Using SpiceyPy to map the Curiosity rover (MSL)

Apr 15, 2020 9 min read

Using SpiceyPy to map the Curiosity rover (MSL).

note:

Here is a link to a gist jupter notebook of this tutorial

In this post, I provide a worked out tutorial for using my library SpiceyPy and some of the standard python libraries to make a map of the Curiosity Rover (Mars Science Laboratory) position on the surface of Mars for a number of years.

Step 1: getting kernels

I am interested in MSL’s movements from landing in 2012 to 2016, so I used this PDS tool to download the kernel list I need from 2012-08-07 to 2016-08-06 at https://naif.jpl.nasa.gov/cgi-bin/subsetds.pl?dataset=msl-m-spice-6-v1.0/mslsp_1000. I know MSL landed on the 6th but I don’t think it went very far in the first day.

This list is also probably way more comprehensive then what we need just to plot the rover on a map, but that is fine!

urls:

!./wget_mslsp_1000_120807_160806.tcsh

2020-04-13 21:12:13 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_ra_toolsref_v1.bc [18432/18432] -> "mslsp_1000/data/ck/msl_ra_toolsref_v1.bc" [1]
2020-04-13 21:12:14 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0000_0089_v2.bc [2091008/2091008] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0000_0089_v2.bc" [1]
2020-04-13 21:12:15 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0089_0179_v2.bc [2268160/2268160] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0089_0179_v2.bc" [1]
2020-04-13 21:12:16 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0179_0269_v2.bc [1505280/1505280] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0179_0269_v2.bc" [1]
2020-04-13 21:12:17 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0269_0359_v2.bc [1353728/1353728] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0269_0359_v2.bc" [1]
2020-04-13 21:12:18 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0359_0449_v2.bc [1487872/1487872] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0359_0449_v2.bc" [1]
2020-04-13 21:12:19 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0449_0583_v2.bc [1838080/1838080] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0449_0583_v2.bc" [1]
2020-04-13 21:12:21 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0583_0707_v2.bc [2188288/2188288] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0583_0707_v2.bc" [1]
2020-04-13 21:12:23 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0707_0804_v1.bc [1684480/1684480] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0707_0804_v1.bc" [1]
2020-04-13 21:12:25 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0804_0938_v1.bc [2065408/2065408] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0804_0938_v1.bc" [1]
2020-04-13 21:12:26 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_0938_1062_v1.bc [1460224/1460224] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_0938_1062_v1.bc" [1]
2020-04-13 21:12:27 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_1062_1159_v1.bc [1385472/1385472] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_1062_1159_v1.bc" [1]
2020-04-13 21:12:29 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_1159_1293_v1.bc [1752064/1752064] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_1159_1293_v1.bc" [1]
2020-04-13 21:12:30 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_1293_1417_v1.bc [2011136/2011136] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_1293_1417_v1.bc" [1]
2020-04-13 21:12:32 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_hga_tlm_1417_1514_v1.bc [2157568/2157568] -> "mslsp_1000/data/ck/msl_surf_hga_tlm_1417_1514_v1.bc" [1]
2020-04-13 21:12:32 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0000_0089_v2.bc [1178624/1178624] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0000_0089_v2.bc" [1]
2020-04-13 21:12:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0089_0179_v2.bc [1036288/1036288] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0089_0179_v2.bc" [1]
2020-04-13 21:12:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0179_0269_v2.bc [594944/594944] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0179_0269_v2.bc" [1]
2020-04-13 21:12:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0269_0359_v2.bc [1016832/1016832] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0269_0359_v2.bc" [1]
2020-04-13 21:12:35 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0359_0449_v2.bc [1403904/1403904] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0359_0449_v2.bc" [1]
2020-04-13 21:12:37 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0449_0583_v2.bc [1908736/1908736] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0449_0583_v2.bc" [1]
2020-04-13 21:12:39 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0583_0707_v2.bc [2240512/2240512] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0583_0707_v2.bc" [1]
2020-04-13 21:12:39 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0707_0804_v1.bc [1201152/1201152] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0707_0804_v1.bc" [1]
2020-04-13 21:12:41 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0804_0938_v1.bc [1678336/1678336] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0804_0938_v1.bc" [1]
2020-04-13 21:12:42 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_0938_1062_v1.bc [1495040/1495040] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_0938_1062_v1.bc" [1]
