ssc.igpp.ucla.edu/personnel/
           russell/papers/gct1.html/#s3.4



Contact Information
========================================================================

   Laurent Beigbeder, GFI Informatique, laurent.beigbeder@gfi.fr


Implementation Notes
========================================================================

   This file is used by the SPICE system as follows: programs that make
   use of this frame kernel must 'load' the kernel, normally during
   program initialization. The SPICELIB routine FURNSH, the CSPICE
   function furnsh_c and the ICY function cspice_furnsh load a kernel
   file into the kernel pool as shown below.

      CALL FURNSH   ( 'frame_kernel_name' )
      furnsh_c      ( "frame_kernel_name" );
      cspice_furnsh ( 'frame_kernel_name' )

   This file was created and may be updated with a text editor or word
   processor.

   All frames of date are implemented with IAU 2000 report constants [7].


IMPEx Generic Frame Names and NAIF ID Codes
========================================================================
 
   The following names and NAIF ID codes are assigned to the generic
   frames defined in this kernel file:

      Frame Name     NAIF ID    Center   Description
      ------------   -------    -------  -------------------------------

   Frames list:

      MEME            1600199    JUPITER      EME2000 centered on Jupiter
      MECLIP          1601199    JUPITER      ECLIPJ2000 centered on Jupiter
      MESO            1603199    JUPITER

      JEME            1600599    JUPITER      EME2000 centered on Jupiter
      JECLIP          1601599    JUPITER      ECLIPJ2000 centered on Jupiter
      JSM             1602599    JUPITER
      JSO             1603599    JUPITER

      KEME            1600699    SATURN      EME2000 centered on Saturn
      KECLIP          1601699    SATURN      ECLIPJ2000 centered on Saturn
      KSM             1602699    SATURN      
      KSO             1603699    SATURN      

      67PCG_EME      161000012    67P/CG      EME2000 centered on comet 67P/CG
      LUTETIA_EME    162000021    LUTETIA     EME2000 centered on asteroid LUTETIA
      STEINS_EME     162002867    STEINS      EME2000 centered on asteroid STEINS
      HALLEY_EME     161000036    STEINS      EME2000 centered on asteroid HALLEY
      GRIGGSKELL_EME 161000034    STEINS      EME2000 centered on asteroid GRIGG-SKJELLERUP


     ------------------------------------------------------------------


   From RSSSD0002.TF with new ids and all of date J2000:

      Frame Name     NAIF ID    Center   Description
      ------------   -------    -------  -------------------------------
      HEE            1600010    SUN      Heliocentric Earth Ecliptic
      HEEQ           1601010    SUN      Heliocentric Earth Equatorial
      HCI            1602010    SUN      Heliocentric Inertial
      ------------------------------------------------------------------
      VSO            1600299    VENUS    Venus-centric Solar Orbital
      VME            1601299    VENUS    Venus Mean Equator
      ------------------------------------------------------------------
      GSE            1600399    EARTH    Geocentric Solar Ecliptic
      EME            1601399    EARTH    Earth Mean Equator and Equinox
      GSEQ           1602399    EARTH    Geocentric Solar Equatorial
      ECLIPDATE      1603399    EARTH    Earth Mean Ecliptic and Equinox
      ------------------------------------------------------------------
      LSE            1600301    MOON     Moon-centric Solar Ecliptic
      LME            1601301    MOON     Moon Mean Equator
      ------------------------------------------------------------------
      MME            1600499    MARS     Mars Mean Equator
      MSO            1602499    MARS     Mars-centric Solar Orbital


   From RBSP spice kernels http://rbsp.space.umn.edu/data/rbsp/teams/spice/fk/rbsp_general011.tf

      Frame Name     NAIF ID    Center   Description
      ------------   -------    -------  -------------------------------
      MAG            1604399    EARTH    geomagnetic coordinate system
      GSM            1605399    EARTH    geocentric solar magnetospheric system
      SM             1606399    EARTH    solar magnetic coordinates



   Frames are based on planetary constants, therefore a PCK file containing
   the orientation constants for planets has to be loaded before.

General Notes About This File
========================================================================

   About Required Data:
   --------------------

   Most of the dynamic frames defined in this file require at least one
   of the following kernels to be loaded prior to their evaluation, 
   normally during program initialization:

     - Planetary ephemeris data (SPK), i.e. DE405, DE421, etc.
     - Planetary Constants data (PCK), i.e. PCK00007.TPC, PCK00008.TPC.

   Note that loading different kernels will lead to different
   implementations of the same frame, providing different results from
   each other, in terms of state vectors referred to these frames.

   

       
Generic Dynamic Frames
========================================================================

   This section contains the definition of the Generic Dynamic Frames.

---------------------------------------------------------------
---------------------------------------------------------------
SUN
---------------------------------------------------------------
---------------------------------------------------------------

Heliocentric Earth Ecliptic frame (HEE)
---------------------------------------

   Definition:
   -----------
   The Heliocentric Earth Ecliptic frame is defined as follows (from [3]):

      -  X-Y plane is defined by the Earth Mean Ecliptic plane of date,
         therefore, the +Z axis is the primary vector,and it defined as
         the normal vector to the Ecliptic plane that points toward the
         north pole of date;

      -  +X axis is the component of the Sun-Earth vector that is
         orthogonal to the +Z axis;

      -  +Y axis completes the right-handed system;

      -  the origin of this frame is the Sun's center of mass.

   All vectors are geometric: no aberration corrections are used.



  \begindata

      FRAME_HEE                     =  1600010
      FRAME_1600010_NAME            = 'HEE' 
      FRAME_1600010_CLASS           =  5
      FRAME_1600010_CLASS_ID        =  1600010
      FRAME_1600010_CENTER          =  10
      FRAME_1600010_RELATIVE        = 'J2000'
      FRAME_1600010_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1600010_FAMILY          = 'TWO-VECTOR'
      FRAME_1600010_PRI_AXIS        = 'Z'
      FRAME_1600010_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600010_PRI_FRAME       = 'ECLIPDATE'
      FRAME_1600010_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1600010_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1600010_SEC_AXIS        = 'X'
      FRAME_1600010_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1600010_SEC_OBSERVER    = 'SUN'
      FRAME_1600010_SEC_TARGET      = 'EARTH'
      FRAME_1600010_SEC_ABCORR      = 'NONE'

  \begintext



Heliocentric Earth Equatorial frame (HEEQ)
------------------------------------------

   Definition:
   -----------
   The Heliocentric Earth Equatorial frame is defined as follows:

      -  X-Y plane is the solar equator of date, therefore, the +Z axis 
         is the primary vector and it is aligned to the Sun's north pole
         of date;

      -  +X axis is defined by the intersection between the Sun equatorial
         plane and the solar central meridian of date as seen from the Earth.
         The solar central meridian of date is defined as the meridian of the
         Sun that is turned toward the Earth. Therefore, +X axis is the
         component of the Sun-Earth vector that is orthogonal to the +Z axis;

      -  +Y axis completes the right-handed system;

      -  the origin of this frame is the Sun's center of mass.

