<?xml version="1.0" encoding="UTF-8"?>
<?xml-model 
    href="http://pds.jpl.nasa.gov/pds4/schema/released/pds/v1/PDS4_PDS_1100.sch" 
    schematypens="http://purl.oclc.org/dsdl/schematron"?>

<Product_Observational xmlns="http://pds.nasa.gov/pds4/pds/v1"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="http://pds.nasa.gov/pds4/pds/v1 http://pds.nasa.gov/pds4/schema/released/pds/v1/PDS4_PDS_1100.xsd">
    <Identification_Area>
        <logical_identifier>urn:nasa:pds:phx_ra:data_test:pit_test_trench_wall_failure_bottom</logical_identifier>
        <version_id>1.0</version_id>
        <title>PHX Robotic Arm Derived Data</title>
        <information_model_version>1.1.0.0</information_model_version>
        <product_class>Product_Observational</product_class>
        <Modification_History>
            <Modification_Detail>
                <modification_date>2012-12-12</modification_date>
                <version_id>1.0</version_id>
                <description>Migration to PDS4</description>
            </Modification_Detail>
        </Modification_History>
    </Identification_Area>
    <Observation_Area>
        <Time_Coordinates>
            <start_date_time>2008-08-30T00:12:45.851Z</start_date_time>
            <stop_date_time>2008-08-30T00:12:48.882Z</stop_date_time>
        </Time_Coordinates>
        <Investigation_Area>
            <name>RA</name>
            <type>Mission</type>
            <Internal_Reference>
                <lid_reference>urn:nasa:pds:context:investigation:phoenix</lid_reference>
                <reference_type>data_to_investigation</reference_type>
            </Internal_Reference>
        </Investigation_Area>
        <Observing_System>
            <name>Phoenix Robotic Arm</name>
            <Observing_System_Component>
                <name>Robotic Arm</name>
                <type>Instrument</type>
                <Internal_Reference>
                    <lid_reference>urn:nasa:pds:context:instrument:ra_phx</lid_reference>
                    <reference_type>is_instrument</reference_type>
                </Internal_Reference>
            </Observing_System_Component>
            <Observing_System_Component>
                <name>Phoenix Lander</name>
                <type>Spacecraft</type>
                <Internal_Reference>
                    <lid_reference>urn:nasa:pds:context:instrument_host:phx</lid_reference>
                    <reference_type>is_instrument_host</reference_type>
                </Internal_Reference>
            </Observing_System_Component>
        </Observing_System>
        <Target_Identification>
            <name>Mars</name>
            <type>Planet</type>
            <Internal_Reference>
                <lid_reference>urn:nasa:pds:context:target:mars_planet</lid_reference>
                <reference_type>data_to_target</reference_type>
            </Internal_Reference>
        </Target_Identification>
        <Mission_Area>
        </Mission_Area>
    </Observation_Area>
    <Reference_List>
        <Internal_Reference>
            <lid_reference>urn:nasa:pds:phx_ra:document:RA_dataset</lid_reference>
            <reference_type>data_to_document</reference_type>
        </Internal_Reference>
    </Reference_List>
    <File_Area_Observational>
        <File>
            <file_name>pit_test_trench_wall_failure_bottom.csv</file_name>
            <creation_date_time>2009-09-29T12:45:07Z</creation_date_time>
        </File>
        <Header>
            <offset unit="byte">0</offset>
            <object_length unit="byte">163</object_length>
            <parsing_standard_id>7-Bit ASCII Text</parsing_standard_id>
        </Header>
        <Table_Delimited>
            <offset unit="byte">163</offset>
            <parsing_standard_id>PDS DSV 1</parsing_standard_id>
            <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).</description>
            <records>38</records>
            <record_delimiter>carriage-return line-feed</record_delimiter>
            <field_delimiter>comma</field_delimiter>
            <Record_Delimited>
                <fields>9</fields>
                <groups>0</groups>
                <Field_Delimited>
                    <name>TIME(S)</name>
                    <field_number>1</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>SECOND</unit>
                    <description>Spacecraft Clock Time</description>
                </Field_Delimited>
                <Field_Delimited>
                    <name>X_T(M)</name>
                    <field_number>2</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>METER</unit>
                    <description>Distance North from RA shoulder.</description>
                </Field_Delimited>
                <Field_Delimited>
                    <name>Y_T(M)</name>
                    <field_number>3</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>METER</unit>
                    <description>Distance East from RA shoulder.</description>
                </Field_Delimited>
                <Field_Delimited>
                    <name>Z_T(M)</name>
                    <field_number>4</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>METER</unit>
                    <description>Distance down from RA shoulder.</description>
                </Field_Delimited>
                <Field_Delimited>
                    <name>TH_T(RAD)</name>
                    <field_number>5</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>RADIAN</unit>
                    <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.</description>
                </Field_Delimited>
                <Field_Delimited>
                    <name>FR(N)</name>
                    <field_number>6</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>NEWTON</unit>
                    <description>Radial, lateral force (i.e. lateral force 
                        in the direction of excavation) exerted by the RA.</description>
                </Field_Delimited>
                <Field_Delimited>
                    <name>FT(N)</name>
                    <field_number>7</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>NEWTON</unit>
                    <description>Tangential lateral force (perpendicular 
                        to the direction of excavation) exerted by the RA.</description>
                </Field_Delimited>
                <Field_Delimited>
                    <name>FZ(N)</name>
                    <field_number>8</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>NEWTON</unit>
                    <description>Vertical force exerted by the RA.</description>
                </Field_Delimited>
                <Field_Delimited>
                    <name>R(N)</name>
                    <field_number>9</field_number>
                    <data_type>ASCII_Real</data_type>
                    <unit>NEWTON</unit>
                    <description>Force in the plane of excavation, i.e. 
                        sqrt(Fr^2+Fz^2).</description>
                </Field_Delimited>
            </Record_Delimited>
        </Table_Delimited>
    </File_Area_Observational>
</Product_Observational>
