imap-processing 0.6.0__py3-none-any.whl

imap_processing/tests/spice/test_data/imap_wkcp.tf

@@ -0,0 +1,1806 @@
+KPL/FK
+
+Interstellar Mapping and Acceleration Probe Frames Kernel
+========================================================================
+
+   This frames kernel contains the current set of coordinate frame
+   definitions for the Interstellar Mapping and Acceleration Probe
+   (IMAP) spacecraft, structures, and science instruments.
+
+   This kernel also contains NAIF ID/name mapping for the IMAP
+   instruments.
+
+
+Version and Date
+========================================================================
+
+   The TEXT_KERNEL_ID stores version information of loaded project text
+   kernels. Each entry associated with the keyword is a string that
+   consists of four parts: the kernel name, version, entry date, and
+   type. For example, the frames kernel might have an entry as follows:
+
+
+           TEXT_KERNEL_ID += 'IMAP_FRAMES V1.0.0 2024-XXXX-NN FK'
+                                  |         |        |        |
+                                  |         |        |        |
+              KERNEL NAME <-------+         |        |        |
+                                            |        |        V
+                             VERSION <------+        |   KERNEL TYPE
+                                                     |
+                                                     V
+                                                ENTRY DATE
+
+
+   Interstellar Mapping and Acceleration Probe Frames Kernel Version:
+
+   \begindata
+
+   TEXT_KERNEL_ID += 'IMAP_FRAMES V1.0.0 2024-XXXX-NN FK'
+
+   \begintext
+
+   Version 1.0.0 -- XXXX NN, 2024 -- Douglas Rodgers
+                                     Lillian Nguyen
+                                     Nicholas Dutton
+
+      Initial complete release. Frame/Body codes for thrusters redefined
+
+   Version 0.0.1 -- July 9, 2021 -- Ian Wick Murphy
+
+      Modifying dart_008.tf to add basic IMAP frame components. This
+      includes IMAP, IMAP_THRUSTER, and CK/SCLK IDs. Also adding a place
+      holder for the IMAP-Lo instrument with the ID -43001 and IMAP_LO
+      name. Future work includes adding more detailed instrument frames,
+      and reaching out to mechanical for an "official" IMAP_SPACECRAFT
+      frame definition.
+
+
+References
+========================================================================
+
+   1.  "Frames Required Reading"
+
+   2.  "Kernel Pool Required Reading"
+
+   3.  "C-Kernel Required Reading"
+
+   4.  "7516-9067: IMAP Mechanical Interface Control Document",
+       Johns Hopkins Applied Physics Laboratory
+
+   5.  "7516-9050: IMAP Coordinate Frame & Technical Definitions Doc.",
+       Johns Hopkins Applied Physics Laboratory
+
+   6.  "7516-0011: IMAP Mechanical Interface Control Drawing",
+       [EXPORT CONTROLLED], Johns Hopkins Applied Physics Laboratory
+
+   7.  "7523-0008: IMAP ULTRA Mechanical Interface Control Drawing",
+       [EXPORT CONTROLLED], Johns Hopkins Applied Physics Laboratory
+
+   8.  "058991000: IMAP SWAPI Mechanical Interface Control Drawing",
+       Princeton University Space Physics
+
+   9.  "GLOWS-CBK-DWG-2020-08-25-019-v4.4: IMAP GLOWS Mechanical
+       Interface Control Drawing", Centrum Badag Kosmicznych, Polska
+       Akademia Nauks
+
+   10. Responses from IMAP instrument teams on their base frame axis
+       definitions, received in email.
+
+
+Contact Information
+========================================================================
+
+   Douglas Rodgers,  JHU/APL,  Douglas.Rodgers@jhuapl.edu
+
+   Lillian Nguyen,   JHU/APL,  Lillian.Nguyen@jhuapl.edu
+
+   Nicholas Dutton,  JHU/APL,  Nicholas.Dutton@jhuapl.edu
+
+   Ian Wick Murphy,  JHU/APL,  Ian.Murphy@jhuapl.edu
+
+
+Implementation Notes
+========================================================================
+
+   This file is used by the SPICE system as follows: programs that make
+   use of this frame kernel must `load' the kernel, normally during
+   program initialization. Loading the kernel associates the data items
+   with their names in a data structure called the `kernel pool'. The
+   SPICELIB routine FURNSH loads a kernel into the pool as shown below:
+
+      FORTRAN: (SPICELIB)
+
+         CALL FURNSH ( frame_kernel_name )
+
+      C: (CSPICE)
+
+         furnsh_c ( frame_kernel_name );
+
+      IDL: (ICY)
+
+         cspice_furnsh, frame_kernel_name
+
+      MATLAB: (MICE)
+
+         cspice_furnsh ( frame_kernel_name )
+
+   This file was created and may be updated with a text editor or word
+   processor.
+
+
+IMAP NAIF ID Codes -- Definitions
+========================================================================
+
+   This section contains name to NAIF ID mappings for the IMAP mission.
+   Once the contents of this file are loaded into the KERNEL POOL, these
+   mappings become available within SPICE, making it possible to use
+   names instead of ID code in high level SPICE routine calls.
+
+   \begindata
+
+      NAIF_BODY_NAME   += ( 'IMAP' )
+      NAIF_BODY_CODE   += ( -43    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SPACECRAFT' )
+      NAIF_BODY_CODE   += ( -43000            )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_A1' )
+      NAIF_BODY_CODE   += ( -43010             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_A2' )
+      NAIF_BODY_CODE   += ( -43011             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_A3' )
+      NAIF_BODY_CODE   += ( -43012             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_A4' )
+      NAIF_BODY_CODE   += ( -43013             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_R1' )
+      NAIF_BODY_CODE   += ( -43020             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_R2' )
+      NAIF_BODY_CODE   += ( -43021             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_R3' )
+      NAIF_BODY_CODE   += ( -43022             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_R4' )
+      NAIF_BODY_CODE   += ( -43023             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_R5' )
+      NAIF_BODY_CODE   += ( -43024             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_R6' )
+      NAIF_BODY_CODE   += ( -43025             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_R7' )
+      NAIF_BODY_CODE   += ( -43026             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_THRUSTER_R8' )
+      NAIF_BODY_CODE   += ( -43027             )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SUN_SENSOR_PZ' )
+      NAIF_BODY_CODE   += ( -42030               )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SUN_SENSOR_MZ' )
+      NAIF_BODY_CODE   += ( -42031               )
+
+      NAIF_BODY_NAME   += ( 'IMAP_STAR_TRACKER_PX' )
+      NAIF_BODY_CODE   += ( -42040                 )
+
+      NAIF_BODY_NAME   += ( 'IMAP_STAR_TRACKER_MX' )
+      NAIF_BODY_CODE   += ( -42041                 )
+
+      NAIF_BODY_NAME   += ( 'IMAP_LOW_GAIN_ANTENNA' )
+      NAIF_BODY_CODE   += ( -42050                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_MED_GAIN_ANTENNA' )
+      NAIF_BODY_CODE   += ( -42051                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_NUTATION_DAMPER_01' )
+      NAIF_BODY_CODE   += ( -42060                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_NUTATION_DAMPER_02' )
+      NAIF_BODY_CODE   += ( -42061                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_LO_ENA_SENSOR' )
+      NAIF_BODY_CODE   += ( -42102               )
+
+      NAIF_BODY_NAME   += ( 'IMAP_LO_STAR_SENSOR' )
+      NAIF_BODY_CODE   += ( -42103                )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HI_45' )
+      NAIF_BODY_CODE   += ( -42150       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HI_90' )
+      NAIF_BODY_CODE   += ( -42175       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_ULTRA_45' )
+      NAIF_BODY_CODE   += ( -42200          )
+
+      NAIF_BODY_NAME   += ( 'IMAP_ULTRA_90' )
+      NAIF_BODY_CODE   += ( -42225          )
+
+      NAIF_BODY_NAME   += ( 'IMAP_MAG' )
+      NAIF_BODY_CODE   += ( -42250     )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWE_DETECTOR_P63' )
+      NAIF_BODY_CODE   += ( -42301                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWE_DETECTOR_P42' )
