Mars Exploration Rover (MER) Project

APXS Reduced Data Record (RDR) Software Interface Specification (SIS)

Prepared by: Edward A. Guinness

SIS Custodian

Paper copies of this document may not be current and should not be relied on for official purposes. The current version is in the MER Project Library at http://mars03-lib.jpl.nasa.gov, in the Controlled Documents and Records folder.

JPL D-22869

March 31, 2005

JPL

Jet Propulsion Laboratory

California Institute of Technology

CHANGE LOG

TBD ITEMS

SECTION	DESCRIPTION

CONTENTS

CHANGE LOG.............................................................................................................................. iii

TBD ITEMS.................................................................................................................................... iii

CONTENTS.................................................................................................................................. iv

LIST OF TABLES......................................................................................................................... v

ACRONYMS................................................................................................................................. vi

1. INTRODUCTION....................................................................................................................... 1

1.1 Purpose and Scope........................................................................................................... 1

1.2 Contents............................................................................................................................... 1

1.3 Applicable Documents and Constraints........................................................................... 1

1.4 Relationships with Other Interfaces................................................................................... 2

2. Data Product Characteristics and Environment........................................ 2

2.1 Data Product Overview...................................................................................................... 2

2.2 Data Processing................................................................................................................. 2

2.2.1 Data Processing Level............................................................................................... 2

2.2.2 Data Product Generation............................................................................................ 3

2.2.3 Data Flow..................................................................................................................... 3

2.2.4 Labeling and Identification.......................................................................................... 3

2.3 Standards Used in Generating Data Products................................................................ 6

2.3.1 PDS Standards........................................................................................................... 6

2.3.2 Time Standards........................................................................................................... 6

2.3.3 Data Storage Conventions......................................................................................... 7

2.4 Data Validation................................................................................................................... 7

3. Detailed Data Product Specifications............................................................... 7

3.1 Data Format Description................................................................................................... 7

3.2 PDS Label Description...................................................................................................... 7

4. Applicable Software.................................................................................................... 8

4.1 Applicable PDS Software Tools....................................................................................... 8

APPENDIX A - Sample APXS RDR Label.......................................................................... 9

PDS Label................................................................................................................................. 9

aPPENDIX B - LABEL KEYWORD DEFINITIONS................................................................. 1

LIST OF TABLES

Table 1. Processing Levels for Science Data Sets........................................ 2

Table 2. APXS Spectra Column Definitions............................................................. 7

ACRONYMS

APXS	Alpha Particle X-ray Spectrometer
ASCII	American Standard Code for Information Interchange
CODMAC	Committee on Data Management and Computation
EDR	Experiment Data Record
ISO	International Standards Organization
JPL	Jet Propulsion Laboratory
MER	Mars Exploration Rover
NASA	National Aeronautics and Space Administration
ODL	Object Description Language
OSS	Operations Storage Server
PDS	Planetary Data System
RDR	Reduced Data Record
SIS	Software Interface Specification
SOWG	Science Operations Working Group
STG	Science Theme Group
TBD	To Be Determined

1. INTRODUCTION

1.1 Purpose and Scope

The purpose of this data product SIS is to provide users of the MER APXS reduced data product with a description of the product and a description of how it was generated, including data sources and destinations. The product is an ASCII table of results derived from the MER APXS Experiment Data Record (EDR) products. The RDR product includes x-ray count spectra as a function of channel number.

This SIS is intended to provide enough information to enable users to read and understand this data product. The users for whom this SIS is intended are the scientists who will analyze the data, including those associated with the MER Project and those in the general planetary science community.

1.2 Contents

This data product SIS describes how the APXS RDR product is generated, formatted, labeled, and uniquely identified. The document discusses standards used in generating the products and software that may be used to access the product. The product is described in sufficient detail to enable a user to read the product. Finally, an example of the PDS label is provided, along with definitions for the label keywords.

1.3 Applicable Documents and Constraints

This Data Product SIS is responsive to the following MER documents:

1. Mars Exploration Program Data Management Plan, R. E. Arvidson, S. Slavney, and S. Nelson, Rev. 3, March 20, 2002.

2. Mars Exploration Rover Project Archive Generation, Validation and Transfer Plan, Rev. A, R. E. Arvidson and S. Slavney, JPL D-19658, September 29, 2003.

