PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM INSTRUMENT_NAME = "RADIO SCIENCE SUBSYSTEM" TARGET_NAME = MARS DATA_SET_ID = "MGS-M-RSS-1-EXT-V1.0" PRODUCT_TYPE = TCK MISSION_NAME = "MARS GLOBAL SURVEYOR" INSTRUMENT_HOST_NAME = "MARS GLOBAL SURVEYOR" ORIGINAL_PRODUCT_ID = "mgs_sc_map2.bc" PRODUCT_ID = "9153236A.TCK" FILE_NAME = "9153236A.TCK" PRODUCT_VERSION_TYPE = "*" PRODUCER_ID = MGS_SCT PRODUCT_CREATION_TIME = 1999-09-11T00:00:00 START_TIME = 1999-06-02T00:00:02 STOP_TIME = 1999-08-24T23:59:53 ^DESCRIPTION = "TK_FTP.TXT" NOTE = " MGS Spacecraft Orientation CK File for Mapping, Cycles 4-6 =========================================================================== Created by Boris Semenov, NAIF/JPL, September 11, 1999 Orientation Data in the File -------------------------------------------------------- This file contains orientation and angular velocity data for the Mars Global Surveyor (MGS) spacecraft frame, 'MGS_SPACECRAFT', relative to the 'J2000' inertial frame. The NAIF ID code for the 'MGS_SPACECRAFT' frame is -94000. Status -------------------------------------------------------- This file was created by merging daily CK files produced by the MGS Spacecraft Team at LMA, Denver data in which were partially corrected for the on-board filter latency. Details about this correction are provided below. There is a chance that future analysis will allow further correction to these time tags -- if so, even better CK files would be available from NAIF/JPL. Time Correction -------------------------------------------------------- The data in the file were partially corrected for the spacecraft orientation quaternion telemetry time bias. This bias was originally detected by the MGS MOLA team from the instrument data collected during the eight targeting passes in SPO-1 when MOLA was allowed to remain on while the spacecraft was slewed at fairly rapid rates. Mismatch of the expected and actually measured surface profiles on these slew passes exposed the time offset of the spacecraft attitude C-kernels independent of other systematic errors, such as boresight misalignment, which could mimic a time offset. This offset appeared to be almost constant and was estimated at +1.140 seconds +- 0.010 from the MOLA shot time. It appeared that orientation data in the CK had time tags 1.14 seconds later than they should be, i.e. to obtain correct orientation at the MOLA measurement time T, someone had to read original CK pointing at the time T+1.14 sec. After extended investigation of the problem, the origin was identified to be a lag introduced by the on-board digital filter. The filter worked on the calculated raw error quaternion (also called raw delta quaternion), which was then applied to the existing filtered quaternion. Since the second order low pass only filter used during pre-mapping mission phases was supposed to be replaced with the fourth order IIR containing the notch for mapping operations, an additional series of investigation were carried out to estimate time delay which would be introduced by the mapping filter. Investigations confirmed that the second order low pass only filter introduces a 1.x seconds variable time bias and showed that the fourth order IIR containing the notch introduces a 2.x seconds variable time bias. Both biases