GMV - Sentinels Pod Product Handbook

SENTINELS POD PRODUCT
HANDBOOK
COPERNICUS SENTINEL-1, -2 AND -3 PRECISE
ORBIT DETERMINATION SERVICE
(SENTINELSPOD)
21/07/2020
Prepared by: X
H. Peter C. Fernández
LEO POD expert / POSITIM Project Engineer
Signed by: Carlos Fernández Martín
21/07/2020 21/07/2020
Approved by: Authorised by: X

X J. Fernández
Project Manager
J. Aguilar
Signed by: Jaime Fernández Sánchez
Quality Manager
Firmado por: Juan Antonio Aguilar Miguel
Document ID: GMV-GMESPOD-TN-0009

DIL Code: TD-22
Internal Code: GMV 22386/13 V16/20
Version: 1.15
Date: 21/07/2020
ESA contract number: 4000108273/13/1-NB
 GMV, 2020; all rights reserved

Code: GMV-GMESPOD-TN-0009
Date: 21/07/2020
Version: 1.15
ESA contract: 4000108273/13/1-NB
Page: 2 of 103
DOCUMENT STATUS SHEET

Version Date Pages Changes
1.0 17/07/2013 22 First version of the document
1.1 29/10/2013 25 New version for S-2 and S-3 SDRs with comments from POSITIM
Update of applicable documents
Minor grammatical corrections
Comments from POSITIM
Update of tables of products and generating facility from PFS. Section 4
Addition of folder structure for all products in FTP server. Section 4
Removal of ICD as applicable document, as the ICD is intended for interaction with
the PDGSs while this document is intended for all users.
Addition of high level specification of the Sentinel missions (section 2.3) and the POD
products generated by the Sentinels POD Service (section 2.4) (S1SDR-GMV-AI-001)
Addition of description of attitude laws for each Sentinel mission
1.2 20/12/2013 25 Update for S-2 and S-3 SDR closeout:
 Update of applicable documents
 Section 3.1.2, correct source of dx and dy corrections for nutation from IERS
(finals2000A.daily, finals2000A.data) (GMESPOD-S2-SDR-38)
 Update of figure-1 with missing arrows from the External Data Providers
(GMESPOD-S3-SDR-7)
 Clarification about the use of DORIS measurements in the Sentinels POD Service
 Editorial correction, TAI instead of TT (GMESPOD-S3-SDR-48)
 Clarification about the use of atmospheric gravity only for NTC products
(GMESPOD-S3-SDR-50), section 3.2.1
 Clarification about the use of a fixed solar radiation pressure coefficient from long
arc analyses (GMESPOD-S3-SDR-52), section 3.2.2
 Clarification about the use of ionosphere and troposphere corrections for GPS
measurements (GMESPOD-S3-SDR-53), section 3.3.1
 Clarification about the TBC to be determined during commissioning (GMESPOD-
S3-SDR-76), section 3
 Clarification about how the attitude is handled: first, AOCS quaternions, and then
attitude model in case of large gaps in the quaternions (GMESPOD-S3-SDR-72),
section 3.4
 Clarification about the rotation matrices for reference frames transformations
(GMESPOD-S3-SDR-97), section 3.1
 Clarification about how to compute/model the solar array panel orientation for the
box-wing model (GMESPOD-S3-SDR-75), section 3.2.2
1.3 28/02/2014 25 Update for S-1 ORR
 Update of applicable and reference documents
 Avoid use of acronyms, expand them instead, section 2.5
 Correct requirements of S-3 platform data products, section 2.5
 Clarification about GPS constellation, section 3.1.3
 Clarification about planets considered in the analysis, 3.2.1.6
 Corrections and clarifications about products from POD Service, section 4
1.4 02/04/2014 25 Update for the close-out of S-1 ORR:
 Correct File Type of POD QC Reports; section 4.1 (GMESPOD-S1-ORR-75)
1.5 01/10/2014 27 Update for the close-out of S-1 IOCR:
 Update applicable and reference documents (section 1.4)
 Change from IERS 2010 to IERS 2003 in section 3
 Include radiation pressure value during S-1A commissioning in section 3.2.2.2
 Specify number of drag coefficients used during S-1A commissioning in section
3.2.2.5
 Specify clock sampling, observation weight, down weighting, elevation cut-off
used during S-1A commissioning in section 3.3.1
 Clarify when some TBC is solved in sections 3.3.2 and 3.3.3
 Include section with the definition of processing baselines (section 5) (ref.
S1AIOCR-GMV-AI-005)
 GMV 2020; all rights reserved

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Version Date Pages Changes

1.6 13/02/2015 34 Update for S-3 ORR:
 Update applicable and reference documents (section 1.4)
 Correct typos
 Use of IERS 2010 conventions
 Describe System Baselines in section 5
1.7 27/03/2015 33 Update for S-3 ORR close out:
 Adding of quality flagging description in section 2.6 and values in section 5.1.3
(RID GMESPOD-S3-ORR-7)
 Clarification added in section 5 to different missions (RID GMESPOD-S3-ORR-84)
 Correction to the ocean tide model in section 3.1.8 (RID GMESPOD-S3-ORR-88)
 Clarification in the improvement using last 24h EGP product added to section
5.2.4 ((RID GMESPOD-S3-ORR-89)
 Typo corrected in section 3.2.1
1.8 18/12/2015 44 Update list of applicable and reference documents (section 1.4)
Remove references to GNSS USO and Anomaly Reports (sections 2.5, 4.1, 4.4)
Include a table with a summary of changes (section 5.1)
Include descriptions of versions v0.8.9 to 0.9.6 (section 5.X)
1.9 10/06/2016 62 Include a table with a summary of the thresholds used for quality flagging products
(section 2.6)
Update Table 5-1 with system changes summary (section 5.1)
Include Tables (Quality flagging thresholds) in sections 5.X
Update changes of versions v0.8.9 to 0.9.6 with thresholds evolution (section 5.X)
Include the changes done in versions from v0.10.0 (section 5.15) to v1.0.8 (section
5.24)
1.10 17/05/2017 75 Include “Minimum number of observations per epoch” in quality flagging tables
(section 2.6 and sections 5.X)
Correct information on manoeuvre exclusion period from comparisons (section 5.2)
5.32)
1.11 18/12/2018 96 Update list of applicable and reference documents (section 1.4)
5.48)
1.12 16/09/2019 99 Include table with acronyms (section 1.3)
Update configuration of POD (section 3.3)
Inclusion of S1 PREORB (section 4.1, 4.4)
Include the changes done in version v1.5.4 (section 5.49)
Updated list of applicable documents (section 1.4)
Updated drag coefficients information (section 3.2.2)
1.13 05/12/2019 101 Update applicable and reference documents (section 1.4)
Update Table 5-1 with system changes summary
Include the change done in version v1.5.5 (section 5.50)
1.14 18/05/2020 101 Update applicable and reference documents (section 1.4)
Update Figure 1 to show the current overview of the CPOD Service interfaces
Include description of the S-1 predicted orbit file in Section 2.5
Update of Table 2-1 including the new flagging thresholds
Update Section 3 to include the description on the new models
Update Section 4 to add new products (AUX_PROQUA)
Update Table 5-1 with system changes summary
Include the change done in version v1.6.0 (section 5.51)
1.15 21/07/2020 103 Update Table 5-1 with system changes summary
Include changes in version 1.7.x (section 5.52)

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TABLE OF CONTENTS
1. INTRODUCTION .............................................................................................................................. 13
1.1. PURPOSE .............................................................................................................................. 13
1.2. SCOPE .................................................................................................................................. 13
1.3. DEFINITIONS AND ACRONYMS ............................................................................................... 13
1.4. APPLICABLE AND REFERENCE DOCUMENTS............................................................................. 15
1.4.1. APPLICABLE DOCUMENTS ................................................................................................................ 15
1.4.2. REFERENCE DOCUMENTS ................................................................................................................ 15
2. COPERNICUS POD SERVICE CONTEXT .............................................................................................. 17

2.1. COPERNICUS POD SERVICE OVERVIEW .................................................................................. 17
2.2. COPERNICUS POD PRODUCTS HANDBOOK OVERVIEW............................................................. 17
2.3. SENTINELS MISSIONS OVERVIEW .......................................................................................... 17
2.4. SENTINELS GROUND SEGMENT OVERVIEW ............................................................................. 18
2.5. COPERNICUS POD PRODUCTS OVERVIEW ............................................................................... 19
2.6. QUALITY FLAGGING DESCRIPTION ......................................................................................... 21
3. COPERNICUS POD PROCESSING STANDARDS................................................................................... 23
3.1. REFERENCE FRAME AND TIME SYSTEM ................................................................................... 23
3.1.1. POLAR MOTION AND UT1................................................................................................................. 23
3.1.2. PRECESSION AND NUTATION MODEL ............................................................................................... 24
3.1.3. GPS CONSTELLATION ...................................................................................................................... 24
3.1.4. SLR COORDINATES (SENTINEL-3 ONLY) ........................................................................................... 24
3.1.5. DORIS COORDINATES (SENTINEL-3 ONLY)....................................................................................... 24
3.1.6. EARTH TIDES .................................................................................................................................. 25
3.1.7. ATMOSPHERIC LOADING ................................................................................................................. 25
3.1.8. OCEAN LOADING (SENTINEL-3 ONLY) .............................................................................................. 25
3.1.9. OCEAN POLE TIDES ......................................................................................................................... 25
3.2. DYNAMICAL FORCES MODELLING ........................................................................................... 25

3.2.1. GRAVITY FIELD ............................................................................................................................... 25
3.2.1.1. Earth Gravity ...................................................................................................... 25
3.2.1.2. Solid Earth Tides ................................................................................................. 26
3.2.1.3. Ocean Tides ....................................................................................................... 26
3.2.1.4. Atmospheric Tides ............................................................................................... 26
3.2.1.5. Atmospheric Gravity ............................................................................................ 26
3.2.1.6. Third bodies ....................................................................................................... 27
3.2.1.7. Relativistic correction........................................................................................... 27
3.2.2. SURFACE FORCES AND EMPIRICAL................................................................................................... 27
3.2.2.1. Radiation Pressure model ..................................................................................... 27
3.2.2.2. Radiation pressure scale coefficient ....................................................................... 27
3.2.2.3. Earth radiation .................................................................................................... 27
3.2.2.4. Atmospheric density model................................................................................... 27
3.2.2.5. Drag coefficients ................................................................................................. 28
3.2.2.6. Once-per-revolution empirical ............................................................................... 28
3.3. MEASUREMENTS MODELLING................................................................................................. 28

3.3.1. GPS MEASUREMENTS ...................................................................................................................... 28
3.3.1.1. Clock sampling ................................................................................................... 28
3.3.1.2. Observation weight ............................................................................................. 28

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3.3.1.3. Down weighting law ............................................................................................ 28

3.3.1.4. Elevation cut-off angle ......................................................................................... 28
3.3.1.5. Satellite antenna ................................................................................................. 28
3.3.1.6. Phase wind up .................................................................................................... 28
3.3.1.7. Receiver clock ..................................................................................................... 28
3.3.1.8. Phase ambiguity.................................................................................................. 28
3.3.1.9. Troposphere correction ........................................................................................ 28
3.3.1.10. Ionosphere correction ........................................................................................ 28
3.3.2. SLR MEASUREMENTS (SENTINEL-3 ONLY)......................................................................................... 29
3.3.2.2. Retro reflector correction ..................................................................................... 29
3.3.3. DORIS MEASUREMENTS (SENTINEL-3 ONLY) .................................................................................... 29
3.3.3.5. Frequency bias.................................................................................................... 29
3.3.3.6. Time-tag bias ..................................................................................................... 29
3.4. SATELLITE MODELLING .......................................................................................................... 29

3.4.1. MASS AND CENTRE OF GRAVITY ...................................................................................................... 29
3.4.2. ATTITUDE LAW ................................................................................................................................ 30
3.4.2.1. Sentinel-1 .......................................................................................................... 30
3.4.2.2. Sentinel-2 .......................................................................................................... 30
3.4.2.3. Sentinel-3 .......................................................................................................... 30
4. COPERNICUS POD PRODUCTS DEFINITION....................................................................................... 31

4.1. PRODUCTS IDENTIFIER .......................................................................................................... 31
4.2. PRODUCTS DESCRIPTIONS .................................................................................................... 32
4.3. PRODUCTS FORMATS............................................................................................................. 32
4.4. PRODUCTS ACCESIBILITY ...................................................................................................... 32
5. SYSTEM BASELINES ........................................................................................................................ 34
5.1. SYSTEM CHANGES SUMMARY ................................................................................................. 34
5.2. SPOD_SYSTEM_V0.8.4........................................................................................................... 40
5.2.1. DOCUMENTATION............................................................................................................................ 40
5.2.2. SW ................................................................................................................................................. 40
5.2.3. POD CONFIGURATION FOR S-1 ........................................................................................................ 40
5.3. SPOD_SYSTEM_V0.8.5........................................................................................................... 42
5.3.1. DOCUMENTATION............................................................................................................................ 42
5.3.2. SW ................................................................................................................................................. 42
5.3.4. DIFFERENCES WITH RESPECT TO PREVIOUS SYSTEM ........................................................................ 42
5.4. SPOD_SYSTEM_V0.8.6........................................................................................................... 44
5.4.1. DOCUMENTATION............................................................................................................................ 44
5.4.2. SW ................................................................................................................................................. 44
5.4.4. DIFFERENCES WITH RESPECT TO PREVIOUS SYSTEM ........................................................................ 44
5.5. SPOD_SYSTEM_V0.8.7........................................................................................................... 45

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5.5.1. DOCUMENTATION ........................................................................................................................... 45

5.5.2. SW ................................................................................................................................................. 45
5.5.4. DIFFERENCES WITH RESPECT TO PREVIOUS SYSTEM........................................................................ 45
5.6. SPOD_SYSTEM_V0.8.8........................................................................................................... 46
5.6.1. DOCUMENTATION ........................................................................................................................... 46
5.6.2. SW ................................................................................................................................................. 46
5.7. SPOD_SYSTEM_V0.8.9........................................................................................................... 47
5.7.1. DOCUMENTATION ........................................................................................................................... 47
5.7.2. SW ................................................................................................................................................. 47
5.8. SPOD_SYSTEM_V0.9.0........................................................................................................... 48
5.8.1. DOCUMENTATION ........................................................................................................................... 48
5.8.2. SW ................................................................................................................................................. 48
5.9. SPOD_SYSTEM_V0.9.1........................................................................................................... 49
5.9.1. DOCUMENTATION ........................................................................................................................... 49
5.9.2. SW ................................................................................................................................................. 49
5.10. SPOD_SYSTEM_V0.9.2 ......................................................................................................... 50

5.10.1. DOCUMENTATION.......................................................................................................................... 50
5.10.2. SW ............................................................................................................................................... 50
5.10.3. POD CONFIGURATION FOR S-1 ...................................................................................................... 50
5.10.4. DIFFERENCES WITH RESPECT TO PREVIOUS SYSTEM ...................................................................... 51
5.11. SPOD_SYSTEM_V0.9.3 ......................................................................................................... 52

5.11.1. DOCUMENTATION.......................................................................................................................... 52
5.11.2. SW ............................................................................................................................................... 52
5.11.3. POD CONFIGURATION FOR S-1 AND S-2 ......................................................................................... 52
5.12. SPOD_SYSTEM_V0.9.4 ......................................................................................................... 53

5.12.1. DOCUMENTATION.......................................................................................................................... 53
5.12.2. SW ............................................................................................................................................... 53
5.13. SPOD_SYSTEM_V0.9.5 ......................................................................................................... 55

5.13.1. DOCUMENTATION.......................................................................................................................... 55
5.13.2. SW ............................................................................................................................................... 55
5.14. SPOD_SYSTEM_V0.9.6 ......................................................................................................... 57

