NASA/TMm2000-209891, Vol. 83

Technical Report Series on the

Boreal Ecosystem-Atmosphere Study (BOREAS)

Forrest G. Hall, Editor

Volume 83

BOREAS Level-0 C-130

Navigation Data

Richard Strub, Raytheon ITSS

Roseanne Domingues, ATAC, Inc., NASA Ames Research Center, Moffett Field, California

Jeffrey A. Newcomer, Raytheon ITSS, NASA Goddard Space Flight Center, Greenbelt, Maryland

National Aeronautics and

Space Administration

Goddard Space Flight Center

Greenbelt, Maryland 20771

September 2000

https://ntrs.nasa.gov/search.jsp?R=20010022993 2018-05-14T18:53:24+00:00Z
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NASA/TMm2000-209891, Vol. 83

Technical Report Series on the

Boreal Ecosystem-Atmosphere Study (BOREAS)

Forrest G. Hall, Editor

Volume 83

BOREAS Level-0 C-130

Navigation Data

Richard Strub, Raytheon ITSS

Roseanne Domingues, ATAC, Inc., NASA Ames Research Center, Moffett Field, California

Jeffrey A. Newcomer, Raytheon ITSS, NASA Goddard Space Flight Center, Greenbelt, Maryland

National Aeronautics and

Space Administration

Goddard Space Flight Center

Greenbelt, Maryland 20771

September 2000
NASA Center for AeroSpace Information

7121 Standard Drive

Hanover, MD 21076-1320

Price Code: A17

Available from:

National Technical Information Service

5285 Port Royal Road

Springfield, VA 22161

Price Code: A10
BOREAS Level-0 C-130 Navigation Data

Richard Strub, Roseanne Dominguez, Jeffrey A. Newcomer

Summary

The level-0 C-130 navigation data files contain aircraft attitude and position information acquired

during the digital image and photographic data collection missions over the BOREAS study areas.

Various portions of the navigation data were collected at 1, 10, and 30 Hz. The level-0 C-130

navigation data collected for BOREAS in 1994 were improved over previous years in that the C-130

onboard navigation system was upgraded to output inertial navigation parameters every 1/30th of a

second (i.e., 30 Hz). This upgrade was encouraged by users of the aircraft scanner data with the hope

of improving the relative geometric positioning of the collected images.

Note that the level-0 C-130 navigation data are not contained on the BOREAS CD-ROM set. An

inventory listing file is supplied on the CD-ROM to inform users of the data that were collected. See

Section 15 for information about how to acquire actual level-0 C- 130 navigation data.

Table of Contents

1) Data Set Overview

2) Investigator(s)

3) Theory of Measurements

4) Equipment

5) Data Acquisition Methods

6) Observations

7) Data Description

8) Data Organization

9) Data Manipulations

10) Errors

11) Notes

12) Application of the Data Set

13) Future Modifications and Plans

14) Software

15) Data Access

16) Output Products and Availability

17) References

18) Glossary of Terms

19) List of Acronyms

20) Document Information

1. Data Set Overview

1.1 Data Set Identification

BOREAS Level-0 C-130 Navigation Data

1.2 Data Set Introduction

The BOReal Ecosystem-Atmosphere Study (BOREAS) Staff Science effort covered those activities

that were BOREAS community-level activities or required uniform data collection procedures across

sites and time. These activities included the acquisition, processing, and archiving of aircraft

navigation/attitude data to complement the digital image data.

Page 1
1.3 Objective/Purpose

The level-0 C-130 navigation data collected for BOREAS in 1994 were improved over previous

years in that the C-130 onboard navigation system was upgraded to output inertial navigation

parameters every 1/30th of a second (i.e., 30 Hz). This upgrade was encouraged by users of the

aircraft scanner data with the hope of improving the relative geometric positioning of the collected

images.

1.4 Summary of Parameters

Level-0 C-130 navigation data in the BOREAS Information System (BORIS) contain the following

parameters:

• American Standard Code for Information Interchange (ASCII) summary information and

documentation

• ASCII software source files

• Actual navigation data files that contain aircraft attitude and position information

1.5 Discussion

Ames Research Center (ARC) processing procedures involved extracting the level-0 navigation

data and an ASCII flight line summary file from the raw 0.15-inch cartridge tape. The level-0 data

were then transferred to BORIS along with a C header file (C130NAV) that contains two C structures

matching the cartridge format and a C program that extracts data from the cartridge format and creates

values in engineering units.

BORIS staff processed the level-0 navigation data by:

• Extracting pertinent header information from the ARC product and placing it in an ASCII file

on disk

• Reading selected information from the ASCII file and loading the summary data into the

BORIS online data base

1.6 Related Data Sets

BOREAS Level-0 C-130 Aerial Photography

BOREAS Level-lb ASAS Imagery

BOREAS Level-lb MAS Imagery: At-sensor Radiance, Relative X and Y Coordinates

BOREAS Level-0 NS001 TMS Imagery: Digital Counts in BIL Format

BOREAS Level-0 TIMS Imagery: Digital Counts in BIL Format

BOREAS Level-lb TIMS Imagery: At-sensor Radiance in BSQ Format

2. Investigator(s)

2.1 Investigator(s) Name and Title

BOREAS Staff Science

2.2 Title of Investigation

BOREAS Staff Science Aircraft Data Acquisition Program

2.3 Contact Information

Contact 1:

Jeffrey S. Myers

Aircraft Data and Sensor Facilities

NASA Ames Research Center

MS 240-6 (Bldg. 240, Rm. 219)

Moffett Field, CA 94035-1000

(415) 604-6253

jmyers@ arc .nasa .gov

Page 2
Contact 2:

Jeffrey A. Newcomer

Raytheon ITSS

Code 923

NASA GSFC

Greenbelt, MD 20771

(301) 286-7858

(301) 286-0239 (fax)

Jeffrey.Newcomer@.gsfc.nasa.gov

3. Theory of Measurements

The National Aeronautics and Space Administration (NASA) Earth Resources Aircraft Program at

ARC operated the C-130 aircraft to acquire data for Earth science research. Several imaging sensors,

such as the Advanced Solid-State Array Spectroradiometer (ASAS), the Moderate-Resolution Imaging

Spectrometer (MODIS) Airborne Simulator (MAS), the NS001 Thematic Mapper Simulator (TMS),

and the Thermal Infrared Multispectral Scanner (TIMS), were flown on the C-130 for BOREAS.

Prior to BOREAS, the C-130 navigation data were collected and recorded once per second during

aircraft instrument data acquisition flights. Attempts at using these 1-Hz data to perform relative

corrections of the image data proved that the corrections could be made, but that higher frequency

recording of the navigation parameters was required to obtain a sufficiently accurate geometric

correction. Improvements of the C-130 navigation system leading up to the BOREAS acquisition

flights in 1994 resulted in a navigation parameter data set recorded at 30 Hz. These 30-Hz data are

being used by BORIS staff" to calculate relative geometric positions of the electromagnetic sensor

measurements at the pixel level. A good relative correction of the aircraft imagery into a Cartesian

coordinate system will greatly improve the association of the C-130 measurements with similar

measurements taken at or near Earth's surface, from other airborne sensors, and from satellite

platforms.

