Table of Contents
What's New in SPICE
Introduction
Version 66 --- April 2017
Summary
Environments
New Environments
Deprecated Environments
Complete List of Supported Environments
Scratch EK File Issue in Icy on PC/Windows
Optimization on PC Linux, Intel FORTRAN, 32bit
Need for Static System Libraries on Linux and OS-X
SPICELIB/CSPICE/Icy/Mice Additions and Updates
The Digital Shape Kernel (DSK) Subsystem
DSK Loading and Run-time Binary Translation
High Level Routines Updated to Work with DSK Surfaces
New Limb Routine
New Terminator Routine
New Lon/Lat Grid to Surface Points Routine
New Illumination Routine with Visibility and Illumination Flags
New Surface Normal Routine
New DSK-Specific Surface Intercept Routines
New DSK Summary Routines
New Type 2 DSK Bulk Read Routines
New Surface Name/ID Mapping Routines
Status of the Alpha DSK Toolkit
New Alpha-DSK Backwards Compatibility Routines
New DSK Mid-Level, Low-Level, and Utility Routines
New DLA File Format and Routines
Other New SPICELIB Interfaces
Other New CSPICE Interfaces
Other New Icy and Mice Interfaces
SPK 10 Evaluator Update to Use Vallado Propagator
Text PCK-based Frames Performance Improvement
SPK Type 19, subtype 2
Built-in NAIF ID Code/Name Definitions
Built-in Body-Fixed Frames
New and Updated Toolkit Application
DSKBRIEF
MKDSK
DSKEXP
Bug Fixes
SPICELIB -- BODEUL, TISBOD
SPICELIB -- CKE05
SPICELIB -- KEEPER/UNLOAD
SPICELIB -- SUBPNT
SPICELIB -- XFMSTA
MKSPK
Version 65 --- July 2014
Summary
Environments
New Environments
Deprecated Environments
Complete List of Supported Environments
Scratch EK File Issue in Icy on PC/Windows
Optimization on PC Linux, Intel FORTRAN, 32bit
SPICELIB/CSPICE/Icy/Mice Additions and Updates
New Geometry Finder (GF) Routines
New SPK Constant Position/Velocity Observer/Target Routines
New Occultation and in FOV Condition Routines
New Illumination Angles Routines
New High-Level Frame Transformation Routine
New High-Level State Transformation Routine
Other New SPICELIB Interfaces
Other New CSPICE Interfaces
Other New Icy Interfaces
Other New Mice Interfaces
SPK Type 19
SPK Type 20
SPK Type 21
PCK Type 20
CK Type 6
SPKLTC
SPKW02, SPKW03, SPKW08, SPKW12
Speedup
Maximum Number of Loaded Kernels
Kernel Pool Double Precision Buffer Limit
CK Buffered Segment Limits
SPK Buffered Segment Limits
Built-in NAIF ID Code/Name Definitions
Built-in Body-Fixed Frames
Toolkit Applications Updates
BRIEF
CKBRIEF
FRMDIFF
MKSPK
MSOPCK
SPKDIFF
Bug Fixes
SPICELIB -- SPKBSR, CKBSR, PCKBSR
SPICELIB -- CKE05
SPICELIB -- CKMETA
SPICELIB -- DASA2L
SPICELIB -- CCIFRM
SPICELIB -- NEARPT
SPICELIB -- SPKEZ/SPKEZP
SPICELIB -- TIME CONVERSION
FRMDIFF
MKSPK
MSOPCK
Version 64 --- June 2010
Environments
New Environments
Complete List of Supported Environments
Dynamically Linked Executables
Lahey Memory Issue Related to File Opening/Closing
Scratch EK File Issue in Icy on PC/Windows
Geometry Finder (GF) Subsystem
SPICELIB High-Level GF APIs
CSPICE High-Level GF APIs
Icy and Mice High-Level GF APIs
SPICELIB/CSPICE/Icy/Mice
Kernel Pool Variable Name Length Check
CK Buffered Segment Limits
SPK Buffered Segment Limits
Kernel Pool Double Precision Buffer Limit
SCLK Coefficient Record Limit
CK writer quaternion magnitude check
New SPICELIB Interfaces
New CSPICE Interfaces
New Icy Interfaces
New Mice Interfaces
Built-in NAIF ID Code/Name Definitions
Documentation
Overwriting Input Arguments Not Allowed
Bug Fixes
Kernel Pool Watcher Deletion in TKFRAM
Frame Change in CKGP
ROTGET Dynamic Frame ID
ZZEKQCON Initialization Error
ZZEKRD03 Memory Violation Error
EK Strings Longer Than 1024 Characters
RETURN Mode Logic in Various Routines
Version 63 --- April 2009
Environments
New Environments
Complete List of Supported Environments
Lahey Memory Issue Related to File Opening/Closing
Scratch EK File Issue in Icy on PC/Windows
Geometry Finder (GF) Subsystem
SPICELIB High-Level GF APIs
CSPICE High-Level GF APIs
Icy and Mice High-Level GF APIs
SPICELIB/CSPICE/Icy/Mice
SURFPV/surfpv_c (SPICELIB/CSPICE only)
DVSEP/dvsep_c (SPICELIB/CSPICE only)
GETFOV
FURNSH
Improved Error Messages from PXFORM/SXFORM
Built-in NAIF ID Code/Name Definitions
Mice (MATLAB interface to CSPICE) Only
New Interfaces
New and Updated Applications
FRMDIFF
CKBRIEF
Documentation
Language Specific Required Reading Documents
CKBRIEF User's Guide
Bug Fixes
SINCPT, SRFXPT
POOL Watchers
Frame subsystem
Error handling
Non-printing Character Detection in Time System
MKSPK
CKBRIEF
Version 62 --- March 2008
Environments
New Environments
Complete List of Supported Environments
Use of -m32 Option
Lahey Memory Issue Related to File Opening/Closing
Scratch EK File Issue in Icy on PC/Windows
Mice
SPICELIB/CSPICE/Icy/Mice
New ``Surface Intercept'' routine SINCPT
New ``Illumination Angles'' routine ILUMIN
New ``Sub-observer Point'' routine SUBPNT
New ``Sub-solar Point'' Routine SUBSLR
Improvements of Aberration Corrected Velocity in the SPK Subsystem
New SPK Routines
New Binary PCK Coverage Routines PCKFRM and PCKCOV
New Routine WNCARD
New Routine EDTERM
SCLK Buffer Size Increase
TABs in Text Kernels
Built-in NAIF ID Code/Name Definitions
Icy (IDL interface to CSPICE) Only
New and Updated Interfaces
Documentation
Permuted Index for Icy and Mice
BRIEF User's Guide
Documentation on NAIF Web Server
BRIEF
CKBRIEF
MKSPK
SUBPT Cookbook
Bug Fixes
EV2LIN
HYPTOF
INELPL
RAXISA
SC01
SRFXPT
BRIEF
CKBRIEF
Header Updates
Version 61 --- December 2006
Rules Regarding Use of SPICE Components
Environments
New Environments
Deprecated Environments
Complete List of Supported Environments
Use of -fPIC/-KPIC Option
Lahey Memory Issue Related to File Opening/Closing
Scratch EK File Issue in Icy on PC/Windows
Documentation
New Applications
MSOPCK
SPKDIFF
SPICELIB/CSPICE/Icy
KCLEAR Routine
DAF Comment Area Routines
DAF-based Kernel Open Routines
DAFONW Routine
SPKW02, SPKW03, and SPKW05 Routines
Built-in NAIF ID Code/Name Definitions
CSPICE Only
New Wrappers
Icy (IDL interface to CSPICE) Only
New Interfaces
Bug Fixes
CKE05
ET2LST
UNLOAD
STR2ET
SURFPT
CHRONOS
Icy
MKSPK
Version 60 --- December 2005
Bug Fixes
Access to High Precision Binary Earth PCK
Version 59 --- November 2005
Rules Regarding Use of SPICE Components
Environments
New Environments
Supported Environments
Optimization for C/Icy environments
Lahey Memory Issue Related to File Opening/Closing
Scratch EK File Issue in Icy on PC/Windows
SPICELIB/CSPICE/Icy
Loading of Non-Native Text Kernels Files
Additional Testing
Deprecation of BODVAR in favor of BODVRD and BODVCD
``In Place'' Routines
SPK Segment Buffer Increase
EK Buffer Increased
Built-in NAIF ID Code/Name Definitions
Documentation
CSPICE
New Wrappers
Icy (Interactive Data Language interface to CSPICE)
Vectorization
New interfaces
Bug Fixes
Non-standard Use of Duplicate Arguments in FORTRAN
NEARPT
ET2LST
GETFOV
CKW03
INEDPL
INSRTC
String Parsing Routines
Version 58 --- January 2005
Environments
SPICELIB/CSPICE/Icy
Parameterized Dynamic Frames
CK/SPK Coverage Summary Routines
Planetographic Coordinate Conversion Routines
``L-sub-S'' Solar Longitude Routine
Built-in NAIF ID Code/Name Definitions
Documentation
CSPICE
New Wrappers
Icy (Interactive Data Language interface to CSPICE)
Vectorization
Windows
Other new interfaces
Bug Fixes
MKSPK Processing of TLE
MKSPK Adding Comments When Appending to Existing SPK
Icy/cspice_getfov
DVPOOL/dvpool_c/cspice_dvpool
CSPICE/kdata_c Function
FRINFO/frinfo_c/cspice_frinfo
Version 57 --- March 2004
Environments
Icy
SPICELIB/CSPICE
SRFXPT
Support for Satellite IDs in the Range 10000-99999
Detection of Non-native Text Files
Documentation
Built-in NAIF ID Code/Name Definitions
INSPEKT
TOBIN
Version 56 --- August 2003
Environments
SPICELIB/CSPICE
Documentation
Built-in NAIF ID Code/Name Definitions
CHRONOS
Bug Fixes
Reading Files with MAC-OSX Absoft FORTRAN Toolkit
DAS Scratch Files
Argument Checking in CSPICE Error Handling Functions
Version 55 --- March 2003
Environments
SPICELIB
SPKW01
DASCLS
SPKBSR
Kernel POOL
Type 1 SCLK
CSPICE
New CSPICE wrappers
Bug Fixes
Built-in NAIF ID Code/Name Definitions
DASCUD
OSCELT
CKE05
CKBRIEF
Version 54 --- December 2002
Mailing Lists
Environments
COOKBOOK Programs
New Built-in NAIF ID Code/Name Definitions
Documentation
Bug Fixes
Built-in Body-Fixed Frame for Pan
Surface Intercept Routine
DAS Writer Routines
CSPICE Cell Implementation
Body Name to Associated Frame Conversion Routine
CHRONOS
Version 53 --- September 2002
Environments
CSPICE
New CSPICE wrappers for cell, set, and windows routines
New CSPICE wrappers for sorting and searching routines
New CSPICE wrappers for string manipulation and parsing routines
SPICELIB
SPK Type 18
CK Type 5
BRIEF
COOKBOOK
Bug Fixes
ID-to-name Translation
Built-in Body-Fixed Frames
Binary architecture consistency check at run-time
Long/truncated lines in text kernel files
VMS Read-Only Access File Open Failure
Version 52 --- January 2002
Environments
SPICELIB
Run-Time Binary File Format Translation
Open File Limit Increase
SPK aberration corrections
Instrument Kernel Support
Kernel POOL
Jacobian routines
NAIF ID to Object Name Mapping
Documentation
CSPICE
New CSPICE wrappers for EK routines
Miscellaneous new CSPICE wrappers
CKBRIEF
COMMNT
MKSPK
VERSION
Bug Fixes
CK, PCK, and SPK segment buffering and selection
Const-qualification for various CSPICE interfaces
CSPICE function gcpool_c fixed
MOVED fix for Fortran PC Linux platform
EK query processing using LIKE operator and null values
EK time conversion
EK documentation
Source code clean-up
Version 51 --- April 2000
SPICELIB
Instrument Kernel Support
Binary Kernel Recognition
CK
SPK
Miscellaneous
MKSPK
SPKMERGE
Bug Fixes
Version 50 --- October 1999
CSPICE
Additions and Extensions to SPICE routines
Loading Kernels
Position Only Interface.
ID-codes
Kernel Pool Enhancements
Continuous Spacecraft Clocks
Bad FTP File Transfer Detection
CK Writer Enhancements
Bugs
SPICE Utility Programs
TOBIN
COMMNT
CKBRIEF
MKSPK
Documentation
Version 49 --- September 1998
Version 48 --- May 1998
Version 47 --- July 1997
Documentation
Software
SPK
Frames
Time
Bug Fixes
Version 46 --- January 1997
Documentation
Time
Version 45 --- October 1996
Version 44 --- August 1996
SPK Subsystem
Inspekt
Bug Fixes
Version 43 --- May 1996
Brief
Star Catalogs.
CHGIRF
BODTRN
Performance Improvements
Version 42 --- December 1995
Version 41 --- October 1995
Non-inertial Reference Frames
Top
What's New in SPICE
Top
Introduction
This document describes new and extended capabilities of the latest
version of the SPICE Toolkit. It also notes bug fixes. Each release of
the Toolkit is documented in a separate chapter that is titled with the
version of the Toolkit. The most recent version of the Toolkit is
documented first. The next most recent version is documented next, and
so on.
The Toolkit version changes described in this document are
Version 66 --- April 2017
Version 65 --- July 2014
Version 64 --- June 2010
Version 63 --- April 2009
Version 62 --- March 2008
Version 61 --- December 2006
Version 60 --- December 2005
Version 59 --- November 2005
Version 58 --- January 2005
Version 57 --- March 2004
Version 56 --- August 2003
Version 55 --- March 2003
Version 54 --- December 2002
Version 53 --- September 2002
Version 52 --- January 2002
Version 51 --- April 2000
Version 50 --- October 1999
Version 49 --- September 1998
Version 48 --- May 1998
Version 47 --- July 1997
Version 46 --- January 1997
Version 45 --- October 1996
Version 44 --- August 1996
Version 43 --- May 1996
Version 42 --- December 1995
Version 41 --- October 1995
Top
Version 66 --- April 2017
Top
Summary
This is a brief summary of what's new and updated in N0066, with the
details about each item provided later in this section:
-- new Digital Shape Kernel (DSK) subsystem supporting Type 2 (tessellated
plate model) shape data
-- new DAS linked array (DLA) file format subsystem supporting DSK
-- new surface name/ID mapping subsystem supporting DSK
-- run-time binary translation extended to work with DAS files
-- kernel loading subsystem updated to work with DSKs
-- binary file opening/closing management updated to work with DAS files
allowing access to up to 5000 DSKs at the same time
-- most existing high level geometry routines updated to work with both
ellipsoid and DSK surfaces
-- new limb and terminator routines supporting ellipsoid and DSK surfaces
-- new lon/lat grid to surface points routine supporting ellipsoid and DSK
surfaces
-- new illumination routine with visibility and illumination flags supporting
ellipsoid and DSK surfaces
-- new surface normal routine supporting ellipsoid and DSK surfaces
-- many new Mice wrappers
-- SPK 10 (two line elements) evaluator update to use the Vallado derived
propagator
-- text PCK-based frames performance improvement
-- new SPK Type 19 subtype 2
-- new DSK utility programs in generic toolkit -- DSKBRIEF, DSKEXP, MKDSK
-- bug fixes in Toolkit and utility programs
Top
Environments
Top
New Environments
No new environments were introduced for N0066.