+      NAIF_BODY_CODE   += ( -42302                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWE_DETECTOR_P21' )
+      NAIF_BODY_CODE   += ( -42303                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWE_DETECTOR_000' )
+      NAIF_BODY_CODE   += ( -42304                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWE_DETECTOR_M21' )
+      NAIF_BODY_CODE   += ( -42305                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWE_DETECTOR_M42' )
+      NAIF_BODY_CODE   += ( -42306                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWE_DETECTOR_M63' )
+      NAIF_BODY_CODE   += ( -42307                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWAPI_APERTURE_L' )
+      NAIF_BODY_CODE   += ( -42351                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWAPI_APERTURE_R' )
+      NAIF_BODY_CODE   += ( -42352                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_SWAPI_SUNGLASSES' )
+      NAIF_BODY_CODE   += ( -42353                  )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_01' )
+      NAIF_BODY_CODE   += ( -42401                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_02' )
+      NAIF_BODY_CODE   += ( -42402                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_03' )
+      NAIF_BODY_CODE   += ( -42403                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_04' )
+      NAIF_BODY_CODE   += ( -42404                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_05' )
+      NAIF_BODY_CODE   += ( -42405                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_06' )
+      NAIF_BODY_CODE   += ( -42406                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_07' )
+      NAIF_BODY_CODE   += ( -42407                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_08' )
+      NAIF_BODY_CODE   += ( -42408                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_09' )
+      NAIF_BODY_CODE   += ( -42409                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_10' )
+      NAIF_BODY_CODE   += ( -42410                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_11' )
+      NAIF_BODY_CODE   += ( -42411                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_12' )
+      NAIF_BODY_CODE   += ( -42412                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_13' )
+      NAIF_BODY_CODE   += ( -42413                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_14' )
+      NAIF_BODY_CODE   += ( -42414                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_15' )
+      NAIF_BODY_CODE   += ( -42415                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_16' )
+      NAIF_BODY_CODE   += ( -42416                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_17' )
+      NAIF_BODY_CODE   += ( -42417                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_18' )
+      NAIF_BODY_CODE   += ( -42418                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_19' )
+      NAIF_BODY_CODE   += ( -42419                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_20' )
+      NAIF_BODY_CODE   += ( -42420                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_21' )
+      NAIF_BODY_CODE   += ( -42421                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_22' )
+      NAIF_BODY_CODE   += ( -42422                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_23' )
+      NAIF_BODY_CODE   += ( -42423                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_LO_APERTURE_24' )
+      NAIF_BODY_CODE   += ( -42424                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_01' )
+      NAIF_BODY_CODE   += ( -42425                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_02' )
+      NAIF_BODY_CODE   += ( -42426                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_03' )
+      NAIF_BODY_CODE   += ( -42427                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_04' )
+      NAIF_BODY_CODE   += ( -42428                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_05' )
+      NAIF_BODY_CODE   += ( -42429                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_06' )
+      NAIF_BODY_CODE   += ( -42430                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_07' )
+      NAIF_BODY_CODE   += ( -42431                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_08' )
+      NAIF_BODY_CODE   += ( -42432                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_09' )
+      NAIF_BODY_CODE   += ( -42433                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_10' )
+      NAIF_BODY_CODE   += ( -42434                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_11' )
+      NAIF_BODY_CODE   += ( -42435                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_CODICE_HI_APERTURE_12' )
+      NAIF_BODY_CODE   += ( -42436                       )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_01' )
+      NAIF_BODY_CODE   += ( -42501                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_02' )
+      NAIF_BODY_CODE   += ( -42502                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_03' )
+      NAIF_BODY_CODE   += ( -42503                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_04' )
+      NAIF_BODY_CODE   += ( -42504                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_05' )
+      NAIF_BODY_CODE   += ( -42505                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_06' )
+      NAIF_BODY_CODE   += ( -42506                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_07' )
+      NAIF_BODY_CODE   += ( -42507                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_08' )
+      NAIF_BODY_CODE   += ( -42508                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_09' )
+      NAIF_BODY_CODE   += ( -42509                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_HIT_L1_APERTURE_10' )
+      NAIF_BODY_CODE   += ( -42510                    )
+
+      NAIF_BODY_NAME   += ( 'IMAP_IDEX_DETECTOR' )
+      NAIF_BODY_CODE   += ( -42701               )
+
+      NAIF_BODY_NAME   += ( 'IMAP_IDEX_FULL_SCIENCE' )
+      NAIF_BODY_CODE   += ( -42702                   )
+
+      NAIF_BODY_NAME   += ( 'IMAP_GLOWS' )
+      NAIF_BODY_CODE   += ( -42750       )
+
+   \begintext
+
+
+IMAP NAIF ID Codes -- Definitions
+========================================================================
+
+   The ID codes -43900 to -43999 have been reserved for the IMAP dynamic
+   frames kernel and are not utilized in this file.
+
+   The following frames are defined in this kernel file:
+
+      Frame Name                    Relative To        Type      NAIF ID
+      ==========================    ===============    =======   =======
+
+      Spacecraft (000-099)
+      --------------------------
+      IMAP_SPACECRAFT               J2000              CK        -43000
+      IMAP_THRUSTER_A1              IMAP_SPACECRAFT    FIXED     -43010
+      IMAP_THRUSTER_A2              IMAP_SPACECRAFT    FIXED     -43011
+      IMAP_THRUSTER_A3              IMAP_SPACECRAFT    FIXED     -43012
+      IMAP_THRUSTER_A4              IMAP_SPACECRAFT    FIXED     -43013
+      IMAP_THRUSTER_R1              IMAP_SPACECRAFT    FIXED     -43020
+      IMAP_THRUSTER_R2              IMAP_SPACECRAFT    FIXED     -43021
+      IMAP_THRUSTER_R3              IMAP_SPACECRAFT    FIXED     -43022
+      IMAP_THRUSTER_R4              IMAP_SPACECRAFT    FIXED     -43023
+      IMAP_THRUSTER_R5              IMAP_SPACECRAFT    FIXED     -43024
+      IMAP_THRUSTER_R6              IMAP_SPACECRAFT    FIXED     -43025
+      IMAP_THRUSTER_R7              IMAP_SPACECRAFT    FIXED     -43026
+      IMAP_THRUSTER_R8              IMAP_SPACECRAFT    FIXED     -43027
+      IMAP_SUN_SENSOR_PZ            IMAP_SPACECRAFT    FIXED     -42030
+      IMAP_SUN_SENSOR_MZ            IMAP_SPACECRAFT    FIXED     -42031
+      IMAP_STAR_TRACKER_PX          IMAP_SPACECRAFT    FIXED     -42040
+      IMAP_STAR_TRACKER_MX          IMAP_SPACECRAFT    FIXED     -42041
+      IMAP_LOW_GAIN_ANTENNA         IMAP_SPACECRAFT    FIXED     -42050
