diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6aa47023b..cbdfdd667 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -36,6 +36,7 @@ release.
 ## [Unreleased]
 ### Added
 - Apollo Metric drivers, tests, and data [#533](https://github.com/DOI-USGS/ale/pull/533)
+- Rosetta Virtis drivers, tests, and data [#520](https://github.com/DOI-USGS/ale/pull/520)
 
 ### Fixed
 
diff --git a/ale/drivers/rosetta_drivers.py b/ale/drivers/rosetta_drivers.py
new file mode 100644
index 000000000..df6fd2520
--- /dev/null
+++ b/ale/drivers/rosetta_drivers.py
@@ -0,0 +1,321 @@
+import re
+import spiceypy as spice
+import math
+import numpy as np
+from scipy.spatial.transform import Rotation
+from scipy.interpolate import CubicSpline
+
+
+from ale.base import Driver
+from ale.base.data_naif import NaifSpice
+from ale.base.data_isis import read_table_data, parse_table
+from ale.base.label_isis import IsisLabel
+from ale.base.type_distortion import RadialDistortion
+from ale.base.type_sensor import LineScanner
+from ale.transformation import ConstantRotation, FrameChain, TimeDependentRotation
+
+
+class RosettaVirtisIsisLabelNaifSpiceDriver(LineScanner, IsisLabel, NaifSpice, RadialDistortion, Driver):
+    @property
+    def instrument_id(self):
+        """
+        Returns the instrument id for Rosetta Virtis
+        
+        Returns
+        -------
+        : str
+          Frame Reference for Rosetta VIRTIS
+        """
+        inst_id_lookup = {
+            "VIRTIS_M_VIS" : "ROS_VIRTIS-M_VIS",
+            "VIRTIS_M_IR" : "ROS_VIRTIS-M_IR",
+        }
+        return inst_id_lookup[self.label['IsisCube']['Instrument']['ChannelID']] 
+    
+
+    @property
+    def sensor_model_version(self):
+        """
+        The ISIS Sensor model number for Rosetta Virtis in ISIS.
+        
+        Returns
+        -------
+        : int
+          ISIS sensor model version
+        """
+        return 1
+        
+
+    @property
+    def spacecraft_name(self):
+        """
+        Return the spacecraft name.  The label calls it "ROSETTA-ORBITER", NAIF calls it "ROSETTA"
+        """
+        return "ROSETTA"
+
+    @property
+    def ephemeris_start_time(self):
+        """
+        Returns the start ephemeris time for the image.
+
+        Returns
+        -------
+        : float
+          start time
+        """
+        try:
+            # first line's middle et - 1/2 exposure duration = cube start time
+            return self.hk_ephemeris_time[0] - (self.line_exposure_duration/2)
+        except:
+            return spice.scs2e(self.spacecraft_id, self.label['IsisCube']['Instrument']['SpacecraftClockStartCount'])
+
+
+    @property
+    def ephemeris_stop_time(self):
+        """
+        Returns the stop ephemeris time for the image.
+
+        Returns
+        -------
+        : float
+          stop time
+        """
+
+        try:
+            #  last line's middle et + 1/2 exposure duration = cube start time
+            return self.hk_ephemeris_time[-1] + (self.line_exposure_duration/2)
+        except:
+            return spice.scs2e(self.spacecraft_id, self.label['IsisCube']['Instrument']['SpacecraftClockStopCount'])
+
+    @property
+    def housekeeping(self):
+        """
+        Read the housekeeping table from the cub and populate data.
+
+        Returns
+        -------
+        None
+        """
+        if not hasattr(self, "_housekeeping"):
+            degs_per_rad = 57.2957795 
+            binary = read_table_data(self.label['Table'], self._file)
+            hk_table = parse_table(self.label['Table'], binary)
+            data_scet = hk_table['dataSCET']
+            shutter_mode_list = hk_table['Data Type__Shutter state']
+            mirror_sin_list = hk_table['M_MIRROR_SIN_HK']
+            mirror_cos_list = hk_table['M_MIRROR_COS_HK']
+
+            opt_angles = []
+            x = np.array([])
+            y = np.array([])
+            for index, mirror_sin in enumerate(mirror_sin_list):
+                shutter_mode = shutter_mode_list[index]
+                is_dark = (shutter_mode == 1)   
+
+                mirror_cos = mirror_cos_list[index]
+
+                scan_elec_deg = math.atan(mirror_sin/mirror_cos) * degs_per_rad
+                opt_ang = ((scan_elec_deg - 3.7996979) * 0.25/0.257812) / 1000
+
+                if not is_dark:
+                    x = np.append(x, index + 1)
+                    y = np.append(y, opt_ang)
+
+                if not self.is_calibrated:
+                    opt_angles.append(opt_ang)
+
+            cs = CubicSpline(x, y, extrapolate="periodic")
+
+            for i, opt_ang in enumerate(opt_angles):
+                shutter_mode = shutter_mode_list[i]
+                is_dark = (shutter_mode == 1)
+
+                if (is_dark):
+                    if (i == 0):
+                        opt_angles[i] = opt_angles[i+1]
+                    elif (i == len(opt_angles) - 1):
+                        opt_angles[i] = opt_angles[i-1]
+                    else:
+                        opt_angles[i] = cs(i+1)
+
+            line_mid_times = [spice.scs2e(self.spacecraft_id, str(round(i,5))) for i in data_scet]
+            self._hk_ephemeris_time = line_mid_times
+            self._optical_angle = opt_angles
+            self._housekeeping= True
+
+    @property
+    def hk_ephemeris_time(self):
+        """
+        Ephemeris times from the housekeeping table.
+
+        Returns
+        -------
+        : list
+          Ephemeris times from the housekeeping table
+        """
+        if not hasattr(self, "_hk_ephemeris_time"):
+            self.housekeeping
+        return self._hk_ephemeris_time
+
+    @property
+    def optical_angle(self):
+        """
+        Return optical angles from the housekeeping table.
+
+        Returns
+        -------
+        : list
+          Optical angles from the housekeeping table
+        """
+        if not hasattr(self, "_optical_angle"):
+            self.housekeeping
+        return self._optical_angle
+
+
+    @property
+    def line_exposure_duration(self):
+        """
+        Returns the exposure duration for each line.
+
+        Returns
+        -------
+        : double
+          Exposure duration for a line
+        """
+        return self.label['IsisCube']['Instrument']['FrameParameter'][0] * 0.001
+
+
+    @property
+    def line_summing(self):
+        """
+         Returns
+         -------
+         : int
+           Line summing
+        """
+        return self.label['IsisCube']['Instrument']['FrameParameter'][1]
+
+    @property
+    def sample_summing(self):
+        """
+         Returns
+         -------
+         : int
+           Sample summing
+        """
+        return self.label['IsisCube']['Instrument']['FrameParameter'][1]
+
+    @property
+    def scan_rate(self):
+        """
+        Returns
+        : Double
+          Scan rate
+        """
+        return self.label['IsisCube']['Instrument']['FrameParameter'][2]
+
+    @property
+    def odtk(self):
+        """
+        The coefficients for the distortion model
+        Defined in the IAK
+
+        Returns
+        -------
+        : list
+          Radial distortion coefficients
+        """
+        return [0.0, .038, 0.38]
+
+
+    @property
+    def sensor_frame_id(self):
+        """
+        Returns the sensor frame id.  Depends on the instrument that was used to
+        capture the image. 
+
+        Returns
+        -------
+        : int
+          Sensor frame id
+        """
+
+        if self.has_articulation_kernel:
+            return super().sensor_frame_id
+        else:
+             return super().sensor_frame_id - 1
+
+
+    @property
+    def is_calibrated(self):
+        """
+        Determine if this image is calibrated.
+
+        Returns
+        -------
+        : bool
+          True if calibrated else False
+        """
+        return self.label['IsisCube']['Instrument']['ProcessingLevelID'] == '3'
+
+    @property 
+    def has_articulation_kernel(self):
+        """
+        Determine if this image has an associated articulation kernel
+
+        Returns
+        -------
+        : bool
+          True if the image has an articulation kernel else False
+        """
+        regex = re.compile('.*ROS_VIRTIS_M_[0-9]{4}_[0-9]{4}_V[0-9].BC')
+        return any([re.match(regex, i) for i in self.kernels])
+
+
+    @property
+    def frame_chain(self):
+        """
+        Construct the frame chain.  Use super to construct base chain and add edges via inst_pointing_rotation
+
+        Returns
+        -------
+        : FrameChain
+        """
+        frame_chain = super().frame_chain
+        frame_chain.add_edge(rotation=self.inst_pointing_rotation)
+        return frame_chain
+
+    @property
+    def inst_pointing_rotation(self):
+        """
+        Returns a time dependent instrument pointing rotation for virtis frames
+        Returns
+        -------
+        : TimeDependentRotation
+          Instrument pointing rotation
+        """
+        time_dep_quats = np.zeros((len(self.hk_ephemeris_time), 4))
+        avs = []
+
+        for i, time in enumerate(self.hk_ephemeris_time):
+          try:
+            state_matrix = spice.sxform("J2000", spice.frmnam(self.sensor_frame_id), time)
+          except:
+            rotation_matrix = spice.pxform("J2000", spice.frmnam(self.sensor_frame_id), time)
+            state_matrix = spice.rav2xf(rotation_matrix, [0, 0, 0])
+
+          opt_angle = self.optical_angle[i]
+
+          xform = spice.eul2xf([0, -opt_angle, 0, 0, 0, 0], 1, 2, 3)
+          xform2 = spice.mxmg(xform, state_matrix)
+
+          rot_mat, av = spice.xf2rav(xform2)
+          avs.append(av)
+
+          quat_from_rotation = spice.m2q(rot_mat)
+          time_dep_quats[i,:3] = -quat_from_rotation[1:]
+          time_dep_quats[i, 3] = -quat_from_rotation[0]
+
+        time_dep_rot = TimeDependentRotation(time_dep_quats, self.hk_ephemeris_time, 1, self.sensor_frame_id, av=avs)
+
+        return time_dep_rot
\ No newline at end of file
diff --git a/tests/pytests/conftest.py b/tests/pytests/conftest.py
index b68997925..e0f80aa9a 100644
--- a/tests/pytests/conftest.py
+++ b/tests/pytests/conftest.py
@@ -63,14 +63,23 @@ def compare_dicts(ldict, rdict):
                 differences.append(f'Array sizes of key {key} are not equal {item} : {rdict[key]}.')
             else:
                 list_item = np.array(item).flat[0]
-                if isinstance(list_item, numbers.Number):
-                    if not np.allclose(item, rdict[key]):
+                # quaternion (q) and its additive inverse (qi) yield the same rotation.  Equivalent quaternions should pass
+                if key == 'quaternions':
+                    # Cannot compare abs, it has to be full sign flip, because (1, -1, 1, -1) != (1, 1, 1, 1), but (-1,-1,-1,-1) ~= (1,1,1,1)
+                    l = np.array(item).flat
+                    li = [-x for x in l]
+                    r = np.array(rdict[key]).flat
+                    if not (np.allclose(l, r) or np.allclose(li,r)):
                         differences.append(f'Array values of key {key} are not almost equal {item} : {rdict[key]}.')
-                elif isinstance(list_item, str):
-                    if not (np.array(item) == np.array(rdict[key])).all():
-                        differences.append(f'Array values of key {key} are not equal {item} : {rdict[key]}.')
                 else:
-                    raise TypeError("No comparison handled for underlying list type {} for key {}".format(list_item, key))
+                    if isinstance(list_item, numbers.Number):
+                        if not np.allclose(item, rdict[key]):
+                            differences.append(f'Array values of key {key} are not almost equal {item} : {rdict[key]}.')
+                    elif isinstance(list_item, str):
+                        if not (np.array(item) == np.array(rdict[key])).all():
+                            differences.append(f'Array values of key {key} are not equal {item} : {rdict[key]}.')
+                    else:
+                        raise TypeError("No comparison handled for underlying list type {} for key {}".format(list_item, key))
         elif isinstance(item, str):
             if item.lower() != rdict[key].lower():
                 differences.append(f'Values of key {key} are not equal {item} : {rdict[key]}.')
diff --git a/tests/pytests/data/i1_00237330013/ATNR_P040302093352_00127.xc b/tests/pytests/data/i1_00237330013/ATNR_P040302093352_00127.xc
new file mode 100644
index 000000000..1da210f20
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ATNR_P040302093352_00127.xc
@@ -0,0 +1,752479 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
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+'2'
+'6'
+'/home/adcs/adcs/ADCS/tmp/2011-05-23T12_a2ck/ATNR_P0403020933'
+BEGIN_ARRAY 1 46
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+END_ARRAY 4272 16
+BEGIN_ARRAY 4273 50105
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+BEGIN_ARRAY 5890 50105
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+END_ARRAY 5890 50105
+BEGIN_ARRAY 5891 50105
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+'-B0E3F465CE87C^0'
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+'D87A93426D6328^B'
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+'D8916D4253E658^B'
+'D89CDA4247281^B'
+'D8A847423A69F^B'
+'D8B3B4422DABF^B'
+'D8BF214220EDF8^B'
+'D8CA8E42143038^B'
+'D8D5FB42077288^B'
+'D8E16841FAB4F^B'
+'D8ECD541EDF77^B'
+'D8F84241E13A2^B'
+'D903AF41D47CD8^B'
+'D90F1C41C7BFA8^B'
+'D91A8941BB02A8^B'
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+'D9316341A188E^B'
+'D93CD04194CC2^B'
+'D9483D41880F78^B'
+'D953AA417B52E8^B'
+'D95F17416E9678^B'
+'D96A844161DA2^B'
+'D975F141551DE^B'
+'D9815E414861C^B'
+'D98CCB413BA5A8^B'
+'D99838412EE9B8^B'
+'D9A3A541222DD8^B'
+'D9AF12411572^B'
+'D9BA7F4108B65^B'
+'D9C5EC40FBFAC^B'
+'D9D15940EF3F38^B'
+'D9DCC640E283C8^B'
+'D9E83340D5C878^B'
+'D9F3A040C90D3^B'
+'D9FF0D40BC52^B'
+'DA0A7A40AF96F^B'
+'DA15E740A2DBF^B'
+'DA2154409620F8^B'
+'DA2CC140896618^B'
+'DA382E407CAB5^B'
+'DA439B406FF0A^B'
+'DA4F08406336^B'
+'DA5A7540567B8^B'
+'DA65E24049C0F8^B'
+'DA714F403D0698^B'
+'DA7CBC40304C48^B'
+'DA8829402392^B'
+'DA93964016D7D^B'
+'DA9E266300D64^B'
+'D86F26427A21C^B'
+'1^-3'
+'1^1'
+'A^1'
+'1^1'
+'32^2'
+END_ARRAY 6082 256
+BEGIN_ARRAY 6083 16
+'/home/adcs/adcs/ADCS/incoming/ATNR_FDLRM'
+'DA9E266300D64^B'
+'DA9E2A2300D22^B'
+'-372D0'
+'1'
+'5'
+'1'
+16
+'73F86FA44DCE44^0'
+'-B0E3F465CE87C^0'
+'-4FA3613A0C9F0C^0'
+'-7839F363BA6CE4^0'
+'73F87301C0462C^0'
+'-B0E3F98EFB986^0'
+'-4FA35B63F91D3^0'
+'-7839EC6A975F14^0'
+'DA9E266300D64^B'
+'DA9E2A2300D22^B'
+'DA9E266300D64^B'
+'1^-3'
+'1^1'
+'A^1'
+'1^1'
+'2^1'
+END_ARRAY 6083 16
+BEGIN_ARRAY 6084 66
+'/home/adcs/adcs/ADCS/incoming/ATNR_FDLRM'
+'DA9E2A2300D22^B'
+'DA9F03A2FFDFE^B'
+'-372D0'
+'1'
+'5'
+'1'
+66
+'73F87301C026AC^0'
+'-B0E3F98EFBADF8^0'
+'-4FA35B63F93E08^0'
+'-7839EC6A974A0C^0'
+'73AE2488AD3598^0'
+'-B0CCFEC06351D^0'
+'-4FD2B7ED7571D8^0'
+'-7883D079BDF95C^0'
+'72DEDD47834C18^0'
+'-B08C2A6A83509^0'
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+'-B01A19BE4937C^0'
+'-5132E7C99079C4^0'
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+'6F4551CB1D58A4^0'
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+'6C0850C2B304C4^0'
+'-AE45EC79AF036^0'
+'-5459341420655C^0'
+'-7FFB31AE46AE4C^0'
+'683BF3D4662A18^0'
+'-ACE889EE1BCB78^0'
+'-565AC480E5F76C^0'
+'-8397E97394E908^0'
+'65A37B751C23BC^0'
+'-ABEF6197AA1C4^0'
+'-57A35DC15F612C^0'
+'-86072419092D5^0'
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+'-AAB639E5D46A68^0'
+'-591A1ABDDA8B24^0'
+'-88F18588394^0'
+'DA9E2A2300D22^B'
+'DA9E3B0300BF6^B'
+'DA9E4BE300AC9^B'
+'DA9E5EA3009798^B'
+'DA9E7523007E88^B'
+'DA9E9143005F4^B'
+'DA9EB123003BC8^B'
+'DA9EC983002098^B'
+'DA9EDC43000BB8^B'
+'DA9EED22FFF8E8^B'
+'DA9EFE02FFE628^B'
+'DA9F03A2FFDFE^B'
+'DA9E2A2300D22^B'
+'1^-3'
+'1^1'
+'A^1'
+'1^1'
+'C^1'
+END_ARRAY 6084 66
+BEGIN_ARRAY 6085 16
+'/home/adcs/adcs/ADCS/incoming/ATNR_FDLRM'
+'DA9F03A2FFDFE^B'
+'DAB3AEB2E8DA4^B'
+'-372D0'
+'1'
+'5'
+'1'
+16
+'627E1FAF69F764^0'
+'-AAB639E5D46A68^0'
+'-591A1ABDDA8AF4^0'
+'-88F1858839402^0'
+'627E1F8ACAC27C^0'
+'-AAB639AC35DA6^0'
+'-591A1B0CC1E08^0'
+'-88F185B70D4B4^0'
+'DA9F03A2FFDFE^B'
+'DAB3AEB2E8DA4^B'
+'DA9F03A2FFDFE^B'
+'1^-3'
+'1^1'
+'A^1'
+'1^1'
+'2^1'
+END_ARRAY 6085 16
+BEGIN_ARRAY 6086 36
+'/home/adcs/adcs/ADCS/incoming/ATNR_FDLRM'
+'DAB3AEB2E8DA4^B'
+'12D045656CF9C2^C'
+'-372D0'
+'1'
+'5'
+'1'
+36
+'627E1F8ACAC27C^0'
+'-AAB639AC35DA6^0'
+'-591A1B0CC1E08^0'
+'-88F185B70D4B4^0'
+'627E0CB047F498^0'
+'-AAB61520CC87C^0'
+'-591A4E2F7C9DC8^0'
+'-88F19F8F2E9CB^0'
+'627E07A5FB803C^0'
+'-AAB5FCD0341248^0'
+'-591A7214ED0B8C^0'
+'-88F1AA237B1BD^0'
+'627E0C6CAA4C9C^0'
+'-AAB5EC13573AB^0'
+'-591A8CD9B6EF48^0'
+'-88F1AA26B135A^0'
+'627E1BABFD413^0'
+'-AAB5E1CD8EF3B8^0'
+'-591AA05AB1E414^0'
+'-88F19F4CD65C18^0'
+'627E3B4998AD5C^0'
+'-AAB5E03671B798^0'
+'-591AAAAD74D3^0'
+'-88F183D3B0C72^0'
+'DAB3AEB2E8DA4^B'
+'EB2A36A0822A1^B'
+'FBA0BE8E16E5F8^B'
+'10C17467BA864D^C'
+'11C8DCE6944AE^C'
+'12D045656CF9C2^C'
+'DAB3AEB2E8DA4^B'
+'1^-3'
+'1^1'
+'A^1'
+'1^1'
+'6^1'
+END_ARRAY 6086 36
+TOTAL_ARRAYS 6086
+ ~NAIF/SPC BEGIN COMMENTS~
+ROSETTA CK file by Rosetta SPICE Team
+===========================================================================
+
+     Created by the Rosetta Auxiliary Data Conversion
+     and Distribution System located at ESAC, Mon May 23 12:46:02 2011
+
+     Auxiliary Data Conversion and Distribution System is maintained
+     by
+
+        Jose Luis Vazquez-Garcia
+        jlvazquez@sciops.esa.int
+        +34 91 8131 310
+
+
+Objects
+--------------------------------------------------------
+
+     This file contains ROSETTA (-226000) orientation.
+     NAIF ID code for ROSETTA is -226000.
+
+
+Approximate Time Coverage
+--------------------------------------------------------
+
+     This file covers the following time span:
+
+      Start of Interval                   End of Interval
+      --------------------------------    --------------------------------
+      MAR 02,2004  09:33:52.7679 (TDB)    MAR 03,2014  06:31:03.1849 (TDB)
+
+
+Status
+--------------------------------------------------------
+
+     This kernel is an official operational product of
+     the Rosetta Project Science Team. It is intended
+     to be used by ROS PI Team for scientific data analyzing.
+
+
+Pedigree
+--------------------------------------------------------
+
+     ESOC/FD is responsible for Auxiliary Data delivering.
+     An automated system located at ESAC under the
+     responsibility of the ROS SGS, perform the conversion
+     of all of these Orbit and Attitude files into SPICE
+     format.
+
+     ROSETTA source file name = ATNR_FDLRMA_DAP040302093352_00127.ROS
+
+Usage
+--------------------------------------------------------
+
+     This file should be used together with the kernel set
+     described below:
+
+     NAIF0009.TLS          is a Leapseconds Kernel file is used
+                           in conversions between ephemeris time
+                           and UTC (coordinated universal time).
+
+     ROS_110405_STEP.TSC   is a Spacecraft Clock Kernel file
+                           used in conversions between the Mars
+                           Express Clock time and  ephemeris time.
+
+     ROS_VXX.TF            is a Frames Kernel file required to
+                           establish relationships between
+                           frames used in geometry computations.
+
+
+Accuracy
+--------------------------------------------------------
+
+     For each Orbit/Attitude file conversion, a validation
+     process is applied to the produced SPK/CK kernel and
+     to its ROS source file. Using their respective Reading
+     Software, the KERVAL program retrieves S/C state features
+     for different epochs between the coverage begin time and
+     the coverage end time. Then it computes their average
+     and maximal difference. In the case the maximal value
+     of this difference is lower than a defined threshold,
+     the conversion is validated.
+
+     If you want more information about the validation
+     process, read the [2] document.
+
+     Here is the result of the validation process related to
+     this file:
+
+     Conversion process is SUCCESSFUL
+     State comparison:
+
+     XSC-Axis separation angle (rad):
+        maximum   5.7646870521315E-10
+        average   5.7876476981023E-12
+
+     YSC-Axis separation angle (rad):
+        maximum   2.4528532842816E-11
+        average   2.5553978194957E-13
+
+
+References
+--------------------------------------------------------
+
+     [1] Mission Control System (MCS)
+         Data Delivery Interface Document (DDID)
+         MEX-ESC-IF-5003; Appendix H - FD Products,
+         Issue 1.3, 1 March 2202
+
+     [2] "Mars Express, Auxiliary Data Conversion into SPICE Kernels
+         and Distruibution" MEX-EST-PL-10210
+         Issue 1.2, 25 September 2003
+
+     [3] SPK Required Reading, NAIF Document No. 168.08
+         7 April 2000
+
+Contacts
+--------------------------------------------------------
+
+     If you have any question regarding this data contact
+
+             esa_spice@sciops.esa.int
+
+
+
+
+
+
+********************************************************************************
+MEX2KER RUN DATE/TIME: 2011-05-23T12:45:01
+MEX2KER SETUP FILE:    /home/adcs/adcs/ADCS/tmp/2011-05-23T12_a2ck/mex2ker.setup
+MEX2KER INPUT FILE:    /home/adcs/adcs/ADCS/incoming/ATNR_FDLRMA_DAP040302093352_00127.ROS
+MEX2KER OUTPUT FILE:   /home/adcs/adcs/ADCS/tmp/2011-05-23T12_a2ck/ATNR_P040302093352_00127.BC
+OUTPUT FILE STATUS:    NEW FILE
+********************************************************************************
+
+
+\begindata
+
+   LEAPSECONDS_FILE     = '/home/adcs/adcs/ADCS/tmp/2011-05-23T12_a2ck/NAIF0009.TLS'
+
+   SCLK_KERNEL          = '/home/adcs/adcs/ADCS/tmp/2011-05-23T12_a2ck/ROS_110405_STEP.TSC'
+
+   INTERPOLATION_METHOD = 'LAGRANGE'
+
+   INTERPOLATION_DEGREE = 9
+
+   NOMINAL_SCLK_RATE    = 0.152587890625D-4
+
+   APPEND_TO_OUTPUT     = 'NO'
+
+   STRING_MAPPING       = ( 'EME2000',
+                            'J2000',
+                            'ROSETTA',
+                            'ROSETTA'  )
+
+   NAIF_BODY_NAME       = 'ROSETTA'
+   NAIF_BODY_CODE       = -226000
+
+
+
+\begintext
+
+
+********************************************************************************
+
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/i1_00237330013/ATNR_P040302093352_00127_0_sliced_-226000.xc b/tests/pytests/data/i1_00237330013/ATNR_P040302093352_00127_0_sliced_-226000.xc
new file mode 100644
index 000000000..235d5af2d
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ATNR_P040302093352_00127_0_sliced_-226000.xc
@@ -0,0 +1,12 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK  '
+'2'
+'6'
+'/home/adcs/adcs/ADCS/tmp/2011-05-23T12_a2ck/ATNR_P0403020933'
+TOTAL_ARRAYS 0
+ ~NAIF/SPC BEGIN COMMENTS~
+
+This CK is for testing with the image: /Users/arsanders/data/rosetta/virtis/ale_testing/i1_00237330013.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/i1_00237330013/PCK00010.TPC b/tests/pytests/data/i1_00237330013/PCK00010.TPC
new file mode 100644
index 000000000..efa020922
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/PCK00010.TPC
@@ -0,0 +1,4061 @@
+KPL/PCK
+ 
+ 
+P_constants (PcK) SPICE kernel file
+===========================================================================
+
+        By: Nat Bachman (NAIF)    2011 October 21
+ 
+ 
+Purpose
+--------------------------------------------------------
+
+     This file makes available for use in SPICE-based application
+     software orientation and size/shape data for natural bodies. The
+     principal source of the data is a published report by the IAU
+     Working Group on Cartographic Coordinates and Rotational Elements
+     [1].
+
+     Orientation and size/shape data not provided by this file may be
+     available in mission-specific PCK files. Such PCKs may be the
+     preferred data source for mission-related applications.
+     Mission-specific PCKs can be found in PDS archives or on the NAIF
+     web site at URL:
+
+        http://naif.jpl.nasa.gov/naif/data
+
+
+File Organization
+--------------------------------------------------------
+ 
+     The contents of this file are as follows.
+ 
+     Introductory Information:
+
+         --   Purpose
+
+         --   File Organization
+ 
+         --   Version description
+ 
+         --   Disclaimer
+ 
+         --   Sources
+ 
+         --   Explanatory notes
+ 
+         --   Body numbers and names
+ 
+
+     PcK Data:
+ 
+
+        Orientation Data
+        ----------------
+
+         --   Orientation constants for the Sun, planets, and
+              Pluto. Additional items included in this section:
+
+                 - Earth north geomagnetic centered dipole value
+                   for the epochs 2012
+
+         --   Orientation constants for satellites
+ 
+         --   Orientation constants for asteroids 
+
+                 Davida
+                 Eros
+                 Gaspra
+                 Ida
+                 Itokawa
+                 Lutetia
+                 Pallas
+                 Steins
+                 Vesta
+ 
+         --   Orientation constants for comets 
+
+                 19P/Borrelly
+                 9P/Tempel 1
+
+
+         Orientation data provided in this file are used
+         by the SPICE Toolkit to evaluate the orientation
+         of body-fixed, body-centered reference frames
+         with respect to the ICRF frame ("J2000" in
+         SPICE documentation). These body-fixed frames
+         have names of the form
+
+            IAU_<body name>
+
+         for example
+
+            IAU_JUPITER
+
+         See the PCK Required Reading file pck.req for details.
+
+
+
+        Radii of Bodies
+        ---------------
+
+         --   Radii of Sun, planets, and Pluto
+         
+         --   Radii of satellites, where available
+         
+         --   Radii of asteroids 
+
+                 Ceres
+                 Davida
+                 Eros
+                 Gaspra
+                 Ida 
+                 Itokawa
+                 Lutetia
+                 Mathilde
+                 Steins
+                 Toutatis
+                 Vesta
+            
+         --   Radii of comets 
+
+                 19P/Borrelly
+                 81P/Wild 2
+                 9P/Tempel 1
+                 Halley
+
+
+
+Version Description
+--------------------------------------------------------
+ 
+     This file was created on October 21, 2011 at NASA's Navigation and
+     Ancillary Information Facility (NAIF), located at the Jet
+     Propulsion Laboratory, Pasadena, CA.
+
+     The previous version of the file was
+     
+        pck00009.tpc
+
+     That file was published March 3 2010.
+
+     This version incorporates data from reference [1]. This file
+     contains size, shape, and orientation data for all objects covered
+     by the previous version of the file.
+
+     New objects covered by this file but not the previous
+     version are:
+
+        Anthe
+        Daphnis
+        Davida
+        Lutetia
+        Methone
+        Pallas
+        Pallene
+        Polydeuces
+        Steins
+ 
+                         
+ 
+Disclaimer
+--------------------------------------------------------
+ 
+Applicability of Data
+
+     This P_constants file may not contain the parameter values that
+     you prefer. NAIF suggests that you inspect this file visually
+     before proceeding with any critical or extended data processing.
+
+File Modifications by Users
+
+     Note that this file may be readily modified by you to change
+     values or add/delete parameters. NAIF requests that you update the
+     "by line," date, version description section, and file name
+     if you modify this file.
+     
+     A user-modified file should be thoroughly tested before 
+     being published or otherwise distributed.
+
+     P_constants files must conform to the standards described
+     in the two SPICE technical reference documents:
+
+        PCK Required Reading
+        Kernel Required Reading
+
+
+Known Limitations and Caveats
+
+     Accuracy
+     --------
+
+     In general, the orientation models given here are claimed by the
+     IAU Working Group Report [1] to be accurate to 0.1 degree
+     ([1], p.158). However, NAIF notes that orientation models for
+     natural satellites and asteroids have in some cases changed
+     substantially with the availability of new observational data, so
+     users are urged to investigate the suitability for their
+     applications of the models presented here.
+
+     Earth orientation
+     -----------------
+
+     NAIF strongly cautions against using the earth rotation model
+     (from [1]), corresponding to the SPICE reference frame name
+     IAU_EARTH, for work demanding high accuracy. This model has been
+     determined by NAIF to have an error in the prime meridian location
+     of magnitude at least 150 arcseconds, with a local minimum
+     occurring during the year 1999. Regarding availability of better
+     earth orientation data for use with the SPICE system:
+
+        Earth orientation data are available from NAIF in the form of
+        binary earth PCK files. These files provide orientation data
+        for the ITRF93 (terrestrial) reference frame relative to the
+        ICRF.
+
+        NAIF employs an automated process to create these files; each
+        time JPL's Tracking Systems and Applications Section produces a
+        new earth orientation parameter (EOP) file, a new PCK is
+        produced. These PCKs cover a roughly 10 year time span starting
+        at Jan. 1, 2000. In these PCK files, the following effects are
+        accounted for in modeling the earth's rotation:
+
+           - Precession:                   1976 IAU model
+
+           - Nutation:                     1980 IAU model, plus interpolated
+                                           EOP nutation corrections
+
+           - Polar motion:                 interpolated from EOP file
+
+           - True sidereal time:
+
+                  UT1 - UT1R (if needed):  given by analytic formula
+                + TAI - UT1 (or UT1R):     interpolated from EOP file
+                + UT1 - GMST:              given by analytic formula
+                + equation of equinoxes:   given by analytic formula
+
+             where
+
+                TAI    =   International Atomic Time
+                UT1    =   Greenwich hour angle of computed mean sun - 12h
+                UT1R   =   Regularized UT1
+                GMST   =   Greenwich mean sidereal time                   
+
+        These kernels are available from the NAIF web site
+
+           http://naif.jpl.nasa.gov
+
+        (follow the links to Data, generic_kernels, and PCK data) or
+
+           ftp://naif.jpl.nasa.gov/pub/naif/generic_kernels/pck
+
+        or via anonymous ftp from the server
+ 
+           naif.jpl.nasa.gov
+
+        The kernels are in the path
+
+           pub/naif/generic_kernels/pck
+
+        At this time, these kernels have file names of the form
+
+           earth_000101_yymmdd_yymmdd.bpc
+
+        The first date in the file name, meaning 2000 January 1, is the
+        file's coverage begin time. The second and third dates are,
+        respectively, the file's coverage end time and the epoch of the
+        last datum.
+ 
+        These binary PCK files are very accurate (error < 0.1
+        microradian) for epochs preceding the epoch of the last datum.
+        For later epochs, the error rises to several microradians.
+
+        Binary PCK files giving accurate earth orientation from 1972 to
+        2007 and *low accuracy* predicted earth orientation from
+        2007 to 2037 are also available in the same location. See the
+        aareadme.txt file at the "pck" URL above for details.
+
+        Characteristics and names of the binary kernels described here
+        are subject to change. See the "pck" URL above for information
+        on current binary earth PCKs.
+
+
+     Lunar orientation
+     -----------------
+
+     The lunar orientation formula provided by this file is a
+     trigonometric polynomial approximation yielding the orientation of
+     the lunar "Mean Earth/Polar Axis" (ME) reference frame. The
+     SPICE reference frame name corresponding to this model is
+     IAU_MOON.
+
+     A more accurate approximation can be obtained by using both the
+     NAIF lunar frame kernel and the binary lunar orientation PCK file.
+     These files provide orientation data for the both the Mean
+     Earth/Polar Axis frame, which has the SPICE name MOON_ME, and the
+     Lunar Principal Axes frame, which has the SPICE name MOON_PA.
+
+     These files are available on the NAIF web site (see URLs above)
+     and in the NAIF server's ftp area. The lunar frame kernel is
+     located in the path
+ 
+        pub/naif/generic_kernels/fk/satellites
+
+     and has a name of the form
+
+        moon_yymmdd.tf
+
+     The binary lunar PCK is in the path
+
+        pub/naif/generic_kernels/pck
+
+     and has a name of the form
+
+        moon_pa_dennn_yyyy-yyyy.bpc
+
+     See the "aareadme.txt" files in the paths shown above for details
+     on file contents and versions. We also suggest you refer to the
+     SPICE tutorial named "lunar_earth_pck-fk," which is available from
+     the NAIF web site.
+
+
+     Earth geomagnetic dipole
+     ------------------------
+
+     The SPICE Toolkit doesn't currently contain software to model the
+     earth's north geomagnetic centered dipole as a function of time.
+     As a convenience for users, the north dipole location from the
+     epoch 2012.0 was selected as a representative datum, and the
+     planetocentric longitude and latitude of this location have been
+     associated with the keywords
+       
+        BODY399_N_GEOMAG_CTR_DIPOLE_LON
+        BODY399_N_GEOMAG_CTR_DIPOLE_LAT
+     
+     Values for the earth's north geomagnetic centered dipole are
+     presented in comments as a discrete time series for the time range
+     1945-2000. For details concerning the geomagnetic field model from
+     which these values were derived, including a discussion of the
+     model's accuracy, see [9] and [11].
+ 
+
+     Prime meridian offsets
+     ----------------------
+
+     Prime meridian offset kernel variables, which have names
+     of the form
+
+        BODYnnn_LONG_AXIS
+
+     are not used by SPICE geometry software. These variables should be
+     considered deprecated; however, they will be retained for
+     backwards compatibility.
+
+     Users wishing to specify an offset reflecting the orientation of a
+     reference ellipsoid relative to a body-fixed reference frame
+     specified here should do so by creating a constant-offset frame
+     (also called a "TK" frame) specification. See the Frames Required
+     Reading frames.req for details.
+ 
+     The Mars prime meridian offset given by [5] is provided for 
+     informational purposes only.
+
+
+     Software limitations
+     --------------------
+
+     SPICE Toolkits prior to version N0057 cannot make use of
+     trigonometric polynomial terms in the formulas for orientation of
+     the planets.
+ 
+     The second nutation precession angle (M2) for Mars is represented
+     by a quadratic polynomial in the 2006 IAU report. The SPICELIB
+     subroutine BODEUL can not handle this term (which is extremely
+     small), so we truncate the polynomial to a linear one. The 
+     resulting orientation error has a maximum magnitude of less
+     than 0.0032 degrees over the time span 1996-2015 and less than
+     0.0082 degrees over the time span 1986-2025.
+
+
+Sources and References
+--------------------------------------------------------
+ 
+     The sources for the constants listed in this file are:
+
+
+        [1]   Archinal, B.A., A'Hearn, M.F., Bowell, E., Conrad, A.,
+              Consolmagno, G.J., Courtin, R., Fukushima, T., 
+              Hestroffer, D., Hilton, J.L., Krasinsky, G.A.,
+              Neumann, G., Oberst, J., Seidelmann, P.K., Stooke, P.,
+              Tholen, D.J., Thomas, P.C., and Williams, I.P. 
+              "Report of the IAU Working Group on Cartographic Coordinates 
+              and Rotational Elements: 2009."
+
+        [2]   Archinal, B.A., A'Hearn, M.F., Conrad, A.,
+              Consolmagno, G.J., Courtin, R., Fukushima, T., 
+              Hestroffer, D., Hilton, J.L., Krasinsky, G.A.,
+              Neumann, G., Oberst, J., Seidelmann, P.K., Stooke, P.,
+              Tholen, D.J., Thomas, P.C., and Williams, I.P. 
+              "Erratum to: Reports of the IAU Working Group on
+              Cartographic Coordinates and Rotational Elements: 2006 &
+              2009."
+
+        [3]   Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F., 
+              Conrad, A., Consolmagno, G.J., Hestroffer, D.,
+              Hilton, J.L., Krasinsky, G.A., Neumann, G.,
+              Oberst, J., Stooke, P., Tedesco, E.F., Tholen, D.J., 
+              and Thomas, P.C. "Report of the IAU/IAG Working Group 
+              on cartographic coordinates and rotational elements: 2006."
+ 
+        [4]   Nautical Almanac Office, United States Naval Observatory
+              and H.M. Nautical Almanac Office, Rutherford Appleton
+              Laboratory (2010). "The Astronomical Almanac for
+              the Year 2010," U.S. Government Printing Office,
+              Washington, D.C.: and The Stationary Office, London.
+
+        [5]   Duxbury, Thomas C. (2001). "IAU/IAG 2000 Mars Cartographic
+              Conventions,"  presentation to the Mars Express Data
+              Archive Working Group, Dec. 14, 2001.
+
+        [6]   Russell, C.T. and Luhmann, J.G. (1990). "Earth: Magnetic 
+              Field and Magnetosphere." <http://www-ssc.igpp.ucla.
+              edu/personnel/russell/papers/earth_mag>. Originally
+              published in "Encyclopedia of Planetary Sciences," J.H.
+              Shirley and R.W. Fainbridge, eds. Chapman and Hall,
+              New York, pp 208-211.
+
+        [7]   Russell, C.T. (1971). "Geophysical Coordinate 
+              Transformations," Cosmic Electrodynamics 2  184-186.
+              NAIF document 181.0.
+     
+        [8]   ESA/ESTEC Space Environment Information System (SPENVIS)
+              (2003). Web page:  "Dipole approximations of the
+              geomagnetic field."  <http://www.spenvis.oma.be/spenvis/
+              help/background/magfield/cd.html>.
+ 
+        [9]   International Association of Geomagnetism and Aeronomy
+              and International Union of Geodesy and Geophysics (2004).
+              Web page:  "The 9th Generation International Geomagnetic
+              Reference Field." <http://www.ngdc.noaa.gov/
+              IAGA/vmod/igrf.html>.
+                             
+        [10]  Davies, M.E., Abalakin, V.K., Bursa, M., Hunt, G.E.,
+              and Lieske, J.H. (1989). "Report of the IAU/IAG/COSPAR
+              Working Group on Cartographic Coordinates and Rotational
+              Elements of the Planets and Satellites: 1988," Celestial
+              Mechanics and Dynamical Astronomy, v.46, no.2, pp.
+              187-204.
+
+        [11]  International Association of Geomagnetism and Aeronomy
+              Web page:  "International Geomagnetic Reference Field."  
+              Discussion URL:
+
+                 http://www.ngdc.noaa.gov/IAGA/vmod/igrf.html
+
+              Coefficients URL:
+
+                 http://www.ngdc.noaa.gov/IAGA/vmod/igrf11coeffs.txt
+
+         
+
+     Most values are from [1]. All exceptions are 
+     commented where they occur in this file. The exceptions are:
+ 
+                 
+         --   Radii for the Sun are from [4].
+
+         --   Prime meridian constant (W0) terms for Pluto, Charon,
+              and Ida are from [2].
+             
+         --   The second nutation precession angle (M2) for Mars is
+              represented by a quadratic polynomial in the 2000
+              IAU report. The SPICELIB subroutine BODEUL can not
+              handle this term (which is extremely small), so we
+              truncate the polynomial to a linear one.
+           
+          --  Earth north geomagnetic centered dipole values are from
+              [11]. The values were also computed from the 11th
+              generation IGRF by Nat Bachman.
+         
+
+     "Old values" listed are from the SPICE P_constants file
+     pck00009.tpc dated March 3, 2010. Most of these values came
+     from the 2006 IAU report [3].
+ 
+ 
+ 
+ 
+Explanatory Notes
+--------------------------------------------------------
+
+     This file, which is logically part of the SPICE P-kernel, contains
+     constants used to model the orientation, size and shape of the
+     Sun, planets, natural satellites, and selected comets and
+     asteroids. The orientation models express the direction of the
+     pole and location of the prime meridian of a body as a function of
+     time. The size/shape models ("shape models" for short) represent
+     all bodies as ellipsoids, using two equatorial radii and a polar
+     radius. Spheroids and spheres are obtained when two or all three
+     radii are equal.
+
+     The SPICE Toolkit routines that use this file are documented in
+     the SPICE "Required Reading" file pck.req. They are also 
+     documented in the "PCK" SPICE tutorial, which is available on
+     the NAIF web site.
+
+File Format
+        
+     A terse description of the PCK file format is given here. See the
+     SPICE "Required Reading" files pck.req and kernel.req for a
+     detailed explanation of the SPICE text kernel file format. The
+     files pck.req and kernel.req are included in the documentation
+     provided with the SPICE Toolkit.
+
+     The file starts out with the ``ID word'' string
+
+        KPL/PCK
+
+     This string identifies the file as a text kernel containing PCK 
+     data.
+
+     This file consists of a series of comment blocks and data blocks.
+     Comment blocks, which contain free-form descriptive or explanatory
+     text, are preceded by a \begintext token. Data blocks follow a
+     \begindata token. In order to be recognized, each of these tokens
+     must be placed on a line by itself.
+
+     The portion of the file preceding the first data block is treated
+     as a comment block; it doesn't require an initial \begintext
+     token.
+
+     This file identifies data using a series of
+
+        KEYWORD = VALUE
+
+     assignments. The left hand side of each assignment is a
+     "kernel variable" name; the right hand side is an associated value
+     or list of values. The SPICE subroutine API allows SPICE routines
+     and user applications to retrieve the set of values associated
+     with each kernel variable name.
+
+     Kernel variable names are case-sensitive and are limited to
+     32 characters in length. 
+
+     Numeric values may be integer or floating point. String values
+     are normally limited to 80 characters in length; however, SPICE
+     provides a mechanism for identifying longer, "continued" strings.
+     See the SPICE routine STPOOL for details.
+
+     String values are single quoted.
+
+     When the right hand side of an assignment is a list of values,
+     the list items may be separated by commas or simply by blanks.
+     The list must be bracketed by parentheses. Example:
+
+        BODY399_RADII     = ( 6378.1366   6378.1366   6356.7519 )
+ 
+     Any blanks preceding or following keyword names, values and equal
+     signs are ignored.
+  
+     Assignments may be spread over multiple lines, for example:
+
+        BODY399_RADII     = ( 6378.1366  
+                              6378.1366
+                              6356.7519 )
+
+     This file may contain blank lines anywhere. Non-printing
+     characters including TAB should not be present in the file: the
+     presence of such characters may cause formatting errors when the
+     file is viewed.
+
+Time systems and reference frames
+
+     The 2009 IAU Working Group Report [1] states the time scale used
+     as the independent variable for the rotation formulas is
+     Barycentric Dynamical Time (TDB) and that the epoch of variable
+     quantities is J2000 TDB (2000 Jan 1 12:00:00 TDB, Julian ephemeris
+     date 2451545.0 TDB). Throughout SPICE documentation and in this
+     file, we use the names "J2000 TDB" and "J2000" for this epoch. The
+     name "J2000.0" is equivalent.
+
+     SPICE documentation refers to the time system used in this file 
+     as either "ET" or "TDB." SPICE software makes no distinction 
+     between TDB and the time system associated with the independent
+     variable of the JPL planetary ephemerides T_eph.
+ 
+     The inertial reference frame used for the rotational elements in
+     this file is identified by [1] as the ICRF (International
+     Celestial Reference Frame). 
+
+     The SPICE PCK software that reads this file uses the label "J2000"
+     to refer to the ICRF; this is actually a mislabeling which has
+     been retained in the interest of backward compatibility. Using
+     data from this file, by means of calls to the SPICE frame
+     transformation routines, will actually compute orientation
+     relative to the ICRF.
+
+     The difference between the J2000 frame and the ICRF is
+     on the order of tens of milliarcseconds and is well below the
+     accuracy level of the formulas in this file.
+
+Orientation models
+ 
+     All of the orientation models use three Euler angles to describe
+     the orientation of the coordinate axes of the "Body Equator and
+     Prime Meridian" system with respect to an inertial system. By
+     default, the inertial system is the ICRF (labeled as "J2000"), but
+     other inertial frames can be specified in the file. See the PCK
+     Required Reading for details.
+ 
+     The first two angles, in order, are the ICRF right ascension and
+     declination (henceforth RA and DEC) of the north pole of a body as
+     a function of time. The third angle is the prime meridian location
+     (represented by "W"), which is expressed as a rotation about the
+     north pole, and is also a function of time.
+ 
+     For each body, the expressions for the north pole's right
+     ascension and declination, as well as prime meridian location, are
+     sums (as far as the models that appear in this file are concerned)
+     of quadratic polynomials and trigonometric polynomials, where the
+     independent variable is time.
+ 
+     In this file, the time arguments in expressions always refer to
+     Barycentric Dynamical Time (TDB), measured in centuries or days
+     past a reference epoch. By default, the reference epoch is the
+     J2000 epoch, which is Julian ephemeris date 2451545.0 (2000 Jan 1
+     12:00:00 TDB), but other epochs can be specified in the file. See
+     the PCK Required Reading for details.
+
+     Orientation models for satellites and some planets (including
+     Jupiter) involve both polynomial terms and trigonometric terms.
+     The arguments of the trigonometric terms are linear polynomials.
+     In this file, we call the arguments of these trigonometric terms
+     "nutation precession angles."
+
+     Example: 2009 IAU Model for orientation of Jupiter.  Note that 
+     these values are used as an example only; see the data area below 
+     for current values.
+
+        Right ascension
+        ---------------
+ 
+        alpha   =  268.056595 - 0.006499 T        +  0.000117 sin(Ja) 
+             0                + 0.000938 sin(Jb)  +  0.001432 sin(Jc)
+                              + 0.000030 sin(Jd)  +  0.002150 sin(Je)
+
+        Declination
+        -----------
+ 
+        delta   =   64.495303 + 0.002413 T        +  0.000050 cos(Ja)
+             0                + 0.000404 cos(Jb)  +  0.000617 cos(Jc)
+                              - 0.000013 cos(Jd)  +  0.000926 cos(Je)
+
+        Prime meridian
+        --------------
+
+        W       =  284.95  + 870.5366420 d
+ 
+
+     Here
+
+        T represents centuries past J2000 ( TDB ),
+ 
+        d represents days past J2000 ( TDB ).
+
+        Ja-Je are nutation precession angles.
+
+     In this file, the polynomials' coefficients above are assigned 
+     to kernel variable names (left-hand-side symbols) as follows
+
+        BODY599_POLE_RA        = (   268.056595     -0.006499       0. )
+        BODY599_POLE_DEC       = (    64.495303      0.002413       0. )
+        BODY599_PM             = (   284.95        870.5360000      0. )
+
+     and the trigonometric polynomials' coefficients are assigned 
+     as follows
+
+        BODY599_NUT_PREC_RA  = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.  0.000117
+                                                                0.000938
+                                                                0.001432
+                                                                0.000030
+                                                                0.002150 )
+
+        BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.  0.000050
+                                                                0.000404
+                                                                0.000617
+                                                               -0.000013
+                                                                0.000926 )
+
+        BODY599_NUT_PREC_PM  = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.  0.0
+                                                                0.0
+                                                                0.0
+                                                                0.0
+                                                                0.0  ) 
+
+     Note the number "599"; this is the NAIF ID code for Jupiter.
+
+     In this file, the polynomial expressions for the nutation
+     precession angles are listed along with the planet's RA, DEC, and
+     prime meridian terms. Below are the 2006 IAU nutation precession
+     angles for the Jupiter system.
+
+        J1  =   73.32      +  91472.9 T
+        J2  =   24.62      +  45137.2 T
+        J3  =  283.90      +   4850.7 T
+        J4  =  355.80      +   1191.3 T
+        J5  =  119.90      +    262.1 T
+        J6  =  229.80      +     64.3 T
+        J7  =  352.25      +   2382.6 T
+        J8  =  113.35      +   6070.0 T
+
+        J9  =  146.64      + 182945.8 T
+        J10 =   49.24      +  90274.4 T 
+
+        Ja  =   99.360714  +   4850.4046 T
+        Jb  =  175.895369  +   1191.9605 T
+        Jc  =  300.323162  +    262.5475 T
+        Jd  =  114.012305  +   6070.2476 T
+        Je  =   49.511251  +     64.3000 T
+
+     Here
+
+        T represents centuries past J2000 ( TDB )
+
+        J1-J10 and Ja-Je are the nutation precession angles. The angles
+        J9 and J10 are equal to 2*J1 and 2*J2, respectively.
+ 
+        Angles J9 and J10 are not present in [1]; they have been added
+        to fit the terms 2*J1 and 2*J2, which appear in the orientation
+        models of several satellites, into a form that can be accepted
+        by the PCK system.
+
+     The assignment of the nutation precession angles for the
+     Jupiter system is as follows:
+ 
+        BODY5_NUT_PREC_ANGLES  = (    73.32      91472.9
+                                      24.62      45137.2
+                                     283.90       4850.7
+                                     355.80       1191.3
+                                     119.90        262.1
+                                     229.80         64.3
+                                     352.25       2382.6
+                                     113.35       6070.0   
+                                     146.64     182945.8
+                                      49.24      90274.4  
+                                      99.360714   4850.4046
+                                     175.895369   1191.9605
+                                     300.323162    262.5475
+                                     114.012305   6070.2476
+                                      49.511251     64.3000  )
+
+     You'll see an additional symbol grouped with the ones listed
+     above; it is
+ 
+        BODY599_LONG_AXIS
+ 
+     This is a deprecated feature; see the note on "Prime meridian
+     offsets" under "Known Limitations and Caveats" above.
+
+     The pattern of the formulas for satellite orientation is similar
+     to that for Jupiter. Example: 2006 IAU values for Io. Again, these
+     values are used as an example only; see the data area below for
+     current values.
+ 
+        Right ascension
+        ---------------
+
+        alpha  = 268.05  -  0.009 T  + 0.094 sin(J3)  +  0.024 sin(J4)
+             0  
+
+        Declination
+        -----------
+
+        delta  =  64.50  +  0.003 T  + 0.040 cos(J3)  +  0.011 cos(J4)
+             0           
+                          
+        Prime meridian
+        --------------
+
+        W      = 200.39  +  203.4889538 d  -  0.085 sin(J3)  -  0.022 sin(J4)
+
+ 
+        d represents days past J2000.
+ 
+        J3 and J4 are nutation precession angles.
+ 
+     The polynomial terms are assigned to symbols by the statements
+ 
+        BODY501_POLE_RA       = (  268.05          -0.009      0. )
+        BODY501_POLE_DEC      = (   64.50           0.003      0. )
+        BODY501_PM            = (  200.39         203.4889538  0. )
+ 
+     The coefficients of the trigonometric terms are assigned to symbols by
+     the statements
+
+        BODY501_NUT_PREC_RA   = (    0.   0.     0.094    0.024   )
+        BODY501_NUT_PREC_DEC  = (    0.   0.     0.040    0.011   )
+        BODY501_NUT_PREC_PM   = (    0.   0.    -0.085   -0.022   )
+
+     501 is the NAIF ID code for Io.
+ 
+     SPICE software expects the models for satellite orientation to
+     follow the form of the model shown here: the polynomial portions of the
+     RA, DEC, and W expressions are expected to be quadratic, the 
+     trigonometric terms for RA and W (satellite prime meridian) are expected 
+     to be linear combinations of sines of nutation precession angles, the 
+     trigonometric terms for DEC are expected to be linear combinations of 
+     cosines of nutation precession angles, and the polynomials for the 
+     nutation precession angles themselves are expected to be linear.
+ 
+     Eventually, the software will handle more complex expressions, we
+     expect.
+ 
+ 
+Shape models
+ 
+     There is only one kind of shape model supported by the SPICE
+     Toolkit software at present: the triaxial ellipsoid. The 2009 IAU
+     report [1] does not use any other models, except in the case of
+     Mars, where separate values are given for the north and south
+     polar radii. In this file, we provide as a datum the mean Mars
+     polar radius provided by [1]. The North and South values are
+     included as comments.
+
+     For each body, three radii are listed:  The first number is
+     the largest equatorial radius (the length of the semi-axis
+     containing the prime meridian), the second number is the smaller
+     equatorial radius, and the third is the polar radius.
+ 
+     Example: Radii of the Earth.
+ 
+        BODY399_RADII     = ( 6378.1366   6378.1366   6356.7519 )
+
+ 
+ 
+Body Numbers and Names
+--------------------------------------------------------
+ 
+ 
+     The following NAIF body ID codes and body names appear in this
+     file. See the NAIF IDs Required Reading file naif_ids.req for
+     a detailed discussion and a complete list of ID codes and names.
+
+
+        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
+        10 Sun
+
+ 
+        199 Mercury
+ 
+ 
+        299 Venus
+ 
+ 
+        399 Earth
+ 
+        301 Moon
+ 
+ 
+        499 Mars
+ 
+        401 Phobos      402 Deimos
+ 
+ 
+        599 Jupiter
+ 
+        501 Io          502 Europa      503 Ganymede    504 Callisto
+        505 Amalthea    506 Himalia     507 Elara       508 Pasiphae
+        509 Sinope      510 Lysithea    511 Carme       512 Ananke
+        513 Leda        514 Thebe       515 Adrastea    516 Metis
+ 
+ 
+        699 Saturn
+ 
+        601 Mimas       602 Enceladus   603 Tethys      604 Dione
+        605 Rhea        606 Titan       607 Hyperion    608 Iapetus
+        609 Phoebe      610 Janus       611 Epimetheus  612 Helene
+        613 Telesto     614 Calypso     615 Atlas       616 Prometheus
+        617 Pandora     618 Pan         632 Methone     633 Pallene
+        634 Polydeuces  635 Daphnis     649 Anthe
+ 
+ 
+        799 Uranus
+ 
+        701 Ariel       702 Umbriel     703 Titania     704 Oberon
+        705 Miranda     706 Cordelia    707 Ophelia     708 Bianca
+        709 Cressida    710 Desdemona   711 Juliet      712 Portia
+        713 Rosalind    714 Belinda     715 Puck
+ 
+ 
+        899 Neptune
+ 
+        801 Triton      802 Nereid      803 Naiad       804 Thalassa
+        805 Despina     806 Galatea     807 Larissa     808 Proteus
+ 
+ 
+        999 Pluto
+ 
+        901 Charon
+ 
+ 
+        1000005 Comet 19P/Borrelly
+        1000036 Comet Halley
+        1000093 Comet 9P/Tempel 1
+        1000107 Comet 81P/Wild 2
+
+        2000001 Asteroid Ceres
+        2000002 Asteroid Pallas
+        2000004 Asteroid Vesta
+        2000021 Asteroid Lutetia
+        2000216 Asteroid Kleopatra
+        2000253 Asteroid Mathilde
+        2000433 Asteroid Eros
+        2000511 Asteroid Davida
+        2002867 Asteroid Steins
+        2004179 Asteroid Toutatis
+        2025143 Asteroid Itokawa
+        2431010 Asteroid Ida
+        9511010 Asteroid Gaspra
+        
+ 
+Orientation Constants for the Sun and Planets
+--------------------------------------------------------
+ 
+
+Sun
+ 
+     Old values:
+
+        Values are unchanged in the 2009 IAU report.
+
+     Current values:
+ 
+        \begindata
+ 
+        BODY10_POLE_RA         = (  286.13       0.          0. )
+        BODY10_POLE_DEC        = (   63.87       0.          0. )
+        BODY10_PM              = (   84.176     14.18440     0. )
+        BODY10_LONG_AXIS       = (    0.                        )
+
+        \begintext
+ 
+Mercury
+ 
+     Old values:
+ 
+        Values are from the 2006 IAU report.