Top
Deprecated Environments
The SPICE Toolkit is no longer supported on these environments:
Icy:
Mac/Intel OS-X Apple C / IDL 8.x / 32bit
Mice:
Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit
PC Linux gCC / MATLAB 7.x / 32bit
PC Windows MS Visual C / MATLAB 7.x / 32bit
Top
Complete List of Supported Environments
This is the complete list of environments on which the N0066 version of
the SPICE Toolkit is supported:
FORTRAN Toolkit:
Mac/Intel OS-X GFORTRAN / 32bit
Mac/Intel OS-X GFORTRAN / 64bit
Mac/Intel OS-X Intel FORTRAN / 32bit
Mac/Intel OS-X Intel FORTRAN / 64bit
PC CYGWIN GFORTRAN / 32bit
PC CYGWIN GFORTRAN / 64bit
PC Linux GFORTRAN / 32bit
PC Linux GFORTRAN / 64bit
PC Linux Intel FORTRAN / 32bit
PC Linux Intel FORTRAN / 64bit
PC Linux g77 / 32bit
PC Windows Intel FORTRAN / 32bit
PC Windows Intel FORTRAN / 64bit
Sun Solaris SUN FORTRAN / 32bit
Sun/Intel Solaris SUN FORTRAN / 32bit
Sun/Intel Solaris SUN FORTRAN / 64bit
CSPICE:
Mac/Intel OS-X Apple C / 32bit
Mac/Intel OS-X Apple C / 64bit
PC CYGWIN gCC / 32bit
PC CYGWIN gCC / 64bit
PC Linux gCC / 32bit
PC Linux gCC / 64bit
PC Windows MS Visual C / 32bit
PC Windows MS Visual C / 64bit
Sun Solaris SUN C / 32bit
Sun Solaris SUN C / 64bit
Sun Solaris gCC / 32bit
Sun Solaris gCC / 64bit
Sun/Intel Solaris SUN C / 32bit
Sun/Intel Solaris SUN C / 64bit
Icy:
Mac/Intel OS-X Apple C / IDL 8.x / 64bit
PC Linux gCC / IDL 8.x / 32bit
PC Linux gCC / IDL 8.x / 64bit
PC Windows MS Visual C / IDL 7.x / 32bit
PC Windows MS Visual C / IDL 7.x / 64bit
Sun Solaris SUN C / IDL 7.x / 32bit
Sun Solaris gCC / IDL 7.x / 32bit
Sun Solaris gCC / IDL 7.x / 64bit
Sun/Intel Solaris SUN C / IDL 8.x / 64bit
Mice:
Mac/Intel OS-X Apple C / MATLAB 7.x / 64bit
PC Linux gCC / MATLAB 7.x / 64bit
PC Windows MS Visual C / MATLAB 7.x / 64bit
Sun Solaris SUN C / MATLAB 7.x / 64bit
Top
Scratch EK File Issue in Icy on PC/Windows
The scratch EK file issue in Icy on PC/Windows described in the N0061
section of this document persists in the N0066 version of the Toolkit.
Top
Optimization on PC Linux, Intel FORTRAN, 32bit
Default optimization was turned off in the PC Linux, Intel FORTRAN,
32bit toolkit because of the bugs in the compiler versions available to
NAIF.
Top
Need for Static System Libraries on Linux and OS-X
Static system libraries needed to build statically-linked FORTRAN
toolkit executables on Linux and OS-X are frequently not included in
more modern versions of these operating systems. If a need to recompile
a Linux or an OS-X FORTRAN toolkit arises and the linking step performed
by mkprodct.csh build scripts fails with an error message indicating the
lack of needed static system libraries, users should install these
libraries as appropriate for their system before re-trying a recompile.
Top
SPICELIB/CSPICE/Icy/Mice Additions and Updates
Top
The Digital Shape Kernel (DSK) Subsystem
The Digital Shape Kernel (DSK) is a new SPICE kernel type.
The DSK subsystem enables SPICE applications to access detailed
representations of shapes of extended objects, and conveniently use
those shape data in geometry calculations. The subsystem also provides
mechanisms for documenting and porting such data.
The DSK subsystem consists of the DSK file format, SPICE routines that
can access these files, utility programs, and documentation.
The DSK subsystem design allows for multiple mathematical
representations of shapes; each such representation is called a ``DSK
data type.'' Currently the only supported data type is DSK type 2, which
models shapes of objects as collections of triangular plates. Such shape
representations are also called ``tessellated plate models'' or
``triangular irregular networks'' (TINs).
Support for a data type that accommodates digital elevation models
(DEMs) is planned for release in a future SPICE Toolkit version.
High-level SPICE geometry APIs, when using DSK shape data, work
independently of the underlying DSK data type. SPICE also includes
lower-level, type-dependent DSK APIs, such as those for fetching DSK
type 2 plate and vertex data.
The DSK subsystem includes three new utility programs:
MKDSK
DSKBRIEF
DSKEXP
These utilities, respectively, enable SPICE users to make DSK files from
data in a variety of text formats, summarize the contents of DSK files,
and export data from binary DSK files to easily readable text files.
The previously existing SPICE utilities for comment area access and
binary-transfer format conversion
COMMNT
TOBIN
TOXFR
work with DSK files.
See the DSK Required Reading document, dsk.req, for further information.
Status of the prototype Alpha DSK Toolkit is discussed in a section
below.
Top
DSK Loading and Run-time Binary Translation
DSK files are ``loaded'' and ``unloaded'' just like other SPICE kernels.
SPICE-based user applications load DSK files for read access by calling
FURNSH (SPICELIB)
furnsh_c (CSPICE)
cspice_furnsh (ICY and MICE)
and unload them by calling
UNLOAD (SPICELIB)
unload_c (CSPICE)
cspice_unload (ICY and MICE)
or
KCLEAR (SPICELIB)
kclear_c (CSPICE)
cspice_kclear (ICY and MICE)
The names of DSK files to be loaded can be listed in a meta-kernel,
along with the names of other SPICE kernels.
Large DSK data sets will normally be partitioned into multiple DSK
files. These files can be named in a meta-kernel and loaded
simultaneously. The DSK subsystem will automatically select data as
needed from loaded DSK files.
Information on loaded DSKs---names of loaded kernels, file handles, and
names of meta-kernels referencing those DSKs---can be obtained by
calling
KTOTAL
KINFO
KDATA (SPICELIB)
ktotal_c
kinfo_c
kdata_c (CSPICE)
cspice_ktotal (ICY and MICE)
cspice_kinfo (ICY and MICE)
cspice_kdata (ICY and MICE)
DSK files use the SPICE DAS (Direct Access Segregated) architecture; DSK
files are a subclass of DAS files. The SPICE Toolkit has been upgraded
so that open and close operations on DAS files, along with DAF files,
are managed by a common subsystem. This subsystem allows up to 5000 DAS
and DAF files to be accessible for reading at the same time.
The SPICE Toolkit has been upgraded to support run-time translation of
DAS files: DAS files having ``big-endian'' binary file formats can be
read on ``little-endian'' host systems, and vice versa. It still is
necessary to convert DAS files to the host system's binary file format
if the files need to be writable. For larger DAS files, conversion to
the host format is still desirable to improve efficiency.
Top
High Level Routines Updated to Work with DSK Surfaces
The following high level geometry routines were updated to work with the
surface of a target body represented by a triaxial ellipsoid or by
topographic data provided by DSK files:
-- ray surface intercept routine:
SINCPT (SPICELIB)
sincpt_c (CSPICE)
cspice_sincpt (ICY and MICE)
-- sub-observer point routine:
SUBPNT (SPICELIB)
subpnt_c (CSPICE)
cspice_subpnt (ICY and MICE)
-- sub-solar point routine:
SUBSLR (SPICELIB)
subslr_c (CSPICE)
cspice_subslr (ICY and MICE)
-- solar illumination angles routine:
ILUMIN (SPICELIB)
ilumin_c (CSPICE)
cspice_ilumin (ICY and MICE)
-- arbitrary body illumination angles routine:
ILLUMG (SPICELIB)
illumg_c (CSPICE)
cspice_illumg (ICY and MICE)
-- occultation condition routine:
OCCULT (SPICELIB)
occult_c (CSPICE)
cspice_occult (ICY and MICE)
-- GF occultation finder routine:
GFOCLT (SPICELIB)
gfoclt_c (CSPICE)
cspice_gfoclt (ICY and MICE)
-- GF occultation finder routine, with interrupt and reporting:
GFOCCE (SPICELIB)
gfocce_c (CSPICE)
Top
New Limb Routine
The N0066 version offers a new routine to find limb points on a target
body, with the surface of the body represented by a triaxial ellipsoid
or by topographic data provided by DSK files:
LIMBPT (SPICELIB)
limbpt_c (CSPICE)
cspice_limbpt (ICY and MICE)
Top
New Terminator Routine
The N0066 version offers a new routine to find umbral or penumbral
terminator points on a target body, with the surface of the body
represented by a triaxial ellipsoid or by topographic data provided by
DSK files:
TERMPT (SPICELIB)
termpt_c (CSPICE)
cspice_termpt (ICY and MICE)
Top
New Lon/Lat Grid to Surface Points Routine
The N0066 version offers a new routine to map an array of planetocentric
longitude/latitude coordinate pairs to surface points on a specified
target body, with the surface of the body represented by a triaxial
ellipsoid or by topographic data provided by DSK files:
LATSRF (SPICELIB)
latsrf_c (CSPICE)
cspice_latsrf (ICY and MICE)
Top
New Illumination Routine with Visibility and Illumination Flags
The N0066 version offers a new routine to compute the illumination
angles -- phase, incidence, and emission -- at a specified point on a
target body and to return logical flags indicating whether the surface
point is visible from the observer's position and whether the surface
point is illuminated, with the target body's surface represented using
topographic data provided by DSK files, or by a reference ellipsoid:
ILLUMF (SPICELIB)
illumf_c (CSPICE)
cspice_illumf (ICY and MICE)
Top
New Surface Normal Routine
The N0066 version offers a new routine to map an array of surface points
on a specified target body to the corresponding unit length outward
surface normal vectors, with the surface of the target body represented
by a triaxial ellipsoid or by topographic data provided by DSK files:
SRFNRM (SPICELIB)
srfnrm_c (CSPICE)
cspice_srfnrm (ICY and MICE)
Top
New DSK-Specific Surface Intercept Routines
The N0066 version offers the following routines for computing ray
surface intercepts for surfaces modeled by DSK:
-- a new routine to compute ray-surface intercepts for a set of rays, using
data provided by multiple loaded DSK segments:
DSKXV (SPICELIB)
dskxv_c (CSPICE)
cspice_dskxv (ICY and MICE)
-- a new routine to compute a ray-surface intercept using data provided by
multiple loaded DSK segments, returning information about the source of the
data defining the surface on which the intercept was found:
DSKXSI (SPICELIB)
dskxsi_c (CSPICE)
cspice_dskxsi (ICY and MICE)
Top
New DSK Summary Routines
The N0066 version offers the following routines for getting a summary of
the DSK file contents from within a user's application:
-- a new routine to return the set of body ID codes of all objects for which
data are provided in a DSK file:
DSKOBJ (SPICELIB)
dskobj_c (CSPICE)
cspice_dskobj (ICY and MICE)
-- a new routine to return the set of surface ID codes for all surfaces
associated with a body in a DSK file:
DSKSRF (SPICELIB)
dsksrf_c (CSPICE)
cspice_dsksrf (ICY and MICE)
Top
New Type 2 DSK Bulk Read Routines
The N0066 version offers the following routines enabling retrieval of
plate and vertex data stored in Type 2 DSK segments:
-- a new routine to return plate model size parameters (plate count and vertex
count) for a type 2 DSK segment:
DSKZ02 (SPICELIB)
dskz02_c (CSPICE)
cspice_dskz02 (ICY and MICE)
-- a new routine to return triangular plates from a type 2 DSK segment:
DSKP02 (SPICELIB)
dskp02_c (CSPICE)
cspice_dskp02 (ICY and MICE)
-- a new routine to return vertices from a type 2 DSK segment:
DSKV02 (SPICELIB)
dskv02_c (CSPICE)
cspice_dskv02 (ICY and MICE)
Top
New Surface Name/ID Mapping Routines
Each set of shape data in a DSK file is associated with a specified
body. In order to efficiently and conveniently support simultaneous use
of multiple versions of shape data for a given body, the data have an
additional attribute called a ``surface ID.'' Surface IDs have
associated names.
The surface name/ID subsystem supports the DSK subsystem by providing
means to map between names and IDs of surfaces stored in DSK files. The
N0066 version offers the following surface name/ID mapping routines:
-- a new routine to translate a surface ID code, together with a body name, to
the corresponding surface name:
SRFCSS (SPICELIB)
srfcss_c (CSPICE)
cspice_srfcss (ICY and MICE)
-- a new routine to translate a surface string, together with a body name, to
the corresponding surface ID code:
SRFS2C (SPICELIB)
srfs2c_c (CSPICE)
cspice_srfs2c (ICY and MICE)
-- a new routine to translate a surface ID code, together with a body ID code,
to the corresponding surface name:
SRFC2S (SPICELIB)
srfc2s_c (CSPICE)
cspice_srfc2s (ICY and MICE)
-- a new routine to translate a surface string, together with a body ID code,
to the corresponding surface ID code:
SRFSCC (SPICELIB)
srfscc_c (CSPICE)
cspice_srfscc (ICY and MICE)
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Status of the Alpha DSK Toolkit
Alpha DSK Toolkit high-level ``pl02'' geometry software is now
deprecated. Users of the Alpha DSK Toolkit are encouraged to migrate
their application software to the new SPICE Toolkit APIs. In all cases,
Alpha DSK high-level geometry APIs have been superseded by SPICE APIs
with superior capabilities. In particular, the new APIs can seamlessly
work with data sets distributed across multiple DSK files.
However, for convenience of Alpha DSK Toolkit users, the Alpha DSK
geometry APIs are included in the SPICE Toolkit. There have been some
changes to the sets of header files referenced by the C versions of
those routines; other than that, the interfaces of the routines are
unchanged.
The Alpha versions of the DLA and DSK type 2 routines are also included
in the SPICE Toolkit and are considered official SPICE APIs. Aside from
the exceptions cited below, interfaces are unchanged from the Alpha
versions.
A few backward-compatibility violations do exist:
-- The calling sequence of the DSK type 2 writing routine DSKW02 has changed.
-- The routine DSKSGR is no longer provided.
The Alpha DSK versions of the utility programs MKDSK and DSKBRIEF have
been upgraded and are included in the SPICE Toolkit.
DSKBRIEF upgrades include:
-- The default display has been simplified. The old, detailed display can be
invoked using the -full option.
-- Multiple DSK files, and multiple segments within a DSK file, can be
summarized together.
-- Coverage bounds and coverage gaps can be displayed for multiple DSK files
or multiple segments within a file.
-- Names of supporting kernels that enable body, surface, and frame ID-to-name
translation can be provided on the command line.
MDKSK upgrades include:
-- The maximum output segment plate count has been increased to 32 million
plates on Linux, Mac, and Solaris/Intel environments and to 10 million
plates on Windows and Solaris/Sparc environments.
-- Height grid input data are now supported.
-- Latitudinal, planetodetic, and rectangular coordinate systems are
supported.
-- Voxel scales no longer need to be specified in the setup file; MKDSK will
calculate them automatically.
-- Execution speed of the program has been improved.
-- The user can command generation of a vertex-plate mapping.
-- Fixes of bugs in the setup file error handling code.
The DSK file format introduced in 2010 is unchanged and will remain
backward-compatible going forward. The only planned changes are
additions of new data types.
Run-time translation of old DSK files is now supported, as it is for all
DAS files.
Top
New Alpha-DSK Backwards Compatibility Routines
Solely for backwards compatibility reasons the N0066 version offers the
Type 2 DSK specific routines shown below that were a part of the
Alpha-DSK toolkit routine set. These routines are deprecated and
superseded by other DSK-enabled high-level routines. These routines are
not available in FORTRAN toolkits.
illum_pl02 illum_plid_pl02
limb_pl02 llgrid_pl02
subpt_pl02 subsol_pl02
term_pl02
cspice_illum_pl02 cspice_illum_plid_pl02
cspice_limb_pl02 cspice_llgrid_pl02
cspice_subpt_pl02 cspice_subsol_pl02
cspice_term_pl02
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New DSK Mid-Level, Low-Level, and Utility Routines
The following additional public DSK mid-level, low-level, and utility
routines are available in the N0066 toolkit:
DSKB02 DSKCLS DSKD02
DSKGD DSKGTL DSKI02
DSKMI2 DSKN02 DSKOPN
DSKRB2 DSKSTL DSKW02
DSKX02 PLTAR PLTEXP
PLTNP PLTNRM PLTVOL
dskb02_c dskcls_c dskd02_c
dskgd_c dskgtl_c dski02_c
dskmi2_c dskn02_c dskopn_c
dskrb2_c dskstl_c dskw02_c
dskx02_c pltar_c pltexp_c
pltnp_c pltnrm_c pltvol_c
cspice_dskb02 cspice_dskcls cspice_dskd02
cspice_dskgd cspice_dskgtl cspice_dski02
cspice_dskmi2 cspice_dskn02 cspice_dskopn
cspice_dskrb2 cspice_dskstl cspice_dskw02
cspice_dskx02 cspice_pltar cspice_pltexp
cspice_pltnp cspice_pltnrm cspice_pltvol
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New DLA File Format and Routines
SPICE DSK files are built upon an intermediate-level file format that
sits between the levels of the DSK and DAS formats: DAS Linked Array
(DLA). The DLA format enables applications to view DAS files as a
doubly-linked list of ``arrays,'' where each array consists of data
occupying three sequences of of contiguous DAS character, integer, and
double precision addresses.
The data in a DSK file are organized into one or more ``segments''; each
segment contains data for a specified body, spatial region and time
interval. DSK segments are implemented as DLA arrays.
