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ISIS Application Documentation

spiceinit

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Update SPICE data (kernels, pointing, and position) for a camera cube

Description
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Description

This program searches the ISIS data areas in order to discern the SPICE kernels required for the camera cube. Cubes which have supported camera models in the ISIS system require spacecraft position, pointing, body shape and orientation, sun position, and other information in order to compute ground positions (latitude/longitude) and photometric viewing angles. This information is stored in SPICE kernels.

The program uses the "SpacecraftName", "InstrumentId", "TargetName", "StartTime", and "StopTime" keywords from the cube's label to determine which kernels to use. It attempts to find kernel files for the following keywords and writes them to the Kernels group:

If you are unfamilar with SPICE terminology it is recommended you read the NAIF required reading at http://naif.jpl.nasa.gov/naif/doc_C.html

The program modifies the kernels group and writes the name of the SPICE files that need to be loaded by the camera models. It has the option of pre-reading the data from the SPICE kernels and loading it as a binary table attached to the cube. This can faciliate faster load times and allows the instrument pointing to be easily updated.

As kernels are loaded they override the data in previously loaded kernels. The order in which kernels are loaded is:

  1. Target Position
  2. Instrument Position
  3. Instrument Pointing
  4. Frame
  5. Target Attitude Shape
  6. Instrument
  7. Instrument Addendum
  8. Leap Second
  9. Spacecraft Clock
  10. Extra
The spiceinit program will always try to use the highest quality kernels possible. This only applies to kernels that are not specified manually. The kernel qualities are, from best to worst:
  1. Smithed
    2. This is considered the best quality kernel and will be used first when selected. Smithed kernels have been improved or adjusted for accuracy by a mission team or for the purpose of a cartographic product. Consider the source, content and completeness of Smithed kernels when selecting this level of quality.
  2. Reconstructed
    3. These kernels are typically produced by a mission a few weeks after the target has been reached.
  3. Predicted
    4. These are preliminary kernels produced by a mission and are the best-estimates of where the spacecraft will be at any given time.
  4. Nadir
    5. This is the worst quality kernel and is used as a last resort because it assumes the spacecraft is always nadir-looking.

The InstrumentPositionQuality and InstrumentPointingQuality keywords are added to the Kernels group to indicate the level of quality of the loaded kernels. At least one of the parameters CKPREDICTED, CKNADIR, CKRECON, or CKSMITHED must be entered. Furthermore, at least one of the parameters SPKPREDICTED, SPKRECON, or SPKSMITHED must be entered.

Please note: Kernel Files specified that reside in the current working directory will not have their paths expanded. This is to allow variables like $msg/ to work correctly.

The spiceinit program will also add the RayTraceEngine, OnError, and Tolerance keywords to the Kernels group if specified in the IsisPreferences file. If included, these keywords specify the ray-tracing engine to use and how to use it for shapemodels. Please see the IsisPreferences file for more details.

Troubleshooting: If spiceinit is failing with the error "No Camera Kernel found for the image ..." then try enabling the "CKPREDICTED" or "CKNADIR" option. A similar error exists for SPK kernels, and you can enable "SPKPREDICTED" to get past that error. "PREDICTED" and "NADIR" options typically have less accuracy than reconstructed and smithed kernels which is why they are disabled by default.

Categories

Related Applications to Previous Versions of ISIS

This program replaces the following applications existing in previous versions of ISIS:

Parameter Groups

Input Files

Name Description
FROM The input cube for which the Kernels group will be updated.

