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This paper describes the design and initial test results of an extended Kalman filter that has been developed at Jet Propulsion Laboratory (JPL) for post-flight reconstruction of the trajectory and attitude history of a spacecraft entering a planetary atmosphere and descending upon a parachute.
Earth's atmosphere, crust and mantle have evolved together through continuous geochemical exchange throughout Earth's history. Constraints on the transport of volatile elements and compounds between these reservoirs are crucial for understanding how Earth could have stayed habitable for extended periods of time. In this work, we present a new forward model of He, Ne and Ar in the mantle, crust and atmosphere. We explore concentrations of noble gases at the end of accretion, bulk silicate Earth K/U ratios, crustal growth scenarios, and upper mantle processing rates throughout Earth's history. We search for parameter combinations that simultaneously satisfy observational constraints on present-day mantle 4 He/ 3 He and 40 Ar/ 36 Ar (sensitive to mantle outgassing and continental crust growth, which depletes the mantle of U, Th and K), atmospheric 20 Ne/ 22 Ne (which tracks the mix of outgassed vs. delivered Ne in the atmosphere), and atmospheric 40 Ar/ 36 Ar in the past and today (sensitive to volatile delivery, mantle outgassing and crustal growth). Leveraging this intertwined set of noble gas abundances and isotopic compositions yields new constraints on initial noble gas abundances in the mantle and on the proportions of atmospheric volatiles originating from delivery by impact degassing, mantle outgassing, and degassing of the continental crust. We find that atmospheric Ar isotopic evolution is primarily sensitive to the mantle processing rate history; the atmospheric Ar isotopic record should therefore not be used to reconstruct continental crust growth, but instead provides valuable insights into mantle processing rates. Our model predicts a measurably low 20 Ne/ 22 Ne ratio of ~9.7 in Archean atmospheric samples. Most of atmospheric primordial 36 Ar was directly delivered by chondritic bodies and not transferred to the atmosphere during an intense early episode of mantle outgassing. Nitrogen delivered by impact degassing could account for the present-day atmospheric nitrogen inventory.
ABSTRACT Context-specific genome-scale model (CS-GSM) reconstruction is becoming an efficient strategy for integrating and cross-comparing experimental multi-scale data to explore the relationship between cellular genotypes, facilitating fundamental or applied research discoveries. However, the application of CS modeling for non-conventional microbes is still challenging. Here, we present a graphical user interface that integrates COBRApy, EscherPy, and RIPTiDe, Python-based tools within the BioUML platform, and streamlines the reconstruction and interrogation of the CS genome-scale metabolic frameworks via Jupyter Notebook. The approach was tested using -omics data collected for Methylotuvimicrobium alcaliphilum 20Z R , a prominent microbial chassis for methane capturing and valorization. We optimized the previously reconstructed whole genome-scale metabolic network by adjusting the flux distribution using gene expression data. The outputs of the automatically reconstructed CS metabolic network were comparable to manually optimized i IA409 models for Ca-growth conditions. However, the CS model questions the reversibility of the phosphoketolase pathway and suggests higher flux via primary oxidation pathways. The model also highlighted unresolved carbon partitioning between assimilatory and catabolic pathways at the formaldehyde-formate node. Only a very few genes and only one enzyme with a predicted function in C1 metabolism, a homolog of the formaldehyde oxidation enzyme ( fae1-2 ), showed a significant change in expression in La-growth conditions. The CS-GSM predictions agreed with the experimental measurements under the assumption that the Fae1-2 is a part of the tetrahydrofolate-linked pathway. The cellular roles of the tungsten (W)-dependent formate dehydrogenase ( fdhAB ) and fae homologs ( fae1-2 and fae3 ) were investigated via mutagenesis. The phenotype of the f dhAB mutant followed the model prediction. Furthermore, a more significant reduction of the biomass yield was observed during growth in La-supplemented media, confirming a higher flux through formate. M. alcaliphilum 20Z R mutants lacking fae1-2 did not display any significant defects in methane or methanol-dependent growth. However, contrary to fae1, the fae1-2 homolog failed to restore the formaldehyde-activating enzyme function in complementation tests. Overall, the presented data suggest that the developed computational workflow supports the reconstruction and validation of CS-GSM networks of non-model microbes. IMPORTANCE The interrogation of various types of data is a routine strategy to explore the relationship between genotype and phenotype. An efficient approach for integrating and cross-comparing experimental multi-scale data in the context of whole-genome-based metabolic network reconstruction becomes a powerful tool that facilitates fundamental and applied research discoveries. The present study describes the reconstruction of a context-specific (CS) model for the methane-utilizing bacterium, Methylotuvimicrobium alcaliphilum 20Z R . M. alcaliphilum 20Z R is becoming an attractive microbial platform for the production of biofuels, chemicals, pharmaceuticals, and bio-sorbents for capturing atmospheric methane. We demonstrate that this pipeline can help reconstruct metabolic models that are similar to manually curated networks. Furthermore, the model is able to highlight previously overlooked pathways, thus advancing fundamental knowledge of non-model microbial systems or promoting their development toward biotechnological or environmental implementations.