2020-04-13 21:12:44 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_1062_1159_v1.bc [1936384/1936384] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_1062_1159_v1.bc" [1]
2020-04-13 21:12:46 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_1159_1293_v1.bc [2172928/2172928] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_1159_1293_v1.bc" [1]
2020-04-13 21:12:47 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_1293_1417_v1.bc [2364416/2364416] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_1293_1417_v1.bc" [1]
2020-04-13 21:12:50 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmenc_1417_1514_v1.bc [2648064/2648064] -> "mslsp_1000/data/ck/msl_surf_ra_tlmenc_1417_1514_v1.bc" [1]
2020-04-13 21:12:50 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0000_0089_v2.bc [694272/694272] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0000_0089_v2.bc" [1]
2020-04-13 21:12:51 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0089_0179_v2.bc [654336/654336] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0089_0179_v2.bc" [1]
2020-04-13 21:12:52 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0179_0269_v2.bc [410624/410624] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0179_0269_v2.bc" [1]
2020-04-13 21:12:52 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0269_0359_v2.bc [613376/613376] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0269_0359_v2.bc" [1]
2020-04-13 21:12:53 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0359_0449_v2.bc [930816/930816] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0359_0449_v2.bc" [1]
2020-04-13 21:12:55 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0449_0583_v2.bc [1417216/1417216] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0449_0583_v2.bc" [1]
2020-04-13 21:12:56 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0583_0707_v2.bc [1389568/1389568] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0583_0707_v2.bc" [1]
2020-04-13 21:12:57 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0707_0804_v1.bc [719872/719872] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0707_0804_v1.bc" [1]
2020-04-13 21:12:57 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0804_0938_v1.bc [744448/744448] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0804_0938_v1.bc" [1]
2020-04-13 21:12:58 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_0938_1062_v1.bc [1059840/1059840] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_0938_1062_v1.bc" [1]
2020-04-13 21:12:59 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_1062_1159_v1.bc [1191936/1191936] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_1062_1159_v1.bc" [1]
2020-04-13 21:13:00 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_1159_1293_v1.bc [1415168/1415168] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_1159_1293_v1.bc" [1]
2020-04-13 21:13:01 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_1293_1417_v1.bc [1469440/1469440] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_1293_1417_v1.bc" [1]
2020-04-13 21:13:02 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_ra_tlmres_1417_1514_v1.bc [1680384/1680384] -> "mslsp_1000/data/ck/msl_surf_ra_tlmres_1417_1514_v1.bc" [1]
2020-04-13 21:13:02 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0000_0089_v1.bc [106496/106496] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0000_0089_v1.bc" [1]
2020-04-13 21:13:02 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0089_0179_v1.bc [73728/73728] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0089_0179_v1.bc" [1]
2020-04-13 21:13:02 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0179_0269_v1.bc [13312/13312] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0179_0269_v1.bc" [1]
2020-04-13 21:13:02 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0269_0359_v1.bc [120832/120832] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0269_0359_v1.bc" [1]
2020-04-13 21:13:02 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0359_0449_v1.bc [338944/338944] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0359_0449_v1.bc" [1]
2020-04-13 21:13:03 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0449_0583_v1.bc [336896/336896] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0449_0583_v1.bc" [1]
2020-04-13 21:13:03 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0583_0707_v1.bc [447488/447488] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0583_0707_v1.bc" [1]
2020-04-13 21:13:03 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0707_0804_v1.bc [237568/237568] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0707_0804_v1.bc" [1]
2020-04-13 21:13:03 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0804_0938_v1.bc [183296/183296] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0804_0938_v1.bc" [1]
2020-04-13 21:13:04 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_0938_1062_v1.bc [276480/276480] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_0938_1062_v1.bc" [1]
2020-04-13 21:13:04 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_1062_1159_v1.bc [257024/257024] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_1062_1159_v1.bc" [1]
2020-04-13 21:13:04 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_1159_1293_v1.bc [349184/349184] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_1159_1293_v1.bc" [1]
