<?xml version="1.0"?>
<treps>
	<frames>
		<frame id="EME">
			<fullname>
				Earth Mean Equator and Equinox 
			</fullname>
			<description>
   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.
			</description>
		</frame>
		<frame id="JEME">
			<fullname>
				J2000 centered on Jupiter
			</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on Jupiter.
			</description>
		</frame>
		<frame id="KEME">
			<fullname>
				J2000 centered on Saturn
			</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on Saturn.
			</description>
		</frame>
		<frame id="VME">
			<fullname>
				Venus Mean Equator
			</fullname>
			<description>
   The Venus Mean Equatorial of Date frame (also known as Venus Mean
   Equator and IAU vector of Date frame) is defined as follows :

      -  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.
			</description>
		</frame>
		<frame id="MME">
			<fullname>
				Mars Mean Equator
			</fullname>
			<description>
   The Mars Mean Equator of Date frame (also known as Mars Mean Equator
   and IAU vector of Date frame) is defined as follows :

      -  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.
			</description>
		</frame>
		<frame id="LME">
			<fullname>
				Moon Mean Equator
			</fullname>
			<description>
   The Moon Mean Equator of Date frame (also known as Moon Mean Equator
   and IAU vector of Date frame) is defined as follows :

      -  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.
			</description>
		</frame>
		<frame id="HEE">
			<fullname>
				Heliocentric Earth Ecliptic
			</fullname>
			<description>
   The Heliocentric Earth Ecliptic frame is defined as follows :

      -  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.

			</description>
		</frame>
		<frame id="JECLIP">
			<fullname>
				ECLIPJ2000 centered on Jupiter
			</fullname>
			<description>The value for the obliquity of the
                      ecliptic at J2000 is taken from 
                      of 'Explanatory Supplement to the Astronomical Almanac'
						edited by P. Kenneth Seidelmann. University Science
						Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992)
					  page 114 equation 3.222-1
			</description>
		</frame>
		<frame id="KECLIP">
			<fullname>
				ECLIPJ2000 centered on Saturn
			</fullname>
			<description>The value for the obliquity of the
                      ecliptic at J2000 is taken from 
                      of 'Explanatory Supplement to the Astronomical Almanac'
						edited by P. Kenneth Seidelmann. University Science
						Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992)
					  page 114 equation 3.222-1
			</description>
		</frame>
		<frame id="VSO">
			<fullname>
				Venus Solar Orbital
			</fullname>
			<description>
   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.
			</description>
		</frame>
		<frame id="GSE">
			<fullname>
				Geocentric Solar Ecliptic
			</fullname>
			<description>
   The Earth-centric Solar Ecliptic frame is defined as follows :

      -  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.
			</description>
		</frame>
		<frame id="JSO">
			<fullname>
				Jovian Solar Orbital
			</fullname>
			<description>
   The Jupiter-centric Solar Orbital frame is defined as follows:

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

      -  The inertially referenced velocity of the Sun relative to Jupiter
         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 Jupiter center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="KSO">
			<fullname>
				Kronian Solar Orbital
			</fullname>
			<description>
   The Saturn-centric Solar Orbital frame is defined as follows:

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

      -  The inertially referenced velocity of the Sun relative to Saturn
         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 Saturn center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="LSE">
			<fullname>
				Selenocentric Solar Ecliptic
			</fullname>
			<description>
   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.
			</description>
		</frame>
		<frame id="GSM">
			<fullname>
				Geocentric Solar Magnetospheric
			</fullname>
			<description>
      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.
			</description>
		</frame>
		<frame id="KSM">
			<fullname>
				Kronian Solar Magnetospheric
			</fullname>
			<description>
   The KSM frame is defined 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.
			</description>
		</frame>
		<frame id="JSM">
			<fullname>
				Jovian Solar Magnetospheric
			</fullname>
			<description>
   The JSM frame is defined 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.
			</description>
		</frame>
		<frame id="MAG">
			<fullname>
				Geomagnetic coordinate system
			</fullname>
			<description>
      MAG Frame: from http://rbsp.space.umn.edu/data/rbsp/teams/spice/fk/rbsp_general011.tf
      ---------------------------------------------------------