3. MER Project APXS EDR SIS, E. Guinness, JPL D-22848, Version 2.0, June 13, 2003.

This SIS is also consistent with the following Planetary Data System documents:

4. Planetary Data System Data Preparation Workbook, Version 3.1, JPL D-7669, Part 1, February 1, 1995.

5. Planetary Data System Data Standards Reference, Version 3.5, JPL D-7669, Part 2, October, 15, 2002

6. Planetary Science Data Dictionary Document, JPL D-7116, August 28, 2002.

The reader is referred to the following documents for additional information:

7. R. Rieder et al., The New Athena Alpha Particle X-Ray Spectrometer (APXS) for the Mars Exploration Rovers, JGR Planets 108(E12), 8066, doi:10.1029/2003JE002150, 2003.

Finally, this SIS is meant to be consistent with the contract negotiated between the MER Project and the Athena Principal Investigator in which reduced data records and documentation are explicitly defined as deliverable products.

1.4 Relationships with Other Interfaces

Changes to the APXS EDR data product and the SIS that describes the EDR product [3] could affect the APXS RDR data product and/or this SIS. In addition, changes to the processing tools used to generate the APXS RDR data product could affect both the data product and this SIS.

2. Data Product Characteristics and Environment

2.1 Data Product Overview

The APXS RDR data product is an ASCII formatted table. Each ASCII table has an associated detached PDS label, also formatted as ASCII. The APXS RDR product contains the x-ray count data as a function of channel number.

2.2 Data Processing

2.2.1 Data Processing Level

This SIS uses the Committee On Data Management And Computation (CODMAC) data level numbering system to describe the processing level of the APXS RDR data products. These data products are considered CODMAC "Level 2" ["Edited Data"]. Refer to Table 1 for a summary of the CODMAC and NASA data processing levels.

Table 1. Processing Levels for Science Data Sets

2.2.2 Data Product Generation

The APXS RDR data products are produced by APXS instrument team members from the Max Planck Institute for Chemistry (Mainz, Germany) using software tools developed by the APXS team. To generate an APXS RDR product, the x-ray data are extracted from the binary EDR file and converted to an ASCII format. APXS EDR files always contain twelve spectra even if less than twelve new measurements are acquired for a target. Thus, an EDR file may contain spectra for more than one target. In the APXS RDR product any spectra from earlier targets are removed from the product so that each RDR contains data for a single target. No other processing is done on the data.

2.2.3 Data Flow

APXS RDR data products are generated from binary EDR files that are transferred from the OSS to the APXS team workstations. After a science validation period, the APXS RDR data products are transferred to the PDS for final validation and archiving in accordance with the MER archive plan [2].

2.2.4 Labeling and Identification

A file naming scheme has been adapted for the MER image and non-image data products. The file naming scheme adheres to the ISO Level II 27.3 filename convention to be compliant with PDS standards.

Each MER EDR or RDR data product can be uniquely identified by incorporating into the product filename the Rover Mission identifier, the Instrument identifier, the Starting Spacecraft Clock count (SCLK) of the event, the data Product Type, the Site location, the rover Position within the site, the Sequence number, the camera "Eye", the spectral Filter, the product Creator identifier and a Version number. For non-camera data, several fields do not apply.

Each APXS RDR has a detached PDS label associated with the APXS data file. The file naming scheme for the APXS RDR data products is formed by:

<rover><inst>< sclk><prod><site>< pos><seq><eye>< filt><who><ver> .<ext>

2.3 Standards Used in Generating Data Products

2.3.1 PDS Standards

The APXS RDR data products comply with Planetary Data System standards for file formats and labels, as specified in the PDS Standards Reference [5] and the Planetary Science Data Dictionary Document [6].

2.3.2 Time Standards

PDS labels for APXS RDR data products use keywords containing time values, such as start time and stop time. Each time value standard is defined according to the keyword definition. See Appendix B.