4. Equipment

4.1 Sensor/Instrument Description

The C-130 Automated Digital Data System (CADDS) provides a means for the gathering and

distribution of aircraft navigational, pertinent housekeeping, and environmental data. It incorporates

data from the Delco Carousel IV A-3 Inertial Navigation System (INS), the Ashtech Z12 Global

Positioning System (GPS), Honeywell APN-222 Radar Altimeter, the Rosemount 102 AH2AG Total

Air Temperature (TAT) Sensor, the Precision Radiation Thermometer (PRT-5), the General Eastern

1011A two-stage thermoelectric hygrometer, and a pressure transducer.

4.1.1 Collection Environment

CADDS was completed and installed in 1988. Its purpose was to gather, display, and archive

selected aircraft navigational and housekeeping parameters. The data system was designed to be

flexible and expandable. In 1994 integration of GPS and high-frequency aircraft parameters was

introduced.

During a flight, one of the C-130 technicians operates the data system located just aft of the

forward exit door in the cabin. After takeoff, the operator initializes the system, setting the time code;

inserting the site name, principal investigator, date, project, and mission numbers in the computer; and

initializing the tape drives. Prior to a data line run, the mission manager announces the time before a

line start, generally 1 minute, and the data system operator presses a button to start the countdown.

The technician will call out the time of the line start. A log sheet is kept that includes pertinent

information. Line stops are handled in a similar fashion. During a line, the technician can enter

Page 3
commentsasdirectedby themissionmanager.Thesecommentsareincludedonthe0.25-inchtape.

Becauseof theBOREASrequirementfor high-frequencyinput,thedataprovidedto theBORIS

archiveweresimplyacopyof theraw0.25-inchcartridge.

4.1.2 Source/Platform

NASA's C-130 Earth Resources Aircraft.

4.1.3 Source/Platform Mission Objectives

For BOREAS, the primary C-130 mission objective was to collect various Earth surface data in

coordination with satellite overpasses for data verification and integration studies. A secondary

objective was to collect data at key times when the satellites were not within range of specific sites. The

C-130 was based near the BOREAS study areas, and could thus be deployed rather quickly in order to

take advantage of good data collection conditions. The navigation data provide in-flight geographic

location and attitude information for the onboard sensors.

4.1.4 Key Variables

The key parameters used by BORIS staff and investigators are: geographic location, time, platform

attitude, altitude, atmospheric pressure, dew point, and temperature in proximity to the aircraft.

4.1.5 Principles of Operation

Dual two-degree-of-freedom gyros that feature self-generating gas bearings are used in the

navigation system. These have very low drift characteristics and an excellent turn-on repeatability. The

radar altimeter interfaces directly with the CPU chassis through an interface card located within the

chassis. The interface sends a clock signal to the radar altimeter every 80 milliseconds to acquire the

altitude input. No information is available for the geographic location beacons, GPS, or barometers.

The TAT system consists of an external probe with an Aerodynamic Housing. The housing corrects

for inaccurate temperature readings that would result from the expansion and compression associated

with high-velocity air flow. The instrument is sensitive to a temperature range of -160 to 140 °F. It can

respond at a rate of 106 °F per second with an accuracy of 0.1% of the full scale.

4.1.6 Sensor/Instrument Measurement Geometry

Source Parameter Precision

A/C INS #1 Latitude 0.1 minute

A/C INS #1 Longitude 0.1 minute

A/C INS #1 True Heading 0.1 degree

A/C INS #1 Drift Angle 0.1 degree

A/C INS #1 Ground Speed 1.0 nautical mile per hour

A/C INS #1 Wind Speed 1.0 nautical mile per hour

A/C INS #1 Wind Direction 1.0 degree

A/C INS #1 Distance-To-Go 0.1 nautical mile

A/C INS #1 Time-To-Go 0.1 minute

A/C INS #1 Cross Track Distance 0.1 nautical mile

A/C INS #1 Desired Track 0.1 degree

A/C INS #1 Track Angle Error 0.1 degree

A/C INS #1 Pitch 0.044 degree

A/C INS #1 Roll 0.044 degree

APN-222 Radar Altimeter 1.0 with accuracy of (5 ft + 1/2% altitude)

A/A 24-G9 True Airspeed 1.0 nautical mile per hour

TCG / GPS Time 0.1 second

TAT Total Air Temp 0.10 with accuracy of 2.0 °C

PRT-5 Surface Temp 0.17 with accuracy of 0.5 °C

Hygrometer Dew Point 0.05 with accuracy of 0.1 °C

Pressure Transducer Pressure Altitude 10 feet

Page 4
GPSZ12 Time 1.0second

GPSZ12 Latitude 0.0001minute

GPSZ12 Longitude 0.0001minute

GPSZ12 Altitude 0.1meter

GPSZ12 ECEF-XVelocity 0.01meter/sec

GPSZ12 ECEF-YVelocity 0.01meter/sec

GPSZ12 ECEF-ZVelocity 0.01meter/sec

4.1.7 Manufacturer of Sensor/Instrument

CADDS is a general-purpose system composed primarily of oft-the-shelf vendor-supplied boards

and subassemblies. The standard systems include the Delco Carousel IV A-3 INS (installed 1989), the

Ashtech Z12 GPS system (installed 1994), the Honeywell APN-222 Radar Altimeter (1988),

Rosemount 102 AH2AG TAT Sensor, the General Eastern 1011A thermoelectric hygrometer system,

and pressure transducers.

4.2 Calibration

See Section 4.1.6.

4.2.1 Specifications

See Section 4.1.6.

4.2.1.1 Tolerance

See Section 4.1.6.

4.2.2 Frequency of Calibration

Systems onboard the C-130 are calibrated once per year, usually just before the beginning of the

flight year.

4.2.3 Other Calibration Information

None.

5. Data Acquisition Methods

During a flight, one of the C-130 technicians operates the data system located just aft of the forward

exit door in the cabin. After takeoff, the operator initializes the system, setting the time code; inserting

the site name, principal investigator, date, project and mission numbers in the computer; and

initializing the tape drives. Prior to a data line run, the mission manager announces the time before a

line start, generally 1 minute, and the data system operator presses a button to start the countdown.

The technician calls out the time of the line start. A log sheet is kept that includes pertinent information.

Line stops are handled in a similar fashion. During a line, the technician can enter comments as

directed by the mission manager. These comments are included on the PC 0.25-inch tape. The system

writes a 2,048-byte record to 0.25-inch cartridge tape each second. Because of the BOREAS

requirement for high-frequency input, the data provided to the BORIS archive were simply a copy of

the raw 0.25-inch cartridge tape.