5.14.1. DOCUMENTATION.......................................................................................................................... 57
5.14.2. SW ............................................................................................................................................... 57
5.15. SPOD_SYSTEM_V0.10.0 ....................................................................................................... 58

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5.15.1. DOCUMENTATION .......................................................................................................................... 58

5.15.2. SW................................................................................................................................................ 58
5.16. SPOD_SYSTEM_V1.0.0 ......................................................................................................... 59

5.16.1. DOCUMENTATION .......................................................................................................................... 59
5.16.2. SW................................................................................................................................................ 59
5.16.3. POD CONFIGURATION .................................................................................................................... 59
5.17. SPOD_SYSTEM_V1.0.1 ......................................................................................................... 60

5.17.1. DOCUMENTATION .......................................................................................................................... 60
5.17.2. SW................................................................................................................................................ 60
5.18. SPOD_SYSTEM_V1.0.2 ......................................................................................................... 62

5.18.1. DOCUMENTATION .......................................................................................................................... 62
5.18.2. SW................................................................................................................................................ 62
5.19. SPOD_SYSTEM_V1.0.3 ......................................................................................................... 63

5.19.1. DOCUMENTATION .......................................................................................................................... 63
5.19.2. SW................................................................................................................................................ 63
5.20. SPOD_SYSTEM_V1.0.4 ......................................................................................................... 64

5.20.1. DOCUMENTATION .......................................................................................................................... 64
5.20.2. SW................................................................................................................................................ 64
5.21. SPOD_SYSTEM_V1.0.5 ......................................................................................................... 65

5.21.1. DOCUMENTATION .......................................................................................................................... 65
5.21.2. SW................................................................................................................................................ 65
5.22. SPOD_SYSTEM_V1.0.6 ......................................................................................................... 66

5.22.1. DOCUMENTATION .......................................................................................................................... 66
5.22.2. SW................................................................................................................................................ 66
5.23. SPOD_SYSTEM_V1.0.7 ......................................................................................................... 67

5.23.1. DOCUMENTATION .......................................................................................................................... 67
5.23.2. SW................................................................................................................................................ 67
5.24. SPOD_SYSTEM_V1.0.8 ......................................................................................................... 69

5.24.1. DOCUMENTATION .......................................................................................................................... 69
5.24.2. SW................................................................................................................................................ 69
5.25. SPOD_SYSTEM_V1.0.9 ......................................................................................................... 70

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5.25.1. DOCUMENTATION.......................................................................................................................... 70
5.25.2. SW ............................................................................................................................................... 70
5.25.3. POD CONFIGURATION.................................................................................................................... 70
5.26. SPOD_SYSTEM_V1.0.10 ....................................................................................................... 71

5.26.1. DOCUMENTATION.......................................................................................................................... 71
5.26.2. SW ............................................................................................................................................... 71
5.27. SPOD_SYSTEM_V1.1.0 ......................................................................................................... 72

5.27.1. DOCUMENTATION.......................................................................................................................... 72
5.27.2. SW ............................................................................................................................................... 72
5.28. SPOD_SYSTEM_V1.1.1 ......................................................................................................... 73

5.28.1. DOCUMENTATION.......................................................................................................................... 73
5.28.2. SW ............................................................................................................................................... 73
5.29. SPOD_SYSTEM_V1.2.0 ......................................................................................................... 75

5.29.1. DOCUMENTATION.......................................................................................................................... 75
5.29.2. SW ............................................................................................................................................... 75
5.30. SPOD_SYSTEM_V1.2.1 ......................................................................................................... 77

5.30.1. DOCUMENTATION.......................................................................................................................... 77
5.30.2. SW ............................................................................................................................................... 77
5.31. SPOD_SYSTEM_V1.3.0 ......................................................................................................... 78

5.31.1. DOCUMENTATION.......................................................................................................................... 78
5.31.2. SW ............................................................................................................................................... 78
5.32. SPOD_SYSTEM_V1.3.1 ......................................................................................................... 79

5.32.1. DOCUMENTATION.......................................................................................................................... 79
5.32.2. SW ............................................................................................................................................... 79
5.33. SPOD_SYSTEM_V1.3.2 ......................................................................................................... 80

5.33.1. DOCUMENTATION.......................................................................................................................... 80
5.33.2. SW ............................................................................................................................................... 80
5.34. SPOD_SYSTEM_V1.3.3 ......................................................................................................... 81

5.34.1. DOCUMENTATION.......................................................................................................................... 81
5.34.2. SW ............................................................................................................................................... 81
5.35. SPOD_SYSTEM_V1.3.4 ......................................................................................................... 82

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5.35.1. DOCUMENTATION .......................................................................................................................... 82

5.35.2. SW................................................................................................................................................ 82
5.36. SPOD_SYSTEM_V1.3.5 ......................................................................................................... 83

5.36.1. DOCUMENTATION .......................................................................................................................... 83
5.36.2. SW................................................................................................................................................ 83
5.37. SPOD_SYSTEM_V1.3.6 ......................................................................................................... 84

5.37.1. DOCUMENTATION .......................................................................................................................... 84
5.37.2. SW................................................................................................................................................ 84
5.38. SPOD_SYSTEM_V1.3.7 ......................................................................................................... 85

5.38.1. DOCUMENTATION .......................................................................................................................... 85
5.38.2. SW................................................................................................................................................ 85
5.39. SPOD_SYSTEM_V1.3.8 ......................................................................................................... 86

5.39.1. DOCUMENTATION .......................................................................................................................... 86
5.39.2. SW................................................................................................................................................ 86
5.40. SPOD_SYSTEM_V1.3.9 ......................................................................................................... 87

5.40.1. DOCUMENTATION .......................................................................................................................... 87
5.40.2. SW................................................................................................................................................ 87
5.41. SPOD_SYSTEM_V1.4.0 ......................................................................................................... 88

5.41.1. DOCUMENTATION .......................................................................................................................... 88
5.41.2. SW................................................................................................................................................ 88
5.42. SPOD_SYSTEM_V1.4.1 ......................................................................................................... 89

5.42.1. DOCUMENTATION .......................................................................................................................... 89
5.42.2. SW................................................................................................................................................ 89
5.43. SPOD_SYSTEM_V1.4.2 ......................................................................................................... 90

5.43.1. DOCUMENTATION .......................................................................................................................... 90
5.43.2. SW................................................................................................................................................ 90
5.44. SPOD_SYSTEM_V1.4.3 ......................................................................................................... 91

5.44.1. DOCUMENTATION .......................................................................................................................... 91
5.44.2. SW................................................................................................................................................ 91
5.45. SPOD_SYSTEM_V1.5.0 ......................................................................................................... 92

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5.45.1. DOCUMENTATION.......................................................................................................................... 92
5.45.2. SW ............................................................................................................................................... 92
5.46. SPOD_SYSTEM_V1.5.1 ......................................................................................................... 93

5.46.1. DOCUMENTATION.......................................................................................................................... 93
5.46.2. SW ............................................................................................................................................... 93
5.47. SPOD_SYSTEM_V1.5.2 ......................................................................................................... 94

5.47.1. DOCUMENTATION.......................................................................................................................... 94
5.47.2. SW ............................................................................................................................................... 94
5.48. SPOD_SYSTEM_V1.5.3 ......................................................................................................... 95

5.48.1. DOCUMENTATION.......................................................................................................................... 95
5.48.2. SW ............................................................................................................................................... 95
5.49. SPOD_SYSTEM_V1.5.4 ......................................................................................................... 96

5.49.1. DOCUMENTATION.......................................................................................................................... 96
5.49.2. SW ............................................................................................................................................... 96
5.50. SPOD_SYSTEM_V1.5.5 ......................................................................................................... 97

5.50.1. DOCUMENTATION.......................................................................................................................... 97
5.50.2. SW ............................................................................................................................................... 97
5.51. SPOD_SYSTEM_V1.6.0 ......................................................................................................... 99

5.51.1. DOCUMENTATION.......................................................................................................................... 99
5.51.2. SW ............................................................................................................................................... 99
5.51.4. DIFFERENCES WITH RESPECT TO PREVIOUS SYSTEM .................................................................... 100
5.52. SPOD_SYSTEM_V1.7.X ....................................................................................................... 101

5.52.1. DOCUMENTATION........................................................................................................................ 101
5.52.2. SW ............................................................................................................................................. 101
5.52.3. POD CONFIGURATION.................................................................................................................. 101
5.52.4. DIFFERENCES WITH RESPECT TO PREVIOUS SYSTEM .................................................................... 101

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LIST OF TABLES
Table 1-1: Acronyms .............................................................................................................. 13
Table 1-2: Applicable Documents ............................................................................................. 15
Table 1-3: Reference Documents ............................................................................................. 15
Table 2-1: Quality flagging thresholds ....................................................................................... 22
Table 3-1: Information about the time systems .......................................................................... 23
Table 3-2: Information about the Earth-fixed and inertial reference frames ................................... 23
Table 3-3: Information about the xp, yp and UT1 model ............................................................. 24
Table 3-4: Information about the SLR coordinates ...................................................................... 24
Table 3-5: Information about the DORIS coordinates .................................................................. 25
Table 3-6: Information about the ocean loading displacement ...................................................... 25
Table 3-7: Information about the Earth gravity field ................................................................... 25
Table 3-8: Information about the solid Earth tides ...................................................................... 26
Table 3-9: Information about the ocean tides ............................................................................ 26
Table 3-10: Information about the atmospheric tides .................................................................. 26
Table 3-11: Information about the third bodies .......................................................................... 27
Table 3-12: Information about the atmospheric density model ..................................................... 27
Table 3-13: Information about the mass and centre of gravity ..................................................... 30
Table 4-1: POD Service Products and Auxiliary Data Files Overview vs. Sentinels mission ................ 31
Table 4-2: Copernicus POD Service Products vs. Sentinel Mission ................................................. 32
Table 4-3: CPOD Products available on the Copernicus Open Access Hub ...................................... 33
Table 5-1: System changes summary (based on SPOD_SYSTEM_v0.8.4) ...................................... 34
Table 5-2: Quality flagging thresholds of SPOD_SYSTEM_V0.8.4 .................................................. 40
Table 5-10: Quality flags configuration of SPOD_SYSTEM_V1.0.7 ................................................. 67

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LIST OF FIGURES
Figure 2-1: Overview of the Ground Segment elements interacting with the CPOD Service .............. 19

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1. INTRODUCTION
1.1. PURPOSE
This document describes the Sentinels POD Product Handbook. It describes the products generated as
part of the provisioning of the Copernicus POD Service. This includes the products generated at the
Copernicus POD Service Centre itself, and, those generated by the Sentinel-3 POD Instrument
Processing Facility running at the S-3 Core PDGS.
1.2. SCOPE
This document is a deliverable by GMV in the frame of the Provision of the Precise Orbit Determination
Service for the Sentinel missions.
1.3. DEFINITIONS AND ACRONYMS

Acronyms used in this document and needing a definition are included in the following table:
Table 1-1: Acronyms

Acronym Definition Acronym Definition
Service of the atmospheric contribution to
AGRA MWR Micro-Wave Radiometer
geopotential
ANTEX Antenna Exchange Format NAF Napeos Attitude File
NAvigation Package for Earth Orbiting
ANX Ascending Node NAPEOS
Satellites
AOC Attitude, Orbit and Control NAVATT NAVigation and ATTitude information
AOCS Attitude and Orbit Control System NAVSOL Navigation Solution
National Centers for Environmental
BAHN Orbit Determination tool of NAPEOS NCEP
Prediction
BRDC Broadcast ephemeris file NEU North-East-Up
National Oceanic and Atmospheric
CFI Customer Furnished Items NOAA
Administration
CIO Celestial Intermediate Origin NOM Normal Operational Mode
NORth American aerospace Defense
CIP Celestial Intermediate Pole NORAD
command
CMC Centre of Mass Correction NPM Normal Pointing Mode
CNES Centre National d'Études Spatiales NRL U.S. Naval Research Laboratory
U.S. Naval Research Laboratory - Mass
COM Centre of Mass NRLMSIS Spectrometer and Incoherent Scatter radar
model
COSPAR Committee on Space Research NRO Non-Rotating Origin
CPF Consolidated Prediction Format NRT Near Real Time
CPOD Copernicus POD NTC Non Time Critical
CPR Cycle Per Revolution OFLPOD Offline POD
CRD Consolidated Range Data ORR Operational Readiness Review
CSC Copernicus Space Component PCO Phase Centre Offset
DIL Document Item List PCV Phase Centre Variations
DLR Deutsche Zentrum für Luft- und Raumfahrt PDGS Payload Data Ground Segment
Doppler Orbytography and Radiopositioning
DORIS PDI Product Data Item
Integrated by Satellite
EGP External GPS Provider PFS Product Format Specification
EIGEN European Improved Gravity model of the POD Precise Orbit Determination

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Acronym Definition Acronym Definition

Earth by New techniques
EOF Earth Observation File POE Precise Orbit Ephemeris
EOP Earth Orientation Parameters PSD Post-Seismic Deformation
EPP Earth Pointing Phase PTF Platform
ERA Earth Rotation Angle PVT Position, Velocity and Timing
ERS European Remote Sensing QWG Quality Working Group
ESA European Space Agency REP Reprocessing
ESOC European Space Operation Centre RID Review Item Discrepancy
FFS File Format Specification RINEX Receiver Independent Exchange
FOM Flight Operation Manual RMS Root Mean Square
FOS Flight Operations System ROE Rapid Orbit Ephemerides
FTP File Transfer Protocol RSGA Report of Solar-Geophysical Activity
GCRS Geocentric Celestial Reference System SAD Satellite Ancillary Data
Global Monitoring for Environment and
GMES SALP Service d'Altimetrie et Localisation Precise
Security
GMF Global Mapping Function SAR Synthetic Aperture Radar
GNSS Global Navigation Satellite System SDR Software Defined Radio
GPS Global Positioning System SFTP Secure FTP
GPSA Airbone GPS SLR Satellite Laser Ranging
GPT Global Pressure and Temperature model SPOD Sentinels POD
GRGS Groupe de Recherche de Géodésie Spatiale SPOT Satellite pour l'Observation de la Terre
HKTM House Keeping Telemetry SRAL SAR Radar Altimeter
IAU International Astronomical Union SRP Solar Radiation Pressure
ICD Interface Control Document SSH Secure Shell
ICDB Instrument Characterization Data Base STC Short Time Critical
IDS International DORIS Service SVL Svalbard
IERS International Earth Rotation Service TAI Temps Atomique International
IGS International GNSS Service TBC To Be Completed
ILRS International Laser Ranging Service TBD To Be Decided
IMT Instrument Measurement Time TIO Terrestrial Intermediate Origin
IOCR In-Orbit Commissioning Phase Review TIRS Terrestrial Intermediate Reference System
IPF Instrument Processing Facility URL Uniform Resource Locator
IRI International Reference Ionosphere USNO United States Naval Observatory
ITRS International Terrestrial Reference System USO Ultra-Stable Oscillator
LEO Low Earth Orbit UTC Coordinated Universal Time
LRR Laser Retro-reflector WRMS Weighted RMS
MOE Medium Orbit Ephemeris XML Extensible Markup Language
MSI Multi-Spectral Instrument YSM Yaw Steering Mode
Mass Spectrometer and Incoherent Scatter
MSIS
radar model

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1.4. APPLICABLE AND REFERENCE DOCUMENTS
1.4.1. APPLICABLE DOCUMENTS

The following documents, of the exact issue shown, form part of this document to the extent specified
herein. Applicable documents are those referenced in the Contract or approved by the Approval
Authority. They are referenced in this document in the form [AD.X]:
Table 1-2: Applicable Documents
Ref. Title Code Version Date