2.3.3 Data Storage Conventions

APXS RDR data products and detached PDS label files are stored as ASCII text. Each line or record in the files is terminated with a two-character sequence of carriage return (<CR>, ASCII 13) and line feed (<LF>, ASCII 10) to comply with PDS standards [5]. This line terminator sequence will allow the data files and labels to be easily read on most computers, which recognize either the carriage return, the line feed, or the <CR>/<LF> sequence as an ASCII record terminator.

2.4 Data Validation

Validation of APXS RDR data product labels includes checking for correct PDS syntax, for accepted standard values of keywords, and for internal consistency of label items.

3. Detailed Data Product Specifications

3.1 Data Format Description

Each APXS RDR data file is a comma delimited ASCII text table with variable length columns. The number of columns in the file is dependent on the number of spectra collected for a target. The maximal number of recorded spectra is 12. Spectra taken from previous samples are removed.There are 512 rows in each RDR file. Each row is terminated with a carriage return and line feed character. Tables 2 contains the column definitions for the APXS RDR data product.

Table 2. APXS Spectra Column Definitions

3.2 PDS Label Description

Each APXS RDR data product has a detached PDS label, which is stored as ASCII text. The PDS label is object-oriented with keywords for product identification, along with the data object definition. The data object definition within the label contains descriptive information needed to interpret or process the data. The PDS spreadsheet object is used to describe the format of the APXS RDR product.

PDS labels are written in Object Description Language (ODL) [5]. PDS label statements have the form of "keyword = value". Each label statement is terminated with a carriage return character (ASCII 13) and a line feed character (ASCII 10) sequence to allow the label to be read by many operating systems. Pointer statements with the following format are used to indicate the location of data objects in the data product:

^object = location

where the carat character (^, also called a pointer) is followed by the name of the specific data object. For detached PDS labels, location is the name of the file that contains data object and optionally the starting record number of the data object within the file or byte offset from the start of the file.

Appendix A lists an example PDS label for an APXS RDR.

4. Applicable Software

4.1 Applicable PDS Software Tools

PDS-labeled tables can be viewed with the program NASAView, developed by the PDS. NASAView is available in versions that run on SUN/SOLARIS, Windows, and LINUX operating systems. NASAView can be obtained from the PDS web site http://pdsproto.jpl.nasa.gov/Distribution/license.html.

APPENDIX A - Sample APXS RDR Label

A.1. PDS Label for Spectra

PDS_VERSION_ID = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE = STREAM

FILE_RECORDS = 512

^SPREADSHEET = "1A136253888XRC1500N1419N0P1.CSV"

/* IDENTIFICATION DATA ELEMENTS */

DATA_SET_ID = "MER1-M-APXS-2-XRAYSPEC-SCI-V1.0"

PRODUCT_ID = "1A136253888XRC1500N1419N0P1"

SOURCE_PRODUCT_ID = "1A136253888EDR1500N1419N0M1"

PRODUCT_TYPE = APXS_XRC

RELEASE_ID = "0003"

ROVER_MOTION_COUNTER = (15, 0, 60, 293, 0)

ROVER_MOTION_COUNTER_NAME = (SITE, DRIVE, IDD, PMA, HGA)

COMMAND_SEQUENCE_NUMBER = 1

INSTRUMENT_HOST_ID = MER1

INSTRUMENT_HOST_NAME = "MARS EXPLORATION ROVER 1"

INSTRUMENT_ID = APXS

INSTRUMENT_TYPE = SPECTROMETER

LOCAL_TRUE_SOLAR_TIME = "04:48:44"

MAGNET_ID = "NULL"

MISSION_NAME = "MARS EXPLORATION ROVER"

MISSION_PHASE_NAME = "EXTENDED MISSION"

OBSERVATION_ID = "1594032128"

PLANET_DAY_NUMBER = 91

PRODUCER_INSTITUTION_NAME = "MAX PLANCK INSTITUTE"

PRODUCT_CREATION_TIME = 2005-01-08T17:34:42

SEQUENCE_ID = n1419

SEQUENCE_VERSION_ID = "0"

SPACECRAFT_CLOCK_CNT_PARTITION = 1

SPACECRAFT_CLOCK_START_COUNT = "136235628.238"

SPACECRAFT_CLOCK_STOP_COUNT = "136253888.207"