6.1

6. Observations

Data Notes

None. Pertinent in-flight comments are recorded in the digital data records.

Page 5
6.2 Field Notes

Flight summary reports and verbal records on videotapes are available from the C-130 flights.

7. Data Description

7.1 Spatial Characteristics

The BOREAS level-0 C-130 navigation data were collected primarily as the C-130 flew over

portions of the Southern Study Area (SSA) and the Northern Study Area (NSA) during its image data

acquisition missions. The SSA and the NSA are located in the southwest and northeast portions of the

overall BOREAS region. Some navigation data exist in the data set that cover the BOREAS transect

area between the SSA and NSA and areas outside the BOREAS region.

7.1.1 Spatial Coverage

The North American Datum of 1983 (NAD83) corner coordinates of the SSA are:

Latitude Longitude

Northwest 54.321 N 106.228 W

Northeast 54.225 N 104.237 W

Southwest 53.515 N 106.321 W

Southeast 53.420 N 104.368 W

The NAD83 corner coordinates of the NSA are:

Latitude Longitude

Northwest 56.249 N 98.825 W

Northeast 56.083 N 97.234 W

Southwest 55.542 N 99.045 W

Southeast 55.379 N 97.489 W

7.1.2 Spatial Coverage Map

The BOREAS level-0 C-130 navigation data were collected as the C-130 flew over portions of the

SSA and NSA during its image data acquisition missions. The SSA and the NSA are located in the

southwest and northeast portions of the overall BOREAS region.

7.1.3 Spatial Resolution

Spatial resolution is not strictly applicable to C-130 navigational data. The sampling rate for each

portion of the navigation data can be combined with aircraft position, speed, and altitude to derive a

spatial component for each data sample.

7.1.4 Projection

The BOREAS level-0 C-130 navigation data contain latitude and longitude coordinates in the

parameter set. For BOREAS purposes of relative correction of aircraft data, the latitude and longitude

values were not used. Although the latitude and longitude coordinates could be used to calculate

coordinates for any map projection, BORIS staff" did not assess their accuracy and therefore cannot

make any statements about their validity.

7.1.5 Grid Description

Not applicable.

Page 6
7.2 Temporal Characteristics

7.2.1 Temporal Coverage

The data were collected during BOREAS' Field Campaigns, covering the period from

16-Apr- 1994 through 17-Sep- 1994.

7.2.2 Temporal Coverage Map

IFC# Dates

FFC-T 16-Apr-1994

IFC-I 23-May-1994

IFC-2 21-Jui-1994

IFC-3 08-Sep-1994

-- 20-Apr-1994

-- 08-Jun-1994

-- 08-Aug-1994

-- 17-Sep-1994

7.2.3 Temporal Resolution

Various portions of the navigation data were collected at 1, 10, and 30 Hz during the actual flights.

7.3 Data Characteristics

7.3.1 Parameter/Variable

A detailed description of the navigation data files and their content is given in Section 8.2. The

parameters contained in the inventory listing file on the CD-ROM are:

Column Name

SPATIAL COVERAGE

DATE OBS

START TIME

END TIME

C130 START LATITUDE

C130 START LONGITUDE

C130 END LATITUDE

C130 END LONGITUDE

C130 MISSION ID

C130 LINE NUM

C130 RUN NUM

C130 SITE

PLATFORM TRACKING

PLATFORM ALTITUDE

7.3.2 Variable Description/Definition

A detailed description of the navigation data files and their content is given in Section 8.2. The

descriptions of the parameters contained in the inventory listing file on the CD-ROM are:

Column Name Description

SPATIAL COVERAGE The general term used to denote the spatial area

over which the data were collected.

DATE OBS The date on which the data were collected.

START TIME The starting Greenwich Mean Time (GMT) for the

data collected.

END TIME The ending Greenwich Mean Time (GMT) for the

data collected.

Page 7
C130 START LATITUDE

C130 START LONGITUDE

C130 END LATITUDE

C130 END LONGITUDE

C130 MISSION ID

C130 LINE NUM

C130 RUN NUM

C130 SITE

PLATFORM TRACKING

PLATFORM ALTITUDE

The NAD83 based latitude coordinate at the start

of a C130 flight line as given in the flight

summary reports.

The NAD83 based longitude coordinate at the start

of a C130 flight line as given in the flight

summary reports.

The NAD83 based latitude coordinate at the end of

a C130 flight line as given in the flight

summary reports.

The NAD83 based longitude coordinate at the end

of a C130 flight line as given in the flight

summary reports.

The mission identifier assigned to the C130

mission in the form of YY-DDD-FF where YY is the

last two digits of the fiscal year, DDD is the

deployment number for "official" C130 missions

and is day of year for non-"official" C130

missions (i.e., no site coverage), and FF is the

flight number within the given deployment (00 is

given for non-"official" C130 missions) . An

example would be 94-006-04.

The number of the C130 line in its flights over

the BOREAS area as given in the flight logs.

Zero values are given for non-"official" C130

missions and for data between C130 sites or

lines.

The number of the C130 run in its flights over

the BOREAS area as given in the flight logs.

Zero value is given for non-"official" C130

missions and data between C130 sites, lines or

runs.

The C130 site designator as given in the flight

logs. PRE is used for data taken from the

airport to the first "official" C130 site, BTW is

used for data taken between two "official" C130

sites, DSC is used for data taken after the last

"official" C130 site, TRN is used for transect

data, and YTH and YPA are used for data taken at

the YTH and YPA airports (aircraft never

left the ground).

The azimuthal direction in which the data

collection platform was traveling while collecting

the data; expressed as degrees clockwise from

North.

The nominal altitude of the data collection

platform above the target.

Page 8
7.3.3 Unit of Measurement

A detailed description of the navigation data files and their content is given in Section 8.2. The

measurement units for the parameters contained in the inventory listing file on the CD-ROM are:

Column Name Units

SPATIAL COVERAGE [none]

DATE OBS [DD-MON-YY]

START TIME [HHMM GMT]

END TIME [HHMM GMT]

C130 START LATITUDE [degrees]

C130 START LONGITUDE [degrees]

C130 END LATITUDE [degrees]

C130 END LONGITUDE [degrees]

C130 MISSION ID [none]

C130 LINE NUM [none]

C130 RUN NUM [none]

C130 SITE [none]

PLATFORM TRACKING [degrees]

PLATFORM ALTITUDE [meters]

7.3.4 Data Source

A detailed description of the navigation data files and their content is given in Section 8.2. The

source of the parameter values contained in the inventory listing file on the CD-ROM are:

Column Name Data Source

SPATIAL COVERAGE [Determined from latitude

information in the data]

DATE OBS [Software derived

START TIME [Software derived

END TIME [Software derived

C130 START LATITUDE [Software derived

C130 START LONGITUDE [Software derived

C130 END LATITUDE [Software derived

C130 END LONGITUDE [Software derived

C130 MISSION ID [Software derived

C130 LINE NUM [Software derived

C130 RUN NUM [Software derived

C130 SITE [Software derived

PLATFORM TRACKING [Software derived

PLATFORM ALTITUDE [Software derived

and longitude

from the data]

from the data]

from the data]

from the data]

from the data]

from the data]

from the data]

from the data]

from the data]

from the data]

from the data]

from the data]

from the data]

7.3.5 Data Range

The range of values for the parameters in the actual navigation data files was not tabulated. The

following table gives information about the parameter values found in the inventory table on the

CD-ROM.