+      IMAP_MED_GAIN_ANTENNA         IMAP_SPACECRAFT    FIXED     -42051
+      IMAP_NUTATION_DAMPER_01       IMAP_SPACECRAFT    FIXED     -42060
+      IMAP_NUTATION_DAMPER_02       IMAP_SPACECRAFT    FIXED     -42061
+
+      IMAP-Lo (100-149)
+      --------------------------
+      IMAP_LO_BASE                  IMAP_SPACECRAFT    FIXED     -42100
+      IMAP_LO_PIVOT                 IMAP_LO_BASE       CK        -42101
+      IMAP_LO_ENA_SENSOR            IMAP_LO_PIVOT      FIXED     -42102
+      IMAP_LO_STAR_SENSOR           IMAP_LO_PIVOT      FIXED     -42103
+
+      IMAP-Hi (150-199)
+      --------------------------
+      IMAP_HI_45                    IMAP_SPACECRAFT    FIXED     -42150
+      IMAP_HI_90                    IMAP_SPACECRAFT    FIXED     -42175
+
+      IMAP-Ultra (200-249)
+      --------------------------
+      IMAP_ULTRA_45                 IMAP_SPACECRAFT    FIXED     -42200
+      IMAP_ULTRA_90                 IMAP_SPACECRAFT    FIXED     -42225
+
+      MAG (250-299)
+      --------------------------
+      IMAP_MAG                      IMAP_SPACECRAFT    FIXED     -42250
+
+      SWE (300-349)
+      --------------------------
+      IMAP_SWE                      IMAP_SPACECRAFT    FIXED     -42300
+      IMAP_SWE_DETECTOR_P63         IMAP_SWE           FIXED     -42301
+      IMAP_SWE_DETECTOR_P42         IMAP_SWE           FIXED     -42302
+      IMAP_SWE_DETECTOR_P21         IMAP_SWE           FIXED     -42303
+      IMAP_SWE_DETECTOR_000         IMAP_SWE           FIXED     -42304
+      IMAP_SWE_DETECTOR_M21         IMAP_SWE           FIXED     -42305
+      IMAP_SWE_DETECTOR_M42         IMAP_SWE           FIXED     -42306
+      IMAP_SWE_DETECTOR_M63         IMAP_SWE           FIXED     -42307
+
+      SWAPI (350-399)
+      --------------------------
+      IMAP_SWAPI                    IMAP_SPACECRAFT    FIXED     -42350
+      IMAP_SWAPI_APERTURE_L         IMAP_SWAPI         FIXED     -42351
+      IMAP_SWAPI_APERTURE_R         IMAP_SWAPI         FIXED     -42352
+      IMAP_SWAPI_SUNGLASSES         IMAP_SWAPI         FIXED     -42353
+
+      CODICE (400-499)
+      --------------------------
+      IMAP_CODICE                   IMAP_SPACECRAFT    FIXED     -42400
+      IMAP_CODICE_LO_APERTURE_01    IMAP_CODICE        FIXED     -42401
+      IMAP_CODICE_LO_APERTURE_02    IMAP_CODICE        FIXED     -42402
+      IMAP_CODICE_LO_APERTURE_03    IMAP_CODICE        FIXED     -42403
+      IMAP_CODICE_LO_APERTURE_04    IMAP_CODICE        FIXED     -42404
+      IMAP_CODICE_LO_APERTURE_05    IMAP_CODICE        FIXED     -42405
+      IMAP_CODICE_LO_APERTURE_06    IMAP_CODICE        FIXED     -42406
+      IMAP_CODICE_LO_APERTURE_07    IMAP_CODICE        FIXED     -42407
+      IMAP_CODICE_LO_APERTURE_08    IMAP_CODICE        FIXED     -42408
+      IMAP_CODICE_LO_APERTURE_09    IMAP_CODICE        FIXED     -42409
+      IMAP_CODICE_LO_APERTURE_10    IMAP_CODICE        FIXED     -42410
+      IMAP_CODICE_LO_APERTURE_11    IMAP_CODICE        FIXED     -42411
+      IMAP_CODICE_LO_APERTURE_12    IMAP_CODICE        FIXED     -42412
+      IMAP_CODICE_LO_APERTURE_13    IMAP_CODICE        FIXED     -42413
+      IMAP_CODICE_LO_APERTURE_14    IMAP_CODICE        FIXED     -42414
+      IMAP_CODICE_LO_APERTURE_15    IMAP_CODICE        FIXED     -42415
+      IMAP_CODICE_LO_APERTURE_16    IMAP_CODICE        FIXED     -42416
+      IMAP_CODICE_LO_APERTURE_17    IMAP_CODICE        FIXED     -42417
+      IMAP_CODICE_LO_APERTURE_18    IMAP_CODICE        FIXED     -42418
+      IMAP_CODICE_LO_APERTURE_19    IMAP_CODICE        FIXED     -42419
+      IMAP_CODICE_LO_APERTURE_20    IMAP_CODICE        FIXED     -42420
+      IMAP_CODICE_LO_APERTURE_21    IMAP_CODICE        FIXED     -42421
+      IMAP_CODICE_LO_APERTURE_22    IMAP_CODICE        FIXED     -42422
+      IMAP_CODICE_LO_APERTURE_23    IMAP_CODICE        FIXED     -42423
+      IMAP_CODICE_LO_APERTURE_24    IMAP_CODICE        FIXED     -42424
+      IMAP_CODICE_HI_APERTURE_01    IMAP_CODICE        FIXED     -42425
+      IMAP_CODICE_HI_APERTURE_02    IMAP_CODICE        FIXED     -42426
+      IMAP_CODICE_HI_APERTURE_03    IMAP_CODICE        FIXED     -42427
+      IMAP_CODICE_HI_APERTURE_04    IMAP_CODICE        FIXED     -42428
+      IMAP_CODICE_HI_APERTURE_05    IMAP_CODICE        FIXED     -42429
+      IMAP_CODICE_HI_APERTURE_06    IMAP_CODICE        FIXED     -42430
+      IMAP_CODICE_HI_APERTURE_07    IMAP_CODICE        FIXED     -42431
+      IMAP_CODICE_HI_APERTURE_08    IMAP_CODICE        FIXED     -42432
+      IMAP_CODICE_HI_APERTURE_09    IMAP_CODICE        FIXED     -42433
+      IMAP_CODICE_HI_APERTURE_10    IMAP_CODICE        FIXED     -42434
+      IMAP_CODICE_HI_APERTURE_11    IMAP_CODICE        FIXED     -42435
+      IMAP_CODICE_HI_APERTURE_12    IMAP_CODICE        FIXED     -42436
+
+      HIT (500-699)
+      --------------------------
+      IMAP_HIT                      IMAP_SPACECRAFT    FIXED     -42500
+      IMAP_HIT_L1_APERTURE_01       IMAP_HIT           FIXED     -42501
+      IMAP_HIT_L1_APERTURE_02       IMAP_HIT           FIXED     -42502
+      IMAP_HIT_L1_APERTURE_03       IMAP_HIT           FIXED     -42503
+      IMAP_HIT_L1_APERTURE_04       IMAP_HIT           FIXED     -42504
+      IMAP_HIT_L1_APERTURE_05       IMAP_HIT           FIXED     -42505
+      IMAP_HIT_L1_APERTURE_06       IMAP_HIT           FIXED     -42506
+      IMAP_HIT_L1_APERTURE_07       IMAP_HIT           FIXED     -42507
+      IMAP_HIT_L1_APERTURE_08       IMAP_HIT           FIXED     -42508
+      IMAP_HIT_L1_APERTURE_09       IMAP_HIT           FIXED     -42509
+      IMAP_HIT_L1_APERTURE_10       IMAP_HIT           FIXED     -42510
+
+      IDEX (700-749)
+      --------------------------
+      IMAP_IDEX                     IMAP_SPACECRAFT    FIXED     -42700
+      IMAP_IDEX_DETECTOR            IMAP_IDEX          FIXED     -42701
+      IMAP_IDEX_FULL_SCIENCE        IMAP_IDEX          FIXED     -42702
+
+      GLOWS (750-799)
+      --------------------------
+      IMAP_GLOWS                    IMAP_SPACECRAFT    FIXED     -42750
+
+
+IMAP Frame Tree
+========================================================================
+
+   The diagram below illustrates the IMAP frame hierarchy:
+
+   J2000
+      |
+      |<---ck
+      |
+      IMAP_SPACECRAFT
+           |
+           IMAP_THRUSTER_A1
+           |
+           |...
+           |
+           IMAP_THRUSTER_A4
+           |
+           IMAP_THRUSTER_R1
+           |
+           |...
+           |
+           IMAP_THRUSTER_R8
+           |
+           IMAP_SUN_SENSOR_PZ
+           |
+           IMAP_SUN_SENSOR_MZ
+           |
+           IMAP_STAR_TRACKER_PX
+           |
+           IMAP_STAR_TRACKER_MX
+           |
+           IMAP_LOW_GAIN_ANTENNA
+           |
+           IMAP_MED_GAIN_ANTENNA
+           |
+           IMAP_NUTATION_DAMPER_01
+           |
+           IMAP_NUTATION_DAMPER_02
+           |
+           IMAP_LO_BASE
+           |    |
+           |    |<---ck
+           |    |
+           |    IMAP_LO_PIVOT
+           |         |
+           |         IMAP_LO_ENA_SENSOR
+           |         |
+           |         IMAP_LO_STAR_SENSOR
+           |
+           IMAP_HI_45
+           |
+           IMAP_HI_90
+           |
+           IMAP_ULTRA_45
+           |
+           IMAP_ULTRA_90
+           |
+           IMAP_MAG
+           |
+           IMAP_SWE
+           |    |
+           |    IMAP_SWE_DETECTOR_P63
+           |    |
+           |    IMAP_SWE_DETECTOR_P42
+           |    |
+           |    IMAP_SWE_DETECTOR_P21
+           |    |
+           |    IMAP_SWE_DETECTOR_000
+           |    |
+           |    IMAP_SWE_DETECTOR_M21
+           |    |
+           |    IMAP_SWE_DETECTOR_M42
+           |    |
+           |    IMAP_SWE_DETECTOR_M63
+           |
+           IMAP_SWAPI
+           |    |
+           |    IMAP_SWAPI_APERTURE_L
+           |    |
+           |    IMAP_SWAPI_APERTURE_R
+           |    |
+           |    IMAP_SWAPI_SUNGLASSES
+           |
+           IMAP_CODICE
+           |    |
+           |    IMAP_CODICE_LO_APERTURE_01
+           |    |
+           |    |...
+           |    |
+           |    IMAP_CODICE_LO_APERTURE_24
+           |    |
+           |    IMAP_CODICE_HI_APERTURE_01
+           |    |
+           |    |...