2020-04-13 21:13:04 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_1293_1417_v1.bc [320512/320512] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_1293_1417_v1.bc" [1]
2020-04-13 21:13:04 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rover_tlm_1417_1514_v1.bc [378880/378880] -> "mslsp_1000/data/ck/msl_surf_rover_tlm_1417_1514_v1.bc" [1]
2020-04-13 21:13:06 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0000_0089_v2.bc [1682432/1682432] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0000_0089_v2.bc" [1]
2020-04-13 21:13:07 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0089_0179_v2.bc [1734656/1734656] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0089_0179_v2.bc" [1]
2020-04-13 21:13:07 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0179_0269_v2.bc [911360/911360] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0179_0269_v2.bc" [1]
2020-04-13 21:13:08 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0269_0359_v2.bc [1956864/1956864] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0269_0359_v2.bc" [1]
2020-04-13 21:13:09 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0359_0449_v2.bc [2298880/2298880] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0359_0449_v2.bc" [1]
2020-04-13 21:13:11 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0449_0583_v2.bc [2578432/2578432] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0449_0583_v2.bc" [1]
2020-04-13 21:13:12 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0583_0707_v2.bc [2972672/2972672] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0583_0707_v2.bc" [1]
2020-04-13 21:13:13 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0707_0804_v1.bc [2040832/2040832] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0707_0804_v1.bc" [1]
2020-04-13 21:13:14 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0804_0938_v1.bc [1517568/1517568] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0804_0938_v1.bc" [1]
2020-04-13 21:13:15 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0938_1062_v1.bc [2200576/2200576] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_0938_1062_v1.bc" [1]
2020-04-13 21:13:16 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_1062_1159_v1.bc [2197504/2197504] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_1062_1159_v1.bc" [1]
2020-04-13 21:13:18 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_1159_1293_v1.bc [2890752/2890752] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_1159_1293_v1.bc" [1]
2020-04-13 21:13:19 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_1293_1417_v1.bc [2783232/2783232] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_1293_1417_v1.bc" [1]
2020-04-13 21:13:20 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmenc_1417_1514_v1.bc [2788352/2788352] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmenc_1417_1514_v1.bc" [1]
2020-04-13 21:13:21 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0000_0089_v2.bc [1515520/1515520] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0000_0089_v2.bc" [1]
2020-04-13 21:13:22 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0089_0179_v2.bc [1462272/1462272] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0089_0179_v2.bc" [1]
2020-04-13 21:13:23 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0179_0269_v2.bc [790528/790528] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0179_0269_v2.bc" [1]
2020-04-13 21:13:23 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0269_0359_v2.bc [1529856/1529856] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0269_0359_v2.bc" [1]
2020-04-13 21:13:24 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0359_0449_v2.bc [1932288/1932288] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0359_0449_v2.bc" [1]
2020-04-13 21:13:25 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0449_0583_v2.bc [2247680/2247680] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0449_0583_v2.bc" [1]
2020-04-13 21:13:26 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0583_0707_v2.bc [2508800/2508800] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0583_0707_v2.bc" [1]
2020-04-13 21:13:27 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0707_0804_v1.bc [1688576/1688576] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0707_0804_v1.bc" [1]
2020-04-13 21:13:28 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0804_0938_v1.bc [1313792/1313792] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0804_0938_v1.bc" [1]
2020-04-13 21:13:29 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_0938_1062_v1.bc [1896448/1896448] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_0938_1062_v1.bc" [1]
2020-04-13 21:13:30 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_1062_1159_v1.bc [1861632/1861632] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_1062_1159_v1.bc" [1]
2020-04-13 21:13:31 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_1159_1293_v1.bc [2463744/2463744] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_1159_1293_v1.bc" [1]
2020-04-13 21:13:32 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_1293_1417_v1.bc [2249728/2249728] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_1293_1417_v1.bc" [1]
2020-04-13 21:13:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ck/msl_surf_rsm_tlmres_1417_1514_v1.bc [2325504/2325504] -> "mslsp_1000/data/ck/msl_surf_rsm_tlmres_1417_1514_v1.bc" [1]
