PDS_VERSION_ID                = PDS3
RECORD_TYPE                   = VARIABLE_LENGTH
RECORD_BYTES                  = 82
FILE_RECORDS                  = 15243

/* Pointers to Objects in Data File */
^HEADER                       = ("SOL033B.CSV",1)
^SPREADSHEET                  = ("SOL033B.CSV",192 <BYTES>)

/* Data Product Identification */
DATA_SET_ID                   = "PHX-M-RA-4-RDR-SCI-V1.0"
PRODUCT_ID                    = "SOL033B"
INSTRUMENT_HOST_NAME          = "PHOENIX"
INSTRUMENT_NAME               = "ROBOTIC ARM"
TARGET_NAME                   = "MARS"
START_TIME                    = 2008-06-28T15:59:29.026
STOP_TIME                     = 2008-06-28T16:27:39.999
SPACECRAFT_CLOCK_START_COUNT  = "899136041.6"
SPACECRAFT_CLOCK_STOP_COUNT   = "899137732"
PRODUCT_CREATION_TIME         = 2010-05-21T15:29:12
PRODUCT_VERSION_ID            = "1.0"

/* Header Description */
OBJECT                        = HEADER
  BYTES                       = 191 
  RECORDS                     = 3
  HEADER_TYPE                 = "TEXT"
END_OBJECT                    = HEADER

/* Data Description */
OBJECT                        = SPREADSHEET
  FIELD_DELIMITER             = "COMMA"
  FIELDS                      = 9
  ROW_BYTES                   = 69
  ROWS                        = 15240
  DESCRIPTION                 = "Robotic Arm (RA) Scoop Tip position data 
    and components of force exerted by the RA.  All coordinates are in 
    payload frame with the origin at the RA shoulder (where the RA attaches 
    to the deck)."

  OBJECT                      = FIELD
    FIELD_NUMBER              = 1
    NAME                      = "TIME(S)"
    BYTES                     = 11
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = SECOND
    DESCRIPTION               = "SCLK (Spacecraft Clock Time)"
  END_OBJECT                  = FIELD

  OBJECT                      = FIELD
    FIELD_NUMBER              = 2
    NAME                      = "X_T(M)"
    BYTES                     = 7
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = METER
    DESCRIPTION               = "Distance North from RA shoulder."
  END_OBJECT                  = FIELD

  OBJECT                      = FIELD
    FIELD_NUMBER              = 3
    NAME                      = "Y_T(M)"
    BYTES                     = 7
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = METER
    DESCRIPTION               = "Distance East from RA shoulder."
  END_OBJECT                  = FIELD

  OBJECT                      = FIELD
    FIELD_NUMBER              = 4
    NAME                      = "Z_T(M)"
    BYTES                     = 7
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = METER
    DESCRIPTION               = "Distance down from RA shoulder."
  END_OBJECT                  = FIELD

  OBJECT                      = FIELD
    FIELD_NUMBER              = 5
    NAME                      = "TH_T(RAD)"
    BYTES                     = 7
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = RADIAN
    DESCRIPTION               = "Angle (with respect to horizontal) of the 
      blade at the tip of the RA Scoop.  -pi and pi both indicate that the 
      blade is level and pointing back towards the lander, 0 indicates the 
      blade is pointing away from the lander.  Negative values mean the 
      blade is pointing up.  Positive values mean the blade is pointing 
      down."
  END_OBJECT                  = FIELD

  OBJECT                      = FIELD
    FIELD_NUMBER              = 6
    NAME                      = "FR(N)"
    BYTES                     = 9
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = NEWTON
    DESCRIPTION               = "Radial, lateral force (i.e. lateral force 
      in the direction of excavation) exerted by the RA."
  END_OBJECT                  = FIELD

  OBJECT                      = FIELD
    FIELD_NUMBER              = 7
    NAME                      = "FT(N)"
    BYTES                     = 9
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = NEWTON
    DESCRIPTION               = "Tangential lateral force (perpendicular 
      to the direction of excavation) exerted by the RA."
  END_OBJECT                  = FIELD

  OBJECT                      = FIELD
    FIELD_NUMBER              = 8
    NAME                      = "FZ(N)"
    BYTES                     = 9
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = NEWTON
    DESCRIPTION               = "Vertical force exerted by the RA."
  END_OBJECT                  = FIELD

  OBJECT                      = FIELD
    FIELD_NUMBER              = 9
    NAME                      = "R(N)"
    BYTES                     = 11
    DATA_TYPE                 = ASCII_REAL
    UNIT                      = NEWTON
    DESCRIPTION               = "Force in the plane of excavation, i.e. 
      sqrt(Fr^2+Fz^2)."
  END_OBJECT                  = FIELD
END_OBJECT                    = SPREADSHEET

END