Minimum Maximum Missng Unrel Below Data

Data Data Data Data Detect Not

Column Name Value Value Value Value Limit Cllctd

SPATIAL COVERAGE N/A N/A None None None None

DATE OBS 16-APR-94 17-SEP-94 None None None None

START TIME 1422 2217 None None None None

Page 9
END TIME 1426

C130 START LATITUDE 37.91

C130 START LONGITUDE -121.59667

C130 END LATITUDE 37.895

C130 END LONGITUDE -121.62167

C130 MISSION ID 94-004-09

C130 LINE NUM 1

C130 RUN NUM 1

C130 SITE 429

PLATFORM TRACKING 1

PLATFORM ALTITUDE 91

2244 None None None None

56.12667 None None None None

-97.84 None None None None

56.05167 None None None None

-97.84 None None None None

94-009-09 None None None None

703 None None None None

3 None None None None

999 999 None None None

359 None None None Blank

8025 None None None Blank

Minimum Data Value --

Maximum Data Value --

Missng Data Value --

Unrel Data Value --

Below Detect Limit --

Data Not Cllctd --

The minimum value found in the column.

The maximum value found in the column.

The value that indicates missing data. This is used to

indicate that an attempt was made to determine the

parameter value, but the attempt was unsuccessful.

The value that indicates unreliable data. This is used

to indicate an attempt was made to determine the

parameter value, but the value was deemed to be

unreliable by the analysis personnel.

The value that indicates parameter values below the

instruments detection limits. This is used to

indicate that an attempt was made to determine the

parameter value, but the analysis personnel determined

that the parameter value was below the detection

limit of the instrumentation.

This value indicates that no attempt was made to

determine the parameter value. This usually

indicates that BORIS combined several similar but

not identical data sets into the same data base table

but this particular science team did not

measure that parameter.

Blank

N/A

None

-- Indicates that blank spaces are used to denote that type of value.

-- Indicates that the value is not applicable to the respective column.

-- Indicates that no values of that sort were found in the column.

7.4 Sample Data Record

A sample data record for the level-0 C130 navigation data is not available here. The following are

wrapped versions of the first few records from the level-0 C 130 navigation data inventory:

SPATIAL COVERAGE,DATE OBS,START TIME,END TIME,C130 START LATITUDE,

C130 START LONGITUDE,C130 END LATITUDE,C130 END LONGITUDE,C130 MISSION ID,

C130 LINE NUM, CI30 RUN NUM, CI30 SITE,PLATFORM TRACKING,PLATFORM ALTITUDE

'SSA-9OA',I6-APR-94,1606,1610,53.53,-105.965,53.68167,-106.32, '94-004-09',301,i,

'429',306.0,4754.0

'SSA-9OA',I6-APR-94,1615,1618,53.62833,-106.465,53.63333,-106.075, '94-004-09',

303,1,'429',80.0,4754.0

'SSA-9OA',I6-APR-94,1625,1629,53.62833,-105.8867,53.63,-106.3583, '94-004-09',

303 ,2,'429',278.5,4754.0

Page 10
8. Data Organization

8.1 Data Granularity

The smallest unit of level-0 C-130 navigation data is all the C-130 navigation information collected

during the C-130 flights over the BOREAS areas in 1994. All of the data along with summary,

documentation, and software files are contained on a single tape for distribution.

8.2 Data Format(s)

The C-130 level-0 tape contains 39 files that are mapped out as follows:

FILE INTENDED

NO. FILE NAME DESCRIPTION

1 NAV.HED ASCII HEADER FILE

2 NAV.INV ASCII INVENTORY OF TAPE FILES

3 CI30NAV.H INCLUDE FILE FOR TEST.C

4 CI30NAV COMPUTE.H INCLUDE FILE FOR CI30NAV.COMPUTE.C

5 TEST.H INCLUDE FILE FOR TEST.C AND CI30NAV GETDAT.C

6 TEST.C ORIGINAL (ARC) VERSION OF C130 GETNAV.C

7 TEST PRINT.C TEST.PRINT.C SOURCE CODE

8 CI30NAV EXTRACT.C CI30NAV.EXTRACT.C SOURCE CODE

9 C130 GETNAV.C GSFC MODIFIED TEST.C: MAIN PROGRAM

i0 MAKEFILE UNIX COMMAND FILE

ii README NASA/ARC INFORMATION

12 TEST.LISTING EXAMPLE OUTPUT

13-39 FI.DAT...F27.DAT BINARY C130 NAVIGATION DATA FILES

File 1 (102-byte ASCII text records):

• Description/title of each BORIS C-130 navigation data product file on tape.

File 2 (102-byte ASCII text records):

• Contents of the navigation data tape files.

• Listing of all dates, missions, flights, lines, and runs contained in each of the

27 binary navigation data files (files 16 to 42) on tape.

Files 3 - 9 (102-byte ASCII text records):

• NASA ARC-supplied software for unpacking the binary navigation data files.

Each file represents one C source code module or C source include file. Each file should be named as

follows after being copied from tape to disk:

FILE CREATED/INTENDED BYTES PER

NO. FILE NAME DESCRIPTION RECORD

3 cl30nav.h Include file for test.c 102

4 cl30nav_compute.h Include file for cl30nav.compute.c 102

5 test.h Include file for test.c and cl30nav_getdat.c 102

6 test.c Original (ARC) version of cl30_getnav.c 102

7 test_print.c test.print.c source Code vvvvv 102

8 cl30nav extract.c cl30nav.extract.c source Code 102

9 cl30_getnav.c GSFC Modified test.c: main program 102

i0 Makefile UNIX command file 80

ii README NASA/ARC information 80

12 test.listing Example output 132

Page 11
File 10(102-byteASCII textrecords):

Sun/UNIXMAKEFILE: Thisfile shouldberenamedMakefileona Sunworkstationoran

equivalentcomputerplatform.Notethatproblemshavebeenexperiencedattemptingtousethe

MakefilepulledfromtheBORIStapebecauseof thepaddingof thefixedlengthrecordsin thefile.