Two Nike Tomahawk rocket payloads were launched into energetic auroral events in September, 1976 to investigate the structure of these events, as well as their effects on the atmosphere. X-ray scintillation detectors with energy discrimination in four ranges were used to measure the deposition of bremsstrahlung produced X-rays within the stratosphere and mesosphere. Iterative computer techniques were used to reconstruct X-ray source maps at 100 km, taking atmospheric absorption effects into account. Payload 18.178 was launched on September 21st into an aurora having two distinct azimuthal regions of optical brightness. The X-ray scanner detected the same features, and overlays of the X-ray source maps on all-sky photographs showed spatial coincidence of the X-ray with optical features at the lower energies (below 40 keV). Payload 18.179 was launched September 23rd into an aurora with a more diffuse character. The optical structure did not coincide as well with the measured X-ray structure. There was also an indication of a two-component spectrum for each event, with the hard component originating in the more diffuse, optically faint regions.
IceCube, a cubic-kilometer array of optical sensors built to detect atmospheric and astrophysical neutrinos between 1 GeV and 1 PeV, is deployed 1.45 km to 2.45 km below the surface of the ice sheet at the South Pole. The classification and reconstruction of events from the in-ice detectors play a central role in the analysis of data from IceCube. Reconstructing and classifying events is a challenge due to the irregular detector geometry, inhomogeneous scattering and absorption of light in the ice and, below 100 GeV, the relatively low number of signal photons produced per event. To address this challenge, it is possible to represent IceCube events as point cloud graphs and use a Graph Neural Network (GNN) as the classification and reconstruction method. The GNN is capable of distinguishing neutrino events from cosmic-ray backgrounds, classifying different neutrino event types, and reconstructing the deposited energy, direction and interaction vertex. Based on simulation, we provide a comparison in the 1 GeV–100 GeV energy range to the current state-of-the-art maximum likelihood techniques used in current IceCube analyses, including the effects of known systematic uncertainties. For neutrino event classification, the GNN increases the signal efficiency by 18% at a fixed background rate, compared to current IceCube methods. Alternatively, the GNN offers a reduction of the background (i.e. false positive) rate by over a factor 8 (to below half a percent) at a fixed signal efficiency. For the reconstruction of energy, direction, and interaction vertex, the resolution improves by an average of 13%–20% compared to current maximum likelihood techniques in the energy range of 1 GeV–30 GeV. The GNN, when run on a GPU, is capable of processing IceCube events at a rate nearly double of the median IceCube trigger rate of 2.7 kHz, which opens the possibility of using low energy neutrinos in online searches for transient events.
Because of the pervasive role of water in the Earth system, the relative abundances of stable isotopologues of water are valuable for understanding atmospheric, oceanic, and biospheric processes, and for interpreting paleoclimate proxy reconstructions. Isotopologues are transported by both largescale and turbulent flows, and the ratio of heavy to light isotopologues changes due to fractionation that can accompany condensation and evaporation processes. Correctly predicting the isotopic distributions requires resolving the relationships between largescale ocean and atmospheric circulation and smallerscale hydrological processes, which can be accomplished within a coupled climate modeling framework. Here we present the water isotopeenabled version of the Community Earth System Model version 1 (iCESM1), which simulates global variations in water isotopic ratios in the atmosphere, land, ocean, and sea ice. In a transient Last Millennium simulation covering the 850-2005 period, iCESM1 correctly captures the latetwentiethcentury structure of δ(exp 18)O and δD over the global oceans, with more limited accuracy over land. The relationship between salinity and seawater δ(exp 18)O is also well represented over the observational period, including interbasin variations. We illustrate the utility of coupled, isotopeenabled simulations using both Last Millennium simulations and freshwater hosing experiments with iCESM1. Closing the isotopic mass balance between all components of the coupled model provides new confidence in the underlying depiction of the water cycle in CESM, while also highlighting areas where the underlying hydrologic balance can be improved. The iCESM1 is poised to be a vital community resource for ongoing model development with both modern and paleoclimate applications.