+           |    |
+           |    IMAP_CODICE_HI_APERTURE_12
+           |
+           IMAP_HIT
+           |    |
+           |    IMAP_HIT_L1_APERTURE_01
+           |    |
+           |    |...
+           |    |
+           |    IMAP_HIT_L1_APERTURE_10
+           |
+           IMAP_IDEX
+           |    |
+           |    IMAP_IDEX_DETECTOR
+           |    |
+           |    IMAP_IDEX_FULL_SCIENCE
+           |
+           IMAP_GLOWS
+
+
+IMAP Spacecraft Frame
+========================================================================
+
+   The orientation of the spacecraft body frame with respect to an
+   inertial frame, J2000 for IMAP, is provided by a C-kernel (see [3]
+   for details).
+
+   The spacecraft coordinate frames are defined by the IMAP control
+   documents (see [4,5], NB, figure 2.2). There are two frames described
+   there: Observatory Mechanical Design Reference Frame (most relevant)
+   and Observatory Pointing and Dynamics Reference Frame (less relevant
+   for this frame kernel).
+
+
+   Observatory Mechanical Design Reference Frame (IMAP_SPACECRAFT)
+   ---------------------------------------------------------------------
+
+   If not explicitly stated, references to 'spacecraft mechanical frame'
+   'spacecraft frame', or 'S/C frame' will refer to this frame.
+
+   All instruments and component placements and orientations are defined
+   using this coordinate frame reference.
+
+   Origin:   Center of the launch vehicle adapter ring at the
+             observatory/launch vehicle interface plane
+
+   +Z axis:  Perpendicular to the launch vehicle interface plane pointed
+             in the direction of the top deck (runs through the center
+             of the central cylinder structure element)
+
+   +Y axis:  Direction of the vector orthogonal to the +Z axis and
+             parallel to the deployed MAG boom
+
+   +X axis:  The third orthogonal axis defined using an X, Y, Z ordered
+             right hand rule
+
+   NB: The Observatory Pointing and Dynamics Reference Frame is also
+   defined in [5]. It is identical to the observatory mechanical design
+   reference frame, but with the origin translated to the observatory
+   center of mass (which changes with boom deployment and fuel usage).
+   The offset difference between the mechanical and dynamic frame is
+   within the uncertainty range of the ephemeris, so the mechanical
+   design frame is used here for definiteness.
+
+   Three different views [5,6] of the spacecraft with labeled components
+   are presented below for illustrative purposes.
+
+
+   IMAP -Z Bottom View (Figure 3-2 in [5], G-G in [6] rotated 180°)
+   ---------------------------------------------------------------------
+                       ---------
+                      | +X axis |         --------------------
+                       ---------         | +Z axis facing Sun |
+                           .             |      into page     |
+                          /|\             --------------------
+                           |
+                           |
+                           |
+                                              _
+                  HI 45    /`~~__HI 90          `+    direction of
+                    , = .^ - /_  ``-.              '.    positive
+                  .+     +     `^~/ ./                ~    rotation
+                 ^ +     + . -- ' ``  \   _-~          \
+            _   /   ',= '              \~'`   \ IMAP    \
+    ULTRA /' '-_ .~ '                   \,.=.. \ LO    \|/
+     90  /    ~          _,.,_         +      + \       '
+        /  ,~'        +'       `'+     +      +  \
+       / ~^        .'        , = .'.    '- =''  -``   ---------
+       ^/         /  , = .  +     + \       \~'`     | +Y axis |----->
+        |        .  +     + +     +  .       \        ---------     ___
+        |        |  +     +  ' = '   |        \--------------------|   |
+   SWAPI|        |   ' = ', - .      |        /--------------------|___|
+     _+_:        '       +     +     '       /         MAG boom
+    \_ __\__      \      +     +    /      /^*~,
+      +  |  SWE    '.     ' = '   .'    ULTRA  /
+          `~-'       '~..,___,..~'       45   /~,*
+           _\                           /    /~,*`
+        * / CODICE                      ^*._/  *` HIT
+         *\ _/`.                       /
+          *   / /~ _ _  ,.-^-., _ _ _ /
+             '='       +       +
+            GLOWS      +       +
+                        '-.,.-'
+                          IDEX
+
+
+   IMAP +X Side View (F-F in [6])
+   ---------------------------------------------------------------------
+                       ---------
+                      | +Z axis |
+                       ---------               ---------------------
+                           .                  | +X axis out of page |
+                          /|\                  ---------------------
+                           |      LGA
+         __________________|______|^|_________                      ___
+   SWAPI|__________________|__________________|====================|   |
+    #|-|        |          |  .-==-,  |        /     MAG boom      '---'
+    #|-| {|##   |          | /      \ |        |
+       | {|##   |          |{  HI 90 }| IMAP LO|
+       | {|##   |   _.._   | \      / |  _.,   |
+       | ULTRA  | /      \ |  `-==-'  | / __`',|
+       |  90    | \ HI 45/ |          | \ \_\ ;|
+       |        |  '----`  |          |  ~._ + |
+       '-------------------|----------/--------'
+          |  |   \_________O_________/ | |        ---------------->
+          |__|        -----------      /_\           ---------
+          STAR       | S/C FRAME |     MGA          | +Y axis |
+        TRACKERS     |  ORIGIN   |                   ---------
+                      -----------
+
+
+   IMAP -X Side View (C-C in [6])
+   ---------------------------------------------------------------------
+                                           ---------
+                                          | +Z axis |
+        -------------------                ---------
+       | +X axis into page |                   .
+        -------------------                   /|\
+                                      LGA      |
+    ___                      _________|^|______|__________________
+   |   |====================|__________________|_____________ __ _|SWAPI
+   '---'      MAG boom     \     __ |          |          | //  \ /--|#
+                           |( )=|__||          |          | \\__/ \--|#
+                           |  HIT   |         _|_  IDEX   | CODICE |
+                           |        |      ,.' | '.,      |        |
+                           |   ____ |     [  \ | /  ]     |     SWE|
+                         ULTRA ##',',      |,.'|'.,|     GLOWS  (#)|
+                           45  ####'.      +   |   +      \\(O) |-||
+                           '----####/----- +   |   + --------------'
+        <----------------        | | \______'-.O.-'______/   |  |
+             ---------           /_\      -----------        |__|
+            | +Y axis |          MGA     | S/C FRAME |       STAR
+             ---------                   |  ORIGIN   |     TRACKERS
+                                          -----------
+
+
+   IMAP Component Location and Orientation
+   ---------------------------------------------------------------------
+
+   Payload and subsystem component locations are specified[5,6] in the
+   Observatory Mechanical Design Reference Frame (described above).
+   Boresights are defined in azimuth and elevation (and resultant
+   direction cosign matrices) of these angles[6] in the same reference
+   frame. The azimuth and elevation angle diagram is provided below.
+
+   In general, descriptions in this kernel treat the +Z direction as
+   "up" and the -Z direction as "down." Locations referred to as "above"
+   are generally closer to the Sun, and vice versa for "below." The
+   "upper" side of the spacecraft is the plane of the solar panels,
+   while the "lower" side may refer to the area near the adapter ring.
+   If ambiguity could arise, more thorough descriptions will be used.
+
+
+                                Toward Sun
+
+                                 +Z axis
+                                     .
+                                     |
+                                     .
+                                     |
+                                     .    Component
+                                     |    Location/
+                                     .   Orientation
+                                     |        @
+                      Toward         .      .'|
+                       MAG           |    +`  |
+                 .~ '` Boom     S/C  .  .` \  |
+           .~ '`               FRAME |.`    : |
+     / ~'`                    ORIGIN O      | |
+    *---                     .~ '`    \  Elevation
+                       .~ '`           \    | |
+                 .~ '`                  \   ; |~
+           .~ '\                         \ /  |  ^~
+      +Y axis   \    \                    +   |     ^~
+                 '.   '~,                  \  |        ^~
+                   '~     Azimuth           \ |           ^~
+                      '~.         `^~->      \|          -X axis
+                          ' ~ ., _       _ ,.~
+                                   ``'``
+
+
+   \begindata
+
+        FRAME_IMAP_SPACECRAFT       = -43000
+        FRAME_-43000_NAME           = 'IMAP_SPACECRAFT'
+        FRAME_-43000_CLASS          = 3
+        FRAME_-43000_CLASS_ID       = -43000
+        FRAME_-43000_CENTER         = -43
+        CK_-43000_SCLK              = -43
+        CK_-43000_SPK               = -43
+
+   \begintext
+
+
+IMAP Thruster Frames
+========================================================================
+
+   There are four axial (A) thrusters and eight radial (R) thrusters on
+   IMAP[6]. The table below shows the thruster positions defined in the
+   spacecraft frame[6], at the intersection of the thrust axis and the
+   nozzle exit plane. The unit direction vectors listed in the table
+   below point in the direction of the thruster exhaust. The positional
+   information is captured in the IMAP structure SPK, while the
+   orientation information is captured here.