Someeditingorothermanipulationof thefile maybenecessaryin ordertouseit successfullyonaSun

system.ThesoftwareenclosedontheoriginalARCtapedeliveredto GSFCwascompiledandrun

successfullyona SunworkstationundertheUNIX(r) SystemV Release4.0operatingsystem.One

attemptto compilethissourcefailedonaSiliconGraphicsIRIX (SGI)workstationundertheIRIX

SystemV.4 operatingsystembecausetheoperatingsystemcouldnotlocatesystemincludefiles.No

furtherattemptwasmadeto portthis softwareto theSGI,andnoattemptwasmadetobuild the

softwareundertheVAX/VMS domain.

File 11(102-byteASCII textrecords):

Theoriginalfile namewasREADME.Thisfile containssoftwarenoteswrittenby NASA ARC

staffdated27-Jun-1994.

File 12(132-byteASCII textrecords):

An exampleoutputfile producedby theabovesoftware.This outputwasusedatNASA GSFCasa

guideto selectivelyextractvaluessuchastime,roll, andpitch,neededto processMASimagedata

collectedfrom theC-130aircraft.

Files 13-39(2,048-bytebinary andASCII, combined,records):

27files of C-130navigationdatacontainingmultipleflight linesperfile.

C-130navigationdataarerecordedasa2,048-byterecordonceper second.Thedataformatas

describedby theNASA ARC softwareis raw,binary,datain bytes1-1024andASCIIdatain bytes

1025-2048.Furtherdetailsof thedatadefinitions,datatype,andC structuresusedto manipulatethe

dataarefoundin theCincludefile C130NAV.h(Tapefile 3) listedabove.A descriptionof thefields

containedoneachdatarecordfollows:

BinaryC-130NavigationDataRecordFormat:

Description Units Byte #'s

Record counter

Time code (BCD, dddhhmmsst)

ddd = Julian Day

hh : hour of the day (0

ram = minutes (0..59)

ss = seconds (0..59)

t = tenths of seconds

Event

Bits

.23)

0..9) MSB

flag

12345678:

i: 0 --> INSl 1 --> INS2

2: 0 --> VCR off 1 --> VCR on

3: reserved

4: 0 --> ARI700 off

1 --> ARI700 on

5: reserved

6: 0 --> Keyboard

1 --> Thumbwheel

7&8: 00 --> line never occurred

01 --> line start

i0 --> line stop

Page 12
ii --> line abort

Status flag --> bits 12345678

Record counter

Distance to go

Time to go

Cross track distance

Desired track

Track Angle Error

Drift angle

Align St

Latitude

Longitude

Ground speed

Track angle

True heading

Wind speed

Wind angle (direction)

Vertical profile distance

Vertical speed

meters

seconds

meters

degrees

degrees

degrees

m/sec

degrees

degrees

m/sec

degrees

meters

m/sec

A/D parameters, sampled i0 times per record

8 parameters each as follows:

PRT-5 data °C

PRT-5 range °C

TAT °C

Hygrometer (dew point) °C

Software use only

Pressure altitude meters

Reserved

Reserved

S/D parameters sampled 30 times per record

5 parameters each as follows:

Pitchl degrees

Rolll degrees

Pitch2 degrees

Roll2 degrees

tHead degrees

Thumbwheel month number

Thumbwheel day (of month)

Thumbwheel year (e.g., 94)

Thumbwheel site number

Thumbwheel Julian day

Thumbwheel mission number

Thumbwheel glight number

Thumbwheel A... G... L...

Thumbwheel project number

Thumbwheel line number

Thumbwheel run number

Keyboard line number

Keyboard run number

Keyboard site number

Keyboard mission number

Keyboard project number

Keyboard flight number

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

(ASCII

9

i - 2

i0 - 15

16 - 21

22 - 27

28 - 33

34 - 39

40 - 45

46 - 51

52 - 57

58 - 63

64 - 69

70 - 75

76 - 81

82 - 87

88 - 93

94 - 99

i00 - 105

106 - 265

266 - 565

566 - 567

568 - 569

570 - 571

572 - 575

576 - 578

579 - 581

582 - 584

585 - 587

588 - 592

593 - 595

596 - 597

598 - 600

601 - 602

603 - 605

606 - 608

609 - 613

614 - 616

Page 13
Comment

Record counter for RS232

NS001 scan line counter

Frame counter

Filler

Time code

Time code event

Time code period

N/S velocity

E/W velocity

filler

Record counter

VCR status

ARI700 status

Line status

Time (DDDHHMMSSt)

(ASCII)

BCD)

BCD)

Unspecified

Unspecified

Unspecified

Unspecified

Unspecified

Unspecified

Unspecified

617 - 696

697 - 700

701 - 704

705 - 709

710

711 - 717

718 - 724

725 - 726

727 - 732

733 - 738

739 - 1024

Unspecified) 1025 - 1029

Unspecified) 1030 - 1036

Unspecified) 1037 - 1043

Unspecified) 1044 - 1050

(ASCII) 1051 - 1060

Filler set to lower-case "x"

Distance to go meters

Filler set to lower-case "x"

Time to go seconds

Filler set to lower-case "x"

Cross-track distance degrees

Filler

Desired track

Filler

Track angle error

Filler

Drift angle

Filler

Reserved for align

Filler

Latitude

Filler

Longitude

Filler

Ground speed

Filler

set to lower-case "x"

set to lower-case "x"

set to lower-case "x"

degrees

set to lower-case "x"

set to lower-case "x"

degrees

set to lower-case "x"

degrees

set to lower-case "x"

m/sec

set to lower-case "x"

Reserved for track angle degrees

Filler set to lower-case "x"

True heading degrees

Filler set to lower-case "x"

Wind speed m/sec

Filler set to lower-case "x"

Wind angle direction degrees

Filler set to lower-case "x"

Reserved for vert pro distance meters

Filler set to lower-case "x"

Vertical speed m/sec

Filler set to lower-case "x"

PRT-5 °C

Dew point °C

TAT °C

RESERVED

Pitch degrees

1061 - 1070

1071 - 1081

1082 - 1085

1086 - 1094

1095 - 1098

1099 - 1108

1109 - iiii

1112 - 1120

1121 - 1124

1125 - 1134

1135 - 1138

1139 - 1147

1148 - 1151

1152 - 1160

1161 - 1164

1165 - 1175

1176 - 1179

1180 - 1191

1192 - 1195

1196 - 1203

1204 - 1207

1208 - 1216

1217 - 1220

1221 - 1229

1230 - 1233

1234 - 1241

1242 - 1245

1246 - 1253

1257

1258 - 1266

1267 - 1270

1271 - 1280

1281 - 1284

1285 - 1290

1291 - 1296

1297 - 1302

1303 - 1346

1347 - 1350

Page 14
Roll

True heading

Filler (set to lower case "x")

Radar Altitude

Filler (set to lower case "x")

Month number

Day (of the month)

Year (last 2 digits)

Thumbwheel site number

Thumbwheel Julian day

Thumbwheel mission number

Thumbwheel flight number

Thumbwheel A... G... L...