   All vectors are geometric: no aberration corrections are used.


  \begindata

      FRAME_HEEQ                    =  1601010
      FRAME_1601010_NAME            = 'HEEQ'
      FRAME_1601010_CLASS           =  5
      FRAME_1601010_CLASS_ID        =  1601010
      FRAME_1601010_CENTER          =  10
      FRAME_1601010_RELATIVE        = 'J2000'
      FRAME_1601010_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1601010_FAMILY          = 'TWO-VECTOR'
      FRAME_1601010_PRI_AXIS        = 'Z'
      FRAME_1601010_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601010_PRI_FRAME       = 'IAU_SUN'
      FRAME_1601010_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1601010_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1601010_SEC_AXIS        = 'X'
      FRAME_1601010_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1601010_SEC_OBSERVER    = 'SUN'
      FRAME_1601010_SEC_TARGET      = 'EARTH'
      FRAME_1601010_SEC_ABCORR      = 'NONE'

  \begintext


Heliocentric Inertial frame (HCI)
------------------------------------------------------

   The Heliocentric Inertial Frame is defined as follows (from [3]):

    -  X-Y plane is defined by the Sun's equator of epoch J2000: the +Z
       axis, primary vector, is parallel to the Sun's rotation axis of
       epoch J2000, pointing toward the Sun's north pole;

    -  +X axis is defined by the ascending node of the Sun's equatorial
       plane on the ecliptic plane of J2000;

    -  +Y completes the right-handed frame;

    -  the origin of this frame is the Sun's center of mass.

   Note that even when the original frame defined in [3] is referenced
   to the orientation of the Solar equator in J1900, the HCI frame is
   based on J2000 instead.

   It is possible to define this frame as a dynamic frame frozen at
   J2000 epoch, using the following set of keywords:

      FRAME_HCI                     =  1602010
      FRAME_1602010_NAME            = 'HCI' 
      FRAME_1602010_CLASS           =  5
      FRAME_1602010_CLASS_ID        =  1602010
      FRAME_1602010_CENTER          =  10
      FRAME_1602010_RELATIVE        = 'J2000'
      FRAME_1602010_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1602010_FAMILY          = 'TWO-VECTOR'
      FRAME_1602010_PRI_AXIS        = 'Z'
      FRAME_1602010_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1602010_PRI_FRAME       = 'IAU_SUN'
      FRAME_1602010_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1602010_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1602010_SEC_AXIS        = 'Y'
      FRAME_1602010_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_1602010_SEC_FRAME       = 'ECLIPJ2000'
      FRAME_1602010_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1602010_SEC_VECTOR      = ( 0, 0, 1 )

   In the above implementation of this frame, the primary vector is
   defined as a constant vector in the IAU_SUN frame, which is a
   PCK-based frame, therefore a PCK file containing the orientation
   constants for the Sun has to be loaded before using this frame.

   Due to the fact that the transformation between the HCI frame and J2000
   frame is fixed and time independent, the HCI frame can be implemented
   as a fixed offset frame relative to the J2000 frame. The rotation matrix
   provided in the definition was computed using the following PXFORM call:

      CALL PXFORM( 'HCI', 'J2000', 0.D0, MATRIX )

   using the implementation of the frame given above, and the following PCK:

      PCK00008.TPC

   which contains the following constants for the SUN (from [5]):

      BODY10_POLE_RA         = (  286.13       0.          0. )
      BODY10_POLE_DEC        = (   63.87       0.          0. )

   This new implementation of the frame is preferred for computing efficiency
   reasons.

  \begindata

      FRAME_HCI                     = 1602010
      FRAME_1602010_NAME            = 'HCI'         
      FRAME_1602010_CLASS           = 4
      FRAME_1602010_CLASS_ID        = 1602010
      FRAME_1602010_CENTER          = 10 
      TKFRAME_1602010_SPEC          = 'MATRIX'
      TKFRAME_1602010_RELATIVE      = 'J2000'
      TKFRAME_1602010_MATRIX        = (

         0.2458856764679510       0.8893142951159845       0.3855649343628876
        -0.9615455562494245       0.1735802308455697       0.2128380762847277
         0.1223534934723278      -0.4230720836476433       0.8977971010607901

                                     )

  \begintext

---------------------------------------------------------------
---------------------------------------------------------------
MERCURY
---------------------------------------------------------------


  \begindata

      FRAME_MEME                    =  1600199
      FRAME_1600199_NAME            = 'MEME'
      FRAME_1600199_CLASS           =  5
      FRAME_1600199_CLASS_ID        =  1600199
      FRAME_1600199_CENTER          =  199
      FRAME_1600199_RELATIVE        = 'J2000'
      FRAME_1600199_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1600199_FAMILY          = 'TWO-VECTOR'
      FRAME_1600199_PRI_AXIS        = 'Z'
      FRAME_1600199_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600199_PRI_FRAME       = 'J2000'
      FRAME_1600199_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1600199_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1600199_SEC_AXIS        = 'X'
      FRAME_1600199_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600199_SEC_FRAME       = 'J2000'
      FRAME_1600199_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1600199_SEC_VECTOR      = ( 1, 0, 0 )


  \begintext

  \begindata

      FRAME_MECLIP                  =  1601199
      FRAME_1601199_NAME            = 'MECLIP'
      FRAME_1601199_CLASS           =  5
      FRAME_1601199_CLASS_ID        =  1600199
      FRAME_1601199_CENTER          =  199
      FRAME_1601199_RELATIVE        = 'J2000'
      FRAME_1601199_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1601199_FAMILY          = 'TWO-VECTOR'
      FRAME_1601199_PRI_AXIS        = 'Z'
      FRAME_1601199_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601199_PRI_FRAME       = 'ECLIPDATE'
      FRAME_1601199_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1601199_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1601199_SEC_AXIS        = 'X'
      FRAME_1601199_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601199_SEC_FRAME       = 'ECLIPDATE'
      FRAME_1601199_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1601199_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext

---------------------------------------------------------------
Mercury-centric Solar Orbital frame (MESO)
----------------------------------------
   
   Definition:
   -----------
   The Mercury-centric Solar Orbital frame is defined as follows:

      -  The position of the Sun relative to Mercury is the primary vector:
         +X axis points from Mercury to the Sun;

      -  The inertially referenced velocity of the Sun relative to Mercury
         is the secondary vector: +Y axis is the component of this
         velocity vector orthogonal to the +X axis;

      -  +Z axis completes the right-handed system;

      -  the origin of this frame is Mercury center of mass.

   All vectors are geometric: no corrections are used.