Simulated hydroclimate variability in millennium-length forced transient and control simulations from the ECHAM and the global Hamburg Ocean Primitive Equation (ECHO-G) coupled atmosphere-ocean general circulation model (AOGCM) is analyzed and compared to 1000 years of reconstructed Palmer drought severity index (PDSI) variability from the North American Drought Atlas (NADA). The ability of the model to simulate megadroughts in the North American southwest is evaluated. (NASW: 25deg42.5degN, 125deg-105degW). Megadroughts in the ECHO-G AOGCM are found to be similar in duration and magnitude to those estimated from the NADA. The droughts in the forced simulation are not, however, temporally synchronous with those in the paleoclimate record, nor are there significant differences between the drought features simulated in the forced and control runs. These results indicate that model-simulated megadroughts can result from internal variability of the modeled climate system rather than as a response to changes in exogenous forcings. Although the ECHO-G AOGCM is capable of simulating megadroughts through persistent La Nina-like conditions in the tropical Pacific, other mechanisms can produce similarly extreme NASW moisture anomalies in the model. In particular, the lack of low-frequency coherence between NASW soil moisture and simulated modes of climate variability like the El Nino-Southern Oscillation, Pacific decadal oscillation, and Atlantic multidecadal oscillation during identified drought periods suggests that stochastic atmospheric variability can contribute significantly to the occurrence of simulated megadroughts in the NASW. These findings indicate that either an expanded paradigm is needed to understand multidecadal hydroclimate variability in the NASW or AOGCMs may incorrectly simulate the strength and/or dynamics of the connection between NASW hydroclimate variability and the tropical Pacific.
A sounding rocket flight test was conducted on a mechanically-deployed entry vehicle (DEV) known as the Adaptable Deployable Entry and Placement Technology (ADEPT). This flight test was a major milestone in a technology development campaign for ADEPT: the application of ADEPT for small secondary payloads. The test was conducted above White Sands Missile Range (WSMR), New Mexico on a SpaceLoft XL rocket on September 12, 2018. The first objective of the SR-1 flight test was to demonstrate that ADEPT could transform from a compact stowed configuration, separate from the launch vehicle, and successfully deploy exo-atmospherically into the desired low ballistic coefficient entry configuration. The second objective was to characterize the aerodynamic performance of the deployed configuration in order to evaluate the faceted blunt body geometry dynamic stability characteristics as it decelerated from supersonic to subsonic speeds.The ADEPT DEV had several sensors on-board and also leveraged third-party data sources for post-flight analysis and trajectory reconstruction. Based upon data review, the launch vehicle met exo-atmospheric delivery performance requirements of spin rate, no re-contact, separation velocity, and delivery altitude. The unique ADEPT forebody geometry (blunted octagonal pyramid, 0.7 m diameter at the rib tips) and aftbody configuration has never flown before. The forebody half cone angle at the ribs is 70 deg, while the half cone angle mid gore is 68.5 deg. The aftbody, where the 3U CubeSat 'payload' resides is a rectangular prism that extends ~ ½ the minimum forebody diameter behind the nose. Understanding DEV blunt body dynamic stability performance is critical for determining how they can be employed for atmospheric entry, descent and landing.The primary data products were used to perform flight mechanics analysis and reconstruct the as-flown trajectory. On-board video recovered post-flight demonstrated that the DEV achieved and maintained the desired entry configuration. Post-flight analyses showed that the vehicle met the threshold of achieving stable flight below Mach = 0.8. The ADEPT project has focused on ballistic, axisymmetric shapes as the logical 'first step' in mission infusion applications. With the current maturation and development of the ballistic (non-lifting) 1 m class ADEPT, the next step in ADEPT maturation is the focus on configurations that are capable of generating lift in order to accomplish aerocapture and precision landing mission capabilities. ADEPT is particularly attractive for evaluating various guidance and control approaches as the deployable structure enables attachment points for various actuation methods such as control surfaces, moving mass elements, or RCS thrusters. The ADEPT sounding rocket flight test provided a low-cost means of achieving significant system level maturity for the 1 m class ADEPT configuration. A description of the technology, system components, flight test execution, and conclusions will be described.