Spice Data

Name Description
WEB Use the ISIS SPICE Web Service
ATTACH Attach SPICE data to cube

Instrument Orientation Kernel (CK) quality

Name Description
CKSMITHED Use smithed (corrected) pointing kernels if available
CKRECON Use reconstructed pointing kernels if available
CKPREDICTED Use predicted pointing kernels if available
CKNADIR Compute nadir pointing if no other kernels exist

Instrument Position Kernel (SPK) quality

Name Description
SPKSMITHED Use smithed (corrected) position kernels if available
SPKRECON Use reconstructed position kernels if available
SPKPREDICTED Use predicted pointing kernels if available

User Override of System Kernels

Name Description
LS User defined leap second kernel file.
PCK User defined target attitude and shape kernel file.
TSPK User defined target position kernel file.
IK User defined instrument kernel file.
SCLK User defined spacecraft clock kernel file.
CK User defined spacecraft pointing kernel file.
FK User defined frames kernel file.
SPK User defined spacecraft position kernel file.
IAK User defined instrument addendum kernel file.
EXTRA User defined extra kernel file.

Shape Model Parameters

Name Description
SHAPE Select the definition of the shape model
MODEL User defined ISIS cube shape model.

Time Parameters

Name Description
STARTPAD Time padding (in seconds) to load from the kernels before the start time of the image
ENDPAD Time padding (in seconds) to load from the kernels after the end time of the image

Spice Service Parameters

Name Description
URLThe Spice Service URL
PORTThe Spice Service Port

Input Files: FROM

Description

The input cube for which the Kernels group will be updated. InstrumentPointing, InstrumentPosition, BodyRotation, and SunPosition tables will also be added to the cube.

Type cube
File Mode input
Filter *.cub

Spice Data: WEB

Description

This option uses the ISIS SPICE Website to get the most up to date kernels available. The ATTACH parameter must be enabled for this option. Manually specifying kernel files is not allowed when this option is used. This service may be temporarily unavailable when new Isis releases are being distributed. Any mismatch in Isis version will cause this option to fail; only the most recent version of ISIS is supported. An active internet connection is required to use this service. Running with this option is slower than downloading the SPICE data locally (download all of $ISISDATA) and running spiceinit with the local data. This data can take up a lot of space. The size of the download will depend heavily on the mission and instrument of your input file.

Type boolean
Default false
Exclusions
  • ATTACH
  • LS
  • PCK
  • TSPK
  • IK
  • SCLK
  • CK
  • FK
  • SPK
  • IAK
  • EXTRA
Inclusions
  • URL
  • PORT

Spice Data: ATTACH

Description

This option attaches binary tables to the cube which contain the instrument position (SPK) and orientation (CK), as well as the sun position and body/target orientation. This is the prefered initialization option as it allows the pointing to be updated by further programs.

Type boolean
Default TRUE

Instrument Orientation Kernel (CK) quality: CKSMITHED

Description

Allow the use of pointing kernels marked as Smithed. If this parameter is selected, smithed kernels may be used to cover the time requirements of the image. Please consider the source, content, and completeness of a smithed ck-kernel before selecting. The keyword InstrumentPointingQuality=Smithed will be added to the Kernels group if this quality kernel is loaded.

Type boolean
Default FALSE

Instrument Orientation Kernel (CK) quality: CKRECON

Description

Allow the use of pointing kernels marked as Reconstructed. This is the default option. If reconstructed kernels cannot be found for the given time range, the program will fail. The keyword InstrumentPointingQuality=Reconstructed will be added to the Kernels group if this quality kernel is loaded.

Type boolean
Default TRUE

Instrument Orientation Kernel (CK) quality: CKPREDICTED

Description

Allow the use of pointing kernels marked as Predicted. The program will check the reconstructed kernels for the given time range first. If the time range is not found, spiceinit will check for predicted kernels. If predicted kernels cannot be found for the given time range, the program will fail. The keyword InstrumentPointingQuality=Predicted will be added to the Kernels group if this quality kernel is loaded.

Type boolean
Default FALSE

Instrument Orientation Kernel (CK) quality: CKNADIR

Description

This option will create nadir pointing data. The higher quality kernels will be checked first. If the given time range cannot be found, spiceinit will use a nadir kernel. The keyword InstrumentPointingQuality=Nadir will be added to the Kernels group if this quality kernel is loaded.