DSK data type-dependent routines, such as those that fetch vertices from
a plate model, operate on DSK segments. DLA APIs are used to traverse
DSK files and locate DSK segments so that the segments can be referenced
by type-dependent DSK routines.
The following public DLA routines are available in the N0066 toolkit:
DLABBS DLABFS DLABNS
DLAENS DLAFNS DLAFPS
DLAOPN DLASSG
dlabbs_c dlabfs_c dlafns_c
dlafps_c
cspice_dlabfs cspice_dlafns
See the DLA Required Reading document, dla.req, for details. See the API
documentation of DSK type 2 routines and DLA routines for complete
example programs that demonstrate use of the routines.
Top
Other New SPICELIB Interfaces
The following new APIs were added to SPICELIB:
EDNMPT EDPNT INCNSG
INSANG NPSGPT OSCLTX
XDDA
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Other New CSPICE Interfaces
The following new APIs were added to CSPICE:
chbder_c cleard_c dasdc_c
dashfn_c dasopw_c dasrfr_c
hrmint_c lgrind_c oscltx_c
pckcls_c pckopn_c pckw02_c
polyds_c
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Other New Icy and Mice Interfaces
A few APIs were added to Icy and Mice to make the sets of Icy and Mice
routines be more closely aligned with the sets available in toolkits for
other languages:
cspice_bodfnd
cspice_ccifrm
cspice_dascls
cspice_dasec
cspice_dasopr
cspice_lspcn
cspice_pckcov
cspice_pckfrm
cspice_spkuds (ICY only)
cspice_srfrec
The following global parameter scripts were added to Icy:
DSKIcy02.pro
DSKIcyUser.pro
DSKtol.pro
The following global parameter scripts were added to Mice:
DSKMice02.m
DSKMiceUser.m
DSKtol.m
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SPK 10 Evaluator Update to Use Vallado Propagator
NAIF added a TLE propagator based on the algorithms published by Vallado
et. al. (2006).
Vallado, David, Crawford, Paul, Hujsak, Richard,
and Kelso, T.S. 2006. Revisiting Spacetrack Report #3. Paper
AIAA 2006-6753 presented at the AIAA/AAS Astrodynamics
Specialist Conference, August 21-24, 2006. Keystone, CO.
Starting with the toolkit version N0066 the SPK subsystem uses this new
propagator to evaluate TLE Type 10 SPKs. Note that because the routines
implementing the Vallado propagator use some leapsecond constants,
loading an LSK is now required in order to read any TLE Type 10 SPKs.
The Spacetrack #3 (Hoots 1980) based TLE propagation routines used in
Toolkit version N0065 and earlier remain part of the Toolkit.
Hoots, F. R., and Roehrich, R. L. 1980. "Models for
Propagation of the NORAD Element Sets." Spacetrack Report #3.
U.S. Air Force: Aerospace Defense Command.
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Text PCK-based Frames Performance Improvement
The SPICELIB routines TISBOD, TIPBOD, and BODMAT computing natural body
body-fixed frame orientations based on the text PCK data and used by the
SPICE frames subsystem were modified to significantly speed up their
execution. As with the N0065 speedup improvements, these changes have
been designed around the premise that the contents of the SPICELIB's
POOL data buffer are not frequently modified via loading/unloading
kernels or via direct POOL data insertion/deletion APIs during the
program execution. Applications that constantly alter the POOL will not
see any significant speedup and in some cases may even see a slight
performance degradation (no more that 5 percent).
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SPK Type 19, subtype 2
SPK type 19 subtype 2 has been provided to support accurate duplication
by the SPICE SPK subsystem of spacecraft ephemeris data used by the
European Space Agency (ESA) on the Mars Express, Rosetta, SMART-1 and
Venus Express missions. Subtype 2 supports Hermite interpolation of
6-element packets consisting of position and velocity data.
Top
Built-in NAIF ID Code/Name Definitions
The following new built-in NAIF ID code/name definitions have been added
to or changed in the Toolkit:
Spacecraft:
-28 JUPITER ICY MOONS EXPLORER
-28 JUICE
-49 LUCY
-62 EMM
-62 EMIRATES MARS MISSION
-65 MCOA
-65 MARCO-A
-66 MCOB
-66 MARCO-B
-68 MERCURY MAGNETOSPHERIC ORBITER
-68 MMO
-68 BEPICOLOMBO MMO
-69 PSYC
-76 CURIOSITY
-117 EDL DEMONSTRATOR MODULE
-117 EDM
-117 EXOMARS 2016 EDM
-121 MERCURY PLANETARY ORBITER
-121 MPO
-121 BEPICOLOMBO MPO
-143 TRACE GAS ORBITER
-143 TGO
-143 EXOMARS 2016 TGO
-152 CH2
-152 CHANDRAYAAN-2
-159 EURC
-159 EUROPA CLIPPER
-198 NASA-ISRO SAR MISSION
-198 NISAR
-301 HELIOS 1
-302 HELIOS 2
Satellites:
553 DIA
Asteroids:
2000016 PSYCHE
2101955 BENNU
The following built-in NAIF ID code/name definitions have been removed
from the Toolkit:
-159 EUROPA ORBITER
Top
Built-in Body-Fixed Frames
The following built-in body-fixed frame was added to the list of frames
hard-coded in the Toolkit:
IAU_BENNU
Top
New and Updated Toolkit Application
Top
DSKBRIEF
The DSKBRIEF program was added to the application set included in each
SPICE toolkit. This program summarizes the contents of a SPICE DSK
(digital shape kernel) file.
Compared to the Alpha-DSK version of the program DSKBRIEF upgrades
include:
-- The default display has been simplified. The old, detailed display can be
invoked using the -full option.
-- Multiple DSK files, and multiple segments within a DSK file, can be
summarized together.
-- Coverage bounds and coverage gaps can be displayed for multiple DSK files
or multiple segments within a file.
-- Names of supporting kernels that enable body, surface, and frame ID-to-name
translation can be provided on the command line.
Refer to the DSKBRIEF User's Guide, dskbrief.ug, for more information
about the program.
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MKDSK
The MKDSK program was added to the application set included in each
SPICE toolkit. This program creates a SPICE DSK (digital shape kernel)
file from a text file containing surface shape and size data.
Compared to the Alpha-DSK version of the program MDKSK upgrades include:
-- The maximum output segment plate count has been increased to 32 million
plates on Linux, Mac, and Solaris/Intel environments and to 10 million
plates on Windows and Solaris/Sparc environments.
-- Height grid input data are now supported.
-- Latitudinal, planetodetic, and rectangular coordinate systems are
supported.
-- Voxel scales no longer need to be specified in the setup file; MKDSK will
calculate them automatically.
-- Execution speed of the program has been improved.
-- The user can command generation of a vertex-plate mapping.
-- Fixes of bugs in the setup file error handling code.
Refer to the MKDSK User's Guide, mkdsk.ug, for more information about
the program.
Top
DSKEXP
The DSKEXP program was added to the application set included in each
SPICE toolkit. This program enables SPICE Toolkit users to ``export''
data from a DSK file to any of a variety of simple, easily parsed text
formats. This capability enables users to easily transform DSK files
into formats required by other applications; it also makes it easy to
inspect the data in a DSK file.
Refer to the DSKEXP User's Guide, dskexp.ug, for more information about
the program.
Top
Bug Fixes
Top
SPICELIB -- BODEUL, TISBOD
These routines were updated to increase the room in the internal buffer
to hold the maximum possible number of values of ``NUT_PREC_ANGLES''
consistent with the maximum possible numbers of values for other related
PCK parameters.
Top
SPICELIB -- CKE05
This routine was updated to update PRVPTR at the end of the quaternion
sequence check for Hermite subtypes.
Top
SPICELIB -- KEEPER/UNLOAD
This routine was updated to unload binary kernels via low-level unload
routines only when those kernels have just one entry in the KEEPER
database.
Top
SPICELIB -- SUBPNT
This routine was updated to correctly initialize the values of saved
input method in all cases.
Top
SPICELIB -- XFMSTA
This routine was updated to not allow conversions to and from geodetic
and planetographic coordinates for bodies with unequal equatorial radii.
Previously it allowed such conversions even though these types of
coordinates are not applicable to triaxial ellipsoids. In doing that it
arbitrarily picked the first and the third radii to compute a body's
flattening coefficient.
Top
MKSPK
The MKSPK program was updated to not drop every 500th line of the input
comment file to be written to the comment area and to correctly
substitute values into some error messages.
Top
Version 65 --- July 2014
Top
Summary
This is a brief summary of what's new and updated in N0065, with the
details about each item provided later in this section:
-- support for some new environments and termination of some old environments
-- new Geometry Finder (GF) interfaces -- illumination angle search, phase
angle search, user-defined binary quantity search
-- new high-level SPK APIs allowing one to specify the observer or target as a
location with a constant position and velocity rather than as an ephemeris
object
-- new high-level APIs that check for occultation and in-Field-Of-View (FOV)
conditions
-- new high-level illumination angle routines
-- new high-level reference frame transformation routine
-- new high-level coordinate system transformation routine for states
-- many Icy and Mice APIs that were formerly available only in SPICELIB and
CSPICE
-- new data types: SPK (19, 20, 21), PCK (20), and CK (6)
-- performance improvements in the range of 10-50 percent for some types of
use
-- ability to load up to 5000 kernels
-- increased buffers in the POOL and in SPK and CK segment search subsystems
-- new built-in body name/ID code mappings and body-fixed reference frames
-- a significant upgrade of utility SPKDIFF including the ability to sample
SPK data
-- updates to other toolkit utilities -- BRIEF, CKBRIEF, FRMDIFF, MKSPK,
MSOPCK
-- bug fixes in Toolkit and utility programs
Top
Environments
Top
New Environments
The SPICE Toolkit is now officially supported on these new environments:
FORTRAN Toolkit:
PC CYGWIN GFORTRAN / 32bit
PC CYGWIN GFORTRAN / 64bit
PC Linux Intel FORTRAN / 64bit
Sun/Intel Solaris SUN FORTRAN / 64bit
CSPICE:
PC CYGWIN gCC / 64bit
Icy:
Sun/Intel Solaris SUN C / IDL 8.x / 64bit
Top
Deprecated Environments
The SPICE Toolkit is no longer supported on these environments:
FORTRAN Toolkit:
Mac/PowerPC OS-X Absoft FORTRAN / 32bit
Mac/PowerPC OS-X g77 / 32bit
PC CYGWIN g77 / 32bit
PC Windows Compaq (Digital) FORTRAN / 32bit
PC Windows Lahey FORTRAN 95 / 32bit
CSPICE:
Mac/PowerPC OS-X Apple C / 32bit
Icy:
Mac/PowerPC OS-X Apple C / IDL 6.4 / 32bit
Mice:
Mac/PowerPC OS-X Apple C / MATLAB 7.x / 32bit
Top
Complete List of Supported Environments
This is the complete list of environments on which the N0065 version of
the SPICE Toolkit is supported:
FORTRAN Toolkit:
Mac/Intel OS-X GFORTRAN / 32bit
Mac/Intel OS-X GFORTRAN / 64bit
Mac/Intel OS-X Intel FORTRAN / 32bit
Mac/Intel OS-X Intel FORTRAN / 64bit
PC CYGWIN GFORTRAN / 32bit
PC CYGWIN GFORTRAN / 64bit
PC Linux GFORTRAN / 32bit
PC Linux GFORTRAN / 64bit
PC Linux Intel FORTRAN / 32bit
PC Linux Intel FORTRAN / 64bit
PC Linux g77 / 32bit
PC Windows Intel FORTRAN / 32bit
PC Windows Intel FORTRAN / 64bit
Sun Solaris SUN FORTRAN / 32bit
Sun/Intel Solaris SUN FORTRAN / 32bit
Sun/Intel Solaris SUN FORTRAN / 64bit
CSPICE:
Mac/Intel OS-X Apple C / 32bit
Mac/Intel OS-X Apple C / 64bit
PC CYGWIN gCC / 32bit
PC CYGWIN gCC / 64bit
PC Linux gCC / 32bit
PC Linux gCC / 64bit
PC Windows MS Visual C / 32bit
PC Windows MS Visual C / 64bit
Sun Solaris SUN C / 32bit
Sun Solaris SUN C / 64bit
Sun Solaris gCC / 32bit
Sun Solaris gCC / 64bit
Sun/Intel Solaris SUN C / 32bit
Sun/Intel Solaris SUN C / 64bit
Icy:
Mac/Intel OS-X Apple C / IDL 8.x / 32bit
Mac/Intel OS-X Apple C / IDL 8.x / 64bit
PC Linux gCC / IDL 8.x / 32bit
PC Linux gCC / IDL 8.x / 64bit
PC Windows MS Visual C / IDL 7.x / 32bit
PC Windows MS Visual C / IDL 7.x / 64bit
Sun Solaris SUN C / IDL 7.x / 32bit
Sun Solaris gCC / IDL 7.x / 32bit
Sun Solaris gCC / IDL 7.x / 64bit
Sun/Intel Solaris SUN C / IDL 8.x / 64bit
Mice:
Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit
Mac/Intel OS-X Apple C / MATLAB 7.x / 64bit
PC Linux gCC / MATLAB 7.x / 32bit
PC Linux gCC / MATLAB 7.x / 64bit
PC Windows MS Visual C / MATLAB 7.x / 32bit
PC Windows MS Visual C / MATLAB 7.x / 64bit
Sun Solaris SUN C / MATLAB 7.x / 64bit
Top
Scratch EK File Issue in Icy on PC/Windows
The scratch EK file issue in Icy on PC/Windows described in the N0061
section of this document persists in the N0065 version of the Toolkit.
Top
Optimization on PC Linux, Intel FORTRAN, 32bit
The default optimization was turned off in the PC Linux, Intel FORTRAN,
32bit toolkit because of the bugs in the compiler versions available to
NAIF.
Top
SPICELIB/CSPICE/Icy/Mice Additions and Updates
Top
New Geometry Finder (GF) Routines
The N0065 version offers a number of additional SPICE Geometry Finder
(GF) subsystem interfaces.
-- A new routine to determine time intervals over which a specified constraint
on the observed phase, solar incidence, or emission angle at a specified
target body surface point is met:
GFILUM (SPICELIB)
gfilum_c (CSPICE)
cspice_gfilum (ICY and MICE)
-- A new routine to determine time intervals over which a specified constraint
on the phase angle between an illumination source, a target, and observer
body centers is met:
GFPA (SPICELIB)
gfpa_c (CSPICE)
cspice_gfpa (ICY and MICE)
-- A new routine to override the default GF convergence value used in the high
level GF routines:
GFSTOL (SPICELIB)
gfstol_c (CSPICE)
cspice_gfstol (ICY and MICE)
-- A new routine to perform a GF search on a user defined boolean quantity
(not available in ICY and MICE):
GFUDB (SPICELIB)
gfudb_c (CSPICE)
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New SPK Constant Position/Velocity Observer/Target Routines
The N0065 version offers four high-level SPK routines using a location
with a constant position or a constant velocity for either the observer
or the target.
-- A new routine to return the state of a specified target relative to an
observer, where the observer has constant position in a specified reference
frame. The observer's position is provided by the calling program rather
than by loaded SPK files:
SPKCPO (SPICELIB)
spkcpo_c (CSPICE)
cspice_spkcpo (ICY and MICE)
-- A new routine to return the state, relative to a specified observer, of a
target having constant position in a specified reference frame. The
target's position is provided by the calling program rather than by loaded
SPK files:
SPKCPT (SPICELIB)
spkcpt_c (CSPICE)
cspice_spkcpt (ICY and MICE)
-- A new routine to return the state of a specified target relative to an
observer, where the observer has constant velocity in a specified reference
frame. The observer's state is provided by the calling program rather than
by loaded SPK files:
SPKCVO (SPICELIB)
spkcvo_c (CSPICE)
cspice_spkcvo (ICY and MICE)
-- A new routine to return the state, relative to a specified observer, of a
target having constant velocity in a specified reference frame. The
target's state is provided by the calling program rather than by loaded SPK
files:
SPKCVT (SPICELIB)
spkcvt_c (CSPICE)
cspice_spkcvt (ICY and MICE)
Top
New Occultation and in FOV Condition Routines
The N0065 version offers three high-level routines that check for
occultation and in Field-Of-View (FOV) conditions.
-- A new routine to determine if a specified ray is within the field-of-view
(FOV) of a specified instrument at a given time:
FOVRAY (SPICELIB)
fovray_c (CSPICE)
cspice_fovray (ICY and MICE)
-- A new routine to determine if a specified ephemeris object is within the
field-of-view (FOV) of a specified instrument at a given time:
FOVTRG (SPICELIB)
fovtrg_c (CSPICE)
cspice_fovtrg (ICY and MICE)
-- A new routine to determine the occultation condition (not occulted,
partially, etc.) of one target relative to another target as seen by an
observer at a given time:
OCCULT (SPICELIB)
occult_c (CSPICE)
cspice_occult (ICY and MICE)
Top
New Illumination Angles Routines
The N0065 version offers two new high-level routines for computing
illumination angles.