+
+
+   Thruster         ID      X (mm)    Y (mm)    Z (mm)   UnitDir (X,Y,Z)
+   ---------------- ------  --------  --------  -------  ---------------
+   IMAP_THRUSTER_A1 -43010   1007.28    516.50  1312.40  (   0,  0,  1 )
+   IMAP_THRUSTER_A2 -43011  -1007.28   -516.50  1312.40  (   0,  0,  1 )
+   IMAP_THRUSTER_A3 -43012  -1007.28   -516.50   101.77  (   0,  0, -1 )
+   IMAP_THRUSTER_A4 -43013   1007.28    516.50   101.77  (   0,  0, -1 )
+   IMAP_THRUSTER_R1 -43020   -126.90   1237.78   841.12  (-0.5, 0.866,0)
+   IMAP_THRUSTER_R2 -43021    126.90  -1237.78   841.12  ( 0.5,-0.866,0)
+   IMAP_THRUSTER_R3 -43022  -1008.49    728.79   841.12  (-0.5, 0.866,0)
+   IMAP_THRUSTER_R4 -43023   1008.49   -728.79   841.12  ( 0.5,-0.866,0)
+   IMAP_THRUSTER_R5 -43024   -126.90   1237.78   447.42  (-0.5, 0.866,0)
+   IMAP_THRUSTER_R6 -43025    126.90  -1237.78   447.42  ( 0.5,-0.866,0)
+   IMAP_THRUSTER_R7 -43026  -1008.49    728.79   447.42  (-0.5, 0.866,0)
+   IMAP_THRUSTER_R8 -43027   1008.49   -728.79   447.42  ( 0.5,-0.866,0)
+
+
+   Thruster Locations and Directions
+   ---------------------------------------------------------------------
+
+   The four axial thrusters[6] are directed along the spacecraft Z axis,
+   with A1,A2 located on the +Z side of the spacecraft and A3,A4 located
+   on the -Z side. A1,A2 fire in the +Z direction, while A3,A4 fire in
+   the -Z direction. A1 and A4 are aligned in the Z direction, while
+   A2 and A3 are aligned but on the opposite side of the S/C as A1/A4.
+
+   The eight radial thrusters[6] are grouped into four pairs (R1/R5,
+   R2/R6, R3/R7, R4/R8); each pair is aligned along the Z direction and
+   fire in the same direction. There are two distinct firing directions,
+   all perpendicular to the spacecraft Z axis: R1/R5 & R3/R7 fire toward
+   the +Y direction (with a slight -X component), while R2/R6 & R4/R8
+   fire in the -Y direction (with a slight +X component). Thrusters
+   R1-R4 are located above the center of mass (towards the Sun), while
+   thrusters R5-R8 are located below the center of mass (away from the
+   Sun). The table below shows the azimuth of location and direction of
+   radial thrusters calculated from using thruster table above.
+
+
+                       Location Azim   Direction Azim
+                       --------------  --------------
+                R1/R5           5.85°           30.0°
+                R2/R6   180° +  5.85°    180° + 30.0°
+                R3/R7          54.15°           30.0°
+                R4/R8   180° + 54.15°    180° + 30.0°
+
+
+                               +X axis       +Z axis facing Sun
+                                   .              into page
+                                  /|\
+                                   |
+                                   |
+                                   |             A1 (on +Z side)
+                                                 A4 (on -Z side)
+           R4/R8 Dir               /`~~__       /
+            '~._            , = .^ - /_  ``-.  /
+                /~._      .+     +     `^~/ .\/
+            30°|    '~.          + . -- ' `` @\   _-~
+           - - + - - - -# R4/R8                \~'`   \
+                  /' '-_ .                      \,.=.. \
+                 /    ~          _,.,_         +      + \
+   R2/R6 Dir    /  ,~'        +'       `'+     +      +  \
+    '~._       / ~^        .'        , = .'.    '- =''  -``
+        /~._   ^/         /  , = .  +     + \       \~'`
+    30°|    '~. |        .  +     + +     +  .       \    +Y axis ----->
+   - - + - - - -|# R2/R6 |  +     +  ' = '   |        \
+                |        |   ' = ', - .      | R1/R5 #._- - - - - + - -
+             _+_:        '       +     +     '       /  '~._      |
+            \_ __\__      \      +     +    /      /^*~,    '~._ /  30°
+              +  |   \     '.     ' = '   .'      /    /        '~.
+                  `~-'       '~..,___,..~'       /    /~,*     R1/R5 Dir
+                   _\                           /    /~,*`
+                * /  \                          ^*._/  *`
+                 *\ _/`.                R3/R7 #/._- - - - - + - -
+                  *   / /\@_ _  ,.-^-., _ _ _ /   '~._      |
+                     '='  |    +       +              '~._ /  30°
+                          |    +       +                  '~.
+                          |     '-.,.-'                  R3/R7 Dir
+                          |
+                          A2 (on +Z side)
+                          A3 (on -Z side)
+
+
+   Axial Thruster Frames
+   ---------------------------------------------------------------------
+
+   Each axial thruster has a frame defined so that the thruster exhaust
+   exits in the +Z' direction. The +Y' axis is chosen to lie in the
+   direction of the MAG boom. X' = Y' x Z' completes the frame.
+
+      [X]      [  1   0   0 ] [X']
+      [Y]    = [  0   1   0 ] [Y']
+      [Z]S/C   [  0   0   1 ] [Z']Axial Thrusters A1,A2
+
+      [X]      [ -1   0   0 ] [X']
+      [Y]    = [  0   1   0 ] [Y']
+      [Z]S/C   [  0   0  -1 ] [Z']Axial Thrusters A3,A4
+
+
+                               Axial Thruster
+                             Exhaust Direction
+
+                                  +Z' axis
+                                     |
+                                     |
+                                 _. -|- ._
+                              ,'     |     ',
+                             |,      |      ,|
+                             | ' -.,_|_,.- ' |
+                             '               '
+                              \             /
+                               \           /
+                                \         /
+                                 \       /
+                                  \     /        Toward
+                                   ',_,'     ^~      MAG
+                             .~ '`      ^~      ^~      Boom
+                       .~ '`               ^~      ^~
+                 .~ '`                        ^~      ^~
+           .~ '`                                 ^~      ^~ \
+      +X' axis                                      ^~     --*
+                                                       ^~
+                                                          ^~
+                                                         +Y' axis
+
+
+   \begindata
+
+   FRAME_IMAP_THRUSTER_A1      = -43010
+   FRAME_-43010_NAME           = 'IMAP_THRUSTER_A1'
+   FRAME_-43010_CLASS          = 4
+   FRAME_-43010_CLASS_ID       = -43010
+   FRAME_-43010_CENTER         = -43
+   TKFRAME_-43010_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43010_SPEC         = 'MATRIX'
+   TKFRAME_-43010_MATRIX       = (  1,
+                                    0,
+                                    0,
+                                    0,
+                                    1,
+                                    0,
+                                    0,
+                                    0,
+                                    1  )
+
+   FRAME_IMAP_THRUSTER_A2      = -43011
+   FRAME_-43011_NAME           = 'IMAP_THRUSTER_A2'
+   FRAME_-43011_CLASS          = 4
+   FRAME_-43011_CLASS_ID       = -43011
+   FRAME_-43011_CENTER         = -43
+   TKFRAME_-43011_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43011_SPEC         = 'MATRIX'
+   TKFRAME_-43011_MATRIX       = (  1,
+                                    0,
+                                    0,
+                                    0,
+                                    1,
+                                    0,
+                                    0,
+                                    0,
+                                    1  )
+
+   FRAME_IMAP_THRUSTER_A3      = -43012
+   FRAME_-43012_NAME           = 'IMAP_THRUSTER_A3'
+   FRAME_-43012_CLASS          = 4
+   FRAME_-43012_CLASS_ID       = -43012
+   FRAME_-43012_CENTER         = -43
+   TKFRAME_-43012_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43012_SPEC         = 'MATRIX'
+   TKFRAME_-43012_MATRIX       = ( -1,
+                                    0,
+                                    0,
+                                    0,
+                                    1,
+                                    0,
+                                    0,
+                                    0,
+                                   -1  )
+
+   FRAME_IMAP_THRUSTER_A4      = -43013
+   FRAME_-43013_NAME           = 'IMAP_THRUSTER_A4'
+   FRAME_-43013_CLASS          = 4
+   FRAME_-43013_CLASS_ID       = -43013
+   FRAME_-43013_CENTER         = -43
+   TKFRAME_-43013_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43013_SPEC         = 'MATRIX'
+   TKFRAME_-43013_MATRIX       = ( -1,
+                                    0,
+                                    0,
+                                    0,
+                                    1,
+                                    0,
+                                    0,
+                                    0,
+                                   -1  )
+
+   \begintext
+
+
+   Radial Thrusters
+   ---------------------------------------------------------------------
+
+   Each radial thruster has a frame defined so that the thruster exhaust
+   exits in the +Y' direction. The +Z' axis is chosen to lie along the
+   spacecraft +Z axis (toward Sun). X' = Y' x Z' completes the frame.