      Definition :

      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
      

      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.
			</description>
		</frame>
		<frame id="SM">
			<fullname>
				Solar Magnetic coordinates
			</fullname>
			<description>
      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.
			</description>
		</frame>
		<frame id="GSEQ">
			<fullname>
				Geocentric Solar Equatorial
			</fullname>
			<description>
   The Geocentric Solar Equatorial frame is defined as follows :

      -  +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.
			</description>
		</frame>
		<frame id="ECLIPDATE">
			<fullname>
				Earth Mean Ecliptic and Equinox
			</fullname>
			<description>
   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.
			</description>
		</frame>
		<frame id="67PCG_EME">
			<fullname>
				J2000 centered on comet Churyumov Gerasimenko
			</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on comet Churyumov Gerasimenko.
			</description>
		</frame>
		<frame id="LUTETIA_EME">
			<fullname>
				J2000 centered on asteroid LUTETIA
			</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on LUTETIA.
			</description>
		</frame>
		<frame id="STEINS_EME">
			<fullname>
				J2000 centered on asteroid STEINS
			</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on STEINS.
			</description>
		</frame>
		<frame id="HEEQ">
			<fullname>
				Heliocentric Earth Equatorial	
			</fullname>
			<description>
   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.
			</description>
		</frame>
		<frame id="HCI">
			<fullname>
				Heliocentric Inertial
			</fullname>
			<description>
   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.
			</description>
		</frame>
		<frame id="MSO">
			<fullname>
				Mars-centric Solar Orbital
			</fullname>
			<description>
   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.
			</description>
		</frame>
		<frame id="MEME">
			<fullname>
				J2000 centered on Mercury
			</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on Mercury.
			</description>
		</frame>
		<frame id="MECLIP">
			<fullname>
				ECLIPJ2000 centered on Mercury
			</fullname>
			<description>The value for the obliquity of the
                      ecliptic at J2000 is taken from 
                      of 'Explanatory Supplement to the Astronomical Almanac'
						edited by P. Kenneth Seidelmann. University Science
						Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992)
					  page 114 equation 3.222-1
			</description>
		</frame>
		<frame id="MESO">
			<fullname>
				Mercury-centric Solar Orbital
			</fullname>
			<description>
   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.
			</description>
		</frame>
		<frame id="J2000">
			<fullname>
				Earth mean equator, dynamical equinox of J2000
			</fullname>
			<description>
			</description>
		</frame>
		<frame id="ECLIPJ2000">
			<fullname>
				Ecliptic coordinates based upon the J2000 frame
			</fullname>
			<description>The value for the obliquity of the
                      ecliptic at J2000 is taken from 
                      of 'Explanatory Supplement to the Astronomical Almanac'
						edited by P. Kenneth Seidelmann. University Science
						Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992)
					  page 114 equation 3.222-1
			</description>
		</frame>
		<frame id="GPHIO">
			<fullname>
				Ganymede Phi-Omega
			</fullname>
			<description>
In those Cartesian coordinate system (referred to as MphiO, M=Ganymede, Europa, Io, Callisto),
X is along the flow direction, Y is along the Moon-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.
			</description>
		</frame>
		<frame id="IAU_SUN">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="MESE">
			<fullname>Mercury-centric Solar Ecliptic</fullname>
			<description>
   The Mercury-centric Solar Ecliptic frame is defined as follows :

      -  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 Mercury-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.
			</description>
		</frame>
		<frame id="MESEQ">
			<fullname>Mercury-centric Solar Equatorial</fullname>
			<description>
   The Mercury-centric Solar Equatorial frame is defined as follows :

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

   All the vectors are geometric: no aberration corrections are used.
			</description>
		</frame>
		<frame id="IAU_MERCURY">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="IAU_VENUS">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="IAU_EARTH">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="IAU_MOON">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="IAU_MARS">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="PSE">
			<fullname>Phobos-centric Solar Ecliptic</fullname>
			<description>
   The Moon-centric Solar Ecliptic frame is defined as follows:

      -  The position of the Sun relative to Phobos is the primary vector:
         +X axis points from Moon to the Sun;
 