One notable aspect of Earth s climate is that although the planet appears to be very close to radiative balance at top-of-atmosphere (TOA), the atmosphere itself and underlying surface are not. Profound exchanges of energy between the atmosphere and oceans, land and cryosphere occur over a range of time scales. Recent evidence from broadband satellite measurements suggests that even these TOA fluxes contain some detectable variations. Our ability to measure and reconstruct radiative fluxes at the surface and at the top of atmosphere is improving rapidly. Understanding the character of radiative flux estimates and relating them to variations in other energy fluxes and climate state variables is key to improving our understanding of climate. In this work we will evaluate several recently released estimates of radiative fluxes, focusing primarily on surface estimates. The International Satellite Cloud Climatology Project FD radiative flux profiles are available from rnid-1983 to near present and have been constructed by driving the radiative transfer physics from the Goddard Institute for Space Studies (GISS) global model with ISCCP clouds and HlRS operational soundings profiles. Full and clear sky SW and LW fluxes are produced. A similar product from the NASA/GEWEX Surface Radiation Budget Project using different radiative flux codes and thermodynamics from the NASA/Goddard Earth Observing System assimilation model makes a similar calculation of surface fluxes. However this data set currently extends only through 1995. Several estimates of downward LW flux at the surface inferred from microwave data are also examined. Since these products have been evaluated with Baseline Surface Radiation Network data over land we focus over ocean regions and use the DOE/NOAA/NASA Shipboard Ocean Atmospheric Radiation (SOAR) surface flux measurements to characterize performance of these data sets under both clear and cloudy conditions. Some aspects of performance are stratified according to SST and vertical motion regimes. Comparisons to the TRMM/CERES SRB data in 1998 are also interpreted. These radiative fluxes are then analyzed to determine how surface (and TOA) radiative exchanges respond to interannual signals of ENS0 warm and cold events. Our analysis includes regional changes as well as integrated signals over land, ocean and various latitude bands. Changes in water vapor and cloud forcing signatures are prominent on interannual time scales. Prominent signals are also found in the SW fluxes for the Pinatubo volcanic event. These systematic changes in fluxes are related to changes in large-scale circulations and energy transport in the atmosphere and ocean. Some estimates of signal-to-noise and reliability are discussed to place our results in context.
One notable aspect of Earth's climate is that although the planet appears to be very close to radiative balance at top-of-atmosphere (TOA), the atmosphere itself and underlying surface are not. Profound exchanges of energy between the atmosphere and oceans, land and cryosphere occur over a range of time scales. Recent evidence from broadband satellite measurements suggests that even these TOA fluxes contain some detectable variations. Our ability to measure and reconstruct radiative fluxes at the surface and at the top of atmosphere is improving rapidly. One question is 'How consistent, physically, are these diverse remotely-sensed data sets'? The answer is of crucial importance to understanding climate processes, improving physical models, and improving remote sensing algorithms. In this work we will evaluate two recently released estimates of radiative fluxes, focusing primarily on surface estimates. The International Satellite Cloud Climatology Project 'FD' radiative flux profiles are available from mid-1983 to near present and have been constructed by driving the radiative transfer physics from the Goddard Institute for Space Studies (GISS) global model with ISCCP clouds and TOVS (TIROS Operational Vertical Sounder)thermodynamic profiles. Full and clear sky SW and LW fluxes are produced. A similar product from the NASA/GEWEX Surface Radiation Budget Project using different radiative flux codes and thermodynamics from the NASA/Goddard Earth Observing System (GEOS-1) assimilation model makes a similar calculation of surface fluxes. However this data set currently extends only through 1995. We also employ precipitation measurements from the Global Precipitation Climatology Project (GPCP) and the Tropical Rainfall Measuring Mission (TRMM). Finally, ocean evaporation estimates from the Special Sensor Microwave Imager (SSM/I) are considered as well as derived evaporation from the NCAR/NCEP Reanalysis. Additional information is included in the original extended abstract.