+
+      [X]      [  cos( 30) -sin( 30)  0 ] [X']
+      [Y]    = [  sin( 30)  cos( 30)  0 ] [Y']
+      [Z]S/C   [      0         0     1 ] [Z']Rad. Thrusters R1,R3,R5,R7
+
+      [X]      [  cos(210) -sin(210)  0 ] [X']
+      [Y]    = [  sin(210)  cos(210)  0 ] [Y']
+      [Z]S/C   [      0         0     1 ] [Z']Rad. Thrusters R2,R4,R6,R8
+
+
+                                 Toward Sun
+
+                                  +Z' axis
+                                     .
+                                     |
+                                     .
+                                     |
+                                     .
+                                     |
+                                     .
+    Radial Thruster                  |
+   Exhaust Direction                 .
+                                     |
+           .~ '`                     .
+    /.~ '`       _,,~ ~ ~ ~ ~ ~ ~ ~  |
+   *--        .;-.                  \ ~
+            ,'    '.                ~   ^~
+            ;       \            ~'        ^~
+            |   .~ '`:         ~'             ^~
+           .~ '`     |      ~'                   ^~
+      ~ '`   \       ; _ ~'                         ^~
+   +Y' axis   '.,_._;-'                                ^~
+                                                          ^~
+                                                         -X' axis
+
+
+   \begindata
+
+   FRAME_IMAP_THRUSTER_R1      = -43020
+   FRAME_-43020_NAME           = 'IMAP_THRUSTER_R1'
+   FRAME_-43020_CLASS          = 4
+   FRAME_-43020_CLASS_ID       = -43020
+   FRAME_-43020_CENTER         = -43
+   TKFRAME_-43020_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43020_SPEC         = 'MATRIX'
+   TKFRAME_-43020_MATRIX       = (  0.86602540378443865,
+                                    0.50000000000000000,
+                                    0.00000000000000000,
+                                   -0.50000000000000000,
+                                    0.86602540378443865,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    1.00000000000000000  )
+
+   FRAME_IMAP_THRUSTER_R2      = -43021
+   FRAME_-43021_NAME           = 'IMAP_THRUSTER_R1'
+   FRAME_-43021_CLASS          = 4
+   FRAME_-43021_CLASS_ID       = -43021
+   FRAME_-43021_CENTER         = -43
+   TKFRAME_-43021_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43021_SPEC         = 'MATRIX'
+   TKFRAME_-43021_MATRIX       = ( -0.86602540378443865,
+                                   -0.50000000000000000,
+                                    0.00000000000000000,
+                                    0.50000000000000000,
+                                   -0.86602540378443865,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    1.00000000000000000  )
+
+   FRAME_IMAP_THRUSTER_R3      = -43022
+   FRAME_-43022_NAME           = 'IMAP_THRUSTER_R3'
+   FRAME_-43022_CLASS          = 4
+   FRAME_-43022_CLASS_ID       = -43022
+   FRAME_-43022_CENTER         = -43
+   TKFRAME_-43022_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43022_SPEC         = 'MATRIX'
+   TKFRAME_-43022_MATRIX       = (  0.86602540378443865,
+                                    0.50000000000000000,
+                                    0.00000000000000000,
+                                   -0.50000000000000000,
+                                    0.86602540378443865,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    1.00000000000000000  )
+
+   FRAME_IMAP_THRUSTER_R4      = -43023
+   FRAME_-43023_NAME           = 'IMAP_THRUSTER_R4'
+   FRAME_-43023_CLASS          = 4
+   FRAME_-43023_CLASS_ID       = -43023
+   FRAME_-43023_CENTER         = -43
+   TKFRAME_-43023_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43023_SPEC         = 'MATRIX'
+   TKFRAME_-43023_MATRIX       = ( -0.86602540378443865,
+                                   -0.50000000000000000,
+                                    0.00000000000000000,
+                                    0.50000000000000000,
+                                   -0.86602540378443865,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    1.00000000000000000  )
+
+   FRAME_IMAP_THRUSTER_R5      = -43024
+   FRAME_-43024_NAME           = 'IMAP_THRUSTER_R5'
+   FRAME_-43024_CLASS          = 4
+   FRAME_-43024_CLASS_ID       = -43024
+   FRAME_-43024_CENTER         = -43
+   TKFRAME_-43024_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43024_SPEC         = 'MATRIX'
+   TKFRAME_-43024_MATRIX       = (  0.86602540378443865,
+                                    0.50000000000000000,
+                                    0.00000000000000000,
+                                   -0.50000000000000000,
+                                    0.86602540378443865,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    1.00000000000000000  )
+
+   FRAME_IMAP_THRUSTER_R6      = -43025
+   FRAME_-43025_NAME           = 'IMAP_THRUSTER_R6'
+   FRAME_-43025_CLASS          = 4
+   FRAME_-43025_CLASS_ID       = -43025
+   FRAME_-43025_CENTER         = -43
+   TKFRAME_-43025_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43025_SPEC         = 'MATRIX'
+   TKFRAME_-43025_MATRIX       = ( -0.86602540378443865,
+                                   -0.50000000000000000,
+                                    0.00000000000000000,
+                                    0.50000000000000000,
+                                   -0.86602540378443865,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    1.00000000000000000  )
+
+   FRAME_IMAP_THRUSTER_R7      = -43026
+   FRAME_-43026_NAME           = 'IMAP_THRUSTER_R7'
+   FRAME_-43026_CLASS          = 4
+   FRAME_-43026_CLASS_ID       = -43026
+   FRAME_-43026_CENTER         = -43
+   TKFRAME_-43026_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43026_SPEC         = 'MATRIX'
+   TKFRAME_-43026_MATRIX       = (  0.86602540378443865,
+                                    0.50000000000000000,
+                                    0.00000000000000000,
+                                   -0.50000000000000000,
+                                    0.86602540378443865,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    1.00000000000000000  )
+
+   FRAME_IMAP_THRUSTER_R8      = -43027
+   FRAME_-43027_NAME           = 'IMAP_THRUSTER_R6'
+   FRAME_-43027_CLASS          = 4
+   FRAME_-43027_CLASS_ID       = -43027
+   FRAME_-43027_CENTER         = -43
+   TKFRAME_-43027_RELATIVE     = 'IMAP_SPACECRAFT'
+   TKFRAME_-43027_SPEC         = 'MATRIX'
+   TKFRAME_-43027_MATRIX       = ( -0.86602540378443865,
+                                   -0.50000000000000000,
+                                    0.00000000000000000,
+                                    0.50000000000000000,
+                                   -0.86602540378443865,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    0.00000000000000000,
+                                    1.00000000000000000  )
+
+   \begintext
+
+
+IMAP Sun Sensor Frames
+========================================================================
+
+   There are two digital sun sensors (DSS): one on the +Z side of the
+   spacecraft pointing in +Z direction, and one on the -Z side pointing
+   mostly in the radial direction with a mild tilt in the -Z direction.
+   The positional information is captured in the IMAP structure SPK,
+   while the orientation information is captured here.
+
+   Each DSS has a frame defined so that the look-direction is along the
+   +Z' axis (toward Sun). The digital image rows and columns are aligned
+   with the X' and Y' axes of the frame.
+
+      [X]      [  cos(az) -sin(az)  0 ] [X']
+      [Y]    = [  sin(az)  cos(az)  0 ] [Y']
+      [Z]S/C   [      0       0     1 ] [Z']Digital Sun Sensor
+
+
+IMAP Star Trackers Frames
+========================================================================
+
+
+IMAP Antenna Frames
+========================================================================
+
+
+IMAP-Lo Frames
+========================================================================
+
+   TODO: FIX ME...The orientation of the spacecraft body frame with
+   respect to an inertial
+   frame, for IMAP - ECLIPJ2000, is provided by a C-kernel (see [3]
+   for details).
+
+   This frame specifies the rotating X,Y and pointing Z coordinate body
+   frame.