      -  The inertially referenced velocity of the Sun relative to Phobos
         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 Phobos' center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="PME">
			<fullname>Phobos Mean Equator</fullname>
			<description>
   The Phobos Mean Equator of Date frame (also known as Phobos Mean Equator
   and IAU vector of Date frame) is defined as follows :

      -  X-Y plane is defined by the Phobos 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 Phobos' center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="DSE">
			<fullname>Deimos-centric Solar Ecliptic</fullname>
			<description>
   The Moon-centric Solar Ecliptic frame is defined as follows:

      -  The position of the Sun relative to Deimos is the primary vector:
         +X axis points from Moon to the Sun;
 
      -  The inertially referenced velocity of the Sun relative to Deimos
         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 Deimos' center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="DME">
			<fullname>Deimos Mean Equator</fullname>
			<description>
  The Deimos Mean Equator of Date frame (also known as Deimos Mean Equator
   and IAU vector of Date frame) is defined as follows :

      -  X-Y plane is defined by the Deimos 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 Deimos' center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="SYSTEM_3">
			<fullname>Body-Fixed Frame, same as IAU_JUPITER</fullname>
			<description>
			System 3 frame is the body fixed frame known in SPICE as IAU_JUPITER
			</description>
		</frame>
		<frame id="IAU_JUPITER">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="IPHIO">
			<fullname>Io Phi-Omega</fullname>
			<description>
In those Cartesian coordinate system (referred to as MphiO - M is Moon prefix -),
X is along the flow direction, Y is along the Moon-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
			</description>
		</frame>
		<frame id="EPHIO">
			<fullname>Europa Phi-Omega</fullname>
			<description>
In those Cartesian coordinate system (referred to as MphiO - M is Moon prefix -),
X is along the flow direction, Y is along the Moon-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			</description>
		</frame>
		<frame id="CPHIO">
			<fullname>Callisto Phi-Omega</fullname>
			<description>
In those Cartesian coordinate system (referred to as MphiO - M is Moon prefix -),
X is along the flow direction, Y is along the Moon-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			</description>
		</frame>
		<frame id="IAU_SATURN">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="MIIS">
			<fullname>Mimas Inter-action coordinate System</fullname>
			<description>
   The Moon Inter-action coordinate System frame is defined as follows:

      -  The inertially referenced velocity of Saturn relative to Moon
         is the primary vector: +X;

	  -  The position of Saturn relative to Moon is the secondary vector:
         +Y axis points from Moon to the Saturn;

      -  +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.
			</description>
		</frame>
		<frame id="ENIS">
			<fullname>Enceladus Inter-action coordinate System</fullname>
			<description>
   The Moon Inter-action coordinate System frame is defined as follows:

      -  The inertially referenced velocity of Saturn relative to Moon
         is the primary vector: +X;

	  -  The position of Saturn relative to Moon is the secondary vector:
         +Y axis points from Moon to the Saturn;

      -  +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.
			</description>
		</frame>
		<frame id="TEIS">
			<fullname>Tethys Inter-action coordinate System</fullname>
			<description>
   The Moon Inter-action coordinate System frame is defined as follows:

      -  The inertially referenced velocity of Saturn relative to Moon
         is the primary vector: +X;

	  -  The position of Saturn relative to Moon is the secondary vector:
         +Y axis points from Moon to the Saturn;

      -  +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.
			</description>
		</frame>
		<frame id="DIIS">
			<fullname>Dione Inter-action coordinate System</fullname>
			<description>
   The Moon Inter-action coordinate System frame is defined as follows:

      -  The inertially referenced velocity of Saturn relative to Moon
         is the primary vector: +X;

	  -  The position of Saturn relative to Moon is the secondary vector:
         +Y axis points from Moon to the Saturn;

      -  +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.
			</description>
		</frame>
		<frame id="RHIS">
			<fullname>Rhea Inter-action coordinate System</fullname>
			<description>
   The Moon Inter-action coordinate System frame is defined as follows:

      -  The inertially referenced velocity of Saturn relative to Moon
         is the primary vector: +X;