[AD.1] Sentinels POD Service File Format Specification GMES-GSEG-EOPG-FS-10-0075 1.24 18/11/2019
[AD.2] Earth Observation GS File Format Standard - GMES-GSEG-EOPG-TN-2010- 1.2 25/06/2013
Tailoring for the Sentinel Missions PDGS 0099
[AD.3] Sentinel 3 PDGS File Naming Convention GMES-S3GS-EOPG-TN-09-0009 1.3 07/11/2012
[AD.4] Sentinel-1A Commissioning Phase POD Report GMV-GMESPOD-TN-0018 1.0 01/10/2014
1.4.2. REFERENCE DOCUMENTS

The following documents, although not part of this document, extend or clarify its contents. Reference
documents are those not applicable and referenced within this document. They are referenced in this
document in the form [RD.X]:
Table 1-3: Reference Documents

[RD.1] Sentinel-1 Flight Operations Manual Volume 3 (AOC) S1-MA-TASI-SC-0006 8.0 10/09/2014
[RD.2] Sentinel-2 Spacecraft Operations Concept GS2.TN.ASD.SY.00010 7.0 07/07/2011
[RD.3] GMES SENTINEL S3 FOM: Attitude and Orbit S3-MA-TAF-SC-01462 3.0
Control Subsystem
[RD.4] IERS Conventions (2003) TN32 N/A 2004
[RD.5] IERS Conventions (2010) TN36 N/A 2010
[RD.6] ReleaseNote_SPOD_0.8.4 N/A N/A 16/09/2014

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[RD.29] ReleaseNote_SPOD_1.0.9-10 N/A N/A 06/09/2016

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2. COPERNICUS POD SERVICE CONTEXT
2.1. COPERNICUS POD SERVICE OVERVIEW

The Copernicus program (formerly known as GMES, Global Monitoring for Environment and
Security) is a joint initiative of the European Commission and the European Space Agency (ESA),
designed to support a sustainable European information network by monitoring, recording and
analysing environmental data and events around the globe. The Copernicus program will consist of
five different families of satellites.
The first family is Sentinel-1, and will consist of two satellites with imaging C-band radars. This
family will continue the C-band SAR data gathered by ERS and Envisat missions. The second family is
Sentinel-2, which will consist of two satellites with optical sensors. This family will continue providing
the products delivered by Landsat and SPOT missions. The main instrument is the Multi-Spectral
Instrument (MSI) which will operate from the visible to the shortwave infrared. The last family of the
Copernicus program taken into consideration here is the Sentinel-3, which will consist of two
satellites with several geodetic sensors which will continue with the provision of the products of
Envisat and ERS. The following are the products to be provided by the Sentinel-3 mission: surface
colour products, surface temperature products, land vegetation products and surface topography
products. These products are derived from the combination of data produced by the Radar Altimeter,
MWR and GNSS receiver.
The Copernicus POD Service is part of the PDGS Ground Segment of the Sentinel missions and is
responsible for generating precise orbital products and auxiliary data files for use in the processing
chains of the respective Sentinel PDGS. The Copernicus POD Service is a service developed and
operated by GMV with a system running on a cloud environment and providing products for the
Sentinel missions with different timeliness: near real-time, short-time critical, non-time critical and
reprocessing. On the other hand, the S-3 POD IPF is a software package developed as part of the
Copernicus POD Service that runs at the S-3 PDGS generating near-real time orbits for the Sentinel-3
mission.
2.2. COPERNICUS POD PRODUCTS HANDBOOK OVERVIEW

The Copernicus POD Service takes care of the generation of the orbital and auxiliary POD products
needed by the respective Sentinels PDGS for the generation of the Sentinels Level 2 products. The
POD products include the products generated at the Copernicus POD Service Centre and those
generated by the S-3 POD IPF at the S-3 PDGS.
As for any POD product, aside from any formatting aspect, the most important information describing
the POD products is related to the processing standards used. Hence special focus is paid to this in
this document. In particular, the following topics are treated:
 Copernicus POD processing overview, describing the processing standards.
 Reference frame and time systems, used throughout the complete POD service for the
generation of the POD products.
 Dynamical forces modelling, used as part of the numerical integration of the equations of
motion of the Sentinel satellites.
 Measurements modelling, including GPS, SLR and DORIS measurements, used for the
reconstruction of the measurements as part of the orbit determination processes.
 Satellite modelling, including both the mass and centre of gravity and the attitude laws of
each of the Sentinel satellites.
Additionally, the identifiers used for each of the products, together with the description and format
(file content and file naming) of each of the POD product files is also presented. These are based on
the file format specification detailed in [AD.1].
2.3. SENTINELS MISSIONS OVERVIEW

The Copernicus program is a joint initiative of the European Commission and the European Space
Agency, designed to support a sustainable European information network by monitoring, recording
and analysing environmental data and events around the globe.
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The Copernicus program consists of five different families of satellites, being the first three families
the subject of the present document.
The first family is Sentinel-1, and consists of two satellites with imaging C-band radars. This family
continues the C-band SAR data gathered by ERS and Envisat missions. Following are the services to
be provided by the Sentinel-1 mission:
 Monitoring of the Arctic Environment and Sea-ice zones.
 Surveillance of the marine environment.
 Monitoring and assessment of Land Surface-motion risks.
 Mapping land surfaces: forest, water and soil, agriculture.
 Global Mapping for the Humanitarian aids.
The second family is Sentinel-2, which consists of two satellites with optical sensors. This family
continues providing the products delivered by Landsat and SPOT missions. The main instrument is the
Multi-Spectral Instrument (MSI) which operates from the visible to the shortwave infrared range.
Following are the services to be provided by the Sentinel-2 mission:
 Generic Land Cover Maps for assessing land use and environmental monitoring (e.g., surface
type and surface change detection and classification), anthropogenic impact on the terrestrial
environment (e.g., food production, soil degradation, land exploitation).
 Maps of Geo-biophysical Variables for assessing processes and disturbances in vegetation
(forestry and agriculture) and inland waters.
The last family of the Copernicus program taken into consideration here is Sentinel-3, which consists
of two satellites with several sensors to continue the products of Envisat and ERS. Following are the
products to be provided by the Sentinel-3 mission:
 Surface colour products.
 Surface temperature products.
 Land vegetation products.
 Surface topography products, derived from the combination of data produced by the Radar
Altimeter, MWR and GNSS receiver.
The Copernicus POD Service is part of the Sentinels Payload Data Ground Segment (PDGS), which is
considered as part of the Copernicus Space Component (CSC) Core Ground Segment, along with the
Sentinels Flight Operation Segment (FOS). The PDGS shall cover the infrastructure necessary for:
 Sentinels data acquisition.
 Sentinels mission planning.
 Systematic generation of mission data products (e.g., Orbit Products).
 Mission data preservation and access.
 Sentinels mission performances monitoring and control.
 CSC data-sets assembly.
2.4. SENTINELS GROUND SEGMENT OVERVIEW

Figure 2-1 shows a high level diagram of the different elements of the ground segment of the Sentinel
missions interacting with the Copernicus POD Service.
The Copernicus POD Service interacts with:
 PDGSs: they are primarily in charge of receiving and processing the Sentinel instrument
payload data, including HKTM data, ensuring that satellite tasking is performed according to
the overall user requirements and satellite capabilities.
 External Auxiliary and GNSS Providers: these are entities external to the PDGSs providing
geophysical and environmental data necessary for the POD computations (e.g., GPS Orbits
and Clocks, solar flux, geomagnetic activity, etc.).
 CNES: in the frame of the Sentinel-3 mission and in agreement with the Agency, the CNES
French Agency generates operationally and delivers S-3 orbital and attitude products.

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 FOSs: they provide a data-access service to predicted and restituted orbit products, to
platform information (e.g., manoeuvres, centre of mass, etc.) needed by the POD Service for
processing activities. The respective Sentinel FOS informs the corresponding PDGS, and
therefore the Copernicus POD Service, about planned manoeuvres.
 QWG: the mission of the Sentinels Quality Working Group is to ensure the evolution of the
Copernicus POD Service in order to keep it in the state-of-the-art by proposing new
algorithms, products, processing methodologies, etc.
Sentinel-1 Sentinel-2 Sentinel-3
S-1 Core
Ground S-3
FOS FOS
Stations
S-2
FOS CNES
S-1 PDGS S-2 PDGS S-3 PDGS
S-3 POD
IPF
Cloud External
CPOD
CPOD GNSS
QWG Service Provider
External
Sentinels Auxiliary
Online Provider
Copernicus ILRS
Open Hub
Figure 2-1: Overview of the Ground Segment elements interacting with the CPOD Service
2.5. COPERNICUS POD PRODUCTS OVERVIEW

The main POD products generated by the Copernicus POD Service associated to the Sentinel-1
mission are: the predicted orbit file, restituted orbit file, precise orbit ephemerides, and
restituted attitude data. The following performance requirements are defined for each of these
products:
 Predicted Orbit File:
o The position accuracy threshold is 1 m 2D 1-sigma RMS. The 2D refers to the along-
track and cross-track directions.
o The file is generated within 30 minutes from the reception of GNSS data in the POD
FTP server.
o The file coverage is four orbits from the last ascending node crossing (ANX) present in
the GPS L0 input file.
 Restituted Orbit File:
o The position accuracy threshold is 10 cm 2D 1-sigma RMS. The 2D refers to the along-
o The file is generated within 3 hours from the reception of GNSS data in the POD FTP
server.
o The file coverage is one satellite orbit, from ascending node plus an overlap of 593
OSV before the satellite orbit time span.
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 Precise Orbit Ephemerides:

o The position accuracy threshold is 5 cm 3D 1-sigma RMS for S-1 POE orbit files.
o Each file covers 26 hours (one complete day plus 1 hour before the start and after the
end of the day – overlap of two hours between consecutive files).
o Files are delivered within 20 days after data acquisition.
 Restituted Attitude Data:
o The accuracy of the restituted attitude shall be better than 0.005 deg in roll, pitch and
yaw independently.
o The timeliness is the same as for the Sentinel-1 Restituted Orbit files production.
o The coverage is the same as the Sentinel-1 Restituted Orbit file.
o Due to inconsistencies in the accuracy of the attitude product, ESA requested not to
circulate them until these inconsistencies are fixed.
mission are: the predicted orbit file, and restituted orbit file. The following performance
requirements are defined for each of these products:
 Predicted Orbit File:
o The position accuracy threshold is 10 m 2D 3-sigma RMS. The 2D refers to the along-
o The file is made available at least 90 minutes before the next Sentinel-2 ascending
node crossing. The generation frequency is approximately equal to the Sentinel-2
orbital period as its delivery is related to the ascending node crossing.
o The file coverage is the next orbital revolution (start and end ascending node crossing)
plus a configurable number of orbital revolutions of prediction (0 by default,
configurable) and contains orbital state vectors at the epochs of the ascending node
crossings.
 Restituted Orbit File:
o The position accuracy threshold 3 m 3D 3-sigma RMS.
o The file is generated within 30 minutes from reception of GNSS data in the POD FTP
server. One file is generated for every dump.
o The file coverage is equal to the latest PVT contained within the received satellite
ancillary data that triggers such generation with 2 revolutions backwards
(configurable). The state vector frequency is of 30 seconds by default (configurable). 5
orbital state vectors (configurable) are added after the period of the latest PVT.
mission are: NRT restituted orbit file and NRT platform data file generated by the S3 POD
IPF, and the MOE and POE orbit files and the Preliminary and Precise Platform Data files
generated by the Copernicus POD Service Centre. The following performance requirements are
defined for each of these products:
 NRT Restituted Orbit File:
o The position accuracy threshold is 10 cm radial 1-sigma RMS with a target of 8 cm.
o The file is generated within 30 minutes from the reception of GNSS input data.
o The file coverage is equal to the input file coverage (GNSS data) plus at least 5 orbital
state vectors (configurable) before and after the period of the GNSS data in input. One
file is generated for each input received and contains orbital state vectors at fixed time
steps of 10 seconds.
 MOE Orbit File:
o The file is generated per day with a latency of 36 hours.
o The file coverage is 26 hours with orbital state vectors from d-3 at 22 h to d-2 at 24 h
for the product corresponding to day d. Each file contains orbital state vectors at fixed
time steps of 10 seconds.

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 POE Orbit File:

o The file is generated per day with a latency of 28 days after data acquisition.
o The file coverage 26 hours (one complete day plus 1 hour before the start and after
the end of the day – overlap of two hours between consecutive files – configurable)
and contains orbital state vectors at time steps of 10 seconds intervals (configurable).
 NRT Platform Data File:
o The accuracy threshold of roll and pitch axis biases is 0.05 degrees (3-sigma RMS).
o The accuracy threshold of yaw axis biases is 0.5 degrees (3-sigma RMS).
o The file is generated together with the NRT Restituted Orbit file.
o The file coverage is equal to the input GNSS data.
 Preliminary Platform Data File:
o The file is generated together with the MOE Orbit file.
o The file coverage is equal to the MOE Orbit file with which it is generated.
 Precise Platform Data File:
o The file is generated together with the POE Orbit file.
o The file coverage is equal to the POE Orbit file with which it is generated.
Aside from the previous POD products, there are other products for the Sentinel missions such as POD
products quality reports, including GNSS sensor performance monitoring information.
2.6. QUALITY FLAGGING DESCRIPTION

The orbital products consist on a XML file with time tagged orbital state vectors, each of them with a
quality flag. The quality flags can be one of the following:
1. NOMINAL: this is the default flag if the processing is nominal (i.e., if any of the degraded flag
have been set).
2. DEGRADED-MANOEUVRE: in case there is a manoeuvre in the interval covered by the
orbital product, the state vectors, before and after the manoeuvre, are flagged accordingly.
3. DEGRADED-OBSRESIDUALS: in case the RMS of the pseudo-range or carrier-phase is above
a certain threshold (independent per type of observable), all the state vectors in the orbital
product are set with this flag.
4. DEGRADED-OBSNUMBER: in case the number of accepted measurements in the POD
processing is below a certain threshold, all the state vectors in the orbital product are set with
this flag.
5. DEGRADED-OBSPERCENTAGE: in case the percentage of accepted measurements in the
POD processing is below a certain threshold, all the state vectors in the orbital product are set
with this flag.
6. DEGRADED-GAP: the state vectors for which no observations were available or accepted are
flagged accordingly.
7. DEGRADED-OVERLAP: in case the overlap with previous orbit RMS exceed a set threshold in
radial, along-track and cross-track directions, all state vectors are set with this flag.
8. DEGRADED-NAVSOL: in case the orbital product is based on the navigation solution, instead
of a proper POD processing, all the state vectors in the orbital products are flagged
accordingly.
The flags are presented hierarchically, meaning that the product is set with the first flag that is
triggered according to the previous list.