+
+   \begindata
+
+   FRAME_IMAP_LO_BASE          = -43100
+   FRAME_-43100_NAME           = 'IMAP_LO_BASE'
+   FRAME_-43100_CLASS          = 4
+   FRAME_-43100_CLASS_ID       = -43100
+   FRAME_-43100_CENTER         = -43
+   TKFRAME_-43100_SPEC         = 'MATRIX'
+   TKFRAME_-43100_MATRIX       = ( -0.866025,
+                                    0.500000,
+                                    0.000000,
+                                    -0.500000,
+                                    -0.866025,
+                                    0.000000,
+                                    0.000000,
+                                    0.000000,
+                                    1.000000 )
+   TKFRAME_-43100_RELATIVE     = 'IMAP_SPACECRAFT'
+
+   \begintext
+
+
+IMAP-Hi Frames
+========================================================================
+
+   TODO: general discussion of Ultra.
+
+
+   IMAP-Hi 45 Frames
+   =====================================================================
+
+   \begindata
+
+   FRAME_IMAP_HI_45            = -43150
+   FRAME_-43150_NAME           = 'IMAP_HI_45'
+   FRAME_-43150_CLASS          = 4
+   FRAME_-43150_CLASS_ID       = -43150
+   FRAME_-43150_CENTER         = -43
+   TKFRAME_-43150_SPEC         = 'MATRIX'
+   TKFRAME_-43150_MATRIX       = (  0.066987,
+                                   -0.250000,
+                                    0.965926,
+                                    0.965926,
+                                    0.258819,
+                                    0.000000,
+                                   -0.250000,
+                                    0.933013,
+                                    0.258819 )
+   TKFRAME_-43150_RELATIVE     = 'IMAP_SPACECRAFT'
+
+   \begintext
+
+
+   IMAP-Hi 90 Frames
+   =====================================================================
+
+   TODO: FIX ME...The orientation of the spacecraft body frame with
+   respect to an inertial
+   frame, for IMAP - ECLIPJ2000, is provided by a C-kernel (see [3]
+   for details).
+
+   This frame specifies the rotating X,Y and pointing Z coordinate body
+   frame.
+
+   \begindata
+
+   FRAME_IMAP_HI_90            = -43160
+   FRAME_-43160_NAME           = 'IMAP_HI_90'
+   FRAME_-43160_CLASS          = 4
+   FRAME_-43160_CLASS_ID       = -43160
+   FRAME_-43160_CENTER         = -43
+   TKFRAME_-43160_SPEC         = 'MATRIX'
+   TKFRAME_-43160_MATRIX       = ( -0.668531,
+                                    0.233315,
+                                   -0.706138,
+                                    0.683013,
+                                   -0.183013,
+                                   -0.707107,
+                                   -0.294210,
+                                   -0.955024,
+                                   -0.037007 )
+   TKFRAME_-43160_RELATIVE     = 'IMAP_SPACECRAFT'
+
+   \begintext
+
+
+IMAP-Ultra Frames
+========================================================================
+
+   TODO: general discussion of Ultra.
+
+
+   IMAP-Ultra 45 Frames
+   =====================================================================
+
+   TODO: add diagrams
+
+   ULTRA-45 has the following nominal alignment to the spacecraft frame,
+   reference Table 1 of [6]. The azimuth and elevation angles are
+   illustrated in the 'IMAP I&T Component Placement' section near the top
+   of this document.
+
+        azimuth  | elevation
+         (deg)   |  (deg)
+        ---------+---------
+          127    |   15
+
+   The ULTRA-45 base frame is defined by the instrument team as follows [10]:
+
+      *  +Z axis is the boresight (center axis of the instrument pointing
+            away from the spacecraft body).
+      *  +X axis is along the instrument slit, in the anti-sunward direction.
+
+   The azimuth and elevation give the instrument boresight vector, +Z in
+   the instrument frame:
+
+       Z      = [ -sin(az) * cos(el), cos(az) * cos(el), sin(el) ]
+        instr
+
+   The instrument +X axis is in the anti-sunward direction, towards the
+   spacecraft -Z axis:
+
+       X      = [ 0 0 -1 ]
+        instr
+
+   Taking the cross product and normalizing, we arrive at the instrumet +Y
+   axis:
+                  Z x X
+       Y      = ---------
+        instr   | Z x X |
+
+   And adjusting X:
+
+                  Y x Z
+       X      = ---------
+        instr   | Y x Z |
+
+    This definition is captured in the keywords below.
+
+   \begindata
+
+   FRAME_IMAP_ULTRA_45         = -43200
+   FRAME_-43200_NAME           = 'IMAP_ULTRA_45'
+   FRAME_-43200_CLASS          = 4
+   FRAME_-43200_CLASS_ID       = -43200
+   FRAME_-43200_CENTER         = -43
+   TKFRAME_-43200_SPEC         = 'MATRIX'
+   TKFRAME_-43200_MATRIX       = (  0.385117954958023,
+                                   -0.593029645775782,
+                                   -0.707106781186548,
+                                   -0.838670567945424,
+                                   -0.544639035015027,
+                                   -0.000000000000000,
+                                   -0.385117954958023,
+                                    0.593029645775783,
+                                   -0.707106781186547 )
+   TKFRAME_-43200_RELATIVE     = 'IMAP_SPACECRAFT'
+
+   \begintext
+
+
+   IMAP-Ultra 45 Frames
+   =====================================================================
+
+   TODO: FIX ME...The orientation of the spacecraft body frame with
+   respect to an inertial
+   frame, for IMAP - ECLIPJ2000, is provided by a C-kernel (see [3]
+   for details).
+
+   This frame specifies the rotating X,Y and pointing Z coordinate body
+   frame.
+
+   \begindata
+
+   FRAME_IMAP_ULTRA_90         = -43210
+   FRAME_-43210_NAME           = 'IMAP_ULTRA_90'
+   FRAME_-43210_CLASS          = 4
+   FRAME_-43210_CLASS_ID       = -43210
+   FRAME_-43210_CENTER         = -43
+   TKFRAME_-43210_SPEC         = 'MATRIX'
+   TKFRAME_-43210_MATRIX       = (  0.000000,
+                                    0.000000,
+                                    1.000000,
+                                   -0.866025,
+                                   -0.500000,
+                                    0.000000,
+                                    0.500000,
+                                   -0.866025,
+                                    0.000000 )
+   TKFRAME_-43210_RELATIVE     = 'IMAP_SPACECRAFT'
+
+   \begintext
+
+
+IMAP Magnetometer (MAG) Frames
+========================================================================
+
+   TODO: FIX ME...The orientation of the spacecraft body frame with
+   respect to an inertial
+   frame, for IMAP - ECLIPJ2000, is provided by a C-kernel (see [3]
+   for details).
+
+   Basically just maps Z-inst to Y-body
+
+   This frame specifies the rotating X,Y and pointing Z coordinate body
+   frame.
+
+   \begindata
+
+   FRAME_IMAP_MAG              = -43250
+   FRAME_-43250_NAME           = 'IMAP_MAG'
+   FRAME_-43250_CLASS          = 4
+   FRAME_-43250_CLASS_ID       = -43250
+   FRAME_-43250_CENTER         = -43
+   TKFRAME_-43250_SPEC         = 'MATRIX'
+   TKFRAME_-43250_MATRIX       = (  0.000000,
+                                    -1.000000,
+                                    0.000000,
+                                    -1.000000,
+                                    0.000000,
+                                    0.000000,
+                                    0.000000,
+                                    0.000000,
+                                    -1.000000 )
+   TKFRAME_-43250_RELATIVE     = 'IMAP_SPACECRAFT'
+
+\begintext
+
+
+IMAP Solar Wind Electron (SWE) Frames
+========================================================================
+
+   TODO: FIX ME...The orientation of the spacecraft body frame with
+   respect to an inertial
+   frame, for IMAP - ECLIPJ2000, is provided by a C-kernel (see [3]
+   for details).
+
+   This frame specifies the rotating X,Y and pointing Z coordinate body
+   frame.
+
+   \begindata
+
+   FRAME_IMAP_SWE              = -43300
+   FRAME_-43300_NAME           = 'IMAP_SWE'
+   FRAME_-43300_CLASS          = 4
+   FRAME_-43300_CLASS_ID       = -43300
+   FRAME_-43300_CENTER         = -43
+   TKFRAME_-43300_SPEC         = 'MATRIX'
+   TKFRAME_-43300_MATRIX       = (  0.453990,
+                                    0.891007,
+                                    0.000000,
+                                   -0.891007,
+                                    0.453990,
+                                    0.000000,
+                                    0.000000,
+                                    0.000000,
+                                    1.000000 )
+   TKFRAME_-43300_RELATIVE     = 'IMAP_SPACECRAFT'
+
+\begintext
+
+
+IMAP Solar Wind and Pickup Ion (SWAPI) Frames
+========================================================================
+
+   TODO: add diagrams
+
+   SWAPI has the following nominal alignment to the spacecraft frame,
+   reference Table 1 of [6]. The azimuth and elevation angles are
+   illustrated in the 'IMAP I&T Component Placement' section near the top
+   of this document.