2020-04-13 21:13:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/fk/msl_v08.tf [205622/205622] -> "mslsp_1000/data/fk/msl_v08.tf" [1]
2020-04-13 21:13:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_aux_v00.ti [11616/11616] -> "mslsp_1000/data/ik/msl_aux_v00.ti" [1]
2020-04-13 21:13:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_chrmi_20120731_c03.ti [7552/7552] -> "mslsp_1000/data/ik/msl_chrmi_20120731_c03.ti" [1]
2020-04-13 21:13:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_hbla_20120731_c03.ti [7951/7951] -> "mslsp_1000/data/ik/msl_hbla_20120731_c03.ti" [1]
2020-04-13 21:13:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_hblb_20120731_c03.ti [7951/7951] -> "mslsp_1000/data/ik/msl_hblb_20120731_c03.ti" [1]
2020-04-13 21:13:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_hbra_20120731_c03.ti [7955/7955] -> "mslsp_1000/data/ik/msl_hbra_20120731_c03.ti" [1]
2020-04-13 21:13:33 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_hbrb_20120731_c03.ti [7955/7955] -> "mslsp_1000/data/ik/msl_hbrb_20120731_c03.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_hfla_20120731_c03.ti [7955/7955] -> "mslsp_1000/data/ik/msl_hfla_20120731_c03.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_hflb_20120731_c03.ti [7955/7955] -> "mslsp_1000/data/ik/msl_hflb_20120731_c03.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_hfra_20120731_c03.ti [7959/7959] -> "mslsp_1000/data/ik/msl_hfra_20120731_c03.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_hfrb_20120731_c03.ti [7959/7959] -> "mslsp_1000/data/ik/msl_hfrb_20120731_c03.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_mahli_20120731_c02.ti [7886/7886] -> "mslsp_1000/data/ik/msl_mahli_20120731_c02.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_mardi_20120731_c02.ti [7801/7801] -> "mslsp_1000/data/ik/msl_mardi_20120731_c02.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_ml_20120731_c03.ti [7904/7904] -> "mslsp_1000/data/ik/msl_ml_20120731_c03.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_mr_20120731_c03.ti [7909/7909] -> "mslsp_1000/data/ik/msl_mr_20120731_c03.ti" [1]
2020-04-13 21:13:34 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_nla_20120731_c04.ti [7887/7887] -> "mslsp_1000/data/ik/msl_nla_20120731_c04.ti" [1]
2020-04-13 21:13:35 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_nlb_20130530_c05.ti [7903/7903] -> "mslsp_1000/data/ik/msl_nlb_20130530_c05.ti" [1]
2020-04-13 21:13:35 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_nra_20120731_c04.ti [7891/7891] -> "mslsp_1000/data/ik/msl_nra_20120731_c04.ti" [1]
2020-04-13 21:13:35 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_nrb_20130530_c05.ti [7907/7907] -> "mslsp_1000/data/ik/msl_nrb_20130530_c05.ti" [1]
2020-04-13 21:13:35 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/ik/msl_struct_v01.ti [10590/10590] -> "mslsp_1000/data/ik/msl_struct_v01.ti" [1]
2020-04-13 21:13:35 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/lsk/naif0012.tls [6865/6865] -> "mslsp_1000/data/lsk/naif0012.tls" [1]
2020-04-13 21:13:36 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/pck/pck00008.tpc [113200/113200] -> "mslsp_1000/data/pck/pck00008.tpc" [1]
2020-04-13 21:13:36 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/sclk/msl_76_sclkscet_refit_s1.tsc [39602/39602] -> "mslsp_1000/data/sclk/msl_76_sclkscet_refit_s1.tsc" [1]
2020-04-13 21:13:36 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/sclk/msl_lmst_ops120808_v1.tsc [5938/5938] -> "mslsp_1000/data/sclk/msl_lmst_ops120808_v1.tsc" [1]
2020-04-13 21:13:40 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/de425s.bsp [9269248/9269248] -> "mslsp_1000/data/spk/de425s.bsp" [1]
2020-04-13 21:14:43 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/mar085s.bsp [89539584/89539584] -> "mslsp_1000/data/spk/mar085s.bsp" [1]
2020-04-13 21:14:43 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/msl_ls_ops120808_iau2000_v1.bsp [8192/8192] -> "mslsp_1000/data/spk/msl_ls_ops120808_iau2000_v1.bsp" [1]
2020-04-13 21:14:43 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/msl_struct_v02.bsp [104448/104448] -> "mslsp_1000/data/spk/msl_struct_v02.bsp" [1]
2020-04-13 21:14:45 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/msl_surf_rover_loc_0000_2003_v1.bsp [2711552/2711552] -> "mslsp_1000/data/spk/msl_surf_rover_loc_0000_2003_v1.bsp" [1]
2020-04-13 21:14:45 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/msl_surf_rover_loc_2003_2127_v1.bsp [344064/344064] -> "mslsp_1000/data/spk/msl_surf_rover_loc_2003_2127_v1.bsp" [1]
2020-04-13 21:14:45 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/msl_surf_rover_loc_2127_2224_v1.bsp [210944/210944] -> "mslsp_1000/data/spk/msl_surf_rover_loc_2127_2224_v1.bsp" [1]
2020-04-13 21:14:46 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/msl_surf_rover_loc_2224_2358_v1.bsp [256000/256000] -> "mslsp_1000/data/spk/msl_surf_rover_loc_2224_2358_v1.bsp" [1]
2020-04-13 21:14:46 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/msl_surf_rover_loc_2358_2482_v1.bsp [276480/276480] -> "mslsp_1000/data/spk/msl_surf_rover_loc_2358_2482_v1.bsp" [1]
2020-04-13 21:14:46 URL:https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000/data/spk/msl_surf_rover_loc_2482_2579_v1.bsp [212992/212992] -> "mslsp_1000/data/spk/msl_surf_rover_loc_2482_2579_v1.bsp" [1]
FINISHED --2020-04-13 21:14:46--
Total wall clock time: 2m 34s
Downloaded: 119 files, 215M in 2m 21s (1.52 MB/s)