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Table 2-1 includes a summary of the quality flagging thresholds currently used in the operational
environment.
Table 2-1: Quality flagging thresholds
Type of products
Degradation flag Parameter RESORB MOEORB POEORB
RESORB POEORB PREORB
(S3) (S3) (S3)
Time after manoeuvre to be
0.0833 0.0833 0.0833 0.0833 0.0833 0.0833
DEGRADED- flagged (h)
MAOEUVRE Time before manoeuvre to be
300 300 300 300 300 300
flagged (s)
Phase RMS threshold (mm) 12 15 12 12 12 15
DEGRADED-
OBSRESIDUALS Pseudo-range RMS threshold
1.0 1.0 1.0 1.0 1.0 1.0
(m)
DEGREDADED-
Number of observations 50000 80000 50000 50000 80000 80000
OBSNUMBER
DEGRADED-
Percentage of observations (%) 50 50 50 50 50 50
OBSPERCENTAGE
Maximum gap allowed (s) 300 300 300 300 300 300
DEGRADED-GAP Minimum number of
1 1 1 1 1 1
observations per epoch
Radial RMS (cm) 3.0 3.0 3.0 3.0 3.0 3.0
DEGRADED-OVERLAP
Along-track RMS (cm) 4.0 4.0 4.0 4.0 4.0 4.0
Cross-track RMS (cm) 4.0 4.0 4.0 4.0 4.0 4.0
Minimum number of accepted
DEGRADED-NAVSOL 1000 3300 1000 1000 5000 5000
observations

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3. COPERNICUS POD PROCESSING STANDARDS
3.1. REFERENCE FRAME AND TIME SYSTEM

The independent variable in the equations of motion is the time system TT (Terrestrial Time). The
relationship of this abstract and uniform time scale to other time systems is well defined. The table
below shows the relationship between various time systems and the contexts in which they are used.
Table 3-1: Information about the time systems
System Relations Notes Standards

TAI Fundamental time system International Atomic Time n/a
UTC UTC=TAI-n1 n1 is the leap seconds Tables from USNO
TT TT=TAI+32.184s This is the independent variable IAU 2000/2006 space-time
for numerical integration reference (IERS-2010
Conventions [RD.5])
GPS GPS=TAI-19s Relation between GPS and TAI is Time-tag in sec since 12:00
fixed at 19 s January 01, 2000 GPS time
Earth Orientation here refers to the model for the orientation of the Earth-fixed reference relative to
the inertial reference. The former is necessary for associating observations, models and observatories
to the geographic locations; and the latter for dynamics, integration and ephemerides.
Table 3-2: Information about the Earth-fixed and inertial reference frames
Frame System Realization

Inertial GCRS J2000.0 (IERS-2010 Conventions
[RD.5])
Earth-fixed ITRS ITRF2014
The rotation between the Inertial and Earth-fixed frames is implemented as:
[GCRS] = Q(t)R(t)W(t) [ITRS],
Where:
 Q(t): transformation matrix arising from the motion of the celestial pole in the celestial
reference system,
 R(t): transformation matrix arising from the rotation of the Earth around the axis associated
with the pole,
 W(t): transformation matrix arising from the polar motion respectively [IERS-2010
Conventions] [RD.5].
The definitions of the GCRS and ITRS and the procedures for the transformation follow the IAU
2000/2006 resolutions.
3.1.1. POLAR MOTION AND UT1

The transformation matrix arising from the polar motion can be expressed as:
W(t) = R3(-s’)R2(xp)R1(yp),
Where xp and yp are the polar coordinates of the Celestial Intermediate Pole (CIP) in the ITRS and s’
is a quantity named TIO locator, which provides the position of the TIO on the equator of the CIP
corresponding to the kinematical definition of the non-rotating origin (NRO) in the ITRS when the CIP
is moving with respect to the ITRS due to polar motion.
The CIO based transformation matrix arising from the rotation of the Earth around the axis of the CIP
can be expressed as:
R(t) = R3(-ERA)

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Where ERA is the Earth Rotation Angle between the CIO and the TIO at date t on the equator of the
CIP, which provides a rigorous definition of the sidereal rotation of the Earth.
The equinox based transformation matrix R(t) for Earth rotation transforms from the TIRS to the true
equinox and equator of date system. It uses Apparent Greenwich Sidereal Time, the angle between
the equinox and the TIO, to represent the Earth’s angle of rotation, instead of the ERA.
The conventional relationship definition UT1 from the Earth Rotation Angle (ERA) is given by the IERS-
2010 Conventions:
ERA(Tu) = 2 pi (0.7790572732640 + 1.00273781191135448 Tu)
Where Tu = (Julian UT1 date – 2451545.0), and UT1 =UTC+(UT1-UTC), or equivalently (modulo 2pi),
in order to reduce possible rounding errors. This definition of UT1 based on the fact that CIO is
insensitive at the micro-arc-second level to the precession-nutation model and the observed celestial
pole offsets.
The above relationship also provides the ERA corresponding to a given UT1.
Table 3-3: Information about the xp, yp and UT1 model
Values Model Notes

Daily and sub-daily corrections applied in
Xp, Yp and UT1 IERS EOP Bulletin A from USNO
accordance with the IERS-2010 Conventions
3.1.2. PRECESSION AND NUTATION MODEL

 Precession and Nutation are modelled using IAU 2000/2006 model (IERS-2010 Conventions).
Reference epoch 2000.0 is used. The independent variable is TT since epoch J2000.0 (noon,
1st January 2000).
 Ocean tidal diurnal/semidiurnal variations in xp, yp and UT1 applied according to IERS 2010
Conventions (ortho_eop.f).
 High-frequency nutation: prograde diurnal polar motion corrections applied using IERS
routines.
 UT1 liberations applied using IERS routines.
 dx and dy corrections for the nutation from the IERS EOP finals2000A files (.daily and .data)
from USNO.
3.1.3. GPS CONSTELLATION

It consists of all healthy satellites declared as such at any time by the US Department of Defence.
3.1.4. SLR COORDINATES (SENTINEL-3 ONLY)

Mean station positions and velocities are taken from the ITRF2014 realisation of the ITRS in
accordance with the IERS-2010 Conventions.
Table 3-4: Information about the SLR coordinates
Values Model Notes

For missing stations in ITRF2014 the
SLR Coordinates ITRF2014
ILRS LPOD2008 values are used
3.1.5. DORIS COORDINATES (SENTINEL-3 ONLY)

Mean station positions and velocities are taken from the ITRF2014 realisation of the ITRS in
accordance with the IERS-2010 Conventions.

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Table 3-5: Information about the DORIS coordinates
Values Model Notes

For missing stations in ITRF2014 the IDS
DORIS Coordinates ITRF2014
DPOD2008 values are used
3.1.6. EARTH TIDES

Tidal displacements in accordance with the IERS-2010 Conventions:
 Solid Earth tide: IERS routines.
 Permanent tide: zero-frequency contribution left in tide model.
 Solid Earth pole tide: IERS-2010 mean pole (quadratic trend until 2003, linear trend from
2003).
3.1.7. ATMOSPHERIC LOADING

Not applied.
3.1.8. OCEAN LOADING (SENTINEL-3 ONLY)

Ocean tide loading consistent with IERS-2010 Conventions is applied, with site-dependent amplitude
and phases from Bos & Scherneck website for FES2014b tide model including CMC (Centre of Mass
correction). North-East-Up (NEU) site displacements computed using hardisp.f from D. Agnew.
Table 3-6: Information about the ocean loading displacement
Values Model Notes

Ocean loading displacement FES2014b Consistent with IERS-2010 Conventions
3.1.9. OCEAN POLE TIDES

Not applied.
3.2. DYNAMICAL FORCES MODELLING
3.2.1. GRAVITY FIELD
3.2.1.1. Earth Gravity

To compute the static geopotential, the EIGEN.GRGS.RL04 model is used (see table below).
Table 3-7: Information about the Earth gravity field
Parameter Value Notes

GMe 3.986004414E+14 taken from EIGEN.GRGS.RL04.qmp
Ae 6378136.46 taken from EIGEN.GRGS.RL04.qmp
fully normalized coefficients taken
Nmax 120
from EIGEN.GRGS.RL04.qmp
The time-variable part of the geopotential is represented by the trend, annual and semi-annual
coefficients up to degree and order 90 which are part of EIGEN.GRGS.RL04.qmp. The coefficients are
used to calculate arc specific corrections to the mean geopotential.

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3.2.1.2. Solid Earth Tides

In order to consider the contribution of the solid Earth tides, corresponding accelerations are
computed and added to the geopotential accelerations. This approach is equivalent to applying
corrections to geopotential coefficients as specified in the IERS-2010 Conventions.
Table 3-8: Information about the solid Earth tides
Model Description Notes

Frequency independent terms Corrections to C20, C21, S21, C22, IERS-2010 Conventions
S22, C30, C31, S31, C32, S32, C33,
S33, C40, C41, S41, C42 and S42
External Potential Love Numbers IERS-2010 Conventions
Anelasticity Contributions IERS-2010 Conventions
Frequency dependent terms Tidal corrections to C20, C21, S21, 21 long periodic, 49 diurnal and 2
C22 and S22 semi-diurnal tides used
Permanent tide in C20 4.1736E-9 Included in these contributions (is
implicitly removed from the value of
the mean C20)
3.2.1.3. Ocean Tides

In order to consider the contribution of the ocean tides (and the atmospheric tides), corresponding
accelerations are computed and added to the geopotential accelerations. This approach is equivalent
to applying the corrections to geopotential coefficients as specified in the IERS-2010 Conventions.
Table 3-9: Information about the ocean tides

Tidal arguments & Doodson 1921 & Schwiderski 1983
Amplitudes/Phases
Tidal harmonics FES2014 Containing 34 waves. Admittance
theory used to interpolate the
secondary waves. Maximum degree
and order =100.
3.2.1.4. Atmospheric Tides

The atmosphere tides are delivered together with the GFZ AOD L1B product.
Table 3-10: Information about the atmospheric tides

Tidal arguments & Doodson 1921 & Schwiderski 1983
Amplitudes/Phases
Tidal harmonics GFZ AOD L1B RL06 Containing 12 waves (3 diurnal, 6 semi-
diurnal, and 3 tri-diurnal). Maximum degree
and order = 100
3.2.1.5. Atmospheric Gravity

The non-tidal variability in the atmosphere and ocean is computed through using the GFZ AOD L1B
products (100x100), which are delivered on a daily basis with eight batches valid for 3 hours.
The corrections to the geopotential are available to degree and order 100 and are applied at the
intermediate epoch through linear interpolation between the bracketing data points.

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3.2.1.6. Third bodies

Unlike the geopotential accelerations, the perturbations due to the Sun, Moon and Solar system
planets are directly computed as accelerations acting on the spacecraft. The direct effects of the
objects on the satellite are evaluated using point-mass attraction formulas. The in-direct effects due to
the acceleration of the Earth by the planets are also modelled as point-mass interactions. However,
for the Moon, the indirect effects include the interaction between a point-mass perturbing object and
an oblate Earth – the so-called Indirect J2 effect.
Table 3-11: Information about the third bodies
Model Description
Third-Body Perturbation Direct & Indirect terms of point-mass 3rd body perturbations
Indirect J2 Effect Moon only
Planetary Ephemerides DE-405
3.2.1.7. Relativistic correction

The general relativistic contributions to the accelerations are computed as specified in the IERS-2010
Conventions, Section 10.2 including Lense-Thirring and de Sitter effects.
3.2.2. SURFACE FORCES AND EMPIRICAL

The non-gravitational forces acting on the Sentinel missions are modelled using the box-wing
approach. In this approach the satellite is modelled in two parts; the box represents the non-rotating
part of the satellite (relative to the satellite reference frame) and the wing represents the rotating
panel such as the solar array.
For each of these panel surfaces the following properties are defined: the surface area, the direction in
the satellite body fixed reference frame, the mean wall temperature, and, finally, the optical and
infrared absorption and reflectivity coefficients. In addition, the rotation direction must be defined for
the rotating panels. The actual rotation of the solar array is modelled (with possible misalignments
included by the satellite) during the orbit determination process.
3.2.2.1. Radiation Pressure model

Direct radiation applied, Earth shadow model including umbra/penumbra from regularizing function.
3.2.2.2. Radiation pressure scale coefficient

To be determined using an accurate modelling of the satellite and thereafter kept fixed. Typically the
Solar Radiation Pressure (SRP) coefficient is not estimated in LEO POD but fixed to an a priori value.
The SRP is strongly correlated with the estimated drag and CPR parameters and thus cannot be easily
or reliably estimated from short arcs. The SRP value may be estimated or improved from long-arc
analysis.
Currently, the SRP coefficient is estimated for all satellites.
3.2.2.3. Earth radiation

Reemitted radiation: Earth albedo and infrared radiation calculated from monthly mean maps
(ANGARA). Intermediate values are calculated through linear interpolation between the bracketing
monthly maps.
3.2.2.4. Atmospheric density model
Table 3-12: Information about the atmospheric density model
Model Value Notes

Atmospheric density NRLMSIS-2000 none

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3.2.2.5. Drag coefficients

The drag coefficients are estimated:
 10 coefficients per 24 h (NRT products).
 15 coefficients per 32 h (STC/NTC products).
3.2.2.6. Once-per-revolution empirical

Applied, 1 set every 12 h in along- and cross-track directions with sine/cosine coefficients. If a 32 h
arc is used, then 3 sets are applied.
3.3. MEASUREMENTS MODELLING
3.3.1. GPS MEASUREMENTS
3.3.1.1. Clock sampling

 Every 10 s.
3.3.1.2. Observation weight

 0.8 m for pseudo-range, 10 mm for phase.
3.3.1.3. Down weighting law

 None.
3.3.1.4. Elevation cut-off angle

 7 degrees.
3.3.1.5. Satellite antenna

 Correction from Centre-of-Mass to antenna reference point applied.
 Correction from antenna reference point to antenna phase centre applied through the ANTEX
file. Official IGS ANTEX for GPS satellites and specific ANTEX for Sentinel satellites.
3.3.1.6. Phase wind up

 Applied.
3.3.1.7. Receiver clock

 Estimated every 10 s.
3.3.1.8. Phase ambiguity

 Estimated per GPS pass. Integer ambiguity fixing is applied for NTC product line.
3.3.1.9. Troposphere correction

No troposphere correction is applied as the measurements are between a GPS satellite and an orbiting
receiver with an orbit of around 700 km of altitude.
3.3.1.10. Ionosphere correction

No ionosphere correction is applied as the GPS measurements from the two frequencies available
(dual frequency receiver) are linearly combined to remove the ionospheric delay to first order. Second
and higher order of ionospheric effects are neglected.

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3.3.2. SLR MEASUREMENTS (SENTINEL-3 ONLY)

 Applied, Mendes-Pavlis following IERS-2003 [RD.4] Conventions update (not changed in IERS-
2010 Conventions [RD.5]).
3.3.2.2. Retro reflector correction

 Fixed offset value per satellite according to manufacture specifications.

 8 cm for SLR two-way range measurements.

 None.

 7 degrees.
3.3.3. DORIS MEASUREMENTS (SENTINEL-3 ONLY)

DORIS measurements are not processed by the Copernicus POD Service routinely. These may,
nevertheless, be included in reprocessing campaigns if deemed necessary.

 GMF/GPT with dry modelled by Saastamoinen, wet delay estimated per station-satellite pass.

 4 mm/s for DORIS range-rate rate measurements.

 None.

 10 degrees.
3.3.3.5. Frequency bias

 Estimated per satellite-station pass.
3.3.3.6. Time-tag bias

 None.
3.4. SATELLITE MODELLING
3.4.1. MASS AND CENTRE OF GRAVITY

Post-launch values from FOS with regular updates.

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Table 3-13: Information about the mass and centre of gravity
Values Model
Satellite mass values to be obtained from FOS with regular updates
Satellite COM values to be obtained from FOS with regular updates
3.4.2. ATTITUDE LAW
3.4.2.1. Sentinel-1
Quaternions with fall-back on theoretical attitude model (default) or pure theoretical attitude model in
case of unavailability of the quaternions computed on-board. This means that quaternions computed
on-board by the SAR are used primarily. In case of small gaps (less than 10 s), these quaternions are
interpolated. In case of larger gaps, the attitude model is used instead. The attitude law of Sentinel-1
is summarised next based on [RD.1].
The Normal Pointing Mode (NPM) is the nominal operating mode during the Mission phase. The NPM
supports the SAR P/L activity providing nominal earth pointing attitude plus attitude roll steering, fine
pointing accuracy and stability performance. The nominal earth pointing attitude, as required to
support SAR P/L, foresees the satellite attitude to be defined with respect to the Zero Doppler
Reference frame as follows: the “x” spacecraft axis is aligned with the “x” Zero-Doppler Reference
axis, the “y” and “z” spacecraft axes are rotated by a described steering angle. The Zero-Doppler
Reference Frame has similar definition as the standard orbital reference frame except that the orbital
velocity is corrected for Earth rotation, in order to keep the S/C X axis aligned with its velocity with
respect to the Earth surface, and that the geocentric position vector is re-defined as perpendicular to
the Earth Ellipsoid (geodetic position).
3.4.2.2. Sentinel-2
on-board by the AOCS are used primarily. In case of small gaps (less than 10 s), these quaternions
are interpolated. In case of larger gaps, the attitude model is used instead. The attitude law of
Sentinel-2 is summarized next based on [RD.2].
The S-2 Normal Mode is Fine Pointing (AOC-NOM FP) for the MSI measurement phase. This is the
standard mode for payload operation as it provides high accuracy pointing and knowledge. This mode
corresponds to a geocentric point mode with yaw steering to reduce MSI image distortion.
3.4.2.3. Sentinel-3
on-board by the AOCS are used primarily. In case of small gaps (less than 10 s), these quaternions
are interpolated. In case of larger gaps, the attitude model is used instead. The attitude law of
Sentinel-3 is summarized next based on [RD.3].
The Normal Operational Mode (NOM) is dedicated to the science mission. It provides basically through
the Earth Pointing Phase (EPP) a three axes stabilized Earth pointing attitude with accuracy and
stability compliant with the payload requirements.
EPP allows performing Earth observation with four different pointing laws:
 Geodetic pointing.
 Geodetic pointing with yaw-steering in order to compensate the Earth rotation.
 Geocentric pointing.
 Geocentric pointing with yaw-steering in order to compensate the Earth rotation.