  \begindata

      FRAME_MESO                     =  1603199
      FRAME_1603199_NAME            = 'MESO'
      FRAME_1603199_CLASS           =  5
      FRAME_1603199_CLASS_ID        =  1603199
      FRAME_1603199_CENTER          =  199
      FRAME_1603199_RELATIVE        = 'J2000'
      FRAME_1603199_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1603199_FAMILY          = 'TWO-VECTOR'
      FRAME_1603199_PRI_AXIS        = 'X'
      FRAME_1603199_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1603199_PRI_OBSERVER    = 'MERCURY'
      FRAME_1603199_PRI_TARGET      = 'SUN'
      FRAME_1603199_PRI_ABCORR      = 'NONE'
      FRAME_1603199_SEC_AXIS        = 'Y'
      FRAME_1603199_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_VELOCITY'
      FRAME_1603199_SEC_OBSERVER    = 'MERCURY'
      FRAME_1603199_SEC_TARGET      = 'SUN'
      FRAME_1603199_SEC_ABCORR      = 'NONE'
      FRAME_1603199_SEC_FRAME       = 'J2000'

  \begintext

---------------------------------------------------------------
---------------------------------------------------------------
VENUS
---------------------------------------------------------------
---------------------------------------------------------------
Venus-centric Solar Orbital frame (VSO)
----------------------------------------
   
   Definition:
   -----------
   The Venus-centric Solar Orbital frame is defined as follows:

      -  The position of the Sun relative to Venus is the primary vector:
         +X axis points from Venus to the Sun;

      -  The inertially referenced velocity of the Sun relative to Venus
         is the secondary vector: +Y axis is the component of this
         velocity vector orthogonal to the +X axis;

      -  +Z axis completes the right-handed system;

      -  the origin of this frame is Venus' center of mass.

   All vectors are geometric: no corrections are used.

  \begindata

      FRAME_VSO                     =  1600299
      FRAME_1600299_NAME            = 'VSO' 
      FRAME_1600299_CLASS           =  5
      FRAME_1600299_CLASS_ID        =  1600299
      FRAME_1600299_CENTER          =  299
      FRAME_1600299_RELATIVE        = 'J2000'
      FRAME_1600299_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1600299_FAMILY          = 'TWO-VECTOR'
      FRAME_1600299_PRI_AXIS        = 'X'
      FRAME_1600299_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1600299_PRI_OBSERVER    = 'VENUS'
      FRAME_1600299_PRI_TARGET      = 'SUN'
      FRAME_1600299_PRI_ABCORR      = 'NONE'
      FRAME_1600299_SEC_AXIS        = 'Y'
      FRAME_1600299_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_VELOCITY'
      FRAME_1600299_SEC_OBSERVER    = 'VENUS'
      FRAME_1600299_SEC_TARGET      = 'SUN'
      FRAME_1600299_SEC_ABCORR      = 'NONE'
      FRAME_1600299_SEC_FRAME       = 'J2000'

  \begintext


Venus Mean Equator of Date frame (VME)
--------------------------------------

   Definition:
   -----------   
   The Venus Mean Equatorial of Date frame (also known as Venus Mean
   Equator and IAU vector of Date frame) is defined as follows (from [5]):

      -  X-Y plane is defined by the Venus equator of date, and
         the +Z axis is parallel to the Venus' rotation axis of date,
         pointing toward the North side of the invariant plane;

      -  +X axis is defined by the intersection of the Venus' equator
         of date with the Earth Mean Equator of J2000;

      -  +Y axis completes the right-handed system;

      -  the origin of this frame is Venus' center of mass.

   All vectors are geometric: no corrections are used.


  \begindata

      FRAME_VME                     =  1601299
      FRAME_1601299_NAME            = 'VME' 
      FRAME_1601299_CLASS           =  5
      FRAME_1601299_CLASS_ID        =  1601299
      FRAME_1601299_CENTER          =  299
      FRAME_1601299_RELATIVE        = 'J2000'
      FRAME_1601299_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1601299_FAMILY          = 'TWO-VECTOR'
      FRAME_1601299_PRI_AXIS        = 'Z'
      FRAME_1601299_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601299_PRI_FRAME       = 'IAU_VENUS' 
      FRAME_1601299_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1601299_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1601299_SEC_AXIS        = 'Y'
      FRAME_1601299_SEC_VECTOR_DEF  = 'CONSTANT'                
      FRAME_1601299_SEC_FRAME       = 'J2000'
      FRAME_1601299_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1601299_SEC_VECTOR      = ( 0, 0, 1 )

  \begintext



---------------------------------------------------------------
---------------------------------------------------------------
EARTH
---------------------------------------------------------------
---------------------------------------------------------------
Geocentric Solar Ecliptic frame (GSE)
---------------------------------------

   Definition:
   -----------
   The Geocentric Solar Ecliptic frame is defined as follows (from [3]):

      -  X-Y plane is defined by the Earth Mean Ecliptic plane of date:
         the +Z axis, primary vector, is the normal vector to this plane,
         always pointing toward the North side of the invariant plane;

      -  +X axis is the component of the Earth-Sun vector that is orthogonal
         to the +Z axis;

      -  +Y axis completes the right-handed system;

      -  the origin of this frame is the Sun's center of mass.

   All the vectors are geometric: no aberration corrections are used.

  \begindata

      FRAME_GSE                     =  1600399
      FRAME_1600399_NAME            = 'GSE' 
      FRAME_1600399_CLASS           =  5
      FRAME_1600399_CLASS_ID        =  1600399
      FRAME_1600399_CENTER          =  399
      FRAME_1600399_RELATIVE        = 'J2000'
      FRAME_1600399_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1600399_FAMILY          = 'TWO-VECTOR'
      FRAME_1600399_PRI_AXIS        = 'Z'
      FRAME_1600399_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600399_PRI_FRAME       = 'ECLIPDATE'
      FRAME_1600399_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1600399_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1600399_SEC_AXIS        = 'X'
      FRAME_1600399_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1600399_SEC_OBSERVER    = 'EARTH'
      FRAME_1600399_SEC_TARGET      = 'SUN'  
      FRAME_1600399_SEC_ABCORR      = 'NONE'

  \begintext

Earth Mean Equator and Equinox of Date frame (EME)
--------------------------------------------------

   Definition:
   -----------
   The Earth Mean Equator and Equinox of Date frame is defined as follows:

      -  +Z axis is aligned with the north-pointing vector normal to the
         mean equatorial plane of the Earth;

      -  +X axis points along the ``mean equinox'', which is defined as the
         intersection of the Earth's mean orbital plane with the Earth's mean
         equatorial plane. It is aligned with the cross product of the
         north-pointing vectors normal to the Earth's mean equator and mean
         orbit plane of date;

      -  +Y axis is the cross product of the Z and X axes and completes the
         right-handed frame;

      -  the origin of this frame is the Earth's center of mass.

   The mathematical model used to obtain the orientation of the Earth's mean
   equator and equinox of date frame is the 1976 IAU precession model, built
   into SPICE.

   The base frame for the 1976 IAU precession model is J2000.


   Remarks:
   --------
   None.