mv ./mslsp_1000/data ./ #make sure to move the data folder up for metakernel to work

cat ./msl_v23_120807_160806.tm # here is the contents of the metakernel file.

KPL/MK

   This meta-kernel lists a subset of kernels from the meta-kernel
   msl_v23.tm provided in the MSL-M-SPICE-6-V1.0 SPICE PDS3 archive,
   covering the whole or a part of the customer requested time period
   from 2012-08-07T00:00:00.000 to 2016-08-06T00:00:00.000.

   The documentation describing these kernels can be found in the
   complete MSL-M-SPICE-6-V1.0 SPICE PDS3 archive available at this URL

   https://naif.jpl.nasa.gov/pub/naif/pds/data/msl-m-spice-6-v1.0/mslsp_1000

   To use this meta-kernel users may need to modify the value of the
   PATH_VALUES keyword to point to the actual location of the archive's
   ``data'' directory on their system. Replacing ``/'' with ``\''
   and converting line terminators to the format native to the user's
   system may also be required if this meta-kernel is to be used on a
   non-UNIX workstation.

   This meta-kernel was created by the NAIF node's SPICE PDS archive
   subsetting service version 2.1 on Mon Apr 13 18:08:45 PDT 2020.


   \begindata

      PATH_VALUES     = (
                         './data'
                        )

      PATH_SYMBOLS    = (
                         'KERNELS'
                        )