-- A new routine to compute the illumination angles (phase, incidence, and
emission) at a specified surface point of a target body with the
illumination source ephemeris object specified by the caller:
ILLUMG (SPICELIB)
-- A new routine to compute the apparent phase angle for a target, observer,
illuminator set of ephemeris objects:
PHASEQ (SPICELIB)
phaseq_c (CSPICE)
cspice_phaseq (ICY and MICE)
Top
New High-Level Frame Transformation Routine
The N0065 version offers a new high-level frame transformation routine.
-- A new routine to return the 3x3 matrix that transforms position vectors
from one specified frame at a specified epoch to another specified frame at
another specified epoch:
PXFRM2 (SPICELIB)
pxfrm2_c (CSPICE)
cspice_pxfrm2 (ICY and MICE)
Top
New High-Level State Transformation Routine
The N0065 version offers a new high-level state transformation routine.
-- A new routine to transform a state between coordinate systems (rectangular,
cylindrical, latitudinal, spherical, geodetic planetographic):
XFMSTA (SPICELIB)
xfmsta_c (CSPICE)
cspice_xfmsta (ICY and MICE)
Top
Other New SPICELIB Interfaces
The following new APIs were added to SPICELIB:
BLTFRM CHBIGR KPLFRM
LJUCRS SEPOOL UDF
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Other New CSPICE Interfaces
The following new APIs were added to CSPICE:
bltfrm_c ccifrm_c dafgh_c
edterm_c eqncpv_c kplfrm_c
qcktrc_c spkpvn_c spksfs_c
trcdep_c trcnam_c udf_c
Top
Other New Icy Interfaces
A significant number of APIs were added to Icy to make the set of Icy
routines be more closely aligned with the sets available in toolkits for
other languages:
cspice_dafus cspice_dascls
cspice_dasopr cspice_dcyldr
cspice_dgeodr cspice_dlatdr
cspice_dpgrdr cspice_drdcyl
cspice_drdgeo cspice_drdlat
cspice_drdpgr cspice_drdsph
cspice_dsphdr cspice_edterm
cspice_eqncpv cspice_invort
cspice_spkpvn cspice_spksfs
cspice_spkw17
The following global parameter scripts were added to Icy:
IcyUser.pro
IcyOccult.pro
Top
Other New Mice Interfaces
A large number of APIs were added to Mice to make the set of Mice
routines be more closely aligned with the sets available in toolkits for
other languages:
cspice_cidfrm cspice_cnmfrm
cspice_dafac cspice_dafbbs
cspice_dafbfs cspice_dafcls
cspice_dafcs cspice_dafdc
cspice_dafec cspice_daffna
cspice_daffpa cspice_dafgda
cspice_dafgn cspice_dafgs
cspice_dafopr cspice_dafopw
cspice_dafus cspice_dcyldr
cspice_dgeodr cspice_dlatdr
cspice_dpgrdr cspice_drdcyl
cspice_drdgeo cspice_drdlat
cspice_drdpgr cspice_drdsph
cspice_dsphdr cspice_dvpool
cspice_edlimb cspice_edterm
cspice_frame cspice_frinfo
cspice_frmnam cspice_inedpl
cspice_inelpl cspice_inrypl
cspice_invort cspice_namfrm
cspice_npedln cspice_npelpt
cspice_nplnpt cspice_pjelpl
cspice_pl2nvc cspice_pl2nvp
cspice_pl2psv cspice_psv2pl
cspice_spkcls cspice_spkopn
cspice_spkpvn cspice_spksfs
cspice_spkw08 cspice_surfpt
cspice_timdef_get cspice_timdef_set
cspice_vprjp cspice_vprjpi
cspice_vproj
The following global parameter scripts were added to Mice:
MiceUser.m
MiceOccult.m
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SPK Type 19
SPK type 19 has been provided to support accurate duplication by the
SPICE SPK subsystem of spacecraft ephemeris data used by the European
Space Agency (ESA) on the Mars Express, Rosetta, SMART-1 and Venus
Express missions. SPK type 19 is an enhanced version of SPK type 18.
Type 19 enables creation of SPK files representing the same ephemerides
that can be represented using type 18, but containing far fewer
segments.
SPK Type 19 routines (available only in SPICELIB):
SPKE19 SPKR19 SPKS19
SPKW19
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SPK Type 20
SPK data type 20 contains Chebyshev polynomial coefficients for the
velocity of a body, relative to its center of motion, as a function of
time. This data type is provided to accurately represent ``EPM''
ephemerides developed by the Institute of Applied Astronomy (IAA),
Russian Academy of Sciences (RAS).
SPK Type 20 routines (available only in SPICELIB):
SPKE20 SPKR20 SPKS20
SPKW20
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SPK Type 21
SPK data type 21 contains extended Modified Difference Arrays (MDA),
also called ``difference lines.'' These data structures use the same
mathematical trajectory representation as SPK data type 1, but type 21
allows use of larger, higher-degree MDAs.
SPK Type 21 routines (available only in SPICELIB):
SPKE21 SPKR21 SPKS21
SPKW21
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PCK Type 20
PCK data type 20 contains Chebyshev polynomial coefficients for a
specified set of Euler angle rates of a body-fixed, body-centered
reference frame as a function of time.
This data type is provided to accurately represent ``EPM'' orientation
data developed by the Institute of Applied Astronomy (IAA), Russian
Academy of Sciences (RAS).
PCK Type 20 routines are available in SPICELIB:
PCKE20 PCKR20 PCKW20
PCK Type 20 writer function available in CSPICE:
spkw20_c
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CK Type 6
CK type 6 has been provided to support accurate duplication by the SPICE
CK subsystem of spacecraft attitude data used by the European Space
Agency (ESA) on the Mars Express, Rosetta, SMART-1 and Venus Express
missions.
CK type 6 is an enhanced version of CK type 5. Type 6 enables creation
of CK files representing the same attitude data that can be represented
using type 5, but containing far fewer segments.
CK Type 6 routines (available only in SPICELIB):
CKE06 CKGR06 CKMP06
CKNM06 CKR06 CKW06
Top
SPKLTC
SPKLTC is used by the SPK subsystem to compute light time-corrected
state vectors. SPKLTC was updated to ensure convergence when CN or XCN
light time corrections are used. For these correction choices, the new
algorithm also terminates early (after fewer than three iterations) when
convergence is attained.
Top
SPKW02, SPKW03, SPKW08, SPKW12
The segment writer routines SPKW02, SPKW03, SPKW08, and SPKW12 were
updated to check the input polynomial degree; the maximum allowed degree
was increased.
In these routines, there is now less strict error checking on the
consistency of the time bounds of the input record set (determined by
EPOCH1, STEP, and N) and the descriptor bounds FIRST and LAST. Now the
descriptor end time may extend slightly beyond the stop time of the last
input record.
Top
Speedup
A number of core SPICELIB routines were modified to speed up their
execution. Since most of these updates were in the body name/ID
translation and reference frames subsystems, their effect will be most
noticeable in programs that call high-level SPICE APIs that take body
and frame names as inputs, and in high level APIs that perform
operations with reference frames. On average users of these routines
should see speedups from 10 to 50 percent depending on what SPICE APIs
they call. Speed up will also be noticeable in loading meta-kernels with
large numbers of kernels (hundreds of kernels).
Note that much of the speedup has been designed around the premise that
the contents of the SPICELIB's POOL data buffer are not frequently
modified via loading/unloading kernels or via direct POOL data
insertion/deletion APIs during the program execution. Applications that
constantly alter the POOL will not see any significant speedup and in
some cases may even see a slight performance degradation (no more that 5
percent).
Top
Maximum Number of Loaded Kernels
The maximum number of kernels that can be loaded by FURNSH has been
increased from 1000 to 5000.
Top
Kernel Pool Double Precision Buffer Limit
The maximum number of keywords that can be stored in the kernel POOL has
been increased from 5003 to 26003. The maximum number of double
precision values that can be stored in the kernel POOL has been
increased from 200000 to 400000. The maximum number of character values
that can be stored in the kernel POOL has been increased from 4000 to
15000.
Top
CK Buffered Segment Limits
The maximum number of CK segments that can be buffered simultaneously
has been increased 50000 to 100000.
Top
SPK Buffered Segment Limits
The maximum number of SPK segments that can be buffered simultaneously
has been increased 50000 to 100000.
Top
Built-in NAIF ID Code/Name Definitions
The following new built-in NAIF ID code/name definitions have been added
to the Toolkit:
Spacecraft:
-750 SPRINT-AS
-189 NSYT
-189 INSIGHT
-170 JWST
-170 JAMES WEBB SPACE TELESCOPE
-144 SOLO
-144 SOLAR ORBITER
-96 SPP
-96 SOLAR PROBE PLUS
-64 ORX
-64 OSIRIS-REX
-54 ARM
-54 ASTEROID RETRIEVAL MISSION
-12 LADEE
-3 MOM
-3 MARS ORBITER MISSION
Planet Barycenter Aliases with ``_'':
0 SOLAR_SYSTEM_BARYCENTER
1 MERCURY_BARYCENTER
2 VENUS_BARYCENTER
3 EARTH_BARYCENTER
4 MARS_BARYCENTER
5 JUPITER_BARYCENTER
6 SATURN_BARYCENTER
7 URANUS_BARYCENTER
8 NEPTUNE_BARYCENTER
9 PLUTO_BARYCENTER
Satellites:
644 HYRROKKIN
904 KERBEROS
905 STYX
Comets:
1003228 C/2013 A1
1003228 SIDING SPRING
Asteroids:
2000002 PALLAS
2000511 DAVIDA
The following built-in NAIF ID code/name definitions have been removed
from the Toolkit:
-486 HERSCHEL
-489 PLANCK
-187 SOLAR PROBE
Top
Built-in Body-Fixed Frames
The following built-in body-fixed frames were added to the list of
frames hard-coded in the Toolkit:
IAU_CERES
IAU_PALLAS
IAU_LUTETIA
IAU_DAVIDA
IAU_STEINS
Top
Toolkit Applications Updates
Top
BRIEF
The BRIEF program was updated to sort tabular output by time when the
new command line option ``-s'' is specified.
Refer to the BRIEF User's Guide, brief.ug, for more information about
the program.
Top
CKBRIEF
The CKBRIEF program was updated to display a summary for all CK files to
be summarized as if the data were in a single CK file when the new
command line option ``-a'' is specified. The internal CKBRIEF buffers
were increased to allow the program to summarize CK files with larger
numbers of segments.
Refer to the CKBRIEF User's Guide, ckbrief.ug, for more information
about the program.
Top
FRMDIFF
The FRMDIFF program was updated to determine default coverage from
additional kernels if no primary kernels were provided (e.g. from the
set of kernels or a meta-kernel provided with ``-k'' option) and to
display the user-specified number of significant digits in numeric
output when the new command line option ``-s'' is specified.
Refer to the FRMDIFF User's Guide, frmdiff.ug, for more information
about the program.
Top
MKSPK
The MKSPK program was updated to process additional TLE-specific setup
keywords allowing user-specified output time coverage for TLE-based SPK,
to sort input TLEs, and to eliminate duplicate TLE sets from the input.
Refer to the MKSPK User's Guide, MKSPK.ug, for more information about
the program.
Top
MSOPCK
The MSOPCK program was updated to check the time order of the input data
when the new optional setup keyword CHECK_TIME_ORDER is specified.
Refer to the MSOPCK User's Guide, MSOPCK.ug, for more information about
the program.
Top
SPKDIFF
The SPKDIFF program has gone through a major upgrade to make its
functionality scope be similar to that of FRMDIFF, including the ability
to sample trajectory data from specified SPKs and SPK sets, the ability
to determine default coverage windows and work with SPKs and SPK sets
that have gaps in coverage, the ability to display SPK coverage and gap
summaries, and so on.
Refer to the SPKDIFF User's Guide, SPKDIFF.ug, for more information
about the program.
Top
Bug Fixes
Top
SPICELIB -- SPKBSR, CKBSR, PCKBSR
These routines were updated to correct a logic error, common to all
three routines, affecting their behavior in cases where their segment
buffers were too small to store all requested segment coverage
information.
Top
SPICELIB -- CKE05
The CKE05 routine was updated to no longer perform quaternion sign
adjustment for the Hermite subtypes (0 and 2). If a sign adjustment is
needed for quaternions belonging to a record of Hermite subtype, an
error is signaled. Sign adjustment is still performed for the Lagrange
subtypes.
Top
SPICELIB -- CKMETA
If a previously available CK_<ID>_SCLK or CK_<ID>_SPK
variable that was used to populate a saved value disappears, the CKMETA
routine now resets and returns the value based on the default rule
rather than keeping and returning the stale POOL-based saved value. The
routine now also deletes the kernel POOL watchers for the CK IDs that
were bumped from its local buffer.
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SPICELIB -- DASA2L
DASA2L was updated to correct an error that caused it to operate
inefficiently in certain cases where multiple DAS files were read in an
interleaved fashion. The routine was substantially re-written to improve
efficiency and clarity.
Top
SPICELIB -- CCIFRM
The CCIFRM logic was corrected to examine the built-in frames before
looking at the kernel POOL frames.
Top
SPICELIB -- NEARPT
The NEARPT routine now correctly computes an off-axis solution for the
case of a prolate ellipsoid and a viewing point on the interior long
axis.
Top
SPICELIB -- SPKEZ/SPKEZP
The SPKEZ and SPKEZP routines were updated to reject all aberration
corrections not supported by the SPK subsystem.
Top
SPICELIB -- TIME CONVERSION
A number of checks for invalid time string inputs were added to the time
conversion routines to signal an error rather that stopping the program
due to a memory violation.
Top
FRMDIFF
The FRMDIFF program was updated to signal an error in cases when a
computed matrix does not represent a rotation (e.g. for left-handed
frames.)
Top
MKSPK
The MKSPK program was updated to process input TLE lines with spacecraft
code left-padded with zeros to five digits. It was also updated to
adjust the longitude of the ascending node and argument of periapse for
the time of the nearest periapsis for elliptic orbit cases for type 15
inputs that are not given at the time of periapsis.
Top
MSOPCK
The MSOPCK program was updated to compute the clock rate to be stored in
type 2 output segments as the average rate for the input record
endpoints rather than the average rate computed by averaging all rate
values fetched from the loaded SCLK coefficient table.
The program's down-sampling end-point selection algorithm was changed to
not consider end-point quaternions that are close to 180 degrees apart
to prevent cases in which the quaternion and matrix interpolation
algorithms produce rotations in the opposite directions due to numerical
differences in their algorithms.