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4. COPERNICUS POD PRODUCTS DEFINITION
4.1. PRODUCTS IDENTIFIER

Table 4-1 below summarises the POD Service products with indication on the applicability of each
product to the Sentinel Mission.
Table 4-1: POD Service Products and Auxiliary Data Files Overview vs. Sentinels mission
Product Type Description Type File Type Sentinel-1 Sentinel-2 Sentinel-3

Predicted Orbit File NRT AUX_PREORB X X
Restituted Orbit File NRT AUX_RESORB X X
Medium Orbit
Ephemerides (MOE) STC AUX_MOEORB X
Orbit File
POD Orbit Files
Precise Orbit
Ephemerides (POE) NTC AUX_POEORB X X
Orbit File
NRT Restituted Orbit
NRT SR___ROE_AX X
File
Attitude Restituted
NTC AUX_RESATT X
Data for Sentinel-1
Preliminary Platform
STC AUX_PRLPTF X
Auxiliary Files Data for Sentinel-3
for Sentinels Precise Platform Data
NTC AUX_PRCPTF X
for Sentinel-3
NRT Platform Data for
NRT SR_2_NRPPAX X
Sentinel-3
Hourly GNSS Hourly GNSS L1B
NRT AUX_GNSSRX X
L1B files RINEX files for CNES
Daily GNSS L1B RINEX
NRT AUX_GNSSRD X
Daily GNSS files for CNES
L1B files Daily GNSS L1B RINEX
NRT AUX_GNSRXD X(*) X(*) X(*)
files for COAH
Quaternions Quaternions files for
NRT AUX_PROQUA X(*) X(*) X(*)
files COAH
CPF
CPF predictions STC AUX_STCCPF X(*)
predictions
S-1 Quality Control STC
REP_S1QCRP X
reports NTC
POD Quality STC
S-2 Quality Control
Control REP_S2QCRP X
reports NTC
Reports
S-3 Quality Control STC
REP_S3QCRP X
reports NTC
Inventory Inventory Report of
NTC AUX_PODARC X X X
Report the Archive
(*)
Not used by the respective Sentinel PDGS.
Table 4-2Table 4-2 summarises the POD Products that are generated for each Sentinel Mission. It also
provides information on the product originator, the POD Service Centre or the S-3 NRT POD IPF.

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Table 4-2: Copernicus POD Service Products vs. Sentinel Mission
Mission POD Product Originator

Predicted Orbit File
Restituted Orbit File
Precise Orbit Ephemerides (POE) Orbit File
Attitude Restituted Data
Sentinel-1 Daily GNSS L1B RINEX files for COAH CPOD Service
Quaternions files for COAH

Daily/weekly/monthly reports on the quality of the POD products and on the
GNSS sensor performance
Archive Inventory reports
Predicted Orbit File
Daily GNSS L1B RINEX files for COAH
Sentinel-2 Quaternions files for COAH CPOD Service
Daily/weekly/monthly Reports on the quality of the POD products and on the

NRT Restituted Orbit File
S-3 NRT POD IPF
NRT Platform Data
Medium Orbit Ephemerides (MOE) Orbit File
Precise Orbit Ephemerides (POE) Orbit File
Hourly GNSS L1B RINEX files for CNES
Daily GNSS L1B RINEX files for CNES
Daily GNSS L1B RINEX files for COAH
Sentinel-3
CPOD Service
CPF orbit predictions for the ILRS
Preliminary Platform Data
Precise Platform Data
Daily/weekly/monthly Reports on the quality of the POD Products and on the
4.2. PRODUCTS DESCRIPTIONS

The description of each of the products is presented in the applicable document [AD.1].
4.3. PRODUCTS FORMATS

The format of the products follows the conventions described in [AD.2], which describes how the Earth
Observation File format is tailored for the Sentinel missions. In the case of products generated by the
S-3 POD IPF, [AD.3] is used instead for the file naming convention. [AD.1] describes the format and
file naming of each of the products as a direct application of the previous documents.
4.4. PRODUCTS ACCESIBILITY

All the information available for the general public and related to the different aspects of the Sentinels
missions can be found in the Sentinel Online webpage (https://sentinel.esa.int/). The general public is
allowed to access the CPOD products via the Copernicus Open Access Hub (COAH) webpage

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(https://scihub.copernicus.eu/). Table 4-3 summarises the current list of the CPOD products available
on the COAH.
Table 4-3: CPOD Products available on the Copernicus Open Access Hub
Mission CPOD Product Comments

The product backlog of last month is available
(still not available in COAH)
The product backlog of the entire mission is available
POE Orbit File
S-1 (still not available in COAH)
Daily GNSS L1B RINEX files for COAH The product backlog of the entire mission is available
S-2 The product backlog of the entire mission is available
NRT Restituted Orbit File The product backlog of last month is available
Medium Orbit Ephemerides (MOE) Orbit File The product backlog of last month is available
Precise Orbit Ephemerides (POE) Orbit File The product backlog of the entire mission is available
S-3 Precise Platform Data The product backlog of the entire mission is available

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5. SYSTEM BASELINES
This section describes the system baselines used to assess the quality of the orbital products.
Note that the approach to be used along the Copernicus POD Service is to have a common POD
baseline for all the Sentinel missions. As such, this section summarises the main changes in the
different baselines for all the Sentinel missions. The list of baselines will indicate in the frame of which
mission the system has evolved.
5.1. SYSTEM CHANGES SUMMARY

Table 5-1 shows the main changes that have been implemented in the system and the system version
in which they were implemented, as well as what missions are affected by that change. Version
SPOD_SYSTEM_v0.8.4 is used as reference. Details related to the described changes can be found in
subsequent sections, specifying exactly which subsystems they are expected to have influence on.
Moreover, configuration parameters are gathered and modifications are clearly stated. Only changes
affecting missions in flight have been considered in the following summary. Starting on
SPOD_SYSTEM_v1.7.x, only major version changes which have an impact on POD products are
reported in this document without details on sub-versions (which include minor modifications not
directly impacting products).
Table 5-1: System changes summary (based on SPOD_SYSTEM_v0.8.4)
Version Date Change description S-1 S-2 S-3

Remove an interval around manoeuvres in QC
X
Reports to avoid spikes in comparisons
SPOD_SYSTEM_v0.8.5 29/09/2014
Use last 5 available EGP 24H products instead of only
X
one to improve RESORB products accuracy
Stop upload of S1 RESATT products to ftp X
SPOD_SYSTEM_v0.8.6 18/11/2014 Use MPL_PREORB to obtain orbit number for S-1 NTC
X
and NRT products
Change the IERS standards from IERS2003 to
X
IERS2010
Usage of the gravity field model EIGEN6S instead of
SPOD_SYSTEM_v0.8.7 08/01/2015 X
the GRACE05
Usage of the ocean tide model EOT11a instead of
X
FES2004
New WRMS and editing sigma set to 5.0 instead of
X
SPOD_SYSTEM_v0.8.8 27/01/2015 3.0
Write RESATT in EO CFI frame X
Improve robustness of NTC and ESOC comparisons X
SPOD_SYSTEM_v0.8.9 27/02/2015
Correct issues in the generation of attitude product X
SPOD_SYSTEM_v0.9.0 07/04/2015 Change the Napeos satellites IDs in database X
Use the navigation message as a basis for the
X
construction of the STC or IGS files
Change RMS pseudo-range threshold to 1.0 m and
SPOD_SYSTEM_v0.9.1 24/06/2015 X
adapt QC Reports threshold
Add option to interpolate attitude file for attitude
X
products generation
Sentinel-2A Launch (23/06/2015)
Change NTC determination arc from 72h to 48h X X
SPOD_SYSTEM_v0.9.2 14/07/2015
Increase robustness of attitude processing X X
05/08/2015 New attitude mode implemented for S-2A X
(S-1)
SPOD_SYSTEM_v0.9.3
29/07/2015 Launch NTC processing 7 days into the past for S-2A X
(S-2)

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Use constant set of state vectors to produce a proper
X
RESORB for S2, according to ICD
SPOD_SYSTEM_v0.9.4 25/09/2015 Deploy new Antex file with information about S-1A
nominal and redundant receiver, and S-2A nominal X X
receiver
Configure the quality flagging mechanism for S-2
X
PREORB products
SPOD_SYSTEM_v0.9.5 06/10/2015
Deploy updated Antex for S1A GPS redundant
X X
receiver and S2A nominal receiver
Generate S-2 PREORB products only if there are SAD
X X
PDIs in the last 4 hours
Update Sentinel’s ANTEX file X
SPOD_SYSTEM_v0.9.6 14/12/2015
Update S3PODIPF (GPS L0 decoder) to improve
accuracy of pseudo-ranges and avoid usage of GPS X X
Ephemeris
Update Box Wing Model for S-1A X
Include a S-2 Box-Wing Model (previously it was
SPOD_SYSTEM_v0.10.0 25/01/2016 X
using constant area)
Include a S-3 Box-Wing Model (not tested yet) X
Sentinel-3A Launch (17/02/2016)
Updated GPS DBs (satellite.dat, transp.dat)
Updated GPS Antex (igs08.atx) X X X
SPOD_SYSTEM_v1.0.0 18/02/2016
Updated ICDBs for format alignment
Included PassSegmentList module X
Updated Sentinel DBs (satellite.dat, transp.dat) for
X
Sentinel-3A to align to launch values
SPOD_SYSTEM_v1.0.1 08/03/2016
Updated version of NAPEOS4S3PODIPF correcting
X
attitude handling
Corrected frame of reference transformation to
SPOD_SYSTEM_v1.0.2 11/03/2016 X
Satellite Frame of Reference for S-3
Corrected decoding of NAVATT files for generating
SPOD_SYSTEM_v1.0.3 05/03/2016 X
quaternions using Packet Generation Timestamp
SPOD_SYSTEM_v1.0.4 06/03/2016 Corrected Platform Data File frame of reference X
Updated ANTEX including S-3A GPSA receiver X
Updated Sentinel transponder DB (transp.dat) with
X
SPOD_SYSTEM_v1.0.5 13/04/2016 corrected information on SLR antenna
Add ILRS stations 1824, 1888, 1889, 1990 and 7827
X
to the station DB
Updated Sentinel transponder DB (transp.dat) with
X
corrected location of GNSS antennae for Sentinel-3A
Updated ANTEX including S-3A GPSA receiver using
SPOD_SYSTEM_v1.0.6 20/04/2016
new antenna location, computed from 8 days of NTC X
executions
Change timeliness of S3 NTC to go 25 days X
Change Quality flags thresholds of Sentinel-3A to
X
align to S-1A and S-2A values
Update Sentinel transponder DB (transp.dat) to
X
update reference point of SRAL antenna
SPOD_SYSTEM_v1.0.7 21/04/2016
Modify S3PODIPF to generate NRT products based on
X
the navigation solution when Bahn POD fails
Modify S3PODIPF to change permission of generated
X
files to 644 explicitly
Sentinel-1B Launch (22/04/2016)

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Update S3PODIPF to extract path for temporary
X
NAPEOS files from Job Order output
SPOD_SYSTEM_v1.0.8 30/05/2016
Solve issue causing occasional incorrect Orbit Number
X X X
in EOF NRT products
Solve issue with S3PODIPF related to number of SV
X
SPOD_SYSTEM_v1.0.9 27/06/2016 count in PTF
Deploy new ANTEX with S-1B information X
Update SLR stations selection policy to exclude
X
tracking from biased stations
Update rsgaConv.bin to make it more robust against
X X X
missing info in Solar Activity File
SPOD_SYSTEM_v1.0.10 06/09/2016 Change Bahn configuration for S-3 STC and NTC, and
for S3PODIPF to use multi-tracks in case of X
manoeuvre
Change timeliness of hourly RINEX for CNES to 4.5h
X
after sensing time
Deploy new IPF to decode Sentinel-1 quaternions
X
from SAR Annotation files
Change Bahn configuration for S-2 NRT orbits to use
X
manoeuvre split arcs in case of manoeuvre
SPOD_SYSTEM_v1.1.0 20/10/2016 Change timeliness to launch PREORB 100min before
X
predicted ANX
Add CMC handling in sp3 orbit generation X X X
Correct expression of the solar radiation pressure
X X X
partial derivative in the Box Wing Model
Deploy new ANTEX with S-3A information computed
X
by 90 days of residuals
The timeliness and coverage of the Medium Orbit
Ephemerides Orbit Files (AUX_MOEORB) and
Preliminary Platform Data Files (AUX_PRLPTF) has
been adapted to the expectations of the S3 PDGS, X
SPOD_SYSTEM_v1.1.1 10/11/2016 such that the product with coverage d-2 at 22h to d-1
at 24h (GPS time) will be delivered before noon on
day d.
The coverage of the Precise Orbit Ephemerides Orbit
Files (AUX_POEORB) and Precise Platform Data Files
X
(AUX_PRCPTF) has been change to d-1 22:00 until
d+1 00:00 (GPS time)
Include tool to reduce SAR Annotation Files, SAD PDI
files, overlaps and duplicates from archive (affecting X X X
reprocessing)
The determination period of NTC products has been
reduced from 48h to 32h (26h coverage + 3h in each X X X
border)
The minimum number of observations per epoch
threshold has been modified from 4 to 1 for quality
X X X
flagging (more appropriate for dynamic orbit
SPOD_SYSTEM_v1.2.0 13/12/2016
determination).
Implement S-2 solar array rotation (rewinding during
X
eclipse).
New gravity field model EIGEN.GRGS.RL03.v2.coef X X X
Deploy first version of SLR ANTEX for S-3A based on
X
LRR geometry
Deploy new ANTEX with S-1B information computed
X
by 84 days of residuals
The filename of CPF gets the epoch directly from the
SPOD_SYSTEM_v1.2.1 16/01/2017 X
CPF itself
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Two new chains (S?PODNTCREPRO-A/B and
S?PODNTCRP-A/B) created for reprocessing NTC X X X
products
Correct the unexpected peak that sometimes
appeared in the Number of consecutive violated orbits X
SPOD_SYSTEM_v1.3.0 16/02/2017 figure.
Deploy a new GPS ANTEX (igs14_1935.atx) X X X