      KERNELS_TO_LOAD = (
                         '$KERNELS/lsk/naif0012.tls'
                         '$KERNELS/pck/pck00008.tpc'
                         '$KERNELS/sclk/msl_lmst_ops120808_v1.tsc'
                         '$KERNELS/sclk/msl_76_sclkscet_refit_s1.tsc'
                         '$KERNELS/fk/msl_v08.tf'
                         '$KERNELS/ik/msl_aux_v00.ti'
                         '$KERNELS/ik/msl_chrmi_20120731_c03.ti'
                         '$KERNELS/ik/msl_hbla_20120731_c03.ti'
                         '$KERNELS/ik/msl_hblb_20120731_c03.ti'
                         '$KERNELS/ik/msl_hbra_20120731_c03.ti'
                         '$KERNELS/ik/msl_hbrb_20120731_c03.ti'
                         '$KERNELS/ik/msl_hfla_20120731_c03.ti'
                         '$KERNELS/ik/msl_hflb_20120731_c03.ti'
                         '$KERNELS/ik/msl_hfra_20120731_c03.ti'
                         '$KERNELS/ik/msl_hfrb_20120731_c03.ti'
                         '$KERNELS/ik/msl_mahli_20120731_c02.ti'
                         '$KERNELS/ik/msl_mardi_20120731_c02.ti'
                         '$KERNELS/ik/msl_ml_20120731_c03.ti'
                         '$KERNELS/ik/msl_mr_20120731_c03.ti'
                         '$KERNELS/ik/msl_nla_20120731_c04.ti'
                         '$KERNELS/ik/msl_nlb_20130530_c05.ti'
                         '$KERNELS/ik/msl_nra_20120731_c04.ti'
                         '$KERNELS/ik/msl_nrb_20130530_c05.ti'
                         '$KERNELS/ik/msl_struct_v01.ti'
                         '$KERNELS/spk/msl_struct_v02.bsp'
                         '$KERNELS/spk/de425s.bsp'
                         '$KERNELS/spk/mar085s.bsp'
                         '$KERNELS/spk/msl_ls_ops120808_iau2000_v1.bsp'
                         '$KERNELS/spk/msl_surf_rover_loc_0000_2003_v1.bsp'
                         '$KERNELS/spk/msl_surf_rover_loc_2003_2127_v1.bsp'
                         '$KERNELS/spk/msl_surf_rover_loc_2127_2224_v1.bsp'
                         '$KERNELS/spk/msl_surf_rover_loc_2224_2358_v1.bsp'
                         '$KERNELS/spk/msl_surf_rover_loc_2358_2482_v1.bsp'
                         '$KERNELS/spk/msl_surf_rover_loc_2482_2579_v1.bsp'
                         '$KERNELS/ck/msl_ra_toolsref_v1.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0000_0089_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0000_0089_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0000_0089_v2.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0000_0089_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0000_0089_v2.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0000_0089_v2.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0089_0179_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0089_0179_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0089_0179_v2.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0089_0179_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0089_0179_v2.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0089_0179_v2.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0179_0269_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0179_0269_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0179_0269_v2.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0179_0269_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0179_0269_v2.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0179_0269_v2.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0269_0359_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0269_0359_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0269_0359_v2.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0269_0359_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0269_0359_v2.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0269_0359_v2.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0359_0449_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0359_0449_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0359_0449_v2.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0359_0449_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0359_0449_v2.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0359_0449_v2.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0449_0583_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0449_0583_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0449_0583_v2.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0449_0583_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0449_0583_v2.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0449_0583_v2.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0583_0707_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0583_0707_v2.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0583_0707_v2.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0583_0707_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0583_0707_v2.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0583_0707_v2.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0707_0804_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0707_0804_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0707_0804_v1.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0707_0804_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0707_0804_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0707_0804_v1.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0804_0938_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0804_0938_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0804_0938_v1.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0804_0938_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0804_0938_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0804_0938_v1.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_0938_1062_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_0938_1062_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_0938_1062_v1.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_0938_1062_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_0938_1062_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_0938_1062_v1.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_1062_1159_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_1062_1159_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_1062_1159_v1.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_1062_1159_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_1062_1159_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_1062_1159_v1.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_1159_1293_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_1159_1293_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_1159_1293_v1.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_1159_1293_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_1159_1293_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_1159_1293_v1.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_1293_1417_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_1293_1417_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_1293_1417_v1.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_1293_1417_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_1293_1417_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_1293_1417_v1.bc'
                         '$KERNELS/ck/msl_surf_hga_tlm_1417_1514_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmenc_1417_1514_v1.bc'
                         '$KERNELS/ck/msl_surf_ra_tlmres_1417_1514_v1.bc'
                         '$KERNELS/ck/msl_surf_rover_tlm_1417_1514_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmenc_1417_1514_v1.bc'
                         '$KERNELS/ck/msl_surf_rsm_tlmres_1417_1514_v1.bc'
                        )

   \begintext

Step 2: imports

relatively self explanatory, we will import spiceypy, numpy, and matplotlib to get started.

import spiceypy
import numpy as np
import matplotlib.pyplot as plt
%matplotlib inline

Step 3: Load the kernels

okay now we can actually use spiceypy to load the kernels using the furnsh command on the metakernel file, this will load the kernels into the kernel pool for us to use.