Top
Version 64 --- June 2010
Top
Environments
Top
New Environments
The SPICE Toolkit is now officially supported on these new environments:
FORTRAN Toolkit:
Mac/Intel OS-X GFORTRAN / 64bit
Mac/Intel OS-X Intel FORTRAN / 64bit
PC Linux GFORTRAN / 64bit
PC Windows Intel FORTRAN / 64bit
Sun/Intel Solaris SUN FORTRAN / 32bit
CSPICE:
Mac/Intel OS-X Apple C / 64bit
PC Windows MS Visual C / 64bit
Sun Solaris SUN C / 64bit
Sun/Intel Solaris SUN C / 32bit
Sun/Intel Solaris SUN C / 64bit
Icy:
Mac/Intel OS-X Apple C / IDL 7.x / 64bit
PC Windows MS Visual C / IDL 7.x / 64bit
Mice:
Mac/Intel OS-X Apple C / MATLAB 7.x / 64bit
PC Windows MS Visual C / MATLAB 7.x / 64bit
Sun/Intel Solaris SUN C / MATLAB 7.x / 64bit
Top
Complete List of Supported Environments
This is the complete list of environments on which the N0064 version of
the SPICE Toolkit is supported:
FORTRAN Toolkit:
Mac/Intel OS-X GFORTRAN / 32bit
Mac/Intel OS-X GFORTRAN / 64bit
Mac/Intel OS-X Intel FORTRAN / 32bit
Mac/Intel OS-X Intel FORTRAN / 64bit
Mac/PowerPC OS-X Absoft FORTRAN / 32bit
Mac/PowerPC OS-X g77 / 32bit
PC CYGWIN g77 / 32bit
PC Linux GFORTRAN / 32bit
PC Linux GFORTRAN / 64bit
PC Linux Intel FORTRAN / 32bit
PC Linux g77 / 32bit
PC Windows Compaq (Digital) FORTRAN / 32bit
PC Windows Intel FORTRAN / 32bit
PC Windows Intel FORTRAN / 64bit
PC Windows Lahey FORTRAN 95 / 32bit
Sun Solaris SUN FORTRAN / 32bit
Sun/Intel Solaris SUN FORTRAN / 32bit
CSPICE:
Mac/Intel OS-X Apple C / 32bit
Mac/Intel OS-X Apple C / 64bit
Mac/PowerPC OS-X Apple C / 32bit
PC CYGWIN gCC / 32bit
PC Linux gCC / 32bit
PC Linux gCC / 64bit
PC Windows MS Visual C / 32bit
PC Windows MS Visual C / 64bit
Sun Solaris SUN C / 32bit
Sun Solaris SUN C / 64bit
Sun Solaris gCC / 32bit
Sun Solaris gCC / 64bit
Sun/Intel Solaris SUN C / 32bit
Sun/Intel Solaris SUN C / 64bit
Icy:
Mac/Intel OS-X Apple C / IDL 7.x / 32bit
Mac/Intel OS-X Apple C / IDL 7.x / 64bit
Mac/PowerPC OS-X Apple C / IDL 6.4 / 32bit
PC Linux gCC / IDL 6.4 / 32bit
PC Linux gCC / IDL 6.4 / 64bit
PC Windows MS Visual C / IDL 7.x / 32bit
PC Windows MS Visual C / IDL 7.x / 64bit
Sun Solaris SUN C / IDL 7.x / 32bit
Sun Solaris gCC / IDL 7.x / 32bit
Sun Solaris gCC / IDL 7.x / 64bit
Mice:
Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit
Mac/Intel OS-X Apple C / MATLAB 7.x / 64bit
Mac/PowerPC OS-X Apple C / MATLAB 7.x / 32bit
PC Linux gCC / MATLAB 7.x / 32bit
PC Linux gCC / MATLAB 7.x / 64bit
PC Windows MS Visual C / MATLAB 7.x / 32bit
PC Windows MS Visual C / MATLAB 7.x / 64bit
Sun/Intel Solaris SUN C / MATLAB 7.x / 64bit
Top
Dynamically Linked Executables
For some environments precompiled executables provided in the generic
Toolkit packages and additional utility program executables provided on
the Utilities page on the NAIF Web site
(http://naif.jpl.nasa.gov/naif/utilities.html) are dynamically linked
and, in order to run, require certain dynamic libraries, usually
provided with the compiler used to build the executables, to be
installed on the user's system. This applies to most Mac/OSX, PC/Linux
and Sun/Solaris environments.
Top
Lahey Memory Issue Related to File Opening/Closing
The Lahey memory issue related to file opening/closing described in the
N0061 section of this document persists in the N0064 version of the
Toolkit.
Top
Scratch EK File Issue in Icy on PC/Windows
The scratch EK file issue in Icy on PC/Windows described in the N0061
section of this document persists in the N0064 version of the Toolkit.
Top
Geometry Finder (GF) Subsystem
The N0064 version offers a number of additional SPICE Geometry Finder
(GF) subsystem interfaces.
Top
SPICELIB High-Level GF APIs
The following High-Level GF APIs were added to SPICELIB:
GFRR determines time intervals when a specified
constraint on the observer-target range rate
is met.
GFUDS performs a GF search on a user defined scalar
quantity. This API is supported by two
additional routines UDDC and UDDF.
Top
CSPICE High-Level GF APIs
The following High-Level GF APIs were added to CSPICE:
gfrr_c determines time intervals when a specified
constraint on the observer-target range rate
is met.
gfuds_c performs a GF search on a user defined scalar
quantity. This API is supported by two
additional functions uddc_c and uddf_c.
Top
Icy and Mice High-Level GF APIs
The following High-Level GF APIs were added to Icy and Mice:
cspice_gfrr determines time intervals when a specified
constraint on the observer-target range rate
is met.
Top
SPICELIB/CSPICE/Icy/Mice
Top
Kernel Pool Variable Name Length Check
The routines loading SPICE text kernel files now include a check on the
length of the kernel pool variable names. The error SPICE(BADVARNAME) is
signaled if the length of any variable provided in the text kernel file
exceeds 32 characters. Regardless of language, all Toolkits inherit this
behavior.
Top
CK Buffered Segment Limits
The maximum number of CK segments that can be buffered simultaneously
has been increased to 50000.
Top
SPK Buffered Segment Limits
The maximum number of SPK segments that can be buffered simultaneously
has been increased to 50000.
Top
Kernel Pool Double Precision Buffer Limit
The maximum number of double precision values that can be stored in the
kernel pool has been increased to 200000.
Top
SCLK Coefficient Record Limit
The maximum number of SCLK coefficient records that can be buffered has
been increased to 50000. This is also the limit on the number of
coefficient records that can be stored in an SCLK kernel.
Top
CK writer quaternion magnitude check
The quaternion magnitude check performed in the CK writers
CKW01 (ckw01_c in CSPICE) (cspice_ckw01 in Icy and Mice)
CKW02 (ckw02_c in CSPICE) (cspice_ckw02 in Icy and Mice)
CKW03 (ckw03_c in CSPICE) (cspice_ckw03 in Icy and Mice)
CKW05 (ckw05_c in CSPICE)
has been relaxed from checking for a magnitude ``close'' to 1 to simply
ensuring that the input quaternions are non-zero.
Top
New SPICELIB Interfaces
The following 3d and 6d vector APIs were added to SPICELIB:
dvnorm calculates the derivative of the norm of a
3-vector.
dhfa calculates the value of the time derivative
of the half angle of a spherical body given
a state vector and body radius.
The following auxiliary APIs were added to SPICELIB:
bodc2s translates a body ID code to either the
corresponding name, or if no name to ID code
mapping exists, the string representation
of the body ID value.
Top
New CSPICE Interfaces
The following 3d and 6d vector APIs were added to CSPICE:
ducrss_c computes the unit vector parallel to the
cross product of two 3-dimensional vectors,
and the derivative of this unit vector.
dvcrss_c computes the cross product of two
3-dimensional vectors and the derivative of
this cross product.
dvnorm_c calculates the derivative of the norm of a
3-vector.
The following lower-level DAF access APIs were added to CSPICE:
dafgsr_c reads a portion of the contents of a summary
record in a DAF file.
dafrfr_c reads the contents of the file record of
a DAF.
The following auxiliary APIs were added to CSPICE:
bodc2s_c translates a body ID code to either the
corresponding name, or if no name to ID code
mapping exists, the string representation
of the body ID value.
dp2hx_c converts a double precision number to an
equivalent character string using base 16
``scientific notation.''
hx2dp_c converts a string representing a double
precision number in a base 16 ``scientific
notation'' into its equivalent double
precision number.
Top
New Icy Interfaces
The following 3d and 6d vector APIs were added to Icy:
cspice_ducrss computes the unit vector parallel to the
cross product of two 3-dimensional vectors
and the derivative of this unit vector.
cspice_dvcrss computes the cross product of two
3-dimensional vectors and the derivative of
this cross product.
cspice_dvnorm calculates the derivative of the norm of a
3-vector.
cspice_dvsep calculates the time derivative of the
separation angle between states.
The following auxiliary APIs were added to Icy:
cspice_bodc2s translates a body ID code to either the
corresponding name or if no name to ID code
mapping exists, the string representation
of the body ID value.
cspice_dp2hx converts a double precision number to an
equivalent character string using base 16
``scientific notation.''
cspice_hx2dp converts a string representing a double
precision number in a base 16 ``scientific
notation'' into its equivalent double
precision number.
Top
New Mice Interfaces
The following 3d and 6d vector APIs were added to Mice:
cspice_ducrss computes the unit vector parallel to the
cross product of two 3-dimensional vectors
and the derivative of this unit vector.
cspice_dvcrss computes the cross product of two
3-dimensional vectors and the derivative of
this cross product.
cspice_dvdot computes the time derivative of the dot
product of two position vectors.
cspice_dvhat calculates the unit vector corresponding
to a state or states and the derivative of
the unit vector.
cspice_dvnorm calculates the derivative of the norm of a
3-vector.
cspice_dvsep calculates the time derivative of the
separation angle between states.
cspice_vnorm returns the magnitude of a double
precision, 3-dimensional array or set of
such arrays.
cspice_vperp calculates the component of a vector
perpendicular to a second vector.
The following EK-access APIs were added to Mice:
cspice_ekfind finds E-kernel data that satisfy a set of
constraints.
cspice_eknelt returns the number of elements in a
specified column entry in the current row.
cspice_ekgc returns an element of string (character)
data from a specified row in a specified
column of the set of rows matching
the previous cspice_ekfind query.
cspice_ekgd returns an element of double precision
data from a specified row in a specified
column of the set of rows matching
the previous cspice_ekfind query.
cspice_ekgi returns an element of integer
data from a specified row in a specified
column of the set of rows matching
the previous cspice_ekfind query.
The following time conversion APIs were added to Mice:
cspice_unitim returns the double precision value of
an input epoch converted from one uniform
time scale to another.
The following auxiliary APIs were added to Mice:
cspice_bodc2s translates a body ID code to either the
corresponding name, or if no name to ID code
mapping exists, the string representation
of the body ID value.
Top
Built-in NAIF ID Code/Name Definitions
The following new built-in NAIF ID code/name definitions have been added
to the Toolkit:
Spacecraft:
-5 AKATSUKI
-5 VCO
-121 BEPICOLOMBO
-177 GRAIL-A
-181 GRAIL-B
-202 MAVEN
-205 SOIL MOISTURE ACTIVE AND PASSIVE
-205 SMAP
-362 RADIATION BELT STORM PROBE A
-362 RBSP_A
-363 RADIATION BELT STORM PROBE B
-363 RBSP_B
Satellites:
550 HERSE
653 AEGAEON
Comets:
1000093 TEMPEL_1
Asteroids:
2000021 LUTETIA
2004179 TOUTATIS
Top
Documentation
Top
Overwriting Input Arguments Not Allowed
The following SPICELIB routines were designed to allow applications to
call them in such a way that input arguments could overwrite output
arguments. However, this usage is a violation of the Fortran 77
standard; it also causes failures in some environments when SPICELIB is
compiled with optimization (currently SPICELIB is optimized only for
Intel Fortran environments). So, the header documentation of affected
SPICELIB routines has been updated to not suggest this calling
technique. The affected routines are:
CYCLAD CYCLAI DUCRSS DVCRSS INVERT INVSTM MTXM
MTXV MXM MXMT MXV PACKAC PACKAD PACKAI
ROTMAT ROTVEC SAELGV UNORM UNORMG VADD VADDG
VCRSS VHATG VMINUG VMINUS VPROJ VPROJG VSCL
VSCLG VSUB VSUBG XPOSBL XPOSE XPOSEG
Top
Bug Fixes
Top
Kernel Pool Watcher Deletion in TKFRAM
The watcher deletion algorithm has been corrected to delete watchers
only when the variables they watch are dumped from the local buffer.
Top
Frame Change in CKGP
CKGP now computes the transformation from the requested frame to the
applicable CK segment's base frame via a call to REFCHG. Formerly CKGP
performed this transformation using FRMCHG, which required that angular
velocity data describing the relative motion of these frames be
available.
Top
ROTGET Dynamic Frame ID
ROTGET formerly passed the frame class ID rather than the frame ID to
private routine ZZDYNROT, which handles dynamic frame transformations.
Since by convention these IDs are identical for dynamic frames, the
error had no practical effect. The error has been corrected. The shadow
private routine ZZROTGT0 has been corrected as well. Note that the error
does not apply to the second-level private shadow routine ZZROTGT1.
Top
ZZEKQCON Initialization Error
The private routine ZZEKQCON could in some cases access uninitialized
variables when working with null column entries. This has been
corrected.
Top
ZZEKRD03 Memory Violation Error
The private routine ZZEKRD03 had a bug that caused it to overwrite local
memory. Prior to the N0064 version of SPICELIB, this error had been
benign on all supported platforms. The error has been corrected.
Top
EK Strings Longer Than 1024 Characters
Although the EK Required Reading states that variable-length strings in
EK columns are limited to 1024 characters in length, the EK writer
routines don't enforce this limit, and some users have created kernels
that violate the limit. Various routines that support EK query and fetch
operations had assumed that the limit was in effect and were subject to
substring boundary violations when these long strings were encountered.
In addition, the semantics of string comparisons for excessively long
strings were undefined.
A compromise solution was selected: EK routines that perform
variable-length EK column entry string comparisons now treat only the
first 1024 characters of strings as significant.
The following private routines were updated to effect this change:
ZZEKECMP
ZZEKFRX
ZZEKSCMP
ZZEKVMCH
This fix also corrects the substring boundary violations.
Top
RETURN Mode Logic in Various Routines
The following routines were corrected to ensure that they avoid making
branch decisions based on uninitialized data after encountering a SPICE
error while in RETURN mode:
ILUMIN
SPKAPO
SPKEZ
SUBPNT
SUBSLR
ZZSPKEZ0
ZZSPKEZ1
Top
Version 63 --- April 2009
Top
Environments
Top
New Environments
The SPICE Toolkit is now officially supported on these new environments:
FORTRAN Toolkit:
Mac/Intel OS-X GFORTRAN
PC Linux GFORTRAN
Icy:
PC Linux gCC / IDL 6.4 / 64bit
Sun Solaris gCC / IDL 6.4 / 64bit
Mice:
PC Linux gCC / MATLAB 7.x / 64bit
Top
Complete List of Supported Environments
This is the complete list of environments on which the N0063 version of
the SPICE Toolkit is supported:
FORTRAN Toolkit:
Mac/Intel OS-X Intel FORTRAN
Mac/Intel OS-X GFORTRAN
Mac/PowerPC OS-X Absoft FORTRAN
Mac/PowerPC OS-X g77
PC CYGWIN g77
PC Linux g77
PC Linux GFORTRAN
PC Linux Intel FORTRAN
PC Windows Compaq Visual (Digital) FORTRAN
PC Windows Intel FORTRAN
PC Windows Lahey FORTRAN 95
Sun Solaris SUN FORTRAN
CSPICE:
Mac/Intel OS-X Apple C
Mac/PowerPC OS-X Apple C
PC CYGWIN gCC
PC Linux gCC / 32bit
PC Linux gCC / 64bit
PC Windows MS Visual C
Sun Solaris gCC / 32bit
Sun Solaris gCC / 64bit
Sun Solaris SUN C
Icy:
Mac/Intel OS-X Apple C / IDL 6.4 / 32bit
Mac/PowerPC OS-X Apple C / IDL 6.4 / 32bit
PC Linux gCC / IDL 6.4 / 32bit
PC Linux gCC / IDL 6.4 / 64bit
PC Windows MS Visual C / IDL 6.4 / 32bit
Sun Solaris gCC / IDL 6.4 / 32bit
Sun Solaris gCC / IDL 6.4 / 64bit
Sun Solaris SUN C / IDL 6.4 / 32bit
Mice:
Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit
Mac/PowerPC OS-X Apple C / MATLAB 7.x / 32bit
PC Linux gCC / MATLAB 7.x / 32bit
PC Linux gCC / MATLAB 7.x / 64bit
PC Windows MS Visual C / MATLAB 7.x / 32bit
Top
Lahey Memory Issue Related to File Opening/Closing
The Lahey memory issue related to file opening/closing described in the
N0061 section of this document still persists in the N0063 version of
the Toolkit.
Top
Scratch EK File Issue in Icy on PC/Windows
The scratch EK file issue in Icy on PC/Windows described in the N0061
section of this document still persists in the N0063 version of the
Toolkit.
Top
Geometry Finder (GF) Subsystem
The N0063 version offers the first official release of the initial set
of the SPICE Geometry Finder (GF) subsystem interfaces. The GF subsystem
answers questions such as:
-- find the time(s) or time span(s) when a selected orbital geometric
condition is "true" (e.g. a condition such as an occultation or transit)
-- find the time(s) or time span(s) when a specified geometric quantity, such
as range or phase angle, is within a specified range.
The GF Required Reading document, gf.req, provides a comprehensive
description of the GF subsystem and its high-, mid-, and low-level APIs
and includes numerous usage examples.
For your convenience, the language-specific high-level GF APIs included
in this release are listed in the three subsections below.
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SPICELIB High-Level GF APIs
SPICELIB High-Level GF APIs for finding times of events satisfying
numerical constraints are:
GFDIST determines time intervals when a specified
constraint on observer-target distance is met.
GFPOSC determines time intervals when a coordinate of an
observer-target position vector satisfies a
numerical constraint.
GFSEP determines time intervals when the angular
separation between the position vectors of two
target bodies relative to an observer satisfies a
numerical relationship.
GFSNTC determines time intervals when a coordinate of a
ray-surface intercept position vector satisfies a
numerical constraint.