Correct the unexpected peak that sometimes
X
appeared in the Mean Local Solar Time figure.
SPOD_SYSTEM_v1.3.1 27/03/2017
Update header for ITRF14 realization in OrbUpd to
X X X
generate sp3 orbits
Change in CNES RINEX generation process to
SPOD_SYSTEM_v1.3.2 18/05/2017 X
guarantee continuity between different execution
New antex file deployed: sen08_1950.atx X
New GPS antex file deployed: igs14_1949.atx X X X
SPOD_SYSTEM_v1.3.3 29/05/2017
Change POD NTC/STC processing chain to avoid using
broadcast navigation message information (BRDC) X X X
info if IGS/STC orbits available
SPOD_SYSTEM_v1.3.4 19/06/2017 Generation and distribution of daily operational RINEX X X X
Include option to apply Differential Code Biases when
X X X
using observations different than P1 and P2
Use 24H orbit file prediction for S3PODIPF near end of
X
interval
Use Earth Orientation Parameters (EOPs) provided by
SPOD_SYSTEM_v1.3.5 27/07/2017 X
EGP for S3PODIPF
Align all EGP clocks to broadcast navigation message
X
for S3PODIPF
Implement clever selection of EGP inputs by
X
S3PODIPF to avoid copying unneeded files
Implement changes related to Post-Seismic
X
Deformation (PSD)
Update source code to be compatible with SLES12
X X X
SP1 compiler, and with gfortran 4.6.1
SPOD_SYSTEM_v1.3.6 22/08/2017 Improvements for Quality Reports X X X
New antex file deployed with Sentinel-2B 90-residual
X
computation: sen08_1963.atx
New station database deployed pointing to ILRS2014
X X X
coordinate file (ILRS2014-ESOC.crd)
Upgrade IPF to update RINEX files version to 3.03 X X X
SPOD_SYSTEM_v1.3.7 11/10/2017 Start processing GNSS RINEX for Copernicus Data
X X X
Hub, including dissemination mechanisms
Correct problem reported by LAND centre in
S3PODIPF – degraded orbit when 24H orbit and clock
do not correspond to same epoch (see NRTPODAR-
11).
Correct issues in preparation for S-3B:
– The attitude product (SR_2_NRPPAX) generation
SPOD_SYSTEM_v1.3.8 30/10/2017 X
rate has been changed to 10s, as per FFS
– The box-wing model has been aligned to S-3A
– The threshold for pseudorange RMS has been
changed from 1.0 to 1.5 m to consider
DEGRADED products to allow for L2C processing
without DCBs

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Preliminary version of DORIS processing chain
(DORIS-only and DORIS+GPS orbits)
Adapt GETHF chains (mainly for S-2) to use trigger
strategy - avoid stacking of processing executions
SPOD_SYSTEM_v1.3.9 08/11/2017 Implement outlier detection mechanism for X X X
polynomial time computation in S3PODIPF
Implement half cycle bias correction reading info from
GPS Auxiliary Data (s-1,-3 and s-2b) or GPS Channel
Status data (s-2a)
Removal of temperature effects and configure HW
X X X
bias to 23.5 m in the decoding tool (IPF)
Correction of half-cycle ambiguities in the decoding
X X X
tool (IPF)
SPOD_SYSTEM_v1.4.0 28/11/2017 Align RINEX epochs to GPS time instead of IMT for all
X X X
the orbital products, but the S-3 NRT ones
Enable the uploading of S-1B RESATT products in NRT
X
time
Update location of S-3B antenna in DB X
Create processing chain to process DORIS
X
operationally and DORIS+GPS
Prepare a new version of S3PODIPF with changes to
SPOD_SYSTEM_v1.4.1 29/01/2018 X
do not use L2C with S-3B during commissioning
Create new S-3 interface from CPOD/EGP and LAND
X
centre for S-3B
Create chains to generate and distribute data for
X X X
Sentinel OnLine
New ANTEX file with small corrections deployed:
X X X
sen08_1989.atx
New satellite & transponder DBs with small
corrections deployed: s3satellite1990100.dat & X X X
SPOD_SYSTEM_v1.4.2 26/02/2018 s3transp1990100.dat
New S3B ICDB was deployed: s3bicdb_1969.xml X

Corrections on S3PODIPF for redundant receiver:
– The generation of imt2gps file
X X X
– Half cycle ambiguity
– Decoding S2 L0 data
Update the SVL server IP address to trinity server X
SPOD_SYSTEM_v1.4.3 08/05/2018 New satellite & transponder DBs with updated

NORAD, COSPAR and SIC IDs for Sentinel-3B: X
s3satellite2000100.dat & s3transp2000100.dat
Generate quaternions file merging real and simulated
X X X
attitudes during data gaps.
Implement new mechanisms to fill EGP/magic gaps in
SPOD_SYSTEM_v1.5.0 05/06/2018 X X X
case of FTP/internet failure
Modifications to correct application of North and East
X
PCO values
Preparation of the system for the processing of
X
Sentinel-3B.
Implemented a satellite re-radiation model X X X
Implemented a fixed solar array model for S1 X
SPOD_SYSTEM_v1.5.1 04/10/2018
Updated sentinels ANTEX to include information for
S3B and updated sentransp.dat to include SLR ANTEX X
for S3B (the same that is used by S3A)
Updated IRI model and addition of NeQuick

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Updated reference orbit of S3B X
Updated IPF to correctly decode L0 data from both
X
redundant and nominal receivers simultaneously.
Implementation and operational usage of the
SPOD_SYSTEM_v1.5.2 30/10/2018 X
Sentinel-2 Geocentric YSM attitude mode.
Update the GPS databases to align them with the
X X X
latest changes in the GPS constellation.
SPOD_SYSTEM_v1.5.3 07/11/2018 Update of the Sentinels databases to update the
location of the y-axis coordinate of instruments on S- X
3A to match CNES/DLR configuration.
Update GPS satellite and transponder DBs and include
new GPS ANTEX according to the launch of the X X X
satellite GPS-74
SPOD_SYSTEM_v1.5.4 06/03/2019 Modify the format of the quaternions files’ header as
X X X
generated by the decoder L0 to L1b
Update AttComp program in order to properly tag the
X X X
pitch and roll angles
Quaternions products (AUX_PROQUA) can be
X X X
generated by the system
Alignment of EGP 15M GPS and broadcast clocks
products to EGP 24H GPS clocks products during the X X X
generation of NRT orbits
QC CPOD-CNES comparisons for S3 NRT & STC CPOD
products against CNES MDO solution instead of CNES X
MGN solution
SPOD_SYSTEM_v1.5.5 14/10/2019 CPOD System able to process CRDs V2 and to
generate CPFs V2. Additionally, CPFs V2 distributed to X
an intended folder inside the external FTP server
Enable the generation of S1 AUX_PREORB products X
Update decoder to properly handle the GPS week
X X X
rollover occurred on 07/04/2019
Update GPS ANTEX (igs14_2062.atx), GPS
transponder DB (transp2062400.dat) and GPS X X X
satellite DB (satellite2062400.dat)
The system has been updated to include the new
X X X
models
The NTC products are now ambiguity fixed X X
Accuracy improvement on the S-2 PREORB products
X X
and the S-3 CPF Prediction files for the ILRS
Creation of the corresponding chains for being able to
upload S-1 NRT/NTC and S-3 NRT/STC/NTC/PRCPTF
SPOD_SYSTEM_v1.6.0 06/05/2020 products to the Copernicus Open Access Hub on a X X
daily basis
Corrected an underperformance when merging GNSS
15M and 24H input files on the generation of the NRT X X X
products
Update GPS ANTEX file (igs14_2101.atx), GPS
transponder DB (transp2104300.dat), and GPS X X X
satellite DB (satellite2104300.dat)
Change of S-1 ARP configuration and updated ANTEX
X
file for S-1 (sen08_2116.atx)
Correct bug in computation of water vapour for
SPOD_SYSTEM_v1.7.x 29/07/2020
tropospheric estimation – impacting only SLR X
residuals analysis
Update of GPS ANTEX file (igs14_2114.atx) X X X

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5.2. SPOD_SYSTEM_V0.8.4
This system was delivered in the operational processing chain on 16/09/2014. It has been also used
for the processing of the data presented in the first POD QWG meeting.
5.2.1. DOCUMENTATION
The applicable version of Sentinels POD Service File Format Specification (GMES-GSEG-EOPG-FS-10-
0075 [AD.1]) is 1.13 from 13/06/2014.
5.2.2. SW
The SW is TAGGED in the repository with SPOD_SYSTEM_v0.8.4 (ref. [RD.6]).
5.2.3. POD CONFIGURATION FOR S-1

The main characteristics of this configuration are:
 Parameters estimated:
o State-vector.
o 6 drag coefficients per 24 h.
o 1 set of sine and cosine CPR per 12 h in along- and cross-track directions.
o A solar radiation pressure coefficient.
o Manoeuvre scale factors (in radial-, along- and cross-track directions).
o Receiver clock every 10 s.
o Phase ambiguity every pass.
 Observation sampling: 10 s.
 Observation weight: 0.8 m for pseudo-range, 10 mm for phase.
 WRMS and editing sigma: 3.
 Down weighting law: none.
 Elevation cut-off angle: 7 degrees.
 Satellite mass and CoM: Obtained from the satellite mass property report.
 S-1A ANTEX: sen08_1810.atx.
 S-1A ICDB: s1aicdb_1743.xml.
 Attitude: nominal S-1 attitude (simulated).
 Quality Flagging configuration in Table 5-2.
 Thresholds for orbital comparisons in case of manoeuvre: orbital comparisons 5 minutes
before and after each manoeuvre are excluded from comparisons.
Table 5-2: Quality flagging thresholds of SPOD_SYSTEM_V0.8.4
Type of products
Degradation flag Parameter
RESORB POEORB
Time after manoeuvre to be flagged (h) 12 12
DEGRADED-MAOEUVRE
Time before manoeuvre to be flagged (s) 60 60
Phase RMS threshold (mm) 12 12
DEGRADED-OBSRESIDUALS
Pseudo-range RMS threshold (m) 0.8 0.8
DEGREDADED-OBSNUMBER Number of observations 50000 180000
DEGRADED-OBSPERCENTAGE Percentage of observations (%) 50 50
Maximum gap allowed (s) 300 300
DEGRADED-GAP
Minimum number of observations allowed 4 4
DEGRADED-OVERLAP Radial RMS (cm) 3.0 3.0

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Type of products
RESORB POEORB
Along-track RMS (cm) 4.0 4.0
Cross-track RMS (cm) 4.0 4.0
DEGRADED-NAVSOL Minimum number of accepted observations 1000 5000

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This system was delivered in the operational processing chain on 29/09/2014.
0075 [AD.1]) is 1.14 from 01/10/2014.
5.3.2. SW

The main characteristics of this configuration with respect to version 0.8.4 (see section 5.2.3) are the
following:
Type of products
RESORB POEORB
Time after manoeuvre to be flagged (h) 0.083 0.083
DEGRADED-MAOEUVRE
DEGRADED-GAP
Minimum number of observations per epoch 4 4
Radial RMS (cm) 3.0 3.0
DEGRADED-OVERLAP
5.3.4. DIFFERENCES WITH RESPECT TO PREVIOUS SYSTEM

These are the main differences with respect the previous system:
 To configure the flags of the orbital products (RESORB and POEORB) as specified in the
document “GMV-GMESPOD-TN-0018_v1.0_Sentinel-1A Commissioning Phase POD Report”
([AD.4]). This change affects the quality flags of the products. The most relevant is the flag
indicating manoeuvres (DEGRADED-MANOEUVRE), where previously flagged up to 12 hours
after the manoeuvre, while now it is only 5 minutes around each manoeuvre.
 To remove an interval around each manoeuvre when doing the comparisons to avoid
corrupting the statistics. This change affects the POD QC reports and will about the spikes that
arise every time there is a manoeuvre.
 Use the last five EGP 24H products applicable to the NRT processing to get the most suitable
product applicable to the NRT being processed. Previously it uses only the last EGP 24H
product available. This change should improve the accuracy of the NRT products. The most
appropriate 24H GPS product is defined as starting close to the start of the determination arc
(which also covers 24 h) but before (or equal) to that epoch. Is key to cover the beginning of
the determination arc with 24H GPS products, and fill the last part of the arc with 15M GPS
products (if needed). This will assure that most of the determination arc uses the most
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accurate product (24H GPS products are more accurate than the 15M GPS products). The
same approach is foreseen for the S3PODIPF.
 Fix the problem of the zero number of visible satellites in the POD QC report. This change
correct the plot “Number of observed GPS satellites per receiver” in the POD QC report.

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5.4.2. SW

following:
Type of products
RESORB POEORB
DEGRADED-MAOEUVRE
DEGRADED-GAP
DEGRADED-OVERLAP

 Small corrections to increase robustness in the overall processing.
 S-1 NRT and NTC chains modified to use S-1 MPL_PREORB to obtain orbit number.
 Avoid uploading S-1 RESATT product to the Copernicus POD Service FTP.

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5.5.2. SW

The main characteristics of this configuration are: No changes since last version 0.8.6 (see section
5.4.3).

 Change the IERS standards from IERS2003 to IERS2010.
 Usage of the gravity field model EIGEN6S instead of the GRACE05.
 Usage of the ocean tide model EOT11a instead of FES2004.
These changes have a significant improvement in the accuracy of the orbital products.

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5.6.2. SW

o State-vector.
 Arc determination: 72 h.
 Satellite mass and CoM: obtained from the satellite mass property report.
 Quality flags configuration: same as version 0.8.6 (see section 5.4.3).

 New WRMS and editing sigma set to 5.0 instead of 3.0.
 Write RESATT in EO CFI frame and correct bugs in the generation of the RESATT product.

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5.7.2. SW

The main characteristics of this configuration are: no changes since last version 0.8.8 (see section
5.6.3).

 Improve robustness of NTC comparisons.
 Some bugs corrected into the ESOC orbits comparison.
 Management of EO CFI frame in the conversion from EOF to NAF.
 Interpolate attitude only in gaps smaller than 1.5 s.
 Create attitude file at 1 Hz.

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5.8.2. SW

5.6.3).

 Change the NAPEOS satellites IDs in database.

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5.9.2. SW

following:
Type of products
RESORB POEORB
DEGRADED-MAOEUVRE
DEGRADED-GAP
DEGRADED-OVERLAP

 Use the navigation message as a basis for the construction of the STC or IGS files.
 Change RMS pseudo-range threshold to 1.0 m and adapt QC Reports threshold.
 Increase robustness of cleaning processing.
 Launch GPS comparisons 28 days in the past to avoid missing IGS products.
 Add option to interpolate attitude file for attitude products generation.

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5.10.2. SW

o State-vector.
 Arc determination: 48 h.
 Satellite mass and CoM: Obtained from the satellite mass property report.
Type of products
RESORB POEORB
DEGRADED-MAOEUVRE
DEGRADED-GAP
DEGRADED-OVERLAP

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Type of products
RESORB POEORB

 Change NTC determination arc.
 Increase robustness of attitude processing.

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This system was delivered in the operational processing chain on 29/07/2015 for S-2A and on
05/08/2015 for S-1A.
0075 [AD.1]) is 1.16 from 27/03/2015.
5.11.2. SW
5.11.3. POD CONFIGURATION FOR S-1 AND S-2

The main characteristics of this configuration are: No changes since last version 0.9.2 (see section
5.10.3).

 New S3PODIPF (GPS L0 decoder).
 New attitude mode deployed for Sentinel-2A.
 Configure S-2A NTC generation to be launched 7 days in the past – accuracy not as critical as
for S-1A.

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5.12.2. SW

o State-vector.
 S-1A and S-2A ANTEX: sen08_1862.atx.
 S-1A and S-2A ICDB: s1aicdb_1743.xml; s2aicdb_1839.xml.
 Attitude: nominal S-1 and S-2 attitude (simulated).
 Quality flags configuration in Table 5-7.
Type of products
RESORB POEORB PREORB FSPORB
Time after manoeuvre to be flagged (h) 0.0833 0.0833 12 12
DEGRADED-MAOEUVRE
Time before manoeuvre to be flagged (s) 300 300 60 60
DEGRADED- Phase RMS threshold (mm) 12 12 15 15

OBSRESIDUALS Pseudo-range RMS threshold (m) 1.0 1.0 1.1 1.1
DEGREDADED-
Number of observations 50000 120000 35000 35000
OBSNUMBER
DEGRADED-
Percentage of observations (%) 50 50 85 85
OBSPERCENTAGE
Maximum gap allowed (s) 300 300 300 300
DEGRADED-GAP
Minimum number of observations per epoch 4 4 4 4
DEGRADED-OVERLAP Radial RMS (cm) 3.0 3.0 3.0 3.0
Along-track RMS (cm) 4.0 4.0 4.0 4.0

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Type of products
Cross-track RMS (cm) 4.0 4.0 4.0 4.0
DEGRADED-NAVSOL Minimum number of accepted observations 1000 3300 1000 1000

 Use constant set of state vectors to produce a proper RESORB for S2, according to ICD.
 Deploy new Antex file with information about S-1A nominal and redundant receiver, and S-2A
nominal receiver.