spiceypy.furnsh('./msl_v23_120807_160806.tm')

let’s check to see how many kernels we loaded

spiceypy.ktotal('ALL')

Step 4: Use SpiceyPy to get the longitude and latitude of the rover through time

we will pick a time range from August 8th 2012 to August 1st 2016, which is around 1450 days. I will use linspace to enumerate 4350 times between these times so that I will definitely have at least 1 position per sol. Remember, Mars sols are slightly longer than 24 hours. Finer time steps are likely possible but that would require a huge query or more targeted queries surrounding known traverses.

sol0 = spiceypy.str2et("2012 AUG 08 00:00:00.000 UTC")
sol1450 = spiceypy.str2et("2016 AUG 01 00:00:00.000 UTC")
times = np.linspace(sol0, sol1450, num=1450*3, endpoint=True)
len(times)

great, lets grab the positions using spkpos in SpiceyPy

positions, lttimes = spiceypy.spkpos("MARS SCIENCE LABORATORY", times, "IAU_MARS", "lt+s", "MARS")
len(positions)

now we need to convert it to lon lat, let’s go with planetocentric

r, lon, lat = np.array([spiceypy.reclat(p) for p in positions]).T
lon *= spiceypy.dpr() # you could also just use numpy.degrees for this...
lat *= spiceypy.dpr()

Great, so let’s make a simple map to show the traverse. Here I plot the line of points and the marker points for each position, with a colormap corresponding to increasingly yellow through time.

plt.figure(figsize=(6,6))
plt.plot(lon,lat)
plt.scatter(lon,lat, c=times)
plt.title('MSL from 2012-08-08 to 2016-08-01')

Text(0.5, 1.0, 'MSL from 2012-08-08 to 2016-08-01')

png

Step 5: make a very pretty map

Let’s make an interactive map with folium. I will be using the USGS Astrogeology center’s map layers hosted by ESRI for basemaps. I’ve included the shaded MOLA+HRSC topography layer, the global CTX mosaic layer, and the uncontrolled (more on this in a bit) HiRISE mosaic layer. Note that there is a significant (hundred+ meters) miss-alignment between where the MSL positions are plotted in longitude and latitude from the HiRISE basemap. This is due to the basemap of hirise being produced as a “uncontrolled” mosaic so the placement of the images is not exact. I expect that the position of the rover in longitude and latitude is more correct as the spice kernels I used are from the PDS archive.

import folium

tiles='https://astro.arcgis.com/arcgis/rest/services/OnMars/MColorDEM/MapServer/tile/{z}/{y}/{x}'

m = folium.Map(location=[-4.7, 137.35],
               zoom_start=11,
               max_zoom=18,
               tiles=None, 
               crs='EPSG4326')

folium.TileLayer(
    max_native_zoom=7,
    tiles=tiles,
    attr='usgs/esri',
    crs='EPSG4326'
).add_to(m)

ctx = folium.raster_layers.TileLayer(
    tiles='https://astro.arcgis.com/arcgis/rest/services/OnMars/CTX/MapServer/tile/{z}/{y}/{x}',
    max_native_zoom=12,
    attr='usgs/caltech',
    name='ctx', 
    opacity=1,
    overlay=True, 
    control=True,
    crs='EPSG4326'
)
ctx.add_to(m)

hirise = folium.raster_layers.TileLayer(
    tiles='https://astro.arcgis.com/arcgis/rest/services/OnMars/HiRISE/MapServer/tile/{z}/{y}/{x}',
    max_native_zoom=17,
    attr='usgs/esri',
    name='hirise', 
    opacity=1,
    overlay=True, 
    control=True,
    crs='EPSG4326'
)
hirise.add_to(m)

# add points from positions
utc_times = spiceypy.et2utc(times, 'C', 0)
folium.PolyLine(list(zip(lat, lon)), color='green').add_to(m)
for i, (lo, la) in enumerate(list(zip(lon,lat))[::10]):
    folium.Marker((la, lo), tooltip=f'{utc_times[i]}').add_to(m)
folium.LayerControl().add_to(m)
m

Andrew M. Annex

Senior Science Systems Engineer

My research interests include the applications of deep learning to planetary geology.