could not be reconstructed on the ground because their magnitude was a function of the input signal which was not available in the spacecraft engineering telemetry. Before start of the transition to mapping, the second order filter was in place at all times. During the transition the spacecraft used both filters by switching between them during 11 day period from February 26 through March 9, 1999, when MOC calibrations were carried out. The 4th order IIR containing the notch filter was in places during NADIR pointing periods and the second order low pass only filter was used for all Earth pointing and Moc ISH periods. Once the transition to mapping was completed, the fourth order filter was put in place for all times. Since the fourth order filter was in place during the whole period covered by this file, correction of -2.300000 seconds was applied by Spacecraft Team at LMA to the data in the original individual s/c orientation CK files. Note that this was a partial fix because as mentioned above the timing bias is variable. No additional correction was applied when the data was merged together. There are also two other known sources of timing error in the CK data which weren't addressed by this fix: -- error of up to 60 milliseconds due to inconsistent time conversions in telemetry system (TIS) and attitude quaternion formatted program (ATTREC). -- error on the order of 1-3 milliseconds due to a difference in time conversion between SFOC services (SCLKvSCET file based) and SPICE toolkit (SCLK Kernel based). Pedigree -------------------------------------------------------- The original CK files used to create this file were officially delivered to the MGS project data base by the MGS Spacecraft Team at LMA, Denver. These files contained spacecraft frame orientation relative to the J2000 inertial frame. The orientation was computed, converted to quaternions and filtered on board; filtered quaternions were transmitted to the Earth in channelized telemetry. Nominal orientation data sampling rate was 0.25 Hz. On the ground quaternions were extracted from telemetry, quaternion time tags were adjusted by -2.3 seconds, and quaternions were written to daily CK files using the ATTREC program. The individual daily files were merged together to provide complete coverage on a mission phase basis. A table containing the complete list of original CK files from which data were included in this file is provided at the end of these comments. Approximate Time Coverage -------------------------------------------------------- This file covers fourth, fifth and sixth mapping cycles of the Mapping phase of the mission: COVERAGE BEGIN TIME (UTC): 1999-JUN-02 00:00:02.058 COVERAGE END TIME (UTC): 1999-AUG-24 23:59:53.237 This file is a type 3 CK file which provides linear interpolation between orientation data points extracted from telemetry. Such interpolation is not applied to the whole coverage of the file but only inside intervals where enough orientation telemetry data was available and orientation data points were close to each other in time for such interpolation to make sense. Given that nominal spacecraft quaternions rate was 0.25 Hz (one quaternion every 4 seconds) the duration of the longest interval over which the data may be interpolated was set to 