OBJECT                    = COLUMN
      COLUMN_NUMBER           = 13
      NAME                    = "A TO D COUNTS"
      DATA_TYPE               = MSB_BIT_STRING
      START_BYTE              = 1
      BYTES                   = 12
      DESCRIPTION             = "The A-to-D Counts column consists of eight
                                 12-bit fields, as described by the BIT_COLUMN
                                 objects below."
                                 
      OBJECT                  = BIT_COLUMN
        NAME                  = "THERMOCOUPLE 1"
        BIT_DATA_TYPE         = MSB_UNSIGNED_INTEGER
        START_BIT             = 1
        BITS                  = 12
        DESCRIPTION           = "TBD"
      END_OBJECT              = BIT_COLUMN
      
      OBJECT                  = BIT_COLUMN
        NAME                  = "THERMOCOUPLE 2"
        BIT_DATA_TYPE         = MSB_UNSIGNED_INTEGER
        START_BIT             = 13
        BITS                  = 12
        DESCRIPTION           = "TBD"
      END_OBJECT              = BIT_COLUMN
      
      OBJECT                  = BIT_COLUMN
        NAME                  = "THERMOCOUPLE 3"
        BIT_DATA_TYPE         = MSB_UNSIGNED_INTEGER
        START_BIT             = 25
        BITS                  = 12
        DESCRIPTION           = "TBD"
      END_OBJECT              = BIT_COLUMN
      
      OBJECT                  = BIT_COLUMN
        NAME                  = "HUMIDITY"
        BIT_DATA_TYPE         = MSB_UNSIGNED_INTEGER
        START_BIT             = 37
        BITS                  = 12
        DESCRIPTION           = "TBD"
      END_OBJECT              = BIT_COLUMN
      
      OBJECT                  = BIT_COLUMN
        NAME                  = "ELECTRICAL CONDUCTIVITY"
        BIT_DATA_TYPE         = MSB_UNSIGNED_INTEGER
        START_BIT             = 49
        BITS                  = 12
        DESCRIPTION           = "TBD"
      END_OBJECT              = BIT_COLUMN
      
      OBJECT                  = BIT_COLUMN
        NAME                  = "BOARD TEMPERATURE"
        BIT_DATA_TYPE         = MSB_UNSIGNED_INTEGER
        START_BIT             = 61
        BITS                  = 12
        DESCRIPTION           = "TBD"
      END_OBJECT              = BIT_COLUMN
      
      OBJECT                  = BIT_COLUMN
        NAME                  = "DIELECTRIC"
        BIT_DATA_TYPE         = MSB_UNSIGNED_INTEGER
        START_BIT             = 73
        BITS                  = 12
        DESCRIPTION           = "TBD"
      END_OBJECT              = BIT_COLUMN
      
      OBJECT                  = BIT_COLUMN
        NAME                  = "HEATER CURRENT"
        BIT_DATA_TYPE         = MSB_UNSIGNED_INTEGER
        START_BIT             = 85
        BITS                  = 12
        DESCRIPTION           = "TBD"
      END_OBJECT              = BIT_COLUMN     
    END_OBJECT                = COLUMN
    
    OBJECT                    = COLUMN
      COLUMN_NUMBER           = 14
      NAME                    = "SAMPLE READTIME WHOLE SECONDS"
      DATA_TYPE               = MSB_UNSIGNED_INTEGER
      START_BYTE              = 13
      BYTES                   = 4
      UNIT                    = SECOND
      DESCRIPTION             = "Time at which this sample was received
                                 from the instrument, whole seconds
                                 portion"
    END_OBJECT                = COLUMN
  
    OBJECT                    = COLUMN
      COLUMN_NUMBER           = 15
      NAME                    = "SAMPLE READTIME FRACTIONAL SECONDS"
      DATA_TYPE               = MSB_UNSIGNED_INTEGER
      START_BYTE              = 17
      BYTES                   = 4
      UNIT                    = "SECOND/2**32"
      DESCRIPTION             = "Time at which this sample was received
                                 from the instrument, fractional seconds
                                 portion (value / 2*32)"
    END_OBJECT                = COLUMN
    
    OBJECT                    = COLUMN
      COLUMN_NUMBER           = 16
      NAME                    = "RA ENCODER JOINT ANGLES"
      DATA_TYPE               = IEEE_REAL
      START_BYTE              = 21
      BYTES                   = 16
      ITEMS                   = 4
      ITEM_BYTES              = 4
      ITEM_OFFSET             = 4
      UNIT                    = RADIAN
      DESCRIPTION             = "Joint angles from RA encoders (TBD: add
                                 explanation of the four items)"
    END_OBJECT                = COLUMN
  
    OBJECT                    = COLUMN
      COLUMN_NUMBER           = 17
      NAME                    = "RA POTS JOINT ANGLES"
      DATA_TYPE               = IEEE_REAL
      START_BYTE              = 37
      BYTES                   = 16
      ITEMS                   = 4
      ITEM_BYTES              = 4
      ITEM_OFFSET             = 4
      UNIT                    = RADIAN
      DESCRIPTION             = "Joint angles from RA pots (TBD: add
                                 explanation of the four items)"
    END_OBJECT                = COLUMN

    OBJECT                    = COLUMN
      COLUMN_NUMBER           = 18
      NAME                    = "TECP POSITION"
      DATA_TYPE               = IEEE_REAL
      START_BYTE              = 53
      BYTES                   = 12
      ITEMS                   = 3
      ITEM_BYTES              = 4
      ITEM_OFFSET             = 4
      UNIT                    = METER
      DESCRIPTION             = "Position of TECP in RA frame (TBD: add
                                 explanation of the three items)"
    END_OBJECT                = COLUMN

    OBJECT                    = COLUMN
      COLUMN_NUMBER           = 19
      NAME                    = "TECP ORIENTATION"
      DATA_TYPE               = IEEE_REAL
      START_BYTE              = 65
      BYTES                   = 16
      ITEMS                   = 4
      ITEM_BYTES              = 4
      ITEM_OFFSET             = 4
      DESCRIPTION             = "Orientation of TECP in RA frame 
                                 (quaternion) (TBD: add
                                 explanation of the four items)"
    END_OBJECT                = COLUMN

    OBJECT                    = COLUMN
      COLUMN_NUMBER           = 20
      NAME                    = "RA JOINT TEMPERATURE"
      DATA_TYPE               = IEEE_REAL
      START_BYTE              = 81
      BYTES                   = 16
      UNIT                    = DEGC
      ITEMS                   = 4
      ITEM_BYTES              = 4
      ITEM_OFFSET             = 4
      DESCRIPTION             = "Temperature of each RA joint (TBD: add
                                 explanation of the four items)"
    END_OBJECT                = COLUMN

    OBJECT                    = COLUMN
      COLUMN_NUMBER           = 21
      NAME                    = "RA TOOL"
      DATA_TYPE               = MSB_UNSIGNED_INTEGER
      START_BYTE              = 97
      BYTES                   = 4
      DESCRIPTION             = "RA tool references (fixed at 
                                 ra_tool_value_RA_TECP = 6)"
    END_OBJECT                = COLUMN