Type boolean
Default FALSE

Instrument Position Kernel (SPK) quality: SPKSMITHED

Description

Allow the use of position kernels marked as Smithed. If this parameter is turned on, smithed kernels may be used to cover the time requirements of the image. If a smithed kernel cannot be found, spiceinit will look for a reconstructed kernel for the given time frame. Please consider the source, content, and completeness of a smithed spk-kernel when selected. The keyword InstrumentPositionQuality=Smithed will be added to the Kernels group if this quality kernel is loaded.

Type boolean
Default FALSE

Instrument Position Kernel (SPK) quality: SPKRECON

Description

Allow the use of position kernels marked as Reconstructed. This is the default option. If no lower quality options are selected and spiceinit cannot find reconstructed kernels for the given time frame, the program will fail. The keyword InstrumentPositionQuality=Reconstructed will be added to the Kernels group if this quality kernel is loaded.

Type boolean
Default TRUE

Instrument Position Kernel (SPK) quality: SPKPREDICTED

Description

Allow the use of pointing kernels marked as Predicted. The program will check the reconstructed kernels for the given time range first. If the time range is not found, spiceinit will check for predicted kernels. If predicted kernels cannot be found for the given time range, the program will fail The keyword InstrumentPositionQuality=Predicted will be added to the Kernels group if this quality kernel is loaded.

Type boolean
Default FALSE

User Override of System Kernels: LS

Description

NAIF kernel file to be used for the leap second in place of the automated leap second kernel. The LS kernel will be referenced in the keyword LeapSecond by the resulting Kernel group. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $base/kernels/lsk/
Internal Default none
Filter *.tls

User Override of System Kernels: PCK

Description

NAIF kernel file to be used for the target attitude and shape in place of the automated attitude and shape kernel. The PCK kernel will be referenced in the keyword TargetAttitudeShape by the resulting Kernel group. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $base/kernels/pck/
Internal Default none
Filter *.tpc

User Override of System Kernels: TSPK

Description

NAIF kernel file to be used for the target position in place of the automated position kernel. The TSPK kernel will be referenced in the keyword TargetPosition by the resulting Kernel group. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $base/kernels/spk/
Internal Default none
Filter *.bsp

User Override of System Kernels: IK

Description

NAIF kernel file to be used for the instrument in place of the automated instrument kernel. The IK kernel will be referenced in the keyword Instrument by the resulting Kernel group. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $ISISDATA
Internal Default none
Filter *.ti

User Override of System Kernels: SCLK

Description

NAIF kernel file to be used for the spacecraft clock in place of the automated spacecraft clock kernel. The SCLK kernel will be referenced in the keyword Instrument by the resulting Kernel group. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $ISISDATA
Internal Default none
Filter *.tsc

User Override of System Kernels: CK

Description

NAIF kernel file to be used for the spacecraft pointing in place of the automated spacecraft pointing kernel. The CK kernel will be referenced in the keyword InstrumentPointing by the resulting Kernel group. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $ISISDATA
Internal Default none
Filter *.bc

User Override of System Kernels: FK

Description

NAIF kernel file to be used for the instrument frame in place of the automated frames kernel. The FK kernel will be referenced in the keyword InstrumentPointing by the resulting Kernel group. Note: If you enter a filename for CK some instruments may require a frame kernel as well. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $ISISDATA
Internal Default none
Filter *.tf

User Override of System Kernels: SPK

Description

NAIF kernel file to be used for the spacecraft position in place of the automated spacecraft position kernel. The SPK kernel will be referenced in the keyword InstrumentPosition by the resulting Kernel group. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $ISISDATA
Internal Default none
Filter *.bsp

User Override of System Kernels: IAK

Description

NAIF formatted kernel file to be used for the ISIS specific instrument addendum kernel, in place of the automated. The IAK kernel will be referenced in the keyword InstrumentAddendum by the resulting Kernel group. If none is specified, spiceinit will use the latest kernel configuration file or kernel database file to find the appropriate kernel(s) for the given input file.