	  -  The position of Saturn relative to Moon is the secondary vector:
         +Y axis points from Moon to the Saturn;

      -  +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.
			</description>
		</frame>
		<frame id="TIIS">
			<fullname>TItan Inter-action coordinate System</fullname>
			<description>
   The Moon Inter-action coordinate System frame is defined as follows:

      -  The inertially referenced velocity of Saturn relative to Moon
         is the primary vector: +X;

	  -  The position of Saturn relative to Moon is the secondary vector:
         +Y axis points from Moon to the Saturn;

      -  +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.
			</description>
		</frame>
		<frame id="UEME">
			<fullname>J2000 centered on Uranus</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on Uranus.
			</description>
		</frame>
		<frame id="UECLIP">
			<fullname>ECLIPJ2000 centered on Uranus</fullname>
			<description>The value for the obliquity of the
                      ecliptic at J2000 is taken from 
                      of 'Explanatory Supplement to the Astronomical Almanac'
						edited by P. Kenneth Seidelmann. University Science
						Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992)
					  page 114 equation 3.222-1
			</description>
		</frame>
		<frame id="USO">
			<fullname>Uranus-centric Solar Orbital Coordinates</fullname>
			<description>
   The Uranus-centric Solar Orbital frame is defined as follows:

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

      -  The inertially referenced velocity of the Sun relative to Uranus
         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 Uranus center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="IAU_URANUS">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="NEME">
			<fullname>J2000 centered on Neptune</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on Neptune.
			</description>
		</frame>
		<frame id="NECLIP">
			<fullname>ECLIPJ2000 centered on Neptune</fullname>
			<description>The value for the obliquity of the
                      ecliptic at J2000 is taken from 
                      of 'Explanatory Supplement to the Astronomical Almanac'
						edited by P. Kenneth Seidelmann. University Science
						Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992)
					  page 114 equation 3.222-1
			</description>
		</frame>
		<frame id="NSO">
			<fullname>Neptune-centric Solar Orbital Coordinates</fullname>
			<description>
   The Neptune-centric Solar Orbital frame is defined as follows:

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

      -  The inertially referenced velocity of the Sun relative to Neptune
         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 Neptune center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="IAU_NEPTUNE">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="PEME">
			<fullname>EME2000 centered on Pluto</fullname>
			<description>
			</description>
		</frame>
		<frame id="PECLIP">
			<fullname>ECLIPJ2000 centered on Pluto</fullname>
			<description>The value for the obliquity of the
                      ecliptic at J2000 is taken from 
                      of 'Explanatory Supplement to the Astronomical Almanac'
						edited by P. Kenneth Seidelmann. University Science
						Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992)
					  page 114 equation 3.222-1
			</description>
		</frame>
		<frame id="PSO">
			<fullname>Pluto-centric Solar Orbital Coordinates</fullname>
			<description>
   The Pluto-centric Solar Orbital frame is defined as follows:

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

      -  The inertially referenced velocity of the Sun relative to Pluto
         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 Pluto center of mass.

   All vectors are geometric: no corrections are used.
			</description>
		</frame>
		<frame id="IAU_PLUTO">
			<fullname>Body-Fixed Frame</fullname>
			<description>
			Archinal, B.A., Acton, C.H., A’Hearn, M.F. et al. Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015.
			Celest Mech Dyn Astr 130, 22 (2018). https://doi.org/10.1007/s10569-017-9805-5
			</description>
		</frame>
		<frame id="67PCG_CSO">
			<fullname>Comet solar orbital  centered on comet churyumov gerasimenko</fullname>
			<description>
	Comet frames are defined as a two-vector style dynamic frames as follows:
 
      -  The position of the sun relative to the comet is the primary
         vector: the X axis points from the comet to the sun.

      -  The inertially referenced velocity of the sun relative to the
         comet is the secondary vector: the Y axis is the component of
         this velocity vector orthogonal to the X axis.

      -  The Z axis is X cross Y, completing the right-handed reference
         frame.