START_TIME = 2004-04-26T07:13:11.516

STOP_TIME = 2004-04-26T12:17:31.552

TARGET_NAME = MARS

TARGET_TYPE = PLANET

/* TELEMETRY DATA ELEMENTS */

APPLICATION_PROCESS_ID = 32

APPLICATION_PROCESS_NAME = APXS

APPLICATION_PROCESS_SUBTYPE_ID = 0

EARTH_RECEIVED_START_TIME = 2004-04-26T20:01:29.476

EARTH_RECEIVED_STOP_TIME = 2004-04-26T20:01:34.254

EXPECTED_PACKETS = "N/A"

PACKET_MAP_MASK = "N/A"

RECEIVED_PACKETS = "N/A"

SAMPLING_COUNT = 0

SPICE_FILE_NAME = "chronos.mer"

TELEMETRY_FORMAT_ID = SPT

TELEMETRY_PROVIDER_ID = "SSW MER_DP"

TELEMETRY_SOURCE_NAME = "032_000_n1419-000-0001_001_0136253888-053.dat"

TELEMETRY_SOURCE_TYPE = "DATA PRODUCT"

TLM_INST_DATA_HEADER_ID = 3

/* ROVER STATE */

/* COORDINATE SYSTEM STATE: ROVER */

GROUP = ROVER_COORDINATE_SYSTEM

COORDINATE_SYSTEM_NAME = ROVER_FRAME

COORDINATE_SYSTEM_INDEX = (15, 0, 60, 293, 0)

COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA)

ORIGIN_OFFSET_VECTOR = (0.00000, 0.00000, 0.00000)

ORIGIN_ROTATION_QUATERNION = (0.999886, 0.0131920, 0.00737100,

-0.000377824)

POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE

POSITIVE_ELEVATION_DIRECTION = UP

QUATERNION_MEASUREMENT_METHOD = COARSE

REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME

REFERENCE_COORD_SYSTEM_INDEX = 15

END_GROUP = ROVER_COORDINATE_SYSTEM

/* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE AT THE START */

GROUP = START_IDD_ARTICULATION_STATE

ARTICULATION_DEVICE_ID = IDD

ARTICULATION_DEVICE_NAME = "INSTRUMENT DEPLOYMENT DEVICE"

ARTICULATION_DEVICE_ANGLE = (0.302038 <rad>, -0.0282162 <rad>,

1.29951 <rad>, 0.185468 <rad>,

3.15076 <rad>, 0.302252 <rad>,

-0.0320500 <rad>, 1.28262 <rad>,

0.227287 <rad>, 3.03184 <rad>)

ARTICULATION_DEVICE_ANGLE_NAME = ("JOINT 1 AZIMUTH-ENCODER",

"JOINT 2 ELEVATION-ENCODER",

"JOINT 3 ELBOW-ENCODER",

"JOINT 4 WRIST-ENCODER",

"JOINT 5 TURRET-ENCODER",

"JOINT 1 AZIMUTH-POTENTIOMETER",

"JOINT 2 ELEVATION-POTENTIOMETER",

"JOINT 3 ELBOW-POTENTIOMETER",

"JOINT 4 WRIST-POTENTIOMETER",

"JOINT 5 TURRET-POTENTIOMETER")

ARTICULATION_DEVICE_MODE = GUARDED

ARTICULATION_DEVICE_TEMP = (1.00000e+30 <degC>, -46.8465 <degC>)

ARTICULATION_DEVICE_TEMP_NAME = ("AZIMUTH JOINT 1", "TURRET JOINT 5")

ARTICULATION_DEV_VECTOR = (-0.0147503, 0.0263754, 0.999543)

ARTICULATION_DEV_VECTOR_NAME = GRAVITY

CONTACT_SENSOR_STATE = ("NO CONTACT", "NO CONTACT", CONTACT,

CONTACT, "NO CONTACT", "NO CONTACT",

OPEN, "NO CONTACT")

CONTACT_SENSOR_STATE_NAME = ("MI SWITCH 1", "MI SWITCH 2",

"RAT SWITCH 1", "RAT SWITCH 2",

"MB SWITCH 1", "MB SWITCH 2",

"APXS DOOR SWITCH", "APXS CONTACT SWITCH")