+
+        body199_pole_ra          = (  281.01     -0.033      0. )
+        body199_pole_dec         = (   61.45     -0.005      0. )
+        body199_pm               = (  329.548     6.1385025  0. )
+
+
+     Current values:
+  
+        \begindata
+
+        BODY199_POLE_RA          = (  281.0097   -0.0328     0. )
+        BODY199_POLE_DEC         = (   61.4143   -0.0049     0. )
+        BODY199_PM               = (  329.5469    6.1385025  0. )
+ 
+        BODY199_LONG_AXIS        = (    0.                        )
+
+        BODY199_NUT_PREC_RA  = ( 0. 0. 0. 0. 0. )
+
+        BODY199_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. )
+
+        BODY199_NUT_PREC_PM  = (    0.00993822
+                                   -0.00104581
+                                   -0.00010280
+                                   -0.00002364
+                                   -0.00000532  )  
+        \begintext 
+
+           The linear coefficients have been scaled up from degrees/day
+           to degrees/century, because the SPICELIB PCK reader expects
+           these units.  The original constants were:
+                         
+                                    174.791086      4.092335
+                                    349.582171      8.184670
+                                    164.373257     12.277005
+                                    339.164343     16.369340
+                                    153.955429     20.461675
+
+
+        \begindata
+
+        BODY1_NUT_PREC_ANGLES  = ( 174.791086  0.14947253587500003E+06   
+                                   349.582171  0.29894507175000006E+06
+                                   164.373257  0.44841760762500006E+06  
+                                   339.164343  0.59789014350000012E+06    
+                                   153.955429  0.74736267937499995E+06 )
+        \begintext
+ 
+  
+Venus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY299_POLE_RA          = (  272.76       0.          0. )
+        BODY299_POLE_DEC         = (   67.16       0.          0. )
+        BODY299_PM               = (  160.20      -1.4813688   0. )
+ 
+        BODY299_LONG_AXIS        = (    0.                        )
+ 
+        \begintext
+
+
+Earth
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 report.
+ 
+     Current values:
+ 
+        \begindata 
+ 
+        BODY399_POLE_RA        = (    0.      -0.641         0. )
+        BODY399_POLE_DEC       = (   90.      -0.557         0. )
+        BODY399_PM             = (  190.147  360.9856235     0. )
+        BODY399_LONG_AXIS      = (    0.                        )
+
+        \begintext
+
+
+        Nutation precession angles for the Earth-Moon system:
+
+           The linear coefficients have been scaled up from degrees/day
+           to degrees/century, because the SPICELIB PCK reader expects
+           these units.  The original constants were:
+        
+                                    125.045D0   -0.0529921D0
+                                    250.089D0   -0.1059842D0
+                                    260.008D0   13.0120009D0
+                                    176.625D0   13.3407154D0
+                                    357.529D0    0.9856003D0
+                                    311.589D0   26.4057084D0
+                                    134.963D0   13.0649930D0
+                                    276.617D0    0.3287146D0
+                                     34.226D0    1.7484877D0
+                                     15.134D0   -0.1589763D0
+                                    119.743D0    0.0036096D0
+                                    239.961D0    0.1643573D0
+                                     25.053D0   12.9590088D0 
+
+
+        \begindata
+
+       
+        BODY3_NUT_PREC_ANGLES  = (  125.045         -1935.5364525000
+                                    250.089         -3871.0729050000
+                                    260.008        475263.3328725000  
+                                    176.625        487269.6299850000
+                                    357.529         35999.0509575000
+                                    311.589        964468.4993100000
+                                    134.963        477198.8693250000
+                                    276.617         12006.3007650000
+                                     34.226         63863.5132425000 
+                                     15.134         -5806.6093575000
+                                    119.743           131.8406400000
+                                    239.961          6003.1503825000 
+                                     25.053        473327.7964200000 )
+
+
+        \begintext
+ 
+
+     Earth north geomagnetic centered dipole:
+
+           The north dipole location is time-varying.  The values shown
+           below, taken from [8], represent a discrete sampling of the
+           north dipole location from 1945 to 2000. The terms DGRF and
+           IGRF refer to, respectively, "Definitive Geomagnetic
+           Reference Field" and "International Geomagnetic Reference
+           Field."  See references [6], [8], and [9] for details.
+
+           Coordinates are planetocentric. 
+
+             Data source    Lat      Lon
+             -----------   -----    ------
+              DGRF 1945    78.47    291.47
+              DGRF 1950    78.47    291.15
+              DGRF 1955    78.46    290.84
+              DGRF 1960    78.51    290.53
+              DGRF 1965    78.53    290.15
+              DGRF 1970    78.59    289.82
+              DGRF 1975    78.69    289.53
+              DGRF 1980    78.81    289.24 
+              DGRF 1985    78.97    289.10
+              DGRF 1990    79.13    288.89
+              IGRF 1995    79.30    288.59
+              IGRF 2000    79.54    288.43      
+
+        Original values:
+
+           Values are from [7].  Note the year of publication was 1971.
+
+           body399_mag_north_pole_lon  =  ( -69.761 )
+           body399_mag_north_pole_lat  =  (  78.565 )
+
+        Previous values:
+
+           body399_n_geomag_ctr_dipole_lon  =  ( 288.43 )
+           body399_n_geomag_ctr_dipole_lat  =  (  79.54 )
+
+
+        Current values:
+
+           Values are given for the epoch 2012.0 and were derived
+           by Nat Bachman from constants provided by [11].
+
+        \begindata
+       
+        BODY399_N_GEOMAG_CTR_DIPOLE_LON  =  ( 287.62 )
+        BODY399_N_GEOMAG_CTR_DIPOLE_LAT  =  (  80.13 )
+
+        \begintext
+
+
+
+ 
+Mars
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+   
+     Current values:
+ 
+        \begindata
+ 
+        BODY499_POLE_RA          = (  317.68143   -0.1061      0.  )
+        BODY499_POLE_DEC         = (   52.88650   -0.0609      0.  )
+        BODY499_PM               = (  176.630    350.89198226  0.  )
+
+        \begintext
+ 
+        Source [5] specifies the following value for the lambda_a term
+        (BODY499_LONG_AXIS ) for Mars. This term is the POSITIVE EAST
+        LONGITUDE, measured from the prime meridian, of the meridian
+        containing the longest axis of the reference ellipsoid.
+        (CAUTION: previous values were POSITIVE WEST.)
+
+           body499_long_axis        = (  252.  )
+ 
+        We list this lambda_a value for completeness. The IAU report
+        [1] gives equal values for both equatorial radii, so the
+        lambda_a offset does not apply to the IAU model.
+ 
+        The 2003 IAU report defines M2, the second nutation precession angle,
+        by:
+ 
+                                                2
+           192.93  +  1128.4096700 d  +  8.864 T
+ 
+        We truncate the M2 series to a linear expression, because the PCK
+        software cannot handle the quadratic term.
+ 
+        Again, the linear terms are scaled by 36525.0:
+ 
+            -0.4357640000000000       -->     -15916.28010000000
+          1128.409670000000           -->   41215163.19675000
+            -1.8151000000000000E-02   -->       -662.9652750000000
+ 
+        We also introduce a fourth nutation precession angle, which
+        is the pi/2-complement of the third angle.  This angle is used
+        in computing the prime meridian location for Deimos.  See the
+        discussion of this angle below in the section containing orientation
+        constants for Deimos.
+ 
+        \begindata
+
+        BODY4_NUT_PREC_ANGLES  = (  169.51     -15916.2801
+                                    192.93   41215163.19675
+                                     53.47       -662.965275
+                                     36.53        662.965275  )
+ 
+        \begintext
+ 
+ 
+Jupiter
+ 
+     Old values:
+ 
+        The rotation rate is from the 2006 IAU report; all other
+        values are unchanged in the 2009 report.
+
+           body599_pm             = (   284.95        870.5366420      0. )
+
+                   
+     Current values:
+ 
+        The number of nutation precession angles is 15. The ninth and
+        tenth are twice the first and second, respectively. The
+        eleventh through fifteenth correspond to angles JA-JE in
+        the 2006 IAU report; angles JA-JE were not used prior to that
+        report.
+
+        \begindata
+ 
+ 
+        BODY599_POLE_RA        = (   268.056595     -0.006499       0. )
+        BODY599_POLE_DEC       = (    64.495303      0.002413       0. )
+        BODY599_PM             = (   284.95        870.5360000      0. )
+        BODY599_LONG_AXIS      = (     0.                        )
+ 
+        BODY599_NUT_PREC_RA  = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.  0.000117
+                                                                0.000938
+                                                                0.001432
+                                                                0.000030
+                                                                0.002150 )
+
+        BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.  0.000050
+                                                                0.000404
+                                                                0.000617
+                                                               -0.000013
+                                                                0.000926 )
+
+        BODY599_NUT_PREC_PM  = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.  0.0
+                                                                0.0
+                                                                0.0
+                                                                0.0
+                                                                0.0  ) 
+
+
+        BODY5_NUT_PREC_ANGLES  = (    73.32      91472.9
+                                      24.62      45137.2
+                                     283.90       4850.7
+                                     355.80       1191.3
+                                     119.90        262.1
+                                     229.80         64.3
+                                     352.25       2382.6
+                                     113.35       6070.0   
+                                     146.64     182945.8
+                                      49.24      90274.4  
+                                      99.360714   4850.4046
+                                     175.895369   1191.9605
+                                     300.323162    262.5475
+                                     114.012305   6070.2476
+                                      49.511251     64.3000  )
+        \begintext
+ 
+ 
+Saturn
+ 
+     Old values:
+ 
+        Values are from the 2006 IAU report.
+
+
+        body699_pole_ra        = (    40.589    -0.036      0.  )
+        body699_pole_dec       = (    83.537    -0.004      0.  )
+        body699_pm             = (    38.90    810.7939024  0.  )
+        body699_long_axis      = (     0.                       )
+ 
+ 
+        The first seven angles given here are the angles S1 
+        through S7 from the 2000 report; the eighth and
+        ninth angles are 2*S1 and 2*S2, respectively.
+ 
+ 
+        body6_nut_prec_angles  = (  353.32   75706.7
+                                     28.72   75706.7  
+                                    177.40  -36505.5 
+                                    300.00   -7225.9 
+                                    316.45     506.2
+                                    345.20   -1016.3  
+                                     29.80     -52.1
+                                    706.64  151413.4
+                                     57.44  151413.4  )
+
+
+     Current values:
+ 
+
+        The change from the previous set of values is the
+        removal of S7. This causes BODY6_NUT_PREC_ANGLES 
+        elements that formerly corresponded to 2*S1 and 2*S1
+        to be shifted toward the start of the array.
+
+        \begindata
+
+        BODY699_POLE_RA        = (    40.589    -0.036      0.  )
+        BODY699_POLE_DEC       = (    83.537    -0.004      0.  )
+        BODY699_PM             = (    38.90    810.7939024  0.  )
+        BODY699_LONG_AXIS      = (     0.                       )
+ 
+        \begintext
+ 
+        The first six angles given here are the angles S1 
+        through S6 from the 2009 report; the seventh and
+        eigth angles are 2*S1 and 2*S2, respectively.
+ 
+ 
+        \begindata
+
+        BODY6_NUT_PREC_ANGLES  = (  353.32   75706.7
+                                     28.72   75706.7  
+                                    177.40  -36505.5 
+                                    300.00   -7225.9 
+                                    316.45     506.2
+                                    345.20   -1016.3  
+                                    706.64  151413.4
+                                     57.44  151413.4  )
+        \begintext
+ 
+ 
+Uranus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY799_POLE_RA        = (  257.311     0.         0.  )
+        BODY799_POLE_DEC       = (  -15.175     0.         0.  )
+        BODY799_PM             = (  203.81   -501.1600928  0.  )
+        BODY799_LONG_AXIS      = (    0.                       )
+ 
+        \begintext
+        
+        The first 16 angles given here are the angles U1 
+        through U16 from the 2000 report; the 17th and
+        18th angles are 2*U11 and 2*U12, respectively.
+        
+        \begindata
+         
+        BODY7_NUT_PREC_ANGLES  = (  115.75   54991.87
+                                    141.69   41887.66
+                                    135.03   29927.35
+                                     61.77   25733.59  
+                                    249.32   24471.46
+                                     43.86   22278.41 
+                                     77.66   20289.42  
+                                    157.36   16652.76  
+                                    101.81   12872.63   
+                                    138.64    8061.81
+                                    102.23   -2024.22 
+                                    316.41    2863.96  
+                                    304.01     -51.94  
+                                    308.71     -93.17 
+                                    340.82     -75.32 
+                                    259.14    -504.81 
+                                    204.46   -4048.44
+                                    632.82    5727.92     )
+                                    
+        \begintext
+ 
+ 
+ 
+Neptune
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+ 
+     Current values:
+
+        \begindata        
+ 
+           BODY899_POLE_RA        = (  299.36     0.         0. )
+           BODY899_POLE_DEC       = (   43.46     0.         0. )
+           BODY899_PM             = (  253.18   536.3128492  0. )
+           BODY899_LONG_AXIS      = (    0.                     )
+
+
+           BODY899_NUT_PREC_RA    = (  0.70 0. 0. 0. 0. 0. 0. 0. ) 
+           BODY899_NUT_PREC_DEC   = ( -0.51 0. 0. 0. 0. 0. 0. 0. )
+           BODY899_NUT_PREC_PM    = ( -0.48 0. 0. 0. 0. 0. 0. 0. )
+
+        \begintext
+ 
+           The 2000 report defines the nutation precession angles
+ 
+              N, N1, N2, ... , N7
+ 
+           and also uses the multiples of N1 and N7
+ 
+              2*N1
+ 
+           and
+ 
+              2*N7, 3*N7, ..., 9*N7
+ 
+           In this file, we treat the angles and their multiples as
+           separate angles.  In the kernel variable
+ 
+              BODY8_NUT_PREC_ANGLES
+ 
+           the order of the angles is
+ 
+              N, N1, N2, ... , N7, 2*N1, 2*N7, 3*N7, ..., 9*N7
+ 
+           Each angle is defined by a linear polynomial, so two
+           consecutive array elements are allocated for each
+           angle.  The first term of each pair is the constant term,
+           the second is the linear term.
+ 
+        \begindata 
+
+              BODY8_NUT_PREC_ANGLES = (   357.85         52.316
+                                          323.92      62606.6
+                                          220.51      55064.2 
+                                          354.27      46564.5
+                                           75.31      26109.4 
+                                           35.36      14325.4
+                                          142.61       2824.6  
+                                          177.85         52.316 
+                                          647.840    125213.200
+                                          355.700       104.632
+                                          533.550       156.948
+                                          711.400       209.264
+                                          889.250       261.580
+                                         1067.100       313.896
+                                         1244.950       366.212
+                                         1422.800       418.528
+                                         1600.650       470.844   )
+                                         
+        \begintext
+ 
+ 
+ 
+
+Orientation Constants for the Dwarf Planet Pluto
+--------------------------------------------------------
+ 
+Pluto
+ 
+     Old values:
+ 
+        Values are from the 2006 IAU report. 
+
+        body999_pole_ra        = (  312.993   0.          0. )
+        body999_pole_dec       = (    6.163   0.          0. )
+        body999_pm             = (  237.305  -56.3625225  0. )
+        body999_long_axis      = (    0.                     )
+
+
+     Current values:
+
+        Due to the new definition of planetocentric coordinates
+        for small bodies, and to the reclassification of Pluto
+        as a dwarf planet, Pluto's north pole direction has been
+        inverted. 
+
+        The PM constant W0 is from [2]. 
+
+        \begindata
+ 
+        BODY999_POLE_RA        = (  132.993   0.          0. )
+        BODY999_POLE_DEC       = (   -6.163   0.          0. )
+        BODY999_PM             = (  302.695   56.3625225  0. )
+        BODY999_LONG_AXIS      = (    0.                     )
+
+        \begintext
+ 
+ 
+ 
+ 
+Orientation constants for the satellites
+--------------------------------------------------------
+ 
+ 
+Satellites of Earth
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+ 
+     New values:
+ 
+        \begindata
+ 
+
+        BODY301_POLE_RA      = (  269.9949        0.0031        0.      )
+        BODY301_POLE_DEC     = (   66.5392        0.0130        0.      )
+        BODY301_PM           = (   38.3213       13.17635815   -1.4D-12 )
+        BODY301_LONG_AXIS    = (    0.                                  )
+   
+        BODY301_NUT_PREC_RA  = (   -3.8787   -0.1204   0.0700   -0.0172
+                                    0.0       0.0072   0.0       0.0
+                                    0.0      -0.0052   0.0       0.0
+                                    0.0043                              )
+        
+        BODY301_NUT_PREC_DEC = (   1.5419     0.0239  -0.0278    0.0068
+                                   0.0       -0.0029   0.0009    0.0
+                                   0.0        0.0008   0.0       0.0     
+                                  -0.0009                               )
+        
+        BODY301_NUT_PREC_PM  = (   3.5610     0.1208  -0.0642    0.0158
+                                   0.0252    -0.0066  -0.0047   -0.0046
+                                   0.0028     0.0052   0.0040    0.0019
+                                  -0.0044                               )
+        \begintext
+ 
+
+ 
+Satellites of Mars
+ 
+ 
+     Phobos
+ 
+          Old values:
+ 
+             Values are unchanged in the 2009 IAU report.
+ 
+
+          Current values:
+ 
+            The quadratic prime meridian term is scaled by 1/36525**2:
+ 
+               8.864000000000000   --->   6.6443009930565219E-09
+ 
+        \begindata
+ 
+          BODY401_POLE_RA  = ( 317.68    -0.108     0.                     )
+          BODY401_POLE_DEC = (  52.90    -0.061     0.                     )
+          BODY401_PM       = (  35.06  1128.8445850 6.6443009930565219E-09 )
+                                       
+          BODY401_LONG_AXIS     = (    0.   )
+ 
+          BODY401_NUT_PREC_RA   = (   1.79    0.    0.   0. )
+          BODY401_NUT_PREC_DEC  = (  -1.08    0.    0.   0. )
+          BODY401_NUT_PREC_PM   = (  -1.42   -0.78  0.   0. )
+
+
+        \begintext
+ 
+ 
+     Deimos
+ 
+        Old values:
+ 
+           Values are unchanged in the 2009 IAU report.
+  
+        New values:
+ 
+           The Deimos prime meridian expression is:
+ 
+ 
+                                                     2
+              W = 79.41  +  285.1618970 d  -  0.520 T  -  2.58 sin M
+                                                                    3
+ 
+                                                       +  0.19 cos M .
+                                                                    3
+ 
+ 
+           At the present time, the PCK kernel software (the routine
+           BODEUL in particular) cannot handle the cosine term directly,
+           but we can represent it as
+ 
+              0.19 sin M
+                        4
+ 
+           where
+ 
+              M   =  90.D0 - M
+               4              3
+ 
+           Therefore, the nutation precession angle assignments for Phobos
+           and Deimos contain four coefficients rather than three.
+ 
+           The quadratic prime meridian term is scaled by 1/36525**2:
+ 
+              -0.5200000000000000  --->   -3.8978300049519307E-10
+ 
+        \begindata
+ 
+           BODY402_POLE_RA       = (  316.65     -0.108       0.           )
+           BODY402_POLE_DEC      = (   53.52     -0.061       0.           )
+           BODY402_PM            = (   79.41    285.1618970  -3.897830D-10 )
+           BODY402_LONG_AXIS     = (    0.                                 )
+ 
+           BODY402_NUT_PREC_RA   = (    0.   0.   2.98    0.   )
+           BODY402_NUT_PREC_DEC  = (    0.   0.  -1.78    0.   )
+           BODY402_NUT_PREC_PM   = (    0.   0.  -2.58    0.19 )
+
+        \begintext
+ 
+ 
+ 
+ 
+Satellites of Jupiter
+ 
+ 
+     Io
+ 
+          Old values:
+ 
+             Values are unchanged in the 2009 IAU report.
+ 
+          Current values:
+         
+        \begindata
+ 
+        BODY501_POLE_RA       = (  268.05          -0.009      0. )
+        BODY501_POLE_DEC      = (   64.50           0.003      0. )
+        BODY501_PM            = (  200.39         203.4889538  0. )
+        BODY501_LONG_AXIS     = (    0.                           )
+ 
+        BODY501_NUT_PREC_RA   = (    0.   0.     0.094    0.024   )
+        BODY501_NUT_PREC_DEC  = (    0.   0.     0.040    0.011   )
+        BODY501_NUT_PREC_PM   = (    0.   0.    -0.085   -0.022   )
+
+        \begintext
+ 
+ 
+ 
+     Europa
+ 
+ 
+        Old values:
+
+           Values are unchanged in the 2009 IAU report.      
+
+
+        Current values:
+ 
+        \begindata 
+ 
+        BODY502_POLE_RA       = (  268.08          -0.009      0.   )
+        BODY502_POLE_DEC      = (   64.51           0.003      0.   )
+        BODY502_PM            = (   36.022        101.3747235  0.   )
+        BODY502_LONG_AXIS     = (    0.                             )
+ 
+        BODY502_NUT_PREC_RA   = ( 0. 0. 0.   1.086   0.060   0.015   0.009 )
+        BODY502_NUT_PREC_DEC  = ( 0. 0. 0.   0.468   0.026   0.007   0.002 )
+        BODY502_NUT_PREC_PM   = ( 0. 0. 0.  -0.980  -0.054  -0.014  -0.008 )
+ 
+        \begintext
+ 
+ 
+     Ganymede
+ 
+        Old values:
+ 
+             Values are unchanged in the 2009 IAU report.
+
+        Current values:
+        
+        \begindata
+    
+        BODY503_POLE_RA       = (  268.20         -0.009       0.  )
+        BODY503_POLE_DEC      = (   64.57          0.003       0.  )
+        BODY503_PM            = (   44.064        50.3176081   0.  )
+        BODY503_LONG_AXIS     = (    0.                            )
+
+        BODY503_NUT_PREC_RA   = ( 0. 0. 0.  -0.037   0.431   0.091   )
+        BODY503_NUT_PREC_DEC  = ( 0. 0. 0.  -0.016   0.186   0.039   )
+        BODY503_NUT_PREC_PM   = ( 0. 0. 0.   0.033  -0.389  -0.082   )
+ 
+        \begintext
+ 
+ 
+     Callisto
+ 
+        Old values:
+
+             Values are unchanged in the 2009 IAU report.
+                
+        Current values:
+        
+        
+        \begindata
+  
+        BODY504_POLE_RA       = (   268.72    -0.009       0.  )
+        BODY504_POLE_DEC      = (    64.83     0.003       0.  )
+        BODY504_PM            = (   259.51    21.5710715   0.  )
+        BODY504_LONG_AXIS     = (     0.                       )
+ 
+        BODY504_NUT_PREC_RA   = ( 0. 0. 0. 0.  -0.068   0.590  0.   0.010 )
+        BODY504_NUT_PREC_DEC  = ( 0. 0. 0. 0.  -0.029   0.254  0.  -0.004 )
+        BODY504_NUT_PREC_PM   = ( 0. 0. 0. 0.   0.061  -0.533  0.  -0.009 )
+ 
+        \begintext
+ 
+ 
+     Amalthea
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report.        
+        
+        Current values:
+         
+        \begindata
+ 
+        BODY505_POLE_RA       = (   268.05    -0.009      0.  )
+        BODY505_POLE_DEC      = (    64.49     0.003      0.  )
+        BODY505_PM            = (   231.67   722.6314560  0.  )
+        BODY505_LONG_AXIS     = (     0.                      )
+ 
+        BODY505_NUT_PREC_RA  = ( -0.84  0. 0. 0. 0. 0. 0. 0.   0.01  0. )
+        BODY505_NUT_PREC_DEC = ( -0.36  0. 0. 0. 0. 0. 0. 0.   0.    0. )
+        BODY505_NUT_PREC_PM  = (  0.76  0. 0. 0. 0. 0. 0. 0.  -0.01  0. )
+ 
+        \begintext
+ 
+ 
+     Thebe
+ 
+ 
+        Old values:
+                
+           Values are unchanged in the 2009 IAU report.                
+          
+        Current values:
+        
+        \begindata
+ 
+        BODY514_POLE_RA       = (  268.05     -0.009       0.  )
+        BODY514_POLE_DEC      = (   64.49      0.003       0.  )
+        BODY514_PM            = (    8.56    533.7004100   0.  )
+        BODY514_LONG_AXIS     = (    0.                        )
+ 
+        BODY514_NUT_PREC_RA  = ( 0.  -2.11  0. 0. 0. 0. 0. 0. 0.  0.04 )
+        BODY514_NUT_PREC_DEC = ( 0.  -0.91  0. 0. 0. 0. 0. 0. 0.  0.01 )
+        BODY514_NUT_PREC_PM  = ( 0.   1.91  0. 0. 0. 0. 0. 0. 0. -0.04 )
+ 
+        \begintext
+ 
+ 
+     Adrastea
+ 
+        Old values:
+                
+           Values are unchanged in the 2009 IAU report.                
+        
+        Current values:
+        
+        \begindata 
+ 
+        BODY515_POLE_RA       = (  268.05     -0.009       0.  )
+        BODY515_POLE_DEC      = (   64.49      0.003       0.  )
+        BODY515_PM            = (   33.29   1206.9986602   0.  )
+        BODY515_LONG_AXIS     = (    0.                        )
+
+        \begintext
+ 
+ 
+     Metis
+  
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report.  
+              
+        Current values:
+           
+        \begindata
+
+        BODY516_POLE_RA       = (  268.05     -0.009       0.  )
+        BODY516_POLE_DEC      = (   64.49      0.003       0.  )
+        BODY516_PM            = (  346.09   1221.2547301   0.  )
+        BODY516_LONG_AXIS     = (    0.                        )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Saturn
+      
+     
+     Mimas
+ 
+        Old values:
+        
+           Values are from the 2006 IAU report.
+               
+           body601_pole_ra       = (   40.66     -0.036      0.  )
+           body601_pole_dec      = (   83.52     -0.004      0.  )
+           body601_pm            = (  337.46    381.9945550  0.  )
+           body601_long_axis     = (     0.                      )
+ 
+           body601_nut_prec_ra   = ( 0. 0.   13.56  0.    0.    0. 0. 0. 0. )
+           body601_nut_prec_dec  = ( 0. 0.   -1.53  0.    0.    0. 0. 0. 0. )
+           body601_nut_prec_pm   = ( 0. 0.  -13.48  0.  -44.85  0. 0. 0. 0. )
+
+
+        Current values:
+
+        \begindata
+  
+           BODY601_POLE_RA       = (   40.66     -0.036      0.  )
+           BODY601_POLE_DEC      = (   83.52     -0.004      0.  )
+           BODY601_PM            = (  333.46    381.9945550  0.  )
+           BODY601_LONG_AXIS     = (     0.                      )
+ 
+           BODY601_NUT_PREC_RA   = ( 0. 0.   13.56  0.    0.    0. 0. 0.  )
+           BODY601_NUT_PREC_DEC  = ( 0. 0.   -1.53  0.    0.    0. 0. 0.  )
+           BODY601_NUT_PREC_PM   = ( 0. 0.  -13.48  0.  -44.85  0. 0. 0.  )
+
+        \begintext
+ 
+ 
+     Enceladus
+ 
+ 
+        Old values:
+        
+           Values are from the 2006 IAU report.  
+               
+           body602_pole_ra       = (   40.66    -0.036       0. )
+           body602_pole_dec      = (   83.52    -0.004       0. )
+           body602_pm            = (    2.82   262.7318996   0. )
+           body602_long_axis     = (    0.                      )
+
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY602_POLE_RA       = (   40.66    -0.036       0. )
+           BODY602_POLE_DEC      = (   83.52    -0.004       0. )
+           BODY602_PM            = (    6.32   262.7318996   0. )
+           BODY602_LONG_AXIS     = (    0.                      )
+
+        \begintext
+ 
+ 
+ 
+     Tethys
+ 
+ 
+        Old values:
+        
+           Values are from the 2006 IAU report. 
+ 
+           body603_pole_ra       = (   40.66    -0.036       0. )
+           body603_pole_dec      = (   83.52    -0.004       0. )
+           body603_pm            = (   10.45   190.6979085   0. )
+           body603_long_axis     = (    0.                      )
+ 
+           body603_nut_prec_ra   = ( 0. 0. 0.   9.66   0.    0.  0.  0.  0. )
+           body603_nut_prec_dec  = ( 0. 0. 0.  -1.09   0.    0.  0.  0.  0. )
+           body603_nut_prec_pm   = ( 0. 0. 0.  -9.60   2.23  0.  0.  0.  0. )
+
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY603_POLE_RA       = (   40.66    -0.036       0. )
+           BODY603_POLE_DEC      = (   83.52    -0.004       0. )
+           BODY603_PM            = (    8.95   190.6979085   0. )
+           BODY603_LONG_AXIS     = (    0.                      )
+ 
+           BODY603_NUT_PREC_RA   = ( 0. 0. 0.   9.66   0.    0.  0.  0. )
+           BODY603_NUT_PREC_DEC  = ( 0. 0. 0.  -1.09   0.    0.  0.  0. )
+           BODY603_NUT_PREC_PM   = ( 0. 0. 0.  -9.60   2.23  0.  0.  0. )
+
+        \begintext
+ 
+ 
+     Dione
+ 
+ 
+        Old values:
+        
+           Values are from the 2006 IAU report. 
+ 
+           body604_pole_ra       = (  40.66      -0.036      0.  )
+           body604_pole_dec      = (  83.52      -0.004      0.  )
+           body604_pm            = (  357.00    131.5349316  0.  )
+           body604_long_axis     = (    0.                       )
+
+
+        Current values:
+ 
+        \begindata
+   
+           BODY604_POLE_RA       = (  40.66      -0.036      0.  )
+           BODY604_POLE_DEC      = (  83.52      -0.004      0.  )
+           BODY604_PM            = (  357.6     131.5349316  0.  )
+           BODY604_LONG_AXIS     = (    0.                       )
+
+        \begintext
+ 
+ 
+ 
+     Rhea
+     
+ 
+        Old values:
+        
+           Values are from the 2009 IAU report.
+
+           body605_pole_ra       = (   40.38   -0.036       0. )
+           body605_pole_dec      = (   83.55   -0.004       0. )
+           body605_pm            = (  235.16   79.6900478   0. )
+           body605_long_axis     = (    0.                     )
+ 
+           body605_nut_prec_ra   = ( 0. 0. 0. 0. 0.   3.10   0. 0. 0. )
+           body605_nut_prec_dec  = ( 0. 0. 0. 0. 0.  -0.35   0. 0. 0. )
+           body605_nut_prec_pm   = ( 0. 0. 0. 0. 0.  -3.08   0. 0. 0. )
+
+ 
+        Current values:
+ 
+           Data values are unchanged in the 2009 IAU report. However
+           the kernel variable contents have changed due to removal of
+           the angle S7.
+
+        \begindata
+   
+           BODY605_POLE_RA       = (   40.38   -0.036       0. )
+           BODY605_POLE_DEC      = (   83.55   -0.004       0. )
+           BODY605_PM            = (  235.16   79.6900478   0. )
+           BODY605_LONG_AXIS     = (    0.                     )
+ 
+           BODY605_NUT_PREC_RA   = ( 0. 0. 0. 0. 0.   3.10   0. 0. )
+           BODY605_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0.  -0.35   0. 0. )
+           BODY605_NUT_PREC_PM   = ( 0. 0. 0. 0. 0.  -3.08   0. 0. )
+ 
+        \begintext
+ 
+ 
+ 
+     Titan
+ 
+ 
+        Old values:
+        
+           Values are from the 2006 IAU report. 
+
+           BODY606_POLE_RA       = (    36.41   -0.036      0. )
+           BODY606_POLE_DEC      = (    83.94   -0.004      0. )
+           BODY606_PM            = (   189.64   22.5769768  0. )
+           BODY606_LONG_AXIS     = (     0.                    )
+ 
+           BODY606_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 0.  2.66  0. 0 )
+           BODY606_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 0. -0.30  0. 0 )
+           BODY606_NUT_PREC_PM   = ( 0. 0. 0. 0. 0. 0. -2.64  0. 0 )
+
+
+        Current values:
+
+              Note removal of dependence on the nutation precession
+              angles.
+ 
+        \begindata
+ 
+           BODY606_POLE_RA       = (    39.4827    0.         0. )
+           BODY606_POLE_DEC      = (    83.4279    0.         0. )
+           BODY606_PM            = (   186.5855   22.5769768  0. )
+           BODY606_LONG_AXIS     = (     0.                      )
+ 
+           BODY606_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 0. 0. 0 )
+           BODY606_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 0. 0. 0 )
+           BODY606_NUT_PREC_PM   = ( 0. 0. 0. 0. 0. 0. 0. 0 )
+
+        \begintext
+ 
+ 
+ 
+     Hyperion
+ 
+         The IAU report does not give an orientation model for Hyperion.
+         Hyperion's rotation is in chaotic and is not predictable for
+         long periods.
+
+ 
+     Iapetus
+ 
+ 
+        Old values:
+        
+           Values are from the 2006 IAU report. 
+
+           body608_pole_ra       = (   318.16  -3.949      0.  )
+           body608_pole_dec      = (    75.03  -1.143      0.  )
+           body608_pm            = (   350.20   4.5379572  0.  )
+           body608_long_axis     = (     0.                    )
+
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY608_POLE_RA       = (   318.16  -3.949      0.  )
+           BODY608_POLE_DEC      = (    75.03  -1.143      0.  )
+           BODY608_PM            = (   355.2    4.5379572  0.  )
+           BODY608_LONG_AXIS     = (     0.                    )
+
+        \begintext
+ 
+ 
+ 
+     Phoebe
+ 
+
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+  
+        Current values:
+ 
+        \begindata 
+  
+           BODY609_POLE_RA       = ( 356.90       0.         0.  )
+           BODY609_POLE_DEC      = (  77.80       0.         0.  )
+           BODY609_PM            = ( 178.58     931.639      0.  )
+           BODY609_LONG_AXIS     = (    0.                       )
+
+        \begintext
+ 
+ 
+     Janus
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+
+        Current values:
+
+           Data values are unchanged in the 2009 IAU report. However
+           the kernel variable contents have changed due to removal of
+           the angle S7.
+ 
+        \begindata
+
+           BODY610_POLE_RA       = (  40.58    -0.036       0. )
+           BODY610_POLE_DEC      = (  83.52    -0.004       0. )
+           BODY610_PM            = (  58.83   518.2359876   0. )
+           BODY610_LONG_AXIS     = (   0.                      )
+ 
+           BODY610_NUT_PREC_RA   = ( 0. -1.623  0. 0. 0. 0. 0.  0.023 )
+           BODY610_NUT_PREC_DEC  = ( 0. -0.183  0. 0. 0. 0. 0.  0.001 )
+           BODY610_NUT_PREC_PM   = ( 0.  1.613  0. 0. 0. 0. 0. -0.023 )
+ 
+        \begintext
+ 
+ 
+ 
+     Epimetheus
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+         
+        Current values:
+ 
+           Data values are unchanged in the 2009 IAU report. However
+           the kernel variable contents have changed due to removal of
+           the angle S7.
+
+        \begindata 
+  
+           BODY611_POLE_RA       = (  40.58    -0.036        0. )
+           BODY611_POLE_DEC      = (  83.52    -0.004        0. )
+           BODY611_PM            = ( 293.87   518.4907239    0. )
+           BODY611_LONG_AXIS     = (   0.                       )
+ 
+           BODY611_NUT_PREC_RA   = ( -3.153   0. 0. 0. 0. 0.   0.086  0. )
+           BODY611_NUT_PREC_DEC  = ( -0.356   0. 0. 0. 0. 0.   0.005  0. )
+           BODY611_NUT_PREC_PM   = (  3.133   0. 0. 0. 0. 0.  -0.086  0. )
+
+        \begintext
+ 
+ 
+ 
+     Helene
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata 
+ 
+           BODY612_POLE_RA       = (  40.85     -0.036        0. )
+           BODY612_POLE_DEC      = (  83.34     -0.004        0. )
+           BODY612_PM            = ( 245.12    131.6174056    0. )
+           BODY612_LONG_AXIS     = (   0.                        )
+
+        \begintext
+ 
+ 
+ 
+     Telesto
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata 
+ 
+           BODY613_POLE_RA       = ( 50.51    -0.036      0.  )
+           BODY613_POLE_DEC      = ( 84.06    -0.004      0.  )
+           BODY613_PM            = ( 56.88   190.6979332  0.  )
+           BODY613_LONG_AXIS     = (  0.                      )
+
+        \begintext
+
+ 
+ 
+     Calypso
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+  
+           BODY614_POLE_RA       = (   36.41    -0.036        0.  )
+           BODY614_POLE_DEC      = (   85.04    -0.004        0.  )
+           BODY614_PM            = (  153.51   190.6742373    0.  )
+           BODY614_LONG_AXIS     = (    0.                        )
+ 
+        \begintext
+ 
+ 
+ 
+     Atlas
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY615_POLE_RA       = (   40.58     -0.036      0. )
+           BODY615_POLE_DEC      = (   83.53     -0.004      0. )  
+           BODY615_PM            = (  137.88    598.3060000  0. )
+           BODY615_LONG_AXIS     = (    0.                      )
+
+        \begintext
+ 
+ 
+ 
+     Prometheus
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+  
+           BODY616_POLE_RA       = (  40.58      -0.036    )
+           BODY616_POLE_DEC      = (  83.53      -0.004    )
+           BODY616_PM            = ( 296.14     587.289000 )
+           BODY616_LONG_AXIS     = (   0.                  )
+ 
+        \begintext
+ 
+ 
+ 
+     Pandora
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY617_POLE_RA       = (   40.58     -0.036      0.  )
+           BODY617_POLE_DEC      = (   83.53     -0.004      0.  )
+           BODY617_PM            = (  162.92    572.7891000  0.  )
+           BODY617_LONG_AXIS     = (     0.                      )
+ 
+        \begintext
+ 
+ 
+ 
+     Pan
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY618_POLE_RA       = (   40.6     -0.036       0. )
+           BODY618_POLE_DEC      = (   83.5     -0.004       0. )
+           BODY618_PM            = (   48.8    626.0440000   0. )
+           BODY618_LONG_AXIS     = (    0.                      )
+
+        \begintext
+ 
+ 
+ 
+ 
+ 
+Satellites of Uranus
+ 
+  
+ 
+     Ariel
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+ 
+        Current values:
+
+        \begindata 
+
+           BODY701_POLE_RA       = ( 257.43     0.          0. )
+           BODY701_POLE_DEC      = ( -15.10     0.          0. )
+           BODY701_PM            = ( 156.22  -142.8356681   0. )
+           BODY701_LONG_AXIS     = (   0.                      )
+ 
+           BODY701_NUT_PREC_RA   = (  0. 0. 0. 0. 0.
+                                      0. 0. 0. 0. 0.  0.    0.    0.29 )
+ 
+           BODY701_NUT_PREC_DEC  = (  0. 0. 0. 0. 0.
+                                      0. 0. 0. 0. 0.  0.    0.    0.28 )
+ 
+           BODY701_NUT_PREC_PM   = (  0. 0. 0. 0. 0.
+                                      0. 0. 0. 0. 0.  0.   0.05   0.08 )
+        \begintext
+ 
+ 
+ 
+     Umbriel
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata 
+ 
+           BODY702_POLE_RA       = (  257.43     0.          0. )
+           BODY702_POLE_DEC      = (  -15.10     0.          0. )
+           BODY702_PM            = (  108.05   -86.8688923   0. )
+           BODY702_LONG_AXIS     = (    0.                      )
+ 
+           BODY702_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0.   0.    0.   0.21 )
+ 
+           BODY702_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0.   0.    0.   0.20 )
+ 
+           BODY702_NUT_PREC_PM   = ( 0. 0. 0. 0. 0.  
+                                     0. 0. 0. 0. 0.   0.  -0.09  0.   0.06 )
+
+        \begintext
+ 
+ 
+ 
+     Titania
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY703_POLE_RA       = (  257.43    0.          0. )
+           BODY703_POLE_DEC      = (  -15.10    0.          0. )
+           BODY703_PM            = (   77.74  -41.3514316   0. )
+           BODY703_LONG_AXIS     = (    0.                     )
+ 
+           BODY703_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0. 0. 0. 0.   0.29 )
+ 
+           BODY703_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0. 0. 0. 0.   0.28 )
+ 
+           BODY703_NUT_PREC_PM   = ( 0. 0. 0. 0. 0.  
+                                     0. 0. 0. 0. 0.   0. 0. 0. 0.   0.08 )
+        \begintext
+ 
+ 
+ 
+     Oberon
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+  
+           BODY704_POLE_RA       = (  257.43    0.          0. )
+           BODY704_POLE_DEC      = (  -15.10    0.          0. )
+           BODY704_PM            = (    6.77  -26.7394932   0. )
+           BODY704_LONG_AXIS     = (    0.                     )
+ 
+ 
+           BODY704_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0.16 )
+ 
+           BODY704_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0.16 )
+ 
+           BODY704_NUT_PREC_PM   = ( 0. 0. 0. 0. 0.  
+                                     0. 0. 0. 0. 0.  
+                                     0. 0. 0. 0. 0.   0.04 )
+        \begintext
+ 
+ 
+ 
+     Miranda
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY705_POLE_RA      = (  257.43     0.         0. )
+           BODY705_POLE_DEC     = (  -15.08     0.         0. )
+           BODY705_PM           = (   30.70  -254.6906892  0. )
+           BODY705_LONG_AXIS    = (    0.                     )
+ 
+           BODY705_NUT_PREC_RA  = ( 0.     0.     0.    0.    0.  
+                                    0.     0.     0.    0.    0. 
+                                    4.41   0.     0.    0.    0. 
+                                    0.    -0.04   0.             )
+ 
+           BODY705_NUT_PREC_DEC = ( 0.     0.     0.    0.    0.  
+                                    0.     0.     0.    0.    0. 
+                                    4.25   0.     0.    0.    0. 
+                                    0.    -0.02   0.             )
+ 
+           BODY705_NUT_PREC_PM  = ( 0.     0.     0.    0.    0.  
+                                    0.     0.     0.    0.    0. 
+                                    1.15  -1.27   0.    0.    0.  
+                                    0.    -0.09   0.15           )
+        \begintext
+ 
+ 
+ 
+     Cordelia
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+  
+           BODY706_POLE_RA      = (   257.31      0.         0.  )
+           BODY706_POLE_DEC     = (   -15.18      0.         0.  )
+           BODY706_PM           = (   127.69  -1074.5205730  0.  )
+           BODY706_LONG_AXIS    = (     0.                       )
+ 
+           BODY706_NUT_PREC_RA  = (   -0.15    0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )
+
+           BODY706_NUT_PREC_DEC = (    0.14    0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )  
+
+           BODY706_NUT_PREC_PM  = (   -0.04    0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             ) 
+ 
+        \begintext
+ 
+ 
+
+     Ophelia
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+   
+           BODY707_POLE_RA      = (  257.31     0.         0. )
+           BODY707_POLE_DEC     = (  -15.18     0.         0. )
+           BODY707_PM           = (  130.35  -956.4068150  0. )
+           BODY707_LONG_AXIS    = (    0.                     )
+ 
+           BODY707_NUT_PREC_RA  = (    0.     -0.09   0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )
+
+           BODY707_NUT_PREC_DEC = (    0.      0.09   0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )
+
+           BODY707_NUT_PREC_PM  = (    0.     -0.03   0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )
+ 
+        \begintext
+ 
+ 
+ 
+     Bianca
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+ 
+           BODY708_POLE_RA      = (  257.31     0.         0.  )
+           BODY708_POLE_DEC     = (  -15.18     0.         0.  )
+           BODY708_PM           = (  105.46  -828.3914760  0.  )
+           BODY708_LONG_AXIS    = (    0.                      )
+ 
+           BODY708_NUT_PREC_RA  = (    0.      0.    -0.16    0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.               )
+
+           BODY708_NUT_PREC_DEC = (    0.      0.     0.16    0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.               )
+
+           BODY708_NUT_PREC_PM  = (    0.      0.    -0.04    0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.               )
+
+        \begintext
+ 
+ 
+ 
+     Cressida
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+ 
+ 
+           BODY709_POLE_RA      = (  257.31      0.          0.  )
+           BODY709_POLE_DEC     = (  -15.18      0.          0.  )
+           BODY709_PM           = (   59.16   -776.5816320   0.  )
+           BODY709_LONG_AXIS    = (    0.                        )
+ 
+
+           BODY709_NUT_PREC_RA  = (    0.      0.     0.     -0.04   0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.                )
+
+
+           BODY709_NUT_PREC_DEC = (    0.      0.     0.      0.04   0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.                )
+
+
+           BODY709_NUT_PREC_PM  = (    0.      0.     0.     -0.01   0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.                )
+
+
+        \begintext
+ 
+ 
+ 
+     Desdemona
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata 
+  
+           BODY710_POLE_RA      = ( 257.31      0.           0.  )
+           BODY710_POLE_DEC     = ( -15.18      0.           0.  )
+           BODY710_PM           = (  95.08   -760.0531690    0.  )
+           BODY710_LONG_AXIS    = (   0.                         )
+ 
+           BODY710_NUT_PREC_RA  = (   0.      0.     0.      0.    -0.17 
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+
+           BODY710_NUT_PREC_DEC = (   0.      0.     0.      0.     0.16 
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+
+           BODY710_NUT_PREC_PM  = (   0.      0.     0.      0.    -0.04  
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                 )
+
+        \begintext
+ 
+ 
+ 
+     Juliet
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+  
+           BODY711_POLE_RA      = (  257.31     0.           0.   )
+           BODY711_POLE_DEC     = (  -15.18     0.           0.   )
+           BODY711_PM           = (  302.56  -730.1253660    0.   )
+           BODY711_LONG_AXIS    = (    0.                         )
+ 
+           BODY711_NUT_PREC_RA  = (   0.      0.     0.      0.     0.  
+                                     -0.06    0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                 )
+ 
+           BODY711_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.06    0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                 )
+  
+           BODY711_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                     -0.02    0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                 )
+ 
+        \begintext
+ 
+ 
+ 
+     Portia
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+    
+           BODY712_POLE_RA      = (  257.31      0.           0.   )
+           BODY712_POLE_DEC     = (  -15.18      0.           0.   )
+           BODY712_PM           = (   25.03   -701.4865870    0.   )
+           BODY712_LONG_AXIS    = (    0.                          )
+ 
+           BODY712_NUT_PREC_RA  = (   0.      0.     0.      0.     0. 
+                                      0.     -0.09   0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                )
+
+           BODY712_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.      0.09   0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.               )
+
+           BODY712_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                      0.     -0.02   0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.               )
+
+        \begintext
+ 
+ 
+ 
+     Rosalind
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+   
+           BODY713_POLE_RA      = ( 257.31      0.          0.  )
+           BODY713_POLE_DEC     = ( -15.18      0.          0.  )
+           BODY713_PM           = ( 314.90   -644.6311260   0.  )
+           BODY713_LONG_AXIS    = (   0.                        )
+ 
+           BODY713_NUT_PREC_RA  = (   0.      0.     0.      0.     0. 
+                                      0.      0.    -0.29    0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.               )
+
+           BODY713_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.28    0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.              )
+
+           BODY713_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                      0.      0.    -0.08    0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.              )
+ 
+        \begintext
+ 
+ 
+ 
+     Belinda
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata 
+ 
+           BODY714_POLE_RA      = (   257.31      0.         0. )
+           BODY714_POLE_DEC     = (   -15.18      0.         0. )
+           BODY714_PM           = (   297.46   -577.3628170  0. )
+           BODY714_LONG_AXIS    = (     0.                      )
+ 
+           BODY714_NUT_PREC_RA  = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.     -0.03   0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                )
+
+           BODY714_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.      0.03   0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                )
+
+           BODY714_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.     -0.01   0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                )
+        \begintext
+ 
+ 
+ 
+     Puck
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+  
+           BODY715_POLE_RA      = (  257.31      0.         0.  )
+           BODY715_POLE_DEC     = (  -15.18      0.         0.  )
+           BODY715_PM           = (   91.24   -472.5450690  0.  )
+           BODY715_LONG_AXIS    = (    0.                       )
+ 
+           BODY715_NUT_PREC_RA  = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.      0.    -0.33 
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+
+           BODY715_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.      0.     0.31
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+
+           BODY715_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.      0.    -0.09
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+  
+        \begintext
+ 
+ 
+ 
+ 
+Satellites of Neptune
+ 
+ 
+     Triton
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+ 
+        Current values:
+ 
+        \begindata
+
+           BODY801_POLE_RA       = ( 299.36     0.         0.  )
+           BODY801_POLE_DEC      = (  41.17     0.         0.  )
+           BODY801_PM            = ( 296.53   -61.2572637  0.  )
+           BODY801_LONG_AXIS     = (   0.                      )
+ 
+ 
+           BODY801_NUT_PREC_RA   = (  0.      0.      0.      0.  
+                                      0.      0.      0.    -32.35    
+                                      0.     -6.28   -2.08   -0.74       
+                                     -0.28   -0.11   -0.07   -0.02    
+                                     -0.01                         )
+ 
+ 
+           BODY801_NUT_PREC_DEC  = (  0.      0.      0.      0.  
+                                      0.      0.      0.     22.55    
+                                      0.      2.10    0.55    0.16   
+                                      0.05    0.02    0.01    0.
+                                      0.                           )
+ 
+ 
+           BODY801_NUT_PREC_PM   = (  0.      0.      0.      0.  
+                                      0.      0.      0.     22.25   
+                                      0.      6.73    2.05    0.74   
+                                      0.28    0.11    0.05    0.02
+                                      0.01                         )
+  
+        \begintext
+ 
+ 
+ 
+ 
+     Nereid
+ 
+        Old values:
+ 
+           Values are from the 1988 IAU report [10].  Note that this 
+           rotation model pre-dated the 1989 Voyager 2 Neptune
+           encounter.
+
+ 
+           body802_pole_ra       = (    273.48    0.        0.  )
+           body802_pole_dec      = (     67.22    0.        0.  )
+           body802_pm            = (    237.22    0.9996465 0.  )
+           body802_long_axis     = (      0.                    )
+ 
+ 
+           The report seems to have a typo:  in the nut_prec_ra expression,
+           where the report gives  -0.51 sin 3N3, we use -0.51 3N2.
+ 
+           body802_nut_prec_ra   = (  0.    -17.81
+                                      0.      0.     0.      0.
+                                      0.      0.     0.
+                                      2.56   -0.51   0.11   -0.03  )
+ 
+           body802_nut_prec_dec  = (  0.     -6.67
+                                      0.      0.     0.      0.
+                                      0.      0.     0.
+                                      0.47   -0.07   0.01          )
+ 
+           body802_nut_prec_pm   = (  0.     16.48
+                                      0.      0.     0.      0.
+                                      0.      0.     0.
+                                     -2.57    0.51 -0.11    0.02  )
+ 
+ 
+ 
+        Current values:
+ 
+           The 2009 report [1] states that values for Nereid are not
+           given because Nereid is not in synchronous rotation with Neptune
+           (notes following table 2).
+ 
+ 
+ 
+     Naiad
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+ 
+        \begindata
+  
+           BODY803_POLE_RA       = (  299.36      0.          0.  )
+           BODY803_POLE_DEC      = (   43.36      0.          0.  )
+           BODY803_PM            = (  254.06  +1222.8441209   0.  )
+           BODY803_LONG_AXIS     = (    0.                        )
+ 
+ 
+           BODY803_NUT_PREC_RA   = (    0.70     -6.49     0.      0.
+                                        0.        0.       0.      0.
+                                        0.25      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+ 
+           BODY803_NUT_PREC_DEC  = (   -0.51     -4.75     0.      0.
+                                        0.        0.       0.      0.
+                                        0.09      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+ 
+           BODY803_NUT_PREC_PM   = (   -0.48      4.40     0.      0.
+                                        0.        0.       0.      0.
+                                       -0.27      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+    
+        \begintext
+ 
+ 
+ 
+ 
+     Thalassa
+ 
+
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+
+           BODY804_POLE_RA       = (  299.36      0.          0. )
+           BODY804_POLE_DEC      = (   43.45      0.          0. )
+           BODY804_PM            = (  102.06   1155.7555612   0. )  
+           BODY804_LONG_AXIS     = (    0.                       )
+ 
+ 
+           BODY804_NUT_PREC_RA   = (    0.70      0.      -0.28    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+   
+  
+           BODY804_NUT_PREC_DEC  = (   -0.51      0.      -0.21    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0. 
+                                        0.                             )
+ 
+           BODY804_NUT_PREC_PM   = (   -0.48      0.       0.19    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0. 
+                                        0.                             )
+                                                                 
+        \begintext
+ 
+ 
+ 
+     Despina
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+ 
+        \begindata
+  
+           BODY805_POLE_RA       = (  299.36      0.          0. )
+           BODY805_POLE_DEC      = (   43.45      0.          0. )
+           BODY805_PM            = (  306.51  +1075.7341562   0. )
+           BODY805_LONG_AXIS     = (    0.                       )
+ 
+ 
+           BODY805_NUT_PREC_RA   = (    0.70      0.       0.     -0.09
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                              )
+ 
+           BODY805_NUT_PREC_DEC  = (   -0.51      0.       0.     -0.07
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                              )
+ 
+           BODY805_NUT_PREC_PM   = (   -0.49      0.       0.      0.06
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                              )
+        \begintext
+ 
+ 
+ 
+     Galatea
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+ 
+        \begindata
+  
+           BODY806_POLE_RA       = (   299.36      0.          0. )
+           BODY806_POLE_DEC      = (    43.43      0.          0. )
+           BODY806_PM            = (   258.09    839.6597686   0. )
+           BODY806_LONG_AXIS     = (     0.                       )
+ 
+ 
+           BODY806_NUT_PREC_RA   = (    0.70      0.       0.      0.
+                                       -0.07      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+ 
+           BODY806_NUT_PREC_DEC  = (   -0.51      0.       0.      0.
+                                       -0.05      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+ 
+           BODY806_NUT_PREC_PM   = (   -0.48      0.       0.      0.
+                                        0.05      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             ) 
+        \begintext
+
+ 
+     Larissa
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+  
+        \begindata
+
+           BODY807_POLE_RA       = (   299.36     0.           0. )
+           BODY807_POLE_DEC      = (    43.41     0.           0. )
+           BODY807_PM            = (   179.41  +649.0534470    0. )
+           BODY807_LONG_AXIS     = (     0.                       )
+ 
+ 
+           BODY807_NUT_PREC_RA   = (    0.70      0.       0.      0.
+                                        0.       -0.27     0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+ 
+           BODY807_NUT_PREC_DEC  = (   -0.51      0.       0.      0.
+                                        0.       -0.20     0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+ 
+           BODY807_NUT_PREC_PM   = (   -0.48      0.       0.      0.
+                                        0.        0.19     0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+        \begintext
+ 
+ 
+ 
+     Proteus
+ 
+
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+
+           BODY808_POLE_RA       = (  299.27      0.          0.  )
+           BODY808_POLE_DEC      = (   42.91      0.          0.  )
+           BODY808_PM            = (   93.38   +320.7654228   0.  )
+           BODY808_LONG_AXIS     = (    0.                        )
+ 
+ 
+           BODY808_NUT_PREC_RA   = (    0.70      0.       0.      0.
+                                        0.        0.      -0.05    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+ 
+           BODY808_NUT_PREC_DEC  = (   -0.51      0.       0.      0.
+                                        0.        0.      -0.04    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+ 
+           BODY808_NUT_PREC_PM   = (   -0.48      0.       0.      0.
+                                        0.        0.       0.04    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+   
+        \begintext
+  
+ 
+ 
+ 
+ 
+Satellites of Pluto
+ 
+     Charon
+ 
+        Old values:
+        
+           Values are from the 2006 IAU report. 
+ 
+           body901_pole_ra       = (   312.993    0.         0. )
+           body901_pole_dec      = (     6.163    0.         0. )
+           body901_pm            = (    57.305  -56.3625225  0. )
+           body901_long_axis     = (     0.                     )
+
+               
+        Current values:
+ 
+        Due to the new definition of planetocentric coordinates
+        for small bodies, and to the reclassification of Pluto
+        as a dwarf planet, Charon's north pole direction has been
+        inverted. 
+
+        The PM constant W0 is from [2]. 
+
+        \begindata
+ 
+           BODY901_POLE_RA       = (   132.993    0.         0. )
+           BODY901_POLE_DEC      = (    -6.163    0.         0. )
+           BODY901_PM            = (   122.695   56.3625225  0. )
+           BODY901_LONG_AXIS     = (     0.                     )
+
+        \begintext
+ 
+ 
+ 
+Orientation constants for Selected Comets and Asteroids
+--------------------------------------------------------
+
+
+
+Ceres
+
+        Current values:
+ 
+        \begindata
+
+           BODY2000001_POLE_RA       = (   291.       0.         0.  )
+           BODY2000001_POLE_DEC      = (    59.       0.         0.  )
+           BODY2000001_PM            = (   170.90   952.1532     0.  )
+           BODY2000001_LONG_AXIS     = (     0.                      )
+ 
+        \begintext
+
+
+
+Pallas
+
+        Current values:
+ 
+        \begindata
+
+           BODY2000002_POLE_RA       = (    33.       0.         0.  )
+           BODY2000002_POLE_DEC      = (    -3.       0.         0.  )
+           BODY2000002_PM            = (    38.    1105.8036     0.  )
+           BODY2000002_LONG_AXIS     = (     0.                      )
+ 
+        \begintext
+
+
+
+Vesta
+
+        Old values:
+        
+           Values are from the 2009 IAU report. 
+
+           body2000004_pole_ra       = (   301.      0.         0.  )
+           body2000004_pole_dec      = (    41.      0.         0.  )
+           body2000004_pm            = (   292.   1617.332776   0.  )
+           body2000004_long_axis     = (     0.                     )
+
+        Current values:
+ 
+        \begindata
+
+           BODY2000004_POLE_RA       = (   305.8     0.         0.  )
+           BODY2000004_POLE_DEC      = (    41.4     0.         0.  )
+           BODY2000004_PM            = (   292.   1617.332776   0.  )
+           BODY2000004_LONG_AXIS     = (     0.                     )
+ 
+        \begintext
+
+
+
+Lutetia
+
+        Current values:
+ 
+        \begindata
+
+           BODY2000021_POLE_RA       = (    52.       0.         0.  )
+           BODY2000021_POLE_DEC      = (    12.       0.         0.  )
+           BODY2000021_PM            = (    94.    1057.7515     0.  )
+           BODY2000021_LONG_AXIS     = (     0.                      )
+ 
+        \begintext
+
+
+
+Ida
+
+        Old values:
+        
+           BODY2431010_POLE_RA       = (  168.76      0.         0. )
+           BODY2431010_POLE_DEC      = (   -2.88      0.         0. )
+           BODY2431010_PM            = (  265.95  +1864.6280070  0. )
+           BODY2431010_LONG_AXIS     = (    0.                      )
+
+        Current values:
+ 
+        The PM constant W0 is from [2]. 