  \begindata

      FRAME_EME                     =  1601399
      FRAME_1601399_NAME            =  'EME'        
      FRAME_1601399_CLASS           =  5
      FRAME_1601399_CLASS_ID        =  1601399
      FRAME_1601399_CENTER          =  399
      FRAME_1601399_RELATIVE        = 'J2000'
      FRAME_1601399_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1601399_FAMILY          = 'MEAN_EQUATOR_AND_EQUINOX_OF_DATE'
      FRAME_1601399_PREC_MODEL      = 'EARTH_IAU_1976'
      FRAME_1601399_ROTATION_STATE  = 'ROTATING'        
 
  \begintext


Geocentric Solar Equatorial frame (GSEQ)
----------------------------------------

   Definition:
   -----------
   The Geocentric Solar Equatorial frame is defined as follows (from [7]):

      -  +X axis is the position of the Sun relative to the Earth; it's
         the primary vector and points from the Earth to the Sun;

      -  +Z axis is the component of the Sun's north pole of date orthogonal
         to the +X axis;

      -  +Y axis completes the right-handed reference frame;

      -  the origin of this frame is the Earth's center of mass.

   All the vectors are geometric: no aberration corrections are used.

  \begindata

      FRAME_GSEQ                    =  1602399
      FRAME_1602399_NAME            = 'GSEQ'
      FRAME_1602399_CLASS           =  5
      FRAME_1602399_CLASS_ID        =  1602399
      FRAME_1602399_CENTER          =  399
      FRAME_1602399_RELATIVE        = 'J2000'
      FRAME_1602399_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1602399_FAMILY          = 'TWO-VECTOR'
      FRAME_1602399_PRI_AXIS        = 'X'
      FRAME_1602399_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1602399_PRI_OBSERVER    = 'EARTH'
      FRAME_1602399_PRI_TARGET      = 'SUN'
      FRAME_1602399_PRI_ABCORR      = 'NONE'
      FRAME_1602399_SEC_AXIS        = 'Z'
      FRAME_1602399_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_1602399_SEC_FRAME       = 'IAU_SUN'
      FRAME_1602399_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1602399_SEC_VECTOR      = ( 0, 0, 1 )

  \begintext

Earth Mean Ecliptic and Equinox of Date frame (ECLIPDATE)
---------------------------------------------------------

   Definition:
   -----------
   The Earth Mean Ecliptic and Equinox of Date frame is defined as follows:

      -  +Z axis is aligned with the north-pointing vector normal to the
         mean orbital plane of the Earth;

      -  +X axis points along the ``mean equinox'', which is defined as the
         intersection of the Earth's mean orbital plane with the Earth's mean
         equatorial plane. It is aligned with the cross product of the
         north-pointing vectors normal to the Earth's mean equator and mean
         orbit plane of date;

      -  +Y axis is the cross product of the Z and X axes and completes the
         right-handed frame;

      -  the origin of this frame is the Earth's center of mass.

   The mathematical model used to obtain the orientation of the Earth's mean
   equator and equinox of date frame is the 1976 IAU precession model, built
   into SPICE.

   The mathematical model used to obtain the mean orbital plane of the Earth
   is the 1980 IAU obliquity model, also built into SPICE.

   The base frame for the 1976 IAU precession model is J2000.

   Required Data:
   --------------
   The usage of this frame does not require additional data since both the
   precession and the obliquity models used to define this frame are already
   built into SPICE.


   Remarks:
   --------
   None.


  \begindata

      FRAME_ECLIPDATE                =  1603399   
      FRAME_1603399_NAME             = 'ECLIPDATE'
      FRAME_1603399_CLASS            =  5
      FRAME_1603399_CLASS_ID         =  1603399
      FRAME_1603399_CENTER           =  399
      FRAME_1603399_RELATIVE         = 'J2000'
      FRAME_1603399_DEF_STYLE        = 'PARAMETERIZED'
      FRAME_1603399_FAMILY           = 'MEAN_ECLIPTIC_AND_EQUINOX_OF_DATE'
      FRAME_1603399_PREC_MODEL       = 'EARTH_IAU_1976'
      FRAME_1603399_OBLIQ_MODEL      = 'EARTH_IAU_1980'
      FRAME_1603399_ROTATION_STATE   = 'ROTATING'
 
  \begintext



      MAG Frame:
      ---------------------------------------------------------

      Definition From [8]:

      Geomagnetic - geocentric. Z axis is parallel to the geomagnetic
      dipole axis, positive north. X is in the plane defined by the Z axis
      and the Earth's rotation axis. If N is a unit vector from the Earth's
      center to the north geographic pole, the signs of the X and Y axes are
      given by Y = N x Z, X = Y x Z.. See Russell, 1971, and
      <http://cdpp.cnes.fr/00428.pdf>
      

      The implementation of this frame is complicated in that the definition
      of the IGRF dipole is a function of time and the IGRF model cannot be
      directly incorporated into Spice. However, Spice does allow one to define
      time dependent Euler angles. Meaning, you can define an Euler angle
      that rotates GEO to MAG for a given ephemeris time t:

         V           = r(t) * V
          GEI                  MAG
      
      where r(t) is a time dependent Euler angle representation of a
      rotation. Spice allows for the time dependence to be represented by a
      polynomial expansion. This expansion can be fit using the IGRF model,
      thus representing the IGRF dipole axis.

      IGRF-11 (the 11th version) was fit for the period of 1990-2020, which
      should encompass the mission and will also make this kernel useful for
      performing Magnetic dipole frame transformations for the 1990's and
      the 2000's. However, IGRF-11 is not as accurate for this entire time
      interval. The years between 1945-2005 are labeled definitive, although
      only back to 1990 was used in the polynomial fit. 2005-2010 is
      provisional, and may change with IGRF-12. 2010-2015 was only a
      prediction. Beyond 2015, the predict is so far in the future as to not
      be valid. So to make the polynomials behave nicely in this region (in
      case someone does try to use this frame during that time), the
      2015 prediction was extended until 2020. So for low precision, this
      kernel can be used for the years 2015-2020. Any times less than 1990
      and greater than 2020 were not used in the fit, and therefore may be
      vastly incorrect as the polynomials may diverge outside of this region.
      These coefficients will be refit when IGRF-12 is released.
      
      Also, since the rest of the magnetic dipole frames are defined from
      this one, similar time ranges should be used for those frames.

                  Definitive           Provisional   Predict    Not Valid
       |------------------------------|+++++++++++|###########|???????????|
     1990                           2005        2010        2015        2020

      In addition to the error inherit in the model itself, the polynomial
      expansion cannot perfectly be fit the IGRF dipole. The maximum error
      on the fit is .2 milliradians, or .01 degrees. 

      The MAG frame is achieved by first rotating the GEO frame about Z by
      the longitude degrees, and then rotating about the Y axis by the
      amount of latitude. This matches the new frame to Russell's definition.