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5.13.2. SW

o State-vector.
Type of products
Time after manoeuvre to be flagged (h) 0.0833 0.0833 0.0833 12
DEGRADED-MAOEUVRE
Time before manoeuvre to be flagged (s) 300 300 300 60
DEGRADED- Phase RMS threshold (mm) 12 12 12 15

OBSRESIDUALS Pseudo-range RMS threshold (m) 1.0 1.0 1.0 1.1
DEGREDADED-
Number of observations 50000 120000 50000 35000
OBSNUMBER
DEGRADED-
Percentage of observations (%) 50 50 50 85
OBSPERCENTAGE
Maximum gap allowed (s) 300 300 300 300
DEGRADED-GAP
Minimum number of observations per epoch 4 4 4 4
DEGRADED-OVERLAP Radial RMS (cm) 3.0 3.0 3.0 3.0
Along-track RMS (cm) 4.0 4.0 4.0 4.0

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Type of products
Cross-track RMS (cm) 4.0 4.0 4.0 4.0
DEGRADED-NAVSOL Minimum number of accepted observations 1000 3300 1000 1000

 Configure the quality flagging mechanism for S-2 PREORB products.
 Deploy new ANTEX file with information about S-1A nominal and redundant receiver, and S-2A
nominal receiver.

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5.14.2. SW

o State-vector.
 GPS ANTEX: igs08_1869.atx.
 Quality flags: same as in version v0.9.5 (see section 5.13.3).

 Only run PREORB if latest NRT file has been updated in last 4 hours; i.e., if there are up-to-
date SAD PDIs.
 Only keep 15M files from EGP/magic for 10 days in OFLPOD FTP.
 Update Sentinel´s ANTEX to include refined S-2A redundant info.
 Update S3PODIPF to improve accuracy of pseudo-ranges and avoid usage of GPS Ephemeris in
the computation.

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5.15.2. SW

o State-vector.
 Attitude: Nominal S-1 and S-2 attitude (simulated).
 Box Wing Model: updated version deployed for S-1A; new version deployed for S-2A.

 Update Box Wing Model for S-1A assuming that the solar panels are not oriented
perpendicularly to the Sun but fixed at an angle with respect to the satellite body.
 Implement new Box Wing Model for S-2A instead of assuming constant area.
 Implement new Box Wing Model for S-3 instead of assuming constant area.

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5.16.2. SW
The SW is TAGGED in the repository with SPOD_SYSTEM_v1.0.0 (ref. [RD.20])
5.16.3. POD CONFIGURATION

o State-vector.
 ANTEX: sen08_1873.atx.
 ICDB: s1aicdb_1883.xml; s2aicdb_1889.xml, s3aicdb_1883.xml.
 Attitude: nominal attitude (simulated for S-1A).
 Box Wing Model: same as in version v0.10.0 (see section 5.15.3).

 Updated GPS satellite and transponder DB.
 Updated GPS ANTEX file.
 Updated ICDB files to set same number of decimals of clock frequency in all satellites.
 Included PassSegmentList module used to compute the Pass Segment List required by the
ILRS Community to track Sentinel-3A using SLR. This module provides a list of events used by
the different laser stations to start and stop tracking the satellite depending on power and
visibility restrictions.

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This system was delivered in the operational processing chain for S-3A on 08/03/2016. This system
has not been deployed for S-1A or S-2A.
0075 [AD.1]) is 1.18 from 18/12/2015.
5.17.2. SW

o State-vector.
 Down weighting law: one.
 Attitude: nominal S-1 (simulated), S-2 and S-3 attitude.
Type of products
(S3) (S3) (S3)
Time after manoeuvre to be flagged
0.0833 0.0833 0.0833 0.0833 0.0833 0.0833
DEGRADED- (h)
300 300 300 300 300 300
flagged (s)
DEGRADED- Phase RMS threshold (mm) 12 12 12 15 15 15

OBSRESIDUALS Pseudo-range RMS threshold (m) 1.0 1.0 1.0 1.2 1.5 1.5
DEGREDADED-
OBSNUMBER
DEGRADED-
OBSPERCENTAGE
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Type of products
(S3) (S3) (S3)
DEGRADED-GAP Minimum number of observations
4 4 4 4 4 4
per epoch
Radial RMS (cm) 3.0 3.0 3.0 3.0 3.0 3.0
DEGRADED-OVERLAP
DEGRADED-NAVSOL 1000 3300 1000 1000 5000 5000
observations

 Updated Sentinel satellite and transponder DB (particularly, for Sentinel-3A).
 Updated IPF solving a number of issues found when decoding S-3 data:
o The attitude of Sentinel-3A has been modified to correct the rotations of the frame of
reference.
o The IPF has been modified to remove duplicates from the quaternions file.

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5.18.2. SW

o State-vector.
 Quality flags configuration: same as in version v1.0.1 (see section 5.17.3).

 Updated implementation of frame of reference transformations from Local Orbital Reference
Frame to Satellite Reference Frame. This new implementation corrects a bias observed with
respect to CNES orbits in the along-track component of around 275 cm.

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5.19.2. SW

o State-vector.

 Modified IPF to decode quaternions from NAVATT files using Package Generation Timestamp
from header. This solves the shift of 1s observed with respect to CNES quaternions and
consequently, a bias of 0.06º observed in the pointing direction with respect to nadir between
quaternions and simulated attitude.

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5.20.2. SW

o State-vector.
 ICDB: s1aicdb_1883.xml, s2aicdb_1889.xml, s3aicdb_1883.xml.

 Modified generation of attitude products (Precise and Preliminary Platform Data files) to
correct mismatch between Euler angles sequence. They were previously written as Roll – Pitch
– Yaw, but should have been written as Pitch – Roll – Yaw. Therefore, the Roll angle was
written under the Pitch tag and vice versa. This has been corrected and angles are written in
the appropriate sequence as per ICD.

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5.21.2. SW

o State-vector.

 Updated Sentinels Transponder DB to include corrections in the SLR Antenna Point of
Reference after assembly of the SLR antenna.
 Updated ANTEX PCV map including information on S-3A GPSA. The ANTEX has been generated
using (0, 0, 68) mm as North-East-Up values (same as S-1A and S-2A), and the azimuth
dependent values computed using 2 iterations on residuals from 29/03/2016 until
06/04/2016.
 Add ILRS stations 1824, 1888, 1889, 1990 and 7827 to the station DB (station.dat), list of
coordinates (ILRS08.CRD) and list of Ocean Loading Displacement (FES2004_CMC.blq).

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5.22.2. SW

o State-vector.

 Updated Sentinels Transponder DB to correct location of GNSS antennae. Previously the
antenna mounting point was being used instead of the GPS Reference Frame origin.
Additionally, GNSS-1 and GNSS-2 antennae location seem to be mixed up in the
documentation.
 Updated ANTEX PCV map including information on S-3A GPSA computed with the new
transponder DB. The ANTEX has been generated using (0, 0, 68) mm as North-East-Up values
(same as S-1A and S-2A), and the azimuth dependent values computed using 2 iterations on
residuals from NTC processing from 10/03/2016 until 17/03/2016.
 Under request of ESA, the timeliness of NTC has been reduced to 25 days after assessing that
IGS inputs arrive typically with a timeliness of 22 days or smaller.

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5.23.2. SW

o State-vector.
Table 5-10: Quality flags configuration of SPOD_SYSTEM_V1.0.7
Type of products
(S3) (S3) (S3)
0.0833 0.0833 0.0833 0.0833 0.0833 0.0833
300 300 300 300 300 300
flagged (s)
DEGRADED-
1.0 1.0 1.0 1.0 1.0 1.0
(m)
DEGREDADED-
OBSNUMBER
DEGRADED-
OBSPERCENTAGE

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Type of products
(S3) (S3) (S3)
4 4 4 4 4 4
Radial RMS (cm) 3.0 3.0 3.0 3.0 3.0 3.0
DEGRADED-OVERLAP
DEGRADED-NAVSOL 1000 3300 1000 1000 5000 5000
observations

 Updated quality thresholds for S-3A to align them to S-1A and S-2A after correcting the issue
with the location of the GNSS antennae.
 Updated Sentinels Transponder DB to correct location of SRAL antenna, used to generate the
Platform Data file. Previously a wrong reference point was being used. Now, the transp.dat
used the location of the so-called VERTEX point.
 Updated S3PODIPF to generate NRT products based on navigation solution when BAHN POD
fails. This was already being done for the orbits and platform data files, but not for the metrics
file. This change allows the IPF to finish the processing without an error state.
 Updated S3PODIPF to change the permission of generated NRT files to 644 explicitly. This is
required to override the umask of the system, thus making the files permission system-
independent.

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o State-vector.

 Update S3PODIPF to extract path for NAPEOS temporary files from Job Order, instead of
reading it from the launching script. This ensures that the IPF (including NAPEOS) only writes
in the working directory.
 Change retrieval policy of FOS Restituted orbit file to select always latest available. Previous
configuration caused some that for some NRT products the Orbit Number was not correct,
being restarted to 0 at the beginning of that day.

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o State-vector.

 Update S3PODIPF to solve an issue with the number of State Vectors present in the Platform
Data File – wrongly counted due to missing last record.
 Start S-1B NTC generation together with new ANTEX including preliminary calibration for S-1B
(based on 1 week of NTC processing).

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5.26.2. SW

5.25).

 Update selection policy of SLR stations to exclude stations that systematically provide
degraded tracking data due to significant biases according to study elaborated by H. Peter.
 Update rsgaConv module in charge of creating the solmag.tlx file from the RSGA bulletins from
NOAA to handle correctly missing predicted values, filled by an analytic model.
 Update S-3 Bahn configuration, together with S3PODIPF, to use multi-arcs in the POD Bahn
determined by the presence of a manoeuvre. Thus, processing metrics and orbital accuracy
improve significantly despite the occurrence of long manoeuvres.
 The delivery timeliness of hourly RINEX for SALP has been changed to 4.5 h to maximise the
time to allow for GNSS L0 inputs to arrive.

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5.27.2. SW

5.25).

 Deploy new IPF capable of decoding S-1 quaternions from a filtered list of SAR Annotation
files.
 Update S-2 Bahn configuration to use manoeuvre split arcs in the POD Bahn determined by
the presence of a manoeuvre. Thus, processing metrics and orbital accuracy improve
significantly despite the occurrence of long manoeuvres.
 Change timeliness to launch PREORB products generation to 100 min instead of 95 before the
predicted ANX to allow for enough time in case the processing is carried out in ops2.
 Add CMC handling in the generation of SP3 orbits, allowing the option to apply the CMC
correction to the orbits.
 Correct expression of the solar radiation pressure partial derivative.

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o State-vector.
 ICDB: s1aicdb_1883.xml, s1bicdb_1883.xml, s2aicdb_1883.xml, s3aicdb_1883.xml.
Type of products
(S3) (S3) (S3)
0.0833 0.0833 0.0833 0.0833 0.0833 0.0833
300 300 300 300 300 300
flagged (s)
DEGRADED-
1.0 1.0 1.0 1.0 1.0 1.0
(m)
DEGREDADED-
OBSNUMBER
DEGRADED-
OBSPERCENTAGE

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Type of products
(S3) (S3) (S3)
4 4 4 4 4 4
Radial RMS (cm) 3.0 3.0 3.0 3.0 3.0 3.0
DEGRADED-OVERLAP
DEGRADED-NAVSOL 1000 3300 1000 1000 5000 5000
observations

 Deploy a new ANTEX for S-3A generated from a residual analysis of 3 months NTC processing.
 Adapt the timeliness of the Medium Orbit Ephemerides Orbit Files (AUX_MOEORB) and
Preliminary Platform Dada Files (AUX_PRLPTF) to the expectations of the S3 PDGS, such that
the product with coverage d-2 at 22 h (GPS time) to d-1 at 24 h (GPS time) will be delivered
before noon on day d.
 Change the coverage of the Precise Orbit Ephemerides Orbit Files (AUX_POEORB) and Precise
Platform Data Files (AUX_PRCPTF) to follow the specification, which specifies: “Each file covers
26 h (one complete day, in GPS time, plus 2 h before the start of the day – overlap of two
hours between consecutive files)”.

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The SW is TAGGED in the repository with SPOD_SYSTEM_v1.2.0 (ref [RD.32]).

o State-vector.
o 10 drag coefficients per 24 h (15 drag coefficients for 32 h orbit determination period).
o 1 set of sine and cosine CPR per 12 h in along- and cross-track directions (3 sets of
CPRs for 32 h orbit determination period).
o 1 solar radiation pressure coefficient.
 SLR ANTEX: slr_sent3a_1924.lrx.
Type of products
(S3) (S3) (S3)
0.0833 0.0833 0.0833 0.0833 0.0833 0.0833
300 300 300 300 300 300
flagged (s)
DEGRADED-
1.0 1.0 1.0 1.0 1.0 1.0
(m)
DEGREDADED-
OBSNUMBER

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Type of products
(S3) (S3) (S3)
DEGRADED-
OBSPERCENTAGE
1 1 1 1 1 1
Radial RMS (cm) 3.0 3.0 3.0 3.0 3.0 3.0
DEGRADED-OVERLAP
DEGRADED-NAVSOL 1000 3300 1000 1000 5000 5000
observations

 Include tool to reduce SAR Annotation Files, SAD PDI files, overlaps and duplicates from
archive (affecting reprocessing).
 The determination period of NTC products has been reduced for the sake of consistency with
STC products. In the case of S-1/2, the determination period has been set to 4h before and 1d
4h after the covered day, whereas in the case of S-3 and according to its coverage
requirements, it has been set to 5h before and 1d 3h after the covered day.
 The threshold definition of the orbit products quality flags has been modified. This change
affects to the minimum number of observations in an epoch to consider it as nominal or
degraded. It has been changed from 4 observations to 1, a more appropriate value for
dynamic orbit determination.
 The solar array rotation law of Sentinel-2 has been implemented following a theoretical
description, affecting mainly the solar array rewinding during eclipse.
 A new gravity field model (EIGEN.GRGS.RL03.v2.coef) has been implemented in order to
include extrapolated drift rates for the coefficients outside the determination period (until mid-
2014).
 Deploy a new ANTEX for S-1B generated from a residual analysis of 3 months NTC processing.
 Deploy a first version of an SLR ANTEX like correction based on the LRR geometry for
Sentinel-3A.

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o State-vector.
 Quality flags configuration: same as in SPOD_SYSTEM_v1.2.0 (see section 5.29.3).

 The filename of CPF gets the epoch directly from the CPF itself, by using the information
encompassed on the header H2.
 Two new chains, S?PODNTCREPRO-A/B and S?PODNTCRP-A/B, created for reprocessing NTC
products. The latter is very similar to the NTC nominal chain, but setting the new product type
(REPx) on podorbprods and podattprods; whereas the former is a sequence intended to
execute several days.

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o State-vector.

 The computation of the mission tube constraints had a bug that arose when the epoch of the
first ascending node remained very close to the first epoch of the orbit file, providing an
unexpected peak in the figures. This problem has been fixed in this version.
 A new GPS ANTEX file has been deployed along with the corresponding configuration changes
that provide a more general interface with the DB. These have been done by changing the
directories that point to both GPS ANTEX and Sentinel ANTEX, turning from igs## (or sen##)
to igs__ (or sen__).