+
+        \begindata
+ 
+           BODY2431010_POLE_RA       = (  168.76      0.         0. )
+           BODY2431010_POLE_DEC      = (   -2.88      0.         0. )
+           BODY2431010_PM            = (  274.05  +1864.6280070  0. )
+           BODY2431010_LONG_AXIS     = (    0.                      )
+ 
+        \begintext
+
+
+
+Eros
+
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+
+           BODY2000433_POLE_RA       = (   11.35       0.           0. )
+           BODY2000433_POLE_DEC      = (   17.22       0.           0. )
+           BODY2000433_PM            = (  326.07    1639.38864745   0. )
+           BODY2000433_LONG_AXIS     = (    0.                         )
+ 
+        \begintext
+
+
+
+Davida
+
+        Current values:
+ 
+        \begindata
+
+           BODY2000511_POLE_RA       = (  297.        0.           0. )
+           BODY2000511_POLE_DEC      = (    5.        0.           0. )
+           BODY2000511_PM            = (  268.1    1684.4193549    0. )
+           BODY2000511_LONG_AXIS     = (    0.                        )
+ 
+        \begintext
+
+
+
+Gaspra
+
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+               
+        Current values:
+ 
+        \begindata 
+ 
+           BODY9511010_POLE_RA       = (   9.47     0.         0. )
+           BODY9511010_POLE_DEC      = (  26.70     0.         0. )
+           BODY9511010_PM            = (  83.67  1226.9114850  0. )
+           BODY9511010_LONG_AXIS     = (   0.                     )
+
+        \begintext
+
+
+
+Steins
+
+        Current values:
+ 
+        \begindata 
+ 
+           BODY2002867_POLE_RA       = (  90.        0.        0. )
+           BODY2002867_POLE_DEC      = ( -62.        0.        0. )
+           BODY2002867_PM            = (  93.94   1428.852332  0. )
+           BODY2002867_LONG_AXIS     = (   0.                     )
+
+        \begintext
+
+
+
+Itokawa
+
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+
+           BODY2025143_POLE_RA       = (   90.53       0.           0. )
+           BODY2025143_POLE_DEC      = (  -66.30       0.           0. )
+           BODY2025143_PM            = (  000.0      712.143        0. )
+           BODY2025143_LONG_AXIS     = (    0.                         )
+ 
+        \begintext
+
+
+
+9P/Tempel 1
+
+
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+
+           BODY1000093_POLE_RA       = (   294.       0.         0.  )
+           BODY1000093_POLE_DEC      = (    73.       0.         0.  )
+           BODY1000093_PM            = (   252.63   212.064      0.  )
+           BODY1000093_LONG_AXIS     = (     0.                      )
+ 
+        \begintext
+
+
+
+19P/Borrelly
+
+        Old values:
+        
+           Values are unchanged in the 2009 IAU report. 
+
+        Current values:
+ 
+        \begindata
+
+           BODY1000005_POLE_RA       = (   218.5      0.         0.  )
+           BODY1000005_POLE_DEC      = (   -12.5      0.         0.  )
+           BODY1000005_PM            = (   000.     390.0        0.  )
+           BODY1000005_LONG_AXIS     = (     0.                      )
+ 
+        \begintext
+
+
+
+
+
+
+ 
+Radii of Sun and Planets
+--------------------------------------------------------
+ 
+ 
+Sun
+ 
+        \begindata
+ 
+        BODY10_RADII      = (  696000.  696000.  696000.  )
+ 
+        \begintext
+ 
+ 
+Mercury
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY199_RADII     = ( 2439.7   2439.7   2439.7 )
+ 
+        \begintext
+ 
+ 
+Venus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY299_RADII     = ( 6051.8   6051.8   6051.8 )
+ 
+        \begintext
+ 
+ 
+Earth
+ 
+     Old values:
+ 
+        Values are from the 2006 IAU report.
+ 
+        body399_radii     = ( 6378.14   6378.14   6356.75 )
+
+
+     Current values:
+ 
+
+        \begindata
+ 
+        BODY399_RADII     = ( 6378.1366   6378.1366   6356.7519 )
+ 
+        \begintext
+ 
+ 
+Mars
+ 
+ 
+     Old values:
+
+        Values are from the 2006 IAU report.
+
+        body499_radii       = (  3397.  3397.  3375.  )
+
+ 
+     Current values:
+
+        The 2009 IAU report gives separate values for the north and
+        south polar radii:
+
+           north:  3373.19
+           south:  3379.21 
+
+        The report provides the average of these values as well,
+        which we use as the polar radius for the triaxial model.
+ 
+        \begindata
+ 
+        BODY499_RADII       = ( 3396.19   3396.19   3376.20 )
+ 
+        \begintext
+ 
+ 
+ 
+Jupiter
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY599_RADII     = ( 71492   71492   66854 )
+ 
+        \begintext
+ 
+ 
+ 
+Saturn
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY699_RADII     = ( 60268   60268   54364 )
+ 
+        \begintext
+ 
+ 
+ 
+Uranus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY799_RADII     = ( 25559   25559   24973 )
+ 
+        \begintext
+ 
+ 
+ 
+Neptune
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+  
+     Current values:
+ 
+        (Values are for the 1 bar pressure level.)
+ 
+        \begindata
+ 
+        BODY899_RADII     = ( 24764   24764  24341 )
+ 
+        \begintext
+ 
+ 
+
+Radii of the Dwarf Planet Pluto
+--------------------------------------------------------
+
+ 
+Pluto
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY999_RADII     = ( 1195   1195   1195 )
+ 
+        \begintext
+ 
+
+
+
+Radii of Satellites
+--------------------------------------------------------
+ 
+ 
+Moon
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY301_RADII     = ( 1737.4   1737.4   1737.4 )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Mars
+ 
+     Old values:
+ 
+        Values are from the 2006 IAU report. 
+ 
+        body401_radii     = ( 13.4    11.2    9.2 )
+        body402_radii     = (  7.5     6.1    5.2 )
+
+     Current values:
+ 
+        \begindata
+ 
+        BODY401_RADII     = ( 13.0    11.4    9.1 )
+        BODY402_RADII     = (  7.8     6.0    5.1 )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Jupiter
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report,
+        except for those of Europa, Ganymede, Callisto, 
+        and Metis. For Metis, now all three radii are
+        provided.
+ 
+           body502_radii     = ( 1564.13  1561.23  1560.93 )
+           body503_radii     = ( 2632.4   2632.29  2632.35 )
+           body504_radii     = ( 2409.4   2409.2   2409.3  )
+
+           The value for the second radius for body 516 is not given in 
+           2003 IAU report.   The values given are:
+
+              body516_radii    = (  30   ---   20   )
+
+           For use within the SPICE system, we use only the mean radius.
+
+           body516_radii    = (  21.5   21.5  21.5  )
+
+
+
+
+     Current values:
+         
+        Note that for Ganymede and Callisto only mean radii
+        are provided.
+
+        \begindata
+ 
+        BODY501_RADII     = ( 1829.4   1819.4   1815.7  )
+        BODY502_RADII     = ( 1562.6  1560.3    1559.5  )
+        BODY503_RADII     = ( 2631.2  2631.2    2631.2  )
+        BODY504_RADII     = ( 2410.3  2410.3    2410.3  )
+        BODY505_RADII     = (  125       73       64    )
+ 
+        \begintext
+ 
+        Only mean radii are available in the 2003 IAU report for bodies
+        506-513.
+ 
+        \begindata
+ 
+        BODY506_RADII    = (    85       85       85   )
+        BODY507_RADII    = (    40       40       40   )
+        BODY508_RADII    = (    18       18       18   )
+        BODY509_RADII    = (    14       14       14   )
+        BODY510_RADII    = (    12       12       12   )
+        BODY511_RADII    = (    15       15       15   )
+        BODY512_RADII    = (    10       10       10   )
+        BODY513_RADII    = (     5        5        5   )
+        BODY514_RADII    = (    58       49       42   )
+        BODY515_RADII    = (    10        8        7   )
+        BODY516_RADII    = (    30       20       17   )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Saturn
+ 
+ 
+     Old values:
+ 
+        Values are from the 2006 IAU report.
+    
+        body601_radii     = (  207.4     196.8     190.6  )
+        body602_radii     = (  256.6     251.4     248.3  )
+        body603_radii     = (  540.4     531.1     527.5  )
+        body604_radii     = (  563.8     561.0     560.3  )
+        body605_radii     = (  767.2     762.5     763.1  )
+        body606_radii     = ( 2575      2575      2575    )
+        body607_radii     = (  164       130       107    )
+        body608_radii     = (  747.4     747.4     712.4  )
+        body609_radii     = (  108.6     107.7     101.5  )
+        body610_radii     = (   97.0      95.0      77.0  )
+        body611_radii     = (   69.0      55.0      55.0  )
+ 
+ 
+        Only the first equatorial radius for Helene (body 612) is given in the
+        2006 IAU report:
+ 
+            body612_radii     = (       17.5        ---          ---     )
+ 
+        The mean radius is 16km; we use this radius for all three axes, as
+        we do for the satellites for which only the mean radius is available.
+  
+        body612_radii     = (  17.5      17.5      17.5  )
+        body613_radii     = (  15        12.5       7.5  )
+        body614_radii     = (  15.0       8.0       8.0  )
+        body615_radii     = (  18.5      17.2      13.5  )
+        body616_radii     = (  74.0      50.0      34.0  )
+        body617_radii     = (  55.0      44.0      31.0  )
+ 
+         For Pan, only a mean radius is given in the 2006 report.
+ 
+        body618_radii     = (   10       10     10   )
+ 
+  
+       
+     Current values:
+ 
+        \begindata
+ 
+        BODY601_RADII     = (  207.8     196.7     190.6   )
+        BODY602_RADII     = (  256.6     251.4     248.3   )
+        BODY603_RADII     = (  538.4     528.3     526.3   )
+        BODY604_RADII     = (  563.4     561.3     559.6   )
+        BODY605_RADII     = (  765.0     763.1     762.4   )
+        BODY606_RADII     = ( 2575.15    2574.78   2574.47 )
+        BODY607_RADII     = (  180.1      133.0    102.7   )
+        BODY608_RADII     = (  745.7     745.7     712.1   )
+        BODY609_RADII     = (  109.4     108.5     101.8   )
+        BODY610_RADII     = (  101.5      92.5      76.3   )
+        BODY611_RADII     = (   64.9      57.0      53.1   ) 
+        BODY612_RADII     = (   21.7      19.1      13.0   )
+        BODY613_RADII     = (   16.3      11.8      10.0   )
+        BODY614_RADII     = (   15.1      11.5       7.0   )
+        BODY615_RADII     = (   20.4      17.7       9.4   )
+        BODY616_RADII     = (   67.8      39.7      29.7   )
+        BODY617_RADII     = (   52.0      40.5      32.0   ) 
+        BODY618_RADII     = (   17.2      15.7      10.4   )
+
+        BODY632_RADII     = (    1.6       1.6       1.6   )
+        BODY633_RADII     = (    2.9       2.8       2.0   )
+        BODY634_RADII     = (    1.5       1.2       1.0   )
+        BODY635_RADII     = (    4.3       4.1       3.2   )
+        BODY649_RADII     = (    1         1         1     )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Uranus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY701_RADII     = (  581.1   577.9   577.7 )
+        BODY702_RADII     = (  584.7   584.7   584.7 )
+        BODY703_RADII     = (  788.9   788.9   788.9 )
+        BODY704_RADII     = (  761.4   761.4   761.4 )
+        BODY705_RADII     = (  240.4   234.2   232.9 )
+ 
+        \begintext
+ 
+        The 2000 report gives only mean radii for satellites 706--715.
+ 
+        \begindata
+ 
+        BODY706_RADII     = (   13      13      13 )
+        BODY707_RADII     = (   15      15      15 )
+        BODY708_RADII     = (   21      21      21 )
+        BODY709_RADII     = (   31      31      31 )
+        BODY710_RADII     = (   27      27      27 )
+        BODY711_RADII     = (   42      42      42 )
+        BODY712_RADII     = (   54      54      54 )
+        BODY713_RADII     = (   27      27      27 )
+        BODY714_RADII     = (   33      33      33 )
+        BODY715_RADII     = (   77      77      77 )
+ 
+        \begintext
+ 
+ 
+ 
+ 
+Satellites of Neptune
+ 
+ 
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+ 
+     Current values:
+ 
+        The 2009 report gives mean radii only for bodies 801-806.
+ 
+        \begindata
+ 
+        BODY801_RADII     = ( 1352.6  1352.6  1352.6 )
+        BODY802_RADII     = (  170     170     170   )
+        BODY803_RADII     = (   29      29     29    )
+        BODY804_RADII     = (   40      40     40    )
+        BODY805_RADII     = (   74      74     74    )
+        BODY806_RADII     = (   79      79     79    )
+ 
+        \begintext 
+ 
+        The second equatorial radius for Larissa is not given in the 2009
+        report.  The available values are:
+ 
+            BODY807_RADII     = (   104     ---     89   )
+ 
+        For use within the SPICE system, we use only the mean radius.
+
+        \begindata
+ 
+        BODY807_RADII     = (   96      96     96   )
+        BODY808_RADII     = (  218     208    201   )
+ 
+        \begintext
+ 
+ 
+ 
+ 
+Satellites of Pluto
+ 
+     
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+             
+     Current values:
+ 
+        \begindata
+ 
+        BODY901_RADII     = (  605     605    605   )
+ 
+        \begintext
+ 
+
+
+Radii for Selected Comets and Asteroids
+--------------------------------------------------------
+
+
+
+
+
+Ceres
+
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+
+
+        \begindata
+ 
+        BODY2000001_RADII     = ( 487.3  487.3  454.7 )
+ 
+        \begintext
+
+
+
+Vesta
+
+
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+
+
+        \begindata
+ 
+        BODY2000004_RADII     = ( 289.  280.  229.  )
+ 
+        \begintext
+
+
+
+Lutetia
+
+
+     Current values:
+
+
+        \begindata
+ 
+        BODY2000021_RADII     = (  62.0   50.5   46.5  )
+ 
+        \begintext
+
+
+           
+Ida
+
+     
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY2431010_RADII     = (   26.8   12.0    7.6 )
+ 
+        \begintext
+
+
+
+Mathilde
+
+
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+
+
+        \begindata
+ 
+        BODY2000253_RADII     = (  33.   24.   23.  )
+ 
+        \begintext
+
+
+      
+Eros
+ 
+
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY2000433_RADII     = (  17.0   5.5   5.5  )
+ 
+        \begintext
+
+
+
+Davida
+ 
+
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY2000511_RADII     = (  180.   147.   127.  )
+ 
+        \begintext
+
+
+
+Gaspra
+
+     
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY9511010_RADII     = (    9.1    5.2    4.4 )
+ 
+        \begintext
+
+
+ 
+Steins
+ 
+
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY2002867_RADII     = (  3.24     2.73     2.04  )
+ 
+        \begintext
+
+
+
+Toutatis
+
+
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+
+
+        \begindata
+ 
+        BODY2004179_RADII     = (  2.13  1.015  0.85  )
+ 
+        \begintext
+
+
+ 
+Itokawa
+
+
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+
+
+        \begindata
+ 
+        BODY2025143_RADII     = (  0.535   0.294   0.209  )
+ 
+        \begintext
+
+
+Kleopatra
+
+
+     Old values:
+
+        Values are from the 2003 report.
+
+ 
+        body2000216_radii     = (   108.5      47    40.5  )
+ 
+
+     Current values:
+ 
+ 
+        No values are provided in the 2009 report.
+
+        
+   
+
+
+Halley
+
+
+     Old values:
+ 
+        Values are unchanged in the 2009 IAU report. 
+
+     Current values:
+
+        \begindata
+ 
+        BODY1000036_RADII     = (  8.0   4.0   4.0  )
+ 
+        \begintext
+
+
+
+9P/Tempel 1
+
+
+     Old values:
+ 
+        The effective radius is unchanged in the 2009 IAU report. 
+
+     Current values:
+
+
+        The value in the data assignment below is the 
+        "effective radius."
+            
+        According to [1]:
+
+           The maximum and minimum radii are not properly 
+           the values of the principal semi-axes, they
+           are half the maximum and minimum values of the
+           diameter. Due to the large deviations from a
+           simple ellipsoid, they may not correspond with
+           measurements along the principal axes, or be
+           orthogonal to each other.
+
+        \begindata
+ 
+        BODY1000093_RADII     = (  3.0   3.0   3.0  )
+ 
+        \begintext
+
+
+19P/Borrelly
+
+
+     Old values:
+
+        Values are unchanged in the 2009 report.
+
+     Current values:
+
+
+        The value in the data assignment below is the 
+        "effective radius."
+
+        The first principal axis length is 
+
+           3.5 km
+
+        The lengths of the other semi-axes are not provided
+        by [1].
+
+        \begindata
+ 
+        BODY1000005_RADII     = (  4.22   4.22   4.22  )
+
+        \begintext
+
+
+
+81P/Wild 2
+
+
+     Old values:
+
+        Values are unchanged in the 2009 report.
+
+     Current values:
+
+
+        \begindata
+ 
+        BODY1000107_RADII     = (  2.7   1.9   1.5 )
+ 
+        \begintext
+
+        
+
+===========================================================================
+End of file pck00010.tpc
+===========================================================================
+
+
+
diff --git a/tests/pytests/data/i1_00237330013/ROS_160929_STEP.TSC b/tests/pytests/data/i1_00237330013/ROS_160929_STEP.TSC
new file mode 100644
index 000000000..9ee03e276
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ROS_160929_STEP.TSC
@@ -0,0 +1,312 @@
+KPL/SCLK
+
+Rosetta SCLK File
+===========================================================================
+
+     This file is a SPICE spacecraft clock (SCLK) kernel containing
+     information required for Rosetta spacecraft on-board clock to UTC
+     conversion.
+
+
+Production/History of this SCLK file
+--------------------------------------------------------
+
+     This file was generated by the NAIF utility program MAKCLK
+     from the most recent Rosetta Time Correlation Packet (TCP) data
+     converted to SCLKvSCET format using TCP2SCET program.
+
+
+Usage
+--------------------------------------------------------
+
+     This file must be loaded into the users program by a call to the
+     FURNSH subroutine
+
+          CALL FURNSH( 'this_file_name' )
+
+     in order to use the SPICELIB SCLK family of subroutines to convert
+     Rosetta spacecraft on-board clock to ET and vice versa.
+
+
+SCLK Format
+--------------------------------------------------------
+
+     The on-board clock, the conversion for which is provided by this SCLK
+     file, consists of two fields:
+
+          SSSSSSSSSS:FFFFF
+
+     where:
+
+          SSSSSSSSSS -- count of on-board seconds
+
+          FFFFF      -- count of fractions of a second with one fraction
+                        being 1/65536 of a second
+
+
+References
+--------------------------------------------------------
+
+         1.   SCLK Required Reading Document
+
+         2.   TCP2SCET Users Guide Document
+
+         3.   MAKCLK Users Guide Document
+
+
+Inquiries
+--------------------------------------------------------
+
+     If you have any questions regarding this file contact 
+
+           esa_spice@sciops.esa.int
+
+ 
+     or NAIF at JPL
+
+           Charles H. Acton, Jr
+           (818) 354-3869
+           Chuck.Acton@jpl.nasa.gov
+
+           Boris V. Semenov
+           (818) 354-8136
+           Boris.Semenov@jpl.nasa.gov
+
+
+SCLKvSCET File Header
+--------------------------------------------------------
+
+MISSION_NAME          = ROSETTA;
+SPACECRAFT_NAME       = ROSETTA;
+DATA_SET_ID           = SCLK_SCET;
+FILE_NAME             = /home/adcs/ADCS/tmp/2016-09-30T07_t2c/sclk_scet.dat;
+PRODUCT_CREATION_TIME = 2016-09-30T07:10:02;
+PRODUCT_VERSION_ID    = N/A;
+PRODUCER_ID           = J. Vazquez/MIG/ESA;
+APPLICABLE_START_TIME = 2004-062T00:57:00.000;
+APPLICABLE_STOP_TIME  = N/A;
+MISSION_ID            = 226;
+SPACECRAFT_ID         = 226;
+
+
+
+MAKCLK Setup file
+--------------------------------------------------------
+
+
+SCLKSCET_FILE                = /home/adcs/ADCS/tmp/2016-09-30T07_t2c/sclk_scet.dat
+OLD_SCLK_KERNEL              = /home/adcs/ADCS/tmp/2016-09-30T07_t2c/ROS_old.tsc
+FILE_NAME                    = /home/adcs/ADCS/tmp/2016-09-30T07_t2c/ROS_new.tsc
+NAIF_SPACECRAFT_ID           = -226
+LEAPSECONDS_FILE             = /home/adcs/ADCS/tmp/2016-09-30T07_t2c/NAIF0011.TLS
+PARTITION_TOLERANCE          = 6554
+LOG_FILE                     = /home/adcs/ADCS/tmp/2016-09-30T07_t2c/makclk.log
+
+
+
+
+Kernel DATA
+--------------------------------------------------------
+
+\begindata
+
+
+SCLK_KERNEL_ID           = ( @2016-09-30/07:10:02.00 )
+
+SCLK_DATA_TYPE_226        = ( 1 )
+SCLK01_TIME_SYSTEM_226    = ( 2 )
+SCLK01_N_FIELDS_226       = ( 2 )
+SCLK01_MODULI_226         = ( 4294967296 65536 )
+SCLK01_OFFSETS_226        = ( 0 0 )
+SCLK01_OUTPUT_DELIM_226   = ( 1 )
+
+SCLK_PARTITION_START_226  = ( 2.4123675052450E+12 )
+
+SCLK_PARTITION_END_226    = ( 2.8147497671065E+14 )
+
+SCLK01_COEFFICIENTS_226   = (
+ 
+    0.0000000000000E+00     1.3146108418400E+08     1.0000003202409E+00
+    6.8104989390000E+09     1.3156500418400E+08     9.9849419388587E-01
+    6.8144370290000E+09     1.3156506418400E+08     1.0000004220632E+00
+    1.2394169714000E+10     1.3165020418400E+08     1.0005043028585E+00
+    1.2398099892000E+10     1.3165026418400E+08     1.0000004021387E+00
+    5.8046526975000E+10     1.3234680418400E+08     9.9970762538422E-01
+    5.8050460285000E+10     1.3234686418400E+08     1.0000003492364E+00
+    1.4203022068600E+11     1.3362829408100E+08     9.9950662171612E-01
+    1.4203415478700E+11     1.3362835408100E+08     1.0000003081277E+00
+    2.3689589454000E+11     1.3507582980400E+08     9.9966899387867E-01
+    2.3689982800200E+11     1.3507588980400E+08     1.0000002853312E+00
+    3.5692603905500E+11     1.3690734496300E+08     9.9949264848674E-01
+    3.5692997321100E+11     1.3690740496300E+08     1.0000002510180E+00
+    4.5304743094900E+11     1.3837404134400E+08     9.9998448713844E-01
+    4.5305136317000E+11     1.3837410134400E+08     1.0000002396110E+00
+    7.4680349170600E+11     1.4285640418400E+08     9.9897464455530E-01
+    7.4680742790200E+11     1.4285646418400E+08     1.0000002101820E+00
+    8.1951171231700E+11     1.4396584375700E+08     9.9130550530322E-01
+    8.1951567896500E+11     1.4396590375700E+08     1.0000002090258E+00
+    1.0083311593400E+12     1.4684699994600E+08     9.9973050070934E-01
+    1.0083350925600E+12     1.4684705994600E+08     1.0000002016952E+00
+    1.1041624394150E+12     1.4830926951300E+08     9.9991328673534E-01
+    1.1041663719160E+12     1.4830932951300E+08     1.0000001964174E+00
+    1.2516966225550E+12     1.5056046293000E+08     9.9992625462498E-01
+    1.2517005550050E+12     1.5056052293000E+08     1.0000001905824E+00
+    1.3901335556040E+12     1.5267284328800E+08     9.9984946927749E-01
+    1.3901374883560E+12     1.5267290328800E+08     1.0000001830298E+00
+    1.5663657153020E+12     1.5536193312200E+08     9.9992371187501E-01
+    1.5663696477620E+12     1.5536199312200E+08     1.0000001836867E+00
+    1.6816807093800E+12     1.5712150061100E+08     9.9988201262058E-01
+    1.6816846420040E+12     1.5712156061100E+08     1.0000001786238E+00
+    2.2339691013530E+12     1.6554875418400E+08     1.0000752823597E+00
+    2.2339730332170E+12     1.6554881418400E+08     1.0000001800252E+00
+    2.3467571738940E+12     1.6726976390600E+08     9.9988836898957E-01
+    2.3467611064930E+12     1.6726982390600E+08     1.0000001752034E+00
+    2.5103400608560E+12     1.6976584110300E+08     9.9986853738560E-01
+    2.5103439935330E+12     1.6976590110300E+08     1.0000001751636E+00
+    2.6648000979800E+12     1.7212271463300E+08     9.9982353781757E-01
+    2.6648040308340E+12     1.7212277463300E+08     1.0000001688032E+00
+    2.8904428898360E+12     1.7556575096800E+08     9.9992320332657E-01
+    2.8904468222980E+12     1.7556581096800E+08     1.0000001607262E+00
+    3.4620417496180E+12     1.8428765879500E+08     1.0001014812447E+00
+    3.4620456813790E+12     1.8428771879500E+08     1.0000001615040E+00
+    3.4897196354570E+12     1.8470998989100E+08     9.9995448001813E-01
+    3.4897235677960E+12     1.8471004989100E+08     1.0000001544654E+00
+    3.5800252350200E+12     1.8608794419600E+08     1.0001106384602E+00
+    3.5800291667450E+12     1.8608800419600E+08     1.0000001575744E+00
+    3.7935192714540E+12     1.8934560518400E+08     1.0001881437418E+00
+    3.7935232683980E+12     1.8934566618400E+08     1.0000001623268E+00
+    4.1009711284650E+12     1.9403694899000E+08     1.0000956308892E+00
+    4.1009750602490E+12     1.9403700899000E+08     1.0000001649249E+00
+    4.5311596651040E+12     2.0060110621600E+08     1.0001322603290E+00
+    4.5311635967440E+12     2.0060116621600E+08     1.0000001701048E+00
+    4.9670406765960E+12     2.0725212376600E+08     9.9976812018697E-01
+    4.9670446096680E+12     2.0725218376600E+08     1.0000001733337E+00
+    5.2042853178070E+12     2.1087219031600E+08     1.0001747436648E+00
+    5.2042892492800E+12     2.1087225031600E+08     1.0000001765886E+00
+    5.7275607686860E+12     2.1885674146300E+08     9.9986726615577E-01
+    5.7275647013680E+12     2.1885680146300E+08     1.0000001720803E+00
+    6.0249199533240E+12     2.2339408331000E+08     9.9987947009562E-01
+    6.0249238859580E+12     2.2339414331000E+08     1.0000001710431E+00
+    6.2622036181760E+12     2.2701474531200E+08     9.9989192859150E-01
+    6.2622075507610E+12     2.2701480531200E+08     1.0000001695536E+00
+    7.2753206615440E+12     2.4247368718700E+08     1.0020026496438E+00
+    7.2753245858450E+12     2.4247374718700E+08     1.0000001834291E+00
+    8.0610524538110E+12     2.5446300518400E+08     1.0001131821610E+00
+    8.0610563855260E+12     2.5446306518400E+08     1.0000001864675E+00
+    8.1693473804480E+12     2.5611545494100E+08     9.9980192929511E-01
+    8.1693513133870E+12     2.5611551494100E+08     1.0000001769558E+00
+    9.0055911706770E+12     2.6887552478700E+08     9.9962858648558E-01
+    9.0055951042980E+12     2.6887558478700E+08     1.0000001857332E+00
+    9.2493966149430E+12     2.7259570130200E+08     9.9987819883798E-01
+    9.2494005475820E+12     2.7259576130200E+08     1.0000001848384E+00
+    9.3911879117850E+12     2.7475926518400E+08     9.9988709770930E-01
+    9.3911918443890E+12     2.7475932518400E+08     1.0000001744782E+00
+    9.8383766623650E+12     2.8158282518400E+08     1.0000938503598E+00
+    9.8383805941560E+12     2.8158288518400E+08     1.0000001775447E+00
+    9.9994104474220E+12     2.8404000618400E+08     9.9991971019633E-01
+    9.9994144454390E+12     2.8404006718400E+08     1.0000001809895E+00
+    1.0228217041164E+13     2.8753131836100E+08     9.9987311383977E-01
+    1.0228220973823E+13     2.8753137836100E+08     1.0000001780588E+00
+    1.0383762481126E+13     2.8990475383400E+08     1.0000862195914E+00
+    1.0383766412947E+13     2.8990481383400E+08     1.0000001786396E+00
+    1.1436929243460E+13     3.0597480618400E+08     1.0023467009809E+00
+    1.1436933166414E+13     3.0597486618400E+08     1.0000001953143E+00
+    1.1460285277053E+13     3.0633119118400E+08     9.4570316614886E-01
+    1.1460289434975E+13     3.0633125118400E+08     1.0000000778585E+00
+    1.1463978166131E+13     3.0638753675900E+08     1.0000000000000E+00
+    1.1463982098291E+13     3.0638759675900E+08     1.0000000824244E+00
+    1.1497234093066E+13     3.0689498197500E+08     1.0000645997132E+00
+    1.1497238024972E+13     3.0689504197500E+08     1.0000000911686E+00
+    1.1616884743665E+13     3.0872070618400E+08     9.9986930012505E-01
+    1.1616888676339E+13     3.0872076618400E+08     1.0000000815556E+00
+    1.1943745517522E+13     3.1370820618400E+08     1.0001220852155E+00
+    1.1943749449202E+13     3.1370826618400E+08     1.0000000839554E+00
+    1.2166069824777E+13     3.1710060618400E+08     9.9965171232964E-01
+    1.2166073758307E+13     3.1710066618400E+08     1.0000000716396E+00
+    1.2246783302605E+13     3.1833219618400E+08     9.9986446946151E-01
+    1.2246787235298E+13     3.1833225618400E+08     1.0000000758571E+00
+    1.2523452025831E+13     3.2255382618400E+08     9.9979887875542E-01
+    1.2523455958782E+13     3.2255388618400E+08     1.0000000670773E+00
+    1.2685408765726E+13     3.2502509006900E+08     1.0000948678044E+00
+    1.2685412697513E+13     3.2502515006900E+08     1.0000000701418E+00
+    1.2890648898270E+13     3.2815680618400E+08     9.9990311607686E-01
+    1.2890652830811E+13     3.2815686618400E+08     1.0000000648762E+00
+    1.3014118714641E+13     3.3004080618400E+08     1.0001780509022E+00
+    1.3014122646101E+13     3.3004086618400E+08     1.0000000796664E+00
+    1.3116512152184E+13     3.3160320618400E+08     9.9988811473326E-01
+    1.3116516084784E+13     3.3160326618400E+08     1.0000000790156E+00
+    1.3218909889374E+13     3.3316567177300E+08     9.9971855457562E-01
+    1.3218913822641E+13     3.3316573177300E+08     1.0000000601854E+00
+    1.3454607112575E+13     3.3676212618400E+08     1.0002635378584E+00
+    1.3454611043699E+13     3.3676218618400E+08     1.0000000649763E+00
+    1.3841582748475E+13     3.4266690618400E+08     1.0004368464318E+00
+    1.3841586678918E+13     3.4266696618400E+08     1.0000000677066E+00
+    1.4429295335948E+13     3.5163468921900E+08     1.0003704171059E+00
+    1.4429299266652E+13     3.5163474921900E+08     1.0000000707778E+00
+    1.4667826599292E+13     3.5527438773100E+08     9.9979633665322E-01
+    1.4667830532253E+13     3.5527444773100E+08     1.0000000666830E+00
+    1.4979766041428E+13     3.6003420618400E+08     1.0001961138926E+00
+    1.4979769972817E+13     3.6003426618400E+08     1.0000000736680E+00
+    1.5017927650646E+13     3.6061650618400E+08     1.0001925521245E+00
+    1.5017931582049E+13     3.6061656618400E+08     1.0000000920141E+00
+    2.0453220772562E+13     4.4355250506700E+08     1.2714734296471E+00
+    2.0453223865163E+13     4.4355256506700E+08     1.0000003296011E+00
+    2.0528632322088E+13     4.4470320718400E+08     1.0005992663758E+00
+    2.0528636251893E+13     4.4470326718400E+08     1.0000003546263E+00
+    2.0626778998529E+13     4.4620080718400E+08     9.9991125258709E-01
+    2.0626782931038E+13     4.4620086718400E+08     1.0000003481607E+00
+    2.0731964242258E+13     4.4780580718400E+08     9.9991379527369E-01
+    2.0731968174757E+13     4.4780586718400E+08     1.0000003437830E+00
+    2.0905490403743E+13     4.5045360718400E+08     1.0001551550915E+00
+    2.0905494335293E+13     4.5045366718400E+08     1.0000003435265E+00
+    2.1022721458441E+13     4.5224241174300E+08     1.0000826586060E+00
+    2.1022725390276E+13     4.5224247174300E+08     1.0000003496689E+00
+    2.1611686431796E+13     4.6122930718400E+08     9.9990616725268E-01
+    2.1611690364325E+13     4.6122936718400E+08     1.0000003397138E+00
+    2.1758375611134E+13     4.6346760718400E+08     9.9992015204678E-01
+    2.1758379543608E+13     4.6346766718400E+08     1.0000003397324E+00
+    2.1819951759920E+13     4.6440718496400E+08     9.9992879738788E-01
+    2.1819955692360E+13     4.6440724496400E+08     1.0000003309643E+00
+    2.2130556486107E+13     4.6914663852700E+08     9.9992523752344E-01
+    2.2130560418561E+13     4.6914669852700E+08     1.0000003303047E+00
+    2.2549447335446E+13     4.7553840774400E+08     9.9991430381256E-01
+    2.2549451267943E+13     4.7553846774400E+08     1.0000003227529E+00
+    2.2630018828133E+13     4.7676783154700E+08     1.0001528655681E+00
+    2.2630022759692E+13     4.7676789154700E+08     1.0000003308378E+00
+    2.2696195461786E+13     4.7777760718400E+08     9.9991938922974E-01
+    2.2696199394263E+13     4.7777766718400E+08     1.0000003298661E+00
+    2.2730877101864E+13     4.7830680718400E+08     9.9990921844712E-01
+    2.2730881034381E+13     4.7830686718400E+08     1.0000003179825E+00
+    2.2890361528949E+13     4.8074034718400E+08     1.0001114015691E+00
+    2.2890365460671E+13     4.8074040718400E+08     1.0000003345346E+00
+    2.2902638224295E+13     4.8092767475800E+08     9.9985404555711E-01
+    2.2902642157029E+13     4.8092773475800E+08     1.0000003287269E+00
+    2.2990871437736E+13     4.8227400718400E+08     1.0000755367112E+00
+    2.2990875369599E+13     4.8227406718400E+08     1.0000003230769E+00
+    2.3127418944475E+13     4.8435755746400E+08     1.0000798607067E+00
+    2.3127422876321E+13     4.8435761746400E+08     1.0000003293438E+00
+    2.3184279795813E+13     4.8522518549100E+08     9.9986497795021E-01
+    2.3184283728504E+13     4.8522524549100E+08     1.0000003215044E+00
+    2.3235373067191E+13     4.8600480718400E+08     1.0001538831328E+00
+    2.3235376998746E+13     4.8600486718400E+08     1.0000003318600E+00
+    2.3519033229781E+13     4.9033311921600E+08     9.9992396614942E-01
+    2.3519037162240E+13     4.9033317921600E+08     1.0000003381719E+00
+    2.3643075768331E+13     4.9222585878200E+08     9.9982582583346E-01
+    2.3643079701176E+13     4.9222591878200E+08     1.0000003304447E+00
+    2.3824457963181E+13     4.9499353233700E+08     1.0000976657877E+00
+    2.3824461894957E+13     4.9499359233700E+08     1.0000003291856E+00
+    2.4108036364195E+13     4.9932059677100E+08     9.9975286870616E-01
+    2.4108040297327E+13     4.9932065677100E+08     1.0000003266024E+00
+    2.4579620907910E+13     5.0651640818400E+08     9.9958564132808E-01
+    2.4579624841700E+13     5.0651646818400E+08     1.0000003306522E+00
+    2.4690900998387E+13     5.0821440814800E+08     9.9979277773187E-01
+    2.4690904931362E+13     5.0821446814800E+08     1.0000003196935E+00
+    2.5126147720657E+13     5.1485574818400E+08     1.0003887415561E+00
+    2.5126151651289E+13     5.1485580818400E+08     1.0000003264733E+00
+    2.5447843178209E+13     5.1976443293900E+08     9.9987031711280E-01
+    2.5447847110879E+13     5.1976449293900E+08     1.0000003258003E+00
+    2.6017107336343E+13     5.2845071747100E+08     1.0001083491406E+00
+    2.6017111268077E+13     5.2845077747100E+08     1.0000003289850E+00 )
+
+\begintext
+
diff --git a/tests/pytests/data/i1_00237330013/ROS_LUTETIA_RSOC_V03.TF b/tests/pytests/data/i1_00237330013/ROS_LUTETIA_RSOC_V03.TF
new file mode 100644
index 000000000..00e2451de
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ROS_LUTETIA_RSOC_V03.TF
@@ -0,0 +1,68 @@
+KPL/FK
+
+Asteroid 21 Lutetia Frames kernel
+=================================
+
+ 
+Version and Date
+----------------
+
+     Version 0.3 -- November 7, 2011 -- J. Vazquez, PSA, SRE-OS/ESA
+         
+         Added explanation as to how to use the kernel.
+
+     Version 0.2 -- October 6, 2011 -- J. Vazquez, PSA, SRE-OS/ESA
+     
+         Corrected the rotation angle in the frame.
+
+     Version 0.1 -- September 20, 2011 -- J. Vazquez, PSA, SRE-OS/ESA
+     
+
+References
+----------
+
+     1) Rotational Parameters of (21) Lutetia, L. Jorda & J.-B. Vincent
+
+Description
+-----------
+
+     This kernel contains a frame for the Asteroid Lutetia, defined as:
+     
+       - The Z axis of the frame is the rotational axis of the asteroid.
+       - The X axis contains the zero-longitude point, defined in [1].
+
+     It implements the reference frame defined in [1], whose prime meridian
+     contains the 'Lauriacum' crater.
+     
+Usage
+-----
+
+     This kernel must be used along with the following kernels:
+     
+       - ROS_Vxx.TF: generic Rosetta frames definition kernel.
+       - ROS_LUTETIA_RSOC_Vxx.TPC: kernel that defines the Lutetia body-fixed
+         frame.
+     
+     Once these frames are loaded, in order to compute positions and/or any
+     other data relative to the frame defined above (i.e., the prime meridian
+     of Lutetia crossing the X axis of the frame) the frame 'ROS_LUTETIA' must
+     be specified as the frame of reference.
+     
+     
+
+
+\begindata
+
+      FRAME_ROS_LUTETIA                =  -2260021
+      FRAME_-2260021_NAME               = 'ROS_LUTETIA'
+      FRAME_-2260021_CLASS              =  4
+      FRAME_-2260021_CLASS_ID           =  -2260021
+      FRAME_-2260021_CENTER             =  2000021
+      TKFRAME_-2260021_RELATIVE         = 'LUTETIA_FIXED'
+      TKFRAME_-2260021_SPEC             = 'ANGLES'
+      TKFRAME_-2260021_UNITS            = 'DEGREES'
+      TKFRAME_-2260021_ANGLES           = (   0.000,  0.000,   164.700 )
+      TKFRAME_-2260021_AXES             = (   1,      2,         3     )
+
+
+\begintext
diff --git a/tests/pytests/data/i1_00237330013/ROS_LUTETIA_RSOC_V03.TPC b/tests/pytests/data/i1_00237330013/ROS_LUTETIA_RSOC_V03.TPC
new file mode 100644
index 000000000..ea0a4fd50
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ROS_LUTETIA_RSOC_V03.TPC
@@ -0,0 +1,120 @@
+KPL/PCK
+
+Asteroid 21 Lutetia PCK File -- RSOC Solution
+===========================================================================
+
+ 
+Version and Date
+--------------------------------------------------------
+
+     Version 0.3 -- September 26, 2011 -- J. Vazquez, PSA, SRE-OS/ESA
+     
+        Updated values for the rotational period.
+
+     Version 0.2 -- September 23, 2011 -- J. Vazquez, PSA, SRE-OS/ESA
+        
+        Updated values for the orientation of the north pole.
+        
+     Version 0.1 -- October 28, 2009 -- J. Vazquez, MIG, SRE-OS/ESA
+ 
+ 
+Organization
+--------------------------------------------------------
+ 
+     The sections of this file are as follows.
+ 
+     Introductory Information:
+ 
+         --   Version description
+ 
+         --   Disclaimer
+ 
+         --   Sources
+ 
+     Pck Data:
+ 
+         --   Orientation constants for Asteroid 21 Lutetia
+ 
+         --   Radii for Asteroid 21 Lutetia
+ 
+ 
+Version description
+--------------------------------------------------------
+ 
+     This is a PCK containing values for the pole orientation, 
+     rotation period and shape obtained from [2].
+     
+ 
+Disclaimer
+--------------------------------------------------------
+ 
+     This constants file may not contain the parameter values that you
+     prefer. Note that this file may be readily modified by you or
+     anyone else. MIG suggests that you inspect this file visually
+     before proceeding with any critical or extended data processing.
+ 
+     MIG requests that you update the version section if you modify
+     the file.
+ 
+ 
+Sources
+--------------------------------------------------------
+ 
+     The sources for the constants listed in this file are:
+ 
+        1) ESA Science and Technology Server, Rosetta area,
+           http://sci.esa.int/science-e/www/object/index.cfm?
+           fobjectid=34849
+
+        2) 'PTB MAPPS Requirements Specification Cruise Phase' (Jun 6, 2008),
+           (RO-SGS-RS-0001), version 1a.
+        
+        3) Rotational Parameters of (21) Lutetia, L. Jorda & J.-B. Vincent
+
+
+Orientation constants for Asteroid 21 Lutetia
+--------------------------------------------------------
+ 
+     Right Ascension and Declination for the north pole of the asteroid are taken
+     from [3]. The W1 term was set to correspond to the period of 8.168270 hours ([3]).
+     This way, the rotational parameters of this ellipsoidal model math the ones in
+     the paper from Jorda and Vincent ([3]).
+     
+     The W0 term is 94.2 deg ([2]).
+     
+     W0 is defined as the offset (angle measured along the equator in an easterly 
+     direction from the intersection with the Earth's mean equator to the intersection 
+     with the prime meridian) at a 0 seconds ET.
+ 
+     \begindata
+ 
+        BODY2000021_POLE_RA             = (  51.80      0.0         0.0 )
+        BODY2000021_POLE_DEC            = (  10.83      0.0         0.0 )
+        BODY2000021_PM                  = (  94.2    1057.751519    0.0 )
+ 
+     \begintext
+
+
+Radii for Asteroid 21 Lutetia
+--------------------------------------------------------
+     
+     The radii provided in the keyword below correspond to the 
+     following asteroid shape
+
+          a/b/c = 130km/100km/90km
+
+     provided in [2].
+ 
+     \begindata
+ 
+        BODY2000021_RADII               = ( 65.0  50.0  45.0 )
+ 
+     \begintext
+
+
+Albedo Values for Asteroid 21 Lutetia
+--------------------------------------------------------
+
+     No values for the albedo are provided in [2].
+     
+
diff --git a/tests/pytests/data/i1_00237330013/ROS_V38.TF b/tests/pytests/data/i1_00237330013/ROS_V38.TF
new file mode 100644
index 000000000..6fa25735e
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ROS_V38.TF
@@ -0,0 +1,6261 @@
+KPL/FK
+
+Rosetta Spacecraft and Rosetta Lander Frames Kernel
+========================================================================
+
+   This frame kernel contains complete set of frame definitions for the
+   Rosetta Spacecraft (ROS) and Rosetta Lander (ROS_LANDER) including
+   definitions for the Rosetta spacecraft and Rosetta science
+   instrument frames and Rosetta Lander fixed, Rosetta Lander
+   instrument, and landing site local frames. This kernel also contains
+   NAIF name/ID mappings for the Rosetta and Rosetta Lander
+   instruments, and name/ID mappings for the Rosetta target body DSK
+   surfaces.
+
+
+Version and Date
+========================================================================
+
+   Version 3.8 -- July 25, 2022 -- Ricardo Valles, ESAC/ESA
+                                   Marc Costa Sitja, ESAC/ESA
+
+      Added several RPC NAIF ID and names definitions.
+      Added ROS_AB_K759_OMPCDLAM_N_V1 DSK surface name/ID mapping.
+
+   Version 3.7 -- October 20, 2021 -- Ricardo Valles Blanco, ESAC/ESA
+                                      Alfredo Escalante Lopez, ESAC/ESA
+
+      Updated contact information and prepared for PDS3 Data Set increment.
+
+   Version 3.6 -- July 31, 2020 -- Xian Shi, MPS
+                                   Marc Costa Sitja, ESAC/ESA
+                                   Alfredo Escalante, ESAC/ESA
+
+      Defined ROS_OSIRIS_NAC_NON_67P, ROS_OSIRIS_NAC_67P,
+      ROS_OSIRIS_WAC_NON_67P, ROS_OSIRIS_NAC_67P frames and changed
+      ROS_OSIRIS_NAC and ROS_OSIRIS_WAC frame definitions.
+
+      Defined all sensors as ephemeris objects setting the center of the
+      frames to the corresponding object.
+
+   Version 3.5 -- December 19, 2019 -- Marc Costa Sitja, ESAC/ESA
+                                       Bjoern Grieger, ESAC/ESA
+
+      Added OSIRIS IDs for ROS_OSIRIS_NAC_DIST_ENLG and
+      ROS_OSIRIS_WAC_DIST_ENLG, updated IDs for ROS_OSIRIS_NAC_URF and
+      ROS_OSIRIS_WAC_URF. Updated the OSIRIS WAC boresight according to [19].
+
+   Version 3.4 -- May 21, 2019 -- Bjoern Grieger, ESAC/ESA
+
+      Corrected typos in SREM comment section. Completed the table that
+      summarizes ROSINA IDs in a comment in the ID definition section.
+
+   Version 3.3 -- October 13, 2018 -- Marc Costa Sitja, ESAC/ESA
+                                      Boris Semenov, NAIF
+
+      Added IDs for the following comets: TEMPEL 1, C/LINEAR (2002 T7),
+      P/LINEAR (2010 A2), C/MACHHOLZ (2004 Q2) and for asteroid VESTA.
+      Updated frames diagram for Rosetta.
+
+   Version 3.2 -- March 22, 2018 -- Marc Costa Sitja, ESAC/ESA
+                                    Boris Semenov, NAIF
+
+      Removed synonym for 67P/C-G: 67P/CHURYUMOV-GERASIMENKO 1 (1969 R1)
+      for it is standing at 37 characters and is too long as SPICE limits
+      the body name length to 36 characters.
+
+      Added SREM IDs and reference frames.
+
+   Version 3.1 -- November 3, 2017 -- Boris Semenov, NAIF
+
+      Added 67P/C-G_SUN_SPIN (-226933) and 67P/C-G_SPIN_SUN
+      (-226934) frames per [16].
+
+   Version 3.0 -- September 20, 2017 -- Boris Semenov, NAIF
+
+      Redefined ROS_LANDER_TOPO to be relative to 67P/C-G_CK, updated
+      its orientation based on the final lander location, changed its
+      center to 1000012, updated all diagrams and tables that show topo
+      and lander frames' relationships with the comet body-fixed frame.
+
+   Version 2.9 -- September 5, 2017 -- Marc Costa Sitja, ESAC/ESA
+
+      Updated ROS_LANDER SCLK ID from -226 to -226800.
+
+   Version 2.8 -- May 22, 2017 -- Marc Costa Sitja, ESAC/ESA
+                                  Boris Semenov, NAIF
+
+      Added OSIRIS IDs for ROS_OSIRIS_NAC_DIST and ROS_OSIRIS_WAC_DIST.
+      Added a synonym for 67P/C-G: 67P/CHURYUMOV-GERASIMENKO 1 (1969 R1).
+
+      Added more target body DSK surface name/ID mappings.
+
+   Version 2.7 -- March 27, 2017 --  Marc Costa Sitja, ESAC/ESA
+                                     Boris Semenov, NAIF
+
+      Added more target body DSK surface and ROSINA_COPS name/ID mappings.
+      Updated some diagrams' layout. Removed ROSINA DFMS NA references;
+      ROSINS DFMS Wide Angle (WA) is now simply referred as DFMS.
+
+   Version 2.6 -- April 5, 2016 -- Boris Semenov, NAIF
+
+      Incorporated updated Star Tracker frames alignments and comments
+      provided by Bjoern Grieger in [15].
+
+      Added more target body DSK surface name/ID mappings.
+
+   Version 2.5 -- December 3, 2015 -- Boris Semenov, NAIF
+
+      Added the ROS_AUX_NADIR frame previously defined in
+      ROS_CGS_AUX_V01.TF. The frame ID was changed from -226910 to
+      -226918 to avoid conflict with the existing 67P/C-G_CSEQ frame.
+
+      Added the 67P/C-G_CK frame and accompanying SCLK keywords
+      previously defined in ROS_CHURYUMOV_V01.TF.
+
+      Added the ROS_RCO frame.
+
+      Added the target body DSK surface name/ID mappings section.
+
+      Added the Star Tracker frames, ROS_STR-A and ROS_STR-B.
+
+      Updated NAVCAM alignments based on [14].
+
+      Updated the frame summary table and frame tree diagrams.
+
+   Version 2.4 -- September 24, 2014 -- Maud Barthelemy, ESA
+                                        Boris Semenov, NAIF
+
+      Added ROLIS frames and name/ID code mappings.
+
+   Version 2.3 -- August 21, 2014 -- Maud Barthelemy, ESA;
+                                     Boris Semenov, NAIF
+
+      Added SESAME DIM frames.
+
+   Version 2.2 -- August 8, 2014 -- A. Steffl, SwRI
+
+      Alice frames updated to reflect post-hibernation boresight positions
+
+   Version 2.1 -- July 28, 2014 -- Federico Tosi, INAF-IAPS;
+                                   Boris Semenov, NAIF
+
+      Incorporated updated VIRTIS-M VIS anf IR frame definitions from
+      [12]; added NAIF ID/name mapping for ROS_VIRTIS-M_IR_ZERO/-226214.
+
+   Version 2.0 -- July 18, 2014 -- J. Vazquez
+
+      Corrected the labels +Yhga_el and +Yhga_az in the schema for the HGA.
+      This information was provided by Rudy Frahm (SWRI).
+
+   Version 1.9 -- June 12, 2013 -- Maud Barthelemy, ESAC;
+                                  Boris Semenov, NAIF
+
+      Changed the name of the surface frame at the landing site
+      (ROSLND_LOCAL_LEVEL -> ROS_LANDER_TOPO); changed the lander frame
+      name, ID, and type (ROSLND_LANDER -> ROS_LANDER, -226900 ->
+      -226800, FIXED->CK); added CIVA-P frames (ROS_LANDER_CIVA_P_(1...7));
+      added landing site, lander and CIVA-P name/ID mappings;
+
+   Version 1.8 -- December 22, 2011 -- Boris Semenov, NAIF
+
+      Added '21/LUTETIA_CSEQ' and '67P/C-G_CSEQ' -- body-Centered Solar
+      EQuatorial frames for Lutetia and 67P/Churyumov-Gerasimenko
+
+   Version 1.7 -- November 15, 2010 --- Bjoern Grieger, ESAC/ESAC
+
+      Added NAIF ID/name pairs for ROS_VIRTIS-M_VIS_ZERO
+
+   Version 1.6 -- January 26, 2010 -- Jose Luis Vazquez, ESA/ESAC
+
+      Added NAIF ID/name pairs for ALICE_-X_WIDE_TOP and ALICE_+X_WIDE_BOTTOM.
+      ROS_ALICE_OUTER1 and ROS_ALICE_OUTER2 removed.
+
+   Version 1.5 -- January 7, 2010 -- Boris Semenov, NAIF
+
+      Added '2867/STEINS_CSO' and '21/LUTETIA_CSO' -- body-Centered
+      Solar Orbital frames for Steins and Lutetia.
+
+   Version 1.4 -- September 22, 2008 -- Jose Luis Vazquez, ESAC
+
+      Updated frame orientation for ALICE and VIRTIS-H, with the
+      information in [7].
+
+   Version 1.3 -- May 21, 2008 -- Jose Luis Vazquez, ESAC
+
+      Fixed bug in the definition of the ROS_SA+Y_ZERO frame.
+
+   Version 1.2 -- June 16, 2007 -- Boris Semenov, NAIF
+
+      Incorporated updated VIRTIS-M and -H frame definitions provided
+      by Federico Tosi, INAF-IFSI [10]; updated description of the
+      VIRTIS alignments to be similar to those for VEX VIRTIS;
+
+   Version 1.1 -- December 6, 2006 -- Boris Semenov, NAIF
+
+      Added '45P/H-M-P_CSO' frame -- Comet-centered Solar Orbital frame
+      for Rosetta's incidental target (July 2006 pass through the
+      ion tail) comet 45P/Honda-Mrkos-Pajdusakova. Corrected the center
+      ID in the '67P/C-G_CSO' frame definition (was erroneously set to
+      399; was now reset to 1000012). Added aliases for the comet
+      45P/Honda-Mrkos-Pajdusakova to the name-ID mapping set.
+
+   Version 1.0 -- September 8, 2006 -- Boris Semenov, NAIF
+
+      Added '67P/C-G_CSO' frame -- Comet-centered Solar Orbital frame
+      for Rosetta's primary target comet 67P/Churyumov-Gerasimenko
+
+   Version 0.9 -- September 7, 2006 -- Boris Semenov, NAIF
+
+      Re-implemented the solar array and HGA frame chains to allow for
+      simpler representation of the appendage orientation data using
+      CKs.
+
+      Added name/ID mappings for the solar array and spacecraft bus
+      corners.
+
+   Version 0.8 -- September 6, 2006 -- Federico Tosi, INAF-IFSI &
+                                       Boris Semenov, NAIF
+
+      Changed the VIRTIS frames implementation as follows:
+
+         -  removed ROS_VIRTIS-M_VIS_SCAN/-226212,
+            ROS_VIRTIS-M_IR_SCAN/-226214 and ROS_VIRTIS_URF/-226230
+            name/ID mappings;
+
+         -  removed ROS_VIRTIS-M_VIS_SCAN, ROS_VIRTIS-M_IR_SCAN, and
+            ROS_VIRTIS_URF frames;
+
+         -  added ROS_VIRTIS-M_SCAN, ROS_VIRTIS-M_VIS_ZERO, and
+            ROS_VIRTIS-M_IR_ZERO frames;
+
+         -  updated the VIRTIS frame tree diagram and frame
+            descriptions for the new implementation.
+
+   Version 0.7 -- September 5, 2006 -- Boris Semenov, NAIF
+
+      Changed definition of the ROS_RPC_ICA frame to be consistent
+      with [9].
+
+   Version 0.6 -- May 31, 2005 -- Boris Semenov, NAIF
+
+      Updated RPC/MAG instrument/frame names and other parameters
+      based on the feedback comments from Dr. Ingo Richter [8],
+      specifically:
+
+         -- renamed MAG sensors (MAG1 -> MAG_OB, MAG2 -> MAG_IB)
+
+         -- renamed MAG sensor frames the same way
+
+         -- changed BOOM2 frame class to be CK-based frame
+            (its orientation is now provided in CK files)
+
+         -- changed MAG_OB and MAG_IB frame definitions and
+            incorporated their actual alignments relative to the
+            BOOM2 frame into the definitions.
+
+   Version 0.5 -- March 21, 2005 -- Boris Semenov, NAIF
+
+      Updated MIRO_MM frame definition based on the change of the
+      alignment angle ``Offset from Z S/C: y'' from -0.0057 deg to
+      -0.057 deg.
+
+   Version 0.4 -- March 14, 2005 -- Boris Semenov, NAIF
+
+      Preliminary Version. Pending review and approval by Rosetta and
+      Rosetta Lander instrument teams and ESTEC Science operations
+      team.
+
+      Added frames and name/ID mapping for NAVCAMs. Re-arranged MIRO
+      frames. Added MRO_VIRTIS-M FRAME and re-arranged VIRTIS-M frames.
+      Filled in calibrated alignments based on the instrument boresight
+      directions from [7] for ALICE, MIRO, OSIRIS, VIRTIS, and NAVCAMs.
+
+   Version 0.3 -- September 24, 2004 -- Boris Semenov, NAIF
+
+      Preliminary Version. Pending review and approval by Rosetta and
+      Rosetta Lander instrument teams and ESTEC Science operations
+      team.
+
+      Added RPC frames.
+
+   Version 0.2 -- September 2, 2004 -- Boris Semenov, NAIF
+
+      Preliminary Version. Pending review and approval by Rosetta and
+      Rosetta Lander instrument teams and ESTEC Science operations
+      team.
+
+      Added MIDAS, CONSERT, and GIADA frames.
+
+   Version 0.1 -- August 13, 2004 -- Boris Semenov, NAIF
+
+      Preliminary Version. Pending review and approval by Rosetta and
+      Rosetta Lander instrument teams and ESTEC Science operations
+      team.
+
+      Added comet and asteroid frame and ID/name mapping definitions.