+
+        azimuth  | elevation
+         (deg)   |  (deg)
+        ---------+---------
+          168    |   0
+
+   The SWAPI base frame is defined in the instrument MICD [8] as follows:
+
+      *  -Z axis is the axis of symmetry of the instrument, pointing
+            away from the spacecraft body.
+      *  +Y axis is along the aperture center, in the anti-sunward direction.
+
+   The azimuth and elevation give the outward axis of symmetry, -Z in the
+   instrument frame:
+
+      -Z      = -[ -sin(az) * cos(el), cos(az) * cos(el), sin(el) ]
+        instr
+
+   The instrument +Y axis is in the sunward direction, towards the
+   spacecraft +Z axis:
+
+       Y      = [ 0 0 1 ]
+        instr
+
+   Taking the cross product and normalizing, we arrive at the instrumet +X
+   axis:
+                  Y x Z
+       X      = ---------
+        instr   | Y x Z |
+
+   And adjusting Y:
+
+                  Z x X
+       Y      = ---------
+        instr   | Z x X |
+
+    This definition is captured in the keywords below.
+
+   \begindata
+
+   FRAME_IMAP_SWAPI              = -43350
+   FRAME_-43350_NAME           = 'IMAP_SWAPI'
+   FRAME_-43350_CLASS          = 4
+   FRAME_-43350_CLASS_ID       = -43350
+   FRAME_-43350_CENTER         = -43
+   TKFRAME_-43350_SPEC         = 'MATRIX'
+   TKFRAME_-43350_MATRIX       = ( -0.97814760073381,
+                                    0.20791169081776,
+                                    0.00000000000000,
+                                    0.00000000000000,
+                                    0.00000000000000,
+                                    1.00000000000000,
+                                    0.20791169081776,
+                                    0.97814760073381,
+                                    0.00000000000000 )
+   TKFRAME_-43350_RELATIVE     = 'IMAP_SPACECRAFT'
+
+\begintext
+
+
+IMAP Compact Dual Ion Composition Experiment (CoDICE) Frames
+========================================================================
+
+   TODO: FIX ME...The orientation of the spacecraft body frame with
+   respect to an inertial
+   frame, for IMAP - ECLIPJ2000, is provided by a C-kernel (see [3]
+   for details).
+
+   This frame specifies the rotating X,Y and pointing Z coordinate body
+   frame.
+
+   \begindata
+
+   FRAME_IMAP_CODICE              = -43400
+   FRAME_-43400_NAME           = 'IMAP_CODICE'
+   FRAME_-43400_CLASS          = 4
+   FRAME_-43400_CLASS_ID       = -43400
+   FRAME_-43400_CENTER         = -43
+   TKFRAME_-43400_SPEC         = 'MATRIX'
+   TKFRAME_-43400_MATRIX       = (  0.694626,
+                                    0.719371,
+                                    0.000000,
+                                   -0.719371,
+                                    0.694626,
+                                    0.000000,
+                                    0.000000,
+                                    0.000000,
+                                    1.000000 )
+   TKFRAME_-43400_RELATIVE     = 'IMAP_SPACECRAFT'
+
+\begintext
+
+
+IMAP High-energy Ion Telescope (HIT) Frames
+========================================================================
+
+   TODO: FIX ME...The orientation of the spacecraft body frame with
+   respect to an inertial
+   frame, for IMAP - ECLIPJ2000, is provided by a C-kernel (see [3]
+   for details).
+
+   This frame specifies the rotating X,Y and pointing Z coordinate body
+   frame.
+
+   \begindata
+
+   FRAME_IMAP_HIT              = -43500
+   FRAME_-43500_NAME           = 'IMAP_HIT'
+   FRAME_-43500_CLASS          = 4
+   FRAME_-43500_CLASS_ID       = -43500
+   FRAME_-43500_CENTER         = -43
+   TKFRAME_-43500_SPEC         = 'MATRIX'
+   TKFRAME_-43500_MATRIX       = (  0.866025,
+                                    0.500000,
+                                    0.000000,
+                                   -0.500000,
+                                    0.866025,
+                                    0.000000,
+                                    0.000000,
+                                    0.000000,
+                                    1.000000 )
+   TKFRAME_-43500_RELATIVE     = 'IMAP_SPACECRAFT'
+
+\begintext
+
+
+IMAP Interstellar Dust Experiment (IDEX) Frames
+========================================================================
+
+   TODO: FIX ME...The orientation of the spacecraft body frame with
+   respect to an inertial
+   frame, for IMAP - ECLIPJ2000, is provided by a C-kernel (see [3]
+   for details).
+
+   This frame specifies the rotating X,Y and pointing Z coordinate body
+   frame.
+
+   \begindata
+
+   FRAME_IMAP_IDEX              = -43700
+   FRAME_-43700_NAME           = 'IMAP_IDEX'
+   FRAME_-43700_CLASS          = 4
+   FRAME_-43700_CLASS_ID       = -43700
+   FRAME_-43700_CENTER         = -43
+   TKFRAME_-43700_SPEC         = 'MATRIX'
+   TKFRAME_-43700_MATRIX       = (  0.000000,
+                                    1.000000,
+                                    0.000000,
+                                   -0.707107,
+                                    0.000000,
+                                   -0.707107,
+                                   -0.707107,
+                                    0.000000,
+                                    0.707107 )
+   TKFRAME_-43700_RELATIVE     = 'IMAP_SPACECRAFT'
+
+\begintext
+
+
+IMAP GLObal solar Wind Structure (GLOWS) Frames
+========================================================================
+
+   TODO: add diagrams
+
+   GLOWS has the following nominal alignment to the spacecraft frame,
+   reference Table 1 of [6]. The azimuth and elevation angles are
+   illustrated in the 'IMAP I&T Component Placement' section near the top
+   of this document.
+
+        azimuth  | elevation
+         (deg)   |  (deg)
+        ---------+---------
+          127    |   15
+
+   The GLOWS base frame is defined by the instrument team as follows [10]:
+
+      *  +Z axis points in the anti-boresight direction
+      *  +Y axis points in the anti-sunward direction.
+
+   The azimuth and elevation give the outward axis of symmetry, -Z in the
+   instrument frame:
+
+       Z      = -[ -sin(az) * cos(el), cos(az) * cos(el), sin(el) ]
+        instr
+
+   The instrument +Y axis is in the anti-sunward direction, towards the
+   spacecraft -Z axis:
+
+       Y      = [ 0 0 -1 ]
+        instr
+
+   Taking the cross product and normalizing, we arrive at the instrumet +X
+   axis:
+                  Y x Z
+       X      = ---------
+        instr   | Y x Z |
+
+   And adjusting Y:
+
+                  Z x X
+       Y      = ---------
+        instr   | Z x X |
+
+    This definition is captured in the keywords below.
+
+   \begindata
+
+   FRAME_IMAP_GLOWS              = -43750
+   FRAME_-43750_NAME           = 'IMAP_GLOWS'
+   FRAME_-43750_CLASS          = 4
+   FRAME_-43750_CLASS_ID       = -43750
+   FRAME_-43750_CENTER         = -43
+   TKFRAME_-43750_SPEC         = 'MATRIX'
+   TKFRAME_-43750_MATRIX       = (  0.60181502315205,
+                                   -0.79863551004729,
+                                    0.00000000000000,
+                                   -0.20670208009540,
+                                   -0.15576118962056,
+                                   -0.96592582628907,
+                                    0.77142266494622,
+                                    0.58130867351132,
+                                   -0.25881904510252 )
+   TKFRAME_-43750_RELATIVE     = 'IMAP_SPACECRAFT'
+
+\begintext
+
+   Generic axis
+
+                                  +Z axis
+                                     .
+                                     |
+                                     .
+                                     |
+                                     .
+                                     |
+                                     .
+                                     |
+                                     .
+                                     |
+                                     .
+                                     |
+                                   .~ ~
+                             .~ '`      ^~
+                       .~ '`               ^~
+                 .~ '`                        ^~
+           .~ '`                                 ^~
+      +X axis                                       ^~
+                                                       ^~
+                                                          ^~
+                                                         +Y axis
+
+End of FK file.