      \begindata

      FRAME_MAG                    = 1604399
      FRAME_1604399_NAME           = 'MAG'
      FRAME_1604399_CLASS          = 5
      FRAME_1604399_CLASS_ID       = 1604399
      FRAME_1604399_CENTER         = 399
      FRAME_1604399_RELATIVE       = 'IAU_EARTH'
      FRAME_1604399_DEF_STYLE      = 'PARAMETERIZED'
      FRAME_1604399_FAMILY         = 'EULER'
      FRAME_1604399_EPOCH          = @2010-JAN-1/00:00:00
      FRAME_1604399_AXES           = ( 3,  2,  1 )
      FRAME_1604399_UNITS          = 'DEGREES'
      FRAME_1604399_ANGLE_1_COEFFS = ( +72.19592169505606
                                        +2.6506950233619764E-9
                                        +1.6897777301495875E-18
                                        -3.725022474684048E-27
                                        -6.395891803742159E-36 )
      FRAME_1604399_ANGLE_2_COEFFS = (  -9.98363089063021
                                        +1.7304386827492741E-9 
                                        +5.686537610447754E-19 
                                        -5.208835662700353E-28
                                        -9.569975244363123E-37 )
      FRAME_1604399_ANGLE_3_COEFFS = ( 0 )

      \begintext


      GSM Frame:
      ---------------------------------------------------------

      Definition From [8]:

      Geocentric Solar Magnetospheric - A coordinate system where
      the X axis is from Earth to Sun, Z axis is northward in a plane
      containing the X axis and the geomagnetic dipole axis.
      See Russell, 1971

      Thus, +X is identical as GSE +X and is the primary, and +Z is the
      secondary and is the MAG +Z.

      \begindata

      FRAME_GSM                    =  1605399
      FRAME_1605399_NAME           = 'GSM'
      FRAME_1605399_CLASS          = 5
      FRAME_1605399_CLASS_ID       = 1605399
      FRAME_1605399_CENTER         = 399
      FRAME_1605399_RELATIVE       = 'J2000'
      FRAME_1605399_DEF_STYLE      = 'PARAMETERIZED'
      FRAME_1605399_FAMILY         = 'TWO-VECTOR'
      FRAME_1605399_PRI_AXIS       = 'X'
      FRAME_1605399_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
      FRAME_1605399_PRI_OBSERVER   = 'EARTH'
      FRAME_1605399_PRI_TARGET     = 'SUN'
      FRAME_1605399_PRI_ABCORR     = 'NONE'
      FRAME_1605399_SEC_AXIS       = 'Z'
      FRAME_1605399_SEC_VECTOR_DEF = 'CONSTANT'
      FRAME_1605399_SEC_SPEC       = 'RECTANGULAR'
      FRAME_1605399_SEC_FRAME      = 'MAG'
      FRAME_1605399_SEC_VECTOR     = (0, 0, 1)

      \begintext


      SM Frame:
      ---------------------------------------------------------

      Definition From [8]:

      Solar Magnetic - A geocentric coordinate system where the
      Z axis is northward along Earth's dipole axis,
      X axis is in plane of z axis and Earth-Sun line, positive sunward.
      See Russell, 1971.

      Thus, this is much like GSM, except that now the +Z axis is the
      primary, meaning it is parallel to the dipole vector, and +X is the
      secondary. Since the X-Z plane is the same as GSM's X-Z plane, the Y
      axis is the same as GSM.

      \begindata

      FRAME_SM                     =  1606399
      FRAME_1606399_NAME           = 'SM'
      FRAME_1606399_CLASS          = 5
      FRAME_1606399_CLASS_ID       = 1606399
      FRAME_1606399_CENTER         = 399
      FRAME_1606399_RELATIVE       = 'J2000'
      FRAME_1606399_DEF_STYLE      = 'PARAMETERIZED'
      FRAME_1606399_FAMILY         = 'TWO-VECTOR'
      FRAME_1606399_PRI_AXIS       = 'Z'
      FRAME_1606399_PRI_VECTOR_DEF = 'CONSTANT'
      FRAME_1606399_PRI_SPEC       = 'RECTANGULAR'
      FRAME_1606399_PRI_FRAME      = 'MAG'
      FRAME_1606399_PRI_VECTOR     = (0, 0, 1)     
      FRAME_1606399_SEC_AXIS       = 'X'
      FRAME_1606399_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
      FRAME_1606399_SEC_OBSERVER   = 'EARTH'
      FRAME_1606399_SEC_TARGET     = 'SUN'
      FRAME_1606399_SEC_ABCORR     = 'NONE'

      \begintext

---------------------------------------------------------------
MOON
---------------------------------------------------------------
Moon-centric Solar Ecliptic frame (LSE)
---------------------------------------

   Definition:
   -----------     
   The Moon-centric Solar Ecliptic frame is defined as follows:

      -  The position of the Sun relative to Moon is the primary vector:
         +X axis points from Moon to the Sun;
 
      -  The inertially referenced velocity of the Sun relative to Moon
         is the secondary vector: +Y axis is the component of this
         velocity vector orthogonal to the +X axis;

      -  +Z axis completes the right-handed system;

      -  the origin of this frame is Moon's center of mass.

   All vectors are geometric: no corrections are used.

  \begindata

      FRAME_LSE                     =  1600301
      FRAME_1600301_NAME            = 'LSE'
      FRAME_1600301_CLASS           =  5
      FRAME_1600301_CLASS_ID        =  1600301
      FRAME_1600301_CENTER          =  301
      FRAME_1600301_RELATIVE        = 'J2000'
      FRAME_1600301_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1600301_FAMILY          = 'TWO-VECTOR'
      FRAME_1600301_PRI_AXIS        = 'X'
      FRAME_1600301_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1600301_PRI_OBSERVER    = 'MOON' 
      FRAME_1600301_PRI_TARGET      = 'SUN'
      FRAME_1600301_PRI_ABCORR      = 'NONE'
      FRAME_1600301_SEC_AXIS        = 'Y'
      FRAME_1600301_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_VELOCITY'
      FRAME_1600301_SEC_OBSERVER    = 'MOON' 
      FRAME_1600301_SEC_TARGET      = 'SUN'
      FRAME_1600301_SEC_ABCORR      = 'NONE'
      FRAME_1600301_SEC_FRAME       = 'J2000'

  \begintext


Moon Mean Equator of Date frame (LME)
-------------------------------------

   Definition:
   -----------   
   The Moon Mean Equator of Date frame (also known as Moon Mean Equator
   and IAU vector of Date frame) is defined as follows (from [5]):

      -  X-Y plane is defined by the Moon equator of date, and the
         +Z axis, primary vector of this frame, is parallel to the
         Moon's rotation axis of date, pointing toward the North side
         of the invariant plane;

      -  +X axis is defined by the intersection of the Moon's equator
         of date with the Earth Mean Equator of J2000;

      -  +Y axis completes the right-handed system;

      -  the origin of this frame is Moon's center of mass.

   All vectors are geometric: no corrections are used.