ARTICULATION_DEV_INSTRUMENT_ID = APXS

END_GROUP = START_IDD_ARTICULATION_STATE

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE AT THE START */

GROUP = START_IDD_COORDINATE_SYSTEM

COORDINATE_SYSTEM_NAME = APXS_FRAME

COORDINATE_SYSTEM_INDEX = (15, 0, 60, 293, 0)

COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA)

ORIGIN_OFFSET_VECTOR = (1.10661, 0.113606, 0.290757)

ORIGIN_ROTATION_QUATERNION = (0.591676, 0.0280522, 0.0437475,

0.804499)

POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE

POSITIVE_ELEVATION_DIRECTION = DOWN

REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME

REFERENCE_COORD_SYSTEM_INDEX = (15, 0, 60, 293, 0)

END_GROUP = START_IDD_COORDINATE_SYSTEM

/* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE AT END */

GROUP = STOP_IDD_ARTICULATION_STATE

ARTICULATION_DEVICE_ID = IDD

ARTICULATION_DEVICE_NAME = "INSTRUMENT DEPLOYMENT DEVICE"

ARTICULATION_DEVICE_ANGLE = (0.302038 <rad>, -0.0282162 <rad>,

1.29951 <rad>, 0.185468 <rad>,

3.15076 <rad>, 0.302537 <rad>,

-0.0318107 <rad>, 1.28402 <rad>,

0.228956 <rad>, 3.03244 <rad>)

ARTICULATION_DEVICE_ANGLE_NAME = ("JOINT 1 AZIMUTH-ENCODER",

"JOINT 2 ELEVATION-ENCODER",

"JOINT 3 ELBOW-ENCODER",

"JOINT 4 WRIST-ENCODER",

"JOINT 5 TURRET-ENCODER",

"JOINT 1 AZIMUTH-POTENTIOMETER",

"JOINT 2 ELEVATION-POTENTIOMETER",

"JOINT 3 ELBOW-POTENTIOMETER",

"JOINT 4 WRIST-POTENTIOMETER",

"JOINT 5 TURRET-POTENTIOMETER")

ARTICULATION_DEVICE_MODE = "FREE SPACE"

ARTICULATION_DEVICE_TEMP = (1.00000e+30 <degC>, -37.4815 <degC>)

ARTICULATION_DEVICE_TEMP_NAME = ("AZIMUTH JOINT 1", "TURRET JOINT 5")

ARTICULATION_DEV_VECTOR = (-0.0147503, 0.0263754, 0.999543)

ARTICULATION_DEV_VECTOR_NAME = GRAVITY

CONTACT_SENSOR_STATE = ("NO CONTACT", "NO CONTACT", CONTACT,

CONTACT, "NO CONTACT", "NO CONTACT",

OPEN, "NO CONTACT")

CONTACT_SENSOR_STATE_NAME = ("MI SWITCH 1", "MI SWITCH 2",

"RAT SWITCH 1", "RAT SWITCH 2",

"MB SWITCH 1", "MB SWITCH 2",

"APXS DOOR SWITCH", "APXS CONTACT SWITCH")

ARTICULATION_DEV_INSTRUMENT_ID = APXS

END_GROUP = STOP_IDD_ARTICULATION_STATE

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE AT END */

GROUP = STOP_IDD_COORDINATE_SYSTEM

COORDINATE_SYSTEM_NAME = APXS_FRAME

COORDINATE_SYSTEM_INDEX = (15, 0, 60, 293, 0)

COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA)

ORIGIN_OFFSET_VECTOR = (1.10661, 0.113606, 0.290757)

ORIGIN_ROTATION_QUATERNION = (0.591676, 0.0280522, 0.0437475,

0.804499)

POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE

POSITIVE_ELEVATION_DIRECTION = DOWN

REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME

REFERENCE_COORD_SYSTEM_INDEX = (15, 0, 60, 293, 0)

END_GROUP = STOP_IDD_COORDINATE_SYSTEM

OBJECT = SPREADSHEET

INTERCHANGE_FORMAT = ASCII

ROWS = 512

FIELDS = 7

ROW_BYTES = 132

FIELD_DELIMITER = "COMMA"

DESCRIPTION = "APXS x-ray spectra in counts as a function

of channel number. The number of spectra in the file (maximum of 12)

depends on the length of the integration. Channel 1 contains the lifetime

for the spectrum in units of 10 seconds. Channel 2 is the unique id for

the spectrum. The value increments by one after every cycle start.