      -  All vectors are geometric: no aberration corrections are used.
			</description>
		</frame>
		<frame id="LUTETIA_CSO">
			<fullname>Comet solar orbital  centered on asteroid LUTETIA</fullname>
			<description>
	Comet frames are defined as a two-vector style dynamic frames as follows:
 
      -  The position of the sun relative to the comet is the primary
         vector: the X axis points from the comet to the sun.

      -  The inertially referenced velocity of the sun relative to the
         comet is the secondary vector: the Y axis is the component of
         this velocity vector orthogonal to the X axis.

      -  The Z axis is X cross Y, completing the right-handed reference
         frame.

      -  All vectors are geometric: no aberration corrections are used.
			</description>
		</frame>
		<frame id="STEINS_CSO">
			<fullname>Comet solar orbital  centered on asteroid STEINS</fullname>
			<description>
	Comet frames are defined as a two-vector style dynamic frames as follows:
 
      -  The position of the sun relative to the comet is the primary
         vector: the X axis points from the comet to the sun.

      -  The inertially referenced velocity of the sun relative to the
         comet is the secondary vector: the Y axis is the component of
         this velocity vector orthogonal to the X axis.

      -  The Z axis is X cross Y, completing the right-handed reference
         frame.

      -  All vectors are geometric: no aberration corrections are used.
			</description>
		</frame>
		<frame id="HALLEY_EME">
			<fullname>J2000 centered on HALLEY comet</fullname>
			<description>
			Earth mean equator, dynamical equinox of J2000 centered on Halley comet.
			</description>
		</frame>
		<frame id="HALLEY_CSO">
			<fullname>Comet solar orbital  centered on HALLEY comet</fullname>
			<description>
	Comet frames are defined as a two-vector style dynamic frames as follows:
 
      -  The position of the sun relative to the comet is the primary
         vector: the X axis points from the comet to the sun.

      -  The inertially referenced velocity of the sun relative to the
         comet is the secondary vector: the Y axis is the component of
         this velocity vector orthogonal to the X axis.

      -  The Z axis is X cross Y, completing the right-handed reference
         frame.

      -  All vectors are geometric: no aberration corrections are used.
			</description>
		</frame>
		<frame id="GRIGGSKELL_EME">
			<fullname>J2000 centered on GRIGG-SKJELLERUP comet</fullname>
			<description>
				Earth mean equator, dynamical equinox of J2000 centered on GRIGG-SKJELLERUP.
			</description>
		</frame>
		<frame id="GRIGGSKELL_CSO">
			<fullname>Comet solar orbital  centered on GRIGG-SKJELLERUP comet</fullname>
			<description>
	Comet frames are defined as a two-vector style dynamic frames as follows:
 
      -  The position of the sun relative to the comet is the primary
         vector: the X axis points from the comet to the sun.

      -  The inertially referenced velocity of the sun relative to the
         comet is the secondary vector: the Y axis is the component of
         this velocity vector orthogonal to the X axis.

      -  The Z axis is X cross Y, completing the right-handed reference
         frame.

      -  All vectors are geometric: no aberration corrections are used.
	  </description>
		</frame>
		<frame id="RTN">
			<fullname>Sun-Spaceraft coordinate system</fullname>
			<description>
				RTN Frame is defined as follows:
                    - R is positive from the Sun to the spacecraft.
                    - T is omega cross R, where omega is the sun spin axis.
                    - N is R cross T, which completes the right-handed system.
					
					This frame assumes the instantaneous center is located at the Sun,
                        and not the spacecraft. Further, the axes are associated
                        with the normal X, Y, and Z in the following manner:
                     
					- R -> X
					- T -> Y
					- N -> Z
			</description>
		</frame>
		<frame id="RTP">
			<fullname>Planet-Spaceraft coordinate system</fullname>
			<description>
				The RTP frame is defined as follows:
                    - R is positive from the Planet to the spacecraft.
                    - T is omega cross R, where omega is the planet spin axis.
                    - P is R cross T, which completes the right-handed system.
                     
                
                      This frame assumes the instantaneous center is located at planet
                      and not the spacecraft. Further, the axes are associated
                      with the normal X, Y, and Z in the following manner:
                     
					        - R     -> X
							- Theta -> Y
							- Phi   -> Z
				</description>
		</frame>
	</frames>
</treps>