Type filename
File Mode input
Default Path $ISISDATA
Internal Default none
Filter *.ti

User Override of System Kernels: EXTRA

Description

Optional extra NAIF formatted kernel file. The EXTRA kernel will be referenced in the keyword Extra by the resulting Kernel group.

Type filename
File Mode input
Default Path $ISISDATA
Internal Default none

Shape Model Parameters : SHAPE

Description

ISIS camera models can use a shape model (a projected ISIS cube that defines the radii for a global or regional area). You can choose to select a shape model or to use the definition of the ellipsoid found in the planetary constants (PCK) file.

Type string
Default SYSTEM
Option List:
Option Brief Description
ELLIPSOIDUse triaxial ellipsoid from PCK The camera will use the radii defined in the planetary constants file (PCK) when determining intersections of the body surface. The ShapeModel keyword will be set to NULL for an ellipsoid.

Exclusions

  • MODEL
RINGPLANEUse the targets equatorial ring plane The camera will use the targets equatorial ringplane for surface intersections. The ShapeModel keyword will be set to RINGPLANE.

Exclusions

  • MODEL
SYSTEMSearch system for a default shape model This option will search the default system data area ($ISISDATA/base/dems) for a shape model that matches the target of the input cube. If none are found, then no shape model will be used and the default ellipsoid parameters found in the planetary constants (PCK) file define the shape. The filename and path of the shape model loaded will be found in the cube labels Kernels Group in the ShapeModel keyword.

Exclusions

  • MODEL
USERUser specified shape model file The camera will use shape model defined by the parameter MODEL. The filename and path of the shape model loaded will be found in the cube labels Kernels Group in the ShapeModel keyword.

Shape Model Parameters : MODEL

Description

A map projected ISIS cube which contains the radii of the target. The file can cover more than the input cube (FROM) but must minimally cover the data in the input cube. The filename and path of the shape model loaded will be found in the cube labels Kernels Group in the ShapeModel keyword.

Type cube
File Mode input
Default Path $base//dems/
Filter *.cub *.bds

Time Parameters: STARTPAD

Description

When the kernels for an image are loaded, by default only what the image requires is loaded. By setting this option, the loaded kernels start at the specified amount of time before the image start time. Using this option for framing cameras could significantly decrease the accuracy of the NAIF information because this will cause the information to be interpolated between the STARTPAD and ENDPAD.

Type double
Default 0.0
Minimum 0.0 (inclusive)

Time Parameters: ENDPAD

Description

When the kernels for an image are loaded, by default only what the image requires is loaded. By setting this option, the loaded kernels end at the specified amount of time after the image end time. Using this option for framing cameras could significantly decrease the accuracy of the NAIF information because this will cause the information to be interpolated between the STARTPAD and ENDPAD.

Type double
Default 0.0
Minimum 0.0 (inclusive)

Spice Service Parameters: URL

Description

This is where a request for SPICE data is sent. The default is the USGS SPICE server.

Type string
Default https://services.isis.astrogeology.usgs.gov/cgi-bin/spiceinit.cgi

Spice Service Parameters: PORT

Description

This is the port on which a request for SPICE data is sent.

Type integer
Default 443
Minimum 0 (inclusive)

Examples

Example 1

Example of spiceinit using default parameters.

Description

This example shows how to use spiceinit using the default parameters. That is, the SPICE data will be attached to the cube labels (attach=yes). Only reconstructed kernel types will be allowed for CK and SPK kernels, the default system kernels will be found in the kernel database files, and no time parameters will be set. Because there is no default elevation model for Titan, spiceinit will set the ShapeModel keyword to "Null".

Command Line

spiceinit from=v1545949478_1.cub
An example of how to run this program with default parameters from the command line.

GUI Screenshot

Example of GUI command

Example GUI

An example of how to run this program using the GUI. Note, the updated Kernel group can be seen in the log window.

