PDS_VERSION_ID                = PDS3
RECORD_TYPE                   = VARIABLE_LENGTH
RECORD_BYTES                  = 98
FILE_RECORDS                  = 17024

/* Pointers to Objects in Data File*/
^HEADER                       = ("PIT_TEST_DURICRUST.CSV",1)
^SPREADSHEET                  = ("PIT_TEST_DURICRUST.CSV",6)

/* Data Product Identification */
DATA_SET_ID                   = "PHX-M-RA-4-RDR-SCI-V1.0"
PRODUCT_ID                    = "PIT_TEST_DURICRUST"
INSTRUMENT_HOST_NAME          = "PHOENIX"
INSTRUMENT_NAME               = "ROBOTIC ARM"
TARGET_NAME                   = "TESTBED"
START_TIME                    = 2008-05-28T00:38:51.664
STOP_TIME                     = 2008-05-28T02:05:51.688
SPACECRAFT_CLOCK_START_COUNT  = "896402398"
SPACECRAFT_CLOCK_STOP_COUNT   = "896407618.9"
PRODUCT_CREATION_TIME         = 2009-09-29T12:45:05
PRODUCT_VERSION_ID            = "1.0"

/* Header Description */
OBJECT                        = HEADER
  BYTES                       = 382 
  RECORDS                     = 5
  HEADER_TYPE                 = "TEXT"
END_OBJECT                    = HEADER

/* Data Description */
OBJECT                        = SPREADSHEET
  FIELD_DELIMITER             = "COMMA"
  FIELDS                      = 9
  ROW_BYTES                   = 98
  ROWS                        = 17019
  DESCRIPTION                 = "The duricrust test was conducted to see how
    efficiently the Robotic Arm (RA) could excavate soil that had a crust 
    over it.  The tray of duricrust was embedded in a soil bin for stability.
    The RA was successfully able to break the duricrust into 'shards' or 
    'plates' as can be seen in accompanying images.  The test consisted of two
    excavations.  The first excavation resulted in a trench that was 15 cm 
    long x 12 cm wide x 3 cm deep.  The second excavation made the trench 
    1.5 cm deeper.  Data were processed by Matthew Robinson and the Phoenix RA
     Team.  The CSV file corresponding to the test contains 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). These data are from the RA Payload Interoperability 
    Testbed, in which a replica of the RA on the Phoenix spacecraft was
    tested on Earth."

  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