+
+   Version 0.0 -- August 3, 2004 -- Boris Semenov, NAIF
+
+      Preliminary Version. Pending review and approval by Rosetta and
+      Rosetta Lander instrument teams and ESTEC Science operations
+      team.
+
+
+References
+========================================================================
+
+   1. ``Frames Required Reading''
+
+   2. ``Kernel Pool Required Reading''
+
+   3. ``C-Kernel Required Reading''
+
+   4. Rosetta Instrument EID/Part B Documents; latest versions as of 08/03/04
+
+   5. ``Coordinate Systems for Rosetta'', RO-DSS-TN-1081, 6d, 2004/09/17
+
+   6. ``Rosetta Experiment Booms'', RO-SEN-TN-3501, 2000/02/16
+
+   7. ``Payload Boresight Alignment Details'', RO-EST-TN-3305, 2008/01/17
+
+   8. E-mail "ROSETTA RPC-MAG FK / IK Comments" from Dr. Ingo Richter,
+      2005/04/19.
+
+   9. RPC-ICA-EAICD, November 5, 2003
+
+  10. ``Changes in ROSETTA's FK'', E-mail from Federico Tosi, INAF - IFSI
+
+  11. ``Computing Euler Angles from Offsets (title TBC)'',
+      (Document number TBD) J. Vazquez
+
+  12. ``Updated numbers for the VIRTIS section of Rosetta's FK'',
+      E-mail from Federico Tosi, INAF-IAPS
+
+  13. Draft Star Tracker name/ID and frame definitions by Bjorn Grieger,
+      ROS_V24+str2.TF, November 24, 2015
+
+  14. Updated NAVCAM alignments and frame definitions;
+      e-mail from Bernhard Geiger, November 26, 2015
+
+  15. Updated Star Tracker frame definitions by Bjorn Grieger,
+      ROS_V25_bg.TF, December 4, 2015
+
+  16. Request from Bjorn Grieger, October 10-11, 2017
+
+  17. ROS_SCRUCT_V6.BSP comments
+
+  18. E-mail from M. Taylor, ESA, ``Rosetta attitude and SREM information'',
+      February 12, 2018
+
+  19. ``OSIRIS pointing position relative to other boresights on Rosetta'',
+      RO-RIS-MPAE-TN-051, 1/f, 10 December 2019
+
+  20. E-mail from C. Guettler, ``OSIRIS Boresight Update'', 12 December 2019
+
+  21. ``OSIRIS pointing position relative to other boresights on Rosetta'',
+      RO-RIS-MPAE-TN-051, 1/g, 23 June 2020
+
+
+Contact Information
+========================================================================
+
+   If you have any questions regarding this file contact the
+   ESA SPICE Service (ESS) at ESAC:
+
+           Alfredo Escalante Lopez
+           (+34) 91-8131-429
+           spice@sciops.esa.int
+
+   or NAIF at JPL:
+
+           Boris Semenov
+           (818) 354-8136
+           Boris.Semenov@jpl.nasa.gov
+
+
+Implementation Notes
+========================================================================
+
+   This file is used by the SPICE system as follows: programs that make
+   use of this frame kernel must `load' the kernel, normally during
+   program initialization. The SPICELIB routine FURNSH and CSPICE
+   function furnsh_c load a kernel file into the kernel pool as shown
+   below.
+
+      CALL FURNSH ( 'frame_kernel_name' )
+      furnsh_c    ( "frame_kernel_name" );
+
+   This file was created and may be updated with a text editor or word
+   processor.
+
+
+Rosetta Mission NAIF ID Codes -- Summary Section
+========================================================================
+
+   The following names and NAIF ID codes are assigned to the Rosetta
+   spacecraft, its structures and science instruments (the keywords
+   implementing these definitions are located in the section "Rosetta
+   Mission NAIF ID Codes -- Definition Section" at the end of this
+   file):
+
+   Rosetta Targets:
+
+      CHURYUMOV-GERASIMENKO     1000012 (synonyms: 67P/C-G,
+                                         67P/CHURYUMOV-GERASIMENKO)
+
+      STEINS                    2002867 (synonyms: 2867 STEINS)
+
+      LUTETIA                   2000021 (synonyms: 21 LUTETIA)
+
+      HONDA-MRKOS-PAJDUSAKOVA   1000045 (synonyms: 45P/H-M-P,
+                                         45P/HONDA-MRKOS-PAJDUSAKOVA)
+
+      TEMPEL                    1000093 (synonyms: TEMPEL 1, 9P/TEMPEL 1,
+                                         9P/TEMPEL 1 (1867 G1))
+
+      C/LINEAR (2002 T7)        1000418 (synonyms: C/2002 T7 (LINEAR),
+                                         C/2002 T7)
+
+      P/LINEAR (2010 A2)        1003055 (synonyms: 354P, 354P/2010 A2,
+                                         354P/LINEAR, 354P/LINEAR (2010 A2),
+                                         354P/2010 A2 (LINEAR), P/2010 A2,
+                                         P/2010 A2 (LINEAR), P/2017 B5,
+                                         P/2017 B5 (LINEAR))
+
+      C/MACHHOLZ (2004 Q2)      1000507 (synonyms: C/2004 Q2 (MACHHOLZ),
+                                         C/2004 Q2)
+
+      VESTA                     2000004 (synonyms: 4 VESTA)
+
+
+   Rosetta Spacecraft and Spacecraft Structures names/IDs:
+
+      ROS                       -226    (synonyms: ROSETTA,
+                                         ROSETTA ORBITER)
+      ROS_SPACECRAFT            -226000 (synonym: ROS_SC)
+
+      ROS_MGA-S                 -226030
+      ROS_MGA-X                 -226040
+      ROS_LGA-1                 -226050
+      ROS_LGA-2                 -226060
+
+      ROS_HGA_GIMBAL            -226070
+      ROS_HGA                   -226075
+
+      ROS_SA+Y_GIMBAL           -226010
+      ROS_SA+Y_C1               -226011
+      ROS_SA+Y_C2               -226012
+      ROS_SA+Y_C3               -226013
+      ROS_SA+Y_C4               -226014
+
+      ROS_SA-Y_GIMBAL           -226020
+      ROS_SA-Y_C1               -226021
+      ROS_SA-Y_C2               -226022
+      ROS_SA-Y_C3               -226023
+      ROS_SA-Y_C4               -226024
+
+      ROS_SPACECRAFT_C1         -226001
+      ROS_SPACECRAFT_C2         -226002
+      ROS_SPACECRAFT_C3         -226003
+      ROS_SPACECRAFT_C4         -226004
+      ROS_SPACECRAFT_C5         -226005
+      ROS_SPACECRAFT_C6         -226006
+      ROS_SPACECRAFT_C7         -226007
+      ROS_SPACECRAFT_C8         -226008
+
+   Star Tracker names/IDs:
+
+      ROS_STR-A                 -226080
+      ROS_STR-B                 -226090
+
+   OSIRIS names/IDs:
+
+      ROS_OSIRIS_NAC            -226111
+      ROS_OSIRIS_NAC_DIST       -226113
+      ROS_OSIRIS_NAC_DIST_ENLG  -226115
+      ROS_OSIRIS_NAC_URF        -226117
+      ROS_OSIRIS_WAC            -226112
+      ROS_OSIRIS_WAC_DIST       -226114
+      ROS_OSIRIS_WAC_DIST_ENLG  -226116
+      ROS_OSIRIS_WAC_URF        -226118
+
+   ALICE names/IDs:
+
+      ROS_ALICE                 -226120
+      ROS_ALICE_URF             -226125
+
+   VIRTIS names/IDs:
+
+      ROS_VIRTIS                -226200
+      ROS_VIRTIS-M              -226210
+      ROS_VIRTIS-M_VIS          -226211
+      ROS_VIRTIS-M_IR           -226213
+      ROS_VIRTIS-H              -226220
+
+   MIRO names/IDs:
+
+      ROS_MIRO                  -226130
+      ROS_MIRO_MM               -226131
+      ROS_MIRO_SUBMM            -226132
+      ROS_MIRO_URF              -226135
+
+   ROSINA names/IDs:
+
+      ROS_ROSINA                -226300
+      ROS_ROSINA_DFMS           -226310
+      ROS_ROSINA_DFMS_URF       -226319
+      ROS_ROSINA_RTOF           -226320
+      ROS_ROSINA_RTOF_URF       -226329
+      ROS_ROSINA_COPS           -226330
+      ROS_ROSINA_COPS_URF       -226339
+
+   COSIMA names/IDs:
+
+      ROS_COSIMA                -226140
+      ROS_COSIMA_URF            -226145
+
+   MIDAS names/IDs:
+
+      ROS_MIDAS                 -226150
+      ROS_MIDAS_URF             -226155
+
+   CONSERT names/IDs:
+
+      ROS_CONSERT               -226160
+      ROS_CONSERT_URF           -226165
+
+   NAVCAM names/IDs:
+
+      ROS_NAVCAM-A              -226170
+      ROS_NAVCAM-A_URF          -226175
+      ROS_NAVCAM-B              -226180
+      ROS_NAVCAM-B_URF          -226185
+
+   GIADA names/IDs:
+
+      ROS_GIADA                 -226400
+      ROS_GIADA_GDS             -226410
+      ROS_GIADA_IS              -226420
+      ROS_GIADA_MBS1            -226431
+      ROS_GIADA_MBS2            -226432
+      ROS_GIADA_MBS3            -226433
+      ROS_GIADA_MBS4            -226434
+      ROS_GIADA_MBS5            -226435
+      ROS_GIADA_URF             -226440
+
+   RPC names/IDs:
+
+      ROS_RPC_LAP1              -226511
+      ROS_RPC_LAP2              -226512
+      ROS_RPC_IES               -226520
+      ROS_RPC_IES_ELECTRON      -226521
+      ROS_RPC_IES_ION           -226522
+      ROS_RPC_IES_URF           -226525
+      ROS_RPC_IES_QUAD1         -226526
+      ROS_RPC_IES_QUAD2         -226527
+      ROS_RPC_IES_QUAD3         -226528
+      ROS_RPC_IES_QUAD4         -226529
+      ROS_RPC_ICA               -226530
+      ROS_RPC_ICA_AVG           -226531
+      ROS_RPC_ICA_QUAD1         -226536
+      ROS_RPC_ICA_QUAD2         -226537
+      ROS_RPC_ICA_QUAD3         -226538
+      ROS_RPC_ICA_QUAD4         -226539
+      ROS_RPC_ICA_URF           -226535
+      ROS_RPC_MAG_OB            -226541
+      ROS_RPC_MAG_IB            -226542
+      ROS_RPC_MIP               -226550
+      ROS_RPC_MIP_R1            -226551
+      ROS_RPC_MIP_T1            -226552
+      ROS_RPC_MIP_T2            -226553
+      ROS_RPC_MIP_R2            -226554
+      ROS_RPC_BOOM1             -226560
+      ROS_RPC_BOOM2             -226570
+
+   SREM names/IDs:
+
+      ROS_SREM_D12              -226601
+      ROS_SREM_D3               -226602
+
+   Rosetta Lander Names/IDs:
+
+      ROS_LANDER_LANDING_SITE   -226999 (synonyms: ROS_LANDER_LS,
+                                         ROS_LANDER_TOPO)
+
+      ROS_LANDER                -226800  PHILAE
+
+   CIVA-P names/IDs:
+
+      ROS_LANDER_CIVA_P_1       -226801
+      ROS_LANDER_CIVA_P_2       -226802
+      ROS_LANDER_CIVA_P_3       -226803
+      ROS_LANDER_CIVA_P_4       -226804
+      ROS_LANDER_CIVA_P_5       -226805
+      ROS_LANDER_CIVA_P_6       -226806
+      ROS_LANDER_CIVA_P_7       -226807
+
+   DIM names/IDs:
+
+      ROS_LANDER_DIM_X          -226830
+      ROS_LANDER_DIM_Y          -226831
+      ROS_LANDER_DIM_Z          -226832
+
+
+Rosetta Target Body DSK Surface ID Codes -- Summary Section
+========================================================================
+
+   The following names and ID codes are assigned to the DSK surfaces
+   for the Rosetta target bodies (the keywords implementing these
+   definitions are located in the section "Rosetta DSK Surface ID Codes
+   -- Definition Section" at the end of this file; they are supported
+   in all SPICE toolkits with integrated DSK capabilities (version
+   N0066 or later)):
+
+          DSK Surface Name          ID    Body ID
+      ===========================  =====  =======
+
+   Comet 67P/Churyumov-Gerasimenko Surface name/IDs:
+
+      ROS_CG_M004_NSPCESA_N_V1     11000  1000012
+      ROS_CG_K250_NSPCESA_N_V1     11001  1000012
+      ROS_CG_M002_NSPCESA_N_V1     11002  1000012
+      ROS_CG_K104_NSPCESA_N_V1     11003  1000012
+
+      ROS_CG_K006_OSPCLPS_N_V1     22000  1000012
+      ROS_CG_K012_OSPCLPS_N_V1     22001  1000012
+      ROS_CG_K024_OSPCLPS_N_V1     22002  1000012
+      ROS_CG_K050_OSPCLPS_N_V1     22003  1000012
+      ROS_CG_K096_OSPCLPS_N_V1     22004  1000012
+      ROS_CG_K195_OSPCLPS_N_V1     22005  1000012
+      ROS_CG_K399_OSPCLPS_N_V1     22006  1000012
+      ROS_CG_K786_OSPCLPS_N_V1     22007  1000012
+      ROS_CG_K006_OSPCLPS_N_V2     22008  1000012
+      ROS_CG_K012_OSPCLPS_N_V2     22009  1000012
+      ROS_CG_K024_OSPCLPS_N_V2     22010  1000012
+      ROS_CG_K050_OSPCLPS_N_V2     22011  1000012
+      ROS_CG_K097_OSPCLPS_N_V1     22012  1000012
+      ROS_CG_K199_OSPCLPS_N_V1     22013  1000012
+      ROS_CG_K384_OSPCLPS_N_V1     22014  1000012
+      ROS_CG_K788_OSPCLPS_N_V1     22015  1000012
+      ROS_CG_M001_OSPCLPS_N_V1     22016  1000012
+      ROS_CG_M003_OSPCLPS_N_V1     22017  1000012
+
+      ROS_CG_K006_OMSDLAM_N_V1     23000  1000012
+      ROS_CG_K012_OMSDLAM_N_V1     23001  1000012
+      ROS_CG_K024_OMSDLAM_N_V1     23002  1000012
+      ROS_CG_K048_OMSDLAM_N_V1     23003  1000012
+      ROS_CG_K098_OMSDLAM_N_V1     23004  1000012
+      ROS_CG_K191_OMSDLAM_N_V1     23005  1000012
+      ROS_CG_K391_OMSDLAM_N_V1     23006  1000012
+      ROS_CG_K760_OMSDLAM_N_V1     23007  1000012
+      ROS_CG_M001_OMSDLAM_N_V1     23008  1000012
+
+      ROS_CG_K050_OSPGDLR_N_V1     24000  1000012
+      ROS_CG_K100_OSPGDLR_N_V1     24001  1000012
+      ROS_CG_K200_OSPGDLR_N_V1     24002  1000012
+      ROS_CG_M001_OSPGDLR_N_V1     24003  1000012
+      ROS_CG_M004_OSPGDLR_N_V1     24004  1000012
+
+   Asteroid 21 Lutetia Surface name/IDs:
+
+      ROS_LU_K003_OSPCLAM_N_V1      1000  2000021
+      ROS_LU_K006_OSPCLAM_N_V1      1001  2000021
+      ROS_LU_K012_OSPCLAM_N_V1      1002  2000021
+      ROS_LU_K025_OSPCLAM_N_V1      1003  2000021
+      ROS_LU_K048_OSPCLAM_N_V1      1004  2000021
+      ROS_LU_K098_OSPCLAM_N_V1      1005  2000021
+      ROS_LU_K190_OSPCLAM_N_V1      1006  2000021
+      ROS_LU_K240_OSPCLAM_N_V1      1007  2000021
+      ROS_LU_K380_OSPCLAM_N_V1      1008  2000021
+      ROS_LU_K780_OSPCLAM_N_V1      1009  2000021
+      ROS_LU_M002_OSPCLAM_N_V1      1010  2000021
+      ROS_LU_M003_OSPCLAM_N_V1      1011  2000021
+
+   Asteroid 2867 Steins Surface name/IDs:
+
+      ROS_ST_K020_OSPCLAM_N_V1      1000  2002867
+
+
+Rosetta Frames
+========================================================================
+
+   The following Rosetta frames are defined in this kernel file:
+
+           Name                  Relative to              Type       NAIF ID
+      ======================  ======================  ============   =======
+
+   Rosetta Target frames:
+   ----------------------
+      67P/C-G_CK              J2000                   CK         -1000012000
+
+      67P/C-G_FIXED           J2000                   PCK            1000012
+      STEINS_FIXED            J2000                   PCK            2002867
+      LUTETIA_FIXED           J2000                   PCK            2000021
+
+      67P/C-G_CSO             J2000                   DYNAMIC        -226912
+      45P/H-M-P_CSO           J2000                   DYNAMIC        -226945
+      2867/STEINS_CSO         J2000                   DYNAMIC        -226967
+      21/LUTETIA_CSO          J2000                   DYNAMIC        -226921
+
+      67P/C-G_CSEQ            J2000                   DYNAMIC        -226910
+      21/LUTETIA_CSEQ         J2000                   DYNAMIC        -226920
+
+      67P/C-G_SUN_SPIN        J2000                   DYNAMIC        -226933
+      67P/C-G_SPIN_SUN        J2000                   DYNAMIC        -226934
+
+   Rosetta Orbiter-Centered Dynamic Frames:
+   ----------------------------------------
+      ROS_AUX_NADIR           J2000                   DYNAMIC        -226918
+      ROS_RCO                 J2000                   DYNAMIC        -226919
+
+   Rosetta Spacecraft and Spacecraft Structures frames:
+   ----------------------------------------------------
+      ROS_SPACECRAFT          J2000                   CK             -226000
+      ROS_SA+Y_ZERO           ROS_SPACECRAFT          FIXED          -226010
+      ROS_SA+Y                ROS_SA+Y_ZERO           CK             -226015
+      ROS_SA-Y_ZERO           ROS_SPACECRAFT          FIXED          -226020
+      ROS_SA-Y                ROS_SA-Y_ZERO           CK             -226025
+      ROS_MGA-S               ROS_SPACECRAFT          FIXED          -226030
+      ROS_MGA-X               ROS_SPACECRAFT          FIXED          -226040
+      ROS_LGA-1               ROS_SPACECRAFT          FIXED          -226050
+      ROS_LGA-2               ROS_SPACECRAFT          FIXED          -226060
+      ROS_HGA_EL              ROS_SPACECRAFT          CK             -226071
+      ROS_HGA_AZ              ROS_HGA_EL              CK             -226072
+      ROS_HGA                 ROS_HGA_AZ              FIXED          -226075
+
+   Star Tracker frames:
+   --------------------
+      ROS_STR-A               ROS_SPACECRAFT          FIXED          -226080
+      ROS_STR-B               ROS_SPACECRAFT          FIXED          -226090
+
+   OSIRIS frames:
+   --------------
+      ROS_OSIRIS_NAC          ROS_SPACECRAFT          CK             -226111
+      ROS_OSIRIS_NAC_67P      ROS_SPACECRAFT          FIXED          -226113
+      ROS_OSIRIS_NAC_NON_67P  ROS_SPACECRAFT          FIXED          -226115
+      ROS_OSIRIS_NAC_URF      ROS_SPACECRAFT          FIXED          -226117
+      ROS_OSIRIS_WAC          ROS_SPACECRAFT          CK             -226112
+      ROS_OSIRIS_WAC_67P      ROS_SPACECRAFT          FIXED          -226114
+      ROS_OSIRIS_WAC_NON_67P  ROS_SPACECRAFT          FIXED          -226116
+      ROS_OSIRIS_WAC_URF      ROS_SPACECRAFT          FIXED          -226118
+
+   ALICE frames:
+   -------------
+      ROS_ALICE               ROS_SPACECRAFT          FIXED          -226120
+      ROS_ALICE_URF           ROS_SPACECRAFT          FIXED          -226125
+
+   VIRTIS frames:
+   --------------
+      ROS_VIRTIS-M            ROS_SPACECRAFT          FIXED          -226210
+      ROS_VIRTIS-M_SCAN       ROS_VIRTIS-M            CK             -226215
+      ROS_VIRTIS-M_VIS        ROS_VIRTIS-M_SCAN       FIXED          -226211
+      ROS_VIRTIS-M_IR         ROS_VIRTIS-M_SCAN       FIXED          -226213
+      ROS_VIRTIS-M_VIS_ZERO   ROS_VIRTIS-M            FIXED          -226212
+      ROS_VIRTIS-M_IR_ZERO    ROS_VIRTIS_M            FIXED          -226214
+      ROS_VIRTIS-H            ROS_SPACECRAFT          FIXED          -226220
+
+   MIRO frames:
+   ------------
+      ROS_MIRO                ROS_SPACECRAFT          FIXED          -226130
+      ROS_MIRO_MM             ROS_MIRO                FIXED          -226131
+      ROS_MIRO_SUBMM          ROS_MIRO                FIXED          -226132
+      ROS_MIRO_URF            ROS_SPACECRAFT          FIXED          -226135
+
+   ROSINA frames:
+   --------------
+      ROS_ROSINA_DFMS         ROS_SPACECRAFT          FIXED          -226310
+      ROS_ROSINA_DFMS_URF     ROS_SPACECRAFT          FIXED          -226319
+      ROS_ROSINA_RTOF         ROS_SPACECRAFT          FIXED          -226320
+      ROS_ROSINA_RTOF_URF     ROS_SPACECRAFT          FIXED          -226329
+      ROS_ROSINA_COPS         ROS_SPACECRAFT          FIXED          -226330
+      ROS_ROSINA_COPS_URF     ROS_SPACECRAFT          FIXED          -226339
+
+   COSIMA frames:
+   --------------
+      ROS_COSIMA              ROS_SPACECRAFT          FIXED          -226140
+      ROS_COSIMA_URF          ROS_SPACECRAFT          FIXED          -226145
+
+   MIDAS frames:
+   -------------
+      ROS_MIDAS               ROS_SPACECRAFT          FIXED          -226150
+      ROS_MIDAS_URF           ROS_SPACECRAFT          FIXED          -226155
+
+   CONSERT frames:
+   ---------------
+      ROS_CONSERT             ROS_SPACECRAFT          FIXED          -226160
+      ROS_CONSERT_URF         ROS_SPACECRAFT          FIXED          -226165
+
+   NAVCAM frames:
+   --------------
+      ROS_NAVCAM-A            ROS_SPACECRAFT          FIXED          -226170
+      ROS_NAVCAM-A_URF        ROS_SPACECRAFT          FIXED          -226175
+      ROS_NAVCAM-B            ROS_SPACECRAFT          FIXED          -226180
+      ROS_NAVCAM-B_URF        ROS_SPACECRAFT          FIXED          -226185
+
+   GIADA frames:
+   -------------
+      ROS_GIADA_GDS           ROS_SPACECRAFT          FIXED          -226410
+      ROS_GIADA_IS            ROS_SPACECRAFT          FIXED          -226420
+      ROS_GIADA_MBS1          ROS_SPACECRAFT          FIXED          -226431
+      ROS_GIADA_MBS2          ROS_SPACECRAFT          FIXED          -226432
+      ROS_GIADA_MBS3          ROS_SPACECRAFT          FIXED          -226433
+      ROS_GIADA_MBS4          ROS_SPACECRAFT          FIXED          -226434
+      ROS_GIADA_MBS5          ROS_SPACECRAFT          FIXED          -226435
+      ROS_GIADA_URF           ROS_SPACECRAFT          FIXED          -226440
+
+   RPC frames:
+   -----------
+      ROS_RPC_IES             ROS_SPACECRAFT          FIXED          -226520
+      ROS_RPC_IES_URF         ROS_SPACECRAFT          FIXED          -226525
+      ROS_RPC_ICA             ROS_SPACECRAFT          FIXED          -226530
+      ROS_RPC_ICA_URF         ROS_SPACECRAFT          FIXED          -226535
+      ROS_RPC_BOOM1           ROS_SPACECRAFT          FIXED          -226560
+      ROS_RPC_MIP             ROS_RPC_BOOM1           FIXED          -226550
+      ROS_RPC_LAP1            ROS_RPC_BOOM1           FIXED          -226511
+      ROS_RPC_BOOM2           ROS_SPACECRAFT          CK             -226570
+      ROS_RPC_MAG_OB          ROS_RPC_BOOM2           FIXED          -226541
+      ROS_RPC_MAG_IB          ROS_RPC_BOOM2           FIXED          -226542
+      ROS_RPC_LAP2            ROS_RPC_BOOM2           FIXED          -226512
+
+   SREM frames:
+   ------------
+      ROS_SREM_D12            ROS_SPACECRAFT          FIXED          -226601
+      ROS_SREM_D3             ROS_SPACECRAFT          FIXED          -226602
+
+   Rosetta Lander Frames:
+   ----------------------
+      ROS_LANDER_TOPO         67P/C-G_FIXED           FIXED          -226999
+      ROS_LANDER              67P/C-G_FIXED,J2000,    CK             -226800
+                              ROS_SPACECRAFT
+
+   CIVA-P frames:
+   --------------
+      ROS_LANDER_CIVA_P_1     ROS_LANDER              FIXED          -226801
+      ROS_LANDER_CIVA_P_2     ROS_LANDER              FIXED          -226802
+      ROS_LANDER_CIVA_P_3     ROS_LANDER              FIXED          -226803
+      ROS_LANDER_CIVA_P_4     ROS_LANDER              FIXED          -226804
+      ROS_LANDER_CIVA_P_5     ROS_LANDER              FIXED          -226805
+      ROS_LANDER_CIVA_P_6     ROS_LANDER              FIXED          -226806
+      ROS_LANDER_CIVA_P_7     ROS_LANDER              FIXED          -226807
+
+   SESAME DIM frames:
+   ------------------
+      ROS_LANDER_DIM_X        ROS_LANDER              FIXED          -226830
+      ROS_LANDER_DIM_Y        ROS_LANDER              FIXED          -226831
+      ROS_LANDER_DIM_Z        ROS_LANDER              FIXED          -226832
+
+   ROLIS frames:
+   -------------
+      ROS_LANDER_ROLIS        ROS_LANDER              FIXED          -226815
+
+
+Rosetta Target, Spacecraft, and Spacecraft Structures Frame Tree
+========================================================================
+
+   The diagram below shows the frame hierarchy for the Rosetta spacecraft
+   and its structure frame (not including science instrument frames.)
+
+
+                                                                  "IAU_PHOBOS"
+                                                                   -----------
+                                                                           ^
+                                                                      pck->|
+                                                                           |
+          "45P/H-M-P_CSO"                                     "IAU_DEIMOS" |
+          ---------------                                     ------------ |
+           ^                                                            ^  |
+           |<-dyn                                                  pck->|  |
+           |                                                            |  |
+           | "2867/STEINS_CSO"                           "IAU_TEMPEL_1" |  |
+           | -----------------                           -------------- |  |
+           |  ^                                                      ^  |  |
+           |  |<-dyn                                            pck->|  |  |
+           |  |                                                      |  |  |
+           |  | "21/LUTETIA_CSEQ"                       "IAU_EARTH"  |  |  |
+           |  | -----------------                       -----------  |  |  |
+           |  |  ^                                               ^   |  |  |
+           |  |  |<-dyn                                     pck->|   |  |  |
+           |  |  |                                               |   |  |  |
+           |  |  | "21/LUTETIA_CSO"                     "ITRF93" |   |  |  |
+           |  |  | ----------------                     -------- |   |  |  |
+           |  |  |  ^                                         ^  |   |  |  |
+           |  |  |  |<-dyn                               pck->|  |   |  |  |
+           |  |  |  |                                         |  |   |  |  |
+           |  |  |  | "67P/C-G_CSEQ"                "ROS_RCO" |  |   |  |  |
+           |  |  |  | --------------                --------- |  |   |  |  |
+           |  |  |  |  ^                                   ^  |  |   |  |  |
+           |  |  |  |  |<-dyn                         dyn->|  |  |   |  |  |
+           |  |  |  |  |                                   |  |  |   |  |  |
+           |  |  |  |  | "67P/C-G_CSO"     "ROS_AUX_NADIR" |  |  |   |  |  |
+           |  |  |  |  | -------------     --------------- |  |  |   |  |  |
+           |  |  |  |  |  ^                             ^  |  |  |   |  |  |
+           |  |  |  |  |  |<-dyn                   dyn->|  |  |  |   |  |  |
+           |  |  |  |  |  |                             |  |  |  |   |  |  |
+           |  |  |  |  |  |                             |  |  |  |   |  |  |
+           |  |  |  |  |  |    "J2000" INERTIAL         |  |  |  |   |  |  |
+           +---------------------------------------------------------------+
+           |                 |      . |        |        |  |     |
+           |<-pck        ck->|  ck->. |        |<-pck   |  |     |<-pck
+           |                 |      . |        |        |  |     |
+           V                 V      . |        V        |  |     V
+       "67P/C-G_FIXED" "67P/C-G_CK" . | "LUTETIA_FIXED" |  |  "STEINS_FIXED"
+         COMET BFXD     COMET BFXD  . |  ASTEROID BFXD  |  |  ASTEROID BFXD
+       --------------- ------------ . | --------------  |  |  --------------
+                         |      .   . |                 |  |
+                 fixed-> |      .   . |                 |  |<-dyn
+                         |      .   . |                 |  |
+                         V      .   . |                 |  V
+            "ROS_LANDER_TOPO"   .   . |                 | "67P/C-G_SUN_SPIN"
+            -----------------   .   . |                 | ------------------
+                                .   . |                 |
+                            ck->.   . |                 |<-dyn
+                                .   . |                 |
+                                V   V |                 V
+                         "ROS_LANDER" |                "67P/C-G_SPIN_SUN"
+                         ------------ |                ------------------
+                           .        ^ |
+                           .    ck->. |
+                           .        . |
+                           V        . |
+                Individual lander   . |
+             instrument frame trees . |
+               are provided in the  . |
+                other sections of   . |
+                    this file       . |
+                                    . |
+                                    . |
+                                    . |
+       "ROS_HGA"                    . |
+       ---------                    . |
+           ^                        . |
+           |<-fixed                 . |
+           |                        . |
+       "ROS_HGA_AZ"                 . |                   ROS_STR-B
+       ------------                 . |                   ---------
+           ^                        . |                          ^
+           |<-ck                    . |                   fixed->|
+           |                        . |                          |
+       "ROS_HGA_EL"                 . |               ROS_STR-A  |
+       ------------                 . |               ---------  |
+           ^                        . |                    ^     |
+           |<-ck                    . |<-ck         fixed->|     |
+           |                        . |                    |     |
+           |                        . V                    |     |
+           |                   "ROS_SPACECRAFT"            |     |
+           +-----------------------------------------------------+
+           |             |            .        |     |     |     |
+           |<-fixed      |<-fixed     . fixed->|     |     |     |<-fixed
+           |             |            .        |     |     |     |
+           V             V            .        V     |     |     V
+    "ROS_SA+Y_ZERO"  "ROS_SA-Y_ZERO"  .  "ROS_LGA-1" |     | "ROS_LGA-2"
+    ---------------  ---------------  .  ----------- |     | -----------
+           |             |            .              |     |
+           |<-ck         |<-ck        .       fixed->|     |<-fixed
+           |             |            .              |     |
+           V             V            .              V     V
+       "ROS_SA+Y"    "ROS_SA-Y"       .     "ROS_MGA-S"   "ROS_MGA-X"
+       -----------   ----------       .     -----------   -----------
+                                      .
+                                      .
+                                      V
+                Individual instrument frame trees are provided
+                      in the other sections of this file
+
+
+
+Rosetta Target Frames
+========================================================================
+
+   This section of the file contains the body-fixed and dynamic
+   (body-Centered Solar Orbital (CSO) and  body-Centered Solar
+   EQuatorial (CSEQ)) frame definitions for the primary, secondary and
+   incidental targets of the Rosetta mission -- comet
+   67P/Churyumov-Gerasimenko, asteroids 2867 Steins and 21 Lutetia, and
+   comet 45P/Honda-Mrkos-Pajdusakowa.
+
+
+Body-Fixed Frames:
+~~~~~~~~~~~~~~~~~~
+
+   Three PCK-based body-fixed frames -- 67P/C-G_FIXED, STEINS_FIXED,
+   and LUTETIA_FIXED -- are defined for the mission target bodies
+   67P/Churyumov-Gerasimenko, asteroids 2867 Steins and 21 Lutetia.
+   The orientation of these frames is computed by evaluating
+   corresponding rotation constants provided in the PCK file(s).
+
+   Because the orientation of 67P/Churyumov-Gerasimenko cannot be
+   represented over long periods of time using the standard IAU body
+   rotation formulation, an additional body-fixed CK-based frame,
+   67P/C-G_CK, is defined for the comet. The orientation of this frame
+   is computed using data provided in CK files for ID -1000012000,
+   tagged encoded ticks of the artificial SCLK with ID -1000012. The
+   SCLK data supporting conversions between these ticks and Ephemeris
+   Time are provided next to the 67P/C-G_CK frame definition below.
+   The definition of this frame and accompanying SCLK parameters were
+   originally provided in the FK file ROS_CHURYUMOV_V01.TF.
+
+   The 67P/C-G_CK is the preferred body-fixed frame for the comet
+   in all cases when the comet orientation CKs are available.
+
+   All body fixed frames have their axes and center aligned according
+   to the standard body-fixed frame formation rules:
+
+      -  +Z axis is toward the North pole;
+
+      -  +X axis is toward the prime meridian;
+
+      -  +Y axis completes the right handed frame;
+
+      -  the origin of this frame is at the center of the body.
+
+   The keywords below define the three PCK-based frames,
+   the CK-based frame and accompanying SCLK parameters.
+
+   \begindata
+
+      FRAME_67P/C-G_FIXED              =  1000012
+      FRAME_1000012_NAME               = '67P/C-G_FIXED'
+      FRAME_1000012_CLASS              =  2
+      FRAME_1000012_CLASS_ID           =  1000012
+      FRAME_1000012_CENTER             =  1000012
+      OBJECT_1000012_FRAME             = '67P/C-G_FIXED'
+
+      FRAME_STEINS_FIXED               =  2002867
+      FRAME_2002867_NAME               = 'STEINS_FIXED'
+      FRAME_2002867_CLASS              =  2
+      FRAME_2002867_CLASS_ID           =  2002867
+      FRAME_2002867_CENTER             =  2002867
+      OBJECT_2002867_FRAME             = 'STEINS_FIXED'
+
+      FRAME_LUTETIA_FIXED              =  2000021
+      FRAME_2000021_NAME               = 'LUTETIA_FIXED'
+      FRAME_2000021_CLASS              =  2
+      FRAME_2000021_CLASS_ID           =  2000021
+      FRAME_2000021_CENTER             =  2000021
+      OBJECT_2000021_FRAME             = 'LUTETIA_FIXED'
+
+      FRAME_67P/C-G_CK                 = -1000012000
+      FRAME_-1000012000_NAME           = '67P/C-G_CK'
+      FRAME_-1000012000_CLASS          =  3
+      FRAME_-1000012000_CLASS_ID       = -1000012000
+      FRAME_-1000012000_CENTER         =  1000012
+      CK_-1000012000_SCLK              = -1000012
+      CK_-1000012000_SPK               =  1000012
+
+      SCLK_KERNEL_ID                   = ( @2011-01-05/12:01:58 )
+
+      SCLK_DATA_TYPE_1000012           = ( 1 )
+      SCLK01_TIME_SYSTEM_1000012       = ( 2 )
+      SCLK01_N_FIELDS_1000012          = ( 2 )
+      SCLK01_MODULI_1000012            = ( 4294967296 65536 )
+      SCLK01_OFFSETS_1000012           = ( 0 0 )
+      SCLK01_OUTPUT_DELIM_1000012      = ( 1 )
+
+      SCLK_PARTITION_START_1000012     = ( 2.4123675052450E+12 )
+
+      SCLK_PARTITION_END_1000012       = ( 2.8147497671065E+14 )
+
+      SCLK01_COEFFICIENTS_1000012      = (
+
+        0.0000000000000E+00     1.3146108418400E+08     1.0000000000000E+00 )
+
+   \begintext
+
+
+Body-Centered Solar Orbital (CSO) Frames:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+   The body-Centered Solar Orbital (CSO) frames for the Rosetta primary
+   target comet 67P/Churyumov-Gerasimenko, incidental target comet
+   45P/Honda-Mrkos-Pajdusakowa (Rosetta passed through its ion tail in
+   July 2006), and secondary targets asteroids 2867/STEINS and 21/LUTETIA
+   are named '67P/C-G_CSO', '45P/H-M-P_CSO', '2867/STEINS_CSO',
+   and '21/LUTETIA_CSO'. These frames are defined as a two-vector style
+   dynamic frames as follows:
+
+      -  The position of the sun relative to the body is the primary
+         vector: the +X axis points from the body to the sun;
+
+      -  The inertially referenced velocity of the sun relative to the
+         body is the secondary vector: the +Y axis is the component of
+         this velocity vector orthogonal to the +X axis;
+
+      -  The +Z axis is +X cross +Y, completing the right-handed reference
+         frame;
+
+      -  All vectors are geometric: no aberration corrections are used.
+
+   The '67P/C-G_CSO', '45P/H-M-P_CSO', '2867/STEINS_CSO', and'21/LUTETIA_CSO'
+   definitions are implemented by the keywords below.
+
+   \begindata
+
+      FRAME_67P/C-G_CSO                =  -226912
+      FRAME_-226912_NAME               = '67P/C-G_CSO'
+      FRAME_-226912_CLASS              =  5
+      FRAME_-226912_CLASS_ID           =  -226912
+      FRAME_-226912_CENTER             =  1000012
+      FRAME_-226912_RELATIVE           = 'J2000'
+      FRAME_-226912_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226912_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226912_PRI_AXIS           = 'X'
+      FRAME_-226912_PRI_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226912_PRI_OBSERVER       = 'CHURYUMOV-GERASIMENKO'
+      FRAME_-226912_PRI_TARGET         = 'SUN'
+      FRAME_-226912_PRI_ABCORR         = 'NONE'
+      FRAME_-226912_SEC_AXIS           = 'Y'
+      FRAME_-226912_SEC_VECTOR_DEF     = 'OBSERVER_TARGET_VELOCITY'
+      FRAME_-226912_SEC_OBSERVER       = 'CHURYUMOV-GERASIMENKO'
+      FRAME_-226912_SEC_TARGET         = 'SUN'
+      FRAME_-226912_SEC_ABCORR         = 'NONE'
+      FRAME_-226912_SEC_FRAME          = 'J2000'
+
+      FRAME_45P/H-M-P_CSO              =  -226945
+      FRAME_-226945_NAME               = '45P/H-M-P_CSO'
+      FRAME_-226945_CLASS              =  5
+      FRAME_-226945_CLASS_ID           =  -226945
+      FRAME_-226945_CENTER             =  1000045
+      FRAME_-226945_RELATIVE           = 'J2000'
+      FRAME_-226945_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226945_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226945_PRI_AXIS           = 'X'
+      FRAME_-226945_PRI_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226945_PRI_OBSERVER       = 'HONDA-MRKOS-PAJDUSAKOVA'
+      FRAME_-226945_PRI_TARGET         = 'SUN'
+      FRAME_-226945_PRI_ABCORR         = 'NONE'
+      FRAME_-226945_SEC_AXIS           = 'Y'
+      FRAME_-226945_SEC_VECTOR_DEF     = 'OBSERVER_TARGET_VELOCITY'
+      FRAME_-226945_SEC_OBSERVER       = 'HONDA-MRKOS-PAJDUSAKOVA'
+      FRAME_-226945_SEC_TARGET         = 'SUN'
+      FRAME_-226945_SEC_ABCORR         = 'NONE'
+      FRAME_-226945_SEC_FRAME          = 'J2000'
+
+      FRAME_2867/STEINS_CSO            =  -226967
+      FRAME_-226967_NAME               = '2867/STEINS_CSO'
+      FRAME_-226967_CLASS              =  5
+      FRAME_-226967_CLASS_ID           =  -226967
+      FRAME_-226967_CENTER             =  2002867
+      FRAME_-226967_RELATIVE           = 'J2000'
+      FRAME_-226967_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226967_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226967_PRI_AXIS           = 'X'
+      FRAME_-226967_PRI_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226967_PRI_OBSERVER       = 'STEINS'
+      FRAME_-226967_PRI_TARGET         = 'SUN'
+      FRAME_-226967_PRI_ABCORR         = 'NONE'
+      FRAME_-226967_SEC_AXIS           = 'Y'
+      FRAME_-226967_SEC_VECTOR_DEF     = 'OBSERVER_TARGET_VELOCITY'
+      FRAME_-226967_SEC_OBSERVER       = 'STEINS'
+      FRAME_-226967_SEC_TARGET         = 'SUN'
+      FRAME_-226967_SEC_ABCORR         = 'NONE'
+      FRAME_-226967_SEC_FRAME          = 'J2000'
+
+      FRAME_21/LUTETIA_CSO             =  -226921
+      FRAME_-226921_NAME               = '21/LUTETIA_CSO'
+      FRAME_-226921_CLASS              =  5
+      FRAME_-226921_CLASS_ID           =  -226921
+      FRAME_-226921_CENTER             =  2000021
+      FRAME_-226921_RELATIVE           = 'J2000'
+      FRAME_-226921_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226921_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226921_PRI_AXIS           = 'X'
+      FRAME_-226921_PRI_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226921_PRI_OBSERVER       = 'LUTETIA'
+      FRAME_-226921_PRI_TARGET         = 'SUN'
+      FRAME_-226921_PRI_ABCORR         = 'NONE'
+      FRAME_-226921_SEC_AXIS           = 'Y'
+      FRAME_-226921_SEC_VECTOR_DEF     = 'OBSERVER_TARGET_VELOCITY'
+      FRAME_-226921_SEC_OBSERVER       = 'LUTETIA'
+      FRAME_-226921_SEC_TARGET         = 'SUN'
+      FRAME_-226921_SEC_ABCORR         = 'NONE'
+      FRAME_-226921_SEC_FRAME          = 'J2000'
+
+   \begintext
+
+
+Body-Centered Solar EQuatorial (CSEQ) Frames:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+   The body-Centered Solar EQuatorial (CSEQ) frames for the Rosetta
+   primary target comet 67P/Churyumov-Gerasimenko and secondary target
+   asteroid 21/LUTETIA are named '67P/C-G_CSEQ' and '21/LUTETIA_CSEQ'.
+   These frames are defined as a two-vector style dynamic frames as
+   follows:
+
+      -  +X axis is the position of the Sun relative to the body; it's
+         the primary vector and points from the body to the Sun;
+
+      -  +Z axis is the component of the Sun's north pole of date
+         orthogonal to the +X axis;
+
+      -  +Y axis completes the right-handed reference frame;
+
+      -  the origin of this frame is the body's center of mass.
+
+   All the vectors are geometric: no aberration corrections are used.
+
+   The '67P/C-G_CSEQ' and '21/LUTETIA_CSEQ' definitions are implemented
+   by the keywords below.
+
+   \begindata
+
+      FRAME_67P/C-G_CSEQ               = -226910
+      FRAME_-226910_NAME               = '67P/C-G_CSEQ'
+      FRAME_-226910_CLASS              =  5
+      FRAME_-226910_CLASS_ID           =  -226910
+      FRAME_-226910_CENTER             =  1000012
+      FRAME_-226910_RELATIVE           = 'J2000'
+      FRAME_-226910_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226910_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226910_PRI_AXIS           = 'X'
+      FRAME_-226910_PRI_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226910_PRI_OBSERVER       = '67P/C-G'
+      FRAME_-226910_PRI_TARGET         = 'SUN'
+      FRAME_-226910_PRI_ABCORR         = 'NONE'
+      FRAME_-226910_SEC_AXIS           = 'Z'
+      FRAME_-226910_SEC_VECTOR_DEF     = 'CONSTANT'
+      FRAME_-226910_SEC_FRAME          = 'IAU_SUN'
+      FRAME_-226910_SEC_SPEC           = 'RECTANGULAR'
+      FRAME_-226910_SEC_VECTOR         = ( 0, 0, 1 )
+
+      FRAME_21/LUTETIA_CSEQ            = -226920
+      FRAME_-226920_NAME               = '21/LUTETIA_CSEQ'
+      FRAME_-226920_CLASS              =  5
+      FRAME_-226920_CLASS_ID           =  -226920
+      FRAME_-226920_CENTER             =  2000021
+      FRAME_-226920_RELATIVE           = 'J2000'
+      FRAME_-226920_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226920_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226920_PRI_AXIS           = 'X'
+      FRAME_-226920_PRI_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226920_PRI_OBSERVER       = 'LUTETIA'
+      FRAME_-226920_PRI_TARGET         = 'SUN'
+      FRAME_-226920_PRI_ABCORR         = 'NONE'
+      FRAME_-226920_SEC_AXIS           = 'Z'
+      FRAME_-226920_SEC_VECTOR_DEF     = 'CONSTANT'
+      FRAME_-226920_SEC_FRAME          = 'IAU_SUN'
+      FRAME_-226920_SEC_SPEC           = 'RECTANGULAR'
+      FRAME_-226920_SEC_VECTOR         = ( 0, 0, 1 )
+
+   \begintext
+
+
+Body-Centered Sun/Body Spin Axis Based Frames:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+   The Sun/Body spin axis based, body-Centered dynamic frames for the
+   comet 67P/Churyumov-Gerasimenko -- 67P/C-G_SUN_SPIN and 67P/C-G_SPIN_SUN --
+   are defined as follows:
+
+      67P/C-G_SUN_SPIN:
+
+      -  +X axis is the apparent position of the Sun as seen from the
+         comet; it's the primary vector;
+
+      -  +Z axis is the component of the comet's north pole of date
+         orthogonal to the +X axis;
+
+      -  +Y axis completes the right-handed reference frame;
+
+      -  the origin of this frame is the comet's center of mass.
+
+
+      67P/C-G_SPIN_SUN:
+
+      -  +Z axis is the comet's north pole of date; it's the primary
+         vector;
+
+      -  +X axis is the component of the apparent position of the Sun
+         as seen from the comet orthogonal to the +Z axis;
+
+      -  +Y axis completes the right-handed reference frame;
+
+      -  the origin of this frame is the comet's center of mass.
+
+
+   The apparent position of the Sun in both definitions set to be
+   computed using the 'LT+S' correction.
+
+   These frames were originally defined in the FK CG_SPIN_SUN.TF that
+   was used internally by the RSGS team at ESAC. In that FK the frames
+   were named CG_SUN_SPIN and CG_SPIN_SUN and had IDs -226704 and
+   -226701.
+
+   The '67P/C-G_SUN_SPIN' and '67P/C-G_SPIN_SUN' definitions are
+   implemented by the keywords below.
+
+   \begindata
+
+      FRAME_67P/C-G_SUN_SPIN           = -226933
+      FRAME_-226933_NAME               = '67P/C-G_SUN_SPIN'
+      FRAME_-226933_CLASS              = 5
+      FRAME_-226933_CLASS_ID           = -226933
+      FRAME_-226933_CENTER             = 1000012
+      FRAME_-226933_RELATIVE           = 'J2000'
+      FRAME_-226933_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226933_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226933_PRI_AXIS           = 'X'
+      FRAME_-226933_PRI_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226933_PRI_OBSERVER       = 1000012
+      FRAME_-226933_PRI_TARGET         = 'SUN'
+      FRAME_-226933_PRI_ABCORR         = 'LT+S'
+      FRAME_-226933_SEC_AXIS           = 'Z'
+      FRAME_-226933_SEC_VECTOR_DEF     = 'CONSTANT'
+      FRAME_-226933_SEC_FRAME          = '67P/C-G_CK'
+      FRAME_-226933_SEC_SPEC           = 'RECTANGULAR'
+      FRAME_-226933_SEC_VECTOR         = ( 0, 0, 1 )
+
+      FRAME_67P/C-G_SPIN_SUN           = -226934
+      FRAME_-226934_NAME               = '67P/C-G_SPIN_SUN'
+      FRAME_-226934_CLASS              = 5
+      FRAME_-226934_CLASS_ID           = -226934
+      FRAME_-226934_CENTER             = 1000012
+      FRAME_-226934_RELATIVE           = 'J2000'
+      FRAME_-226934_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226934_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226934_PRI_AXIS           = 'Z'
+      FRAME_-226934_PRI_VECTOR_DEF     = 'CONSTANT'
+      FRAME_-226934_PRI_FRAME          = '67P/C-G_CK'
+      FRAME_-226934_PRI_SPEC           = 'RECTANGULAR'
+      FRAME_-226934_PRI_VECTOR         = ( 0, 0, 1 )
+      FRAME_-226934_SEC_AXIS           = 'X'
+      FRAME_-226934_SEC_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226934_SEC_OBSERVER       = 1000012
+      FRAME_-226934_SEC_TARGET         = 'SUN'
+      FRAME_-226934_SEC_ABCORR         = 'LT+S'
+
+   \begintext
+
+
+Rosetta Orbiter-Centered Dynamic Frames
+========================================================================
+
+   This section of the file contains the definitions of the dynamic frames
+   centered at the Rosetta orbiter.
+
+
+Rosetta Auxiliary Nadir Frame
+
+   The Rosetta auxiliary nadir frame, ROS_AUX_NADIR, needed for ROVIS
+   pointing computations, is defined as a two-vector style dynamic
+   frame as follows:
+
+      -  The position of 67P/C-G relative to the spacecraft is the
+         primary vector: the +Z axis points from the spacecraft to
+         67P/C-G;
+
+      -  The apparent position of the Sun as seen from the spacecraft
+         is the secondary vector: the +X axis is the component of this
+         position vector orthogonal to the +Z axis;
+
+      -  The +Y axis is +Z cross +X, completing the right-handed frame;
+
+   The keywords below implement this definition, which was originally
+   provided in the FK file ROS_CGS_AUX_V01.TF using the frame ID -226910.
+
+   \begindata
+
+      FRAME_ROS_AUX_NADIR          = -226918
+      FRAME_-226918_NAME           = 'ROS_AUX_NADIR'
+      FRAME_-226918_CLASS          =  5
+      FRAME_-226918_CLASS_ID       =  -226918
+      FRAME_-226918_CENTER         = 'ROSETTA'
+      FRAME_-226918_RELATIVE       = 'J2000'
+      FRAME_-226918_DEF_STYLE      = 'PARAMETERIZED'
+      FRAME_-226918_FAMILY         = 'TWO-VECTOR'
+      FRAME_-226918_ANGLE_SEP_TOL  = 0.000001
+      FRAME_-226918_PRI_AXIS       = 'Z'
+      FRAME_-226918_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226918_PRI_OBSERVER   = 'ROSETTA'
+      FRAME_-226918_PRI_TARGET     = 'CHURYUMOV-GERASIMENKO'
+      FRAME_-226918_PRI_ABCORR     = 'NONE'
+      FRAME_-226918_SEC_AXIS       = 'X'
+      FRAME_-226918_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226918_SEC_OBSERVER   = 'ROSETTA'
+      FRAME_-226918_SEC_TARGET     = 'SUN'
+      FRAME_-226918_SEC_ABCORR     = 'LT+S'
+
+   \begintext
+
+
+Rosetta Body-Centered 67p/C-G Orbital Frame
+
+   The Body-Centered 67p/C-G Orbital (RCO) frame for the ROSETTA spacecraft,
+   ROS_RCO, is defined as a two-vector style dynamic frame as follows:
+
+      -  The position of 67P/C-G relative to the spacecraft is the
+         primary vector: the +X axis points from the spacecraft to
+         67P/C-G;
+
+      -  The inertially referenced velocity of 67P/C-G relative to the
+         spacecraft is the secondary vector: the +Y axis is the
+         component of this velocity vector orthogonal to the +X axis;
+
+      -  The +Z axis is +X cross +Y, completing the right-handed reference
+         frame;
+
+      -  All vectors are geometric: no aberration corrections are used.
+
+   The keywords below implement this definition, which was originally
+   provided in the FK file ROS_RCO.TF.
+
+   \begindata
+
+      FRAME_ROS_RCO                    =  -226919
+      FRAME_-226919_NAME               = 'ROS_RCO'
+      FRAME_-226919_CLASS              =  5
+      FRAME_-226919_CLASS_ID           =  -226919
+      FRAME_-226919_CENTER             =  -226
+      FRAME_-226919_RELATIVE           = 'J2000'
+      FRAME_-226919_DEF_STYLE          = 'PARAMETERIZED'
+      FRAME_-226919_FAMILY             = 'TWO-VECTOR'
+      FRAME_-226919_PRI_AXIS           = 'X'
+      FRAME_-226919_PRI_VECTOR_DEF     = 'OBSERVER_TARGET_POSITION'
+      FRAME_-226919_PRI_OBSERVER       = 'ROSETTA'
+      FRAME_-226919_PRI_TARGET         = 'CHURYUMOV-GERASIMENKO'
+      FRAME_-226919_PRI_ABCORR         = 'NONE'
+      FRAME_-226919_SEC_AXIS           = 'Y'
+      FRAME_-226919_SEC_VECTOR_DEF     = 'OBSERVER_TARGET_VELOCITY'
+      FRAME_-226919_SEC_OBSERVER       = 'ROSETTA'
+      FRAME_-226919_SEC_TARGET         = 'CHURYUMOV-GERASIMENKO'
+      FRAME_-226919_SEC_ABCORR         = 'NONE'
+      FRAME_-226919_SEC_FRAME          = 'J2000'
+
+   \begintext
+
+
+Rosetta Spacecraft and Spacecraft Structures Frames
+========================================================================
+
+   This section of the file contains the definitions of the spacecraft
+   and spacecraft structures frames.
+
+
+Rosetta Spacecraft Frame
+--------------------------------------
+
+   According to [5] the Rosetta spacecraft frame is defined as follows:
+
+      -  +Z axis is perpendicular to the launch vehicle interface plane
+         and points toward the payload side;
+
+      -  +X axis is perpendicular to the HGA mounting plane and points
+         toward HGA;
+
+      -  +Y axis completes the right-handed frame;
+
+      -  the origin of this frame is the launch vehicle interface point.
+         Please note that the origin of the Rosetta spacecraft (-226) is in
+         the Center of Gravity of the spacecraft.
+
+   These diagrams illustrate the ROS_SPACECRAFT frame:
+
+
+   +X S/C side (HGA side) view:
+   ----------------------------
+                                    ^
+                                    | toward comet
+                                    |
+
+                               Science Deck
+                             ._____________.
+   .__  _______________.     |             |     .______________  ___.
+   |  \ \               \    |             |    /               \ \  |
+   |  / /                \   |  +Zsc       |   /                / /  |
+   |  \ \                 `. |      ^      | .'                 \ \  |
+   |  / /                 | o|      |      |o |                 / /  |
+   |  \ \                 .' |      |      | `.                 \ \  |
+   |  / /                /   |      |      |   \                / /  |
+   .__\ \_______________/    |  +Xsc|      |    \_______________\ \__.
+     -Y Solar Array          .______o-------> +Ysc   +Y Solar Array
+                                 ._____.
+                               .'       `.
+                              /           \
+                             .   `.   .'   .          +Xsc is out of
+                             |     `o'     |             the page
+                             .      |      .
+                              \     |     /
+                               `.       .'
+                            HGA  ` --- '
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+                                  _____
+                                 /     \  Lander
+                                |       |
+                             ._____________.
+                             |             |
+                             |             |
+                             |  +Zsc       | +Ysc
+   o==/ /==================o |      o------->o==================/ /==o
+     -Y Solar Array          |      |      |        +Y Solar Array
+                             |      |      |
+                             .______|______.
+                               `.   |   .'
+                                 .--V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'                 +Zsc is out
+                                                       of the page
+
+
+   Since the orientation of the ROS_SPACECRAFT frame is computed
+   on-board, sent down in telemetry, and stored in the S/C CK files, it
+   is defined as a CK-based frame.
+
+   \begindata
+
+      FRAME_ROS_SPACECRAFT             = -226000
+      FRAME_-226000_NAME               = 'ROS_SPACECRAFT'
+      FRAME_-226000_CLASS              =  3
+      FRAME_-226000_CLASS_ID           = -226000
+      FRAME_-226000_CENTER             = -226
+      CK_-226000_SCLK                  = -226
+      CK_-226000_SPK                   = -226
+
+   \begintext
+
+
+Rosetta Solar Array Frames
+--------------------------------------
+
+   Each of the solar array frame chains includes two frames. The first
+   frame, named ROS_SA+Y_ZERO for +Y solar array and ROS_SA-Y_ZERO for
+   -Y solar array, is a fixed offset frame that gives the array
+   orientation in zero gimbal position. The second frame, named
+   ROS_SA+Y for +Y solar array and ROS_SA-Y for -Y solar array, is a
+   CK-based frame that incorporates rotation about the array's gimbal
+   axis from zero position to the actual position.
+
+   The array frames, ROS_SA+Y and ROS_SA-Y, are defined as follows:
+
+      -  +Y axis is parallel to the longest side of the array or also
+         the array rotation axis, and is positively oriented from the
+         end of the wing toward the gimbal;
+
+      -  +Z axis is normal to the solar array plane, the solar cells on
+         the +Z side;
+
+      -  +X axis completes the right-handed frame;
+
+      -  the origin of the frame is located at the geometric center of
+         center the gimbal.
+
+   In zero gimbal position the ROS_SA+Y frame is co-aligned with the
+   ROS_SA+Y_ZERO frame and  the ROS_SA-Y frame is co-aligned with the
+   ROS_SA-Y_ZERO frame. In non-zero position each of the array frames
+   is rotated from its corresponding "zero" frame positive CCW about
+   +Y axis, with this rotation captured in CK files.
+
+   This diagram illustrates the solar array frames for both arrays in
+   zero position:
+
+
+   +X S/C side (HGA side) view:
+   ----------------------------
+                                    ^
+                                    | toward comet
+                                    |
+
+                               Science Deck  +Xsa+y0
+                             ._____________.^+Xsa+y
+   .__  _______________.     |             ||    .______________  ___.