8 seconds, i.e. interpolation was enabled only over a single point drop-out. For all requests for data falling between two adjacent data points separated by more than 8 seconds the SPICELIB CK readers will return a logical flag stating 'POINTING NOT FOUND'. A table containing the complete list of valid interpolation intervals in the file is provided at the end of these comments. Usage Note -------------------------------------------------------- In order to use this file an MGS SCLK file containing coefficients mapping MGS on-board time to ET must be loaded into a user's program. Related Kernels -------------------------------------------------------- This file was created with LSK file naif0007.tls and MGS SCLK file MGS_SCLKSCET.00026.tsc. Contacts -------------------------------------------------------- If you have any question regarding this data contact NAIF at JPL: Charles H. Acton, Jr (818)-354-3869 chuck.acton@jpl.nasa.gov Boris V. Semenov (818)-354-8136 boris.semenov@jpl.nasa.gov Appendix 1: List of the original CK files -------------------------------------------------------- mgs_spice_c_kernel_1999-153.bc mgs_spice_c_kernel_1999-154.bc mgs_spice_c_kernel_1999-155.bc mgs_spice_c_kernel_1999-156.bc mgs_spice_c_kernel_1999-157.bc mgs_spice_c_kernel_1999-158.bc mgs_spice_c_kernel_1999-159.bc mgs_spice_c_kernel_1999-160.bc mgs_spice_c_kernel_1999-161.bc mgs_spice_c_kernel_1999-162.bc mgs_spice_c_kernel_1999-163.bc mgs_spice_c_kernel_1999-164.bc mgs_spice_c_kernel_1999-165.bc mgs_spice_c_kernel_1999-166.bc mgs_spice_c_kernel_1999-167.bc mgs_spice_c_kernel_1999-168.bc mgs_spice_c_kernel_1999-169.bc mgs_spice_c_kernel_1999-170.bc mgs_spice_c_kernel_1999-171.bc mgs_spice_c_kernel_1999-172.bc mgs_spice_c_kernel_1999-173.bc mgs_spice_c_kernel_1999-174.bc mgs_spice_c_kernel_1999-175.bc mgs_spice_c_kernel_1999-176.bc mgs_spice_c_kernel_1999-177.bc mgs_spice_c_kernel_1999-178.bc mgs_spice_c_kernel_1999-179.bc mgs_spice_c_kernel_1999-180.bc mgs_spice_c_kernel_1999-181.bc mgs_spice_c_kernel_1999-182.bc mgs_spice_c_kernel_1999-183.bc mgs_spice_c_kernel_1999-184.bc mgs_spice_c_kernel_1999-185.bc mgs_spice_c_kernel_1999-186.bc mgs_spice_c_kernel_1999-187.bc mgs_spice_c_kernel_1999-188.bc mgs_spice_c_kernel_1999-189.bc mgs_spice_c_kernel_1999-190.bc mgs_spice_c_kernel_1999-191.bc mgs_spice_c_kernel_1999-192.bc mgs_spice_c_kernel_1999-193.bc mgs_spice_c_kernel_1999-194.bc mgs_spice_c_kernel_1999-195.bc mgs_spice_c_kernel_1999-196.bc mgs_spice_c_kernel_1999-197.bc mgs_spice_c_kernel_1999-198.bc mgs_spice_c_kernel_1999-199.bc mgs_spice_c_kernel_1999-200.bc mgs_spice_c_kernel_1999-201.bc mgs_spice_c_kernel_1999-202.bc mgs_spice_c_kernel_1999-203.bc mgs_spice_c_kernel_1999-204.bc mgs_spice_c_kernel_1999-205.bc mgs_spice_c_kernel_1999-206.bc mgs_spice_c_kernel_1999-207.bc mgs_spice_c_kernel_1999-208.bc mgs_spice_c_kernel_1999-209.bc mgs_spice_c_kernel_1999-210.bc mgs_spice_c_kernel_1999-211.bc mgs_spice_c_kernel_1999-212.bc mgs_spice_c_kernel_1999-213.bc mgs_spice_c_kernel_1999-214.bc mgs_spice_c_kernel_1999-215.bc mgs_spice_c_kernel_1999-216.bc mgs_spice_c_kernel_1999-217.bc mgs_spice_c_kernel_1999-218.bc mgs_spice_c_kernel_1999-219.bc mgs_spice_c_kernel_1999-220.bc mgs_spice_c_kernel_1999-221.bc mgs_spice_c_kernel_1999-222.bc mgs_spice_c_kernel_1999-223.bc