GFSUBC determines time intervals when a coordinate of a
sub-observer point position vector satisfies a
numerical constraint.
SPICELIB High-Level GF APIs for finding times of events satisfying FOV
constraints are:
GFRFOV determines time intervals when a specified ray
intersects the space bounded by the field-of-view
(FOV) of a specified instrument.
GFTFOV determines time intervals when a specified
ephemeris object intersects the space bounded by
the field-of-view (FOV) of a specified
instrument.
SPICELIB High-Level GF APIs for finding times of occultations are:
GFOCLT determines time intervals when an observer sees
one target occulted by another.
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CSPICE High-Level GF APIs
CSPICE High-Level GF APIs for finding times of events satisfying
numerical constraints are:
gfdist_c determines time intervals when a specified
constraint on observer-target distance is met.
gfposc_c determines time intervals when a coordinate of an
observer-target position vector satisfies a
numerical constraint.
gfsep_c determines time intervals when the angular
separation between the position vectors of two
target bodies relative to an observer satisfies a
numerical relationship.
gfsntc_c determines time intervals when a coordinate of a
ray-surface intercept position vector satisfies a
numerical constraint.
gfsubc_c determines time intervals when a coordinate of a
sub-observer point position vector satisfies a
numerical constraint.
CSPICE High-Level GF APIs for finding times of events satisfying FOV
constraints are:
gfrfov_c determines time intervals when a specified ray
intersects the space bounded by the field-of-view
(FOV) of a specified instrument.
gftfov_c determines time intervals when a specified
ephemeris object intersects the space bounded by
the field-of-view (FOV) of a specified
instrument.
CSPICE High-Level GF APIs for finding times of occultations are:
gfoclt_c determines time intervals when an observer sees
one target occulted by another.
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Icy and Mice High-Level GF APIs
Icy and Mice High-Level GF APIs for finding times of events satisfying
numerical constraints are:
cspice_gfdist determines time intervals when a specified
constraint on observer-target distance is met.
cspice_gfposc determines time intervals when a coordinate of an
observer-target position vector satisfies a
numerical constraint.
cspice_gfsep determines time intervals when the angular
separation between the position vectors of two
target bodies relative to an observer satisfies a
numerical relationship.
cspice_gfsntc determines time intervals when a coordinate of a
ray-surface intercept position vector satisfies a
numerical constraint.
cspice_gfsubc determines time intervals when a coordinate of a
sub-observer point position vector satisfies a
numerical constraint.
Icy and Mice High-Level GF APIs for finding times of events satisfying
FOV constraints are:
cspice_gfrfov determines time intervals when a specified ray
intersects the space bounded by the field-of-view
(FOV) of a specified instrument.
cspice_gftfov determines time intervals when a specified
ephemeris object intersects the space bounded by
the field-of-view (FOV) of a specified
instrument.
Icy and Mice High-Level GF APIs for finding times of occultations are:
cspice_gfoclt determines time intervals when an observer sees
one target occulted by another.
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SPICELIB/CSPICE/Icy/Mice
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SURFPV/surfpv_c (SPICELIB/CSPICE only)
The SURFPV routine (surfpv_c in SPICE) finding the state (position and
velocity) of the surface intercept defined by a specified ray, ray
velocity, and ellipsoid was added to the Toolkit.
Top
DVSEP/dvsep_c (SPICELIB/CSPICE only)
The DVSEP function (dvsep_c in CSPICE) calculating the time derivative
of the separation angle between two input states was added to the
Toolkit.
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GETFOV
The header of the GETFOV routine (getfov_c in CSPICE, cspice_getfov in
Icy and Mice) was updated to provide a comprehensive specification of
the IK keywords used to define FOVs and to include more practical
examples of FOV definitions.
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FURNSH
The FURNSH routine (furnsh_c in CSPICE, cspice_furnsh in Icy and Mice)
was updated to support continued path values and to reject files with
names longer than 255 characters.
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Improved Error Messages from PXFORM/SXFORM
The formerly rather cryptic error messages ``There is insufficient
information available to transform from ... to frame ....'' generated by
PXFORM/SXFORM (pxform_c/sxform_c in CSPICE, cspice_pxform/cspice_sxform
in Icy and Mice) have been improved to provide more context and to
suggest what SPICE data may be missing.
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Built-in NAIF ID Code/Name Definitions
The following new built-in NAIF ID code/name definitions have been added
to the Toolkit:
Spacecraft:
-5 PLC
-5 PLANET-C
-68 MMO
-68 MERCURY MAGNETOSPHERIC ORBITER
-69 MPO
-69 MERCURY PLANETARY ORBITER
-140 EPOCH
-140 DIXI
Asteroids:
2002867 STEINS
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Mice (MATLAB interface to CSPICE) Only
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New Interfaces
NAIF added the following interfaces to Mice for this release:
cspice_cgv2el
cspice_el2cgv
cspice_lmpool
cspice_nvc2pl
cspice_nvp2pl
cspice_saelgv
cspice_vrotv
cspice_wncard
cspice_wnsumd
cspice_wnvald
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New and Updated Applications
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FRMDIFF
The FRMDIFF program was added to the application set included in each
SPICE toolkit. This program samples orientation of a reference frame
known to SPICE or computes differences between orientations of two
reference frames known to SPICE, and either displays this orientation or
these differences, or shows statistics about it or them.
Refer to the FRMDIFF User's Guide, frmdiff.ug, for more information
about the program.
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CKBRIEF
The CKBRIEF program was updated to display names of the frames
associated with CK IDs when the new command line option ``-n'' is
specified. The help information that the program displays when the
command line option ``-h'' is specified was updated for clarity and
contents.
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Documentation
Top
Language Specific Required Reading Documents
The following Required Reading documents have been adapted for Icy and
Mice:
gf.req
frames.req
kernel.req
naif_ids.req
time.req
windows.req
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CKBRIEF User's Guide
The CKBRIEF User's Guide, ckbrief.ug, was fully rewritten to describe
new features added to the program and to provide examples illustrating
all aspects of the program's functionality.
Top
Bug Fixes
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SINCPT, SRFXPT
The routines SINCPT and SRFXPT were modified to not perform the quick
test for non-intersection when observer-target distance is less than
target's maximum radius.
Top
POOL Watchers
A new POOL entry point DWPOOL (delete watch from pool) has been added.
This routine deletes a specified agent from all POOL data structures
that associate kernel variables and agents.
Watcher overflow detection logic has been corrected in SWPOOL.
In the following routines, watched kernel variables are no longer
considered to be buffered when a lookup of one of these variables fails:
BODC2N (via changes to ZZBODTRN)
BODDEF (via changes to ZZBODTRN)
BODN2C (via changes to ZZBODTRN)
SCPART
SCTYPE
SCTK01 (SC01 entry point)
SCFM01 (SC01 entry point)
SCTE01 (SC01 entry point)
SCET01 (SC01 entry point)
SCEC01 (SC01 entry point)
TTRANS
UNITIM
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Frame subsystem
TKFRAM has been updated to use DWPOOL when it deletes a frame
specification from its internal buffer; this corrects a bug that caused
the watcher system to overflow when a large number of TK frame
specifications were used.
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Error handling
OUTMSG has been updated so that it correctly displays very long strings
that have been substituted into the long error message.
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Non-printing Character Detection in Time System
The low-level time string parser routines called by STR2ET (str2et_c in
CSPICE, cspice_str2et in Icy and Mice), UTC2ET (utc2et_c in CSPICE,
cspice_utc2et in Icy and Mice), and TPARSE (tparse_c in CSPICE,
cspice_tparse in Icy and Mice) were updated to detect non-printing
characters with ASCII codes greater than 126.
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MKSPK
The program was updated to prevent signaling an error due to round off
in the computed time step when creating Type 8 or Type 12 SPK files.
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CKBRIEF
Two bugs in CKRBIEF were fixed: hanging up when no value is provided
after the ``-f'' option and displaying a warning message and an
incomplete summary in case of an insufficient buffer space. In the
latter case the program now displays an error message.
Top
Version 62 --- March 2008
Top
Environments
Top
New Environments
The SPICE Toolkit is now officially supported on this new environment:
FORTRAN Toolkit:
PC Linux Intel FORTRAN
Top
Complete List of Supported Environments
This is the complete list of environments on which the N0062 version of
the SPICE Toolkit is supported:
FORTRAN Toolkit:
Mac/Intel OS-X Intel FORTRAN
Mac/PowerPC OS-X Absoft FORTRAN
Mac/PowerPC OS-X g77
PC CYGWIN g77
PC Linux g77
PC Linux Intel FORTRAN
PC Windows Compaq Visual (Digital) FORTRAN
PC Windows Intel FORTRAN
PC Windows Lahey FORTRAN 95
Sun Solaris SUN FORTRAN
CSPICE:
Mac/Intel OS-X Apple C
Mac/PowerPC OS-X Apple C
PC CYGWIN gCC
PC Linux gCC / 32bit
PC Linux gCC / 64bit
PC Windows MS Visual C
Sun Solaris gCC / 32bit
Sun Solaris gCC / 64bit
Sun Solaris SUN C
Icy:
Mac/Intel OS-X Apple C / IDL 6.4 / 32bit
Mac/PowerPC OS-X Apple C / IDL 6.4 / 32bit
PC Linux gCC / IDL 6.4 / 32bit
PC Windows MS Visual C / IDL 6.4 / 32bit
Sun Solaris gCC / IDL 6.4 / 32bit
Sun Solaris SUN C / IDL 6.4 / 32bit
Mice:
Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit
Mac/PowerPC OS-X Apple C / MATLAB 7.x / 32bit
PC Linux gCC / MATLAB 7.x / 32bit
PC Windows MS Visual C / MATLAB 7.x / 32bit
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Use of -m32 Option
The CSPICE library provided with the CSPICE, Icy, and Mice toolkits for
PC / Linux / gCC / 32bit environment compiles with the -m32 option to
produce 32bit code when recompiled on a 64bit PC.
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Lahey Memory Issue Related to File Opening/Closing
The Lahey memory issue related to file opening/closing described in the
N0061 section of this document still persists in the N0062 version of
the Toolkit.
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Scratch EK File Issue in Icy on PC/Windows
The scratch EK file issue in Icy on PC/Windows described in the N0061
section of this document still persists in the N0062 version of the
Toolkit.
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Mice
The N0062 version offers the first official release of Mice, the ANSI
based interface between the MATLAB environment, a product of Mathworks,
Inc. (http://www.mathworks.com), and the CSPICE library. If you
downloaded a Mice package, refer to ``mice.req'' document and to the
Mice HTML documentation pointed to by ``doc/html/index.html'' for more
details.
Top
SPICELIB/CSPICE/Icy/Mice
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New ``Surface Intercept'' routine SINCPT
Given an observer and a direction vector defining a ray, the new routine
SINCPT (sincpt_c in CSPICE, cspice_sincpt in Icy and Mice) computes the
surface intercept of the ray on a target body at a specified epoch,
optionally corrected for light time and stellar aberration. This routine
supersedes SRFXPT (srfxpt_c, cspice_srfxpt), which does not have an
input argument for the target body-fixed frame name.
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New ``Illumination Angles'' routine ILUMIN
The new routine ILUMIN (ilumin_c in CSPICE, cspice_ilumin in Icy and
Mice) finds the illumination angles (phase, solar incidence, and
emission) at a specified surface point of a target body. This routine
supersedes ILLUM (illum_c, cspice_illum), which doesn't have an input
argument for the target body-fixed frame name.
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New ``Sub-observer Point'' routine SUBPNT
The new routine SUBPNT (subpnt_c in CSPICE, cspice_subpnt in Icy and
Mice) computes the rectangular coordinates of the sub-observer point on
a target body at a specified epoch, optionally corrected for light time
and stellar aberration. This routine supersedes SUBPT (subpt_c,
cspice_subpt), which does not have an input argument for the target
body-fixed frame name.
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New ``Sub-solar Point'' Routine SUBSLR
The new routine SUBSLR (subslr_c in CSPICE, cspice_subslr in Icy and
Mice) computes the rectangular coordinates of the sub-solar point on a
target body at a specified epoch, optionally corrected for light time
and stellar aberration. This routine supersedes SUBSOL (subsol_c,
cspice_subsol), which does not have an input argument for the target
body-fixed frame name.
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Improvements of Aberration Corrected Velocity in the SPK Subsystem
NAIF has upgraded the algorithms used by the SPICE Toolkit's SPK
subsystem to improve the accuracy of certain velocity results returned
by that subsystem. The new algorithms improve the accuracy of velocities
that are corrected for light time alone, or both light time and stellar
aberration. The new algorithms use the same non-relativistic models for
aberration corrections as do the current SPK algorithms, but the new
implementations of the velocity calculations are more accurate.
The changes improve the accuracy of certain derived quantities,
including range rates and times of periapse or apoapse, when aberration
corrections are used. These changes improve current SPICE computations
as well as being necessary for implementation of the upcoming geometric
event finding subsystem.
The changes do not affect the computation of aberration-corrected
position vectors, nor do they affect uncorrected (``geometric'') states
(position and velocity).
A few examples of the magnitudes of improvements afforded by the new
algorithms are shown below. All velocities are inertially referenced.
-- Range rate of the light time corrected position of the Moon as seen from
the DSN station DSS-25: 1 cm/sec
-- Range rate of the light time and stellar aberration corrected position of
the Moon as seen from DSS-25: 13 cm/sec
-- Range rate of the light time corrected position of Mars as seen from
DSS-25: 55 cm/sec
-- Range rate of the light time and stellar aberration corrected position of
Mars as seen from DSS-25: 1.6 m/sec
-- Range rate of the light time corrected position of Cassini as seen from
DSS-25: 9 cm/sec
-- Range rate of the light time and stellar aberration corrected position of
Cassini as seen from DSS-25: 3.4 m/sec
-- Velocity of the Neptune barycenter, as seen from DSS-25, corrected for
light time: 25 cm/sec
-- Velocity of the Neptune barycenter, as seen from DSS-25, corrected for
light time and stellar aberration: 400 m/sec
Negative effects of the changes are
-- Velocity computations using stellar aberration corrections are slower; the
extent of the effect varies considerably depending on the inputs to the
computations, but tests indicate that some common computations would be
slower by a factor of 2.
But take note: since computation of aberration-corrected states is
usually a small fraction of the computational workload of SPICE-based
applications, the effect on the speed of SPICE-based applications is
very small, and in a majority of cases would likely not be discernible
at all.
Also note, the effect on speed of an application that simply ``reads''
state vectors from an SPK file is nil since aberration corrections are
not used for this purpose.
-- Using the upgraded algorithms would change outputs of some SPICE-based user
applications. In these situations, a user's regression tests could be
affected.
-- If a user's application counts on the specific, current implementation of
velocity aberration corrections, a problem could occur.
NAIF believes any possible negative consequences are outweighed by the
benefits of improved accuracy.
Below we briefly describe the differences between the old and new
aberration correction algorithms.
The previous SPK light time correction algorithms introduce errors by
ignoring the rate of change of light time with respect to time. This
occurs in two places:
-- In computation of light-time corrected velocity referenced to inertial
reference frames
-- In computation of light-time corrected velocity referenced to non-inertial
reference frames centered at an object other than the observer.
The new light time algorithms correct both of these errors.
SPICE supports stellar aberration correction only when light time
correction is used as well.
Previously, the velocity returned when light time and stellar aberration
corrections were used is identical to that returned when only light time
correction is used.
The new algorithm computes light time and stellar aberration-corrected
velocity as the derivative with respect to time of light time and
stellar aberration-corrected position.
Top
New SPK Routines
To support improvements to the SPK subsystem described above, three new
SPK routines were added (described below). In most cases SPICE users
would not call one of these routines, using the high-level APIs SPKEZR
or SPKEZ instead. For the N0062 release these routines are available
only in SPICELIB and CSPICE.
-
SPKACS
-
The new routine SPKACS (spkacs_c in CSPICE) returns the state (position
and velocity) of a target body relative to an observer, optionally
corrected for light time and stellar aberration, expressed relative to
an inertial reference frame.
-
SPKAPS
-
Given the state and acceleration of an observer relative to the solar
system barycenter, the new routine SPKAPS (spkaps_c in CSPICE) returns
the state (position and velocity) of a target body relative to the
observer, optionally corrected for light time and stellar aberration.
All input and output vectors are expressed relative to an inertial
reference frame.
-
SPKLTC
-
The new routine SPKLTC (spkltc_c in CSPICE) returns the state (position
and velocity) of a target body relative to an observer, optionally
corrected for light time, expressed relative to an inertial reference
frame.