+   |  \ \               \    |             ||   /               \ \  |
+   |  / /                \   |  +Zsc       ||  /                / /  |
+   |  \ \                 `. |      ^      ||.+Zsa+y0           \ \  |
+   |  / /           +Zsa-y0 o-----> | <-----o  Zsa+y            / /  |
+   |  \ \           +Zsa-y.'|+Ysa-y0|+Ysa+y0 `.                 \ \  |
+   |  / /                /  ||+Ysa-y|+Ysa+y|   \                / /  |
+   .__\ \_______________/   ||      |      |    \_______________\ \__.
+     -Y Solar Array         |.______o-------> +Ysc   +Y Solar Array
+                            v  +Xsc o__.
+                     +Xsa-y0   .'       `.
+                     +Xsa-y   /           \
+                             .   `.   .'   .      +Xsc, +Zsa+y0, +Zsa+y,
+                             |     `o'     |      +Zsa-y0,and +Zsa-y are
+                             .      |      .          out of the page
+                              \     |     /
+                               `.       .'         Active solar cell is
+                            HGA  ` --- '             facing the viewer
+
+
+   As seen on the diagram the ROS_SA-Y_ZERO is rotated from the
+   spacecraft frame by +90 degrees about +Ysc while the ROS_SA+Y_ZERO is
+   rotated from the spacecraft frame first by 180 degrees about +X and
+   then by +90 degrees about the resulting +Y.
+
+   These sets of keywords define the solar array frames as CK frames:
+
+   \begindata
+
+      FRAME_ROS_SA+Y_ZERO              =  -226010
+      FRAME_-226010_NAME               = 'ROS_SA+Y_ZERO'
+      FRAME_-226010_CLASS              =  4
+      FRAME_-226010_CLASS_ID           =  -226010
+      FRAME_-226010_CENTER             =  -226010
+      TKFRAME_-226010_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226010_SPEC             = 'ANGLES'
+      TKFRAME_-226010_UNITS            = 'DEGREES'
+      TKFRAME_-226010_ANGLES           = ( 180.000, 90.000,   0.000 )
+      TKFRAME_-226010_AXES             = (   3,      2,       3     )
+
+      FRAME_ROS_SA+Y                   = -226015
+      FRAME_-226015_NAME               = 'ROS_SA+Y'
+      FRAME_-226015_CLASS              =  3
+      FRAME_-226015_CLASS_ID           = -226015
+      FRAME_-226015_CENTER             = -226010
+      CK_-226015_SCLK                  = -226
+      CK_-226015_SPK                   = -226
+
+      FRAME_ROS_SA-Y_ZERO              =  -226020
+      FRAME_-226020_NAME               = 'ROS_SA-Y_ZERO'
+      FRAME_-226020_CLASS              =  4
+      FRAME_-226020_CLASS_ID           =  -226020
+      FRAME_-226020_CENTER             =  -226020
+      TKFRAME_-226020_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226020_SPEC             = 'ANGLES'
+      TKFRAME_-226020_UNITS            = 'DEGREES'
+      TKFRAME_-226020_ANGLES           = (   0.000, -90.000,   0.000 )
+      TKFRAME_-226020_AXES             = (   3,       2,       3     )
+
+      FRAME_ROS_SA-Y                   = -226025
+      FRAME_-226025_NAME               = 'ROS_SA-Y'
+      FRAME_-226025_CLASS              =  3
+      FRAME_-226025_CLASS_ID           = -226025
+      FRAME_-226025_CENTER             = -226020
+      CK_-226025_SCLK                  = -226
+      CK_-226025_SPK                   = -226
+
+   \begintext
+
+
+Rosetta High Gain Antenna Frame
+--------------------------------------
+
+   The Rosetta High Gain Antenna is attached to the +X side of the S/C
+   bus by a gimbal providing two degrees of freedom and it articulates
+   during flight to track Earth. To incorporate rotations in the gimbal
+   the HGA frame chain includes three frames: ROS_HGA_EL, ROS_HGA_AZ,
+   and ROS_HGA.
+
+   The first two frames are defined as CK-based frames and are
+   co-aligned with the spacecraft frame in the zero gimbal position. In
+   a non-zero position the ROS_HGA_EL is rotated from the spacecraft
+   frame by an elevation angle about +Y and the ROS_HGA_AZ frame is
+   rotated from the ROS_HGA_EL frame by an azimuth angle about +Z. These
+   rotations are stored in separated segments in CK files.
+
+   The ROS_HGA frame is defined as follows:
+
+      -  +Z axis is in the antenna boresight direction;
+
+      -  +X axis points from the gimbal toward the antenna dish
+         symmetry axis;
+
+      -  +Y axis completes the right-handed frame;
+
+      -  the origin of the frame is located at the geometric center of
+         the HGA dish outer rim circle.
+
+   The ROS_HGA frame is defined as a fixed offset frame relative to the
+   ROS_HGA_AZ frame and is rotated by +90 degrees about +Y from it.
+
+   This diagram illustrates the ROS_HGA frames in the zero gimbal
+   position:
+
+   +X S/C side (HGA side) view:
+   ----------------------------
+                                    ^
+                                    | toward comet
+                                    |
+
+                               Science Deck
+                             ._____________.
+   .__  _______________.     |             |     .______________  ___.
+   |  \ \               \    |             |    /               \ \  |
+   |  / /                \   |  +Zsc       |   /                / /  |
+   |  \ \                 `. |      ^      | .'                 \ \  |
+   |  / /                 | o|      |      |o |                 / /  |
+   |  \ \                 .'+Zhga_el^      | `.                 \ \  |
+   |  / /                /  +Zhga_az|      |   \                / /  |
+   .__\ \_______________/    |      |      |    \_______________\ \__.
+     -Y Solar Array          .______o-------> +Ysc   +Y Solar Array
+                                 .__o------->
+                               .'       `.    +Yhga_el
+                              /           \   +Yhga_az
+                             .   `.   .'   .
+                             |     `o-------> +Yhga    +Zhga, +Xsc, +Xhga_el,
+                             .      |      .              +Xhga_az and HGA
+                              \     |     /               boresight are out
+                               `.   |   .'                  of the page
+                            HGA  ` -|- '
+                                    V +Xhga
+
+
+   This set of keywords defines the HGA frame as a CK frame:
+
+   \begindata
+
+      FRAME_ROS_HGA_EL                 = -226071
+      FRAME_-226071_NAME               = 'ROS_HGA_EL'
+      FRAME_-226071_CLASS              =  3
+      FRAME_-226071_CLASS_ID           = -226071
+      FRAME_-226071_CENTER             = -226070
+      CK_-226071_SCLK                  = -226
+      CK_-226071_SPK                   = -226
+
+      FRAME_ROS_HGA_AZ                 = -226072
+      FRAME_-226072_NAME               = 'ROS_HGA_AZ'
+      FRAME_-226072_CLASS              =  3
+      FRAME_-226072_CLASS_ID           = -226072
+      FRAME_-226072_CENTER             = -226070
+      CK_-226072_SCLK                  = -226
+      CK_-226072_SPK                   = -226
+
+      FRAME_ROS_HGA                    =  -226075
+      FRAME_-226075_NAME               = 'ROS_HGA'
+      FRAME_-226075_CLASS              =  4
+      FRAME_-226075_CLASS_ID           =  -226075
+      FRAME_-226075_CENTER             =  -226070
+      TKFRAME_-226075_RELATIVE         = 'ROS_HGA_AZ'
+      TKFRAME_-226075_SPEC             = 'ANGLES'
+      TKFRAME_-226075_UNITS            = 'DEGREES'
+      TKFRAME_-226075_ANGLES           = (   0.000, -90.000,   0.000 )
+      TKFRAME_-226075_AXES             = (   1,       2,       3     )
+
+   \begintext
+
+
+Other Rosetta Antenna Frames
+--------------------------------------
+
+   The frames for the other four Rosetta antennas -- MGA-S, MGA-X, LGA-1
+   and LGA-2 -- are defined as follows:
+
+      -  +Z axis is in the antenna boresight direction;
+
+      -  +Y axis is nominally parallel to the S/C +Y axis;
+
+      -  +X axis completes the right-handed frame;
+
+      -  the origin of the frame is located at the geometric center of
+         the antenna outer side.
+
+   Both MGA antennas are mounted on the +X side of the S/C bus and
+   nominally point in the S/C +X axis direction. One rotation by +90
+   degrees about +Y is needed to align the S/C frame with their frames.
+
+   The LGA-1 is mounted on the +Z side of the S/C bus and nominally
+   points 30 degrees off the S/C +Z axis toward the S/C +X axis. One
+   rotation by +30 degrees about +Y is needed to align the S/C frame
+   with the LGA-1 frame.
+
+   The LGA-2 is mounted on the -X side of the S/C bus and nominally
+   points 30 degrees off the S/C -Z axis toward the S/C -X axis. One
+   rotation by +210 degrees about +Y is needed to align the S/C frame
+   with the LGA-2 frame.
+
+   This diagram illustrates the ROS_MGA-S and ROS_MGA-X frames:
+
+   +Y S/C side view:
+   -----------------
+
+                                    ^
+                                    | toward comet
+                                    |
+
+                                    Science Deck
+             +Zmgax          ._____________.
+                    <-------o|             |
+                    <-------o|             |
+             +Zmgas         ||  +Zsc       |----. Lander
+                            ||      ^      |  | |
+                     +Xmgax ||      |      |  | |
+                           .V|      |      |  | |
+                     +Xmgas V|      |      |----'
+                       .'    |      |+Ysc  |
+                      o==== <-------o _____.
+                    .//   +Xsc
+                    |`.
+                    |  \
+                    |   .
+                  o'|   |
+                   \|   '
+                    |  /                +Y solar array is not shown
+                    |.'
+                    ' HGA                +Ysc, +Ymgas, and +Ymgax
+                                           are out of the page
+
+
+   This diagram illustrates the ROS_LGA-1 and ROS_LGA-2 frames:
+
+   +Y S/C side view:
+   -----------------
+
+                    +Zlga1
+                          ^         ^
+                           \        | toward comet
+                            \       |
+                             \
+                              o     Science Deck
+                            .'_\___________.
+                          .' |             |
+                        .'   |             |
+                +Xlga1 v     |  +Zsc       |----. Lander
+                             |      ^      |  | |
+                             |      |      |  | |
+                           .'|      |      |  | |  ^
+                         .'  |      |      |----'.' +Xlga2
+                       .'    |      |+Ysc  |\  .'
+                      o==== <-------o _____._o'
+                    .//   +Xsc          LGA2  \
+                    |`.                        \
+                    |  \                        \
+                    |   .                        V +Zlga2
+                  o'|   |
+                   \|   '
+                    |  /                +Y solar array is not shown
+                    |.'
+                    ' HGA                +Ysc, +Ylga1, and +Ylga2
+                                           are out of the page
+
+   These sets of keywords define MGA and LGA frames as fixed offset
+   frames:
+
+   \begindata
+
+      FRAME_ROS_MGA-S                  =  -226030
+      FRAME_-226030_NAME               = 'ROS_MGA-S'
+      FRAME_-226030_CLASS              =  4
+      FRAME_-226030_CLASS_ID           =  -226030
+      FRAME_-226030_CENTER             =  -226030
+      TKFRAME_-226030_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226030_SPEC             = 'ANGLES'
+      TKFRAME_-226030_UNITS            = 'DEGREES'
+      TKFRAME_-226030_ANGLES           = (   0.000, -90.000,   0.000 )
+      TKFRAME_-226030_AXES             = (   1,       2,       3     )
+
+      FRAME_ROS_MGA-X                  =  -226040
+      FRAME_-226040_NAME               = 'ROS_MGA-X'
+      FRAME_-226040_CLASS              =  4
+      FRAME_-226040_CLASS_ID           =  -226040
+      FRAME_-226040_CENTER             =  -226030
+      TKFRAME_-226040_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226040_SPEC             = 'ANGLES'
+      TKFRAME_-226040_UNITS            = 'DEGREES'
+      TKFRAME_-226040_ANGLES           = (   0.000, -90.000,   0.000 )
+      TKFRAME_-226040_AXES             = (   1,       2,       3     )
+
+      FRAME_ROS_LGA-1                  =  -226050
+      FRAME_-226050_NAME               = 'ROS_LGA-1'
+      FRAME_-226050_CLASS              =  4
+      FRAME_-226050_CLASS_ID           =  -226050
+      FRAME_-226050_CENTER             =  -226050
+      TKFRAME_-226050_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226050_SPEC             = 'ANGLES'
+      TKFRAME_-226050_UNITS            = 'DEGREES'
+      TKFRAME_-226050_ANGLES           = (   0.000, -30.000,   0.000 )
+      TKFRAME_-226050_AXES             = (   1,       2,       3     )
+
+      FRAME_ROS_LGA-2                  =  -226060
+      FRAME_-226060_NAME               = 'ROS_LGA-2'
+      FRAME_-226060_CLASS              =  4
+      FRAME_-226060_CLASS_ID           =  -226060
+      FRAME_-226060_CENTER             =  -226060
+      TKFRAME_-226060_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226060_SPEC             = 'ANGLES'
+      TKFRAME_-226060_UNITS            = 'DEGREES'
+      TKFRAME_-226060_ANGLES           = (   0.000, -210.000,  0.000 )
+      TKFRAME_-226060_AXES             = (   1,       2,       3     )
+
+   \begintext
+
+
+Star Tracker Frames
+--------------------------------------
+
+   The Star Tracker STR-A and STR-B frames -- ROS_STR-A and ROS_STR-B --
+   are defined as follows:
+
+      -  +Z axis points along the Star Tracker boresight;
+
+      -  +X axis is nominally parallel to the S/C XY plane and points
+         in the direction of the S/C +Y axis for STR-A and in the
+         direction of the S/C -Y axis for STR-B;
+
+      -  +Y axis completes the right hand frame;
+
+      -  the origin of the frame is located at the Star Tracker focal
+         point.
+
+   This diagram illustrates the Star Tracker frames:
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------------------
+
+                          15 deg          15 deg
+                         \<--->|         |<--->/
+
+                   +Zstr-b ^      _____      ^ +Zstr-a
+                            \    /     \    /
+                             \  |       |  /
+                             .\ +Ystr-b __/.
+                             |.o         x.|
+                  +Xstr-b  .-'     +Ystr-a `-.  +Xstr-a
+                         <'  |             |  `>
+   o==/ /==================o | +Zsc o------->o==================/ /==o
+     -Y Solar Array          |      |      | +Ysc    +Y Solar Array
+                             |      |      |
+                             .______|______.
+                               `.   |   .'
+                                 .--V +Xsc            +Zsc and +Ystr-b
+                          HGA  .'       `.           are out of the page
+                              /___________\
+                                  `.|.'           +Ystr-a is into the page
+
+                                                  +Zstr-b points 10 deg
+                                                       below the page.
+
+
+   The STR-A frame is nominally rotated from the S/C frame first by -90
+   degrees about +Xsc, then by -75 degrees about the resulting +Y.
+
+   The STR-B frame is nominally rotated from the S/C frame first by +90
+   degrees about +Xsc, then by -75 degrees about the resulting +Y,
+   then by +10 degrees about the resulting +X.
+
+   Star Tracker frame alignment matrices rotating vectors from the S/C
+   frame to the Star Tracker frames had been provided by Mathias Lauer
+   (ESOC) and were cited in [13]:
+
+     ALI_STR_1 =      |  0.259034391     0.965867442     0.001126502    |
+                      | -0.000751627     0.001367888    -0.999998782    |
+                      | -0.965867806     0.259033229     0.001080302    |
+
+     ALI_STR_2 =      |  0.262922759    -0.964816148     0.001223493    |
+                      | -0.171316109    -0.045437446     0.984167823    |
+                      | -0.949485380    -0.258969714    -0.177235081    |
+
+   Here, we need the rotation matrices from the Star Tracker frames to
+   the S/C frame, and hence the inverse of the above matrices, which is
+   the same as the transpose for rotation matrices. This is incorporated
+   by the frame definitions below.
+
+   \begindata
+
+      FRAME_ROS_STR-A                  = -226080
+      FRAME_-226080_NAME               = 'ROS_STR-A'
+      FRAME_-226080_CLASS              =  4
+      FRAME_-226080_CLASS_ID           = -226080
+      FRAME_-226080_CENTER             = -226080
+      TKFRAME_-226080_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226080_SPEC             = 'MATRIX'
+      TKFRAME_-226080_MATRIX           = (  0.259034391,
+                                            0.965867442,
+                                            0.001126502,
+                                           -0.000751627,
+                                            0.001367888,
+                                           -0.999998782,
+                                           -0.965867806,
+                                            0.259033229,
+                                            0.001080302  )
+
+      FRAME_ROS_STR-B                  = -226090
+      FRAME_-226090_NAME               = 'ROS_STR-B'
+      FRAME_-226090_CLASS              =  4
+      FRAME_-226090_CLASS_ID           = -226090
+      FRAME_-226090_CENTER             = -226090
+      TKFRAME_-226090_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226090_SPEC             = 'MATRIX'
+      TKFRAME_-226090_MATRIX           = (  0.262922759,
+                                           -0.964816148,
+                                            0.001223493,
+                                           -0.171316109,
+                                           -0.045437446,
+                                            0.984167823,
+                                           -0.949485380,
+                                           -0.258969714,
+                                           -0.177235081  )
+
+   \begintext
+
+
+OSIRIS Frames
+========================================================================
+
+   This section of the file contains the definitions of the OSIRIS
+   frames.
+
+
+OSIRIS Frame Tree
+--------------------------------------
+
+   The diagram below shows the OSIRIS frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+    +-------------------------------------------------------------------+
+    |       |       |        |                 |         |       |      |
+    |       |       |        |<-ck         ck->|         |       |      |
+    |       |       |        |                 |         |       |      |
+    |       |       |        V                 V         |       |      |
+    |       |       | "ROS_OSIRIS_NAC"  "ROS_OSIRIS_WAC" |       |      |
+    |       |       | ----------------  ---------------- |       |      |
+    |       |       |                                    |       |      |
+    |       |       | <-fixed                     fixed->|       |      |
+    |       |       |                                    |       |      |
+    |       |       V                                    V       |      |
+    |       |   "ROS_OSIRIS_NAC_URF"      "ROS_OSIRIS_WAC_URF"   |      |
+    |       |   --------------------      -------------------    |      |
+    |       |                                                    |      |
+    |       |<-fixed                                      fixed->|      |
+    |       |                                                    |      |
+    |       V                                                    V      |
+    |  "ROS_OSIRIS_NAC_67P"                        "ROS_OSIRIS_WAC_67P" |
+    |  --------------------                        -------------------- |
+    |                                                                   |
+    |<-fixed                                                     fixed->|
+    |                                                                   |
+    V                                                                   V
+ "ROS_OSIRIS_NAC_NON_67P"                             "ROS_OSIRIS_WAC_NON_67P"
+ ------------------------                             ------------------------
+
+
+OSIRIS Camera Frames
+--------------------------------------
+
+   Altogether eight frames are defined for OSIRIS cameras, four for the
+   Narrow Angle Camera (NAC) and four for the Wide Angle Camera (WAC).
+   The description of each frame is as follows:
+
+      Frame Name               Frame Description
+      --------------------     -----------------------------------------------
+      ROS_OSIRIS_NAC           CK-based NAC frame whose orientation
+                               alternates between that of ROS_OSIRIS_NAC_67P
+                               and ROS_OSIRIS_NAC_NON_67P depending on the
+                               target of the observation.
+
+      ROS_OSIRIS_NAC_67P       NAC frame with a fixed transformation to the
+                               S/C frame ROS_SPACECRAFT. This frame is
+                               optimized for reconstructing viewing geometry
+                               of observations targeted at the nucleus of 67P.
+
+
+      ROS_OSIRIS_NAC_NON_67P   NAC frame with a fixed transformation to the
+                               S/C frame ROS_SPACECRAFT. This is the
+                               ``absolute'' NAC frame calibrated with star
+                               observations.
+
+      ROS_OSIRIS_NAC_URF       Unit Reference Frame for NAC as defined in [5].
+
+      ROS_OSIRIS_WAC           CK-based WAC frame whose orientation
+                               alternates between that of ROS_OSIRIS_WAC_67P
+                               and ROS_OSIRIS_WAC_NON_67P depending on the
+                               target of the observation.
+
+      ROS_OSIRIS_WAC_67P       WAC frame with a fixed transformation to the
+                               S/C frame ROS_SPACECRAFT. This frame is
+                               optimized for reconstructing viewing geometry
+                               of observations targeted at the nucleus of 67P.
+
+      ROS_OSIRIS_WAC_NON_67P   WAC frame with a fixed transformation to the
+                               S/C frame ROS_SPACECRAFT. This is the
+                               ``absolute'' WAC frame calibrated with star
+                               observations.
+
+      ROS_OSIRIS_WAC_URF       Unit Reference Frame for WAC as defined in [5].
+
+
+   The OSIRIS camera frames are defined defined as follows:
+
+      -  +Z axis points along the camera boresight;
+
+      -  +X axis is parallel to the apparent image columns; it is
+         nominally co-aligned with the S/C +X axis;
+
+      -  +Y axis completes the right hand frame; it is nominally
+         parallel the to the apparent image lines and co-aligned with
+         the S/C +Y axis;
+
+      -  the origin of the frame is located at the camera focal point.
+
+   Please note that as described in [20] and [21] it is known that the WAC
+   boresight has been found to ``wander'' with time in the order of a few
+   pixels. This was then found to correlate with S/C deck temperature. The
+   approach that has been followed is that the boresight is kept constant to
+   the new averaged directions provided below and the temperature dependant
+   correction is performed in the re-sampling step conducted by the OSIRIS
+   instrument team as it is done for the filter shift.
+
+   This diagram illustrates the OSIRIS camera frames:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             .___________ +Ynac  +Ywac
+                             | NAC o----o-->---->
+                             |     |    |WAC
+                             |     |    |  | +Ysc
+   o==/ /==================o |     |o---|--->o==================/ /==o
+     -Y Solar Array          |     ||   |  |        +Y Solar Array
+                             +Xnac V|   V +Xwac
+                             .______|______.
+                               `.   |   .'
+                                 .--V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'                 +Zsc, +Znac, and
+                                                         +Zwac are out
+                                                          of the page
+
+
+   Nominally, the OSIRIS camera frames are co-aligned with the S/C frame.
+   The  remaining misalignment between OSIRIS frames and the S/C frame are
+   specified with three angles:
+
+      ``Offset from +Z S/C: x'': is the angle between the projection of the
+      boresight onto the S/C XZ plane and the S/C +Z axis, measured positive
+      from the S/C +Z toward the S/C +X axis.
+
+      ``Offset from +Z S/C: y'': is the angle between the projection of the
+      boresight onto the S/C YZ plane and the S/C +Z axis, measured positive
+      from the S/C +Z toward the S/C +Y axis.
+
+      ``Rotation around +Z S/C'': is the angle of rotation of the camera
+      frame around the S/C +Z axis, measured positive counterclockwise.
+
+
+OSIRIS frames for 67P observations
+--------------------------------------
+
+   The ROS_OSIRIS_NAC_67P frame is defined against ROS_SPACECRAFT
+   by the following angles:
+
+      Offset from +Z S/C: x (deg)  =  -0.0313
+      Offset from +Z S/C: y (deg)  =   0.0108
+      Rotation around +Z S/C (deg) =  -0.218
+
+   The ROS_OSIRIS_WAC_67P frame is defined against ROS_SPACECRAFT
+   by the following angles:
+
+      Offset from +Z S/C: x (deg)  =   0.374
+      Offset from +Z S/C: y (deg)  =   0.0736
+      Rotation around +Z S/C (deg) =   0.113
+
+   The following set of rotations can be applied to align the
+   ROS_OSIRIS_NAC_67P frame with the ROS_SPACECRAFT frame:
+
+      Msc->nac = [-0.218]z * [-0.0313]y * [-0.0108]x
+
+   The following set of rotations can be applied to align the
+   ROS_OSIRIS_WAC_67P frame with the ROS_SPACECRAFT frame:
+
+      Msc->wac = [0.113]z * [0.374]y * [-0.0736]x
+
+   The OSIRIS NAC and WAC frame definitions below incorporate these
+   transformations.
+
+   \begindata
+
+      FRAME_ROS_OSIRIS_NAC_67P         =  -226113
+      FRAME_-226113_NAME               = 'ROS_OSIRIS_NAC_67P'
+      FRAME_-226113_CLASS              =  4
+      FRAME_-226113_CLASS_ID           =  -226113
+      FRAME_-226113_CENTER             =  -226111
+      TKFRAME_-226113_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226113_SPEC             = 'ANGLES'
+      TKFRAME_-226113_UNITS            = 'DEGREES'
+      TKFRAME_-226113_ANGLES           = ( 0.0108, 0.0313, 0.218 )
+      TKFRAME_-226113_AXES             = ( 1,     2,     3   )
+
+      FRAME_ROS_OSIRIS_WAC_67P         =  -226114
+      FRAME_-226114_NAME               = 'ROS_OSIRIS_WAC_67P'
+      FRAME_-226114_CLASS              =  4
+      FRAME_-226114_CLASS_ID           =  -226114
+      FRAME_-226114_CENTER             =  -226112
+      TKFRAME_-226114_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226114_SPEC             = 'ANGLES'
+      TKFRAME_-226114_UNITS            = 'DEGREES'
+      TKFRAME_-226114_ANGLES           = ( 0.0736, -0.374, -0.113 )
+      TKFRAME_-226114_AXES             = ( 1,      2,     3   )
+
+   \begintext
+
+
+OSIRIS frames for non-67P observations
+--------------------------------------
+
+   The ROS_OSIRIS_NAC_NON_67P frame is defined against ROS_SPACECRAFT
+   by the following angles:
+
+      Offset from +Z S/C: x (deg)  =  -0.0363
+      Offset from +Z S/C: y (deg)  =   0.0179
+      Rotation around +Z S/C (deg) =  -0.218
+
+   The ROS_OSIRIS_WAC_NON_67P frame is defined against ROS_SPACECRAFT
+   by the following angles:
+
+      Offset from +Z S/C: x (deg)  =   0.369
+      Offset from +Z S/C: y (deg)  =   0.0807
+      Rotation around +Z S/C (deg) =   0.113
+
+   The following set of rotations can be applied to align the
+   ROS_OSIRIS_NAC_NON_67P frame with the ROS_SPACECRAFT frame:
+
+      Msc->nac = [-0.218]z * [-0.0363]y * [-0.0179]x
+
+   The following set of rotations can be applied to align the
+   ROS_OSIRIS_WAC_NON_67P frame with the ROS_SPACECRAFT frame:
+
+      Msc->wac = [0.113]z * [0.369]y * [-0.0807]x
+
+   The OSIRIS NAC and WAC frame definitions below incorporate these
+   transformations.
+
+   \begindata
+
+      FRAME_ROS_OSIRIS_NAC_NON_67P     =  -226115
+      FRAME_-226115_NAME               = 'ROS_OSIRIS_NAC_NON_67P'
+      FRAME_-226115_CLASS              =  4
+      FRAME_-226115_CLASS_ID           =  -226115
+      FRAME_-226115_CENTER             =  -226111
+      TKFRAME_-226115_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226115_SPEC             = 'ANGLES'
+      TKFRAME_-226115_UNITS            = 'DEGREES'
+      TKFRAME_-226115_ANGLES           = ( 0.0179, 0.0363, 0.218 )
+      TKFRAME_-226115_AXES             = ( 1,     2,     3   )
+
+      FRAME_ROS_OSIRIS_WAC_NON_67P     =  -226116
+      FRAME_-226116_NAME               = 'ROS_OSIRIS_WAC_NON_67P'
+      FRAME_-226116_CLASS              =  4
+      FRAME_-226116_CLASS_ID           =  -226116
+      FRAME_-226116_CENTER             =  -226112
+      TKFRAME_-226116_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226116_SPEC             = 'ANGLES'
+      TKFRAME_-226116_UNITS            = 'DEGREES'
+      TKFRAME_-226116_ANGLES           = ( 0.0807, -0.369, -0.113 )
+      TKFRAME_-226116_AXES             = ( 1,      2,     3   )
+
+   \begintext
+
+
+OSIRIS CK-based frames
+--------------------------------------
+
+   Since the orientation of the ROS_OSIRIS_NAC and the ROS_OSIRIS_WAC frames
+   needs to be swapped from the OSIRIS frames for 67P observations to the
+   OSIRIS frames for non-67P observations based on the OSIRIS CK file, they
+   are defined as CK-based frames.
+
+   \begindata
+
+      FRAME_ROS_OSIRIS_NAC             =  -226111
+      FRAME_-226111_NAME               = 'ROS_OSIRIS_NAC'
+      FRAME_-226111_CLASS              =  3
+      FRAME_-226111_CLASS_ID           =  -226111
+      FRAME_-226111_CENTER             =  -226111
+      CK_-226111_SCLK                  =  -226
+      CK_-226111_SPK                   =  -226
+
+      FRAME_ROS_OSIRIS_WAC             =  -226112
+      FRAME_-226112_NAME               = 'ROS_OSIRIS_WAC'
+      FRAME_-226112_CLASS              =  3
+      FRAME_-226112_CLASS_ID           =  -226112
+      FRAME_-226112_CENTER             =  -226112
+      CK_-226112_SCLK                  =  -226
+      CK_-226112_SPK                   =  -226
+
+   \begintext
+
+
+OSIRIS Unit Reference Frames
+--------------------------------------
+
+   This section implements the OSIRIS Unit Reference Frames (URF) frame
+   definitions provided in [5].
+
+   \begindata
+
+      FRAME_ROS_OSIRIS_NAC_URF         =  -226117
+      FRAME_-226117_NAME               = 'ROS_OSIRIS_NAC_URF'
+      FRAME_-226117_CLASS              =  4
+      FRAME_-226117_CLASS_ID           =  -226117
+      FRAME_-226117_CENTER             =  -226111
+      TKFRAME_-226117_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226117_SPEC             = 'ANGLES'
+      TKFRAME_-226117_UNITS            = 'DEGREES'
+      TKFRAME_-226117_ANGLES           = ( 0.0, 90.0, -6.96 )
+      TKFRAME_-226117_AXES             = ( 1,    2,    3    )
+
+      FRAME_ROS_OSIRIS_WAC_URF         =  -226118
+      FRAME_-226118_NAME               = 'ROS_OSIRIS_WAC_URF'
+      FRAME_-226118_CLASS              =  4
+      FRAME_-226118_CLASS_ID           =  -226118
+      FRAME_-226118_CENTER             =  -226112
+      TKFRAME_-226118_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226118_SPEC             = 'ANGLES'
+      TKFRAME_-226118_UNITS            = 'DEGREES'
+      TKFRAME_-226118_ANGLES           = ( 0.0, 90.0,  7.0  )
+      TKFRAME_-226118_AXES             = ( 1,    2,    3    )
+
+   \begintext
+
+
+ALICE Frames
+========================================================================
+
+   This section of the file contains the definitions of the ALICE
+   frames.
+
+
+ALICE Frame Tree
+--------------------------------------
+
+   The diagram below shows the ALICE frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+                               +--------------+
+                               |              |
+                               |              |<-fixed
+                               |              |
+                               |              V
+                               |       "ROS_ALICE_URF"
+                               |       ---------------
+                               |
+                               |<-fixed
+                               |
+                               V
+                         "ROS_ALICE"
+                         -----------
+
+
+ALICE Frame
+--------------------------------------
+
+   The ALICE frame is defined as follows:
+
+      -  +Z axis points along the instrument boresight;
+
+      -  +X axis is parallel to the apparent spatial resolution
+         direction (i.e. along the slit); it is nominally co-aligned
+         with the S/C +X axis;
+
+      -  +Y axis completes the right hand frame; it is nominally
+         co-aligned with the S/C +Y axis;
+
+      -  the origin of the frame is located at the instrument focal
+         point.
+
+   This diagram illustrates the ALICE frame:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.     +Yalice
+                             |     ALICE o------>
+                             |           | |
+                             |           | | +Ysc
+   o==/ /==================o |      o----|-->o==================/ /==o
+     -Y Solar Array          |      |    | |        +Y Solar Array
+                             |      |    V+Xalice
+                             .______|______.
+                               `.   |   .'
+                                 .--V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'                 +Zsc and +Zalice
+                                                            are out
+                                                          of the page
+
+   Nominally, the ALICE frame is co-aligned with the S/C frame.
+
+   The actual ALICE boresight direction is specified in [7] as an
+   offset from the S/C +Z axis by the following two angles:
+
+      Offset from Z S/C: x (deg) =   0.0623225438
+      Offset from Z S/C: y (deg) =  -0.1067957415
+
+   The first of the two angles -- ``Offset from Z S/C: x'' -- is the
+   angle between the projection of the boresight onto the S/C XZ plane
+   and the S/C +Z axis, measured positive from the S/C +Z toward the
+   S/C +X axis. The second of the two angles -- ``Offset from Z S/C:
+   y'' -- is the angle between the projection of the boresight onto the
+   S/C YZ plane and the S/C +Z axis, measured positive from the S/C +Z
+   toward the S/C +Y axis.
+
+   The Euler Angles to be applied to align the +Z axis of the S/C with
+   the boresight can be calculated from the angles above using the
+   formulae in [11]:
+
+      Rotation about the +Y axis: +0.0623225438
+      Rotation about the +X axis: +0.1067956783
+
+   which corresponds to the following matrix:
+
+      Malice->sc = [ 0.0 ]z * [ 0.1067956783 ]x * [ 0.0623225438 ]y
+
+   Since in SPICE it has to be specified the rotation to be applied to
+   convert the ALICE frame into the S/C frame, the matrix above has to
+   be inverted:
+
+      Msc->alice = [ -0.0623225438 ]y * [ -0.1067956783 ]x * [ 0.0 ]z
+
+   The frame definition below incorporates this transformation.
+
+   \begindata
+
+      FRAME_ROS_ALICE                  =  -226120
+      FRAME_-226120_NAME               = 'ROS_ALICE'
+      FRAME_-226120_CLASS              =  4
+      FRAME_-226120_CLASS_ID           =  -226120
+      FRAME_-226120_CENTER             =  -226120
+      TKFRAME_-226120_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226120_SPEC             = 'ANGLES'
+      TKFRAME_-226120_UNITS            = 'DEGREES'
+      TKFRAME_-226120_ANGLES           = ( -0.0623225438, -0.1067956783, 0.0 )
+      TKFRAME_-226120_AXES             = (  2,      1,         3   )
+
+   \begintext
+
+
+ALICE Unit Reference Frame
+--------------------------------------
+
+   This section implements the ALICE Unit Reference Frames (URF) frame
+   definition provided in [5].
+
+   \begindata
+
+      FRAME_ROS_ALICE_URF              =  -226125
+      FRAME_-226125_NAME               = 'ROS_ALICE_URF'
+      FRAME_-226125_CLASS              =  4
+      FRAME_-226125_CLASS_ID           =  -226125
+      FRAME_-226125_CENTER             =  -226120
+      TKFRAME_-226125_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226125_SPEC             = 'ANGLES'
+      TKFRAME_-226125_UNITS            = 'DEGREES'
+      TKFRAME_-226125_ANGLES           = ( 0.0, -90.0, -90.0 )
+      TKFRAME_-226125_AXES             = ( 2,     3,     1   )
+
+   \begintext
+
+
+VIRTIS frames
+========================================================================
+
+   This section of the file contains the definitions of the VIRTIS
+   frames.
+
+
+VIRTIS Frame Tree
+--------------------------------------
+
+   The diagram below shows the VIRTIS frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+                        +--------------------------+
+                        |                          |
+                        |<-fixed                   |<-fixed
+                        |                          |
+                        V                          |
+                  "ROS_VIRTIS-H"                   |
+                  --------------                   |
+                                                   |
+                                                   V
+                                            "ROS_VIRTIS-M"
+               +---------------------------------------------+
+               |                      |                      |
+               |<-fixed               |<-ck                  |<-fixed
+               |                      |                      |
+               V                      V                      V
+    "ROS_VIRTIS-M_VIS_ZERO"   "ROS_VIRTIS-M_SCAN"   "ROS_VIRTIS-M_IR_ZERO"
+    -----------------------   +-----------------+   ----------------------
+                              |                 |
+                              |<-fixed          |<-fixed
+                              |                 |
+                              V                 V
+                     "ROS_VIRTIS-M_VIS"  "ROS_VIRTIS-M_IR"
+                     ------------------  -----------------
+
+
+VIRTIS Frames
+--------------------------------------
+
+   The six different frames are defined for VIRTIS-M instrument with
+   the following intent:
+
+      Frame Name                  Frame Intent
+      --------------------        --------------------------------------
+      ROS_VIRTIS-M                This frame is defined to capture
+                                  misalignment between the instrument
+                                  mirror rotation axis and the S/C +Y axis.
+                                  This misalignment is constant therefore
+                                  this frame is defined as a fixed offset
+                                  frame relative to the ROS_SPACECRAFT
+                                  frame.
+
+      ROS_VIRTIS-M_SCAN           This frame is defined to capture
+                                  orientation of the reflected instrument
+                                  view direction due to the scan mirror
+                                  motion. This frame is defined as
+                                  CK-based frame because this time variable
+                                  orientation is stored in a CK file.
+
+      ROS_VIRTIS-M_VIS            These two frames are defined to capture
+      ROS_VIRTIS-M_IR             misalignments for each of the two
+                                  instrument channels relative to the
+                                  reflected view direction. These
+                                  frames are defined as fixed offset frames
+                                  relative to the ROS_VIRTIS-M_SCAN frame.
+                                  These two frames are the frames that
+                                  should be used to compute the instrument
+                                  pixel view directions when the CK files
+                                  for the scan mirror are available.
+
+      ROS_VIRTIS-M_VIS_ZERO       These two frames are defined to capture
+      ROS_VIRTIS-M_IR_ZERO        misalignments for each of the two
+                                  instrument channels relative to the
+                                  reflected view direction with scan
+                                  mirror in zero position. The main purpose
+                                  of these frames is to capture all
+                                  available misalignment data while allowing
+                                  to compute reflected view direction
+                                  externally to SPICE and then combine it
+                                  with the misalignments. These frames should
+                                  be used when CK files for the scan mirror
+                                  are not available.
+
+   Each of the VIRTIS-M frames listed above is defined in the same way
+   as follows:
+
+      -  +Z axis points along the boresight (for ROS_VIRTIS-M boresight
+         is the nominal center pixel view direction for the scan mirror
+         in "zero" position; for ROS_VIRTIS-M_SCAN boresight is the
+         nominal center pixel view direction, "off-pointed" due to the
+         scan mirror; for ROS_VIRTIS-M_VIS and ROS_VIRTIS-M_IR
+         boresight is the particular detector center pixel view
+         direction, "off-pointed" due to the scan mirror; for
+         ROS_VIRTIS-M_VIS_ZERO and ROS_VIRTIS-M_IR_ZERO frames it is
+         the center pixel view direction, adjusted for all known
+         misalignments with the scan mirror in "zero" position)
+
+      -  +Y axis is parallel to the apparent spatial resolution
+         direction; it is nominally co-aligned with the S/C +Y axis;
+
+      -  +X axis completes the right hand frame;
+
+      -  the origin of the frame is located at the instrument focal
+         point for ROS_VIRTIS-M_VIS, ROS_VIRTIS-M_IR,
+         ROS_VIRTIS-M_VIS_ZERO and ROS_VIRTIS-M_IR_ZERO frames and at
+         the intersection of the nominal center pixel view direction
+         and the scan mirror axis for ROS_VIRTIS-M and
+         ROS_VIRTIS-M_SCAN frames.
+
+   Nominally, in "zero" scan mirror position all six frames are
+   co-aligned with each other and the S/C frame.
+
+   The VIRTIS-H frame, ROS_VIRTIS-H, is defined as follows:
+
+      -  +Z axis points along the boresight;
+
+      -  +Y axis is parallel to the apparent spatial resolution
+         direction (i.e. along the slit); it is nominally co-aligned
+         with the S/C +Y axis;
+
+      -  +X axis completes the right hand frame; it is nominally
+         co-aligned with the S/C +X axis;
+
+      -  the origin of the frame is located at the instrument focal
+         point.
+
+   Nominally, ROS_VIRTIS-H frame is co-aligned with the S/C frame.
+
+   This diagram illustrates the VIRTIS frames (with VIRTIS-M scan
+   mirror in "zero" position):
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       | +Ymir
+                             .____ +Yh __ +Ymvis
+                      VIRTIS | o-o---->-> +Ym
+                             | | |         |
+                             | | |         | +Ysc
+   o==/ /==================o | | |  o------->o==================/ /==o
+     -Y Solar Array            | |  |      |        +Y Solar Array
+                           +Xh V v  |      |
+                             ._+Xm |______.
+                             +Xmvis |   .'
+                              +Xmir-V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'                +Zsc, +Zmvis, +Zmir,
+                                                       +Zm and +Zh are out
+                                                           of the page
+
+
+   According to [10] alignment data for VIRTIS-M indicate that the
+   instrument boresight (center pixel view direction) is tilted with
+   respect to the spacecraft +Z axis by 0.075 degrees toward -X axis
+   and by 0.02167 degrees toward -Y axis. This misalignment is
+   incorporated as a two rotations, first by 0.02167 degrees about +X
+   axis and then by -0.075 degrees about +Y axis, into the definitions
+   of the ROS_VIRTIS-M_VIS, ROS_VIRTIS-M_IR, ROS_VIRTIS-M_VIS_ZERO and
+   ROS_VIRTIS-M_IR_ZERO frames. These rotations were implemented by the
+   following frame definition keywords in the FK versions 1.2-2.0:
+
+      TKFRAME_-226211_RELATIVE         = 'ROS_VIRTIS-M_SCAN'
+      TKFRAME_-226211_SPEC             = 'ANGLES'
+      TKFRAME_-226211_UNITS            = 'DEGREES'
+      TKFRAME_-226211_ANGLES           = ( -0.02167, 0.075, 0.0 )
+      TKFRAME_-226211_AXES             = ( 1,   2,   3   )
+
+      TKFRAME_-226213_RELATIVE         = 'ROS_VIRTIS-M_SCAN'
+      TKFRAME_-226213_SPEC             = 'ANGLES'
+      TKFRAME_-226213_UNITS            = 'DEGREES'
+      TKFRAME_-226213_ANGLES           = ( -0.02167, 0.075, 0.0 )
+      TKFRAME_-226213_AXES             = ( 1,   2,   3   )
+
+      TKFRAME_-226212_RELATIVE         = 'ROS_VIRTIS-M'
+      TKFRAME_-226212_SPEC             = 'ANGLES'
+      TKFRAME_-226212_UNITS            = 'DEGREES'
+      TKFRAME_-226212_ANGLES           = ( -0.02167, 0.075, 0.0 )
+      TKFRAME_-226212_AXES             = ( 1,   2,   3   )
+
+      TKFRAME_-226214_RELATIVE         = 'ROS_VIRTIS-M'
+      TKFRAME_-226214_SPEC             = 'ANGLES'
+      TKFRAME_-226214_UNITS            = 'DEGREES'
+      TKFRAME_-226214_ANGLES           = ( -0.02167, 0.075, 0.0 )
+      TKFRAME_-226214_AXES             = ( 1,   2,   3   )
+
+   According to [12], based on analysis of star observations carried
+   out by Rosetta/VIRTIS in 2014, the VIRTIS team at INAF-IAPS
+   determined that the ROS_VIRTIS-M_VIS frame is rotated relative to
+   the ROS_VIRTIS-M_SCAN frame first by -0.032945073 degrees about +X
+   axis, then by -0.071619724 degrees about +Y axis while the
+   ROS_VIRTIS-M_IR frame is rotated relative to the ROS_VIRTIS-M_SCAN
+   frame first by +0.025926340 degrees about +X axis, then by
+   -0.071619724 degrees about +Y axis. These rotations were implemented
+   in the FK starting with the version 2.1.
+
+   According to [10] alignment data for VIRTIS-H indicate that the
+   instrument boresight (center pixel view direction) is tilted with
+   respect to the spacecraft +Z axis by 0.0936 degrees toward -X axis
+   and by 0.0027 degrees toward +Y axis. This misalignment is
+   incorporated as a two rotations, first by -0.0027 degrees about +X
+   axis and then by -0.0936 degrees about +Y axis, into the
+   definition of the ROS_VIRTIS-H frame.
+
+   Keyword blocks below define VIRTIS frames.
+
+   Since the SPICE frames subsystem calls for specifying the reverse
+   transformation--going from the instrument or structure frame to the
+   base frame--as compared to the description given above, the order of
+   rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+   compared to the above text, and the signs associated with the
+   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+   opposite from what is written in the above text.
+
+   \begindata
+
+      FRAME_ROS_VIRTIS-M               =  -226210
+      FRAME_-226210_NAME               = 'ROS_VIRTIS-M'
+      FRAME_-226210_CLASS              =  4
+      FRAME_-226210_CLASS_ID           =  -226210
+      FRAME_-226210_CENTER             =  -226200
+      TKFRAME_-226210_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226210_SPEC             = 'ANGLES'
+      TKFRAME_-226210_UNITS            = 'DEGREES'
+      TKFRAME_-226210_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226210_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_VIRTIS-M_SCAN          =  -226215
+      FRAME_-226215_NAME               =  'ROS_VIRTIS-M_SCAN'
+      FRAME_-226215_CLASS              =  3
+      FRAME_-226215_CLASS_ID           =  -226215
+      FRAME_-226215_CENTER             =  -226200
+      CK_-226215_SCLK                  =  -226
+      CK_-226215_SPK                   =  -226
+
+      FRAME_ROS_VIRTIS-M_VIS           =  -226211
+      FRAME_-226211_NAME               = 'ROS_VIRTIS-M_VIS'
+      FRAME_-226211_CLASS              =  4
+      FRAME_-226211_CLASS_ID           =  -226211
+      FRAME_-226211_CENTER             =  -226200
+      TKFRAME_-226211_RELATIVE         = 'ROS_VIRTIS-M_SCAN'
+      TKFRAME_-226211_SPEC             = 'ANGLES'
+      TKFRAME_-226211_UNITS            = 'DEGREES'
+      TKFRAME_-226211_ANGLES           = ( 0.032945073, 0.071619724, 0.0 )
+      TKFRAME_-226211_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_VIRTIS-M_IR            =  -226213
+      FRAME_-226213_NAME               = 'ROS_VIRTIS-M_IR'
+      FRAME_-226213_CLASS              =  4
+      FRAME_-226213_CLASS_ID           =  -226213
+      FRAME_-226213_CENTER             =  -226200
+      TKFRAME_-226213_RELATIVE         = 'ROS_VIRTIS-M_SCAN'
+      TKFRAME_-226213_SPEC             = 'ANGLES'
+      TKFRAME_-226213_UNITS            = 'DEGREES'
+      TKFRAME_-226213_ANGLES           = ( -0.025926340, 0.071619724, 0.0 )
+      TKFRAME_-226213_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_VIRTIS-M_VIS_ZERO       = -226212
+      FRAME_-226212_NAME               = 'ROS_VIRTIS-M_VIS_ZERO'
+      FRAME_-226212_CLASS              =  4
+      FRAME_-226212_CLASS_ID           = -226212
+      FRAME_-226212_CENTER             = -226200
+      TKFRAME_-226212_RELATIVE         = 'ROS_VIRTIS-M'
+      TKFRAME_-226212_SPEC             = 'ANGLES'
+      TKFRAME_-226212_UNITS            = 'DEGREES'
+      TKFRAME_-226212_ANGLES           = ( 0.032945073, 0.071619724, 0.0 )
+      TKFRAME_-226212_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_VIRTIS-M_IR_ZERO       = -226214
+      FRAME_-226214_NAME               = 'ROS_VIRTIS-M_IR_ZERO'
+      FRAME_-226214_CLASS              =  4
+      FRAME_-226214_CLASS_ID           = -226214
+      FRAME_-226214_CENTER             = -226200
+      TKFRAME_-226214_RELATIVE         = 'ROS_VIRTIS-M'
+      TKFRAME_-226214_SPEC             = 'ANGLES'
+      TKFRAME_-226214_UNITS            = 'DEGREES'
+      TKFRAME_-226214_ANGLES           = ( -0.025926340, 0.071619724, 0.0 )
+      TKFRAME_-226214_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_VIRTIS-H               =  -226220
+      FRAME_-226220_NAME               = 'ROS_VIRTIS-H'
+      FRAME_-226220_CLASS              =  4
+      FRAME_-226220_CLASS_ID           =  -226220
+      FRAME_-226220_CENTER             =  -226200
+      TKFRAME_-226220_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226220_SPEC             = 'ANGLES'
+      TKFRAME_-226220_UNITS            = 'DEGREES'
+      TKFRAME_-226220_ANGLES           = ( 0.0027, 0.0936, 0.0 )
+      TKFRAME_-226220_AXES             = ( 1,     2,          3   )
+
+   \begintext
+
+
+MIRO frames
+========================================================================
+
+   This section of the file contains the definitions of the MIRO
+   frames.
+
+
+MIRO Frame Tree
+--------------------------------------
+
+   The diagram below shows the MIRO frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+                    +-------------------------------------------+
+                    |                                           |
+                    |<-fixed                                    |<-fixed
+                    |                                           |
+                    V                                           V
+                "ROS_MIRO"                                "ROS_MIRO_URF"
+           +-----------------+                            --------------
+           |                 |
+           |<-fixed          |<-fixed
+           |                 |
+           V                 V
+       "ROS_MIRO_MM"  "ROS_MIRO_SUBMM"
+       -------------  ----------------
+
+
+MIRO Frame
+--------------------------------------
+
+   The MIRO structure frame, ROS_MIRO, and MIRO millimeter and
+   sub-millimeter channels frames, ROS_MIRO_MM and ROS_MIRO_SUBMM, are
+   defined as follows:
+
+      -  +Z axis points along the boresight;
+
+      -  +Y axis is nominally co-aligned with the S/C +Y axis;
+
+      -  +X axis completes the right hand frame; it is nominally
+         co-aligned with the S/C +X axis;
+
+      -  the origin of the frame is located at the telescope focal point.
+
+   This diagram illustrates the MIRO frames:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.
+                             |             |
+                             |       MIRO  |     +Ymiro, +Ymm, +Ysubmm
+                             |           o------>
+   o==/ /==================o |      o----|-->o==================/ /==o
+     -Y Solar Array          |      |    | | +Ysc   +Y Solar Array
+                             |      |    | |
+                             .______|____|_.
+                               `.   |   .V +Xmiro, +Xmm, +Xsubmm
+                                 .--V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'                 +Zsc, +Zmiro, +Zmm
+                                                        and +Zsubmm are out
+                                                            of the page
+
+   Nominally, the MIRO frame is co-aligned with the S/C frame.
+
+   The actual MIRO sub-millimeter channel boresight direction is
+   specified in [7] as an offset from the S/C +Z axis by the following
+   two angles:
+
+      Offset from Z S/C: x (deg) =  -0.082
+      Offset from Z S/C: y (deg) =  -0.0067
+
+   while the actual MIRO millimeter channel boresight direction is
+   specified by:
+
+      Offset from Z S/C: x (deg) =  -0.018
+      Offset from Z S/C: y (deg) =  -0.057
+
+   The first of the two angles -- ``Offset from Z S/C: x'' -- is the
+   angle between the projection of the boresight onto the S/C XZ plane
+   and the S/C +Z axis, measured positive from the S/C +Z toward the
+   S/C +X axis. The second of the two angles -- ``Offset from Z S/C:
+   y'' -- is the angle between the projection of the boresight onto the
+   S/C YZ plane and the S/C +Z axis, measured positive from the S/C +Z
+   toward the S/C +Y axis.
+
+   The following set of rotations can be applied to the S/C axes to
+   align the MIRO sub-millimeter channel frame's +Z axis with the
+   boresight defined by the angles above (rotation about +Z is not
+   defined in [7] and assumed to be zero in this set of rotations):
+
+      Msc->miro_submm = [0.0]z * [-0.082]y * [0.0067]x
+
+   These rotations can be applied to the S/C axes to align the MIRO
+   millimeter channel frame's +Z axis with the boresight defined by the
+   angles above (rotation about +Z is not defined in [7] and assumed to
+   be zero in this set of rotations):
+
+      Msc->miro_mm    = [0.0]z * [-0.01799999]y * [0.057]x
+
+   The MIRO millimeter and sub-millimeter channel frame definitions
+   below incorporate these transformations.
+
+   \begindata
+
+      FRAME_ROS_MIRO                   =  -226130
+      FRAME_-226130_NAME               = 'ROS_MIRO'
+      FRAME_-226130_CLASS              =  4
+      FRAME_-226130_CLASS_ID           =  -226130
+      FRAME_-226130_CENTER             =  -226130
+      TKFRAME_-226130_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226130_SPEC             = 'ANGLES'
+      TKFRAME_-226130_UNITS            = 'DEGREES'
+      TKFRAME_-226130_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226130_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_MIRO_MM                =  -226131
+      FRAME_-226131_NAME               = 'ROS_MIRO_MM'
+      FRAME_-226131_CLASS              =  4
+      FRAME_-226131_CLASS_ID           =  -226131
+      FRAME_-226131_CENTER             =  -226130
+      TKFRAME_-226131_RELATIVE         = 'ROS_MIRO'
+      TKFRAME_-226131_SPEC             = 'ANGLES'
+      TKFRAME_-226131_UNITS            = 'DEGREES'
+      TKFRAME_-226131_ANGLES           = ( -0.057, 0.01799999, 0.0 )
+      TKFRAME_-226131_AXES             = (  1,     2,          3   )
+
+      FRAME_ROS_MIRO_SUBMM             =  -226132
+      FRAME_-226132_NAME               = 'ROS_MIRO_SUBMM'
+      FRAME_-226132_CLASS              =  4
+      FRAME_-226132_CLASS_ID           =  -226132
+      FRAME_-226132_CENTER             =  -226130
+      TKFRAME_-226132_RELATIVE         = 'ROS_MIRO'
+      TKFRAME_-226132_SPEC             = 'ANGLES'
+      TKFRAME_-226132_UNITS            = 'DEGREES'
+      TKFRAME_-226132_ANGLES           = ( -0.0067, 0.082, 0.0 )
+      TKFRAME_-226132_AXES             = (  1,      2,     3   )
+
+   \begintext
+
+
+MIRO Unit Reference Frame
+--------------------------------------
+
+   This section implements the MIRO Unit Reference Frames (URF) frame
+   definition provided in [5].
+
+   \begindata
+
+      FRAME_ROS_MIRO_URF               =  -226135
+      FRAME_-226135_NAME               = 'ROS_MIRO_URF'
+      FRAME_-226135_CLASS              =  4
+      FRAME_-226135_CLASS_ID           =  -226135
+      FRAME_-226135_CENTER             =  -226130
+      TKFRAME_-226135_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226135_SPEC             = 'ANGLES'
+      TKFRAME_-226135_UNITS            = 'DEGREES'
+      TKFRAME_-226135_ANGLES           = ( 0.0, 0.0, 180.0 )
+      TKFRAME_-226135_AXES             = ( 2,   1,     3   )
+
+   \begintext
+
+
+ROSINA frames
+========================================================================
+
+   This section of the file contains the definitions of the ROSINA
+   frames.
+
+
+ROSINA Frame Tree
+--------------------------------------
+
+   The diagram below shows the ROSINA frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+           +-----------------------------------------------------+
+           |          |          |         |          |          |
+           |<-fixed   |<-fixed   |<-fixed  |<-fixed   |<-fixed   |<-fixed
+           |          |          |         |          |          |
+           |          |          |         |          |          V
+           |          |          |         |          | "ROS_ROSINA_COPS_URF"
+           |          |          |         |          | ---------------------
+           |          |          |         |          |
+           |          |          |         |          V
+           |          |          |         |  "ROS_ROSINA_COPS"
+           |          |          |         |  -----------------
+           |          |          |         |
+           |          |          |         V
+           |          |          | "ROS_ROSINA_RTOF_URF"
+           |          |          | ---------------------
+           |          |          |
+           |          |          V
+           |          |  "ROS_ROSINA_RTOF"
+           |          |  -----------------
+           |          |
+           |          V
+           |  "ROS_ROSINA_DFMS_URF"
+           |  ---------------------
+           |
+           V
+     "ROS_ROSINA_DFMS"
+     -----------------
+
+
+ROSINA Sensor Frames
+--------------------------------------
+
+   The ROSINA sensor frames -- ROS_ROSINA_DFMS, ROS_ROSINA_RTOF,
+   and ROS_ROSINA_COPS -- are defined to be nominally co-aligned with
+   the S/C frame.
+
+   This diagram illustrates the ROSINA sensor frames:
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.
+                         COPS          +Ycops
+                             |o------->    |
+                             ||            | +Ysc
+   o==/ /==================o ||     o------->o==================/ /==o
+     -Y Solar Array      DFMS o------->    |        +Y Solar Array
+                             ||     |  +Ydfms
+                       +Xcops V ____|______.
+                              | .   |   .'o------->
+                              |  .--V--.  |RTOF    +Yrtof
+                       +Xdfms V.' +Xsc  `.|
+                              /___________|
+                                  `.|.'   |           +Zsc, +Zdfms, +Zrtof
+                             HGA          V            and +Zcops are out
+                                           +Xrtof         of the page
+
+   Nominally, the ROSINA sensor frames are co-aligned with the S/C
+   frame.