Data File

Cube labels after spiceinit. This is the label of the input cube after spiceinit has been run. The following groups were added to the cube's labels: 
              Group = Kernels
                NaifFrameCode             = -82370
                LeapSecond                = $base/kernels/lsk/naif0012.tls
                TargetAttitudeShape       = ($base/kernels/pck/pck00009.tpc,
                                             $cassini/kernels/pck/cpck27Mar2017.tpc)
                TargetPosition            = (Table, $base/kernels/spk/de405.bsp)
                InstrumentPointing        = (Table, $cassini/kernels/ck/06357_06362ra.bc,
                                             $cassini/kernels/fk/cas_v40_usgs.tf)
                Instrument                = Null
                SpacecraftClock           = $cassini/kernels/sclk/cas00170.tsc
                InstrumentPosition        = (Table,
                                             $cassini/kernels/spk/070208R_SCPSE_06356_0700-
                                             8.bsp)
                InstrumentAddendum        = $cassini/kernels/iak/vimsAddendum03.ti
                ShapeModel                = Null
                InstrumentPositionQuality = Reconstructed
                InstrumentPointingQuality = Reconstructed
                CameraVersion             = 1
              End_Group

              Object = Table
                Name                = InstrumentPointing
                StartByte           = 6373579
                Bytes               = 4352
                Records             = 68
                ByteOrder           = Lsb
                TimeDependentFrames = (-82000, 1)
                ConstantFrames      = (-82370, -82000)
                ConstantRotation    = (0.99991568332482, 0.0014510663863786,
                                       -0.012904287946602, 0.012904407824453,
                                       -7.32810212777781e-05, 0.99991673197751,
                                       0.0014499999195506, -0.99999894451756,
                                       -9.19999948958952e-05)
                CkTableStartTime    = 220528381.47991
                CkTableEndTime      = 220529079.47551
                CkTableOriginalSize = 4096
                FrameTypeCode       = 3
                Description         = "Created by spiceinit"
                Kernels             = ($cassini/kernels/ck/06357_06362ra.bc,
                                       $cassini/kernels/fk/cas_v40_usgs.tf)

                Record Information
                .
                .
                .

              End_Object

              Object = Table
                Name                 = InstrumentPosition
                StartByte            = 6377931
                Bytes                = 6496
                Records              = 116
                ByteOrder            = Lsb
                CacheType            = HermiteSpline
                SpkTableStartTime    = 220528381.47991
                SpkTableEndTime      = 220529079.47551
                SpkTableOriginalSize = 4096.0
                Description          = "Created by spiceinit"
                Kernels              = $cassini/kernels/spk/070208R_SCPSE_06356_07008.bsp

                Record Information
                .
                .
                .

              End_Object

              Object = Table
                Name                = BodyRotation
                StartByte           = 6384427
                Bytes               = 128
                Records             = 2
                ByteOrder           = Lsb
                TimeDependentFrames = (10044, 1)
                CkTableStartTime    = 220528381.47991
                CkTableEndTime      = 220529079.47551
                CkTableOriginalSize = 2
                FrameTypeCode       = 2
                PoleRa              = (39.4827, 0.0, 0.0)
                PoleDec             = (83.4279, 0.0, 0.0)
                PrimeMeridian       = (186.5855, 22.5769768, 0.0)
                PoleRaNutPrec       = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
                PoleDecNutPrec      = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
                PmNutPrec           = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
                SysNutPrec0         = (353.32, 28.72, 177.4, 300.0, 316.45, 345.2, 29.8,
                                       706.64, 57.44)
                SysNutPrec1         = (75706.7, 75706.7, -36505.5, -7225.9, 506.2, -1016.3,
                                       -52.1, 151413.4, 151413.4)
                Description         = "Created by spiceinit"
                Kernels             = ($base/kernels/spk/de405.bsp,
                                       $base/kernels/pck/pck00009.tpc,
                                       $cassini/kernels/pck/cpck27Mar2017.tpc)
                SolarLongitude      = 312.76943291256

                Record Information
                .
                .
                .