Thumbwheel project number

Thumbwheel line number

Thumbwheel run number

Keyboard line number

Keyboard run number

Keyboard site number

Keyboard mission number

Keyboard project number

Keyboard flight number

degrees 1351 - 1354

degrees 1355 - 1358

- 1359 - 1362

meters 1363 - 1367

- 1368 - 1420

(ASCII) 1421 - 1422

(ASCII) 1423 - 1424

(ASCII) 1425 - 1426

(ASCII) 1427 - 1430

(ASCII) 1431 - 1433

(ASCII) 1434 - 1436

(ASCII) 1437 - 1439

(ASCII) 1440 - 1442

(ASCII) 1443 - 1447

(ASCII) 1448 - 1450

(ASCII) 1451 - 1452

(ASCII) 1453 - 1455

(ASCII) 1456 - 1457

(ASCII) 1458 - 1460

(ASCII) 1461 - 1463

(ASCII) 1464 - 1468

(ASCII) 1469 - 1471

Filler set to lower-case "x" 1472

Comment (ASCII) 1473 - 1552

Record counter for RS232 1553 - 1560

Site name (ASCII) 1561 - 1581

Filler set to lower-case "x" 1582

NS001 scan line count (BCD ) 1583 - 1588

Filler

GPS data

Filler

Event time code

Photo frame count #i

Filler

Photo frame count #2

Filler

set to lower-case "x" 1589 - 1598

(ASCII) 1599 - 1730

set to lower-case "x" 1731 - 1768

(Unspecified) 1769 - 1786

(Unspecified) 1787 - 1797

set to lower-case "x" 1798

(ASCII) 1799 - 1809

set to lower case "x" 1810 - 2048

The CD-ROM inventory listing file consists of numerical and character fields of varying length

separated by commas. The character fields are enclosed with single apostrophe marks. There are no

spaces between the fields.

9. Data Manipulations

9.1 Formulae

9.1.1 Derivation Techniques and Algorithms

None.

9.2 Data Processing Sequence

Page 15
9.2.1 Processing Steps

ARC received the raw 0.25-inch cartridge tape from the C-130 technicians. The data files were

read and loaded to disk. Distribution to the BORIS archive consisted of the raw data files along with C

structures to read and process the data. BORIS staff further processed the level-0 C-130 navigation

data by:

• Extracting pertinent header information from the level-0 product and writing it to a disk file

• Reading the information in the disk file and loading the online data base with needed

information

9.2.2 Processing Changes

ARC applied no special or additional processing to the C-130 navigation data from BOREAS.

9.3 Calculations

9.3.1 Special Corrections/Adjustments

ARC made no special adjustments or offsets to the data.

9.3.2 Calculated Variables

ARC made no special adjustments or offsets to the data.

9.4 Graphs and Plots

None.

10. Errors

10.1 Sources of Error

Not all high-frequency samples (30 for synchro-digital (S/D) and 10 for analog-digital (A/D))

change between consecutive records. One explanation is the navigation system sampled the same value

(at exactly a 1-second interval) for consecutive records. This can happen in relatively stable, level

flight. Another explanation is that the navigation system failed to record all high-frequency samples (30

for S/D or 10 for A/D). Tests show the second explanation to be true most of the time, and samples

were skipped at random during the 1-second interval.

The field for the average true heading to a tenth of a degree contains four digits. The first digit

prints as a sign (+/-), thus overwriting the hundreds digit of average true heading.

No algorithm has been found to convert time reported by GPS to universal time.

10.2 Quality Assessment

10.2.1 Data Validation by Source

Data distribution to NASA ARC occurs at the conclusion of the deployment. Data tapes are

presented in total for documentation and archive. Data evaluation consists primarily of identifying

component failure (i.e. radar altitude, GPS values, pressure measurements.).

10.2.2 Confidence Level/Accuracy Judgment

The quality of the data is judged to be good.

10.2.3 Measurement Error for Parameters

See Sections 4.1.6 and 8.2.

Page 16
10.2.4 Additional Quality Assessments

Quality Assessment performed by BORIS staff:

• BORIS staff built and ran the software provided by NASA ARC on a Sun workstation. This

software listed values for all parameters on selected 1-per-second C-130 navigation file

records. A subset of this information was redirected to ASCII files and printed.

• A copy of the ARC software was modified to produce ASCII listings of selected 1-, 10-, and

30-Hz data, including pressure and radar altitude, pitch, roll, drift, and time stamps for entire

flight lines. These listings were transferred to a Macintosh and plotted with the Microsoft

Excel program. Certain problems found in the data as revealed by these plots are described in

Section 11.1.

10.2.5 Data Verification by Data Center

None given.

11. Notes

11.1 Limitations of the Data

See Section 11.2.

11.2 Known Problems with the Data

To date, the following discrepancies/problems have been noted in the data:

• BORIS staff found that the second and third data files (tape files 17 and 18), fl.dat and

f2.dat, are duplicates.

• BORIS staff created time series plots and found significant noise in the 10- and 30-Hz data. It

was discovered that the 30-Hz data intermittently provided fewer than 30 samples per record,

although it was not clear from where the values were missing or if the sampling rate was

different for each 1-second interval.

• Several spurious/outlier values were present, particularly in the first three recorded 30-Hz

values per record. These seemed to be left over from the last fully sampled (30-Hz) record in

the data set.

• The C-130 navigation data records have been assumed to be 1 second apart, and uncorrected,

steadily increasing time stamps for each record do exist in the file. Plots of ARC "Corrected"

times, however, show redundant or unequally spaced time stamps from record to record.

Plots of "Corrected" times, for example, showed that record n started at 30.9 seconds, record

n+l at 31.8 seconds, and record n+2 at 32.9 seconds. This may be an issue for those

attempting to interpolate times for 10- and 30-Hz data.

• During actual data acquisition, the comment field buffer was not cleared from flight line to

flight line; as a result, data collection field notes appear in subsequent flight lines until a new

comment or field note was entered. Therefore, some field notes refer to flight-line-run

combinations other than the flight line represented by the record containing the comment.

• It was discovered that Site 433, Line 1 shown on the ARC hardcopy color map in the C-130

Mission Summary Report for Mission 94-006-07 is actually composed of three flight lines

(Lines 3, 4, and 5). The navigation data also reflect this set of three lines to be Site 433, Line

1.

• For its use in relative correction of aircraft images, BORIS staff interpolated and smoothed the

data to achieve a consistent temporal resolution of the needed variables, but only after

selectively deleting known outlying values. Discussions with ARC staff indicated that

hardware and software upgrades were being made to prevent or reduce these problems in

future C-130 flights. Users of this data set, however, should quality check the C-130

navigation parameter values further before use.