+
+   \begindata
+
+      FRAME_ROS_ROSINA_DFMS            =  -226310
+      FRAME_-226310_NAME               = 'ROS_ROSINA_DFMS'
+      FRAME_-226310_CLASS              =  4
+      FRAME_-226310_CLASS_ID           =  -226310
+      FRAME_-226310_CENTER             =  -226300
+      TKFRAME_-226310_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226310_SPEC             = 'ANGLES'
+      TKFRAME_-226310_UNITS            = 'DEGREES'
+      TKFRAME_-226310_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226310_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_ROSINA_RTOF            =  -226320
+      FRAME_-226320_NAME               = 'ROS_ROSINA_RTOF'
+      FRAME_-226320_CLASS              =  4
+      FRAME_-226320_CLASS_ID           =  -226320
+      FRAME_-226320_CENTER             =  -226300
+      TKFRAME_-226320_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226320_SPEC             = 'ANGLES'
+      TKFRAME_-226320_UNITS            = 'DEGREES'
+      TKFRAME_-226320_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226320_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_ROSINA_COPS            =  -226330
+      FRAME_-226330_NAME               = 'ROS_ROSINA_COPS'
+      FRAME_-226330_CLASS              =  4
+      FRAME_-226330_CLASS_ID           =  -226330
+      FRAME_-226330_CENTER             =  -226300
+      TKFRAME_-226330_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226330_SPEC             = 'ANGLES'
+      TKFRAME_-226330_UNITS            = 'DEGREES'
+      TKFRAME_-226330_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226330_AXES             = ( 1,   2,   3   )
+
+   \begintext
+
+
+ROSINA Unit Reference Frames
+--------------------------------------
+
+   This section implements the ROSINA Unit Reference Frames (URF) frame
+   definitions. While these were not specifically spelled out in [5],
+   they are defined according to the rules outlined in the section 7.3
+   of that document.
+
+   \begindata
+
+      FRAME_ROS_ROSINA_DFMS_URF        =  -226319
+      FRAME_-226319_NAME               = 'ROS_ROSINA_DFMS_URF'
+      FRAME_-226319_CLASS              =  4
+      FRAME_-226319_CLASS_ID           =  -226319
+      FRAME_-226319_CENTER             =  -226300
+      TKFRAME_-226319_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226319_SPEC             = 'ANGLES'
+      TKFRAME_-226319_UNITS            = 'DEGREES'
+      TKFRAME_-226319_ANGLES           = ( 0.0,  0.0,  0.0  )
+      TKFRAME_-226319_AXES             = ( 1,    2,    3    )
+
+      FRAME_ROS_ROSINA_RTOF_URF        =  -226329
+      FRAME_-226329_NAME               = 'ROS_ROSINA_RTOF_URF'
+      FRAME_-226329_CLASS              =  4
+      FRAME_-226329_CLASS_ID           =  -226329
+      FRAME_-226329_CENTER             =  -226300
+      TKFRAME_-226329_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226329_SPEC             = 'ANGLES'
+      TKFRAME_-226329_UNITS            = 'DEGREES'
+      TKFRAME_-226329_ANGLES           = ( -90.0,  0.0,  0.0  )
+      TKFRAME_-226329_AXES             = (   1,    2,    3    )
+
+      FRAME_ROS_ROSINA_COPS_URF        =  -226339
+      FRAME_-226339_NAME               = 'ROS_ROSINA_COPS_URF'
+      FRAME_-226339_CLASS              =  4
+      FRAME_-226339_CLASS_ID           =  -226339
+      FRAME_-226339_CENTER             =  -226300
+      TKFRAME_-226339_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226339_SPEC             = 'ANGLES'
+      TKFRAME_-226339_UNITS            = 'DEGREES'
+      TKFRAME_-226339_ANGLES           = ( 0.0,  0.0,  0.0  )
+      TKFRAME_-226339_AXES             = ( 1,    2,    3    )
+
+   \begintext
+
+
+COSIMA frames
+========================================================================
+
+   This section of the file contains the definitions of the COSIMA
+   frames.
+
+
+COSIMA Frame Tree
+--------------------------------------
+
+   The diagram below shows the COSIMA frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+                             +-----------------+
+                             |                 |
+                             |                 |<-fixed
+                             |                 |
+                             |                 V
+                             |          "ROS_COSIMA_URF"
+                             |          ----------------
+                             |
+                             |<-fixed
+                             |
+                             V
+                       "ROS_COSIMA"
+                       ------------
+
+
+COSIMA Frame
+--------------------------------------
+
+   The COSIMA frame is defined as follows:
+
+      -  +Z axis points along the boresight of the particle entrance "FOV";
+
+      -  +Y axis is nominally co-aligned with the S/C +Y axis;
+
+      -  +X axis completes the right hand frame; it is nominally
+         co-aligned with the S/C +X axis;
+
+      -  the origin of the frame is located at the instrument "FOV"
+         vertex.
+
+   This diagram illustrates the COSIMA frame:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.
+                             |             |
+                             |             |
+                             |             | +Ysc
+   o==/ /==================o |      o------->o==================/ /==o
+     -Y Solar Array          |      |      |        +Y Solar Array
+                             |o------> +Ycosima
+                      COSIMA .|_____|______.
+                              |`.   |   .'
+                              |  .--V +Xsc
+                              | '       `.
+                              V __________\
+                      +Xcosima    `.|.'                 +Zsc and +Zcosima
+                                      HGA                   are out
+                                                          of the page
+
+   Nominally, the COSIMA frame is co-aligned with the S/C frame.
+
+   \begindata
+
+      FRAME_ROS_COSIMA                 =  -226140
+      FRAME_-226140_NAME               = 'ROS_COSIMA'
+      FRAME_-226140_CLASS              =  4
+      FRAME_-226140_CLASS_ID           =  -226140
+      FRAME_-226140_CENTER             =  -226140
+      TKFRAME_-226140_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226140_SPEC             = 'ANGLES'
+      TKFRAME_-226140_UNITS            = 'DEGREES'
+      TKFRAME_-226140_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226140_AXES             = ( 1,   2,   3   )
+
+   \begintext
+
+
+COSIMA Unit Reference Frame
+--------------------------------------
+
+   This section implements the COSIMA Unit Reference Frame (URF) frame
+   definition. While this frame was not specifically spelled out in
+   [5], it is defined according to the rules outlined in the section
+   7.3 of that document.
+
+   \begindata
+
+      FRAME_ROS_COSIMA_URF             =  -226145
+      FRAME_-226145_NAME               = 'ROS_COSIMA_URF'
+      FRAME_-226145_CLASS              =  4
+      FRAME_-226145_CLASS_ID           =  -226145
+      FRAME_-226145_CENTER             =  -226140
+      TKFRAME_-226145_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226145_SPEC             = 'ANGLES'
+      TKFRAME_-226145_UNITS            = 'DEGREES'
+      TKFRAME_-226145_ANGLES           = ( 0.0,   0.0,  90.0 )
+      TKFRAME_-226145_AXES             = ( 2,     3,     1   )
+
+   \begintext
+
+
+MIDAS frames
+========================================================================
+
+   This section of the file contains the definitions of the MIDAS
+   frames.
+
+
+MIDAS Frame Tree
+--------------------------------------
+
+   The diagram below shows the MIDAS frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+                             +-----------------+
+                             |                 |
+                             |                 |<-fixed
+                             |                 |
+                             |                 V
+                             |          "ROS_MIDAS_URF"
+                             |          ---------------
+                             |
+                             |<-fixed
+                             |
+                             V
+                       "ROS_MIDAS"
+                       -----------
+
+
+MIDAS Frame
+--------------------------------------
+
+   The MIDAS frame is defined as follows:
+
+      -  +Z axis points along the boresight of the particle entrance "FOV";
+
+      -  +Y axis is nominally co-aligned with the S/C +Y axis;
+
+      -  +X axis completes the right hand frame; it is nominally
+         co-aligned with the S/C +X axis;
+
+      -  the origin of the frame is located at the instrument "FOV"
+         vertex.
+
+   This diagram illustrates the MIDAS frame:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.
+                             |             |
+                             |             |
+                             |             | +Ysc
+   o==/ /==================o |      o------->o==================/ /==o
+     -Y Solar Array          |      |      |        +Y Solar Array
+                             | MIDAS|o------> +Ymidas
+                             .______||_____.
+                               `.   ||  .'
+                                 .--V| +Xsc
+                               .'    |  `.
+                              /______V +Xmidas
+                                  `.|.'                 +Zsc and +Zmidas
+                                      HGA                   are out
+                                                          of the page
+
+   Nominally, the MIDAS frame is co-aligned with the S/C frame.
+
+   \begindata
+
+      FRAME_ROS_MIDAS                  =  -226150
+      FRAME_-226150_NAME               = 'ROS_MIDAS'
+      FRAME_-226150_CLASS              =  4
+      FRAME_-226150_CLASS_ID           =  -226150
+      FRAME_-226150_CENTER             =  -226150
+      TKFRAME_-226150_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226150_SPEC             = 'ANGLES'
+      TKFRAME_-226150_UNITS            = 'DEGREES'
+      TKFRAME_-226150_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226150_AXES             = ( 1,   2,   3   )
+
+   \begintext
+
+
+MIDAS Unit Reference Frame
+--------------------------------------
+
+   This section implements the MIDAS Unit Reference Frame (URF) frame
+   definition. While this frame was not specifically spelled out in
+   [5], it is defined according to the rules outlined in the section
+   7.3 of that document.
+
+   \begindata
+
+      FRAME_ROS_MIDAS_URF              =  -226155
+      FRAME_-226155_NAME               = 'ROS_MIDAS_URF'
+      FRAME_-226155_CLASS              =  4
+      FRAME_-226155_CLASS_ID           =  -226155
+      FRAME_-226155_CENTER             =  -226150
+      TKFRAME_-226155_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226155_SPEC             = 'ANGLES'
+      TKFRAME_-226155_UNITS            = 'DEGREES'
+      TKFRAME_-226155_ANGLES           = ( 0.0,   0.0,  90.0 )
+      TKFRAME_-226155_AXES             = ( 1,     3,     2   )
+
+   \begintext
+
+
+CONSERT frames
+========================================================================
+
+   This section of the file contains the definitions of the CONSERT
+   frames.
+
+
+CONSERT Frame Tree
+--------------------------------------
+
+   The diagram below shows the CONSERT frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+                             +-----------------+
+                             |                 |
+                             |                 |<-fixed
+                             |                 |
+                             |                 V
+                             |          "ROS_CONSERT_URF"
+                             |          -----------------
+                             |
+                             |<-fixed
+                             |
+                             V
+                       "ROS_CONSERT"
+                       -------------
+
+
+CONSERT Frame
+--------------------------------------
+
+   The CONSERT frame is defined as follows:
+
+      -  +Z axis points along the "FOV" boresight;
+
+      -  +Y axis is nominally co-aligned with the S/C +Y axis;
+
+      -  +X axis completes the right hand frame; it is nominally
+         co-aligned with the S/C +X axis;
+
+      -  the origin of the frame is located at the instrument "FOV"
+         vertex.
+
+   This diagram illustrates the CONSERT frame:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.
+        CONSERT `.     .'    |             |
+                  `. .'     +Yconsert      |
+                    o------->|             | +Ysc
+   o==/ /=========.'|`.====o |      o------->o==================/ /==o
+     -Y Solar   .'  |  `.    |      |      |        +Y Solar Array
+      Array         |        |      |      |
+                    |        .______|______.
+                    V          `.   |   .'
+          +Xconsert              .--V +Xsc
+                               .'       `.
+                              /___________\
+                                  `.|.'                 +Zsc and +Zconsert
+                                      HGA                   are out
+                                                          of the page
+
+   Nominally, the CONSERT frame is co-aligned with the S/C frame.
+
+   \begindata
+
+      FRAME_ROS_CONSERT                =  -226160
+      FRAME_-226160_NAME               = 'ROS_CONSERT'
+      FRAME_-226160_CLASS              =  4
+      FRAME_-226160_CLASS_ID           =  -226160
+      FRAME_-226160_CENTER             =  -226160
+      TKFRAME_-226160_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226160_SPEC             = 'ANGLES'
+      TKFRAME_-226160_UNITS            = 'DEGREES'
+      TKFRAME_-226160_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226160_AXES             = ( 1,   2,   3   )
+
+   \begintext
+
+
+CONSERT Unit Reference Frame
+--------------------------------------
+
+   This section implements the CONSERT Unit Reference Frame (URF) frame
+   definition. While this frame was not specifically spelled out in
+   [5], it is defined according to the rules outlined in the section
+   7.3 of that document.
+
+   \begindata
+
+      FRAME_ROS_CONSERT_URF            =  -226165
+      FRAME_-226165_NAME               = 'ROS_CONSERT_URF'
+      FRAME_-226165_CLASS              =  4
+      FRAME_-226165_CLASS_ID           =  -226165
+      FRAME_-226165_CENTER             =  -226160
+      TKFRAME_-226165_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226165_SPEC             = 'ANGLES'
+      TKFRAME_-226165_UNITS            = 'DEGREES'
+      TKFRAME_-226165_ANGLES           = ( 0.0,   0.0,   0.0 )
+      TKFRAME_-226165_AXES             = ( 1,     2,     3   )
+
+   \begintext
+
+
+NAVCAM Frames
+========================================================================
+
+   This section of the file contains the definitions of the NAVCAM
+   frames.
+
+
+NAVCAM Frame Tree
+--------------------------------------
+
+   The diagram below shows the NAVCAM frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+           +-----------------------------------------------------+
+           |                 |                 |                 |
+           |                 |<-fixed          |<-fixed          |
+           |                 |                 |                 |
+           |                 V                 V                 |
+           |       "ROS_NAVCAM-A_URF"    "ROS_NAVCAM-B_URF"      |
+           |       ------------------    ------------------      |
+           |                                                     |
+           |<-fixed                                              |<-fixed
+           |                                                     |
+           V                                                     V
+     "ROS_NAVCAM-A"                                       "ROS_NAVCAM-B"
+     --------------                                       --------------
+
+
+NAVCAM Camera Frames
+--------------------------------------
+
+   The NAVCAM camera frames -- ROS_NAVCAM-A and ROS_NAVCAM-B -- are
+   defined as follows:
+
+      -  +Z axis points along the camera boresight;
+
+      -  +X axis is parallel to the apparent image columns; it is
+         nominally co-aligned with the S/C +X axis;
+
+      -  +Y axis completes the right hand frame; it is nominally
+         parallel the to the apparent image lines and co-aligned with
+         the S/C +Y axis;
+
+      -  the origin of the frame is located at the camera focal point.
+
+   This diagram illustrates the NAVCAM camera frames:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.
+                             |         +Yncb +Ynca
+                             |     o-o----->->
+                             |     | |     | +Ysc
+   o==/ /==================o |     |o|------>o==================/ /==o
+     -Y Solar Array          |     |||     |        +Y Solar Array
+                             +Xncb V|V +Xnca
+                             .______|______.
+                               `.   |   .'
+                                 .--V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'                 +Zsc, +Znca, and
+                                                         +Zncb are out
+                                                          of the page
+
+   Nominally, the NAVCAM camera frames are co-aligned with the S/C
+   frame.
+
+   The actual NAVCAM-A boresight direction is specified in [7] as an
+   offset from the S/C +Z axis by the following two angles:
+
+      Offset from Z S/C: x (deg) =  -0.02678
+      Offset from Z S/C: y (deg) =  -0.17210
+
+   while the actual NAVCAM-B boresight direction is specified by:
+
+      Offset from Z S/C: x (deg) =   0.03003
+      Offset from Z S/C: y (deg) =   0.09747
+
+   The first of the two angles -- ``Offset from Z S/C: x'' -- is the
+   angle between the projection of the boresight onto the S/C XZ plane
+   and the S/C +Z axis, measured positive from the S/C +Z toward the
+   S/C +X axis. The second of the two angles -- ``Offset from Z S/C:
+   y'' -- is the angle between the projection of the boresight onto the
+   S/C YZ plane and the S/C +Z axis, measured positive from the S/C +Z
+   toward the S/C +Y axis.
+
+   The following set of rotations can be applied to the S/C axes to
+   align the NAVCAM-A frame's +Z axis with the boresight defined by the
+   angles above (rotation about +Z is not defined in [7] and assumed to
+   be zero in this set of rotations):
+
+      Msc->nca = [0.0]z * [-0.02677988]y * [0.17210]x
+
+   These rotations can be applied to the S/C axes to align the
+   NAVCAM-B frame's +Z axis with the boresight defined by the angles
+   above (rotation about +Z is not defined in [7] and assumed to be
+   zero in this set of rotations):
+
+      Msc->ncb = [0.0]z * [0.03002996]y * [-0.09747]x
+
+   The NAVCAM-A and NAVCAM-B rotations shown above were provided in
+   the FK versions 0.4 (March 2005) to 2.4 (November 2015).
+
+   According to [14] the following NAVCAM alignments were derived from
+   calibrations done in 2008:
+
+      ALI_CAM_1 =
+
+      |  0.9999986610169094000  0.0015268035484500271  0.0005889272559640015 |
+      | -0.0015286381087705047  0.9999939415514822000  0.0031273192774521727 |
+      | -0.0005841488858085904 -0.0031282153466713016  0.9999949365065925000 |
+
+      ALI_CAM_2 =
+
+      |  0.999998236851883      0.001874025444133808  -0.0001196735573734238 |
+      | -0.001874272415777741   0.999996042598358     -0.002098068286197499  |
+      |  0.000115741250425227   0.002098288887839833   0.999997791891415     |
+
+   These alignments are incorporated in the frame definitions below.
+
+   \begindata
+
+      FRAME_ROS_NAVCAM-A               =  -226170
+      FRAME_-226170_NAME               = 'ROS_NAVCAM-A'
+      FRAME_-226170_CLASS              =  4
+      FRAME_-226170_CLASS_ID           =  -226170
+      FRAME_-226170_CENTER             =  -226170
+      TKFRAME_-226170_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226170_SPEC             = 'MATRIX'
+      TKFRAME_-226170_MATRIX           = (
+
+         0.9999986610169094000,  0.0015268035484500271, 0.0005889272559640015,
+        -0.0015286381087705047,  0.9999939415514822000, 0.0031273192774521727,
+        -0.0005841488858085904, -0.0031282153466713016, 0.9999949365065925000
+
+                                          )
+
+      FRAME_ROS_NAVCAM-B               =  -226180
+      FRAME_-226180_NAME               = 'ROS_NAVCAM-B'
+      FRAME_-226180_CLASS              =  4
+      FRAME_-226180_CLASS_ID           =  -226180
+      FRAME_-226180_CENTER             =  -226180
+      TKFRAME_-226180_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226180_SPEC             = 'MATRIX'
+      TKFRAME_-226180_MATRIX           = (
+
+         0.9999982368518830,     0.001874025444133808, -0.0001196735573734238,
+        -0.001874272415777741,   0.9999960425983579,   -0.002098068286197499,
+         0.0001157412504252270,  0.002098288887839833,  0.9999977918914150
+
+                                         )
+
+   \begintext
+
+
+NAVCAM Unit Reference Frames
+--------------------------------------
+
+   This section implements the NAVCAM Unit Reference Frames (URF) frame
+   definitions provided in [5].
+
+   \begindata
+
+      FRAME_ROS_NAVCAM-A_URF           =  -226175
+      FRAME_-226175_NAME               = 'ROS_NAVCAM-A_URF'
+      FRAME_-226175_CLASS              =  4
+      FRAME_-226175_CLASS_ID           =  -226175
+      FRAME_-226175_CENTER             =  -226170
+      TKFRAME_-226175_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226175_SPEC             = 'ANGLES'
+      TKFRAME_-226175_UNITS            = 'DEGREES'
+      TKFRAME_-226175_ANGLES           = ( 0.0,  0.0,  0.0  )
+      TKFRAME_-226175_AXES             = ( 1,    2,    3    )
+
+      FRAME_ROS_NAVCAM-B_URF           =  -226185
+      FRAME_-226185_NAME               = 'ROS_NAVCAM-B_URF'
+      FRAME_-226185_CLASS              =  4
+      FRAME_-226185_CLASS_ID           =  -226185
+      FRAME_-226185_CENTER             =  -226180
+      TKFRAME_-226185_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226185_SPEC             = 'ANGLES'
+      TKFRAME_-226185_UNITS            = 'DEGREES'
+      TKFRAME_-226185_ANGLES           = ( 0.0,  0.0,  0.0  )
+      TKFRAME_-226185_AXES             = ( 1,    2,    3    )
+
+   \begintext
+
+
+GIADA frames
+========================================================================
+
+   This section of the file contains the definitions of the GIADA
+   frames.
+
+
+GIADA Frame Tree
+--------------------------------------
+
+   The diagram below shows the GIADA frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+           +-----------------------------------------------------+
+           |                 |                 |                 |
+           |<-fixed          |                 |                 |<-fixed
+           |                 |                 |                 |
+           |                 |                 |                 |
+     "ROS_GIADA_GDS"         |                 |          "ROS_GIADA_URF"
+     ---------------         |                 |          --------------
+                             |                 |
+                             |<-fixed          |<-fixed
+                             |                 |
+                             V                 V
+                      "ROS_GIADA_IS"    "ROS_GIADA_MBS1..5"
+                      --------------    -------------------
+
+
+GIADA Frame
+--------------------------------------
+
+   The GIADA GDS, GIADA IS, and GIADA MBS1 .. MBS5 frames are defined
+   as follows:
+
+      -  +Z axis points along the particle entrance FOV boresight;
+
+      -  +Y axis is nominally parallel to the S/C XY plane and points as
+         shown on the diagrams below;
+
+      -  +X axis completes the right hand frame;
+
+      -  the origin of the frame is located at the FOV focal point.
+
+   This diagram illustrates the GIADA GDS, IS, and MBS5 frames:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.
+                             |             |
+                          GIADA o------> +Ygds,+Yis,+Ymbs5
+                             |  |          |
+   o==/ /==================o |  |   o------->o==================/ /==o
+     -Y Solar Array          |  |   |      | +Ysc   +Y Solar Array
+                             |  |   |
+                             .__V___|______.
+                            +Xgds   |   .'
+                            +Xis   -V +Xsc
+                            +Xmbs5      `.
+                              /___________\
+                                  `.|.'                 +Zsc, +Zgds, +Zis,
+                                      HGA               and +Zmbs5 are out
+                                                          of the page
+
+
+   This diagram illustrates the GIADA MBS 1..4 frames:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                          +Zmbs3
+                                ^ +Ymbs2
+                                |^ ____
+                                ||     \  Lander
+                                ||      |
+                  +Ymbs3     .__||_________.
+                       <<------43|       +Zmbs2
+                 +Zmbs4      | | 2-------> |
+                             | | 1-------> +Ymbs1
+   o==/ /==================o | | |  o------->o==================/ /==o
+     -Y Solar Array          | | |  |      | +Ysc   +Y Solar Array
+                             | V |  |      |
+                        +Ymbs4 __|__|______.
+                               `.V  |   .'               +Zmbs* are pointed
+                           +Zmbs1.--V +Xsc            20 deg above the page.
+                               .'       `.
+                              /___________\           +Xmbs* are roughly into
+                                  `.|.'                      the page
+
+                                                      +Zsc is out of the page
+
+   Nominally, the GIADA GDS, GIADA IS, and GIADA MBS5 frames are co-aligned
+   with the S/C frame while the GIADA MBS1, GIADA MBS2, GIADA MBS3, and
+   GIADA MBS4 frames are rotated from it first by 0, 90, 180 or 270 degrees
+   about Z, and then by 70 degrees about Y.
+
+   \begindata
+
+      FRAME_ROS_GIADA_GDS              =  -226410
+      FRAME_-226410_NAME               = 'ROS_GIADA_GDS'
+      FRAME_-226410_CLASS              =  4
+      FRAME_-226410_CLASS_ID           =  -226410
+      FRAME_-226410_CENTER             =  -226400
+      TKFRAME_-226410_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226410_SPEC             = 'ANGLES'
+      TKFRAME_-226410_UNITS            = 'DEGREES'
+      TKFRAME_-226410_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226410_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_GIADA_IS               =  -226420
+      FRAME_-226420_NAME               = 'ROS_GIADA_IS'
+      FRAME_-226420_CLASS              =  4
+      FRAME_-226420_CLASS_ID           =  -226420
+      FRAME_-226420_CENTER             =  -226400
+      TKFRAME_-226420_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226420_SPEC             = 'ANGLES'
+      TKFRAME_-226420_UNITS            = 'DEGREES'
+      TKFRAME_-226420_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226420_AXES             = ( 1,   2,   3   )
+
+      FRAME_ROS_GIADA_MBS1             =  -226431
+      FRAME_-226431_NAME               = 'ROS_GIADA_MBS1'
+      FRAME_-226431_CLASS              =  4
+      FRAME_-226431_CLASS_ID           =  -226431
+      FRAME_-226431_CENTER             =  -226400
+      TKFRAME_-226431_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226431_SPEC             = 'ANGLES'
+      TKFRAME_-226431_UNITS            = 'DEGREES'
+      TKFRAME_-226431_ANGLES           = ( 0.0, 0.0, -70.0 )
+      TKFRAME_-226431_AXES             = ( 1,   3,   2   )
+
+      FRAME_ROS_GIADA_MBS2             =  -226432
+      FRAME_-226432_NAME               = 'ROS_GIADA_MBS2'
+      FRAME_-226432_CLASS              =  4
+      FRAME_-226432_CLASS_ID           =  -226432
+      FRAME_-226432_CENTER             =  -226400
+      TKFRAME_-226432_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226432_SPEC             = 'ANGLES'
+      TKFRAME_-226432_UNITS            = 'DEGREES'
+      TKFRAME_-226432_ANGLES           = ( 0.0, -90.0, -70.0 )
+      TKFRAME_-226432_AXES             = ( 1,   3,   2   )
+
+      FRAME_ROS_GIADA_MBS3             =  -226433
+      FRAME_-226433_NAME               = 'ROS_GIADA_MBS3'
+      FRAME_-226433_CLASS              =  4
+      FRAME_-226433_CLASS_ID           =  -226433
+      FRAME_-226433_CENTER             =  -226400
+      TKFRAME_-226433_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226433_SPEC             = 'ANGLES'
+      TKFRAME_-226433_UNITS            = 'DEGREES'
+      TKFRAME_-226433_ANGLES           = ( 0.0, -180.0, -70.0 )
+      TKFRAME_-226433_AXES             = ( 1,   3,   2   )
+
+      FRAME_ROS_GIADA_MBS4             =  -226434
+      FRAME_-226434_NAME               = 'ROS_GIADA_MBS4'
+      FRAME_-226434_CLASS              =  4
+      FRAME_-226434_CLASS_ID           =  -226434
+      FRAME_-226434_CENTER             =  -226400
+      TKFRAME_-226434_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226434_SPEC             = 'ANGLES'
+      TKFRAME_-226434_UNITS            = 'DEGREES'
+      TKFRAME_-226434_ANGLES           = ( 0.0, -270.0, -70.0 )
+      TKFRAME_-226434_AXES             = ( 1,   3,   2   )
+
+      FRAME_ROS_GIADA_MBS5             =  -226435
+      FRAME_-226435_NAME               = 'ROS_GIADA_MBS5'
+      FRAME_-226435_CLASS              =  4
+      FRAME_-226435_CLASS_ID           =  -226435
+      FRAME_-226435_CENTER             =  -226400
+      TKFRAME_-226435_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226435_SPEC             = 'ANGLES'
+      TKFRAME_-226435_UNITS            = 'DEGREES'
+      TKFRAME_-226435_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226435_AXES             = ( 1,   2,   3   )
+
+   \begintext
+
+
+GIADA Unit Reference Frame
+--------------------------------------
+
+   This section implements the GIADA Unit Reference Frame (URF) frame
+   definition. While this frame was not specifically spelled out in
+   [5], it is defined according to the rules outlined in the section
+   7.3 of that document.
+
+   \begindata
+
+      FRAME_ROS_GIADA_URF              =  -226440
+      FRAME_-226440_NAME               = 'ROS_GIADA_URF'
+      FRAME_-226440_CLASS              =  4
+      FRAME_-226440_CLASS_ID           =  -226440
+      FRAME_-226440_CENTER             =  -226400
+      TKFRAME_-226440_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226440_SPEC             = 'ANGLES'
+      TKFRAME_-226440_UNITS            = 'DEGREES'
+      TKFRAME_-226440_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226440_AXES             = ( 2,   1,   3   )
+
+   \begintext
+
+
+RPC frames
+========================================================================
+
+   This section of the file contains the definitions of the RPC frames.
+
+
+RPC Frame Tree
+--------------------------------------
+
+   The diagram below shows the RPC frame hierarchy.
+
+
+          "45P/H-M-P_CSO"
+          ---------------
+           ^
+           |<-dyn
+           |
+           | "2867/STEINS_CSO"
+           | -----------------
+           |  ^
+           |  |<-dyn
+           |  |
+           |  | "21/LUTETIA_CSEQ"
+           |  | -----------------
+           |  |  ^
+           |  |  |<-dyn
+           |  |  |
+           |  |  | "21/LUTETIA_CSO"
+           |  |  | ----------------
+           |  |  |  ^
+           |  |  |  |<-dyn
+           |  |  |  |
+           |  |  |  | "67P/C-G_CSEQ"
+           |  |  |  | --------------
+           |  |  |  |  ^
+           |  |  |  |  |<-dyn
+           |  |  |  |  |
+           |  |  |  |  | "67P/C-G_CSO"
+           |  |  |  |  | -------------
+           |  |  |  |  |  ^
+           |  |  |  |  |  |<-dyn
+           |  |  |  |  |  |
+           |  |  |  |  |  |
+           |  |  |  |  |  |    "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+           +-----------------------------------------------------+
+           |          |          |         |          |          |
+           |   fixed->|          |         |          |<-fixed   |
+           |          |          |         |          |          |
+           |          V          |         |          V          |
+           |  "ROS_RPC_IES"      |         |      "ROS_RPC_ICA"  |
+           |  -------------      |         |      -------------  |
+           |                     |         |                     |
+           |<-fixed              |         |                     |<-fixed
+           |                     |         |                     |
+           V                     |         |                     V
+     "ROS_RPC_IES_URF"           |         |            "ROS_RPC_ICA_URF"
+     -----------------           |         |            -----------------
+                                 |         |
+                          fixed->|         |<-ck
+                                 |         |
+                                 V         V
+                      "ROS_RPC_BOOM1"   "ROS_RPC_BOOM2"
+           +-------------------------   -------------------------+
+           |                     |         |                     |
+           |<-fixed       fixed->|         |<-fixed       fixed->|
+           |                     |         |                     |
+           V                     V         V                     V
+     "ROS_RPC_MIP"     "ROS_RPC_LAP1"   "ROS_RPC_LAP2"  "ROS_RPC_MAG_OB/IB"
+     -------------     --------------   --------------  -------------------
+
+
+RPC IES and ICA Frames
+--------------------------------------
+
+   The RPC IES sensor frame -- ROS_RPC_IES -- is defined as follows:
+
+      -  +Z axis points along the instrument's FOV symmetry axis,
+         toward the FOV side of the sensor unit;
+
+      -  +Y axis is parallel to the instrument mounting plate plane
+         (S/C XY plane) and points toward -X/+Y quadrant of the S/C
+         XY plane;
+
+      -  +X axis completes the right hand frame;
+
+      -  the origin of the frame is located at the intersection of the
+         FOV symmetry axis and the FOV focal plane.
+
+   The RPC ICA sensor frame -- ROS_RPC_ICA -- is defined as follows:
+
+      -  +Z axis points along the instrument's FOV symmetry axis,
+         toward the FOV side of the sensor unit;
+
+      -  +X axis is parallel to the instrument mounting plate plane
+         (S/C XY plane) and nominally points along the S/C +X axis;
+
+      -  +Y axis completes the right hand frame;
+
+      -  the origin of the frame is located at the intersection of the
+         FOV symmetry axis and the FOV focal plane.
+
+   Defining IES and ICA sensor frame in this fashion allows easier
+   specification of the sensor sector view directions and boundaries
+   using polar coordinates relative to these frames.
+
+   This diagram illustrates the RPC IES and ICA sensor frames:
+
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                               Lander
+                                  _____
+                                 /     \
+                                |       |
+                             ._____________.
+                             |             |
+                             |             |
+                             |  +Zsc       | +Ysc  +Yies
+   o==/ /==================o |      o------->o== ^ =============/ /==o
+     -Y Solar Array          |      |      |x------->
+                             |      |      ||.'      +Zica
+                             .______|_____ x|
+                               `.   |   .   |.
+                                 .--V +Xsc  | `.
+                          HGA  .'       `   V   V +Zies
+                              /_________ +Xica
+                                  `.|.'          +Zsc points out of the page
+
+                                                 +Yica points into the page
+
+                                                +Zies points 45 deg above the
+                                                       S/C XY plane.
+
+                                                +Xies points 45 deg below the
+                                                       S/C XY plane.
+
+   As shown on the diagram, two rotations are needed to co-align the S/C
+   frame with the IES sensor frame: first by +45 degrees about +Z,
+   then by +45 about +Y.
+
+   Only one rotation is needed to co-align the S/C frame with
+   the ICA sensor frame: by -90 degrees about +X.
+
+   \begindata
+
+      FRAME_ROS_RPC_IES                =  -226520
+      FRAME_-226520_NAME               = 'ROS_RPC_IES'
+      FRAME_-226520_CLASS              =  4
+      FRAME_-226520_CLASS_ID           =  -226520
+      FRAME_-226520_CENTER             =  -226520
+      TKFRAME_-226520_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226520_SPEC             = 'ANGLES'
+      TKFRAME_-226520_UNITS            = 'DEGREES'
+      TKFRAME_-226520_ANGLES           = ( 0.0, -45.0, -45.0 )
+      TKFRAME_-226520_AXES             = ( 1,     3,     2   )
+
+      FRAME_ROS_RPC_ICA                =  -226530
+      FRAME_-226530_NAME               = 'ROS_RPC_ICA'
+      FRAME_-226530_CLASS              =  4
+      FRAME_-226530_CLASS_ID           =  -226530
+      FRAME_-226530_CENTER             =  -226530
+      TKFRAME_-226530_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226530_SPEC             = 'ANGLES'
+      TKFRAME_-226530_UNITS            = 'DEGREES'
+      TKFRAME_-226530_ANGLES           = ( 90.0,  0.0,   0.0 )
+      TKFRAME_-226530_AXES             = (  1,    3,     2   )
+
+   \begintext
+
+
+RPC IES and ICA Unit Reference Frames
+--------------------------------------
+
+   This section implements the IES and ICA Unit Reference Frame (URF)
+   frame definitions. While these frames were not specifically spelled
+   out in [5], they are defined according to the rules outlined in the
+   section 7.3 of that document.
+
+   \begindata
+
+      FRAME_ROS_RPC_IES_URF            =  -226525
+      FRAME_-226525_NAME               = 'ROS_RPC_IES_URF'
+      FRAME_-226525_CLASS              =  4
+      FRAME_-226525_CLASS_ID           =  -226525
+      FRAME_-226525_CENTER             =  -226520
+      TKFRAME_-226525_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226525_SPEC             = 'ANGLES'
+      TKFRAME_-226525_UNITS            = 'DEGREES'
+      TKFRAME_-226525_ANGLES           = ( 0.0, -45.0, 0.0 )
+      TKFRAME_-226525_AXES             = ( 2,     3,   1   )
+
+      FRAME_ROS_RPC_ICA_URF            =  -226535
+      FRAME_-226535_NAME               = 'ROS_RPC_ICA_URF'
+      FRAME_-226535_CLASS              =  4
+      FRAME_-226535_CLASS_ID           =  -226535
+      FRAME_-226535_CENTER             =  -226530
+      TKFRAME_-226535_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226535_SPEC             = 'ANGLES'
+      TKFRAME_-226535_UNITS            = 'DEGREES'
+      TKFRAME_-226535_ANGLES           = ( 0.0, -90.0, 0.0 )
+      TKFRAME_-226535_AXES             = ( 2,     3,   1   )
+
+   \begintext
+
+
+RPC Boom and Boom-mounted Sensor Frames
+---------------------------------------
+
+   The RPC Boom 1 and 2 frames -- ROS_RPC_BOOM1 and ROS_RPC_BOOM2 -- are
+   defined as follows:
+
+      -  +Z axis is parallel to the boom and points away from the
+         spacecraft;
+
+      -  +X axis is parallel to the MIP antennas (for Boom 1) or
+         MAG center axis (for Boom 2) and points away from the boom;
+
+      -  +Y axis completes the right hand frame;
+
+      -  the origin of the frame is located at the boom pivot point.
+
+   All boom-mounted sensor frames (except those for the MAG sensors) --
+   ROS_RPC_MIP, ROS_RPC_LAP1, and ROS_RPC_LAP2 -- are defined to be
+   co-aligned with the frame of the boom on which the sensor is
+   mounted.
+
+   This diagram illustrates the RPC Boom 1 and 2 frames for booms in
+   deployed position:
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+                                       +Zboom2
+                               Lander     ^
+                                  _____   |  ^ +Xboom2
+                                 /     \  | .
+                                |       | |.
+                             .____________o----> +Yboom2
+                             |             |x----> +Zboom1
+                             |             ||
+                             |  +Zsc       ||+Ysc
+   o==/ /==================o |      o------->o==================/ /==o
+     -Y Solar Array          |      |      ||         +Y Solar Array
+                             |      |      |V
+                             .______|______. +Xboom1
+                               `.   |   .'
+                                 .--V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'         +Zsc points out of the page
+
+                                              +Zboom1 points 45 deg above the
+                                                      S/C XY plane.
+
+                                              +Yboom1 points 45 deg below the
+                                                       S/C XY plane.
+
+                                              +Zboom2 points ~40 deg below
+                                                S/C XY plane, slightly
+                                                 toward S/C +Y axis.
+
+                                              +Xboom2 points ~50 deg above
+                                                 S/C XY plane, slightly
+                                                   toward S/C +Y axis.
+
+
+   As shown on the diagram, a single rotation of -45 degrees about +X
+   is needed to co-align the S/C frame with the Boom 1 frame in
+   deployed configuration.
+
+   Nominally two rotations are needed to co-align the S/C frame with
+   the Boom 2 frame in stowed configuration: first by -90.0
+   degrees about +Y, then by +90.0 degrees about +X.
+
+   Nominally three rotations are needed to co-align the S/C frame with
+   the Boom 2 frame in deployed configuration: first by -126.958
+   degrees about +Y, then by -4.590 degrees about +X, and finally by
+   +15.358 degrees about +Z. (These angles were derived the boom pivot
+   axis direction angles and boom deployment angle specified in [6].)
+
+   Since both, pre- and post- deployment orientation of the Boom 2 is
+   essential for MAG data analysis, Boom 2 frame is defined as a
+   CK-based frame with its orientation provided in CK files.
+
+   \begindata
+
+      FRAME_ROS_RPC_BOOM1              =  -226560
+      FRAME_-226560_NAME               = 'ROS_RPC_BOOM1'
+      FRAME_-226560_CLASS              =  4
+      FRAME_-226560_CLASS_ID           =  -226560
+      FRAME_-226560_CENTER             =  -226560
+      TKFRAME_-226560_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226560_SPEC             = 'ANGLES'
+      TKFRAME_-226560_UNITS            = 'DEGREES'
+      TKFRAME_-226560_ANGLES           = ( 0.0, 0.0, 45.0 )
+      TKFRAME_-226560_AXES             = ( 3,   2,    1   )
+
+      FRAME_ROS_RPC_BOOM2              =  -226570
+      FRAME_-226570_NAME               = 'ROS_RPC_BOOM2'
+      FRAME_-226570_CLASS              =  3
+      FRAME_-226570_CLASS_ID           =  -226570
+      FRAME_-226570_CENTER             =  -226570
+      CK_-226570_SCLK                  =  -226
+      CK_-226570_SPK                   =  -226
+
+      FRAME_ROS_RPC_MIP                =  -226550
+      FRAME_-226550_NAME               = 'ROS_RPC_MIP'
+      FRAME_-226550_CLASS              =  4
+      FRAME_-226550_CLASS_ID           =  -226550
+      FRAME_-226550_CENTER             =  -226560
+      TKFRAME_-226550_RELATIVE         = 'ROS_RPC_BOOM1'
+      TKFRAME_-226550_SPEC             = 'ANGLES'
+      TKFRAME_-226550_UNITS            = 'DEGREES'
+      TKFRAME_-226550_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226550_AXES             = ( 2,   3,   1   )
+
+      FRAME_ROS_RPC_LAP1               =  -226511
+      FRAME_-226511_NAME               = 'ROS_RPC_LAP1'
+      FRAME_-226511_CLASS              =  4
+      FRAME_-226511_CLASS_ID           =  -226511
+      FRAME_-226511_CENTER             =  -226511
+      TKFRAME_-226511_RELATIVE         = 'ROS_RPC_BOOM1'
+      TKFRAME_-226511_SPEC             = 'ANGLES'
+      TKFRAME_-226511_UNITS            = 'DEGREES'
+      TKFRAME_-226511_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226511_AXES             = ( 2,   3,   1   )
+
+      FRAME_ROS_RPC_LAP2               =  -226512
+      FRAME_-226512_NAME               = 'ROS_RPC_LAP2'
+      FRAME_-226512_CLASS              =  4
+      FRAME_-226512_CLASS_ID           =  -226512
+      FRAME_-226512_CENTER             =  -226512
+      TKFRAME_-226512_RELATIVE         = 'ROS_RPC_BOOM2'
+      TKFRAME_-226512_SPEC             = 'ANGLES'
+      TKFRAME_-226512_UNITS            = 'DEGREES'
+      TKFRAME_-226512_ANGLES           = ( 0.0, 0.0, 0.0 )
+      TKFRAME_-226512_AXES             = ( 2,   3,   1   )
+
+   \begintext
+
+
+   The MAG OB and IB frames -- ROS_RPC_BOOM1 and ROS_RPC_BOOM2 -- are
+   defined as follows:
+
+      -  +Y axis is parallel to the boom and points from the sensor
+         toward the boom deployment hinge; this axis is designated "V"
+         in the instrument documentation and nominally points in the
+         direction opposite to the Boom 2 +Z axis;
+
+      -  +Z axis is normal to the boom and point from the sensor toward
+         the boom; this axis is designated "W" in the instrument
+         documentation and nominally points in the direction opposite
+         to the Boom 2 +X axis;
+
+      -  +X axis completes the right hand frame; this axis is
+         designated "U" in the instrument documentation nominally
+         points in the same direction as the Boom 2 +Y axis;
+
+      -  the origin of the frame is located at the geometric center of
+         the sensor.
+
+   This diagram illustrates the RPC MAG OB and IB frames:
+
+   +Z S/C side view (Boom 2 is shown in stowed position):
+   ------------------------------------------------------
+
+                         +Xmag ^          ^ +Yboom2
+                               |          |
+                               |+Ymag     |
+                             ._x--->__<---o
+                             |      +Zboom2|
+                             |             |
+                             |  +Zsc       | +Ysc
+   o==/ /==================o |      o------->o==================/ /==o
+     -Y Solar Array          |      |      |          +Y Solar Array
+                             |      |      |
+                             .______|______.
+                               `.   |   .'
+                                 .--V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'         +Zsc and +Xboom2 point out
+                                                        of the page
+
+                                                +Zmag points into the page
+
+
+   As shown on the diagram, nominally two rotations are needed to
+   co-align the Boom 2 frame with the MAG OB/MAG IB frames: first by
+   +90 degrees about Z, then by -90 degrees about X.
+
+   The actual alignments, computed from the MAG OB and IB frames' U, V,
+   and W axes directions in the S/C frame provided by  Dr. Ingo Richter
+   [8], are as follows:
+
+      Mboom2->mag_ob = [-90.23422236]x * [+89.94424999]z * [+0.14507999]x
+
+      Mboom2->mag_ib = [-90.28478858]x * [+89.49714229]z * [+0.11719143]x
+
+   The MAG OB and IB frame definitions below incorporate these
+   transformations.
+
+   \begindata
+
+      FRAME_ROS_RPC_MAG_OB       =  -226541
+      FRAME_-226541_NAME         = 'ROS_RPC_MAG_OB'
+      FRAME_-226541_CLASS        =  4
+      FRAME_-226541_CLASS_ID     =  -226541
+      FRAME_-226541_CENTER       =  -226541
+      TKFRAME_-226541_RELATIVE   = 'ROS_RPC_BOOM2'
+      TKFRAME_-226541_SPEC       = 'ANGLES'
+      TKFRAME_-226541_UNITS      = 'DEGREES'
+      TKFRAME_-226541_ANGLES     = ( -0.14507999, -89.94424999, +90.23422236 )
+      TKFRAME_-226541_AXES       = ( 1,   3,   1   )
+
+      FRAME_ROS_RPC_MAG_IB       =  -226542
+      FRAME_-226542_NAME         = 'ROS_RPC_MAG_IB'
+      FRAME_-226542_CLASS        =  4
+      FRAME_-226542_CLASS_ID     =  -226542
+      FRAME_-226542_CENTER       =  -226542
+      TKFRAME_-226542_RELATIVE   = 'ROS_RPC_BOOM2'
+      TKFRAME_-226542_SPEC       = 'ANGLES'
+      TKFRAME_-226542_UNITS      = 'DEGREES'
+      TKFRAME_-226542_ANGLES     = ( -0.11719143, -89.49714229, +90.28478858 )
+      TKFRAME_-226542_AXES       = ( 1,   3,   1   )
+
+   \begintext
+
+
+SREM frames
+========================================================================
+
+   This section of the file contains the definitions of the SREM
+   frames.
+
+
+SREM Frame Tree
+--------------------------------------
+
+   The diagram below shows the SREM frame hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |        |        |                 |
+           |<-pck        ck->|        |        |<-pck       pck->|
+           |                 |        |        |                 |
+           V                 V        |        V                 V
+       "67P/C-G_FIXED"  "67P/C-G_CK"  | "LUTETIA_FIXED"   "STEINS_FIXED"
+         COMET BFXD      COMET BFXD   |  ASTEROID BFXD    ASTEROID BFXD
+       ---------------  ------------  | --------------    --------------
+                                      |
+                                      |<-ck
+                                      |
+                                      V
+                               "ROS_SPACECRAFT"
+                             +-----------------+
+                             |                 |
+                             |<-fixed          |<-fixed
+                             |                 |
+                             V                 V
+                      "ROS_SREM_D12"    "ROS_SREM_D3"
+                      --------------    -------------
+
+
+SREM Frame
+--------------------------------------
+
+   The ROS_SREM_D12 and ROS_SREM_D3 frames are defined
+   as follows:
+
+      -  +Z axis points along the particle entrance FOV boresight;
+
+      -  +Y axis is nominally parallel to the S/C XY plane and is rotated
+         135 degrees around the S/C +Z axis;
+
+      -  +X axis completes the right hand frame;
+
+      -  the origin of the frame is located at the center of the detector.
+
+   This diagram illustrates the SREM D12 and D3 frames:
+
+                             ._____________.
+                             |             |
+                             |   +Ysrem    |  +Xsrem
+                             |      ^   +Ysc  .>
+   o==/ /==================o   +Zsc o'.->  |.'==================/ /==o
+     -Y Solar Array          |      |  '. .'          +Y Solar Array
+                             |      |    o +Zsrem
+                             .______|______.
+                               `.   |   .'
+                                 .--V +Xsc
+                          HGA  .'       `.
+                              /___________\
+                                  `.|.'         +Zsc and +Zsrem are out
+                                                        of the page
+
+   Nominally, the SREM D12 and SREM D3 frames are defined as fixed-offset
+   frames and are rotated from the S/C frame by 135 degrees about Z.
+
+
+   \begindata
+
+      FRAME_ROS_SREM_D12              =  -226601
+      FRAME_-226601_NAME               = 'ROS_SREM_D12'
+      FRAME_-226601_CLASS              =  4
+      FRAME_-226601_CLASS_ID           =  -226601
+      FRAME_-226601_CENTER             =  -226601
+      TKFRAME_-226601_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226601_SPEC             = 'ANGLES'
+      TKFRAME_-226601_UNITS            = 'DEGREES'
+      TKFRAME_-226601_ANGLES           = ( 0.0, 0.0, -135.0 )
+      TKFRAME_-226601_AXES             = ( 1,   2,    3     )
+
+      FRAME_ROS_SREM_D3                =  -226602
+      FRAME_-226602_NAME               = 'ROS_SREM_D3'
+      FRAME_-226602_CLASS              =  4
+      FRAME_-226602_CLASS_ID           =  -226602
+      FRAME_-226602_CENTER             =  -226602
+      TKFRAME_-226602_RELATIVE         = 'ROS_SPACECRAFT'
+      TKFRAME_-226602_SPEC             = 'ANGLES'
+      TKFRAME_-226602_UNITS            = 'DEGREES'
+      TKFRAME_-226602_ANGLES           = ( 0.0, 0.0, -135.0 )
+      TKFRAME_-226602_AXES             = ( 1,   2,    3     )
+
+   \begintext
+
+
+Rosetta Lander Frames
+========================================================================
+
+   This section of the file contains the definitions of the Rosetta
+   topocentric, lander and instrument frames.
+
+
+Rosetta Lander Frame Tree
+--------------------------------------
+
+   The diagram below shows the Rosetta Lander and its instruments frame
+   hierarchy.
+
+
+                               "J2000" INERTIAL
+           +-----------------------------------------------------+
+           |                 |                 |                 |
+           |<-ck             |                 |                 |<-pck
+           |                 |                 |                 |
+           V                 |                 |                 V
+    "ROS_SPACECRAFT"         |                 |            "IAU_EARTH"
+     ---------------         |<-pck            |<-ck      EARTH BODY-FIXED
+                             |                 |          ----------------
+                             V                 V
+                      "67P/C-G_FIXED"     "67P/C-G_CK"
+                        COMET BFXD         COMET BFXD
+                      ---------------     ------------
+                                           |        |
+                                    fixed->|        |
+                                           |        |
+                                           V        |
+                              "ROS_LANDER_TOPO"     |
+                              -----------------     |
+                                                    |
+                                                    |<-ck
+                                                    |
+                                                    V
+                                              "ROS_LANDER"
+                +-------------------------------------------+
+                |                     |                     |
+                |<-fixed              |<-fixed              |<-fixed
+                |                     |                     |
+                V                     V                     V
+    "ROS_LANDER_CIVA_P_#"     "ROS_LANDER_DIM_#"     "ROS_LANDER_ROLIS"
+    ---------------------     ------------------     ------------------
+
+
+Rosetta Local Level frame
+--------------------------------------
+
+   The topocentric frame at the landing site -- ROS_LANDER_TOPO -- is
+   defined as follows:
+
+      -  +Z axis is the outward normal (zenith) at the landing site;
+
+      -  +X axis points at the local north;
+
+      -  +Y completes the right hand frame;
+
+      -  the origin of the frame is on the ground below center of the
+         lander. NOTE: in the definition below, to ensure computability
+         of an aberration corrected rotation of the frame, the center
+         is set to the comet C-G ID (1000012), the ephemeris of which
+         needed to compute its light-time corrected state is likely to
+         always be available.
+
+   The orientation of the frame is given relative to the comet fixed
+   rotating frame '67P/C-G_FIXED' and is determined by the landing site
+   coordinates.
+
+   The transformation from 'ROS_LANDER_TOPO' frame to '67P/C-G_FIXED'
+   frame is a 3-2-3 rotation with defined angles as the negative of the
+   site longitude, the negative of the site colatitude, 180 degrees.
+
+   The final lander location as specified by SOND-FD on 4 September
+   2017 and provided in the SPK SPICE_PHILAE_CFF_SONC_V2_0.BSP is:
+
+       X      Y        Z        Lon (deg)  Lat (deg) Radius (km)
+      ----------------------------------------------------------
+      2.4473  -0.0627  -0.3486  358.5324   -8.1042   2.472798
+
+   These keywords implement the frame definition based on these
+   longitude and latitude.
+
+   \begindata
+
+      FRAME_ROS_LANDER_TOPO            =  -226999
+      FRAME_-226999_NAME               = 'ROS_LANDER_TOPO'
+      FRAME_-226999_CLASS              =  4
+      FRAME_-226999_CLASS_ID           =  -226999
+      FRAME_-226999_CENTER             =  1000012
+      TKFRAME_-226999_RELATIVE         = '67P/C-G_CK'
+      TKFRAME_-226999_SPEC             = 'ANGLES'
+      TKFRAME_-226999_UNITS            = 'DEGREES'
+      TKFRAME_-226999_ANGLES           = ( -358.5324, -98.1042, 180.0 )
+      TKFRAME_-226999_AXES             = (    3,        2,        3   )
+
+   \begintext
+
+
+Rosetta Lander Frame
+--------------------------------------
+
+   The lander frame -- ROS_LANDER -- is defined by the lander design as
+   follows:
+
+      -  +X axis is parallel to the lander baseplate and points from
+         the lander backside toward the CIVA-P 3 camera mounted in
+         the middle of the front solar hood panel;
+
+      -  +Z axis is perpendicular to the lander baseplate and points
+         from the lander baseplate towards the lander top plate;
+
+      -  +Y axis completes the right handed frame;
+
+      -  the origin of the frame is in the middle of the baseplate inner
+         surface backside.
+
+   These diagrams illustrate the lander frame:
+
+   +Z lander side (top) view:
+   --------------------------
+                   .o
+                o'\\
+                   \\
+                    \\
+                     \\
+                      \\
+            +Ylnd      \\
+                  ^ ----------------o-.
+                  | -. SD2             \
+                  | -'                  o
+                  |                      `
+                  |       +Xlnd          |           o
+                  o-------> o            o===========|
+            +Zlnd                        |           o
+                  |                      .
+                  |                     o
+                  |                    /
+                  `-----------------o-'
+                       //
+                      //
+                     //
+                    //
+                   //
+                o.//                  +Zlnd points out of the page.
+                   `o
+
+   -Y lander side view:
+   --------------------
+                  .--.
+                  |  | SD2
+                  .----------------------.
+                  |                   |  | CIVA-P 3
+                  |                   |  o
+            +Zlnd                     |  |
+                  ^                   |  |
+                  |                   |  |
+                  |                   |  |
+                  |                   |  |
+                  |      +Xlnd        |  |
+            +Ylnd x------->  ------------'
+                .----------| |.______________________.
+                |   | `-.__|_|________..--''         |
+               /_\ /_\                              /_\
+
+                                       +Ylnd points into the page.
+
+   This diagram illustrates the spacecraft and lander frame for the
+   attached configuration:
+
+   +Z S/C side (science deck side) view:
+   -------------------------------------
+
+
+                                    ^ +Xlnd
+                                    |
+                                  __|__
+                                 /  |  \  Lander
+                        +Ylnd   |   |   |
+                            <-------o _____.
+                             |       +Zlnd |
+                             |             |
+                             |  +Zsc       | +Ysc
+   o==/ /==================o |      o------->o==================/ /==o
+     -Y Solar Array          |      |      |        +Y Solar Array
+                             |      |      |
+                             .______|______.
+                               `.   |   .'
+                                 .--V +Xsc
+                          HGA  .'       `.       +Zsc is out  of the page
+                              /___________\
+                                  `.|.'            +Zlnd is out of the
+                                                  page and is inclined
+                                                 2.69 deg toward the -Xsc.
+
+   Because the lander frame changes its orientation relative to other frames
+   it is defined as a CK-based frame.
+
+   \begindata
+
+      FRAME_ROS_LANDER                 =  -226800
+      FRAME_-226800_NAME               = 'ROS_LANDER'
+      FRAME_-226800_CLASS              =  3
+      FRAME_-226800_CLASS_ID           =  -226800
+      FRAME_-226800_CENTER             =  -226800
+
+      CK_-226800_SCLK                  = -226800
+      CK_-226800_SPK                   = -226800
+
+   \begintext
+
+
+Rosetta Lander CIVA-P Frames
+--------------------------------------
+
+   The CIVA-P camera frames -- ROS_LANDER_CIVA_P_1 .. ROS_LANDER_CIVA_P_7
+   -- are defined as follows:
+
+     -  +Z axis is along the camera boresight;
+
+     -  +X axis is along the camera CCD lines and is nominally parallel to
+        the lander baseplate;
+
+     -  +Y axis completes the right-handed frame, is along the camera CCD
+        columns and points down toward the bottom of the lander;
+
+     -  the origin of the frame is at the camera focal point.
+
+   This diagram illustrates the CIVA-P frames:
+
+
+                   .o
+                o'\\
+                   \\
+                    \\
+                     \\          ^ +Zch1
+                      \\          \
+            +Ylnd      \\  60 deg  \       ^ +Zch2
+                  ^  ---------------x-.   /
+                  |                CH1 \ / 60 deg
+                  |                     x ---
+                  | CH7              CH2 `
+         Zch7 <---x       +Xlnd          |  +Zch3    o
+                  o------->          CH3 x--->  =====|
+         Zch6 <---x                      |           o
+                  | CH6              CH4 .
+                  |                     x ---
+                  |                CH5 / \ 60 deg
+                  `-----------------x-'   \
+                       //  60 deg  /       V +Zch4
+                      //          /
+                     //          V +Zch5
+                    //
+                   //
+                o.//          +Zlnd points out of the page.
+                   `o
+                              +Zch1..5 point 15 degrees into the page.
+
+                              +Zch6..7 point 25 degrees into the page.
+
+                              +Ych1..5 point into the page and are tilted
+                              15 degrees away from corresponding +Z axes.
+
+                              +Ych6..7 point into the page and are tilted
+                              25 degrees away from corresponding +X axes.
+
+                              +Xch1..7 (not shown) complete the right-handed
+                              frames and are parallel to the lander XY plane.
+
+   The following nominal rotations are needed to co-align the lander frame
+   with the CIVA-P frames (Mlnd->ch = Rot3(Z)*Rot2(Y)*Rot1(Z)):
+
+          Camera     Rot3(Z)  Rot2(Y)  Rot1(Z)
+          ---------  -------  -------  -------
+          CIVA-P 1     -90     +105     +120
+          CIVA-P 2     -90     +105      +60
+          CIVA-P 3     -90     +105        0
+          CIVA-P 4     -90     +105      -60
+          CIVA-P 5     -90     +105     -120
+          CIVA-P 6     +90     -115        0
+          CIVA-P 7     +90     -115        0
+
+   The frame definitions below incorporate these nominal rotations.
+
+   Since the SPICE frames subsystem calls for specifying the reverse
+   transformation -- going from the instrument or structure frame to
+   the base frame, -- the order of rotations assigned to the
+   TKFRAME_*_AXES keyword is reversed and the signs associated with the
+   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+   opposite from what is given in the above table.