mgs_spice_c_kernel_1999-224.bc mgs_spice_c_kernel_1999-225.bc mgs_spice_c_kernel_1999-226.bc mgs_spice_c_kernel_1999-227.bc mgs_spice_c_kernel_1999-228.bc mgs_spice_c_kernel_1999-229.bc mgs_spice_c_kernel_1999-230.bc mgs_spice_c_kernel_1999-231.bc mgs_spice_c_kernel_1999-232.bc mgs_spice_c_kernel_1999-233.bc mgs_spice_c_kernel_1999-234.bc mgs_spice_c_kernel_1999-235.bc mgs_spice_c_kernel_1999-236.bc Appendix 2: Interpolation Intervals in the File -------------------------------------------------------- 1999-06-02T00:00:02.058 1999-06-02T11:59:58.053 1999-06-02T12:00:58.053 1999-06-03T11:33:10.043 1999-06-03T11:36:34.043 1999-06-03T11:59:58.043 1999-06-03T12:00:58.043 1999-06-03T16:06:14.041 1999-06-03T16:08:14.041 1999-06-03T17:06:30.041 1999-06-03T17:49:18.040 1999-06-03T18:55:58.040 1999-06-03T19:38:34.040 1999-06-03T20:53:34.039 1999-06-03T21:17:26.039 1999-06-04T00:49:02.038 1999-06-04T01:23:46.037 1999-06-04T11:59:58.033 1999-06-04T12:00:58.033 1999-06-04T19:35:30.030 1999-06-04T19:45:22.030 1999-06-05T00:26:30.028 1999-06-05T01:04:10.028 1999-06-05T11:59:58.023 1999-06-05T12:00:58.023 1999-06-05T20:55:22.019 1999-06-05T20:56:50.019 1999-06-06T11:59:58.013 1999-06-06T12:00:58.013 1999-06-06T12:10:38.013 1999-06-06T12:10:50.013 1999-06-06T12:11:42.013 1999-06-06T12:14:30.013 1999-06-07T11:59:58.003 1999-06-07T12:00:58.003 1999-06-08T11:59:57.994 1999-06-08T12:00:57.994 1999-06-09T11:59:57.984 1999-06-09T12:00:57.984 1999-06-09T16:45:09.982 1999-06-09T16:45:41.982 1999-06-09T20:43:21.980 1999-06-09T20:43:41.980 1999-06-09T20:44:05.980 1999-06-09T20:44:33.980 1999-06-09T20:44:33.980 1999-06-09T20:44:45.980 1999-06-09T20:45:05.980 1999-06-09T20:45:17.980 1999-06-09T20:45:17.980 1999-06-09T20:45:37.980 1999-06-09T20:45:45.980 1999-06-09T20:45:57.980 1999-06-09T20:45:57.980 1999-06-09T20:57:17.980 1999-06-09T20:57:17.980 1999-06-09T20:57:29.980 1999-06-10T11:59:57.978 1999-06-10T12:00:57.978 1999-06-10T13:39:37.977 1999-06-10T13:39:49.977 1999-06-11T11:59:57.968 1999-06-11T12:00:57.968 1999-06-12T09:23:45.959 1999-06-12T09:23:57.959 1999-06-12T09:23:57.959 1999-06-12T09:28:01.959 1999-06-12T11:00:21.958 1999-06-12T11:31:53.958 1999-06-12T11:59:57.958 1999-06-12T12:00:57.958 1999-06-13T11:59:57.948 1999-06-13T12:00:57.948 1999-06-14T09:55:21.939 1999-06-14T09:59:29.939 1999-06-14T11:59:57.938 1999-06-14T12:00:57.938 1999-06-14T17:18:41.936 1999-06-14T17:18:57.936 1999-06-14T17:19:25.936 1999-06-14T17:19:41.936 1999-06-14T17:19:41.936 1999-06-14T17:22:41.936 1999-06-14T20:03:09.935 1999-06-14T20:13:21.935 1999-06-15T08:43:49.926 1999-06-15T08:49:41.926 1999-06-15T08:49:57.926 1999-06-15T08:50:13.926 1999-06-15T08:50:17.926 1999-06-15T08:50:33.926 1999-06-15T08:50:41.926 1999-06-15T08:50:53.926 1999-06-15T08:51:01.926 1999-06-15T08:51:17.926 1999-06-15T08:51:21.926 1999-06-15T08:51:37.926 1999-06-15T08:51:45.926 1999-06-15T08:51:57.926 1999-06-15T10:32:53.925 1999-06-15T10:42:33.925 1999-06-15T11:59:57.924 1999-06-15T12:00:57.924 1999-06-16T10:46:33.915 1999-06-16T10:46:45.915 1999-06-16T11:59:57.915 1999-06-16T12:00:57.915 1999-06-16T18:27:09.912 1999-06-16T18:27:21.912 1999-06-16T18:27:33.912 1999-06-16T18:27:45.912 1999-06-16T18:27:45.912 1999-06-16T18:28:05.912 1999-06-16T18:28:13.912 1999-06-16T18:28:25.912 1999-06-16T18:28:25.912 