Channels 3 and 4 contain the temperature correction gain multiplier and

linear term, respectively. The measured x-ray data start with channel 5.

The last channel, number 512, contains the number of x-rays with energies

greater than full scale."

OBJECT = FIELD

NAME = "CHANNEL_NUMBER"

FIELD_NUMBER = 1

DATA_TYPE = ASCII_INTEGER

BYTES = 10

DESCRIPTION = "Channel number representing a given

energy level."

END_OBJECT = FIELD

OBJECT = FIELD

NAME = "SPECTRA_01"

FIELD_NUMBER = 2

DATA_TYPE = ASCII_INTEGER

BYTES = 10

DESCRIPTION = "Number of x-rays detected per channel."

END_OBJECT = FIELD

OBJECT = FIELD

NAME = "SPECTRA_02"

FIELD_NUMBER = 3

DATA_TYPE = ASCII_INTEGER

BYTES = 10

DESCRIPTION = "Number of x-rays detected per channel."

END_OBJECT = FIELD

OBJECT = FIELD

NAME = "SPECTRA_03"

FIELD_NUMBER = 4

DATA_TYPE = ASCII_INTEGER

BYTES = 10

DESCRIPTION = "Number of x-rays detected per channel."

END_OBJECT = FIELD

OBJECT = FIELD

NAME = "SPECTRA_04"

FIELD_NUMBER = 5

DATA_TYPE = ASCII_INTEGER

BYTES = 10

DESCRIPTION = "Number of x-rays detected per channel."

END_OBJECT = FIELD

OBJECT = FIELD

NAME = "SPECTRA_05"

FIELD_NUMBER = 6

DATA_TYPE = ASCII_INTEGER

BYTES = 10

DESCRIPTION = "Number of x-rays detected per channel."

END_OBJECT = FIELD

OBJECT = FIELD

NAME = "SPECTRA_06"

FIELD_NUMBER = 7

DATA_TYPE = ASCII_INTEGER

BYTES = 10

DESCRIPTION = "Number of x-rays detected per channel."

END_OBJECT = FIELD

END_OBJECT = SPREADSHEET

END

aPPENDIX B - LABEL KEYWORD DEFINITIONS

Note see the Planetary Science Data Dictionary [6] for the definitions of keywords within the spreadsheet and column objects.