              End_Object

              Object = Table
                Name                 = SunPosition
                StartByte            = 6384555
                Bytes                = 112
                Records              = 2
                ByteOrder            = Lsb
                CacheType            = Linear
                SpkTableStartTime    = 220528381.47991
                SpkTableEndTime      = 220529079.47551
                SpkTableOriginalSize = 2.0
                Description          = "Created by spiceinit"
                Kernels              = $base/kernels/spk/de405.bsp

                Record Information
                .
                .
                .

              End_Object

              Object = NaifKeywords
                BODY606_RADII                    = (2575.0, 2575.0, 2575.0)
                BODY_FRAME_CODE                  = 10044
                CLOCK_ET_-82_1545949478_COMPUTED = 802c35fdfd49aa41
                CLOCK_ET_-82_1545950172_COMPUTED = d3ea3269034aaa41
                INS-82370_TRANSX                 = (0.0, 1.0, 0.0)
                INS-82370_TRANSY                 = (0.0, 0.0, 1.0)
                INS-82370_ITRANSS                = (0.0, 1.0, 0.0)
                INS-82370_ITRANSL                = (0.0, 0.0, 1.0)
              End_Object
              End

Example 2

Example of spiceinit using a ShapeModel chosen by the user.

Description

This example shows how to use spiceinit using a ShapeModel chosen by the user. In this example, the input cube is of Mars, so we can use a ShapeModel from $ISISDATA that was created specifically for use with Mars data.

Command Line

spiceinit from=hi2isis_RED0.cub shape=user model=$ISISDATA/base/dems/ulcn2005_lpo_0005.cub
An example of how to run this program with a chosen ShapeModel.

GUI Screenshot

Example of GUI command

Example GUI

An example of how to run this program using the GUI. Note, the updated Kernel group can be seen in the log window.

Data File

Cube labels after spiceinit. This is the label of the input cube after spiceinit has been run. The following groups were added to the cube's labels: 
              Object = Table
                Name                = InstrumentPointing
                StartByte           = 3343625
                Bytes               = 1152
                Records             = 18
                ByteOrder           = Lsb
                TimeDependentFrames = (-74000, -74900, 1)
                ConstantFrames      = (-74690, -74000)
                ConstantRotation    = (0.9999703083413, 0.0, -0.0077059999872177,
                                       8.81584889031119e-06, 0.99999934560434,
                                       0.0011439900269605, 0.0077059949444447,
                                       -0.0011440239949305, 0.99996965396507)
                CkTableStartTime    = 217006138.39688
                CkTableEndTime      = 217006140.07063
                CkTableOriginalSize = 5001
                FrameTypeCode       = 3
                Description         = "Created by spiceinit"
                Kernels             = ($mro/kernels/ck/mro_sc_psp_061114_061120.bc,
                                       $mro/kernels/fk/mro_v15.tf)

                Record Information
                .
                .
                .

              End_Object

              Object = Table
                Name                 = InstrumentPosition
                StartByte            = 3344777
                Bytes                = 168
                Records              = 3
                ByteOrder            = Lsb
                CacheType            = HermiteSpline
                SpkTableStartTime    = 217006138.39688
                SpkTableEndTime      = 217006140.07063
                SpkTableOriginalSize = 5001.0
                Description          = "Created by spiceinit"
                Kernels              = $mro/kernels/spk/mro_psp1.bsp

                Record Information
                .
                .
                .

              End_Object

              Object = Table
                Name                = BodyRotation
                StartByte           = 3344945
                Bytes               = 128
                Records             = 2
                ByteOrder           = Lsb
                TimeDependentFrames = (10014, 1)
                CkTableStartTime    = 217006138.39688
                CkTableEndTime      = 217006140.07063
                CkTableOriginalSize = 2
                FrameTypeCode       = 2
                PoleRa              = (317.68143, -0.1061, 0.0)
                PoleDec             = (52.8865, -0.0609, 0.0)
                PrimeMeridian       = (176.63, 350.89198226, 0.0)
                Description         = "Created by spiceinit"
                Kernels             = ($base/kernels/spk/de405.bsp,
                                       $base/kernels/pck/pck00009.tpc)
                SolarLongitude      = 136.5654319332

                Record Information
                .
                .
                .