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o State-vector.

 The computation of the mission tube constraints had a bug that arose when the epoch of the
last ascending node remained very close to the last epoch of the orbit file, providing an
unexpected peak in the figures. This problem has been fixed in this version.
 Align the header of SP3 files to the new ITRF14 configuration.

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5.33.2. SW

o State-vector.

 CNES Hourly and Daily RINEX generation strategy has been modified to guarantee continuity
in receiver time-scale and phases between consecutive executions from the processor.

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o State-vector.

 Change POD NTC/STC processing chain to avoid using BRDC info if IGS/STC orbits available.
 New ANTEX file deployed: sen08_1950.atx.
 New GPS ANTEX file deployed: igs14_1949.atx.

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o State-vector.

 Generation and distribution of operational RINEX files for S1, S2 and S3.

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5.36.2. SW

o State-vector.

 Include option to apply Differential Code Biases when using observations different than P1 and
P2 to form the ionospheric-free combination in GPS processing.
 Use 24H orbit file prediction for S3PODIPF near end of interval instead of broadcast navigation
message.
 Use Earth Orientation Parameters (EOPs) provided by EGP for S3PODIPF instead of the ones
provided by USNO (kept as back-up).
 Align all EGP clocks to broadcast navigation message for S3PODIPF.
 Implement clever selection of EGP inputs by S3PODIPF to avoid copying unneeded files.

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o State-vector.

 Implement changes related to Post-Seismic Deformation (PSD).
 Update source code to be compatible with SLES12 SP1 compiler, and with gfortran 4.6.1.
 Improvements for Quality Reports.
 New ANTEX file deployed with Sentinel-2B 90-residual computation: sen08_1963.atx.
 New station database deployed pointing to ILRS2014 coordinate file (ILRS2014-ESOC.crd).

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5.38.2. SW
The SW is TAGGED in the repository with SPOD_SYSTEM_v1.3.7 ([RD.41]).

o State-vector.

 Upgrade IPF to update RINEX files version to 3.03.
 Implement the necessary mechanisms for the RINEX dissemination. This encompasses the
generation of RINEX files, to upload them to the DataHub FTP, check failed files, and to carry
out FTP cleaning tasks.

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o State-vector.
 Attitude: Nominal S-1 (simulated), S-2 and S-3 attitude.

 Correct problem reported by LAND centre in S3PODIPF – degraded orbit when 24H orbit and
clock do not correspond to same epoch (see NRTPODAR-11). In this situation no 24H was
selected by NAPEOS, leading to degraded ROE product.
 Correct issues in preparation for S-3B:
o The attitude product (SR_2_NRPPAX) generation rate has been changed to 10 s, as
per FFS.
o The box-wing model has been aligned to S-3A.
o The threshold for pseudorange RMS has been changed from 1.0 to 1.5 m to consider
DEGRADED products to allow for L2C processing without DCBs.

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o State-vector.

 Preliminary version of DORIS processing chain (DORIS-only and DORIS+GPS orbits).
 Adapt GETHF chains (mainly for S-2) to use trigger strategy - avoid stacking of processing
executions.
 Implement outlier detection mechanism for polynomial time computation in S3PODIPF.
 Implement half cycle bias correction reading info from GPS Auxiliary Data (S-1,-3 and S-2B)
or GPS Channel Status data (S-2A).

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o State-vector.

 Removal of temperature effects and configure HW bias to 23.5 m in the decoding tool (IPF).
 Correction of half-cycle ambiguities in the decoding tool (IPF).
 Align RINEX epochs to GPS time instead of IMT for all the orbital products, but the S-3 NRT
ones.
 Enable the uploading of S-1B RESATT products in NRT time (new steps in the processing
chain).
 Update location of S-3B antenna in DB (nominal-redundant layout swapped w.r.t. S-3A).

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o State-vector.

 Prepare a new version of S3PODIPF with changes to do not use L2C with S-3B during
commissioning.
 Create new S-3 interface from CPOD/EGP and LAND centre for S-3B.
 Create processing chain to process DORIS operationally and DORIS+GPS.

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o State-vector.
 ICDB: s1aicdb_1883.xml, s1bicdb_1883.xml, s2aicdb_1883.xml, s3aicdb_1883.xml,
s3bicdb_1969.xml.

 Create chains to generate and distribute data for Sentinel OnLine.
 New ANTEX file with small corrections deployed: sen08_1989.atx.
 New satellite & transponder DBs with small corrections deployed: s3satellite1990100.dat and
s3transp1990100.dat.
 New S3B ICDB was deployed: s3bicdb_1969.xml.
 Corrections on S3PODIPF for redundant receiver:
o The generation of imt2gps file, half cycle ambiguity and decoding S2 L0 data.

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o State-vector.
s3bicdb_1969.xml.

 Update the SVL server IP address to trinity server.
 New satellite and transponder DBs with updated NORAD, COSPAR and SIC IDs for Sentinel-
3B: s3satellite2000100.dat and s3transp2000100.dat.
 Internal generic changes in the architecture for bug fixing not impacting the system
performance.

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o State-vector.
s3bicdb_1969.xml.

 Generate quaternions file merging real and simulated attitudes during data gaps.
 Implement new mechanisms to fill EGP/magic gaps in case of FTP/internet failure.
 Modifications to correct application of North and East PCO values.

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5.46.2. SW

o State-vector.
s3bicdb_1969.xml.
 Attitude: Nominal S-1 (simulated), S-2 and S-3 attitude.
 Box Wing Model: same as in version v0.10.0 (see section 5.15.3) plus re-radiation model.

 Preparation of the system for the processing of Sentinel-3B.
 Implemented a satellite re-radiation model.
 Implemented a fixed solar array model for S1.
 Updated Sentinels ANTEX to include information for S3B and updated sentransp.dat to include
SLR ANTEX for S3B (the same that is used by S3A).
 Updated IRI model and addition of NeQuick.
 Updated reference orbit of S3B.
 Updated IPF to correctly decode L0 data from both redundant and nominal receivers
simultaneously.
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o State-vector.
s3bicdb_1969.xml.

 Implementation and operational usage of the Sentinel-2 Geocentric YSM attitude mode.

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5.48.2. SW

o State-vector.
s3bicdb_1969.xml.

 Update of the GPS transponder and satellite databases to align them with the latest changes in
the GPS constellation.
 Update of the Sentinels transponder and satellite databases to update the location of the y-
axis coordinate of instruments on S-3A to match CNES/DLR configuration.

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o State-vector.
s3bicdb_1969.xml.

 Update GPS transponder and satellites databases to include the new GPS-74 satellite,
launched in January 2019. The GPS ANTEX has been updated as well.
 Update AttComp tool to correct a bug when tagging the pitch and roll angles (they were
swapped).
 Update S3PODIPF decoder to modify the header of the quaternions files.

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5.50.2. SW

o State-vector.
s3bicdb_1969.xml.

 Quaternions products (AUX_PROQUA) can be generated by the system.
 Alignment of EGP 15M GPS and broadcast clocks products to EGP 24H GPS clocks products
during the generation of NRT orbits.
 QC CPOD-CNES comparisons for S3 NRT and STC CPOD products against CNES MDO solution
instead of CNES MGN solution.
 The CPOD System is able to process CRDs V2 and to generate CPFs V2. Additionally, CPFs V2
distributed to an intended folder inside the external FTP server.
 Enable the generation of the S1 PREORB products.
 Update decoder to properly handle the GPS week rollover occurred on 07/04/2019.
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 Update GPS ANTEX (igs14_2062.atx), GPS transponder DB (transp2062400.dat) and GPS

satellite DB (satellite 2062400.dat).

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5.51.2. SW

o State-vector.
s3bicdb_1969.xml.
Type of products
(S3) (S3) (S3)
0.0833 0.0833 0.0833 0.0833 0.0833 0.0833
300 300 300 300 300 300
flagged (s)
DEGRADED-
1.0 1.0 1.0 1.0 1.0 1.0
(m)

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Type of products
(S3) (S3) (S3)
DEGREDADED-
OBSNUMBER
DEGRADED-
OBSPERCENTAGE
1 1 1 1 1 1
Radial RMS (cm) 3.0 3.0 3.0 3.0 3.0 3.0
DEGRADED-OVERLAP
DEGRADED-NAVSOL 1000 3300 1000 1000 5000 5000
observations

These are the main differences with respect to the previous system:
 The system has been updated to include the new models in all the CPOD products, which are
summarised below:
o New gravity field (static): EIGEN.GRGS.RL04 TVG (120x120).
o New gravity filed (time varying): drift/annual/semi-annual piece wise linear terms up
to degree/order 90.
o New ocean tides model: FES2014 (100x100, 142 tidal constituents).
o New atmospheric gravity model: GFZ AOD L1B RL06 (100x100).
o New atmospheric tides model: GFZ AOD L1B RL06 (100x100).
o New atmospheric density model: MSISE00.
 The NTC products are now ambiguity fixed. These products are currently using the Final files
of GPS orbits, clocks and satellite biases from CODE.
 The S-2 PREORB chain has been isolated from the S-2 RESORB chain. The S-2 PREORB
products are being generated by estimating only 2 drag coefficients, which improves the
prediction on a long term.
 The generation of the S-3 CPF prediction files for the ILRS has been isolated from the S-3 STC
chain. The S-3 CPF files are being generated by estimating only 2 drag coefficients, which
improves the prediction on a long term.
 The corresponding chains to upload S-1 NRT/NTC and S-3 NRT/STC/NTC/PRCPTF products to
the Copernicus Open Access Hub (formerly known as DataHub) on a daily basis have been
created.
 An underperformance when aligning the GNSS 15M input files to the GNSS 24H input files
during the generation of the NRT products has been solved.
 The GPS database files and ANTEX file have been updated to reflect the recent replacement of
2 GPS satellites by new block-III models:
o GPS satellite DB file: satellite2104300.dat.
o GPS transponder DB file: transp2104300.dat.
o GPS ANTEX file: igs14_2101.atx.

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5.52. SPOD_SYSTEM_V1.7.X
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5.52.2. SW

o State-vector.
 ANTEX: sen08_2116.atx (changes impact only S-1)
s3bicdb_1969.xml.

 S-1 GPS Antenna Reference Point (ARP) configuration has been corrected. The previous
position of the GPS ARP referred to a mechanical mounting point instead of the antenna phase
centre. The new configuration requires a new LEO ANTEX file (sen08_2116.atx). The change
impacts S-1 PRE, RES and POE POD products. The transition corresponds to a change of cycle:
for S-1A, on 29/07/2020 17:10; and for S-1B, on 30/07/2020 17:01. The change is applied
according to product validity so that POE products start using the new configuration with a
delay of 20 days (due to their generation timeliness). This approach allows to keep
consistency between products with the same coverage irrespectively of their generation date.

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 Correct tropospheric model to properly account for water vapour in the atmosphere when
estimating tropospheric delays of SLR measurements. This only has a minor impact on S-3
SLR residuals processing.
 Update GPS ANTEX (igs14_2114.atx).

Date: 21/07/2020
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END OF DOCUMENT

GMV - Sentinels Pod Product Handbook

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SENTINELS POD PRODUCT

Approved by: Authorised by: X

Document ID: GMV-GMESPOD-TN-0009

Internal Code: GMV 22386/13 V16/20

ESA contract number: 4000108273/13/1-NB

 GMV, 2020; all rights reserved

DOCUMENT STATUS SHEET

 GMV 2020; all rights reserved

Version Date Pages Changes

 GMV 2020; all rights reserved

2. COPERNICUS POD SERVICE CONTEXT .............................................................................................. 17

3.2. DYNAMICAL FORCES MODELLING ........................................................................................... 25

3.3. MEASUREMENTS MODELLING................................................................................................. 28

 GMV 2020; all rights reserved

3.3.1.3. Down weighting law ............................................................................................ 28

3.4. SATELLITE MODELLING .......................................................................................................... 29

4. COPERNICUS POD PRODUCTS DEFINITION....................................................................................... 31

 GMV 2020; all rights reserved

5.5.1. DOCUMENTATION ........................................................................................................................... 45

5.10. SPOD_SYSTEM_V0.9.2 ......................................................................................................... 50

5.11. SPOD_SYSTEM_V0.9.3 ......................................................................................................... 52

5.12. SPOD_SYSTEM_V0.9.4 ......................................................................................................... 53

5.13. SPOD_SYSTEM_V0.9.5 ......................................................................................................... 55

5.14. SPOD_SYSTEM_V0.9.6 ......................................................................................................... 57

5.15. SPOD_SYSTEM_V0.10.0 ....................................................................................................... 58

5.15.1. DOCUMENTATION .......................................................................................................................... 58

5.16. SPOD_SYSTEM_V1.0.0 ......................................................................................................... 59

5.17. SPOD_SYSTEM_V1.0.1 ......................................................................................................... 60

5.18. SPOD_SYSTEM_V1.0.2 ......................................................................................................... 62

5.19. SPOD_SYSTEM_V1.0.3 ......................................................................................................... 63

5.20. SPOD_SYSTEM_V1.0.4 ......................................................................................................... 64

5.21. SPOD_SYSTEM_V1.0.5 ......................................................................................................... 65

5.22. SPOD_SYSTEM_V1.0.6 ......................................................................................................... 66

5.23. SPOD_SYSTEM_V1.0.7 ......................................................................................................... 67

5.24. SPOD_SYSTEM_V1.0.8 ......................................................................................................... 69

5.25. SPOD_SYSTEM_V1.0.9 ......................................................................................................... 70

5.26. SPOD_SYSTEM_V1.0.10 ....................................................................................................... 71

5.27. SPOD_SYSTEM_V1.1.0 ......................................................................................................... 72

5.28. SPOD_SYSTEM_V1.1.1 ......................................................................................................... 73

5.29. SPOD_SYSTEM_V1.2.0 ......................................................................................................... 75

5.30. SPOD_SYSTEM_V1.2.1 ......................................................................................................... 77

5.31. SPOD_SYSTEM_V1.3.0 ......................................................................................................... 78

5.32. SPOD_SYSTEM_V1.3.1 ......................................................................................................... 79

5.33. SPOD_SYSTEM_V1.3.2 ......................................................................................................... 80

5.34. SPOD_SYSTEM_V1.3.3 ......................................................................................................... 81

5.35. SPOD_SYSTEM_V1.3.4 ......................................................................................................... 82

5.35.1. DOCUMENTATION .......................................................................................................................... 82

5.36. SPOD_SYSTEM_V1.3.5 ......................................................................................................... 83

5.37. SPOD_SYSTEM_V1.3.6 ......................................................................................................... 84

5.38. SPOD_SYSTEM_V1.3.7 ......................................................................................................... 85

5.39. SPOD_SYSTEM_V1.3.8 ......................................................................................................... 86

5.40. SPOD_SYSTEM_V1.3.9 ......................................................................................................... 87

5.41. SPOD_SYSTEM_V1.4.0 ......................................................................................................... 88

5.42. SPOD_SYSTEM_V1.4.1 ......................................................................................................... 89

5.43. SPOD_SYSTEM_V1.4.2 ......................................................................................................... 90

5.44. SPOD_SYSTEM_V1.4.3 ......................................................................................................... 91

5.45. SPOD_SYSTEM_V1.5.0 ......................................................................................................... 92

5.46. SPOD_SYSTEM_V1.5.1 ......................................................................................................... 93

5.47. SPOD_SYSTEM_V1.5.2 ......................................................................................................... 94

5.48. SPOD_SYSTEM_V1.5.3 ......................................................................................................... 95

5.49. SPOD_SYSTEM_V1.5.4 ......................................................................................................... 96

5.50. SPOD_SYSTEM_V1.5.5 ......................................................................................................... 97

5.51. SPOD_SYSTEM_V1.6.0 ......................................................................................................... 99