Keyword Name	Definition	Type	Units	Valid Values	· Location in PDS Label · Source
APPLICATION_PROCESS_ID	Identifies the source/process which created the data.	Integer		(see APPLICATION_PROCESS_NAME)	LOCATION TELEMETRY (Class) SOURCE CCSDS:Primary:APID
APPLICATION_PROCESS_NAME	Provides the name associated with the source/process which created the data.	String (256)		APID NAME 21 "PANCAM LEFT" 22 "PANCAM RIGHT" 23 "NAVCAM LEFT" 24 "NAVCAM RIGHT" 25 "HAZCAM LEFT FRONT" 26 "HAZCAM RIGHT FRONT" 27 "HAZCAM LEFT REAR" 28 "HAZCAM RIGHT REAR" 29 "MI" 30 "DESCENT IMAGER" 31 "MINITES" 32 "APXS" 33 "MB" 34 "RAT"	LOCATION TELEMETRY (Class) SOURCE Table Lookup CCSDS:Primary:APID
APPLICATION_PROCESS_SUBTYPE_ID	Identifies the source/subprocess that created the data.	Integer		0 APXS SCIENCE DATA	LOCATION TELEMETRY (Class) SOURCE CCSDS:Primary:subtype
ARTICULATION_DEVICE_ANGLE	Provides the value of an angle between two parts or segments of an articulated device. MER uses radians. The PDS default unit for this keyword is degrees, so the <rad> tag is required for MER data.	Float array[10]	radians (<rad> unit tag required)		LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE Group Dependent a) IDPH:bgn->idd.q_enc[5] IDPH:bgn->idd.q_pot[5] c) IDPH:end->idd.q_enc[5] IDPH:end->idd.q_pot[5]
ARTICULATION_DEVICE_ANGLE_NAME	Provides the formal name that identifies each of the values used in ARTICULATION_DEVICE_ANGLE.	String array[10]		("JOINT 1 AZIMUTH-ENCODER", "JOINT 2 ELEVATION-ENCODER", "JOINT 3 ELBOW-ENCODER", "JOINT 4 WRIST-ENCODER", "JOINT 5 TURRET-ENCODER", "JOINT 1 AZIMUTH-POTENTIOMETER", "JOINT 2 ELEVATION-POTENTIOMETER", "JOINT 3 ELBOW-POTENTIOMETER", "JOINT 4 WRIST-POTENTIOMETER", "JOINT 5 TURRET-POTENTIOMETER")	LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE Static Values
ARTICULATION_DEVICE_ID	Specifies the abbreviated ID of the articulation device described by the containing group. An articulation device is anything that can move independently of the spacecraft to which it is attached, e.g. mast heads, wheel bogies, arms, etc.	string		IDD	LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE Static Values
ARTICULATION_DEVICE_MODE	Indicates the deployment state (i.e., physical configuration) of an articulation device at the time of data acquisition. For MER, this is the mode of the last move: "FREE SPACE" - IDD arm was moved where there was no contact with a target expected. "GUARDED" - IDD arm was moved where contact with the target was expected. "RETRACTING" - IDD arm was moved where an instrument is removed from a target. "PRELOAD" - IDD arm stays in contact with the target and applies force or over-travel on an instrument.	String		IDD 0="FREE SPACE", 1="GUARDED", 2="RETRACTING", 3="PRELOAD"	LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE Group Dependent; Table Lookup a) IDPH:bgn->idd.idd_mode b) IDPH:end->idd.idd_mode
ARTICULATION_DEVICE_NAME	Specifies the common name of the articulation device described by the containing group.	string		"INSTRUMENT DEPLOYMENT DEVICE"	LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE Static Value
ARTICULATION_DEVICE_TEMP	Provides the temperature, in Celsius, of an articulated device or some part of an articulated device.	Float array[2]	deg C (<degC> unit tag required)	-3.4e38 to 3.4e38	LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE a) IDPH:bgn->idd.temp[2] b) IDPH:end->idd.temp[2]
ARTICULATION_DEVICE_TEMP_NAME	An array of the formal names identifying each of the values used in ARTICULATION_DEVICE_TEMP.	string array[2]		("AZIMUTH JOINT 1", "TURRET JOINT 5")	LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE a) Static Value
ARTICULATION_DEV_INSTRUMENT_ID	Provides an abbreviated name or acronym that identifies an instrument mounted on the articulation device.	String(12)		IDD 0 = MI 1 = RAT 2 = MB 3 = APXS	LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE Table Lookup; a) IDPH:bgn->idd.instrument b) IDPH:end->idd.instrument
ARTICULATION_DEV_VECTOR	Provides the direction and magnitude of an external force acting on the articulation device, in the rover's coordinate system at the time the pose was computed.	Float array[3]			LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE a) IDPH:bgn->idd.tilt[3] b) IDPH:end->idd.tilt[3]
ARTICULATION_DEV_VECTOR_NAME	Provides the formal name of the vector type of the articulation device.	String		GRAVITY	LOCATION a) START_IDD_ARTICULATION_STATE (Group) b) STOP_IDD_ARTICULATION_STATE (Group) SOURCE Static Value
COMMAND_SEQUENCE_NUMBER	Provides a numeric identifier for a sequence of commands sent to a spacecraft or instrument. For MER, this is the command number that identifies the specific generating command within the specified sequence.	Integer			LOCATION IDENTIFICATION (Class) SOURCE UPTH:ProdCmndId; Command Number
CONTACT_SENSOR_STATE	An array of identifiers for the state of an instrument's or instrument host's contact sensors at a specified time. For MER, "CONTACT" or "NO CONTACT" for most values. For the value corresponding to APXS DOOR SWITCH (entry 7), values are "OPEN" or "CLOSED".	String array[8]		0 = "NO CONTACT" or "CLOSED"