PDS_VERSION_ID                = PDS3
RECORD_TYPE                   = VARIABLE_LENGTH
RECORD_BYTES                  = 107
FILE_RECORDS                  = 15280

/* Pointers to Objects in Data File*/
^HEADER                       = ("PIT_TEST_ICY_SOIL_DIG2.CSV",1)
^SPREADSHEET                  = ("PIT_TEST_ICY_SOIL_DIG2.CSV",4)

/* Data Product Identification */
DATA_SET_ID                   = "PHX-M-RA-4-RDR-SCI-V1.0"
PRODUCT_ID                    = "PIT_TEST_ICY_SOIL_DIG2"
INSTRUMENT_HOST_NAME          = "PHOENIX"
INSTRUMENT_NAME               = "ROBOTIC ARM"
TARGET_NAME                   = "TESTBED"
START_TIME                    = 2008-06-03T19:39:16.480
STOP_TIME                     = 2008-06-04T08:08:50.379
SPACECRAFT_CLOCK_START_COUNT  = "896989224.8"
SPACECRAFT_CLOCK_STOP_COUNT   = "897034198.6"
PRODUCT_CREATION_TIME         = 2009-09-29T12:45:05
PRODUCT_VERSION_ID            = "1.0"

/* Header Description */
OBJECT                        = HEADER
  BYTES                       = 211 
  RECORDS                     = 3
  HEADER_TYPE                 = "TEXT"
END_OBJECT                    = HEADER

/* Data Description */
OBJECT                        = SPREADSHEET
  FIELD_DELIMITER             = "COMMA"
  FIELDS                      = 9
  ROW_BYTES                   = 107
  ROWS                        = 15277
  DESCRIPTION                 = "The 'icy soil' tests were conducted to 
    test the use of the front blade on the Robotic Arm (RA) scoop for 
    scraping at hard materials.  To simulate the expected hardness of the 
    buried icy soil at the landing site, cement was buried under soil in 
    the Testbed.  Results indicated that that the front blade would only 
    be able to scrape minimal amounts of icy soil, and the bottom blade 
    on the scoop would need to be used to make further progress.  Data 
    were processed by Matthew Robinson and the Phoenix RA Team.  The CSV 
    file associated with the test includes 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