Page 17
11.3 Usage Guidance

All of the files on the BORIS C-130 navigation data tape should be copied to disk. The ASCII

header file should be read, and output files should be named according to this document. The software

files were compiled and linked without incident on a Sun workstation by BORIS staff using the UNIX

make command. An attempt to build the software under the SGI and VAX/VMS operating systems

was unsuccessful; the C language compilers were unable to locate certain system ".h" include files. No

further attempt was made to port the Sun software and Makefile to either SGI/IRIX or VAX/VMS

platforms. It is likely that the ".dat" files will have to be byte-swapped in order for ARC software to

read these data on SGI and VAX/VMS platforms.

Several flight lines are contained in each of the ".dat" files. The inventory file, which is the second

file on the tape, shows which flight mission data are contained in each ".dat" file. Within this listing,

certain line, flight, date, and other information are missing, blank, filled, or filled with a lower-case 'x'

because of the automated fashion in which the inventory listing was compiled at GSFC. Blank or

dummy flight, line, and run numbers exist because this is what was contained on the ARC data tape

for these designators.

11.4 Other Relevant Information

Not applicable.

12. Application of the Data Set

To date, BORIS staff', in conjunction with MAS data processing personnel, have used the C-130

navigation data to calculate relative coordinates for flight lines of MAS data pixels scanned from the

C-130 aircraft over the BOREAS SSA and NSA. The C-130 navigation data provided aircraft position

and attitude at 1, 10, and 30 Hz. These parameters were used to derive relative Cartesian X and Y grid

coordinates for each MODIS flight line image pixel using software that models the MAS sensor

scanning system. The theory and working algorithms that were implemented to achieve this are

described in detail in the BORIS documentation provided for the BORIS MAS Level 1-B data set. This

algorithm could provide the basis for deriving relative position coordinates for other sensors that were

in operation during this or other C-130 flights.

13. Future Modifications and Plans

No modification is planned for the C-130 navigation data currently logged in the BORIS data base.

The BOREAS experience, however, has led to hardware modifications at NASA ARC in an effort to

improve the completeness and integrity of acquired C-130 navigation data.

14. Software

14.1 Software Description

The NASA ARC navigation data unpacking software is written in C and compiles and runs under

the SunOS Version 5.0+ operating system. The BORIS software is written in C and is operational

under the VAX/VMS Version 5.0+, OpenVMS Versions 5.5-2, and SGI System V.4+ operating

systems at GSFC. The primary dependencies in the VMS software are the tape I/O library and Oracle

data base utility routines on the VAX computers.

NASA ARC provided the BORIS archive with the raw 2,048-byte data. To facilitate accessing and

understanding, NASA ARC also provided a supplemental software distribution containing a C

structure that gives a name to each parameter (cl30nav.h) and then provides code that transfers the

2,048-byte record into the structure (c 130nav_extract.c). The user can access these parameters by

name from the C130VALUES structure. BORIS staff developed software and command procedures

Page 18
for:

Writing the ASCII summary information, ARC data extraction software, and binary

navigation files to tape

Creating an ASCII inventory of the binary data file contents and logging this information as

well as the software and summary information on tape into the BORIS Oracle data base tables

14.2 Software Access

All of the described software is available upon request. BORIS staff would appreciate knowing of

any problems discovered with the software, but cannot promise to fix them.

15. Data Access

The level-0 C-130 navigation data are available from the Earth Observing System Data and Information

System (EOSDIS) Oak Ridge National Laboratory (ORNL) Distributed Active Archive Center

(DAAC).

15.1 Contact Information

For BOREAS data and documentation please contact:

ORNL DAAC User Services

Oak Ridge National Laboratory

P.O. Box 2008 MS-6407

Oak Ridge, TN 37831-6407

Phone: (423) 241-3952

Fax: (423) 574-4665

E-mail: ornldaac@ornl.gov or ornl@eos.nasa.gov

15.2 Data Center Identification

Earth Observing System Data and Information System (EOSDIS) Oak Ridge National Laboratory

(ORNL) Distributed Active Archive Center (DAAC) for Biogeochemical Dynamics

http://www-eosdis.ornl.gov/.

15.3 Procedures for Obtaining Data

Users may obtain data directly through the ORNL DAAC online search and order system

[http://www-eosdis.ornl.gov/] and the anonymous FTP site [ftp://www-eosdis.ornl.gov/data/] or by

contacting User Services by electronic mail, telephone, fax, letter, or personal visit using the contact

information in Section 15.1.

15.4 Data Center Status/Plans

The ORNL DAAC is the primary source for BOREAS field measurement, image, GIS, and

hardcopy data products. The BOREAS CD-ROM and data referenced or listed in inventories on the

CD-ROM are available from the ORNL DAAC.

16. Output Products and Availability

16.1 Tape Products

The BOREAS level-0 C-130 navigation data can be made available on 8-ram, Digital Archive Tape

(DAT), or 9-track tapes at 1600 or 6250 Bytes per inch (BPI).

Page 19
16.2 Film Products

Color aerial photographs and video records were made during data collection. The video record

includes aircraft crew cabin intercom conversations and an audible tone that was initiated each time the

sensors were triggered. The BOREAS data base contains an inventory of available BOREAS aircraft

flight documentation, such as flight logs, videotapes, and photographs.

16.3 Other Products

None.

17. References

17.1 Platform/Sensor/Instrument/Data Processing Documentation

Airborne Instrumentation Research Project - Flight Summary Reports for Flight No. 94-004-09 to

94-009-09 4/16 - 9/17, 1994. NASA Ames Research Center. Airborne Missions and Applications

Division. Moffett Field, California. 94035.

NASA. 1990. C-130 Earth Resources Aircraft Experimenter's Handbook. National Aeronautics and

Space Administration. Ames Research Center. Moffett Field, California.

17.2 Journal Articles and Study Reports

Newcomer, J., D. Landis, S. Conrad, S. Curd, K. Huemmrich, D. Knapp, A. Morrell, J. Nickeson,

A. Papagno, D. Rinker, R. Strub, T. Twine, F. Hall, and P. Sellers, eds. 2000. Collected Data of The

Boreal Ecosystem-Atmosphere Study. NASA. CD-ROM.

Sellers, P. and F. Hall. 1994. Boreal Ecosystem-Atmosphere Study: Experiment Plan. Version

1994-3.0, NASA BOREAS Report (EXPLAN 94).

Sellers, P. and F. Hall. 1996. Boreal Ecosystem-Atmosphere Study: Experiment Plan. Version

1996-2.0, NASA BOREAS Report (EXPLAN 96).

Sellers, P., F. Hall, and K.F. Huemmrich. 1996. Boreal Ecosystem-Atmosphere Study: 1994

Operations. NASA BOREAS Report (OPS DOC 94).

Sellers, P., F. Hall, and K.F. Huemmrich. 1997. Boreal Ecosystem-Atmosphere Study: 1996

Operations. NASA BOREAS Report (OPS DOC 96).