  \begindata

      FRAME_LME                     =  1601301
      FRAME_1601301_NAME            = 'LME' 
      FRAME_1601301_CLASS           =  5
      FRAME_1601301_CLASS_ID        =  1601301
      FRAME_1601301_CENTER          =  301
      FRAME_1601301_RELATIVE        = 'J2000'
      FRAME_1601301_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1601301_FAMILY          = 'TWO-VECTOR'
      FRAME_1601301_PRI_AXIS        = 'Z'
      FRAME_1601301_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601301_PRI_FRAME       = 'IAU_MOON'  
      FRAME_1601301_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1601301_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1601301_SEC_AXIS        = 'Y'
      FRAME_1601301_SEC_VECTOR_DEF  = 'CONSTANT'                
      FRAME_1601301_SEC_FRAME       = 'J2000'
      FRAME_1601301_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1601301_SEC_VECTOR      = ( 0, 0, 1 )

  \begintext


---------------------------------------------------------------
---------------------------------------------------------------
MARS
---------------------------------------------------------------
---------------------------------------------------------------
Mars Mean Equator of Date frame (MME)
-------------------------------------

   Definition:
   -----------   
   The Mars Mean Equator of Date frame (also known as Mars Mean Equator
   and IAU vector of Date frame) is defined as follows (from [5]):

      -  X-Y plane is defined by the Mars equator of date: the
         +Z axis, primary vector, is parallel to the Mars' rotation
         axis of date, pointing toward the North side of the invariant
         plane;

      -  +X axis is defined by the intersection of the Mars' equator of
         date with the J2000 equator;

      -  +Y axis completes the right-handed system;

      -  the origin of this frame is Mars' center of mass.


   All vectors are geometric: no corrections are used.


  \begindata

      FRAME_MME                     =  1600499
      FRAME_1600499_NAME            = 'MME' 
      FRAME_1600499_CLASS           =  5
      FRAME_1600499_CLASS_ID        =  1600499
      FRAME_1600499_CENTER          =  499
      FRAME_1600499_RELATIVE        = 'J2000'
      FRAME_1600499_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1600499_FAMILY          = 'TWO-VECTOR'
      FRAME_1600499_PRI_AXIS        = 'Z'
      FRAME_1600499_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600499_PRI_FRAME       = 'IAU_MARS' 
      FRAME_1600499_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1600499_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1600499_SEC_AXIS        = 'Y'
      FRAME_1600499_SEC_VECTOR_DEF  = 'CONSTANT'                
      FRAME_1600499_SEC_FRAME       = 'J2000'
      FRAME_1600499_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1600499_SEC_VECTOR      = ( 0, 0, 1 )

  \begintext


Mars-centric Solar Orbital frame (MSO)
--------------------------------------------------------

   Definition:
   -----------      
   The Mars-centric Solar Orbital frame is defined as follows:

      -  The position of the Sun relative to Mars is the primary vector:
         +X axis points from Mars to the Sun;

      -  The inertially referenced velocity of the Sun relative to Mars
         is the secondary vector: +Y axis is the component of this
         velocity vector orthogonal to the +X axis;

      -  +Z axis completes the right-handed system;

      -  the origin of this frame is Mars' center of mass.

   All vectors are geometric: no corrections are used.


  \begindata

      FRAME_MSO                     =  1601499
      FRAME_1601499_NAME            = 'MSO'
      FRAME_1601499_CLASS           =  5
      FRAME_1601499_CLASS_ID        =  1601499
      FRAME_1601499_CENTER          =  499
      FRAME_1601499_RELATIVE        = 'J2000'
      FRAME_1601499_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1601499_FAMILY          = 'TWO-VECTOR'
      FRAME_1601499_PRI_AXIS        = 'X'
      FRAME_1601499_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1601499_PRI_OBSERVER    = 'MARS' 
      FRAME_1601499_PRI_TARGET      = 'SUN'
      FRAME_1601499_PRI_ABCORR      = 'NONE'
      FRAME_1601499_SEC_AXIS        = 'Y'
      FRAME_1601499_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_VELOCITY'
      FRAME_1601499_SEC_OBSERVER    = 'MARS' 
      FRAME_1601499_SEC_TARGET      = 'SUN'
      FRAME_1601499_SEC_ABCORR      = 'NONE'
      FRAME_1601499_SEC_FRAME       = 'J2000'

  \begintext





---------------------------------------------------------------
---------------------------------------------------------------
JUPITER
---------------------------------------------------------------
---------------------------------------------------------------

  \begindata

      FRAME_JEME                    =  1600599
      FRAME_1600599_NAME            = 'JEME'
      FRAME_1600599_CLASS           =  5
      FRAME_1600599_CLASS_ID        =  1600599
      FRAME_1600599_CENTER          =  599
      FRAME_1600599_RELATIVE        = 'J2000'
      FRAME_1600599_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1600599_FAMILY          = 'TWO-VECTOR'
      FRAME_1600599_PRI_AXIS        = 'Z'
      FRAME_1600599_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600599_PRI_FRAME       = 'J2000'
      FRAME_1600599_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1600599_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1600599_SEC_AXIS        = 'X'
      FRAME_1600599_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600599_SEC_FRAME       = 'J2000'
      FRAME_1600599_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1600599_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext


  \begindata

      FRAME_JECLIP                  =  1601599
      FRAME_1601599_NAME            = 'JECLIP'
      FRAME_1601599_CLASS           =  5
      FRAME_1601599_CLASS_ID        =  1600599
      FRAME_1601599_CENTER          =  599
      FRAME_1601599_RELATIVE        = 'J2000'
      FRAME_1601599_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1601599_FAMILY          = 'TWO-VECTOR'
      FRAME_1601599_PRI_AXIS        = 'Z'
      FRAME_1601599_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601599_PRI_FRAME       = 'ECLIPDATE'
      FRAME_1601599_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1601599_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1601599_SEC_AXIS        = 'X'
      FRAME_1601599_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601599_SEC_FRAME       = 'ECLIPDATE'
      FRAME_1601599_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1601599_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext



   The JSM frame is defined in [3] as follows:

      Jovian Solar Magnetospheric (JSM)
      ---------------------------------------------------
      A coordinate system where the X axis is from Jupiter to Sun,
      Z axis is northward in a plane containing the X axis and the Jovian dipole axis.

   Dipole is 159 longitude and 80 latitude from [4][5][6] documents.