+
+
+   \begindata
+
+      FRAME_ROS_LANDER_CIVA_P_1        =  -226801
+      FRAME_-226801_NAME               = 'ROS_LANDER_CIVA_P_1'
+      FRAME_-226801_CLASS              =  4
+      FRAME_-226801_CLASS_ID           =  -226801
+      FRAME_-226801_CENTER             =  -226801
+      TKFRAME_-226801_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226801_SPEC             = 'ANGLES'
+      TKFRAME_-226801_UNITS            = 'DEGREES'
+      TKFRAME_-226801_AXES             = (    3,      2,      3   )
+      TKFRAME_-226801_ANGLES           = ( -120.0, -105.0,   90.0 )
+
+      FRAME_ROS_LANDER_CIVA_P_2        =  -226802
+      FRAME_-226802_NAME               = 'ROS_LANDER_CIVA_P_2'
+      FRAME_-226802_CLASS              =  4
+      FRAME_-226802_CLASS_ID           =  -226802
+      FRAME_-226802_CENTER             =  -226802
+      TKFRAME_-226802_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226802_SPEC             = 'ANGLES'
+      TKFRAME_-226802_UNITS            = 'DEGREES'
+      TKFRAME_-226802_AXES             = (    3,      2,      3   )
+      TKFRAME_-226802_ANGLES           = (  -60.0, -105.0,   90.0 )
+
+      FRAME_ROS_LANDER_CIVA_P_3        =  -226803
+      FRAME_-226803_NAME               = 'ROS_LANDER_CIVA_P_3'
+      FRAME_-226803_CLASS              =  4
+      FRAME_-226803_CLASS_ID           =  -226803
+      FRAME_-226803_CENTER             =  -226803
+      TKFRAME_-226803_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226803_SPEC             = 'ANGLES'
+      TKFRAME_-226803_UNITS            = 'DEGREES'
+      TKFRAME_-226803_AXES             = (    3,      2,      3   )
+      TKFRAME_-226803_ANGLES           = (    0.0, -105.0,   90.0 )
+
+      FRAME_ROS_LANDER_CIVA_P_4        =  -226804
+      FRAME_-226804_NAME               = 'ROS_LANDER_CIVA_P_4'
+      FRAME_-226804_CLASS              =  4
+      FRAME_-226804_CLASS_ID           =  -226804
+      FRAME_-226804_CENTER             =  -226804
+      TKFRAME_-226804_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226804_SPEC             = 'ANGLES'
+      TKFRAME_-226804_UNITS            = 'DEGREES'
+      TKFRAME_-226804_AXES             = (    3,      2,      3   )
+      TKFRAME_-226804_ANGLES           = (   60.0, -105.0,   90.0 )
+
+      FRAME_ROS_LANDER_CIVA_P_5        =  -226805
+      FRAME_-226805_NAME               = 'ROS_LANDER_CIVA_P_5'
+      FRAME_-226805_CLASS              =  4
+      FRAME_-226805_CLASS_ID           =  -226805
+      FRAME_-226805_CENTER             =  -226805
+      TKFRAME_-226805_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226805_SPEC             = 'ANGLES'
+      TKFRAME_-226805_UNITS            = 'DEGREES'
+      TKFRAME_-226805_AXES             = (    3,      2,      3   )
+      TKFRAME_-226805_ANGLES           = (  120.0, -105.0,   90.0 )
+
+      FRAME_ROS_LANDER_CIVA_P_6        =  -226806
+      FRAME_-226806_NAME               = 'ROS_LANDER_CIVA_P_6'
+      FRAME_-226806_CLASS              =  4
+      FRAME_-226806_CLASS_ID           =  -226806
+      FRAME_-226806_CENTER             =  -226806
+      TKFRAME_-226806_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226806_SPEC             = 'ANGLES'
+      TKFRAME_-226806_UNITS            = 'DEGREES'
+      TKFRAME_-226806_AXES             = (    3,      2,      3   )
+      TKFRAME_-226806_ANGLES           = (    0.0,  115.0,  -90.0 )
+
+      FRAME_ROS_LANDER_CIVA_P_7        =  -226807
+      FRAME_-226807_NAME               = 'ROS_LANDER_CIVA_P_7'
+      FRAME_-226807_CLASS              =  4
+      FRAME_-226807_CLASS_ID           =  -226807
+      FRAME_-226807_CENTER             =  -226807
+      TKFRAME_-226807_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226807_SPEC             = 'ANGLES'
+      TKFRAME_-226807_UNITS            = 'DEGREES'
+      TKFRAME_-226807_AXES             = (    3,      2,      3   )
+      TKFRAME_-226807_ANGLES           = (    0.0,  115.0, -90.0  )
+
+   \begintext
+
+
+Rosetta Lander SESAME DIM Frames
+--------------------------------------
+
+   The SESAME DIM piezoelectric detector frames -- ROS_LANDER_DIM_X,
+   ROS_LANDER_DIM_Y and ROS_LANDER_DIM_Z --  are defined as follows:
+
+     -  +Z axis is along the normal to the detector surface facing
+        outward and is nominally along S/C +X for DIM_X, S/C +Y for
+        DIM_Y, and S/C +Z for DIM_Z;
+
+     -  +X axis is nominally along S/C -Z for DIM_X, S/C +X for DIM_Y,
+        and S/C +X for DIM_Z.;
+
+     -  +Y axis completes the right-handed frame;
+
+     -  the origin of the frame is at the geometric center of the detector
+        piezoelectric element.
+
+   These diagrams illustrate the DIM detector frames:
+
+      DIM_X frame:
+                          o
+                         o\     +Ydimx
+                           \   ^
+                     +Ylnd  \  |
+                           ^ --|-------.
+                           |   x---->   \
+                           | +Xdimx  +Zdimx     o
+                           o---->        |======|
+                     +Zlnd      +Xlnd    |      o
+                           |            /
+                           `-----------'
+                            /
+                           /
+                         o/              +Zlnd  points out of the page.
+                           o             +Xdimx points into the page.
+
+      DIM_Y frame:
+                          o    +Zdimy
+                         o\   ^
+                           \  |
+                     +Ylnd  \ |    +Xdimy
+                           ^ -x---->  -.
+                           | +Ydimy     \
+                           |             |      o
+                           o---->        |======|
+                     +Zlnd      +Xlnd    |      o
+                           |            /
+                           `-----------'
+                            /
+                           /
+                         o/              +Zlnd  points out of the page.
+                           o             +Ydimy points into the page.
+
+      DIM_Z frame:
+                          o
+                         o\    +Ydimz
+                           \  ^
+                     +Ylnd  \ |
+                           ^ -|--------.
+                           |  o---->    \
+                           | +Zdimz +Xdimz      o
+                           o---->        |======|
+                     +Zlnd      +Xlnd    |      o
+                           |            /
+                           `-----------'
+                            /
+                           /
+                         o/              +Zlnd  points out of the page.
+                           o             +Zdimz points out of the page.
+
+
+   As seen on the diagram:
+
+      -  DIM_X frame is nominally rotated from the lander frame
+         by +90 degrees about Y.
+
+      -  DIM_Y frame is nominally rotated from the lander frame
+         by -90 degrees about X.
+
+      -  DIM_Z frame is nominally co-aligned with the lander frame.
+
+   The frame definitions below incorporate these nominal rotations.
+
+   Since the SPICE frames subsystem calls for specifying the reverse
+   transformation -- going from the instrument or structure frame to
+   the base frame, -- the order of rotations assigned to the
+   TKFRAME_*_AXES keyword is reversed and the signs associated with the
+   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+   opposite from what is given in the above table.
+
+   \begindata
+
+      FRAME_ROS_LANDER_DIM_X           =  -226830
+      FRAME_-226830_NAME               = 'ROS_LANDER_DIM_X'
+      FRAME_-226830_CLASS              =  4
+      FRAME_-226830_CLASS_ID           =  -226830
+      FRAME_-226830_CENTER             =  -226800
+      TKFRAME_-226830_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226830_SPEC             = 'ANGLES'
+      TKFRAME_-226830_UNITS            = 'DEGREES'
+      TKFRAME_-226830_AXES             = (   1,     2,     3    )
+      TKFRAME_-226830_ANGLES           = (   0.0, -90.0,   0.0  )
+
+      FRAME_ROS_LANDER_DIM_Y           =  -226831
+      FRAME_-226831_NAME               = 'ROS_LANDER_DIM_Y'
+      FRAME_-226831_CLASS              =  4
+      FRAME_-226831_CLASS_ID           =  -226831
+      FRAME_-226831_CENTER             =  -226800
+      TKFRAME_-226831_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226831_SPEC             = 'ANGLES'
+      TKFRAME_-226831_UNITS            = 'DEGREES'
+      TKFRAME_-226831_AXES             = (   1,     2,     3    )
+      TKFRAME_-226831_ANGLES           = (  90.0,   0.0,   0.0  )
+
+      FRAME_ROS_LANDER_DIM_Z           =  -226832
+      FRAME_-226832_NAME               = 'ROS_LANDER_DIM_Z'
+      FRAME_-226832_CLASS              =  4
+      FRAME_-226832_CLASS_ID           =  -226832
+      FRAME_-226832_CENTER             =  -226800
+      TKFRAME_-226832_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226832_SPEC             = 'ANGLES'
+      TKFRAME_-226832_UNITS            = 'DEGREES'
+      TKFRAME_-226832_AXES             = (   1,     2,     3    )
+      TKFRAME_-226832_ANGLES           = (   0.0,   0.0,   0.0  )
+
+   \begintext
+
+
+Rosetta Lander ROLIS Frame
+--------------------------------------
+
+   The ROLIS camera frame -- ROS_LANDER_ROLIS -- is defined as follows:
+
+     -  +Z axis is along the camera boresight and is nominally
+        co-aligned with the -Z axis of the lander frame
+
+     -  +X axis is along the camera CCD lines and nominally co-aligned
+        with the -Y axis of the lander frame
+
+     -  +Y axis completes the right-handed frame and is along the
+        camera CCD columns and nominally co-aligned -X axis of the
+        lander frame.
+
+     -  the origin of the frame is at the rear principal point of the
+        optics.
+
+   This diagram illustrates the ROLIS frame:
+
+                   .o
+                o'\\
+                   \\
+                    \\
+                     \\
+                      \\
+            +Ylnd      \\
+                  ^ ------------------.
+                  |                    \
+                  |                     \
+                  |                      `
+            +Zlnd |       +Xldn          |           o
+                  o------->              |===========|
+             <-------x +ZRolfrm          |           o
+      +YRolfrm    |  |                   .
+                  |  |                  /
+                  |  |                 /
+                  `--|----------------'
+                     v //
+            +XRolfrm  //
+                     //
+                    //
+                   //
+                o.//          +Zlnd points out of the page.
+                   `o         +ZRolfrm points into the page.
+
+
+   Nominally two rotations are needed to align the lander frame with
+   the ROLIS frame: first by -90 degrees about +Z axis, second by 180
+   degrees about +X axis.
+
+   The keywords below define the ROLIS frame.
+
+   Since the SPICE frames subsystem calls for specifying the reverse
+   transformation -- going from the instrument or structure frame to
+   the base frame, -- the order of rotations assigned to the
+   TKFRAME_*_AXES keyword is reversed and the signs associated with the
+   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+   opposite from what is given in the above table.
+
+   \begindata
+
+      FRAME_ROS_LANDER_ROLIS           =  -226815
+      FRAME_-226815_NAME               = 'ROS_LANDER_ROLIS'
+      FRAME_-226815_CLASS              =  4
+      FRAME_-226815_CLASS_ID           =  -226815
+      FRAME_-226815_CENTER             =  -226800
+      TKFRAME_-226815_RELATIVE         = 'ROS_LANDER'
+      TKFRAME_-226815_SPEC             = 'ANGLES'
+      TKFRAME_-226815_UNITS            = 'DEGREES'
+      TKFRAME_-226815_AXES             = (   3,     1,     2    )
+      TKFRAME_-226815_ANGLES           = (  90.0, 180.0,   0.0  )
+
+   \begintext
+
+
+
+Rosetta Mission NAIF ID Codes -- Definition Section
+========================================================================
+
+   This section contains name to NAIF ID mappings for the Rosetta mission.
+
+
+Rosetta Target IDs:
+-------------------------------------------------------------
+
+   This table summarizes Rosetta Target IDs:
+
+            Name                    ID       Synonyms
+            ---------------------   -------  ---------------------------
+            CHURYUMOV-GERASIMENKO   1000012  '67P/C-G'
+                                             '67P/CHURYUMOV-GERASIMENKO'
+            STEINS                  2002867  '2867 STEINS'
+            LUTETIA                 2000021  '21 LUTETIA'
+            HONDA-MRKOS-PAJDUSAKOVA 1000045  '45P/H-M-P'
+                                             '45P/HONDA-MRKOS-PAJDUSAKOVA'
+            TEMPEL                  1000093  'TEMPEL 1'
+                                             '9P/TEMPEL 1'
+                                             '9P/TEMPEL 1 (1867 G1)'
+            C/LINEAR (2002 T7)      1000418  'C/2002 T7 (LINEAR)'
+                                             'C/2002 T7'
+            P/LINEAR (2010 A2)      1003055  '354P'
+                                             '354P/2010 A2'
+                                             '354P/LINEAR'
+                                             '354P/LINEAR (2010 A2)'
+                                             '354P/2010 A2 (LINEAR)'
+                                             'P/2010 A2'
+                                             'P/2010 A2 (LINEAR)'
+                                             'P/2017 B5'
+                                             'P/2017 B5 (LINEAR)'
+            C/MACHHOLZ (2004 Q2)    1000507  'C/2004 Q2 (MACHHOLZ)'
+                                             'C/2004 Q2'
+            VESTA                   2000004  '4 VESTA'
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( '67P/CHURYUMOV-GERASIMENKO' )
+      NAIF_BODY_CODE += ( 1000012 )
+
+      NAIF_BODY_NAME += ( '67P/C-G' )
+      NAIF_BODY_CODE += ( 1000012 )
+
+      NAIF_BODY_NAME += ( 'CHURYUMOV-GERASIMENKO' )
+      NAIF_BODY_CODE += ( 1000012 )
+
+      NAIF_BODY_NAME += ( '2867 STEINS' )
+      NAIF_BODY_CODE += ( 2002867 )
+
+      NAIF_BODY_NAME += ( 'STEINS' )
+      NAIF_BODY_CODE += ( 2002867 )
+
+      NAIF_BODY_NAME += ( '21 LUTETIA' )
+      NAIF_BODY_CODE += ( 2000021 )
+
+      NAIF_BODY_NAME += ( 'LUTETIA' )
+      NAIF_BODY_CODE += ( 2000021 )
+
+      NAIF_BODY_NAME += ( '45P/HONDA-MRKOS-PAJDUSAKOVA' )
+      NAIF_BODY_CODE += ( 1000045 )
+
+      NAIF_BODY_NAME += ( '45P/H-M-P' )
+      NAIF_BODY_CODE += ( 1000045 )
+
+      NAIF_BODY_NAME += ( 'HONDA-MRKOS-PAJDUSAKOVA' )
+      NAIF_BODY_CODE += ( 1000045 )
+
+      NAIF_BODY_NAME += ( 'TEMPEL 1' )
+      NAIF_BODY_CODE += ( 1000093  )
+
+      NAIF_BODY_NAME += ( '9P/TEMPEL 1' )
+      NAIF_BODY_CODE += ( 1000093  )
+
+      NAIF_BODY_NAME += ( '9P/TEMPEL 1 (1867 G1)' )
+      NAIF_BODY_CODE += ( 1000093  )
+
+      NAIF_BODY_NAME += ( 'TEMPEL' )
+      NAIF_BODY_CODE += ( 1000093  )
+
+      NAIF_BODY_NAME += ( 'C/2002 T7 (LINEAR)' )
+      NAIF_BODY_CODE += ( 1000418 )
+
+      NAIF_BODY_NAME += ( 'C/2002 T7' )
+      NAIF_BODY_CODE += ( 1000418 )
+
+      NAIF_BODY_NAME += ( 'C/LINEAR (2002 T7)' )
+      NAIF_BODY_CODE += ( 1000418 )
+
+      NAIF_BODY_NAME += ( '354P' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( '354P/2010 A2' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( '354P/LINEAR' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( '354P/LINEAR (2010 A2)' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( '354P/2010 A2 (LINEAR)' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( 'P/2010 A2' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( 'P/2010 A2 (LINEAR)' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( 'P/2017 B5' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( 'P/2017 B5 (LINEAR)' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( 'P/LINEAR (2010 A2)' )
+      NAIF_BODY_CODE += ( 1003055 )
+
+      NAIF_BODY_NAME += ( 'C/2004 Q2 (MACHHOLZ)' )
+      NAIF_BODY_CODE += ( 1000507 )
+
+      NAIF_BODY_NAME += ( 'C/2004 Q2' )
+      NAIF_BODY_CODE += ( 1000507 )
+
+      NAIF_BODY_NAME += ( 'C/MACHHOLZ (2004 Q2)' )
+      NAIF_BODY_CODE += ( 1000507 )
+
+      NAIF_BODY_NAME += ( '4 VESTA' )
+      NAIF_BODY_CODE += ( 2000004 )
+
+      NAIF_BODY_NAME += ( 'VESTA' )
+      NAIF_BODY_CODE += ( 2000004 )
+
+   \begintext
+
+
+Rosetta Spacecraft (ROSETTA) spacecraft and instruments IDs:
+-------------------------------------------------------------
+
+   This table summarizes Rosetta Spacecraft IDs:
+
+      Name                   ID       Synonyms
+      ---------------------  -------  ---------------------------
+      ROS                       -226  ROSETTA, ROSETTA ORBITER
+
+   Notes:
+
+      -- 'ROS', 'ROSETTA', 'ROSETTA ORBITER' are
+         synonyms and all map to the official Rosetta S/C ID (-226);
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROSETTA' )
+      NAIF_BODY_CODE += ( -226 )
+
+      NAIF_BODY_NAME += ( 'ROS' )
+      NAIF_BODY_CODE += ( -226 )
+
+      NAIF_BODY_NAME += ( 'ROSETTA ORBITER' )
+      NAIF_BODY_CODE += ( -226 )
+
+   \begintext
+
+
+Rosetta Spacecraft Structures IDs
+--------------------------------------
+
+   This table summarizes Rosetta Spacecraft Structure IDs:
+
+      Name                   ID       Synonyms
+      ---------------------  -------  -------------------------
+      ROS_SPACECRAFT         -226000   ROS_SC
+
+      ROS_MGA-S              -226030
+      ROS_MGA-X              -226040
+      ROS_LGA-1              -226050
+      ROS_LGA-2              -226060
+
+      ROS_HGA_GIMBAL         -226070
+      ROS_HGA                -226075
+
+      ROS_SA+Y_GIMBAL        -226010
+      ROS_SA+Y_C1            -226011
+      ROS_SA+Y_C2            -226012
+      ROS_SA+Y_C3            -226013
+      ROS_SA+Y_C4            -226014
+
+      ROS_SA-Y_GIMBAL        -226020
+      ROS_SA-Y_C1            -226021
+      ROS_SA-Y_C2            -226022
+      ROS_SA-Y_C3            -226023
+      ROS_SA-Y_C4            -226024
+
+      ROS_SPACECRAFT_C1      -226001
+      ROS_SPACECRAFT_C2      -226002
+      ROS_SPACECRAFT_C3      -226003
+      ROS_SPACECRAFT_C4      -226004
+      ROS_SPACECRAFT_C5      -226005
+      ROS_SPACECRAFT_C6      -226006
+      ROS_SPACECRAFT_C7      -226007
+      ROS_SPACECRAFT_C8      -226008
+
+   Notes:
+
+      -  'ROS_SC' and 'ROS_SPACECRAFT' are synonyms and all map to the
+         ROSETTA S/C bus structure ID (-226000);
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT' )
+      NAIF_BODY_CODE += ( -226000 )
+
+      NAIF_BODY_NAME += ( 'ROS_SC' )
+      NAIF_BODY_CODE += ( -226000 )
+
+      NAIF_BODY_NAME += ( 'ROS_MGA-S' )
+      NAIF_BODY_CODE += ( -226030 )
+
+      NAIF_BODY_NAME += ( 'ROS_MGA-X' )
+      NAIF_BODY_CODE += ( -226040 )
+
+      NAIF_BODY_NAME += ( 'ROS_LGA-1' )
+      NAIF_BODY_CODE += ( -226050 )
+
+      NAIF_BODY_NAME += ( 'ROS_LGA-2' )
+      NAIF_BODY_CODE += ( -226060 )
+
+      NAIF_BODY_NAME += ( 'ROS_HGA_GIMBAL' )
+      NAIF_BODY_CODE += ( -226070 )
+
+      NAIF_BODY_NAME += ( 'ROS_HGA' )
+      NAIF_BODY_CODE += ( -226075 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA+Y_GIMBAL' )
+      NAIF_BODY_CODE += ( -226010 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA+Y_C1' )
+      NAIF_BODY_CODE += ( -226011 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA+Y_C2' )
+      NAIF_BODY_CODE += ( -226012 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA+Y_C3' )
+      NAIF_BODY_CODE += ( -226013 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA+Y_C4' )
+      NAIF_BODY_CODE += ( -226014 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA-Y_GIMBAL' )
+      NAIF_BODY_CODE += ( -226020 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA-Y_C1 ' )
+      NAIF_BODY_CODE += ( -226021 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA-Y_C2 ' )
+      NAIF_BODY_CODE += ( -226022 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA-Y_C3 ' )
+      NAIF_BODY_CODE += ( -226023 )
+
+      NAIF_BODY_NAME += ( 'ROS_SA-Y_C4 ' )
+      NAIF_BODY_CODE += ( -226024 )
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C1' )
+      NAIF_BODY_CODE += ( -226001 )
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C2' )
+      NAIF_BODY_CODE += ( -226002 )
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C3' )
+      NAIF_BODY_CODE += ( -226003 )
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C4' )
+      NAIF_BODY_CODE += ( -226004 )
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C5' )
+      NAIF_BODY_CODE += ( -226005 )
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C6' )
+      NAIF_BODY_CODE += ( -226006 )
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C7' )
+      NAIF_BODY_CODE += ( -226007 )
+
+      NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C8' )
+      NAIF_BODY_CODE += ( -226008 )
+
+   \begintext
+
+
+Rosetta Star Tracker IDs
+--------------------------------------
+
+   This table summarizes Rosetta Star Tracker IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_STR-A              -226080
+      ROS_STR-B              -226090
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_STR-A' )
+      NAIF_BODY_CODE += ( -226080 )
+
+      NAIF_BODY_NAME += ( 'ROS_STR-B' )
+      NAIF_BODY_CODE += ( -226090 )
+
+   \begintext
+
+
+OSIRIS IDs
+--------------------------------------
+
+   This table summarizes OSIRIS IDs:
+
+      Name                         ID
+      ------------------------    -------
+      ROS_OSIRIS_NAC              -226111
+      ROS_OSIRIS_NAC_DIST         -226113
+      ROS_OSIRIS_NAC_DIST_ENLG    -226115
+      ROS_OSIRIS_NAC_URF          -226117
+      ROS_OSIRIS_WAC              -226112
+      ROS_OSIRIS_WAC_DIST         -226114
+      ROS_OSIRIS_WAC_DIST_ENLG    -226116
+      ROS_OSIRIS_WAC_URF          -226118
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_OSIRIS_NAC' )
+      NAIF_BODY_CODE += ( -226111 )
+
+      NAIF_BODY_NAME += ( 'ROS_OSIRIS_NAC_DIST' )
+      NAIF_BODY_CODE += ( -226113 )
+
+      NAIF_BODY_NAME += ( 'ROS_OSIRIS_NAC_DIST_ENLG' )
+      NAIF_BODY_CODE += ( -226115 )
+
+      NAIF_BODY_NAME += ( 'ROS_OSIRIS_NAC_URF' )
+      NAIF_BODY_CODE += ( -226117 )
+
+      NAIF_BODY_NAME += ( 'ROS_OSIRIS_WAC' )
+      NAIF_BODY_CODE += ( -226112 )
+
+      NAIF_BODY_NAME += ( 'ROS_OSIRIS_WAC_DIST' )
+      NAIF_BODY_CODE += ( -226114 )
+
+      NAIF_BODY_NAME += ( 'ROS_OSIRIS_WAC_DIST_ENLG' )
+      NAIF_BODY_CODE += ( -226116 )
+
+      NAIF_BODY_NAME += ( 'ROS_OSIRIS_WAC_URF' )
+      NAIF_BODY_CODE += ( -226118 )
+
+   \begintext
+
+
+ALICE IDs
+--------------------------------------
+
+   This table summarizes ALICE IDs:
+
+      Name                         ID
+      ---------------------        -------
+      ROS_ALICE                    -226120
+      ROS_ALICE_URF                -226125
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_ALICE' )
+      NAIF_BODY_CODE += ( -226120 )
+
+      NAIF_BODY_NAME += ( 'ROS_ALICE_URF' )
+      NAIF_BODY_CODE += ( -226125 )
+
+   \begintext
+
+
+VIRTIS IDs
+--------------------------------------
+
+   This table summarizes VIRTIS IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_VIRTIS             -226200
+      ROS_VIRTIS-M           -226210
+      ROS_VIRTIS-M_VIS       -226211
+      ROS_VIRTIS-M_VIS_ZERO  -226212
+      ROS_VIRTIS-M_IR        -226213
+      ROS_VIRTIS-M_IR_ZERO   -226214
+      ROS_VIRTIS-H           -226220
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_VIRTIS' )
+      NAIF_BODY_CODE += ( -226200 )
+
+      NAIF_BODY_NAME += ( 'ROS_VIRTIS-M' )
+      NAIF_BODY_CODE += ( -226210 )
+
+      NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_VIS' )
+      NAIF_BODY_CODE += ( -226211 )
+
+      NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_VIS_ZERO' )
+      NAIF_BODY_CODE += ( -226212 )
+
+      NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_IR' )
+      NAIF_BODY_CODE += ( -226213 )
+
+      NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_IR_ZERO' )
+      NAIF_BODY_CODE += ( -226214 )
+
+      NAIF_BODY_NAME += ( 'ROS_VIRTIS-H' )
+      NAIF_BODY_CODE += ( -226220 )
+
+   \begintext
+
+
+MIRO IDs
+--------------------------------------
+
+   This table summarizes MIRO IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_MIRO               -226130
+      ROS_MIRO_MM            -226131
+      ROS_MIRO_SUBMM         -226132
+      ROS_MIRO_URF           -226135
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_MIRO' )
+      NAIF_BODY_CODE += ( -226130 )
+
+      NAIF_BODY_NAME += ( 'ROS_MIRO_MM' )
+      NAIF_BODY_CODE += ( -226131 )
+
+      NAIF_BODY_NAME += ( 'ROS_MIRO_SUBMM' )
+      NAIF_BODY_CODE += ( -226132 )
+
+      NAIF_BODY_NAME += ( 'ROS_MIRO_URF' )
+      NAIF_BODY_CODE += ( -226135 )
+
+   \begintext
+
+
+ROSINA IDs
+--------------------------------------
+
+   This table summarizes ROSINA IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_ROSINA             -226300
+      ROS_ROSINA_DFMS        -226310
+      ROS_ROSINA_DFMS_URF    -226319
+      ROS_ROSINA_RTOF        -226320
+      ROS_ROSINA_RTOF_URF    -226329
+      ROS_ROSINA_COPS        -226330
+      ROS_ROSINA_COPS_URF    -226339
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_ROSINA' )
+      NAIF_BODY_CODE += ( -226300 )
+
+      NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS' )
+      NAIF_BODY_CODE += ( -226310 )
+
+      NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS_URF' )
+      NAIF_BODY_CODE += ( -226319 )
+
+      NAIF_BODY_NAME += ( 'ROS_ROSINA_RTOF' )
+      NAIF_BODY_CODE += ( -226320 )
+
+      NAIF_BODY_NAME += ( 'ROS_ROSINA_RTOF_URF' )
+      NAIF_BODY_CODE += ( -226329 )
+
+      NAIF_BODY_NAME += ( 'ROS_ROSINA_COPS' )
+      NAIF_BODY_CODE += ( -226330 )
+
+      NAIF_BODY_NAME += ( 'ROS_ROSINA_COPS_URF' )
+      NAIF_BODY_CODE += ( -226339 )
+
+   \begintext
+
+
+COSIMA IDs
+--------------------------------------
+
+   This table summarizes COSIMA IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_COSIMA             -226140
+      ROS_COSIMA_URF         -226145
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_COSIMA' )
+      NAIF_BODY_CODE += ( -226140 )
+
+      NAIF_BODY_NAME += ( 'ROS_COSIMA_URF' )
+      NAIF_BODY_CODE += ( -226145 )
+
+   \begintext
+
+
+MIDAS IDs
+--------------------------------------
+
+   This table summarizes MIDAS IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_MIDAS              -226150
+      ROS_MIDAS_URF          -226155
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_MIDAS' )
+      NAIF_BODY_CODE += ( -226150 )
+
+      NAIF_BODY_NAME += ( 'ROS_MIDAS_URF' )
+      NAIF_BODY_CODE += ( -226155 )
+
+   \begintext
+
+
+CONSERT IDs
+--------------------------------------
+
+   This table summarizes CONSERT IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_CONSERT            -226160
+      ROS_CONSERT_URF        -226165
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_CONSERT' )
+      NAIF_BODY_CODE += ( -226160 )
+
+      NAIF_BODY_NAME += ( 'ROS_CONSERT_URF' )
+      NAIF_BODY_CODE += ( -226165 )
+
+   \begintext
+
+
+NAVCAM IDs
+--------------------------------------
+
+   This table summarizes NAVCAM IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_NAVCAM-A           -226170
+      ROS_NAVCAM-A_URF       -226175
+      ROS_NAVCAM-B           -226180
+      ROS_NAVCAM-B_URF       -226185
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_NAVCAM-A' )
+      NAIF_BODY_CODE += ( -226170 )
+
+      NAIF_BODY_NAME += ( 'ROS_NAVCAM-A_URF' )
+      NAIF_BODY_CODE += ( -226175 )
+
+      NAIF_BODY_NAME += ( 'ROS_NAVCAM-B' )
+      NAIF_BODY_CODE += ( -226180 )
+
+      NAIF_BODY_NAME += ( 'ROS_NAVCAM-B_URF' )
+      NAIF_BODY_CODE += ( -226185 )
+
+   \begintext
+
+
+GIADA IDs
+--------------------------------------
+
+   This table summarizes GIADA IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_GIADA              -226400
+      ROS_GIADA_GDS          -226410
+      ROS_GIADA_IS           -226420
+      ROS_GIADA_MBS1         -226431
+      ROS_GIADA_MBS2         -226432
+      ROS_GIADA_MBS3         -226433
+      ROS_GIADA_MBS4         -226434
+      ROS_GIADA_MBS5         -226435
+      ROS_GIADA_URF          -226440
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA' )
+      NAIF_BODY_CODE += ( -226400 )
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA_GDS' )
+      NAIF_BODY_CODE += ( -226410 )
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA_IS' )
+      NAIF_BODY_CODE += ( -226420 )
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA_MBS1' )
+      NAIF_BODY_CODE += ( -226431 )
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA_MBS2' )
+      NAIF_BODY_CODE += ( -226432 )
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA_MBS3' )
+      NAIF_BODY_CODE += ( -226433 )
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA_MBS4' )
+      NAIF_BODY_CODE += ( -226434 )
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA_MBS5' )
+      NAIF_BODY_CODE += ( -226435 )
+
+      NAIF_BODY_NAME += ( 'ROS_GIADA_URF' )
+      NAIF_BODY_CODE += ( -226440 )
+
+   \begintext
+
+
+RPC IDs
+--------------------------------------
+
+   This table summarizes RPC IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_RPC_LAP1           -226511
+      ROS_RPC_LAP2           -226512
+      ROS_RPC_IES            -226520
+      ROS_RPC_IES_ELECTRON   -226521
+      ROS_RPC_IES_ION        -226522
+      ROS_RPC_IES_URF        -226525
+      ROS_RPC_IES_QUAD1      -226526
+      ROS_RPC_IES_QUAD2      -226527
+      ROS_RPC_IES_QUAD3      -226528
+      ROS_RPC_IES_QUAD4      -226529
+      ROS_RPC_ICA            -226530
+      ROS_RPC_ICA_AVG        -226531
+      ROS_RPC_ICA_QUAD1      -226536
+      ROS_RPC_ICA_QUAD2      -226537
+      ROS_RPC_ICA_QUAD3      -226538
+      ROS_RPC_ICA_QUAD4      -226539
+      ROS_RPC_ICA_URF        -226535
+      ROS_RPC_MAG_OB         -226541
+      ROS_RPC_MAG_IB         -226542
+      ROS_RPC_MIP            -226550
+      ROS_RPC_MIP_R1         -226551
+      ROS_RPC_MIP_T1         -226552
+      ROS_RPC_MIP_T2         -226553
+      ROS_RPC_MIP_R2         -226554
+      ROS_RPC_BOOM1          -226560
+      ROS_RPC_BOOM2          -226570
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_LAP1' )
+      NAIF_BODY_CODE += ( -226511 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_LAP2' )
+      NAIF_BODY_CODE += ( -226512 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_IES' )
+      NAIF_BODY_CODE += ( -226520 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_IES_ELECTRON' )
+      NAIF_BODY_CODE += ( -226521 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_IES_ION' )
+      NAIF_BODY_CODE += ( -226522 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_IES_URF' )
+      NAIF_BODY_CODE += ( -226525 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD1' )
+      NAIF_BODY_CODE += ( -226526 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD2' )
+      NAIF_BODY_CODE += ( -226527 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD3' )
+      NAIF_BODY_CODE += ( -226528 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD4' )
+      NAIF_BODY_CODE += ( -226529 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_ICA' )
+      NAIF_BODY_CODE += ( -226530 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_ICA_AVG' )
+      NAIF_BODY_CODE += ( -226531 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD1' )
+      NAIF_BODY_CODE += ( -226536 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD2' )
+      NAIF_BODY_CODE += ( -226537 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD3' )
+      NAIF_BODY_CODE += ( -226538 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD4' )
+      NAIF_BODY_CODE += ( -226539 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_ICA_URF' )
+      NAIF_BODY_CODE += ( -226535 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_MAG_OB' )
+      NAIF_BODY_CODE += ( -226541 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_MAG_IB' )
+      NAIF_BODY_CODE += ( -226542 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_MIP' )
+      NAIF_BODY_CODE += ( -226550 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_MIP_R1' )
+      NAIF_BODY_CODE += ( -226551 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_MIP_T1' )
+      NAIF_BODY_CODE += ( -226552 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_MIP_T2' )
+      NAIF_BODY_CODE += ( -226553 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_MIP_R2' )
+      NAIF_BODY_CODE += ( -226554 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_BOOM1' )
+      NAIF_BODY_CODE += ( -226560 )
+
+      NAIF_BODY_NAME += ( 'ROS_RPC_BOOM2' )
+      NAIF_BODY_CODE += ( -226570 )
+
+   \begintext
+
+
+SREM IDs
+--------------------------------------
+
+   This table summarizes SREM IDs:
+
+      Name                   ID
+      ---------------------  -------
+      ROS_SREM_D12           -226601
+      ROS_SREM_D3            -226602
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_SREM_D12' )
+      NAIF_BODY_CODE += ( -226601 )
+
+      NAIF_BODY_NAME += ( 'ROS_SREM_D3'  )
+      NAIF_BODY_CODE += ( -226602 )
+
+   \begintext
+
+
+Rosetta Lander IDs
+--------------------------------------
+
+   This table summarizes Rosetta Lander and Lander Instrument IDs:
+
+      Name                     ID       Synonyms
+      -----------------------  -------  -------------------------
+      ROS_LANDER_LANDING_SITE  -226999  ROS_LANDER_TOPO,
+                                        ROS_LANDER_LS
+
+      ROS_LANDER               -226800  PHILAE
+
+      ROS_LANDER_CIVA_P_1      -226801
+      ROS_LANDER_CIVA_P_2      -226802
+      ROS_LANDER_CIVA_P_3      -226803
+      ROS_LANDER_CIVA_P_4      -226804
+      ROS_LANDER_CIVA_P_5      -226805
+      ROS_LANDER_CIVA_P_6      -226806
+      ROS_LANDER_CIVA_P_7      -226807
+
+      ROS_LANDER_DIM_X         -226830
+      ROS_LANDER_DIM_Y         -226831
+      ROS_LANDER_DIM_Z         -226832
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_LS' )
+      NAIF_BODY_CODE += ( -226999 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_TOPO' )
+      NAIF_BODY_CODE += ( -226999 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_LANDING_SITE' )
+      NAIF_BODY_CODE += ( -226999 )
+
+      NAIF_BODY_NAME += ( 'PHILAE' )
+      NAIF_BODY_CODE += ( -226800 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER' )
+      NAIF_BODY_CODE += ( -226800 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_1' )
+      NAIF_BODY_CODE += ( -226801 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_2' )
+      NAIF_BODY_CODE += ( -226802 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_3' )
+      NAIF_BODY_CODE += ( -226803 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_4' )
+      NAIF_BODY_CODE += ( -226804 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_5' )
+      NAIF_BODY_CODE += ( -226805 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_6' )
+      NAIF_BODY_CODE += ( -226806 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_7' )
+      NAIF_BODY_CODE += ( -226807 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_DIM_X' )
+      NAIF_BODY_CODE += ( -226830 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_DIM_Y' )
+      NAIF_BODY_CODE += ( -226831 )
+
+      NAIF_BODY_NAME += ( 'ROS_LANDER_DIM_Z' )
+      NAIF_BODY_CODE += ( -226832 )
+
+   \begintext
+
+
+Rosetta Target Body DSK Surface ID Codes -- Definition Section
+========================================================================
+
+   This section contains name to ID mappings for the Rosetta target
+   body DSK surfaces. These mappings are supported by all SPICE
+   toolkits with integrated DSK capabilities (version N0066 or later).
+
+   Comet 67P/Churyumov-Gerasimenko Surface name/IDs:
+
+          DSK Surface Name          ID    Body ID
+      ===========================  =====  =======
+
+      ROS_CG_M004_NSPCESA_N_V1     11000  1000012
+      ROS_CG_K250_NSPCESA_N_V1     11001  1000012
+      ROS_CG_M002_NSPCESA_N_V1     11002  1000012
+      ROS_CG_K104_NSPCESA_N_V1     11003  1000012
+
+      ROS_CG_K006_OSPCLPS_N_V1     22000  1000012
+      ROS_CG_K012_OSPCLPS_N_V1     22001  1000012
+      ROS_CG_K024_OSPCLPS_N_V1     22002  1000012
+      ROS_CG_K050_OSPCLPS_N_V1     22003  1000012
+      ROS_CG_K096_OSPCLPS_N_V1     22004  1000012
+      ROS_CG_K195_OSPCLPS_N_V1     22005  1000012
+      ROS_CG_K399_OSPCLPS_N_V1     22006  1000012
+      ROS_CG_K786_OSPCLPS_N_V1     22007  1000012
+      ROS_CG_K006_OSPCLPS_N_V2     22008  1000012
+      ROS_CG_K012_OSPCLPS_N_V2     22009  1000012
+      ROS_CG_K024_OSPCLPS_N_V2     22010  1000012
+      ROS_CG_K050_OSPCLPS_N_V2     22011  1000012
+      ROS_CG_K097_OSPCLPS_N_V1     22012  1000012
+      ROS_CG_K199_OSPCLPS_N_V1     22013  1000012
+      ROS_CG_K384_OSPCLPS_N_V1     22014  1000012
+      ROS_CG_K788_OSPCLPS_N_V1     22015  1000012
+      ROS_CG_M001_OSPCLPS_N_V1     22016  1000012
+      ROS_CG_M003_OSPCLPS_N_V1     22017  1000012
+
+      ROS_CG_K006_OMSDLAM_N_V1     23000  1000012
+      ROS_CG_K012_OMSDLAM_N_V1     23001  1000012
+      ROS_CG_K024_OMSDLAM_N_V1     23002  1000012
+      ROS_CG_K048_OMSDLAM_N_V1     23003  1000012
+      ROS_CG_K098_OMSDLAM_N_V1     23004  1000012
+      ROS_CG_K191_OMSDLAM_N_V1     23005  1000012
+      ROS_CG_K391_OMSDLAM_N_V1     23006  1000012
+      ROS_CG_K760_OMSDLAM_N_V1     23007  1000012
+      ROS_CG_M001_OMSDLAM_N_V1     23008  1000012
+
+      ROS_CG_K050_OSPGDLR_N_V1     24000  1000012
+      ROS_CG_K100_OSPGDLR_N_V1     24001  1000012
+      ROS_CG_K200_OSPGDLR_N_V1     24002  1000012
+      ROS_CG_M001_OSPGDLR_N_V1     24003  1000012
+      ROS_CG_M004_OSPGDLR_N_V1     24004  1000012
+
+      ROS_AB_K759_OMPCDLAM_N_V1    25000  1000012
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_SURFACE_NAME += 'ROS_CG_M004_NSPCESA_N_V1'
+      NAIF_SURFACE_CODE += 11000
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K250_NSPCESA_N_V1'
+      NAIF_SURFACE_CODE += 11001
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_M002_NSPCESA_N_V1'
+      NAIF_SURFACE_CODE += 11002
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K104_NSPCESA_N_V1'
+      NAIF_SURFACE_CODE += 11003
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K006_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22000
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K012_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22001
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K024_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22002
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K050_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22003
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K096_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22004
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K195_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22005
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K399_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22006
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K786_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22007
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K006_OSPCLPS_N_V2'
+      NAIF_SURFACE_CODE += 22008
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K012_OSPCLPS_N_V2'
+      NAIF_SURFACE_CODE += 22009
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K024_OSPCLPS_N_V2'
+      NAIF_SURFACE_CODE += 22010
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K050_OSPCLPS_N_V2'
+      NAIF_SURFACE_CODE += 22011
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K097_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22012
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K199_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22013
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K384_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22014
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K788_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22015
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_M001_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22016
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_M003_OSPCLPS_N_V1'
+      NAIF_SURFACE_CODE += 22017
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K006_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23000
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K012_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23001
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K024_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23002
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K048_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23003
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K098_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23004
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K191_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23005
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K391_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23006
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K760_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23007
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_M001_OMSDLAM_N_V1'
+      NAIF_SURFACE_CODE += 23008
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K050_OSPGDLR_N_V1'
+      NAIF_SURFACE_CODE += 24000
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K100_OSPGDLR_N_V1'
+      NAIF_SURFACE_CODE += 24001
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_K200_OSPGDLR_N_V1'
+      NAIF_SURFACE_CODE += 24002
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_M001_OSPGDLR_N_V1'
+      NAIF_SURFACE_CODE += 24003
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_CG_M004_OSPGDLR_N_V1'
+      NAIF_SURFACE_CODE += 24004
+      NAIF_SURFACE_BODY += 1000012
+
+      NAIF_SURFACE_NAME += 'ROS_AB_K759_OMPCDLAM_N_V1'
+      NAIF_SURFACE_CODE += 25000
+      NAIF_SURFACE_BODY += 1000012
+
+   \begintext
+
+
+   Asteroid 21 Lutetia Surface name/IDs:
+
+          DSK Surface Name          ID    Body ID
+      ===========================  =====  =======
+
+      ROS_LU_K003_OSPCLAM_N_V1      1000  2000021
+      ROS_LU_K006_OSPCLAM_N_V1      1001  2000021
+      ROS_LU_K012_OSPCLAM_N_V1      1002  2000021
+      ROS_LU_K025_OSPCLAM_N_V1      1003  2000021
+      ROS_LU_K048_OSPCLAM_N_V1      1004  2000021
+      ROS_LU_K098_OSPCLAM_N_V1      1005  2000021
+      ROS_LU_K190_OSPCLAM_N_V1      1006  2000021
+      ROS_LU_K240_OSPCLAM_N_V1      1007  2000021
+      ROS_LU_K380_OSPCLAM_N_V1      1008  2000021
+      ROS_LU_K780_OSPCLAM_N_V1      1009  2000021
+      ROS_LU_M002_OSPCLAM_N_V1      1010  2000021
+      ROS_LU_M003_OSPCLAM_N_V1      1011  2000021
+
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K003_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1000
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K006_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1001
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K012_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1002
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K025_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1003
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K048_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1004
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K098_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1005
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K190_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1006
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K240_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1007
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K380_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1008
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_K780_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1009
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_M002_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1010
+      NAIF_SURFACE_BODY += 2000021
+
+      NAIF_SURFACE_NAME += 'ROS_LU_M003_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1011
+      NAIF_SURFACE_BODY += 2000021
+
+   \begintext
+
+
+   Asteroid 2867 Steins Surface name/IDs:
+
+          DSK Surface Name          ID    Body ID
+      ===========================  =====  =======
+
+      ROS_ST_K020_OSPCLAM_N_V1      1000  2002867
+
+   Name-ID Mapping keywords:
+
+   \begindata
+
+      NAIF_SURFACE_NAME += 'ROS_ST_K020_OSPCLAM_N_V1'
+      NAIF_SURFACE_CODE += 1000
+      NAIF_SURFACE_BODY += 2002867
+
+   \begintext
+
+
+End of FK file.
\ No newline at end of file
diff --git a/tests/pytests/data/i1_00237330013/ROS_VIRTIS_V14.TI b/tests/pytests/data/i1_00237330013/ROS_VIRTIS_V14.TI
new file mode 100644
index 000000000..ad68fb307
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ROS_VIRTIS_V14.TI
@@ -0,0 +1,500 @@
+KPL/IK
+
+VIRTIS Instrument kernel
+===========================================================================
+
+   This instrument kernel (I-kernel) contains Rosetta VIRTIS optics,
+   detector, and field-of-view parameters.
+
+
+Version and Date
+---------------------------------------------------------------------------
+
+   Version 1.4 -- July 21, 2014 --- Marc Costa Sitja, ESAC/ESA
+   
+      Minor corrections after final review by Federico Tosi.
+
+   Version 1.3 -- July 21, 2014 --- Federico Tosi, INAF-IAPS;
+                                    Boris Semenov, NAIF/JPL
+   
+      Added FOV parameters for ROS_VIRTIS-M_IR_ZERO.
+
+   Version 1.2 -- November 15, 2010 --- Bjoern Grieger, ESAC/ESAC
+   
+      Added FOV parameters for ROS_VIRTIS-M_VIS_ZERO.
+
+   Version 1.1 -- September 6, 2006 --- Federico Tosi, IASF &
+                                        Boris Semenov, NAIF/JPL
+
+      Updated to match the actual instrument design and the latest frame
+      implementation (FK v0.8+), including:
+
+         -  removed all descriptions and parameters for instruments
+            ROS_VIRTIS-M_VIS_SCAN/-226212,
+            ROS_VIRTIS-M_IR_SCAN/-226214, and ROS_VIRTIS_URF/-226230;
+
+         -  corrected FOV diagrams to indicate the actual direction of
+            flight 
+
+         -  corrected the VIRTIS-H FOV diagram to indicate the actual
+            FOV alignment
+
+         -  swapped values in the FOV_ANGULAR_SIZE keywords, "The
+            nominal VIRTIS detector parameters" table, and VIRTIS-H
+            PIXEL_SAMPLES/PIXEL_LINE/CCD_CENTER keywords to match true
+            cross- and along-track FOV alignment
+
+         -  changed VIRTIS-M_VIS and VIRTIS_M-IR CCD_CENTER to 128.5,
+            0.5 (from 127.5, 0.5)
+
+         -  set reference axis in VIRTIS-H FOV definition to X (1,0,0)
+
+         -  added the full scan FOV associated with
+            ROS_VIRTIS-M/-226210
+
+   Version 1.0 -- March 15, 2005 -- Boris Semenov, NAIF/JPL
+
+      Version number change for the first official release.
+
+   Version 0.3 -- March 15, 2005 -- Boris Semenov, NAIF/JPL
+
+      Fixed VIRTIS-H FOV definition and relevant parameters and
+      comments to align slit with the +X axis of the VIRTIS-H frame.
+
+   Version 0.2 -- October 12, 2004 -- Boris Semenov, NAIF/JPL
+
+      Fixed cut-n-paste errors (incorrect ID) in the keywords in the 
+      ``Detector Parameters'' section.
+
+   Version 0.1 -- September 2, 2004 -- Boris Semenov, NAIF/JPL
+
+      Filled in instrument overview section (copied from [6]).
+
+   Version 0.0 -- August 4, 2004 -- Boris Semenov, NAIF/JPL
+
+      VERY PRELIMINARY VERSION.
+
+
+References
+---------------------------------------------------------------------------
+
+   1. ``Kernel Pool Required Reading''
+
+   2. ``C-kernel Required Reading''
+
+   3. ``VIRTIS EID, Part B'', ROS-EST-RS-30015/EID B, 2001-02-15
+
+   4. Rosetta Frames Definition Kernel (FK), latest version.
+
+   5. ``VIRTIS: Experiment User Manual'', RO-VIR-UM-001, 2002-05-10
+
+   6. ESA Science and Technology Web Server, Rosetta Instruments Area,
+      http://sci.esa.int/science-e/www/object/index.cfm?fobjectid=35061
+
+
+Implementation Notes
+--------------------------------------------------------
+
+   Applications that need SPICE I-kernel data must ``load'' the I-kernel
+   file, normally during program initialization.
+
+   Loading the kernel using the SPICELIB routine FURNSH causes the data
+   items and their associated values present in the kernel to become
+   associated with a data structure called the ``kernel pool''. The
+   application program may then obtain the value(s) for any IK data
+   item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL. Routine
+   GETFOV may be used if the file contains instrument field-of-view
+   (FOV) specification. See [1] for details.
+
+   This file was created with, and can be updated with a text editor or
+   word processor.
+
+
+Conventions for Specifying Data
+--------------------------------------------------------
+
+   Data items are specified using ``keyword=value'' assignments [1].
+   All keywords referencing values in this I-kernel start with the
+   characters `INS' followed by the NAIF Rosetta instrument ID code,
+   constructed using the spacecraft ID number (-226) followed by the
+   NAIF three digit ID number for VIRTIS module. These IDs are
+   defined in [4] as follows:
+
+               Instrument name          ID
+               --------------------   -------
+               ROS_VIRTIS             -226200
+               ROS_VIRTIS-M           -226210
+               ROS_VIRTIS-M_VIS       -226211
+               ROS_VIRTIS-M_VIS_ZERO  -226212
+               ROS_VIRTIS-M_IR        -226213
+               ROS_VIRTIS-M_IR_ZERO   -226214
+               ROS_VIRTIS-H           -226220
+
+   The remainder of the keyword is an underscore character followed by
+   the unique name of the data item. For example, the focal length of
+   the VIRTIS-M VIS optics is specified by
+
+               INS-226211_FOCAL_LENGTH
+
+   The upper bound on the length of all keywords is 32 characters.
+
+   If a keyword is included in more than one file, or if the same
+   keyword appears more than once within a single file, the last
+   assignment supersedes any earlier assignments.
+
+
+Overview
+--------------------------------------------------------
+
+   From [6]:
+
+      VIRTIS (Visible and Infrared Thermal Imaging Spectrometer) is an
+      imaging spectrometer that combines three data channels in one
+      instrument. Two of the data channels are designed to perform
+      spectral mapping. The third channel is devoted to spectroscopy.
+
+      Summary of VIRTIS Characteristics
+
+         Spectral range (mkm):  
+            Mapping Spectrometer - Visible  --- 0.25 - 1.0
+            Mapping Spectrometer - Infrared --- 0.95 - 5
+            Hi Res Spectrometer  - Infrared --- 2.03 - 5.03
+
+         Spectral resolution:
+            Mapping Spectrometer - Visible  --- 100 - 380
+            Mapping Spectrometer - Infrared --- 70 - 360
+            Hi Res Spectrometer  - Infrared --- 1300 - 3000
+
+         Field of view (mrad x mrad)
+            Mapping Spectrometer - Visible  --- 64 (slit) x 64 (scan)
+            Mapping Spectrometer - Infrared --- 64 (slit) x 64 (scan)
+            Hi Res Spectrometer  - Infrared --- 0.583 x 1.749
+
+         Mass (kg)      
+            30
+
+
+Mounting Alignment
+--------------------------------------------------------
+
+   Refer to the latest version of the Rosetta Frames Definition Kernel
+   (FK) [4] for the VIRTIS reference frame definitions and mounting
+   alignment information.
+
+
+Apparent FOV Layout
+--------------------------------------------------------
+
+   This diagram illustrates the VIRTIS-M VIS and IR apparent FOV layout
+   for "zero" scan mirror position in the corresponding reference
+   frame. These FOVs are associated with detector instrument IDs
+   (-226211 and -226213).
+
+
+                                  ^ +Xmvis (cross track) 
+                                  | +Xmir                          direction
+        |                         |                           --->   of
+        | ~0.014 degrees          |                                flight
+        |                         | 
+        v         Pixel 1         |      Pixel 256
+       ---              +---------|---------+
+        |       1 line  |         x-------------> +Ymvis (along track)
+       ---              +-------------------+     +Ymir             
+        ^                   256 pixels/line                        
+        |
+                        |   ~3.67 degrees   |
+                        |<----------------->|
+                        |                   |      Boresight (+Z axis)
+                                                    is into the page
+
+
+   This diagram illustrates the VIRTIS-M apparent FOV layout resulting
+   from a full, 256 step, +/- 1.83 degree scan mirror sweep about Y
+   axis. This FOV is associated with instrument ID -226210 and is
+   useful only for rough coverage analysis as in reality the instrument
+   does not always articulate the mirror over the whole possible range.
+
+
+                                  ^ +Xm (cross track)
+                                  |   
+        |        Pixel 1,1        |                                direction
+       ---              *---------|---------+                 ---->   of
+        ^               |         |         |                       flight
+        |  ~3.67        |         |         |
+        | degrees       |         |         |
+        |               |         |         |
+        |     256 lines |         x-------------> +Ym (along track)
+        |     (each for |                   |     
+        |     a step in |                   |
+        |     scan seq.)|                   |
+        V               |                   |
+       ---              +-------------------+
+        |                  256 pixels/line
+         
+
+                        |   ~3.67 degrees   |
+                        |<----------------->|
+                        |                   |      Boresight (+Z axis)
+                                                    is into the page
+
+
+   This diagram illustrates the VIRTIS-H apparent FOV layout in the
+   corresponding reference frame.
+
+
+                                  ^ +Xh (cross track)
+                                  |
+        |                         |                             direction
+        | ~0.0334 degrees         |                        ---->   of
+        |                         |                              flight
+        v               Pixel 1   |   Pixel 3
+       ------                +----|----+
+        |                    |    x-------------> +Yh (along track)
+       ------                +---------+
+        ^                    3 pixel/line
+        |
+                             |         | ~0.1 degrees   
+                           ->|---------|<-----
+                             |         |             Boresight (+Z axis)
+                                                      is into the page
+
+
+Optical Parameters
+--------------------------------------------------------
+
+   The following VIRTIS-M VIS and IR and VIRTIS-H nominal first order
+   optical parameters are included in the data section below, from [3]:
+
+      -----------------------------------------------------------------
+             parameter         VIRTIS-M/VIS   VIRTIS-M/IR   VIRTIS-H
+      -----------------------------------------------------------------
+      Focal Length, mm            152.0          152.0        195.5 (*)
+      f/ratio                     f/5.6          f/3.2        f/2.04  
+      IFOV, rad/pixel                     
+          Cross-track             0.00025        0.00025      0.000583
+          Along-track             0.00025        0.00025      0.000583
+      Field of view (deg) 
+          Cross-track             3.6669         3.6669       0.0334
+          Along-track             0.0143         0.0143       0.1002
+      Field of view (deg) - scan (**)
+          Cross-track             3.6669         3.6669       n/a
+          Along-track             3.6669         3.6669       n/a
+      -----------------------------------------------------------------
+
+   (*) VIRTIS-H focal length was estimated from IFOV and pixel size.
+   
+   (**) This field of view corresponds to the maximum possible, using
+       the complete 256 step scan sequence.
+
+   The keywords below provide nominal values from the table above.
+   Angular size values in the keywords are given radians, with the
+   cross-track size being the first value and the along-track size
+   being the second value in each pair.
+
+      \begindata
+
+         INS-226211_FOCAL_LENGTH       = ( 152.0                )
+         INS-226211_F/RATIO            = (   5.6                )
+         INS-226211_FOV_ANGULAR_SIZE   = (   0.000250, 0.064000 )
+         INS-226211_IFOV               = (   0.000250, 0.000250 )
+
+         INS-226213_FOCAL_LENGTH       = ( 152.0                )
+         INS-226213_F/RATIO            = (   3.2                )
+         INS-226213_FOV_ANGULAR_SIZE   = (   0.000250, 0.064000 )
+         INS-226213_IFOV               = (   0.000250, 0.000250 )
+
+         INS-226220_FOCAL_LENGTH       = ( 195.5                )
+         INS-226220_F/RATIO            = (   2.04               )
+         INS-226220_FOV_ANGULAR_SIZE   = (   0.000583, 0.001749 )
+         INS-226220_IFOV               = (   0.000583, 0.000583 )
+
+      \begintext
+
+
+Detector Parameters
+--------------------------------------------------------
+
+   The nominal VIRTIS detector parameters from [6] are:
+
+      -----------------------------------------------------------------
+             parameter            VIRTIS-M/VIS   VIRTIS-M/IR   VIRTIS-H
+      -----------------------------------------------------------------
+      Detector Array Size/Physical 
+          Along-track                 1024          436          436
+          Cross-track                  512          270          270  
+      Detector Array Size/Spatial  
+          Cross-track                    1            1            1
+          Along-track                  256 (1)      256 (2)        3
+      Detector Array Center/Spatial
+          Cross-track                    0.5          0.5          0.5
+          Along-track                  128.5        128.5          1.5
+      Pixel Size, microns/Spatial
+          Cross-track                   38 (3)       38           38
+          Along-track                   38           38           38
+      -----------------------------------------------------------------
+
+   (1) VIS CCD pixels are 2x2 binned at detector level
+
+   (2) assuming IR reads out the same number of pixels as VIS
+
+   (3) size of a 2x2 binned pixel
+
+   The values are given in microns for PIXEL_SIZE keywords and in counts
+   for PIXEL_SAMPLES, PIXEL_LINES, and CENTER keywords.