One notable aspect of Earth s climate is that although the planet appears to be very close to radiative balance at top-of-atmosphere (TOA), the atmosphere itself and underlying surface are not. Profound exchanges of energy between the atmosphere and oceans, land and cryosphere occur over a range of time scales. Recent evidence from broadband satellite measurements suggests that even these TOA fluxes contain some detectable variations. Our ability to measure and reconstruct radiative fluxes at the surface and at the top of atmosphere is improving rapidly. In this work we will evaluate two recently released estimates of radiative fluxes, focusing primarily on surface estimates. The International Satellite Cloud Climatology Project FD radiative flux profiles are available from mid-1 983 to near present and have been constructed by driving the radiative transfer physics from the Goddard Institute for Space Studies (GISS) global model with ISCCP clouds and TOVS (TIROS Operational Vertical Sounder)thermodynamic profiles. Fu!l and clear sky SW and LW fluxes are produced. A similar product from the NASA/GEWEX Surface Radiation Budget Project using different radiative flux codes and thermodynamics from the NAS/Goddard Earth Observing System (GEOS-1) assimilation model makes a similar calculation of surface fluxes. However this data set currently extends only through 1995. Significant differences in both interannual variability as well as trends are found between among these data sets. For radiative fluxes these differences are traced to TOVS thermodynamic soundings used to drive the ISCCP-FD calculations. Errors in near surface temperature and precipitable water cascade into ISCCP upward and downward IR flux components, demonstrably affecting interannual variability. Revised estimates of clear-sky fluxes over ocean are made using statistical algorithms and water vapor from the (SSM/I) Special Sensor Microwave Imager. These calculations show strong near-surface water vapor feedback over the tropical oceans in association with SST changes. However, it is also shown that ISCCP longwave cloud forcing, common to both the ISCCP-FD and GEWEX SRB retrievals, is the main driver of a long-term decrease in net LW flux to the surface during the near-20 year period covered by these revised estimates.
The Mars Phoenix Lander mission was launched on August 4th, 2007. To land safely at the desired landing location on the Mars surface, the spacecraft trajectory had to be controlled to a set of stringent atmospheric entry and landing conditions. The landing location needed to be controlled to an elliptical area with dimensions of 100km by 20km. The two corresponding critical components of the atmospheric entry conditions are the entry flight path angle (target: -13.0 deg +/-0.21 deg) and the entry time (within +/-30 seconds). The purpose of this paper is to describe the navigation strategies used to overcome the challenges posed during spacecraft operations, which included an attitude control thruster calibration campaign, a trajectory control strategy, and a trajectory reconstruction strategy. Overcoming the navigation challenges resulted in final Mars atmospheric entry conditions just 0.007 deg off in entry flight path angle and 14.9 sec early in entry time. These entry dispersions in addition to the entry, descent, and landing trajectory dispersion through the atmosphere, lead to a final landing location just 7 km away from the desired landing target.
An overview is given here of the principles and mathematics of stereo reconstruction of objects in the sky using stationary cameras with an emphasis on meteorological applications. Through its Atmospheric Radiation Measurement program, the Department of Energy has operated stereo-photogrammetric cameras since 2017 as part of an effort to measure the life-cycle properties of clouds. At the core of that technology is stereo reconstruction, which calculates the real-world position of an object from the location of the object’s image in two cameras’ photographs. Here, stereo reconstruction is stripped down to its basic elements and presented using conventions tailored to applications in atmospheric science. In addition, the resulting equations are used to illustrate the high sensitivity of reconstructed cloud positions to errors in the cameras’ Euler angles. The interested reader will find here a self-contained guide to performing stereo reconstructions using distortion-corrected images from a pair of calibrated, stationary cameras, as well as a demonstration of the need for high accuracy in the measurement of camera properties and orientations.