   
      \begindata

         FRAME_JSM                     = 1602599
         FRAME_1602599_NAME            = 'JSM'
         FRAME_1602599_CLASS           = 5
         FRAME_1602599_CLASS_ID        = 1602599
         FRAME_1602599_CENTER          = 599
         FRAME_1602599_RELATIVE        = 'J2000'
         FRAME_1602599_DEF_STYLE       = 'PARAMETERIZED'
         FRAME_1602599_FAMILY          = 'TWO-VECTOR'
         FRAME_1602599_PRI_AXIS        = 'X'
         FRAME_1602599_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
         FRAME_1602599_PRI_OBSERVER    = 'JUPITER'
         FRAME_1602599_PRI_TARGET      = 'SUN'
         FRAME_1602599_PRI_ABCORR      = 'NONE'
         FRAME_1602599_SEC_AXIS        = 'Z'
         FRAME_1602599_SEC_VECTOR_DEF  = 'CONSTANT'
         FRAME_1602599_SEC_SPEC        = 'LATITUDINAL'
         FRAME_1602599_SEC_UNITS       = 'DEGREES'
         FRAME_1602599_SEC_LONGITUDE   = 159.00
         FRAME_1602599_SEC_LATITUDE    =  80.00
         FRAME_1602599_SEC_FRAME       = 'IAU_JUPITER'

      \begintext 

   The JSO frame is defined in [3] as follows:

      Jovian Solar Orbital Coordinates (JSO)
      ---------------------------------------------------
      Coordinate Sytem Related to Jupiter Jovian Solar Orbita
      (X anti-sunward, Y along the orbital velocity direction)

      \begindata

         FRAME_JSO                     = 1603599
         FRAME_1603599_NAME            = 'JSO'
         FRAME_1603599_CLASS           = 5
         FRAME_1603599_CLASS_ID        = 1603599
         FRAME_1603599_CENTER          = 599
         FRAME_1603599_RELATIVE        = 'J2000'
         FRAME_1603599_DEF_STYLE       = 'PARAMETERIZED'
         FRAME_1603599_FAMILY          = 'TWO-VECTOR'
         FRAME_1603599_PRI_AXIS        = 'X'
         FRAME_1603599_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
         FRAME_1603599_PRI_OBSERVER    = 'JUPITER' 
         FRAME_1603599_PRI_TARGET      = 'SUN'
         FRAME_1603599_PRI_ABCORR      = 'NONE'
         FRAME_1603599_SEC_AXIS        = 'Y'
         FRAME_1603599_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_VELOCITY'
         FRAME_1603599_SEC_OBSERVER    = 'JUPITER' 
         FRAME_1603599_SEC_TARGET      = 'SUN'
         FRAME_1603599_SEC_ABCORR      = 'NONE'
         FRAME_1603599_SEC_FRAME       = 'J2000'

      \begintext 




---------------------------------------------------------------
GPHIO
---------------------------------------

   Definition:
   -----------
   the jovian plasma.
In this Cartesian coordinate system (referred to as GphiO),
X is along theflow direction, Y is along the Ganymede–Jupiter vector, and Z is along the spin axis.
These coordinates are analogous to the earth-centered GSE coordinates that relate to the direction of
flow of the solar wind onto Earth’s environment

   All the vectors are geometric: no aberration corrections are used.

  \begindata

      FRAME_GPHIO                     =  1604599
      FRAME_1604599_NAME            = 'GPHIO' 
      FRAME_1604599_CLASS           =  5
      FRAME_1604599_CLASS_ID        =  1604599
      FRAME_1604599_CENTER          =  503
      FRAME_1604599_RELATIVE        = 'J2000'
      FRAME_1604599_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1604599_FAMILY          = 'TWO-VECTOR'
      FRAME_1604599_PRI_AXIS        = 'Z'
      FRAME_1604599_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1604599_PRI_FRAME       = 'ECLIPDATE'
      FRAME_1604599_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1604599_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1604599_SEC_AXIS        = 'X'
      FRAME_1604599_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
      FRAME_1604599_SEC_OBSERVER    = 'GANYMEDE'
      FRAME_1604599_SEC_TARGET      = 'JUPITER'
      FRAME_1604599_SEC_ABCORR      = 'NONE'

  \begintext




---------------------------------------------------------------
SATURN
---------------------------------------------------------------


  \begindata

      FRAME_KEME                    =  1600699
      FRAME_1600699_NAME            = 'KEME'
      FRAME_1600699_CLASS           =  5
      FRAME_1600699_CLASS_ID        =  1600699
      FRAME_1600699_CENTER          =  699
      FRAME_1600699_RELATIVE        = 'J2000'
      FRAME_1600699_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1600699_FAMILY          = 'TWO-VECTOR'
      FRAME_1600699_PRI_AXIS        = 'Z'
      FRAME_1600699_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600699_PRI_FRAME       = 'J2000'
      FRAME_1600699_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1600699_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1600699_SEC_AXIS        = 'X'
      FRAME_1600699_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_1600699_SEC_FRAME       = 'J2000'
      FRAME_1600699_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1600699_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext


  \begindata

      FRAME_KECLIP                  =  1601699
      FRAME_1601699_NAME            = 'KECLIP'
      FRAME_1601699_CLASS           =  5
      FRAME_1601699_CLASS_ID        =  1600699
      FRAME_1601699_CENTER          =  699
      FRAME_1601699_RELATIVE        = 'J2000'
      FRAME_1601699_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_1601699_FAMILY          = 'TWO-VECTOR'
      FRAME_1601699_PRI_AXIS        = 'Z'
      FRAME_1601699_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601699_PRI_FRAME       = 'ECLIPDATE'
      FRAME_1601699_PRI_SPEC        = 'RECTANGULAR'
      FRAME_1601699_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_1601699_SEC_AXIS        = 'X'
      FRAME_1601699_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_1601699_SEC_FRAME       = 'ECLIPDATE'
      FRAME_1601699_SEC_SPEC        = 'RECTANGULAR'
      FRAME_1601699_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext



   The KSM frame is defined in [3] as follows:

      Kronocentric Solar Magnetospheric Coordinates (KSM)
      ---------------------------------------------------
      A coordinate system where the X axis is from Saturn to Sun,
      Z axis is northward in a plane containing the X axis and the
      Kronian dipole axis.

   Some sources refers magnetic dipole at 180 degrees longitude, 89.99 degrees latitude
   in the IAU_SATURN frame. Other source make assume that the dipole axis is 
   parallel to the spin axis.
   
      \begindata

         FRAME_KSM                     = 1602699
         FRAME_1602699_NAME            = 'KSM'
         FRAME_1602699_CLASS           = 5
         FRAME_1602699_CLASS_ID        = 1602699
         FRAME_1602699_CENTER          = 699
         FRAME_1602699_RELATIVE        = 'J2000'
         FRAME_1602699_DEF_STYLE       = 'PARAMETERIZED'
         FRAME_1602699_FAMILY          = 'TWO-VECTOR'
         FRAME_1602699_PRI_AXIS        = 'X'
         FRAME_1602699_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
         FRAME_1602699_PRI_OBSERVER    = 'SATURN'
         FRAME_1602699_PRI_TARGET      = 'SUN'
         FRAME_1602699_PRI_ABCORR      = 'NONE'
         FRAME_1602699_SEC_AXIS        = 'Z'
         FRAME_1602699_SEC_VECTOR_DEF  = 'CONSTANT'
         FRAME_1602699_SEC_SPEC        = 'LATITUDINAL'
         FRAME_1602699_SEC_UNITS       = 'DEGREES'
         FRAME_1602699_SEC_LONGITUDE   = 180.00
         FRAME_1602699_SEC_LATITUDE    =  89.99
         FRAME_1602699_SEC_FRAME       = 'IAU_SATURN'

