PDS_VERSION_ID                = PDS3
RECORD_TYPE                   = VARIABLE_LENGTH
RECORD_BYTES                  = 73
FILE_RECORDS                  = 28282

/* Pointers to Objects in Data File*/
^HEADER                       = ("PIT_TEST_SCRAPING.CSV",1)
^SPREADSHEET                  = ("PIT_TEST_SCRAPING.CSV",3)

/* Data Product Identification */
DATA_SET_ID                   = "PHX-M-RA-4-RDR-SCI-V1.0"
PRODUCT_ID                    = "PIT_TEST_SCRAPING"
INSTRUMENT_HOST_NAME          = "PHOENIX"
INSTRUMENT_NAME               = "ROBOTIC ARM"
TARGET_NAME                   = "TESTBED"
START_TIME                    = 2008-05-26T07:03:59.993
STOP_TIME                     = 2008-05-26T09:02:24.975
SPACECRAFT_CLOCK_START_COUNT  = "896252706.5"
SPACECRAFT_CLOCK_STOP_COUNT   = "896259811.4"
PRODUCT_CREATION_TIME         = 2009-09-29T12:45:06
PRODUCT_VERSION_ID            = "1.0"

/* Header Description */
OBJECT                        = HEADER
  BYTES                       = 103 
  RECORDS                     = 2
  HEADER_TYPE                 = "TEXT"
END_OBJECT                    = HEADER

/* Data Description */
OBJECT                        = SPREADSHEET
  FIELD_DELIMITER             = "COMMA"
  FIELDS                      = 9
  ROW_BYTES                   = 73
  ROWS                        = 28280
  DESCRIPTION                 = "The scraping test was conducted to test the 
    use of the Robotic Arm (RA) for scraping icy soil at 0.5 m depth 
    (relative to lander deck, not to soil surface).  Guarded moves were 
    performed as part of the test.  Recovery moves are also apparent in the 
    position data (plot z against sqrt(x^2+y^2)).  The test was conducted on 
    blocks of icy soil that were placed in a cooler packed with dry ice.  
    The data were processed by Matthew Robinson and the RA Team.  From sclk 
    896255393.1579 to sclk 896255707.2999, a time limit was intentionally 
    imposed and then exceeded.  The vertical segment in a position plot 
    during this time period corresponds to the RA pulling back after 
    exceeding the time limit.  From sclk 896256794.8772 to sclk 896257007.5817
    an energy limit was intentionally imposed and then exceeded.  The rest of
    the sclk range corresponds to a test conducted with the icy soil on a 
    slope of ~0.175 radians.  An obstacle was also placed in the scoop's path
    during this part of the test.  The scoop struck the obstacle at x~1.4 and
    backed out.  This section of the test also included guarded moves.  The 
    data were processed by Matthew Robinson and the 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