Nitrogen is a major nutrient for all life on Earth and could plausibly play a similar role in extraterrestrial biospheres. The major reservoir of nitrogen at Earth’s surface is atmospheric N2, but recent studies have proposed that the size of this reservoir may have fluctuated significantly over the course of Earth’s history with particularly low levels in the Neoarchean—presumably as a result of biological activity. We used a biogeochemical box model to test which conditions are necessary to cause large swings in atmospheric N2 pressure. Parameters for our model are constrained by observations of modern Earth and reconstructions of biomass burial and oxidative weathering in deep time. A 1-D climate model was used to model potential effects on atmospheric climate. In a second set of tests, we perturbed our box model to investigate which parameters have the greatest impact on the evolution of atmospheric pN2 and consider possible implications for nitrogen cycling on other planets. Our results suggest that (a) a high rate of biomass burial would have been needed in the Archean to draw down atmospheric pN2 to less than half modern levels, (b) the resulting effect on temperature could probably have been compensated by increasing solar luminosity and a mild increase in pCO2, and (c) atmospheric oxygenation could have initiated a stepwise pN2 rebound through oxidative weathering. In general, life appears to be necessary for significant atmospheric pN2 swings on Earth-like planets. Our results further support the idea that an exoplanetary atmosphere rich in both N2 and O2 is a signature of an oxygen-producing biosphere.
The Ares I-X trajectory reconstruction produced best estimated trajectories of the flight test vehicle ascent through stage separation, and of the first and upper stage entries after separation. The trajectory reconstruction process combines on-board, ground-based, and atmospheric measurements to produce the trajectory estimates. The Ares I-X vehicle had a number of on-board and ground based sensors that were available, including inertial measurement units, radar, air- data, and weather balloons. However, due to problems with calibrations and/or data, not all of the sensor data were used. The trajectory estimate was generated using an Iterative Extended Kalman Filter algorithm, which is an industry standard processing algorithm for filtering and estimation applications. This paper describes the methodology and results of the trajectory reconstruction process, including flight data preprocessing and input uncertainties, trajectory estimation algorithms, output transformations, and comparisons with preflight predictions.
The simulations of lidar signals and retrievals rely on a range of optic-physical models, such as radiative transfer models, particle scattering and absorption models, along with the output data from atmospheric physical models. Integrating these different models to represent signals of a lidar system is computationally expensive, and performing backward retrievals can be complex and ambiguous. However, with the advantages of Machine Learning, there is a new potential for building effective lidar signal database linked to corresponding atmospheric profiles. For this project, we are developing a fast pre-trained neural network as the lidar surrogate simulator using simulated data for a CALIPSO-like lidar (355 nm, 532nm, and 1064nm), and a CO2 differential absorption lidar (DIAL) near 1571nm. Specifically, we utilize a long short-term memory (LSTM) model to map the relationships between atmospheric profiles (pressure, temperature, air density and CO2 mixing ratio) and lidar signals. This approach allows us to build machine learning based simulators that can reconstruct lidar signals at specific bands from MERRA reanalysis data, and perform retrievals of atmospheric profiles using lidar signals at various wavelengths. As a first step, the results show the potential of this method to establish a foundational model for sensor signals. This model offers the promise of enabling both accurate predictions and rapid retrievals, providing a more efficient approach to signal processing and analysis.
The Ares I-X trajectory reconstruction produced best estimated trajectories of the flight test vehicle ascent through stage separation, and of the first and upper stage entries after separation. The trajectory reconstruction process combines on-board, ground-based, and atmospheric measurements to produce the trajectory estimates. The Ares I-X vehicle had a number of on-board and ground based sensors that were available, including inertial measurement units, radar, air-data, and weather balloons. However, due to problems with calibrations and/or data, not all of the sensor data were used. The trajectory estimate was generated using an Iterative Extended Kalman Filter algorithm, which is an industry standard processing algorithm for filtering and estimation applications. This paper describes the methodology and results of the trajectory reconstruction process, including flight data preprocessing and input uncertainties, trajectory estimation algorithms, output transformations, and comparisons with preflight predictions.
The task of delivering the Galileo Probe to specified atmospheric entry conditions at Jupiter is especially challenging because tracking, trajectory corrections, and attitude adjustments are not possible after release of the Probe from the carrier vehicle. Statistical analysis of the spacecraft dynamics mapped into Probe dispersions in atmosphere-relative and relay-geometry parameters show that attitude stability, heating, and relay performance requirements can be satisfied. Reconstruction techniques are used to enhance estimates of the delivery parameters to permit correct interpretation of the scientific data for the Jovian atmosphere. A tradeoff which sacrifices some delivery accuracy and propellant is shown to guarantee satisfaction of a very tight reconstruction requirement for the trajectory considered in this report.