      \begintext 

   The KSO frame is defined in [3] as follows:

      Kronocentric Solar Orbital Coordinates (KSO)
      ---------------------------------------------------
      Coordinate Sytem Related to Saturn Kronian Solar Orbital
      (X anti-sunward, Y along the orbital velocity direction)

      \begindata

         FRAME_KSO                     = 1603699
         FRAME_1603699_NAME            = 'KSO'
         FRAME_1603699_CLASS           = 5
         FRAME_1603699_CLASS_ID        = 1603699
         FRAME_1603699_CENTER          = 699
         FRAME_1603699_RELATIVE        = 'J2000'
         FRAME_1603699_DEF_STYLE       = 'PARAMETERIZED'
         FRAME_1603699_FAMILY          = 'TWO-VECTOR'
         FRAME_1603699_PRI_AXIS        = 'X'
         FRAME_1603699_PRI_VECTOR_DEF  = 'OBSERVER_TARGET_POSITION'
         FRAME_1603699_PRI_OBSERVER    = 'SATURN' 
         FRAME_1603699_PRI_TARGET      = 'SUN'
         FRAME_1603699_PRI_ABCORR      = 'NONE'
         FRAME_1603699_SEC_AXIS        = 'Y'
         FRAME_1603699_SEC_VECTOR_DEF  = 'OBSERVER_TARGET_VELOCITY'
         FRAME_1603699_SEC_OBSERVER    = 'SATURN' 
         FRAME_1603699_SEC_TARGET      = 'SUN'
         FRAME_1603699_SEC_ABCORR      = 'NONE'
         FRAME_1603699_SEC_FRAME       = 'J2000'

      \begintext 


---------------------------------------------------------------
Small bodies
---------------------------------------------------------------

Churyumov gerasimenko

  \begindata

      FRAME_67PCG_EME                 =  161000012
      FRAME_161000012_NAME            = '67PCG_EME'
      FRAME_161000012_CLASS           =  5
      FRAME_161000012_CLASS_ID        =  161000012
      FRAME_161000012_CENTER          =  1000012
      FRAME_161000012_RELATIVE        = 'J2000'
      FRAME_161000012_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_161000012_FAMILY          = 'TWO-VECTOR'
      FRAME_161000012_PRI_AXIS        = 'Z'
      FRAME_161000012_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_161000012_PRI_FRAME       = 'J2000'
      FRAME_161000012_PRI_SPEC        = 'RECTANGULAR'
      FRAME_161000012_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_161000012_SEC_AXIS        = 'X'
      FRAME_161000012_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_161000012_SEC_FRAME       = 'J2000'
      FRAME_161000012_SEC_SPEC        = 'RECTANGULAR'
      FRAME_161000012_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext

Lutetia

  \begindata

      FRAME_LUTETIA_EME               =  162000021
      FRAME_162000021_NAME            = 'LUTETIA_EME'
      FRAME_162000021_CLASS           =  5
      FRAME_162000021_CLASS_ID        =  162000021
      FRAME_162000021_CENTER          =  2000021
      FRAME_162000021_RELATIVE        = 'J2000'
      FRAME_162000021_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_162000021_FAMILY          = 'TWO-VECTOR'
      FRAME_162000021_PRI_AXIS        = 'Z'
      FRAME_162000021_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_162000021_PRI_FRAME       = 'J2000'
      FRAME_162000021_PRI_SPEC        = 'RECTANGULAR'
      FRAME_162000021_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_162000021_SEC_AXIS        = 'X'
      FRAME_162000021_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_162000021_SEC_FRAME       = 'J2000'
      FRAME_162000021_SEC_SPEC        = 'RECTANGULAR'
      FRAME_162000021_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext

Steins

  \begindata

      FRAME_STEINS_EME                =  162002867
      FRAME_162002867_NAME            = 'STEINS_EME'
      FRAME_162002867_CLASS           =  5
      FRAME_162002867_CLASS_ID        =  162002867
      FRAME_162002867_CENTER          =  2002867
      FRAME_162002867_RELATIVE        = 'J2000'
      FRAME_162002867_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_162002867_FAMILY          = 'TWO-VECTOR'
      FRAME_162002867_PRI_AXIS        = 'Z'
      FRAME_162002867_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_162002867_PRI_FRAME       = 'J2000'
      FRAME_162002867_PRI_SPEC        = 'RECTANGULAR'
      FRAME_162002867_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_162002867_SEC_AXIS        = 'X'
      FRAME_162002867_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_162002867_SEC_FRAME       = 'J2000'
      FRAME_162002867_SEC_SPEC        = 'RECTANGULAR'
      FRAME_162002867_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext

Halley

  \begindata

      FRAME_HALLEY_EME                =  161000036
      FRAME_161000036_NAME            = 'HALLEY_EME'
      FRAME_161000036_CLASS           =  5
      FRAME_161000036_CLASS_ID        =  161000036
      FRAME_161000036_CENTER          =  1000036
      FRAME_161000036_RELATIVE        = 'J2000'
      FRAME_161000036_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_161000036_FAMILY          = 'TWO-VECTOR'
      FRAME_161000036_PRI_AXIS        = 'Z'
      FRAME_161000036_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_161000036_PRI_FRAME       = 'J2000'
      FRAME_161000036_PRI_SPEC        = 'RECTANGULAR'
      FRAME_161000036_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_161000036_SEC_AXIS        = 'X'
      FRAME_161000036_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_161000036_SEC_FRAME       = 'J2000'
      FRAME_161000036_SEC_SPEC        = 'RECTANGULAR'
      FRAME_161000036_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext


GRIGG-SKJELLERUP

  \begindata

      FRAME_GRIGGSKELL_EME            =  161000034
      FRAME_161000034_NAME            = 'GRIGGSKELL_EME'
      FRAME_161000034_CLASS           =  5
      FRAME_161000034_CLASS_ID        =  161000034
      FRAME_161000034_CENTER          =  1000034
      FRAME_161000034_RELATIVE        = 'J2000'
      FRAME_161000034_DEF_STYLE       = 'PARAMETERIZED'
      FRAME_161000034_FAMILY          = 'TWO-VECTOR'
      FRAME_161000034_PRI_AXIS        = 'Z'
      FRAME_161000034_PRI_VECTOR_DEF  = 'CONSTANT'
      FRAME_161000034_PRI_FRAME       = 'J2000'
      FRAME_161000034_PRI_SPEC        = 'RECTANGULAR'
      FRAME_161000034_PRI_VECTOR      = ( 0, 0, 1 )
      FRAME_161000034_SEC_AXIS        = 'X'
      FRAME_161000034_SEC_VECTOR_DEF  = 'CONSTANT'
      FRAME_161000034_SEC_FRAME       = 'J2000'
      FRAME_161000034_SEC_SPEC        = 'RECTANGULAR'
      FRAME_161000034_SEC_VECTOR      = ( 1, 0, 0 )

  \begintext