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New Binary PCK Coverage Routines PCKFRM and PCKCOV
The new PCK coverage determination routine PCKCOV (pckcov_c in CSPICE)
provides an API with which an application can find the time period(s)
during which a specified binary PCK file provides data for a specified
reference frame. The coverage information is a set of disjoint time
intervals returned in a SPICE ``window'' data structure.
The new PCK routine PCKFRM (pckfrm_c in CSPICE) provides an API via
which an application can find the set of reference frames for which a
specified binary PCK file contains data. The coverage information is
returned in a SPICE ``set'' data structure.
For the N0062 release these routines are available only in SPICELIB and
CSPICE.
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New Routine WNCARD
The new routine WNCARD (wncard_c in CSPICE, cspice_wncard in Icy)
returns the cardinality -- number of intervals -- of a SPICE ``window''
data structure.
For the N0062 release this routine is available only in SPICELIB,
CSPICE, and Icy.
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New Routine EDTERM
The new routine EDTERM computes a set of points on the umbral or
penumbral terminator of a specified target body, where the target shape
is modeled as an ellipsoid.
For the N0062 release this routine is available only in SPICELIB.
Top
SCLK Buffer Size Increase
The sizes of the internal buffers in the SCLK subsystem have been
increased to allow SCLK kernels to include up to 9,999 partitions.
Top
TABs in Text Kernels
The low level routines called by the SPICE kernel loader routine FURNSH
were modified to ignore TAB characters present in text kernels files on
all supported environments.
Top
Built-in NAIF ID Code/Name Definitions
The following new built-in NAIF ID code/name definitions have been added
to the Toolkit:
Spacecraft:
-18 LCROSS
-29 NEXT
-86 CH1
-86 CHANDRAYAAN-1
-131 KAGUYA
-140 EPOXI
-151 CHANDRA
-187 SOLAR PROBE
Satellites:
636 AEGIR
637 BEBHIONN
638 BERGELMIR
639 BESTLA
640 FARBAUTI
641 FENRIR
642 FORNJOT
643 HATI
644 HYROKKIN
645 KARI
646 LOGE
647 SKOLL
648 SURTUR
649 ANTHE
650 JARNSAXA
651 GREIP
652 TARQEQ
809 HALIMEDE
810 PSAMATHE
811 SAO
812 LAOMEDEIA
813 NESO
The following built-in NAIF ID code/name definitions for Jovian system
satellites have been modified to conform to the current name/body
mapping:
Satellites:
540 MNEME
541 AOEDE
542 THELXINOE
543 ARCHE
544 KALLICHORE
545 HELIKE
546 CARPO
547 EUKELADE
548 CYLLENE
549 KORE
The following provisional default NAIF ID code/name definitions have
been removed:
Spacecraft:
-172 SPACETECH-3 COMBINER
-174 PLUTO-KUIPER EXPRESS
-175 PLUTO-KUIPER EXPRESS SIMULATION
-205 SPACETECH-3 COLLECTOR
Satellites:
514 1979J2
515 1979J1
516 1979J3
610 1980S1
611 1980S3
612 1980S6
613 1980S13
614 1980S25
615 1980S28
616 1980S27
617 1980S26
706 1986U7
707 1986U8
708 1986U9
709 1986U4
710 1986U6
711 1986U3
712 1986U1
713 1986U2
714 1986U5
715 1985U1
718 1986U10
901 1978P1
The spelling in the following built-in NAIF ID code/name definitions
have been corrected:
Satellites:
MAGACLITE to MEGACLITE
The following built-in objects have been renamed:
Spacecraft:
STV-1 to STV51
STV-2 to STV52
STV-3 to STV53
Satellites:
ERRIAPO to ERRIAPUS
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Icy (IDL interface to CSPICE) Only
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New and Updated Interfaces
NAIF added the following interfaces to Icy for this release:
cspice_getelm
cspice_spkw10
cspice_wncard
cspice_subpnt
cspice_subslr
cspice_dafac
cspice_dafdc
cspice_dafec
cspice_subpnt
cspice_subslr
cspice_sincpt
These Icy interfaces now process vectorized arguments:
cspice_etcal
cspice_furnsh
cspice_unload
These Interfaces have been removed from Icy:
cspice_spkw15
cspice_spkw17
Top
Documentation
Top
Permuted Index for Icy and Mice
The permuted index documents have been added to the ASCII and HTML
documentation sets provided with the Icy and Mice Toolkits.
Top
BRIEF User's Guide
The BRIEF User's Guide, brief.ug, was fully rewritten to describe new
features added to the program and to provide examples illustrating all
aspects of the program's functionality.
Top
Documentation on NAIF Web Server
The documentation provided in the generic SPICE, CSPICE, Icy and Mice
Toolkits is now also available at this URL on the NAIF Web server:
http://naif.jpl.nasa.gov/naif/documentation.html
Top
BRIEF
The BRIEF utility program was modified to:
-- summarize binary PCK files
-- summarize SPK files provided in meta-kernels
-- display times as calendar UTC (``-utc'' option), day-of-year UTC
(``-utcdoy'' option), and ET seconds (``-etsec'' option)
-- detect attempts to summarize unsupported kernel types (CK, EK, transfer
format kernels, etc.)
The program's help and usage displays as well as the formats of the
summary reports were improved. The internal buffers holding summary
information were increased to allow summarizing SPK files or file sets
containing up to 100,000 bodies.
Top
CKBRIEF
The CKBRIEF utility program was modified to:
-- summarize CK files provided in meta-kernels
-- detect attempts to summarize unsupported kernel types (SPK, binary PCK, EK,
transfer format kernels, etc.)
The program's help and usage displays were improved. The internal
buffers holding summary information were increased to allow summarizing
CK files containing up to 100,000 segments.
Top
MKSPK
The capability to accept time tags given as ET seconds past J2000 was
added to the program. The TIME_WRAPPER setup keyword must be set to the
special value '# ETSECONDS' to make the program recognize and process
such time tags.
Top
SUBPT Cookbook
The cookbook program SUBPT was updated to illustrate use of the new
``sub-observer point'' routine SUBPNT.
Top
Bug Fixes
Top
EV2LIN
Corrected error in the calculation of the C4 term due to typographic
error in expression.
Top
HYPTOF
An error in the HYPTOF routine affecting cases of evaluating elements of
a hyperbolic trajectory with a very large eccentricity with respect to a
small body (low gravity) has been fixed.
Top
INELPL
The routine's specification and behavior have been updated so the
routine now returns a meaningful result for the case of an ellipse
consisting of a single point.
Also, in the degenerate case where the input ellipse is a line segment
of positive length, and this segment intersects the plane, the number of
intersection points is set to 1 rather than 2.
Top
RAXISA
Minor edit to the ANGLE declaration strictly identifying the constant as
a double. This change eliminates an occasional compiler warning.
Top
SC01
The routine was fixed to correctly insert spaces between fields when the
output field delimiter is blank.
Top
SRFXPT
The routine was corrected to no longer apply the light time improvement
logic in near-miss cases when a geometric solution is requested via
ABCORR.
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BRIEF
A number of bugs were fixed in the BRIEF utility program in the course
of the modifications described above. The two most significant of these
bugs were hanging up when no value was provided after ``-from'',
``-to'',``-at'', and ``-f'' options, and a logic expression error
causing the program's crash on the Intel FORTRAN environments.
Top
CKBRIEF
The bug causing an unsolicited grouping display on some C environments
was fixed.
Top
Header Updates
A number of formatting problems, typos, and errors in examples were
fixed in the SPICE, CSPICE, and Icy headers.
Top
Version 61 --- December 2006
Top
Rules Regarding Use of SPICE Components
The rules regarding use of SPICE components have been updated to reflect
the new ITAR clearance for the SPICE toolkit, documentation and data.
Please see the RULES page of the NAIF website:
http://naif.jpl.nasa.gov/naif/rules.html for details.
Top
Environments
Top
New Environments
The SPICE Toolkit is now officially supported on these new environments:
FORTRAN Toolkit:
Mac/Intel OS-X Intel FORTRAN
PC Windows Intel FORTRAN
CSPICE:
Mac/Intel OS-X Apple C
Sun Solaris gCC/64bit
Icy:
Mac/Intel OS-X Apple C / IDL 6.3
Top
Deprecated Environments
The SPICE Toolkit is no longer supported on these environments:
FORTRAN Toolkit:
HP UX-10 HP FORTRAN
Vax VMS Digital FORTRAN
CSPICE:
HP UX-10 HP C
Top
Complete List of Supported Environments
This is the complete list of environments on which the N0061 version of
the SPICE Toolkit is supported:
FORTRAN Toolkit:
Mac/Intel OS-X Intel FORTRAN
Mac/PowerPC OS-X Absoft FORTRAN
Mac/PowerPC OS-X g77
PC CYGWIN g77
PC Linux g77
PC Windows Compaq Visual (Digital) FORTRAN
PC Windows Intel FORTRAN
PC Windows Lahey FORTRAN 95
Sun Solaris SUN FORTRAN
CSPICE:
Mac/Intel OS-X Apple C
Mac/PowerPC OS-X Apple C
PC CYGWIN gCC
PC Linux gCC
PC Linux gCC/64bit
PC Windows Microsoft Visual C
Sun Solaris gCC
Sun Solaris gCC/64bit
Sun Solaris SUN C
Icy:
Mac/Intel OS-X Apple C / IDL 6.3
Mac/PowerPC OS-X Apple C / IDL 6.3
PC Linux gCC / IDL 6.3
PC Windows Microsoft Visual C / IDL 6.3
Sun Solaris gCC / IDL 6.3
Sun Solaris SUN C / IDL 6.3
Top
Use of -fPIC/-KPIC Option
The CSPICE library provided with the CSPICE and Icy toolkits is now
compiled with the -fPIC or -KPIC option resulting in
position-independent code, suitable for dynamic linking all environments
that support it.
Top
Lahey Memory Issue Related to File Opening/Closing
Users of Lahey FORTRAN under the Windows operating systems should be
aware that the F95 compiler allocates a small amount of memory, in
connection with the process of using file OPEN and INQUIRE statements,
that it might not free at the end of the file manipulation process.
Since the simple opening of a binary kernel file can involve multiple
OPEN and INQUIRE statements, the result of this allocation is that if
the user were to open many (e.g. 100 or more) kernel files, an
application program could sequester memory that would not be freed as
expected. A virtual memory error message such as "A work area cannot be
reserved because of insufficient area" may result from this situation.
This can adversely affect the stability of the Windows operating system,
even after the user program is terminated.
We believe that this behavior affects all versions of SPICELIB,
including the N61 version. We are working with Lahey to resolve this
issue.
Top
Scratch EK File Issue in Icy on PC/Windows
An issue may exist when using EK scratch files from IDL under Microsoft
Windows. The cspice_ekcls call may fail to delete the scratch file
created by the cspice_ekops call. This file normally has a name style
similar to tmp.Fxxxxx. You can manually delete the file only after you
close the IDL application.
This problem does not affect use of the file or cause any known
instability to Icy.
Top
Documentation
Starting with N0061 every SPICE toolkit package comes with a complete
set of HTML documentation consisting of:
-- brief introduction to the SPICE system
-- overview of specifics of SPICE implementation for a given language (for
CSPICE and Icy only)
-- description of the Toolkit package layout and contents
-- language specific summary of Most Used SPICE APIs by category
-- complete reference guide for all public APIs, derived from the source
headers and provided with an alphabetical index
-- Permuted Index of all public APIs
-- complete set of Required Reading documents, provided with an index
-- complete set of User's Guide documents, provided with an index
All HTML documents in this set are cross-hyperlinked -- every instance
of an API name in Required Reading, index or other documents is linked
to the API HTML page derived from its source code header; every
reference to a Required Reading document in the API HTML pages, indexes
and other documents is linked to the Required Reading's HTML page, and
so on. In some cases HTML pages are also linked to the actual source
code modules, specifically from the Permuted Index document and from the
bottom of each of the each individual API pages.
The top level index file
doc/html/index.html
provides a single entry point to all HTML documentation.
While the CSPICE and Icy set of individual API HTML pages contains a
page for each of the public routines, the SPICELIB (Fortran) set does
not provide HTML pages for about 30 routines that are different on
different environments. NAIF omitted them in this Toolkit version due to
some technical difficulties in assembling the Toolkit packages and will
try to fix this situation in the next release of the Toolkit.
Also, the SPICELIB HTML documentation set does not include links to a
small set of APIs that have names that are either common words (POS,
FRAME, ROTATE, RETURN) or terms (J2000, B1950) commonly used in the
SPICE documentation.
Top
New Applications
Top
MSOPCK
The MSOPCK program was added to the application set included in each
SPICE toolkit. This program converts attitude data provided in a text
file as UTC, SCLK, or ET-tagged quaternions, Euler angles, or matrices,
optionally accompanied by angular velocities, into a type 1, 2, or 3
SPICE C-kernel.
Refer to the MSOPCK User's Guide, msopck.ug, for more information about
the program.
Note: an earlier version of this program has been available in some
mission-specific Toolkits and through the NAIF website. We recommend
users replace that older version with this one.
Top
SPKDIFF
The SPKDIFF program was added to the application set included in each
SPICE toolkit. This program computes differences between geometric
states obtained from two SPK files and either displays these differences
or shows statistics about them.
Refer to the SPKDIFF User's Guide, spkdiff.ug, for more information
about the program.
Note: SPPKDIFF replaces a predecessor program named CMPSPK that had
limited distribution.
Top
SPICELIB/CSPICE/Icy
Top
KCLEAR Routine
A call to KCLEAR unloads all files loaded via FURNSH and clears the
kernel pool.
Calling KCLEAR at the end of an Icy-based IDL script ensures that
kernels loaded during script execution won't contaminate results from
Icy-based scripts run subsequently during the same IDL session.
Top
DAF Comment Area Routines
The former support library routines DAFAC, DAFDC, and DAFEC have been
moved into SPICELIB. These routines provide comment area access for
DAF-based files, such as SPK, CK, and binary PCK files. DAFAC appends to
the contents of a DAF's comment area text provided in a buffer. DAFDC
deletes all comments from the comment area. DAFEC extracts the contents
of the comment area into a buffer.
These routines are available in SPICELIB and CSPICE; they are not yet
supported in Icy.
Top
DAF-based Kernel Open Routines
The routines CKOPN, PCKOPN, and SPKOPN, which open new CK, binary PCK
and SPK kernels respectively, now are able to reserve a caller-specified
amount of space in the new file's comment area at the time of file
creation. This allows faster comment addition when comments must be
added after the kernel contains a large amount of data, since the data
need not be shifted to make room in the comment area.
The calling sequences of these routines have not changed. The routines'
input argument NCOMCH was previously disregarded; it now specifies the
amount of comment area space to reserve.
This change applies to SPICELIB, CSPICE, and Icy.
Top
DAFONW Routine
The routine DAFONW, which opens a new DAF, now initializes the DAF
comment area when comment area records are reserved. The comment records
are null-padded as before, but now the first character of the comment
area is initialized with the ``end-of-comments'' character. This
provides a correctly initialized empty comment area that can be accessed
by SPICE routines and utilities. Formerly this initialization had to be
carried out by the calling program.
This change supports the capability of reserving space in the comment
area now provided by the higher-level kernel opening routines CKOPN,
PCKOPN, and SPKOPN.
Top
SPKW02, SPKW03, and SPKW05 Routines
The restriction that the input reference frame should be inertial has
been removed from SPK Type 2, 3 and 5 writer routines SPKW02, SPKW03 and
SPKW05. Any application that calls there routines, including the MKSPK
program, can now create a type 2, 3, or 5 SPK file with data given with
respect to a non-inertial frame.
Top
Built-in NAIF ID Code/Name Definitions
The following new built-in NAIF ID code/name definitions have been added
to the Toolkit:
Spacecraft:
-61 JUNO
-76 MSL
-76 MARS SCIENCE LABORATORY
-85 LRO
-85 LUNAR RECON ORBITER
-85 LUNAR RECONNAISSANCE ORBITER
-212 STV-1
-213 STV-2
-214 STV-3
Satellites:
540 ARCHE
541 EUKELADE
546 HELIKE
547 AOEDE
548 HEGEMONE
551 KALLICHORE
553 CYLLENE
560 CARPO
561 MNEME
635 DAPHNIS
722 FRANCISCO
723 MARGARET
724 FERDINAND
725 PERDITA
726 MAB
727 CUPID
902 NIX
903 HYDRA
The following provisional name/ID mappings for the Jovian system
satellites were replaced or removed from the Toolkit:
539 'HEGEMONE' JXXXIX
540 'MNEME' JXL
541 'AOEDE' JXLI
542 'THELXINOE' JXLII
543 'ARCHE' JXLIII
544 'KALLICHORE' JXLIV
545 'HELIKE' JXLV
546 'CARPO' JXLVI
547 'EUKELADE' JXLVII
548 'CYLLENE' JXLVIII
The new mapping leaves the IDs 539, 542-545, 549, 550, 552, 554-559
unassigned.