Sellers, P., F. Hall, H. Margolis, B. Kelly, D. Baldocchi, G. den Hartog, J. Cihlar, M.G. Ryan, B.

Goodison, P. Crill, K.J. Ranson, D. Lettenmaier, and D.E. Wickland. 1995. The boreal

ecosystem-atmosphere study (BOREAS): an overview and early results from the 1994 field year.

Bulletin of the American Meteorological Society. 76(9): 1549-1577.

Sellers, P.J., F.G. Hall, R.D. Kelly, A. Black, D. Baldocchi, J. Berry, M. Ryan, K.J. Ranson, P.M.

Crill, D.P. Lettenmaier, H. Margolis, J. Cihlar, J. Newcomer, D. Fitzjarrald, P.G. Jarvis, S.T.

Gower, D. Halliwell, D. Williams, B. Goodison, D.E. Wickland, and F.E. Guertin. 1997. BOREAS

in 1997: Experiment Overview, Scientific Results and Future Directions. Journal of Geophysical

Research 102 (D24): 28,731-28,770.

17.3 Archive/DBMS Usage Documentation

None.

Page 20
None.

18. Glossary of Terms

A/D

ARC

ASAS

ASCII

BOREAS

BORIS

BPI

CADDS

CCT

CD-ROM

DAAC

DAT

EOS

EOSDIS

FFC-T

GIS

GPS

GSFC

IFC

INS

MAS

MODIS

NAD 83

NASA

NSA

ORNL

PANP

PRT-5

SCSI

S/D

SGI

SSA

TAS

TAT

TIMS

TMS

URL

19. List of Acronyms

- Analog-Digital

- Ames Research Center

- Advanced Solid-State Array Spectroradiometer

- American Standard Coding for Information Interchange

- BOReal Ecosystem-Atmosphere Study

- BOREAS Information System

- Bytes Per Inch

- C-130 Automated Digital Data System

- Computer Compatible Tape

- Compact Disk-Read-Only Memory

- Distributed Active Archive Center

- Digital Archive Tape

- Earth Observing System

- EOS Data and Information System

- Focused Field Campaign - Thaw

- Geographic Information System

- Global Positioning System

- Goddard Space Flight Center

- Intensive Field Campaign

- Inertial Navigation System

- MODS Airborne Simulator

- Moderate-Resolution Imaging Spectrometer

- North American Datum of 1983

- National Aeronautics and Space Administration

- Northern Study Area

- Oak Ridge National Laboratory

- Prince Albert National Park

- Precision Radiation Thermometer

- Small Computer Serial Interface

- synchro-digital

- Silicon Graphics IRIX

- Southern Study Area

- True Air Speed

- Total Air Temperature

- Thermal Infrared Multispectral Scanner

- Thematic Mapper Simulator

- Uniform Resource Locator

Page 21
20. Document Information

20.1 Document Revision Date(s)

Written: 20-Jul- 1995

Last Updated: 05-Feb- 1999

20.2 Document Review Date(s)

BORIS Review: 03-Jan- 1997

Science Review: 09-Jan- 1997

20.3 Document ID

20.4 Citation

When using these data, please include the following acknowledgement as well as citations of

relevent papers in Section 17.2: The BOREAS Level-0 C-130 navigation data were collected and

processed from the original aircraft tapes by personnel of the Medium Altitude Aircraft Branch at

NASA ARC. BORIS staff reviewed repackaged, and documented the data received from ARC into the

current product. The contributions of ARC and BORIS staff to enhancing and checking this data set

are greatly appreciated.

Also, cite the BOREAS CD-ROM set as:

Newcomer, J., D. Landis, S. Conrad, S. Curd, K. Huemmrich, D. Knapp, A. Morrell, J.

Nickeson, A. Papagno, D. Rinker, R. Strub, T. Twine, F. Hall, and P. Sellers, eds. Collected Data of

The Boreal Ecosystem-Atmosphere Study. CD-ROM. NASA, 2000.

20.5 Document Curator

20.6 Document URL

Page 22
REPORT DOCUMENTATION PAGE FormApproved

OMB No. 0704-0188

Public reporting burden for this collection of informationis estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources,

gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this

collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson

Davis Highway, Suite 1204, Arlington, VA 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188), Washington, DC 20503.

1. AGENCY USE ONLY (Leave blank) 2. REPORT DATE 3. REPORT TYPE AND DATES COVERED

September 2000 Technical Memorandum

4. TITLE AND SUBTITLE 5. FUNDING NUMBERS

Technical Report Series on the Boreal Ecosystem-Atmosphere Study (BOREAS)

BOREAS Level-0 C- 130 Navigation Data 923

6. AUTHOR(S) RTOP: 923-462-33-01

Richard Strub, Roseanne Dominguez, and Jeffrey A. Newcomer

Forrest G. Hall, Editor

7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS (ES)

Goddard Space Flight Center

Greenbelt, Maryland 20771

9. SPONSORING / MONITORING AGENCY NAME(S) AND ADDRESS (ES)

National Aeronautics and Space Administration

Washington, DC 20546-0001

8. PEFORMING ORGANIZATION

REPORT NUMBER

2000-03136-0

10. SPONSORING / MONITORING

AGENCY REPORT NUMBER

TM--2000-209891

Vol. 83

11. SUPPLEMENTARY NOTES

R. Strub and J.A. Newcomer: Raytheon ITSS;

R. Dominguez: ATAC, Inc., NASAAmes Research Center, Moffett Field, California

12a. DISTRIBUTION / AVAILABILITY STATEMENT

Unclassifie_Unlimited

Subject Category: 43

Report available from the NASA Center for AeroSpace Information,

7121 Standard Drive, Hanover, MD 21076-1320. (301) 621-0390.

12b. DISTRIBUTION CODE

13. ABSTRACT (Maximum 200 words)

The level-0 C-130 navigation data files contain aircraft attitude and position information acquired

during the digital image and photographic data collection missions over the BOREAS study areas.

Various portions of the navigation data were collected at 1, 10, and 30 Hz. The level-0 C-130 navigation data collected for BOREAS in 1994 were improved over previous years in that the C-130 onboard

navigation system was upgraded to output inertial navigation parameters every 1/30th of a second

(i.e., 30 Hz). This upgrade was encouraged by users of the aircraft scanner data with the hope of

improving the relative geometric positioning of the collected images.

14. SUBJECT TERMS

BOREAS, remote sensing science, navigation data.

17. SECURITY CLASSIFICATION

OF REPORT

Unclassified

NSN 7540-01-280-5500

18. SECURITY CLASSIFICATION

OF THIS PAGE

Unclassified

19. SECURITY CLASSIFICATION

OF ABSTRACT

Unclassified

15. NUMBER OF PAGES

22

16. PRICE CODE

20. LIMITATION OF ABSTRACT

UL

Standard Form 298 (Rev. 2-89)

Prescribed by ANSI Std. Z39.18

298-102