              End_Object

              Object = Table
                Name                 = SunPosition
                StartByte            = 3345073
                Bytes                = 112
                Records              = 2
                ByteOrder            = Lsb
                CacheType            = Linear
                SpkTableStartTime    = 217006138.39688
                SpkTableEndTime      = 217006140.07063
                SpkTableOriginalSize = 2.0
                Description          = "Created by spiceinit"
                Kernels              = $base/kernels/spk/de405.bsp

                Record Information
                .
                .
                .

              End_Object

              Object = NaifKeywords
                BODY499_RADII                            = (3396.19, 3396.19, 3376.2)
                BODY_FRAME_CODE                          = 10014
                INS-74699_FOCAL_LENGTH                   = 11994.9988
                INS-74699_PIXEL_PITCH                    = 0.012
                CLOCK_ET_-74999_848201292:03460_COMPUTED = 7549cb7480dea941
                INS-74602_TRANSX                         = (-96.9459, -3.4e-05, 0.012)
                INS-74602_TRANSY                         = (60.0469, -0.012, -3.4e-05)
                INS-74602_ITRANSS                        = (4981.07, -0.2353, -83.333)
                INS-74602_ITRANSL                        = (8092.92, 83.333, -0.2353)
                INS-74699_OD_K                           = (-0.0048509, 2.41312e-07,
                                                            -1.62369e-13)
              End_Object
              End