1999-06-16T18:28:37.912 1999-06-16T18:28:41.912 1999-06-16T18:28:53.912 1999-06-16T18:29:13.912 1999-06-16T18:29:41.912 1999-06-16T18:29:41.912 1999-06-16T18:30:01.912 1999-06-16T18:30:01.912 1999-06-16T18:30:13.912 1999-06-16T18:30:21.912 1999-06-16T18:30:33.912 1999-06-16T18:30:33.912 1999-06-16T20:24:01.911 1999-06-17T11:59:57.905 1999-06-17T12:00:57.905 1999-06-18T11:59:57.895 1999-06-18T12:00:57.895 1999-06-19T11:33:09.885 1999-06-19T11:37:13.885 1999-06-19T11:38:37.885 1999-06-19T11:46:09.885 1999-06-19T11:59:57.885 1999-06-19T12:00:57.885 1999-06-20T11:52:17.875 1999-06-20T11:55:53.875 1999-06-20T11:59:57.875 1999-06-20T12:00:57.875 1999-06-20T14:00:21.874 1999-06-20T14:17:05.874 1999-06-21T06:40:29.867 1999-06-21T06:45:33.867 1999-06-21T11:59:57.865 1999-06-21T12:00:57.865 1999-06-21T16:39:41.863 1999-06-21T16:42:05.863 1999-06-22T00:26:25.860 1999-06-22T00:58:09.860 1999-06-22T11:59:57.855 1999-06-22T12:00:57.855 1999-06-23T11:59:57.846 1999-06-23T12:00:57.846 1999-06-24T11:59:57.836 1999-06-24T12:00:57.836 1999-06-24T14:07:41.835 1999-06-24T14:08:41.835 1999-06-25T11:59:57.826 1999-06-25T12:00:57.826 1999-06-26T11:59:57.816 1999-06-26T12:00:57.816 1999-06-27T11:59:57.806 1999-06-27T12:00:57.806 1999-06-28T11:59:57.796 1999-06-28T12:00:57.796 1999-06-29T11:59:57.786 1999-06-29T12:00:57.786 1999-06-29T14:32:53.785 1999-06-29T14:41:25.785 1999-06-30T00:28:25.781 1999-06-30T00:36:01.781 1999-06-30T00:41:09.781 1999-06-30T00:46:33.781 1999-06-30T05:59:49.779 1999-06-30T06:09:57.779 1999-06-30T11:33:09.777 1999-06-30T11:33:49.777 1999-06-30T11:59:57.777 1999-06-30T12:00:57.777 1999-07-01T00:26:29.771 1999-07-01T00:28:29.771 1999-07-01T00:28:29.771 1999-07-01T00:28:41.771 1999-07-01T11:59:57.767 1999-07-01T12:00:57.767 1999-07-02T05:59:49.759 1999-07-02T06:03:33.759 1999-07-02T11:27:49.757 1999-07-02T11:37:41.757 1999-07-02T11:59:57.757 1999-07-02T12:00:57.757 1999-07-03T10:08:37.748 1999-07-03T10:22:53.748 1999-07-03T10:23:05.748 1999-07-03T10:23:17.748 1999-07-03T10:23:29.748 1999-07-03T10:24:17.748 1999-07-03T10:24:21.748 1999-07-03T10:26:37.748 1999-07-03T11:59:57.747 1999-07-03T12:00:57.747 1999-07-03T13:07:25.746 1999-07-03T13:16:29.746 1999-07-03T16:55:49.745 1999-07-03T17:19:21.745 1999-07-04T00:31:45.742 1999-07-04T00:33:05.742 1999-07-04T05:59:49.739 1999-07-04T06:00:37.739 1999-07-04T07:26:37.739 1999-07-04T07:26:49.739 1999-07-04T07:27:41.739 1999-07-04T07:29:53.739 1999-07-04T09:43:57.738 1999-07-04T10:02:29.738 1999-07-04T10:04:13.738 1999-07-04T10:08:25.738 1999-07-04T11:27:49.737 1999-07-04T11:28:45.737 1999-07-04T11:59:57.737 1999-07-04T12:00:57.737 1999-07-04T16:55:49.735 1999-07-04T17:01:45.735 1999-07-05T00:31:45.732 1999-07-05T00:33:13.732 1999-07-05T05:59:49.729 1999-07-05T06:00:57.729 1999-07-05T11:33:33.727 1999-07-05T11:38:25.727 1999-07-05T11:59:57.727 1999-07-05T12:00:57.727 1999-07-05T16:55:49.725 1999-07-05T16:56:17.725 1999-07-06T00:53:41.722 1999-07-06T00:59:53.722 1999-07-06T01:00:25.722 1999-07-06T01:00:57.722 1999-07-06T01:01:25.722 1999-07-06T01:02:01.722 1999-07-06T01:02:29.722 1999-07-06T01:03:01.722 1999-07-06T01:03:29.722 1999-07-06T01:04:05.722 1999-07-06T01:04:33.722 1999-07-06T01:05:05.722 1999-07-06T01:05:37.722 1999-07-06T01:06:09.722 1999-07-06T01:06:37.722 1999-07-06T01:07:53.722 1999-07-06T01:08:05.722 