+
+      \begindata
+
+         INS-226211_PIXEL_SIZE         = ( 38, 38 )
+         INS-226211_PIXEL_SAMPLES      = ( 256 )
+         INS-226211_PIXEL_LINES        = (   1 )
+         INS-226211_CCD_CENTER         = ( 128.5, 0.5 )
+
+         INS-226213_PIXEL_SIZE         = ( 38, 38 )
+         INS-226213_PIXEL_SAMPLES      = ( 256 )
+         INS-226213_PIXEL_LINES        = (   1 )
+         INS-226213_CCD_CENTER         = ( 128.5, 0.5 )
+
+         INS-226220_PIXEL_SIZE         = ( 38, 38 )
+         INS-226220_PIXEL_SAMPLES      = (   3 )
+         INS-226220_PIXEL_LINES        = (   1 )
+         INS-226220_CCD_CENTER         = (   1.5, 0.5 )
+
+      \begintext
+
+
+FOV Definitions
+---------------------------------------------------------------------------
+
+   This section contains definitions for the VIRTIS FOVs. These
+   definitions are provided in the format required by the SPICE
+   (CSPICE) function GETFOV (getfov_c).
+   
+   The set of assignments in the data section below defines the
+   VIRTIS-M VIS and IR non-scanning FOVs and VIRTIS-H FOV with respect
+   to the corresponding frames to be a rectangles with the corners
+   defined by the first and last pixels of the spatial, cross-track
+   line and the boresight along the +Z axis. These FOV definitions use
+   angular extent style specification with the cross and along track
+   angular sizes taken from the ``Optics Parameters'' section above.
+
+      \begindata
+
+         INS-226211_FOV_FRAME                 = 'ROS_VIRTIS-M_VIS'
+         INS-226211_FOV_SHAPE                 = 'RECTANGLE'
+         INS-226211_BORESIGHT                 = (
+                                            0.000000     0.000000   152.000000
+                                                )
+         INS-226211_FOV_CLASS_SPEC            = 'ANGLES'
+         INS-226211_FOV_REF_VECTOR            = (
+                                            1.000000     0.000000     0.000000
+                                                )
+         INS-226211_FOV_REF_ANGLE             = ( 0.00716197 )
+         INS-226211_FOV_CROSS_ANGLE           = ( 1.83346494 )
+         INS-226211_FOV_ANGLE_UNITS           = 'DEGREES'
+
+
+         INS-226212_FOV_FRAME                 = 'ROS_VIRTIS-M_VIS_ZERO'
+         INS-226212_FOV_SHAPE                 = 'RECTANGLE'
+         INS-226212_BORESIGHT                 = (
+                                            0.000000 0.000000 152.000000
+                                                )
+         INS-226212_FOV_CLASS_SPEC            = 'ANGLES'
+         INS-226212_FOV_REF_VECTOR            = (
+                                            1.000000 0.000000 0.000000
+                                                )
+         INS-226212_FOV_REF_ANGLE             = ( 0.00716197 )
+         INS-226212_FOV_CROSS_ANGLE           = ( 1.83346494 )
+         INS-226212_FOV_ANGLE_UNITS           = 'DEGREES' 
+
+         INS-226213_FOV_FRAME                 = 'ROS_VIRTIS-M_IR'
+         INS-226213_FOV_SHAPE                 = 'RECTANGLE'
+         INS-226213_BORESIGHT                 = (
+                                            0.000000     0.000000   152.000000
+                                                )
+         INS-226213_FOV_CLASS_SPEC            = 'ANGLES'
+         INS-226213_FOV_REF_VECTOR            = (
+                                            1.000000     0.000000     0.000000
+                                                )
+         INS-226213_FOV_REF_ANGLE             = ( 0.00716197 )
+         INS-226213_FOV_CROSS_ANGLE           = ( 1.83346494 )
+         INS-226213_FOV_ANGLE_UNITS           = 'DEGREES'
+
+         INS-226214_FOV_FRAME                 = 'ROS_VIRTIS-M_IR_ZERO'
+         INS-226214_FOV_SHAPE                 = 'RECTANGLE'
+         INS-226214_BORESIGHT                 = (
+                                            0.000000     0.000000   152.000000
+                                                )
+         INS-226214_FOV_CLASS_SPEC            = 'ANGLES'
+         INS-226214_FOV_REF_VECTOR            = (
+                                            1.000000     0.000000     0.000000
+                                                )
+         INS-226214_FOV_REF_ANGLE             = ( 0.00716197 )
+         INS-226214_FOV_CROSS_ANGLE           = ( 1.83346494 )
+         INS-226214_FOV_ANGLE_UNITS           = 'DEGREES'
+
+         INS-226220_FOV_FRAME                 = 'ROS_VIRTIS-H'
+         INS-226220_FOV_SHAPE                 = 'RECTANGLE'
+         INS-226220_BORESIGHT                 = (
+                                            0.000000     0.000000   195.500000
+                                                )
+         INS-226220_FOV_CLASS_SPEC            = 'ANGLES'
+         INS-226220_FOV_REF_VECTOR            = (
+                                            1.000000     0.000000     0.000000
+                                                )
+         INS-226220_FOV_REF_ANGLE             = ( 0.01670172 )
+         INS-226220_FOV_CROSS_ANGLE           = ( 0.05010516 )
+         INS-226220_FOV_ANGLE_UNITS           = 'DEGREES'
+
+      \begintext
+
+   The set of assignments in the data section below defines the
+   VIRTIS-M FOV resulting from a full, 256 step, +/- 1.83 degree scan
+   mirror sweep about Y axis with respect to VIRTIS-M frame to be a
+   rectangle with the corners defined by the first and last pixels of
+   the spatial, along-track line in the first and last scan positions
+   and the boresight along the +Z axis. These FOV definitions use
+   angular extent style specification with the cross and along track
+   angular sizes taken from the ``Optics Parameters'' section above.
+
+      \begindata
+
+         INS-226210_FOV_FRAME                 = 'ROS_VIRTIS-M'
+         INS-226210_FOV_SHAPE                 = 'RECTANGLE'
+         INS-226210_BORESIGHT                 = (
+                                            0.000000     0.000000   152.000000
+                                                )
+         INS-226210_FOV_CLASS_SPEC            = 'ANGLES'
+         INS-226210_FOV_REF_VECTOR            = (
+                                            1.000000     0.000000     0.000000
+                                                )
+         INS-226210_FOV_REF_ANGLE             = ( 1.83346494 )
+         INS-226210_FOV_CROSS_ANGLE           = ( 1.83346494 )
+         INS-226210_FOV_ANGLE_UNITS           = 'DEGREES'
+
+      \begintext
+
+
+Optical Distortion
+--------------------------------------------------------
+
+   N/A.
+
+
+Platform ID
+---------------------------------------------------------------------------
+
+   This number is the NAIF instrument ID of the platform on which the
+   instrument mounted. All VIRTIS components it is the spacecraft.
+
+      \begindata
+
+      INS-226200_PLATFORM_ID  = ( -226000 )
+      INS-226210_PLATFORM_ID  = ( -226000 )
+      INS-226211_PLATFORM_ID  = ( -226000 )
+      INS-226213_PLATFORM_ID  = ( -226000 )
+      INS-226220_PLATFORM_ID  = ( -226000 )
+
+      \begintext
+
+
+End of IK file.
\ No newline at end of file
diff --git a/tests/pytests/data/i1_00237330013/ROS_VIRTIS_ZERO_V1_0_sliced_-226215.xc b/tests/pytests/data/i1_00237330013/ROS_VIRTIS_ZERO_V1_0_sliced_-226215.xc
new file mode 100644
index 000000000..404fc1db4
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ROS_VIRTIS_ZERO_V1_0_sliced_-226215.xc
@@ -0,0 +1,31 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK  '
+'2'
+'6'
+'ROSETTA VIRTIS-M ZERO OFFSET CK                             '
+BEGIN_ARRAY 1 10
+'ROSETTA VIRTIS-M ZERO OFFSET CK         '
+'BF37DDF0533^B'
+'BF3E0EED99E^B'
+'-373A7'
+'-373A2'
+'2'
+'1'
+10
+'1^1'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'1006537607EA94^-3'
+'BF37DDF0533^B'
+'BF3E0EED99E^B'
+END_ARRAY 1 10
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/rosetta/virtis/ale_testing/i1_00237330013.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/i1_00237330013/ROS_VIRTIS_ZERO_V1_1_sliced_-226215.xc b/tests/pytests/data/i1_00237330013/ROS_VIRTIS_ZERO_V1_1_sliced_-226215.xc
new file mode 100644
index 000000000..2286a5f4e
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/ROS_VIRTIS_ZERO_V1_1_sliced_-226215.xc
@@ -0,0 +1,31 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK  '
+'2'
+'6'
+'ROSETTA VIRTIS-M ZERO OFFSET CK                             '
+BEGIN_ARRAY 1 10
+'ROSETTA VIRTIS-M ZERO OFFSET CK         '
+'BF3B1967EBA^B'
+'BF3B286D9DB^B'
+'-373A7'
+'-373A2'
+'2'
+'1'
+10
+'1^1'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'1006537607EA94^-3'
+'BF3B1967EBA^B'
+'BF3B286D9DB^B'
+END_ARRAY 1 10
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/rosetta/virtis/ale_testing/i1_00237330013.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/i1_00237330013/i1_00237330013_0.xsp b/tests/pytests/data/i1_00237330013/i1_00237330013_0.xsp
new file mode 100644
index 000000000..0083b12be
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/i1_00237330013_0.xsp
@@ -0,0 +1,603 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/SPK '
+'2'
+'6'
+'SPKMERGE                                                    '
+BEGIN_ARRAY 1 39
+'DE-405                                  '
+'13C96DD90F9577^8'
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+'13CDC04^8'
+'13CF11C^8'
+'13D0634^8'
+'13D1B4C^8'
+'1^1'
+'C^1'
+'D^1'
+END_ARRAY 5 94
+TOTAL_ARRAYS 5
+ ~NAIF/SPC BEGIN COMMENTS~
+; /Users/arsanders/data/rosetta/virtis/kernels/new/i1_00237330013_0.bsp LOG FILE
+
+; Created 2024-02-26/20:30:45.00.
+;
+; BEGIN SPKMERGE COMMANDS
+
+LEAPSECONDS_KERNEL = /Users/arsanders/data/isis_data/base/kernels/lsk/naif0012.tls
+
+SPK_KERNEL = /Users/arsanders/data/rosetta/virtis/kernels/new/i1_00237330013_0.bsp
+SOURCE_SPK_KERNEL = /Users/arsanders/data/isis_data/rosetta/kernels/tspk/DE405.BSP
+    INCLUDE_COMMENTS = NO
+    BODIES           = 10
+    BEGIN_TIME       = 2010 JUL 09 17:18:14.877
+    END_TIME         = 2010 JUL 10 00:20:54.708
+SOURCE_SPK_KERNEL = /Users/arsanders/data/isis_data/rosetta/kernels/spk/ORHR_______________00122.BSP
+    INCLUDE_COMMENTS = NO
+    BODIES           = -226
+    BEGIN_TIME       = 2010 JUL 09 17:18:14.877
+    END_TIME         = 2010 JUL 10 00:20:54.708
+SOURCE_SPK_KERNEL = /Users/arsanders/data/isis_data/rosetta/kernels/tspk/ORHS_______________00109.BSP
+    INCLUDE_COMMENTS = NO
+    BODIES           = 2000021
+    BEGIN_TIME       = 2010 JUL 09 17:18:14.877
+    END_TIME         = 2010 JUL 10 00:20:54.708
+
+; END SPKMERGE COMMANDS
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/i1_00237330013/i1_00237330013_1.xsp b/tests/pytests/data/i1_00237330013/i1_00237330013_1.xsp
new file mode 100644
index 000000000..12e793863
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/i1_00237330013_1.xsp
@@ -0,0 +1,271 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/SPK '
+'2'
+'6'
+'SPKMERGE                                                    '
+BEGIN_ARRAY 1 39
+'DE-405                                  '
+'13C9A190892EC9^8'
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+END_ARRAY 1 39
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+'/home/adcs/adcs/ADCS/incoming/ORHR_FDLRM'
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+END_ARRAY 2 81
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+'1^1'
+'C^1'
+'C^1'
+END_ARRAY 3 87
+TOTAL_ARRAYS 3
+ ~NAIF/SPC BEGIN COMMENTS~
+; /Users/arsanders/data/rosetta/virtis/kernels/new/i1_00237330013_1.bsp LOG FILE
+
+; Created 2024-02-26/19:50:21.00.
+;
+; BEGIN SPKMERGE COMMANDS
+
+LEAPSECONDS_KERNEL = /Users/arsanders/data/isis_data/base/kernels/lsk/naif0012.tls
+
+SPK_KERNEL = /Users/arsanders/data/rosetta/virtis/kernels/new/i1_00237330013_1.bsp
+SOURCE_SPK_KERNEL = /Users/arsanders/data/isis_data/rosetta/kernels/tspk/DE405.BSP
+    INCLUDE_COMMENTS = NO
+    BODIES           = 10
+    BEGIN_TIME       = 2010 JUL 09 20:58:54.352
+    END_TIME         = 2010 JUL 09 21:08:50.352
+SOURCE_SPK_KERNEL = /Users/arsanders/data/isis_data/rosetta/kernels/spk/ORHR_______________00122.BSP
+    INCLUDE_COMMENTS = NO
+    BODIES           = -226
+    BEGIN_TIME       = 2010 JUL 09 20:58:54.352
+    END_TIME         = 2010 JUL 09 21:08:50.352
+SOURCE_SPK_KERNEL = /Users/arsanders/data/isis_data/rosetta/kernels/tspk/ORHS_______________00109.BSP
+    INCLUDE_COMMENTS = NO
+    BODIES           = 2000021
+    BEGIN_TIME       = 2010 JUL 09 20:58:54.352
+    END_TIME         = 2010 JUL 09 21:08:50.352
+
+; END SPKMERGE COMMANDS
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/i1_00237330013/i1_00237330013_isis3.lbl b/tests/pytests/data/i1_00237330013/i1_00237330013_isis3.lbl
new file mode 100644
index 000000000..a4f393728
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/i1_00237330013_isis3.lbl
@@ -0,0 +1,1213 @@
+Object = IsisCube
+  Object = Core
+    StartByte   = 65537
+    Format      = Tile
+    TileSamples = 256
+    TileLines   = 178
+
+    Group = Dimensions
+      Samples = 256
+      Lines   = 178
+      Bands   = 432
+    End_Group
+
+    Group = Pixels
+      Type       = SignedWord
+      ByteOrder  = Lsb
+      Base       = 0.0
+      Multiplier = 1.0
+    End_Group
+  End_Object
+
+  Group = Instrument
+    SpacecraftName               = ROSETTA-ORBITER
+    InstrumentName               = "VISIBLE AND INFRARED THERMAL IMAGING
+                                    SPECTROMETER"
+    InstrumentId                 = VIRTIS
+    ChannelID                    = VIRTIS_M_IR
+    SpacecraftClockStartCount    = 1/00237330013.26134
+    SpacecraftClockStopCount     = 1/00237333561.63240
+    StartTime                    = 2010-07-09T21:00:54.352
+    StopTime                     = 2010-07-09T22:00:02.918
+    TargetName                   = LUTETIA
+    OriginalTargetName           = "21 LUTETIA"
+    TargetType                   = ASTEROID
+    ProcessingLevelID            = 2
+    InstrumentModeId             = 19
+    ScanModeId                   = 1
+    ScanParameter                = (-2.06754, 1.80502, 0.25817, 1)
+    ScanParameterDesc            = (SCAN_START_ANGLE, SCAN_STOP_ANGLE,
+                                    SCAN_STEP_ANGLE, SCAN_STEP_NUMBER)
+    FrameParameter               = (2, 1, 20, 15)
+    FrameParameterDesc           = (EXPOSURE_DURATION, FRAME_SUMMING,
+                                    EXTERNAL_REPETITION_TIME,
+                                    DARK_ACQUISITION_RATE)
+    VirIrStartXPosition          = 1
+    VirIrStartYPosition          = 7
+    MaximumInstrumentTemperature = (88.08070, 134.70799, 135.04300, 79.75090)
+    DataQualityId                = 1
+    DataQualityDesc              = "0:INCOMPLETE ; 1:COMPLETE"
+  End_Group
+
+  Group = Archive
+    SoftwareVersionId       = ("VirtisROS SW v.3.61", EGSE_SOFT_7.0,
+                               PDS_CONVERTER_7.0)
+    DataSetName             = "ROSETTA-ORBITER LUTETIA VIRTIS 2 AST2 V1.0"
+    ProductId               = I1_00237330013
+    OriginalProductId       = PIA79K59
+    ProductType             = EDR
+    StandardDataProductId   = RO-A-VIRTIS-2-AST2-V1.0
+    ProducerFullName        = CORADINI
+    ProducerInstitutionName = "ISTITUTO NAZIONALE DI ASTROFISICA"
+    ProductCreationTime     = 2012-02-01T12:05:44.99
+    MissionPhaseName        = "LUTETIA FLY-BY"
+  End_Group
+
+  Group = Kernels
+    NaifFrameCode             = -226213
+    LeapSecond                = $base/kernels/lsk/naif0012.tls
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+                                 $rosetta/kernels/pck/ROS_LUTETIA_RSOC_V03.TPC,
+                                 $rosetta/kernels/fk/ROS_LUTETIA_RSOC_V03.TF)
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+                                 $rosetta/kernels/tspk/21_LUTETIA_2004_2016.BS-
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+                                 9.BSP)
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+                                 $rosetta/kernels/ck/ROS_VIRTIS_ZERO_V1.BC,
+                                 $rosetta/kernels/ck/ATNR_P040302093352_00127.-
+                                 BC, $rosetta/kernels/fk/ROS_V38.TF)
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+                                 $rosetta/kernels/spk/ORHR_______________00122-
+                                 .BSP)
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+  BODY_FRAME_CODE                        = -2260021
+  INS-226213_SWAP_OBSERVER_TARGET        = TRUE
+  INS-226213_LIGHTTIME_CORRECTION        = LT+S
+  INS-226213_LT_SURFACE_CORRECT          = FALSE
+  INS-226213_FOCAL_LENGTH                = 152.0
+  INS-226213_PIXEL_PITCH                 = 0.038
+  CLOCK_ET_-226_237330013.39877_COMPUTED = d1efbe08a2c9b341
+  CLOCK_ET_-226_237330042.79588_COMPUTED = f80e5a26a2c9b341
+  CLOCK_ET_-226_237330062.80496_COMPUTED = 129b5d3aa2c9b341
+  CLOCK_ET_-226_237330082.81403_COMPUTED = 2d26614ea2c9b341
+  CLOCK_ET_-226_237330102.82327_COMPUTED = 47c26462a2c9b341
+  CLOCK_ET_-226_237330122.80217_COMPUTED = 62845c76a2c9b341
+  CLOCK_ET_-226_237330142.81125_COMPUTED = 7c10608aa2c9b341
+  CLOCK_ET_-226_237330162.82031_COMPUTED = 979a639ea2c9b341
+  CLOCK_ET_-226_237330182.79939_COMPUTED = b16e5bb2a2c9b341
+  CLOCK_ET_-226_237330202.80846_COMPUTED = ccf95ec6a2c9b341
+  CLOCK_ET_-226_237330222.81754_COMPUTED = e68562daa2c9b341
+  CLOCK_ET_-226_237330242.79662_COMPUTED = 005a5aeea2c9b341
+  CLOCK_ET_-226_237330262.80568_COMPUTED = 1ae45d02a3c9b341
+  CLOCK_ET_-226_237330282.81476_COMPUTED = 35706116a3c9b341
+  CLOCK_ET_-226_237330302.82401_COMPUTED = 4f0d652aa3c9b341
+  CLOCK_ET_-226_237330322.8029_COMPUTED  = 6889423da3c9b341
+  CLOCK_ET_-226_237330342.91597_COMPUTED = 85f98852a3c9b341
+  CLOCK_ET_-226_237330362.81204_COMPUTED = 9f606066a3c9b341
+  CLOCK_ET_-226_237330382.81313_COMPUTED = b9cd607aa3c9b341
+  CLOCK_ET_-226_237330402.8222_COMPUTED  = d24a438da3c9b341
+  CLOCK_ET_-226_237330422.80127_COMPUTED = ed2b5ca2a3c9b341
+  CLOCK_ET_-226_237330442.81035_COMPUTED = 08b85fb6a3c9b341
+  CLOCK_ET_-226_237330462.81941_COMPUTED = 234263caa3c9b341
+  CLOCK_ET_-226_237330482.79849_COMPUTED = 3d165bdea3c9b341
+  CLOCK_ET_-226_237330502.80757_COMPUTED = 58a25ef2a3c9b341
+  CLOCK_ET_-226_237330522.81664_COMPUTED = 722d6206a4c9b341
+  CLOCK_ET_-226_237330542.82571_COMPUTED = 8db8651aa4c9b341
+  CLOCK_ET_-226_237330562.80479_COMPUTED = a78c5d2ea4c9b341
+  CLOCK_ET_-226_237330582.81387_COMPUTED = c2186142a4c9b341
+  CLOCK_ET_-226_237330602.82294_COMPUTED = dba36456a4c9b341
+  CLOCK_ET_-226_237330622.80202_COMPUTED = f6775c6aa4c9b341
+  CLOCK_ET_-226_237330642.8111_COMPUTED  = 0fdd427da4c9b341
+  CLOCK_ET_-226_237330662.92419_COMPUTED = 2b318c92a4c9b341
+  CLOCK_ET_-226_237330682.82025_COMPUTED = 459763a6a4c9b341
+  CLOCK_ET_-226_237330702.79932_COMPUTED = 606a5bbaa4c9b341
+  CLOCK_ET_-226_237330722.80038_COMPUTED = 7ad45bcea4c9b341
+  CLOCK_ET_-226_237330742.80946_COMPUTED = 95605fe2a4c9b341
+  CLOCK_ET_-226_237330762.81854_COMPUTED = afec62f6a4c9b341
+  CLOCK_ET_-226_237330782.82762_COMPUTED = c978660aa5c9b341
+  CLOCK_ET_-226_237330802.8067_COMPUTED  = e2b1421da5c9b341
+  CLOCK_ET_-226_237330822.81577_COMPUTED = fed76132a5c9b341
+  CLOCK_ET_-226_237330842.82486_COMPUTED = 18656546a5c9b341
+  CLOCK_ET_-226_237330862.80392_COMPUTED = 33375d5aa5c9b341
+  CLOCK_ET_-226_237330882.813_COMPUTED   = 4c5c266da5c9b341
+  CLOCK_ET_-226_237330902.82208_COMPUTED = 684f6482a5c9b341
+  CLOCK_ET_-226_237330922.80115_COMPUTED = 82225c96a5c9b341
+  CLOCK_ET_-226_237330942.81023_COMPUTED = 9dae5faaa5c9b341
+  CLOCK_ET_-226_237330962.81931_COMPUTED = b63a63bea5c9b341
+  CLOCK_ET_-226_237330982.93239_COMPUTED = d1668fd2a5c9b341
+  CLOCK_ET_-226_237331002.82846_COMPUTED = ebcd66e6a5c9b341
+  CLOCK_ET_-226_237331022.80754_COMPUTED = 06a25efaa5c9b341
+  CLOCK_ET_-226_237331042.8166_COMPUTED  = 1f16430da6c9b341
+  CLOCK_ET_-226_237331062.81769_COMPUTED = 3b996222a6c9b341
+  CLOCK_ET_-226_237331082.82693_COMPUTED = 55356636a6c9b341
+  CLOCK_ET_-226_237331102.80585_COMPUTED = 70f95d4aa6c9b341
+  CLOCK_ET_-226_237331122.81493_COMPUTED = 8a85615ea6c9b341
+  CLOCK_ET_-226_237331142.82399_COMPUTED = a50f6572a6c9b341
+  CLOCK_ET_-226_237331162.80307_COMPUTED = bee35c86a6c9b341
+  CLOCK_ET_-226_237331182.81215_COMPUTED = d96f609aa6c9b341
+  CLOCK_ET_-226_237331202.82123_COMPUTED = f4fb63aea6c9b341
+  CLOCK_ET_-226_237331222.80031_COMPUTED = 0ed05bc2a6c9b341
+  CLOCK_ET_-226_237331242.80939_COMPUTED = 295c5fd6a6c9b341
+  CLOCK_ET_-226_237331262.81847_COMPUTED = 43e862eaa6c9b341
+  CLOCK_ET_-226_237331282.82771_COMPUTED = 5e8466fea6c9b341
+  CLOCK_ET_-226_237331302.91061_COMPUTED = 78e68612a7c9b341
+  CLOCK_ET_-226_237331322.8067_COMPUTED  = 91b44225a7c9b341
+  CLOCK_ET_-226_237331342.81578_COMPUTED = acdb613aa7c9b341
+  CLOCK_ET_-226_237331362.82486_COMPUTED = c767654ea7c9b341
+  CLOCK_ET_-226_237331382.80392_COMPUTED = e1395d62a7c9b341
+  CLOCK_ET_-226_237331402.80501_COMPUTED = fca65d76a7c9b341
+  CLOCK_ET_-226_237331422.81409_COMPUTED = 1633618aa7c9b341
+  CLOCK_ET_-226_237331442.82317_COMPUTED = 31bf649ea7c9b341
+  CLOCK_ET_-226_237331462.80225_COMPUTED = 4b935cb2a7c9b341
+  CLOCK_ET_-226_237331482.81133_COMPUTED = 661f60c6a7c9b341
+  CLOCK_ET_-226_237331502.8204_COMPUTED  = 7f3e43d9a7c9b341
+  CLOCK_ET_-226_237331522.82948_COMPUTED = 9a3667eea7c9b341
+  CLOCK_ET_-226_237331542.80856_COMPUTED = b40a5f02a8c9b341
+  CLOCK_ET_-226_237331562.81764_COMPUTED = cf966216a8c9b341
+  CLOCK_ET_-226_237331582.82672_COMPUTED = e922662aa8c9b341
+  CLOCK_ET_-226_237331602.8058_COMPUTED  = 02ad423da8c9b341
+  CLOCK_ET_-226_237331622.91888_COMPUTED = 1e238a52a8c9b341
+  CLOCK_ET_-226_237331642.81497_COMPUTED = 398c6166a8c9b341
+  CLOCK_ET_-226_237331662.82404_COMPUTED = 5317657aa8c9b341
+  CLOCK_ET_-226_237331682.80312_COMPUTED = 6eeb5c8ea8c9b341
+  CLOCK_ET_-226_237331702.81219_COMPUTED = 877660a2a8c9b341
+  CLOCK_ET_-226_237331722.82127_COMPUTED = a20264b6a8c9b341
+  CLOCK_ET_-226_237331742.82236_COMPUTED = bc6f64caa8c9b341
+  CLOCK_ET_-226_237331762.83144_COMPUTED = d7fb67dea8c9b341
+  CLOCK_ET_-226_237331782.81052_COMPUTED = f1cf5ff2a8c9b341
+  CLOCK_ET_-226_237331802.8196_COMPUTED  = 0a384305a9c9b341
+  CLOCK_ET_-226_237331822.8287_COMPUTED  = 25934319a9c9b341
+  CLOCK_ET_-226_237331842.80775_COMPUTED = 41bb5e2ea9c9b341
+  CLOCK_ET_-226_237331862.81683_COMPUTED = 5b476242a9c9b341
+  CLOCK_ET_-226_237331882.82593_COMPUTED = 76d56556a9c9b341
+  CLOCK_ET_-226_237331902.80501_COMPUTED = 8fa95d6aa9c9b341
+  CLOCK_ET_-226_237331922.81409_COMPUTED = aa35617ea9c9b341
+  CLOCK_ET_-226_237331942.92717_COMPUTED = c5618d92a9c9b341
+  CLOCK_ET_-226_237331962.82324_COMPUTED = dfc864a6a9c9b341
+  CLOCK_ET_-226_237331982.83232_COMPUTED = fa5468baa9c9b341
+  CLOCK_ET_-226_237332002.8114_COMPUTED  = 13e742cda9c9b341
+  CLOCK_ET_-226_237332022.82048_COMPUTED = 2fb563e2a9c9b341
+  CLOCK_ET_-226_237332042.82959_COMPUTED = 494467f6a9c9b341
+  CLOCK_ET_-226_237332062.80865_COMPUTED = 64165f0aaac9b341
+  CLOCK_ET_-226_237332082.80974_COMPUTED = 7d835f1eaac9b341
+  CLOCK_ET_-226_237332102.81882_COMPUTED = 980f6332aac9b341
+  CLOCK_ET_-226_237332122.8279_COMPUTED  = b18c4345aac9b341
+  CLOCK_ET_-226_237332142.80698_COMPUTED = cd6f5e5aaac9b341
+  CLOCK_ET_-226_237332162.81606_COMPUTED = e7fb616eaac9b341
+  CLOCK_ET_-226_237332182.82513_COMPUTED = 02876582aac9b341
+  CLOCK_ET_-226_237332202.80421_COMPUTED = 1c5b5d96aac9b341
+  CLOCK_ET_-226_237332222.81331_COMPUTED = 37e960aaaac9b341
+  CLOCK_ET_-226_237332242.82239_COMPUTED = 517564beaac9b341
+  CLOCK_ET_-226_237332262.93547_COMPUTED = 6ba190d2aac9b341
+  CLOCK_ET_-226_237332282.83173_COMPUTED = 851b68e6aac9b341
+  CLOCK_ET_-226_237332302.81064_COMPUTED = a0de5ffaaac9b341
+  CLOCK_ET_-226_237332322.81972_COMPUTED = ba6a630eabc9b341
+  CLOCK_ET_-226_237332342.8288_COMPUTED  = d3964321abc9b341
+  CLOCK_ET_-226_237332362.80788_COMPUTED = efca5e36abc9b341
+  CLOCK_ET_-226_237332382.81696_COMPUTED = 0a57624aabc9b341
+  CLOCK_ET_-226_237332402.82605_COMPUTED = 24e4655eabc9b341
+  CLOCK_ET_-226_237332422.82713_COMPUTED = 3f506672abc9b341
+  CLOCK_ET_-226_237332442.80621_COMPUTED = 58245e86abc9b341
+  CLOCK_ET_-226_237332462.81529_COMPUTED = 73b0619aabc9b341
+  CLOCK_ET_-226_237332482.82437_COMPUTED = 8d3c65aeabc9b341
+  CLOCK_ET_-226_237332502.83347_COMPUTED = a8ca68c2abc9b341
+  CLOCK_ET_-226_237332522.81255_COMPUTED = c29e60d6abc9b341
+  CLOCK_ET_-226_237332542.82162_COMPUTED = dd2964eaabc9b341
+  CLOCK_ET_-226_237332562.8307_COMPUTED  = f6aa43fdabc9b341
+  CLOCK_ET_-226_237332582.91379_COMPUTED = 122b8812acc9b341
+  CLOCK_ET_-226_237332602.80991_COMPUTED = 2c975f26acc9b341
+  CLOCK_ET_-226_237332622.81895_COMPUTED = 461f633aacc9b341
+  CLOCK_ET_-226_237332642.82805_COMPUTED = 60ad664eacc9b341
+  CLOCK_ET_-226_237332662.80713_COMPUTED = 7b815e62acc9b341
+  CLOCK_ET_-226_237332682.81621_COMPUTED = 950d6276acc9b341
+  CLOCK_ET_-226_237332702.8253_COMPUTED  = af754389acc9b341
+  CLOCK_ET_-226_237332722.83438_COMPUTED = cb26699eacc9b341
+  CLOCK_ET_-226_237332742.81346_COMPUTED = e5fa60b2acc9b341
+  CLOCK_ET_-226_237332762.81454_COMPUTED = 006761c6acc9b341
+  CLOCK_ET_-226_237332782.82362_COMPUTED = 1af364daacc9b341
+  CLOCK_ET_-226_237332802.83273_COMPUTED = 358268eeacc9b341
+  CLOCK_ET_-226_237332822.8118_COMPUTED  = 4def4201adc9b341
+  CLOCK_ET_-226_237332842.82088_COMPUTED = 69e16316adc9b341
+  CLOCK_ET_-226_237332862.82997_COMPUTED = 836e672aadc9b341
+  CLOCK_ET_-226_237332882.80905_COMPUTED = 9e425f3eadc9b341
+  CLOCK_ET_-226_237332902.92215_COMPUTED = b8708b52adc9b341
+  CLOCK_ET_-226_237332922.81822_COMPUTED = d3d76266adc9b341
+  CLOCK_ET_-226_237332942.8273_COMPUTED  = ec8a4379adc9b341
+  CLOCK_ET_-226_237332962.8364_COMPUTED  = 06e6438dadc9b341
+  CLOCK_ET_-226_237332982.81548_COMPUTED = 22c661a2adc9b341
+  CLOCK_ET_-226_237333002.82455_COMPUTED = 3c5165b6adc9b341
+  CLOCK_ET_-226_237333022.83366_COMPUTED = 56e068caadc9b341
+  CLOCK_ET_-226_237333042.81273_COMPUTED = 71b360deadc9b341
+  CLOCK_ET_-226_237333062.82182_COMPUTED = 8b4064f2adc9b341
+  CLOCK_ET_-226_237333082.8309_COMPUTED  = a4af4305aec9b341
+  CLOCK_ET_-226_237333102.83199_COMPUTED = c039681aaec9b341
+  CLOCK_ET_-226_237333122.81107_COMPUTED = db0d602eaec9b341
+  CLOCK_ET_-226_237333142.82016_COMPUTED = f59a6342aec9b341
+  CLOCK_ET_-226_237333162.82924_COMPUTED = 10276756aec9b341
+  CLOCK_ET_-226_237333182.80833_COMPUTED = 29fc5e6aaec9b341
+  CLOCK_ET_-226_237333202.81741_COMPUTED = 4488627eaec9b341
+  CLOCK_ET_-226_237333222.93051_COMPUTED = 5fb68e92aec9b341
+  CLOCK_ET_-226_237333242.82658_COMPUTED = 791d66a6aec9b341
+  CLOCK_ET_-226_237333262.83585_COMPUTED = 93bc69baaec9b341
+  CLOCK_ET_-226_237333282.81476_COMPUTED = ae7f61ceaec9b341
+  CLOCK_ET_-226_237333302.82385_COMPUTED = c80c65e2aec9b341
+  CLOCK_ET_-226_237333322.83293_COMPUTED = e39868f6aec9b341
+  CLOCK_ET_-226_237333342.81201_COMPUTED = fd6c600aafc9b341
+  CLOCK_ET_-226_237333362.82111_COMPUTED = 17fb631eafc9b341
+  CLOCK_ET_-226_237333382.83018_COMPUTED = 31866732afc9b341
+  CLOCK_ET_-226_237333402.80928_COMPUTED = 4c5c5f46afc9b341
+  CLOCK_ET_-226_237333422.81836_COMPUTED = 66e8625aafc9b341
+  CLOCK_ET_-226_237333442.81944_COMPUTED = 8154636eafc9b341
+  CLOCK_ET_-226_237333462.82854_COMPUTED = 9ce26682afc9b341
+  CLOCK_ET_-226_237333482.83762_COMPUTED = b66e6a96afc9b341
+  CLOCK_ET_-226_237333502.81671_COMPUTED = d14362aaafc9b341
+  CLOCK_ET_-226_237333522.82579_COMPUTED = ebcf65beafc9b341
+  CLOCK_ET_-226_237333542.93889_COMPUTED = 05fe91d2afc9b341
+  CLOCK_ET_-226_237333561.96497_COMPUTED = 1e2e9ce5afc9b341
+  INS-226213_TRANSX                      = (0.0, 0.0, 0.038)
+  INS-226213_TRANSY                      = (0.0, 0.038, 0.0)
+  INS-226213_ITRANSS                     = (0.0, 0.0, 26.315789473684)
+  INS-226213_ITRANSL                     = (0.0, 26.315789473684, 0.0)
+  INS-226213_BORESIGHT_SAMPLE            = 128.5
+  INS-226213_BORESIGHT_LINE              = 0.5
+  FRAME_ROS_VIRTIS-M_IR_ZERO             = -226214
+End_Object
+End
diff --git a/tests/pytests/data/i1_00237330013/naif0012.tls b/tests/pytests/data/i1_00237330013/naif0012.tls
new file mode 100644
index 000000000..e1afdee1b
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/naif0012.tls
@@ -0,0 +1,152 @@
+KPL/LSK
+
+
+LEAPSECONDS KERNEL FILE
+===========================================================================
+
+Modifications:
+--------------
+
+2016, Jul. 14   NJB  Modified file to account for the leapsecond that
+                     will occur on December 31, 2016.
+
+2015, Jan. 5    NJB  Modified file to account for the leapsecond that
+                     will occur on June 30, 2015.
+
+2012, Jan. 5    NJB  Modified file to account for the leapsecond that
+                     will occur on June 30, 2012.
+                     
+2008, Jul. 7    NJB  Modified file to account for the leapsecond that
+                     will occur on December 31, 2008.
+                     
+2005, Aug. 3    NJB  Modified file to account for the leapsecond that
+                     will occur on December 31, 2005.
+                     
+1998, Jul  17   WLT  Modified file to account for the leapsecond that
+                     will occur on December 31, 1998.
+                     
+1997, Feb  22   WLT  Modified file to account for the leapsecond that
+                     will occur on June 30, 1997.
+                     
+1995, Dec  14   KSZ  Corrected date of last leapsecond from 1-1-95
+                     to 1-1-96.
+
+1995, Oct  25   WLT  Modified file to account for the leapsecond that
+                     will occur on Dec 31, 1995.
+
+1994, Jun  16   WLT  Modified file to account for the leapsecond on
+                     June 30, 1994.
+
+1993, Feb. 22  CHA   Modified file to account for the leapsecond on
+                     June 30, 1993.
+
+1992, Mar. 6   HAN   Modified file to account for the leapsecond on
+                     June 30, 1992.
+
+1990, Oct. 8   HAN   Modified file to account for the leapsecond on 
+                     Dec. 31, 1990.  
+
+
+Explanation:
+------------
+
+The contents of this file are used by the routine DELTET to compute the 
+time difference
+
+[1]       DELTA_ET  =  ET - UTC                                         
+          
+the increment to be applied to UTC to give ET. 
+
+The difference between UTC and TAI,
+
+[2]       DELTA_AT  =  TAI - UTC
+
+is always an integral number of seconds. The value of DELTA_AT was 10
+seconds in January 1972, and increases by one each time a leap second
+is declared. Combining [1] and [2] gives
+
+[3]       DELTA_ET  =  ET - (TAI - DELTA_AT)
+
+                    =  (ET - TAI) + DELTA_AT
+
+The difference (ET - TAI) is periodic, and is given by
+
+[4]       ET - TAI  =  DELTA_T_A  + K sin E 
+
+where DELTA_T_A and K are constant, and E is the eccentric anomaly of the 
+heliocentric orbit of the Earth-Moon barycenter. Equation [4], which ignores 
+small-period fluctuations, is accurate to about 0.000030 seconds.
+
+The eccentric anomaly E is given by 
+
+[5]       E = M + EB sin M
+
+where M is the mean anomaly, which in turn is given by 
+
+[6]       M = M  +  M t
+               0     1
+
+where t is the number of ephemeris seconds past J2000.
+
+Thus, in order to compute DELTA_ET, the following items are necessary.
+
+          DELTA_TA
+          K
+          EB
+          M0
+          M1
+          DELTA_AT      after each leap second.
+
+The numbers, and the formulation, are taken from the following sources.
+
+     1) Moyer, T.D., Transformation from Proper Time on Earth to 
+        Coordinate Time in Solar System Barycentric Space-Time Frame
+        of Reference, Parts 1 and 2, Celestial Mechanics 23 (1981),
+        33-56 and 57-68.
+
+     2) Moyer, T.D., Effects of Conversion to the J2000 Astronomical
+        Reference System on Algorithms for Computing Time Differences
+        and Clock Rates, JPL IOM 314.5--942, 1 October 1985.
+
+The variable names used above are consistent with those used in the 
+Astronomical Almanac.
+
+\begindata
+
+DELTET/DELTA_T_A       =   32.184
+DELTET/K               =    1.657D-3
+DELTET/EB              =    1.671D-2
+DELTET/M               = (  6.239996D0   1.99096871D-7 )
+
+DELTET/DELTA_AT        = ( 10,   @1972-JAN-1
+                           11,   @1972-JUL-1     
+                           12,   @1973-JAN-1     
+                           13,   @1974-JAN-1     
+                           14,   @1975-JAN-1          
+                           15,   @1976-JAN-1          
+                           16,   @1977-JAN-1          
+                           17,   @1978-JAN-1          
+                           18,   @1979-JAN-1          
+                           19,   @1980-JAN-1          
+                           20,   @1981-JUL-1          
+                           21,   @1982-JUL-1          
+                           22,   @1983-JUL-1          
+                           23,   @1985-JUL-1          
+                           24,   @1988-JAN-1 
+                           25,   @1990-JAN-1
+                           26,   @1991-JAN-1 
+                           27,   @1992-JUL-1
+                           28,   @1993-JUL-1
+                           29,   @1994-JUL-1
+                           30,   @1996-JAN-1 
+                           31,   @1997-JUL-1
+                           32,   @1999-JAN-1
+                           33,   @2006-JAN-1
+                           34,   @2009-JAN-1
+                           35,   @2012-JUL-1
+                           36,   @2015-JUL-1 
+                           37,   @2017-JAN-1 )
+
+\begintext
+
+
diff --git a/tests/pytests/data/i1_00237330013/virtisAddendum_v002.ti b/tests/pytests/data/i1_00237330013/virtisAddendum_v002.ti
new file mode 100644
index 000000000..ef7ce42c0
--- /dev/null
+++ b/tests/pytests/data/i1_00237330013/virtisAddendum_v002.ti
@@ -0,0 +1,56 @@
+\begintext
+
+  The following overides the default target reference frames set by the Rosetta
+  frame kernel. This is done because the DSK shapemodels are not in the default
+  reference frames.
+
+\begindata
+
+OBJECT_2000021_FRAME = 'ROS_LUTETIA'
+OBJECT_1000012_FRAME = '67P/C-G_CK'
+
+
+\begintext
+This section provides parameters for VIRTIS_M_VIS instrument
+
+\begindata
+
+ INS-226211_PIXEL_PITCH       = 0.038
+ INS-226211_BORESIGHT_SAMPLE  = 128.5
+ INS-226211_BORESIGHT_LINE    = 128.5
+
+
+ INS-226211_TRANSX  = (0.0,  0.0,  0.038)
+ INS-226211_TRANSY  = (0.0,  0.038, 0.0)
+ INS-226211_ITRANSS = (0.0,  0.0,  26.315789473684 )
+ INS-226211_ITRANSL = (0.0, 26.315789473684,   0.0)
+
+
+ INS-226211_SWAP_OBSERVER_TARGET = 'TRUE'
+ INS-226211_LIGHTTIME_CORRECTION = 'LT+S'
+ INS-226211_LT_SURFACE_CORRECT   = 'FALSE'
+
+\begintext
+This section provides parameters for VIRTIS_M_IR instrument
+
+\begindata
+
+ INS-226213_PIXEL_PITCH       = 0.038
+ INS-226213_BORESIGHT_SAMPLE  = 128.5
+ INS-226213_BORESIGHT_LINE    = 0.5
+
+ INS-226213_TRANSX  = (0.0, 0.0, 0.038)
+ INS-226213_TRANSY  = (0.0, 0.038, 0.0)
+ INS-226213_ITRANSS = (0.0, 0.0, 26.315789473684)
+ INS-226213_ITRANSL = (0.0, 26.315789473684, 0.0)
+
+ INS-226213_SWAP_OBSERVER_TARGET = 'TRUE'
+ INS-226213_LIGHTTIME_CORRECTION = 'LT+S'
+ INS-226213_LT_SURFACE_CORRECT   = 'FALSE'
+
+
+\begintext
+
+
+
+
diff --git a/tests/pytests/data/isds/rosetta_virtis_isd.json b/tests/pytests/data/isds/rosetta_virtis_isd.json
new file mode 100644
index 000000000..8956d69cb
--- /dev/null
+++ b/tests/pytests/data/isds/rosetta_virtis_isd.json
@@ -0,0 +1,4404 @@
+{
+  "isis_camera_version": 1,
+  "image_lines": 178,
+  "image_samples": 256,
+  "name_platform": "ROSETTA-ORBITER",
+  "name_sensor": "VISIBLE AND INFRARED THERMAL IMAGING SPECTROMETER",
+  "reference_height": {
+    "maxheight": 1000,
+    "minheight": -1000,
+    "unit": "m"
+  },
+  "name_model": "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL",
+  "interpolation_method": "lagrange",
+  "line_scan_rate": [
+    [
+      0.5,
+      -1774.4331159591675,
+      0.002
+    ]
+  ],
+  "starting_ephemeris_time": 331981320.7448468,
+  "center_ephemeris_time": 331983095.1779628,
+  "radii": {
+    "semimajor": 65.0,
+    "semiminor": 45.0,
+    "unit": "km"
+  },
+  "body_rotation": {
+    "time_dependent_frames": [
+      2000021,
+      1
+    ],
+    "ck_table_start_time": 331981320.7448468,
+    "ck_table_end_time": 331984869.6110787,
+    "ck_table_original_size": 2,
+    "ephemeris_times": [
+      331981320.7448468,
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+    ],
+    "quaternions": [
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+        0.4114108178022096,
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+    "angular_velocities": [
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+      [
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+      ]
+    ],
+    "constant_frames": [
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+      2000021
+    ],
+    "constant_rotation": [
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+    "reference_frame": 1
+  },
+  "instrument_pointing": {
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+    "ck_table_start_time": 331981320.7458468,
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+        6.848202156901359
+      ],
+      [
+        -4.562653666807338,
+        14.841496425848455,
+        6.848156054452062
+      ]
+    ],
+    "reference_frame": 1
+  }
+}
diff --git a/tests/pytests/test_rosetta_drivers.py b/tests/pytests/test_rosetta_drivers.py
new file mode 100644
index 000000000..4f2c19e4a
--- /dev/null
+++ b/tests/pytests/test_rosetta_drivers.py
@@ -0,0 +1,223 @@
+import pytest
+import numpy as np
+import os
+import unittest
+from unittest.mock import PropertyMock, patch
+
+import json
+
+import ale
+from ale import util
+from ale.formatters.formatter import to_isd
+from ale.drivers.rosetta_drivers import RosettaVirtisIsisLabelNaifSpiceDriver
+
+from conftest import get_image_label, get_image_kernels, convert_kernels, compare_dicts, get_isd
+
+kerns = ['DE405.BSP', '21_LUTETIA_2004_2016.BSP', 'ORHS_______________00109.BSP',
+         'ORHR_______________00122.BSP', 'ROS_VIRTIS_ZERO_V1.BC',
+         'ATNR_P040302093352_00127.BC', 'ROS_V38.TF', 'PCK00010.TPC',
+         'ROS_LUTETIA_RSOC_V03.TPC', 'ROS_LUTETIA_RSOC_V03.TF',
+         'ROS_VIRTIS_V14.TI', 'virtisAddendum_v002.ti', 'naif0012.tls',
+         'ROS_160929_STEP.TSC']
+
+opt_ang = [-0.0016759493628859521, -0.0016759493628859521, -0.001934056133738587,
+            -0.0021781834811647137, -0.002436241290910525, -0.002680418438204356,
+            -0.0029248199369388004, -0.0031825721682645918, -0.003426778606181821,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.00419233, -0.0036845626852124807,
+            -0.0016759493628859521, -0.001934056133738587, -0.0021781834811647137,
+            -0.002436241290910525, -0.002680418438204356, -0.0029248199369388004,
+            -0.0031825721682645918, -0.003426778606181821, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807,-0.00354844,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0016759493628859521,
+            -0.001934056133738587, -0.0021781834811647137, -0.002436241290910525,
+            -0.002680418438204356, -0.0029248199369388004, -0.0031825721682645918,
+            -0.003426778606181821, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.00372128, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0016759493628859521, -0.001934056133738587,
+            -0.0021781834811647137, -0.002436241290910525, -0.002680418438204356,
+            -0.0029248199369388004, -0.0031825721682645918, -0.003426778606181821,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.00367381, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0016759493628859521, -0.001934056133738587, -0.0021781834811647137,
+            -0.002436241290910525, -0.002680418438204356, -0.0029248199369388004,
+            -0.0031825721682645918, -0.003426778606181821, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.00369084,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0016759493628859521,
+            -0.001934056133738587, -0.0021781834811647137, -0.002436241290910525,
+            -0.002680418438204356, -0.0029248199369388004, -0.0031825721682645918,
+            -0.003426778606181821, -0.0036845626852124807, -0.0036845626852124807,
+            -0.00367021, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0016759493628859521, -0.001934056133738587,
+            -0.0021781834811647137, -0.002436241290910525, -0.002680418438204356,
+            -0.0029248199369388004, -0.0031825721682645918, -0.003426778606181821,
+            -0.0036845626852124807,-0.00373568, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0016759493628859521, -0.001934056133738587, -0.0021781834811647137,
+            -0.002436241290910525, -0.002680418438204356, -0.0029248199369388004,
+            -0.0031825721682645918, -0.003426778606181821,-0.00360218,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0016759493628859521,
+            -0.001934056133738587, -0.0021781834811647137, -0.002436241290910525,
+            -0.002680418438204356, -0.0029248199369388004, -0.0031825721682645918,
+            -0.0032917, -0.003426778606181821, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0016759493628859521, -0.001934056133738587,
+            -0.0021781834811647137, -0.002436241290910525, -0.002680418438204356,
+            -0.0029248199369388004,-0.00305905, -0.0031825721682645918,
+            -0.003426778606181821, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0036845626852124807, -0.0036845626852124807, -0.0036845626852124807,
+            -0.0016759493628859521, -0.001934056133738587, -0.0021781834811647137,
+            -0.002436241290910525, -0.002680418438204356,-0.0028401,
+            -0.0029248199369388004]
+
+hk_ephemeris_times = [331981320.7458468, 331981350.3517909, 331981370.36564744,
+                    331981390.37948877, 331981410.39358944, 331981430.361395,
+                    331981450.37525153, 331981470.3890776, 331981490.35715777,
+                    331981510.3709991, 331981530.3848556, 331981550.3529358,
+                    331981570.3667618, 331981590.3806184, 331981610.3947343,
+                    331981629.25990915, 331981650.53505737, 331981670.3764743,
+                    331981690.3781391, 331981709.2628604, 331981730.36004525,
+                    331981750.37390184, 331981770.3877279, 331981790.3558081,
+                    331981810.36966467, 331981830.38350594, 331981850.3973473,
+                    331981870.36542743, 331981890.379284, 331981910.39312524,
+                    331981930.36120546, 331981949.2611856, 331981970.54762524,
+                    331981990.38902694, 331982010.3570919, 331982030.3587109,
+                    331982050.3725675, 331982070.386424, 331982090.40028054,
+                    331982109.2605268, 331982130.382202, 331982150.3960738,
+                    331982170.3641235, 331982189.14984584, 331982210.39183664,
+                    331982230.35990155, 331982250.37375814, 331982270.3876146,
+                    331982290.5601626, 331982310.40157956, 331982330.3696598,
+                    331982349.2620563, 331982370.3851506, 331982390.3992513,
+                    331982410.36708736, 331982430.3809439, 331982450.39476997,
+                    331982470.36285007, 331982490.37670666, 331982510.39056325,
+                    331982530.3586434, 331982550.3725, 331982570.38635653,
+                    331982590.40045726, 331982610.5269542, 331982629.2605677,
+                    331982650.3822582, 331982670.39611477, 331982690.3641644,
+                    331982710.3658292, 331982730.37968576, 331982750.39354235,
+                    331982770.3616225, 331982790.3754791, 331982809.26267236,
+                    331982830.4031769, 331982850.37125707, 331982870.38511366,
+                    331982890.3989702, 331982909.2604524, 331982930.53959835,
+                    331982950.3810459, 331982970.39488715, 331982990.3629674,
+                    331983010.3768086, 331983030.3906652, 331983050.39232993,
+                    331983070.4061865, 331983090.3742667, 331983109.26257384,
+                    331983129.263964, 331983150.37004477, 331983170.3839013,
+                    331983190.3977884, 331983210.3658685, 331983230.3797251,
+                    331983250.5522731, 331983270.39369005, 331983290.40754664,
+                    331983309.2613384, 331983330.3894834, 331983350.4033857,
+                    331983370.3714354, 331983390.3731001, 331983410.3869567,
+                    331983429.26386553, 331983450.36889344, 331983470.38275,
+                    331983490.3965913, 331983510.36467147, 331983530.3785586,
+                    331983550.3924151, 331983570.56496304, 331983590.4066699,
+                    331983610.37449074, 331983630.38834727, 331983649.26402014,
+                    331983670.370284, 331983690.3841406, 331983710.3980124,
+                    331983730.39966196, 331983750.36774206, 331983770.38159865,
+                    331983790.3954552, 331983810.4093423, 331983830.37742245,
+                    331983850.3912638, 331983869.2643274, 331983890.5319072,
+                    331983910.37340045, 331983930.38719594, 331983950.401083,
+                    331983970.3691632, 331983990.38301975, 331984009.26351446,
+                    331984030.4107482, 331984050.37882835, 331984070.3804779,
+                    331984090.39433444, 331984110.4082368, 331984129.26146394,
+                    331984150.39015824, 331984170.40403, 331984190.37211025,
+                    331984210.5446887, 331984230.3861057, 331984249.2638385,
+                    331984269.2652286, 331984290.3819295, 331984310.3957708,
+                    331984330.4096731, 331984350.37773806, 331984370.39160985,
+                    331984389.2643988, 331984410.4071312, 331984430.3752114,
+                    331984450.3890832, 331984470.4029398, 331984490.37103516,
+                    331984510.38489175, 331984530.55747026, 331984550.3988872,
+                    331984570.41303366, 331984590.3808545, 331984610.3947263,
+                    331984630.40858287, 331984650.376663, 331984670.3905501,
+                    331984690.40439135, 331984710.3725021, 331984730.3863586,
+                    331984750.3880082, 331984770.4018953, 331984790.4157518,
+                    331984810.3838473, 331984830.3977038, 331984850.5702823,
+                    331984869.6100787]
+
+image_dict = {
+    "i1_00237330013": get_isd("rosetta_virtis")
+}
+
+@pytest.fixture(scope='module')
+def test_kernels():
+    updated_kernels = {}
+    binary_kernels = {}
+    for image in image_dict.keys():
+        kernels = get_image_kernels(image)
+        updated_kernels[image], binary_kernels[image] = convert_kernels(kernels)
+    yield updated_kernels
+    for kern_list in binary_kernels.values():
+        for kern in kern_list:
+            os.remove(kern)
+
+@pytest.mark.parametrize("label_type", ['isis3'])
+@pytest.mark.parametrize("image", image_dict.keys())
+def test_load(test_kernels, label_type, image):
+    with patch('ale.drivers.rosetta_drivers.RosettaVirtisIsisLabelNaifSpiceDriver.hk_ephemeris_time', hk_ephemeris_times),  \
+    patch('ale.drivers.rosetta_drivers.RosettaVirtisIsisLabelNaifSpiceDriver.optical_angle', opt_ang):
+
+        label_file = get_image_label(image, label_type)
+        isd_str = ale.loads(label_file, props={'kernels': test_kernels[image]})
+        isd_obj = json.loads(isd_str)
+        compare_dict = image_dict[image]
+        assert compare_dicts(isd_obj, compare_dict) == []
+
+class test_rosetta_virtis_isis_naif(unittest.TestCase):
+
+
+    def setUp(self):
+        label = get_image_label("i1_00237330013", "isis3")
+        self.driver = RosettaVirtisIsisLabelNaifSpiceDriver(label)
+
+    def test_instrument_id(self):
+        assert self.driver.instrument_id == "ROS_VIRTIS-M_IR"
+
+    def test_sensor_model_version(self):
+        assert self.driver.sensor_model_version == 1
+
+    def test_spacecraft_name(self):
+        assert self.driver.spacecraft_name == "ROSETTA"
+
+    def test_ephemeris_start_time(self):
+        with patch('ale.drivers.rosetta_drivers.RosettaVirtisIsisLabelNaifSpiceDriver.hk_ephemeris_time', hk_ephemeris_times):
+            assert self.driver.ephemeris_start_time == 331981320.7448468
+
+    def test_ephemeris_stop_time(self):
+        with patch('ale.drivers.rosetta_drivers.RosettaVirtisIsisLabelNaifSpiceDriver.hk_ephemeris_time', hk_ephemeris_times):
+            assert self.driver.ephemeris_stop_time == 331984869.6110787
+
+    def test_line_exposure_duration(self):
+        assert self.driver.line_exposure_duration == 0.002
+    
+    def test_line_summing(self):
+        assert self.driver.line_summing == 1
+    
+    def test_sample_summing(self):
+        assert self.driver.sample_summing == 1
+
+    def test_scan_rate(self):
+        assert self.driver.scan_rate == 20
+    
+    def test_odtk(self):
+        assert self.driver.odtk == [0.0, 0.038, 0.38]
+    
+    def test_sensor_frame_id(self):
+        with patch('ale.drivers.rosetta_drivers.RosettaVirtisIsisLabelNaifSpiceDriver.has_articulation_kernel', True), \
+        patch('ale.base.data_naif.spice.bods2c', return_value=12345) as bods2c:
+            assert self.driver.sensor_frame_id == 12345
+            bods2c.assert_called_with('ROS_VIRTIS-M_IR')
+    
+    def test_is_calibrated(self):
+        assert self.driver.is_calibrated is False
+
+    def test_has_articulation_kernel(self):
+        with patch('ale.drivers.rosetta_drivers.RosettaVirtisIsisLabelNaifSpiceDriver.kernels', kerns):
+            assert self.driver.has_articulation_kernel is False