History

Debbie A. Cook2000-06-08 Original Version
Stuart Sides2003-11-05 Complete rewrite under ISIS 3.0 conversion.
Stuart Sides2004-01-14 Modified to use an existing "Kernels" group instead of creating a new one. This was because the mission specific import program (e.g., moc2isis) was modified to create the "kernels" group and put the "NaifFrameCode" into it.
Stuart Sides2004-01-23 Added new parameter "TEST." This parameter controls the testing of the final kernel list. If false the kernels will not be tested for completeness by creating a camera model.
Stuart Sides2004-02-23 Added elevation model DEM capabilities.
Stuart Sides2004-02-24 Completed capabilities to search for kernels of different qualities such as PREDICTED, NADIR, RECONSTRUCTED, and C-SMITHED.
Stuart Sides2005-11-08 Added fix for framing cameras, so they would not need a stop time in the instrument group of the labels.
Elizabeth Miller2005-11-14 Added appTest
Jacob Danton2005-12-22 Added support for multiple files within the kernels
Jacob Danton2005-12-27 Added a progress bar
Jacob Danton2006-01-03 Fixed the xml description
Jacob Danton2006-01-25 Changed the mission translation file name
Jacob Danton2006-01-25 Changed the appTest to comply with changes in the String class.
Jeff Anderson2006-03-27 Modified to write InstrumentPointing, InstrumentPosition, SunPosition, and BodyRotation information to SPICE tables in the cube.
Brendan George2006-09-19 Added call to modify the history of the cube
Brendan George2006-10-19 Modifed to remove label entries for SPICE tables, if ATTACH is unchecked, and the input cube already has them.
Steven Lambright2007-07-10 Combined Frame and InstrumentPointing. Changed to support new version of KernelDb. Cleaned up the code.
Steven Lambright and Steve Koechle2007-07-10 Fixed problem where the allowed kernels were being set improperly.
Steven Lambright2007-08-10 Fixed so that when no spacecraft pointing is found, but frame kernels are, and Nadir is allowed it still adds the Nadir keyword.
Steven Koechle2007-10-05 Added a check to see if the cube had an existing polygon, if so delete it.
Steven Koechle2007-10-25 Fixed Smithed enum, changed from C-Smithed.
Steven Koechle2007-12-14 Added error handling logic. If the user chose to use Nadir CK and another type, and the system found a file where the image falls in a gap (no pointing is available) Nadir would never be calculated. Fixed.
Steven Lambright2008-02-13 Added time padding options
Steven Lambright2008-02-21 Added additional explanation of time padding options
Steven Lambright2008-02-22 Split the CK parameter into FK and CK, they are still combined in the label as InstrumentPointing.
Steven Lambright2008-04-14 All found CK kernels will now be tested before giving an error
Christopher Austin2008-05-02 Fixed the propagation of the EXTRA Kernel.
Steven Lambright2008-05-12 Removed references to CubeInfo
Steven Lambright2008-05-19 Fixed documentation
Christopher Austin2008-06-03 Furthered documentation.
Steven Koechle2008-06-17 Added CK check and throw more appropriate error
Christopher Austin2008-09-12 Added the removal of StartPadding and EndPadding keywords from previous spiceinit runs, and added some double inited tests. NOTE: Whenever adding new keywords, run spiceinit twice on the same cube in your test, dumping out both labels to verify that the keyword is not being duplicated.
Tracie Sucharski2009-03-12 If spice is put into a Table, append the kernel name to the Kernel group keyword to keep track of original spice kernels.
Steven Koechle2009-05-12 Added CameraVersion into the Kernel labels
Steven Lambright2009-07-09 Error messages from the camera are now reported
Steven Lambright2009-07-21 Fixed handling of user-entered CK kernels
Janet Barrett and Steven Lambright2011-05-25 Added support for storing text spice kernel values in the cube labels
Steven Lambright and Jai Rideout2011-08-30 Added support for using a spiceinit web service
Steven Lambright2011-10-05 As a result of our test and review team, I have updated the documentation to match the recommendations of Laz Kestay and Ken Edmundson. Fixes #423.
Jai Rideout2011-11-18 Fixed bug in writing tables to the cube that were retrieved from the web service.
Debbie A. Cook2012-07-06 Updated Spice members to be more compliant with ISIS coding standards. References #972.
Jeannie Backer2013-02-26 Added ability to load multiple ck database files from the system using a conf file. Changed methods to lower camel case to comply with Isis3 standards. Added web example. References #924.
Tammy Becker2014-03-31 Made a few documentation modifications regarding kernel quality keywords and shapemodel keyword. References #1849.
Kimberly Oyama2014-04-27 Added assets directory for web example. Updated Documentation. Fixes #1849.
Tyler Wilson2016-12-19 Changed the URL for the spice server to https://services.isis.astrogeology.usgs.gov/cgi-bin/spiceinit.cgi and the default port to 443 (it was originally 80). This is due to the recent https migration implementation from within the Department of the Interior, which was causing people on the outside of the DOI network to get an unrecognized server response error when attempting to download spice data. Fixes #4552.
Christopher Combs2017-06-01 Removed examples with links leading to missing images. Created two new examples: one with default settings and another with a user-chosen ShapeModel.
Kristin Berry2017-06-06 Updated spiceinit to retain ShapeModel-related keywords set by the ShapeModelFactory and add them to the kernel group. Like other keywords in the kernels group, if they are present at the beginning of a spiceinit run (if we are re-spiceiniting) they are removed.
Kristin Berry2017-08-06 Updated spiceinit to remove code dealing with the CubeSupported Pvl Keyword, from the ShapeModel group in the IsisPreferences file, which has been removed.
Christopher Combs2018-01-11 Made change to camera construction error throw for better reporting on uninstantiated cameras. Fixes #5163.
Jesse Mapel2020-02-26 Changed PCK selection to use the same qualities as CK so that target body parameters derived from bundle adjustment can be used alongside CKs derived from bundle adjustment. Fixes #3669.
Jesse Mapel2020-12-10 Modified to remove state string and model information from the csminit application.
Kaitlyn Lee2020-12-21 Updated shape model keyword in the kernels group when shape=user and web=true with the user specified model. Fixes #1986
Kaitlyn Lee2020-12-22 Moved writeHistory() call to main function because a history entry was only being written to the cube when using a data area for kernels (not using the web service). Fixes #4040.