1999-07-06T01:08:37.722 1999-07-06T01:09:05.722 1999-07-06T01:09:37.722 1999-07-06T01:10:05.722 1999-07-06T01:10:37.722 1999-07-06T01:11:01.722 1999-07-06T01:11:37.722 1999-07-06T01:12:05.722 1999-07-06T01:12:37.722 1999-07-06T01:13:05.722 1999-07-06T01:13:37.722 1999-07-06T01:14:05.722 1999-07-06T01:14:37.722 1999-07-06T01:15:05.721 1999-07-06T01:15:37.721 1999-07-06T01:16:05.721 1999-07-06T01:16:37.721 1999-07-06T01:17:01.721 1999-07-06T01:18:49.721 1999-07-06T01:19:05.721 1999-07-06T01:19:37.721 1999-07-06T01:20:05.721 1999-07-06T01:20:37.721 1999-07-06T01:21:05.721 1999-07-06T01:21:37.721 1999-07-06T01:22:05.721 1999-07-06T01:22:37.721 1999-07-06T01:23:05.721 1999-07-06T01:23:37.721 1999-07-06T01:24:05.721 1999-07-06T01:24:41.721 1999-07-06T01:25:05.721 1999-07-06T01:25:41.721 1999-07-06T01:26:05.721 1999-07-06T01:26:41.721 1999-07-06T01:27:05.721 1999-07-06T01:27:41.721 1999-07-06T01:28:05.721 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1999-08-17T06:13:37.314 1999-08-17T06:22:29.314 1999-08-17T11:27:49.312 1999-08-17T11:31:33.312 1999-08-17T11:59:57.311 1999-08-17T12:00:57.311 1999-08-17T16:55:49.309 1999-08-17T16:57:49.309 1999-08-17T23:59:53.306 1999-08-18T00:00:05.306 1999-08-18T00:32:53.306 1999-08-18T01:04:13.306 1999-08-18T05:59:49.304 1999-08-18T06:03:29.304 1999-08-18T08:15:45.303 1999-08-18T08:17:33.303 1999-08-18T08:44:53.303 1999-08-18T08:54:21.303 1999-08-18T11:27:49.302 1999-08-18T11:31:33.302 1999-08-18T11:59:57.302 1999-08-18T12:00:57.302 1999-08-18T16:55:49.299 1999-08-18T16:59:09.299 1999-08-18T23:59:53.297 1999-08-19T00:00:05.297 1999-08-19T00:31:49.296 1999-08-19T00:33:29.296 1999-08-19T05:58:49.294 1999-08-19T05:59:01.294 1999-08-19T05:59:17.294 1999-08-19T06:03:01.294 1999-08-19T11:59:57.292 1999-08-19T12:00:57.292 1999-08-19T23:59:53.287 1999-08-20T00:00:05.287 1999-08-20T00:31:49.286 1999-08-20T00:33:09.286 1999-08-20T05:59:49.284 1999-08-20T06:26:21.284 1999-08-20T11:27:49.282 1999-08-20T11:31:25.282 1999-08-20T11:59:57.282 1999-08-20T12:00:57.282 1999-08-20T23:59:53.277 1999-08-21T00:00:05.277 1999-08-21T04:14:25.275 1999-08-21T04:14:45.275 1999-08-21T04:14:45.275 1999-08-21T04:14:57.275 1999-08-21T04:14:57.275 1999-08-21T04:15:09.275 1999-08-21T04:15:09.275 1999-08-21T04:15:29.275 1999-08-21T04:15:29.275 1999-08-21T04:15:45.275 1999-08-21T04:15:45.275 1999-08-21T04:16:09.275 1999-08-21T04:16:49.275 1999-08-21T04:17:17.275 1999-08-21T04:17:25.275 1999-08-21T04:21:41.275 1999-08-21T04:39:53.275 1999-08-21T04:47:05.275 1999-08-21T05:59:49.274 1999-08-21T06:04:33.274 1999-08-21T11:27:53.272 1999-08-21T11:32:01.272 1999-08-21T11:59:57.272 1999-08-21T12:00:57.272 1999-08-21T16:55:49.270 1999-08-21T16:59:09.270 1999-08-21T23:59:53.267 1999-08-22T00:00:05.267 1999-08-22T05:59:49.264 1999-08-22T06:03:09.264 1999-08-22T11:59:57.262 1999-08-22T12:00:57.262 1999-08-22T23:59:53.257 1999-08-23T00:00:05.257 1999-08-23T00:31:49.257 1999-08-23T00:35:37.257 1999-08-23T11:59:57.252 1999-08-23T12:00:57.252 1999-08-23T23:59:53.247 1999-08-24T00:00:05.247 1999-08-24T00:31:45.247 1999-08-24T00:35:33.247 1999-08-24T05:59:49.244 1999-08-24T06:02:29.244 1999-08-24T11:27:49.242 1999-08-24T11:30:05.242 1999-08-24T11:59:57.242 1999-08-24T12:00:57.242 1999-08-24T14:55:33.241 1999-08-24T14:56:33.241 1999-08-24T23:59:53.237 " END