The following name spelling correction has also been made:
632 METHODE to METHONE
Top
CSPICE Only
Top
New Wrappers
The following interfaces to SPICE routines were added to CSPICE in this
release:
dafac_c dafdc_c dafec_c
dafgda_c dascls_c dasopr_c
kclear_c
Top
Icy (IDL interface to CSPICE) Only
Top
New Interfaces
NAIF added the following new Icy interfaces for this release:
cspice_appndd cspice_appndi cspice_badkpv
cspice_dafgda cspice_dascls cspice_dasopr
cspice_inter cspice_kclear cspice_valid
Top
Bug Fixes
Top
CKE05
Several functional changes were made to the CK type 5 evaluator CKE05.
These changes affect all CK type 5 subtypes EXCEPT subtype 1, which is
used by the Mars Express, Rosetta, Venus Express, and SMART-1 missions.
These changes are not expected to affect current SPICE users.
First change: the evaluator now assumes that input rate information,
whether in the form of quaternion derivatives or angular velocity
vectors, has units of radians/second. This makes the routine's interface
consistent with SPICE conventions. This change affects subtypes 0, 2,
and 3.
Second change: the evaluator no longer attempts to improve interpolation
of quaternion derivatives by negating, if necessary, the derivatives
provided in the input record. This places on C-kernel creators the
burden of determining correct quaternion derivatives suitable for
Hermite interpolation. This decision was made because the selection
functionality cannot be implemented in a completely reliable way for the
case where the derivatives have very small magnitude (which in practice
is not a rare case). Quaternions themselves still WILL be negated if
necessary for correct Hermite interpolation. This change affects
subtypes 0 and 2.
Top
ET2LST
The bug for bodies with retrograde rotation causing the local time to
flow backwards has been fixed. The local time for all types of bodies
now progresses as expected -- midnight, increasing AM hours, noon,
increasing PM hours, next midnight, and so on.
Top
UNLOAD
The bug causing incorrect meta-kernel unloading was fixed. Formerly some
sequences of FURNSH and UNLOAD calls could cause UNLOAD to become unable
to unload meta-kernels correctly: in some cases, kernels referenced by
the meta-kernels were not unloaded when they should have been.
Top
STR2ET
Two bugs were fixed. The first bug caused the routine to return
incorrect results in some cases on calls following calls for which a
time zone was specified. The second bug caused the routine to generate a
memory violation exception for blank input strings on some environments
(HP).
Top
SURFPT
The ray's surface intercept is now always set to the ray's vertex when
the vertex is on the ellipsoid's surface. Formerly, for inward-pointing
direction vectors, the ray's point of egress from the ellipsoid was
selected as the intercept.
The new functionality is consistent with the routine's documentation,
which claims that the intercept closest to the ray's vertex is selected.
Top
CHRONOS
Two bugs were fixed. The first bug caused slightly incorrect computation
of the mean local second duration, which could have resulted in a leap
in the LST SOL counting. For landed Martian missions this bug would have
exhibited itself after approximately SOL 2100. The second bug prohibited
conversion from and to LST for local times a few seconds before
midnight, in the 23:59:00-23:59:59 range.
The important side effect of correcting the first bug is that due to the
fact that LST is returned with integer local seconds the result of any
conversion from and to LST differs slightly -- by less that 1 second --
from the same conversion done by the previous versions of the program.
Top
Icy
The bug causing a cascade of 'zzerror_c' strings prefixed to error
strings has been fixed.
Top
MKSPK
The bug causing the 8th input equinoctial element (DMPN/DT) to be
assigned to the 8th (DMPN/DT) and 9th (DNOD/DT) equinoctial elements
stored in the output SPK file when the first six equinoctial elements
were derived from input states or classical elements was fixed.
Top
Version 60 --- December 2005
The sole purpose of this version is to fix the bug described below. In
all other aspects the N0060 Toolkit is the same as the N0059 Toolkit.
Top
Bug Fixes
Top
Access to High Precision Binary Earth PCK
On December 13, 2005, a significant bug was found in the Fortran, C, and
IDL N0059 SPICE Toolkits: this bug results in corruption of data read
from high precision binary earth PCK files.
A second, probably rarely encountered, effect of the bug is that data
will be corrupted when read directly from routine TISBOD (tisbod_c in
CSPICE, cspice_tisbod in Icy), in cases where the input reference frame
name doesn't match the frame associated with the data in the source PCK.
This bug has been fixed in the N0060 Toolkit.
Top
Version 59 --- November 2005
Top
Rules Regarding Use of SPICE Components
The rules regarding use of SPICE components, already very minimal, have
been further relaxed and better articulated. Please see the RULES page
of the NAIF website: http://naif.jpl.nasa.gov/naif/rules.html for
details.
Top
Environments
Top
New Environments
The SPICE Toolkit is now officially supported on Sun/Solaris/64bit gcc
environment.
Top
Supported Environments
This is the complete list of environments on which the N0059 version of
the SPICE Toolkit is supported:
FORTRAN Toolkit:
HP UX-10 HP FORTRAN
Macintosh OS-X Absoft FORTRAN
Macintosh OS-X g77
PC CYGWIN g77
PC Linux g77
PC Windows Compaq Visual (Digital) FORTRAN
PC Windows Lahey FORTRAN 95
Sun Solaris SUN FORTRAN
Vax VMS Digital FORTRAN
CSPICE:
HP UX HP C
Macintosh OS-X Apple C
PC CYGWIN gCC
PC Linux gCC
PC Windows Microsoft Visual C
Sun Solaris SUN C
Sun Solaris gCC
Sun Solaris gCC/64bit
Icy:
Macintosh OS-X Apple C / IDL 6.2
PC Linux gCC / IDL 6.2
PC Windows Microsoft Visual C / IDL 6.2
Sun Solaris SUN C / IDL 6.2
Sun Solaris gCC / IDL 6.2
Top
Optimization for C/Icy environments
Optimization -O2 or equivalent is now used to compile CSPICE for all
supported C and Icy environments.
Top
Lahey Memory Issue Related to File Opening/Closing
Users of Lahey FORTRAN under the Windows operating systems should be
aware that the F95 compiler allocates a small amount of memory, in
connection with the process of using file OPEN and INQUIRE statements,
that it might not free at the end of the file manipulation process.
Since the simple opening of a binary kernel file can involve multiple
OPEN and INQUIRE statements, the result of this allocation is that if
the user were to open many (e.g. 100 or more) kernel files, an
application program could sequester memory that would not be freed as
expected. A virtual memory error message such as "A work area cannot be
reserved because of insufficient area" may result from this situation.
This can adversely affect the stability of the Windows operating system,
even after the user program is terminated.
We believe that this behavior affects all versions of SPICELIB,
including the soon to be released N59 version. We are working with Lahey
to resolve this issue.
Top
Scratch EK File Issue in Icy on PC/Windows
An issue may exist when using EK scratch files from IDL under Microsoft
Windows. The cspice_ekcls call may fail to delete the scratch file
created by the cspice_ekops call. This file normally has a name style
similar to tmp.Fxxxxx. You can manually delete the file only after you
close the IDL application.
This problem does not affect use of the file or cause any known
instability to Icy.
Top
SPICELIB/CSPICE/Icy
Top
Loading of Non-Native Text Kernels Files
Starting with this version of the toolkit, the CSPICE and Icy text
kernel loaders, furnsh_c/cspice_furnsh and ldpool_c/cspice_ldpool, can
read and parse non-native text files. Unfortunately this capability
cannot be provided in FORTRAN instances of the Toolkit.
Please be aware the CSPICE text file reader, rdtext_c, does not possess
the capability to read non-native text files.
Top
Additional Testing
A large amount of additional testing of existing SPICE interfaces and
capabilities was performed during preparation of this version of the
toolkit. This testing uncovered a small number of bugs, all of which
have been fixed for this release (see Section ``Bug Fixes'' below.)
Top
Deprecation of BODVAR in favor of BODVRD and BODVCD
Routine BODVAR has been deprecated due to deficiency of its interface
and a possibility that it may cause memory violation when used to
retrieve data for incorrectly formed text kernel keywords. Routines
BODVCD and BODVRD should be used instead of it.
Top
``In Place'' Routines
A number of routines parallel to existing interfaces but utilizing the
same argument for both input and output were added to SPICELIB (FORTRAN
Toolkit). These routines are:
cyacip.for
cyadip.for
cyaiip.for
vhatip.for
vsclip.for
xpsgip.for
Top
SPK Segment Buffer Increase
The SPK segment buffer size was increased to 30,000 to allow more
efficient read access to SPK files containing a large number of
segments, such as SPK files produced by ESA's Mars Express project.
Top
EK Buffer Increased
Buffers facilitating EK access have been increased to provide more
efficient read access to EK files containing a large numbers of records,
such as EK files produced by the Cassini project.
Top
Built-in NAIF ID Code/Name Definitions
The following new built-in NAIF ID code/name definitions have been added
to the Toolkit:
Spacecraft:
-98 NEW HORIZONS
-248 VENUS EXPRESS, VEX
-500 RSAT, SELENE Relay Satellite, SELENE Rstar, Rstar
-502 VSAT, SELENE VLBI Radio Satellite,
SELENE VRAD Satellite, SELENE Vstar
Asteroids:
2025143 ITOKAWA
Satellites:
539 HEGEMONE
540 MNEME
541 AOEDE
542 THELXINOE
543 ARCHE
544 KALLICHORE
545 HELIKE
546 CARPO
547 EUKELADE
548 CYLLENE
631 NARVI
632 METHODE
633 PALLENE
634 POLYDEUCES
Ground Stations:
399064 DSS-64
Top
Documentation
The PCK Required Reading document has been revised.
Top
CSPICE
Top
New Wrappers
The following interfaces to SPICE routines were added to CSPICE in this
release:
bodvcd_c.c
qdq2av_c.c
qxq_c.c
srfrec_c.c
Top
Icy (Interactive Data Language interface to CSPICE)
Top
Vectorization
NAIF modified the function of several Icy routines to support vectorized
variables (in the IDL sense) as input and output.
cspice_illum cspice_insrtd cspice_insrti cspice_oscelt
cspice_sce2c cspice_srfrec cspice_srfxpt cspice_subpt
cspice_removd cspice_removi
Top
New interfaces
NAIF added the following new Icy interfaces for this release:
cspice_bodvcd cspice_diff cspice_insrtd cspice_insrti
cspice_qdq2av cspice_qxq cspice_removd cspice_removi
cspice_sdiff cspice_set cspice_srfrec cspice_union
Top
Bug Fixes
Top
Non-standard Use of Duplicate Arguments in FORTRAN
A large number of SPICELIB routines has been revised to eliminate
non-standard use of duplicate arguments in calls to other routines.
Though this use did not pose any problems or cause any errors in the
earlier Toolkit versions, it prevented use of optimization on some
environments. With these changes optimization is now used in building
all CSPICE and Icy Toolkits.
Top
NEARPT
A bug related to the scale of transverse component of error vector was
corrected for the exterior point case.
Top
ET2LST
The treatment of planetographic longitude has been updated to be
consistent with the SPICE planetographic / rectangular coordinate
conversion routines. The effect of this change is that the default sense
of positive longitude for the moon is now east; also, the default sense
of positive planetographic longitude now may be overridden for any body.
Top
GETFOV
A bug causing incorrect computation of the boundary vectors for a
rectangular FOV specified using the angular extents method has been
fixed. In the previous versions for cases when the reference vector was
provided as a non-unit vector and/or was non-perpendicular to the
specified boresight the boundary vectors returned by the routine were
computed incorrectly.
Top
CKW03
A check verifying that the start time of the first interval is the same
as the time of the first pointing instance has been added.
Top
INEDPL
Error detection for the case of invalid input plane was added.
Top
INSRTC
The routine was changed in such way that when the item to be inserted
would, after truncation to the set's string length, match an item
already in the set, no insertion is performed. Previously the truncated
string was inserted, corrupting the set.
Top
String Parsing Routines
Routines lparse.for, lparsm.for, and lparss.for were modified to avoid
out-of-range substring bounds conditions.
Top
Version 58 --- January 2005
Top
Environments
The SPICE Toolkit is now officially supported on PC/CYGWIN/g77 and
PC/CYGWIN/gCC environments and no longer supported on SGI and DEC Alpha
computers.
This is the complete list of environments on which the N0058 version of
the SPICE Toolkit is supported:
FORTRAN Toolkit:
HP UX HP FORTRAN
Macintosh OS-X Absoft FORTRAN
Macintosh OS-X g77
PC CYGWIN g77
PC Linux g77
PC Windows Compaq Visual (Digital) FORTRAN
PC Windows Lahey FORTRAN 95
Sun Solaris SUN FORTRAN
Vax VMS Digital FORTRAN
CSPICE:
HP UX HP C
Macintosh OS-X Apple C
PC CYGWIN gCC
PC Linux gCC
PC Windows Microsoft Visual C
Sun Solaris SUN C
Sun Solaris gCC
Icy:
Macintosh OS-X Apple C / IDL 6.1
PC Linux gCC / IDL 6.1
PC Windows Microsoft Visual C / IDL 6.1
Sun Solaris SUN C / IDL 6.1
Sun Solaris gCC / IDL 6.1
Top
SPICELIB/CSPICE/Icy
Top
Parameterized Dynamic Frames
The SPICE frame system now supports parameterized dynamic frames: frames
for which orientation is based on dynamic directions computed using
SPICE kernel data (SPKs, CK, PCKs), on mathematical models implemented
in SPICE routines, or on formulas defined in frame kernels.
Parameterized dynamic frames are grouped into ``families'' according to
the method by which they're defined.
Currently supported dynamic frame families are:
-- Two-vector frames: these are defined by pairs of vectors. The vectors may
be position vectors, velocity vectors, observer-target near point vectors,
or constant vectors.
-- Mean equator and equinox of date frames.
-- True equator and equinox of date frames.
-- Mean ecliptic and equinox of date frames.
-- Euler frames: these are defined by angles specified as polynomial functions
of time.
Currently ``of date'' frames are supported only for the earth.
The Frames Required Reading documents the new capability and contains
numerous examples of dynamic frame kernel definitions.
Top
CK/SPK Coverage Summary Routines
The new CK and SPK coverage determination routines CKCOV and SPKCOV
provide an API via which an application can find the time periods for
which a specified CK or SPK file provides data for, respectively, an
instrument or body of interest. The coverage information is a set of
disjoint time intervals returned in a SPICE ``window'' data structure.
The new CK and SPK routines CKOBJ and SPKOBJ provide an API via which an
application can find the set of instruments or bodies for which,
respectively, a specified CK or SPK file contains data. The coverage
information is returned in a SPICE ``set'' data structure.
These new APIs are supported by SPICELIB, CSPICE, and Icy.
Top
Planetographic Coordinate Conversion Routines
The new planetographic coordinate conversion routines RECPGR and PGRREC
support conversion between rectangular and planetographic coordinates.
The planetographic Jacobian matrix routines DRDPGR and DPGRDR provide
the derivative matrices for these transformations (used for coordinate
transformations of velocities).
These new APIs are supported by SPICELIB, CSPICE, and Icy.
Top
``L-sub-S'' Solar Longitude Routine
The new routine LSPCN computes the planetocentric longitude of the sun
(often called ``L-sub-S'' or ``Ls'') for a specified body and time. This
quantity is typically used as an approximate ``time of year'' indicator.
The new API is supported by SPICELIB, CSPICE, and Icy.
Top
Built-in NAIF ID Code/Name Definitions
The following new built-in NAIF ID code/name definitions have been added
to the Toolkit:
Spacecraft:
-84 PHOENIX
-130 HAYABUSA
-131 SELENE
-203 DAWN
-238 SMART-1, S1, SM1, SMART1
-486 HERSCHEL
-489 PLANCK
Comets:
1000012 CHURYUMOV-GERASIMENKO
67P/CHURYUMOV-GERASIMENKO (1969 R1)
Stations:
399049 DSS-49
399055 DSS-55
398989 NOTO
Top
Documentation
FRAMES.REQ has been re-structured and augmented with an extensive
description and examples of the new parameterized dynamic frames family.
Top
CSPICE
Top
New Wrappers
The following new miscellaneous interfaces to SPICE routines were added
to CSPICE in this release:
bods2c_c.c dafopw_c.c dafps_c.c dafrs_c.c
Top
Icy (Interactive Data Language interface to CSPICE)
Top
Vectorization
NAIF modified the function of several Icy routines to support vectorized
variables (in the IDL sense) as input and output.
cspice_cylrec cspice_deltet cspice_et2lst cspice_et2utc