<?xml version="1.0" encoding="UTF-8" standalone="no"?>

<?xml-model href="http://pds.nasa.gov/pds4/pds/v1/PDS4_PDS_1B10.sch" 
  schematypens="http://purl.oclc.org/dsdl/schematron"?>
<?xml-model href="http://pds.nasa.gov/pds4/msn/v1/PDS4_MSN_1B00_1100.sch" 
  schematypens="http://purl.oclc.org/dsdl/schematron"?>

<Product_Observational xmlns="http://pds.nasa.gov/pds4/pds/v1" 
    xmlns:msn="http://pds.nasa.gov/pds4/msn/v1" 
    xmlns:pds="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 https://pds.nasa.gov/pds4/pds/v1/PDS4_PDS_1B10.xsd http://pds.nasa.gov/pds4/msn/v1    http://pds.nasa.gov/pds4/msn/v1/PDS4_MSN_1B00_1100.xsd">
  <Identification_Area>
    <logical_identifier>urn:nasa:pds:insight_ida:data_raw_calibrated:a0087_0056_601512477_601516400_190123144302_eu</logical_identifier>
    <version_id>1.0</version_id>
    <title>IDA Science High Data Product</title>
    <information_model_version>1.11.1.0</information_model_version>
    <product_class>Product_Observational</product_class>
    <Citation_Information>
      <publication_year>2019</publication_year>
      <description>IDA Science High Data Product</description>
    </Citation_Information>
  </Identification_Area>
  <Observation_Area>
    <Time_Coordinates>
      <start_date_time>2019-01-23T10:48:29.231Z</start_date_time>
      <stop_date_time>2019-01-23T11:53:52.238Z</stop_date_time>
    </Time_Coordinates>
    <Investigation_Area>
      <name>InSight</name>
      <type>Mission</type>
      <Internal_Reference>
        <lid_reference>urn:nasa:pds:context:investigation:mission.insight</lid_reference>
        <reference_type>data_to_investigation</reference_type>
        <comment>This is the PDS4 logical identifier for the InSight mission.</comment>
      </Internal_Reference>
    </Investigation_Area>
    <Observing_System>
      <Observing_System_Component>
        <name>InSight Lander</name>
        <type>Spacecraft</type>
        <Internal_Reference>
          <lid_reference>urn:nasa:pds:context:instrument_host:spacecraft.insight</lid_reference>
          <reference_type>is_instrument_host</reference_type>
          <comment>This is the PDS4 logical identifier for the InSight Lander spacecraft.</comment>
        </Internal_Reference>
      </Observing_System_Component>
      <Observing_System_Component>
        <name>Instrument Deployment Arm</name>
        <type>Instrument</type>
        <Internal_Reference>
          <lid_reference>urn:nasa:pds:context:instrument:ida.insight</lid_reference>
          <reference_type>is_instrument</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:planet.mars</lid_reference>
        <reference_type>data_to_target</reference_type>
      </Internal_Reference>
    </Target_Identification>
    <Discipline_Area>
      <msn:Mission_Information>
        <msn:mission_phase_name>SURFACE MISSION</msn:mission_phase_name>
        <msn:product_type_name>IDA_SciHi</msn:product_type_name>
        <msn:spacecraft_clock_start>601512477</msn:spacecraft_clock_start>
        <msn:spacecraft_clock_stop>601516400</msn:spacecraft_clock_stop>
        <msn:Surface_Mission>
          <msn:start_sol_number>56</msn:start_sol_number>
        </msn:Surface_Mission>
      </msn:Mission_Information>
    </Discipline_Area>
  </Observation_Area>
  <Reference_List>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:insight_ida:document:insight_ida_bundle_sis</lid_reference>
      <reference_type>data_to_document</reference_type>
    </Internal_Reference>
  </Reference_List>
  <File_Area_Observational>
    <File>
      <file_name>A0087_0056_601512477_601516400_190123144302_eu.csv</file_name>
      <local_identifier>file</local_identifier>
    </File>
    <Header>
      <offset unit="byte">0</offset>
      <object_length unit="byte">678</object_length>
      <parsing_standard_id>7-Bit ASCII Text</parsing_standard_id>
      <description>Column headings</description>
    </Header>
    <Table_Delimited>
      <local_identifier>TABLE</local_identifier>
      <offset unit="byte">678</offset>
      <parsing_standard_id>PDS DSV 1</parsing_standard_id>
      <records>6314</records>
      <record_delimiter>Carriage-Return Line-Feed</record_delimiter>
      <field_delimiter>Comma</field_delimiter>
      <Record_Delimited>
        <fields>58</fields>
        <groups>0</groups>
        <Field_Delimited>
          <name>time</name>
          <data_type>ASCII_Real</data_type>
          <unit>s</unit>
          <description>time</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>elapsed_time</name>
          <data_type>ASCII_Real</data_type>
          <unit>hr</unit>
          <description>time readings recorded</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>enc1</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad</unit>
          <description>Joint 1 encoder counts [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>enc2</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad</unit>
          <description>Joint 2 encoder counts [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>enc3</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad</unit>
          <description>Joint 3 encoder counts [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>enc4</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad</unit>
          <description>Joint 4 encoder counts [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>pot1</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad</unit>
          <description>Joint 1 potentiometer measurement [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>pot2</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad</unit>
          <description>Joint 2 potentiometer measurement [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>pot3</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad</unit>
          <description>Joint 3 potentiometer measurement [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>pot4</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad</unit>
          <description>Join 4 potentiometer measurement [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tcase1</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>Joint 1 measured motor case temp [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tcase2</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>Joint 2 measured motor case temp [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tcase3</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>Joint 3 measured motor case temp [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tcase4</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>Joint 4 </description>
        </Field_Delimited>
        <Field_Delimited>
          <name>trotor1</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>Joint 1 computed motor rotor temp [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>trotor2</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>Joint 2 computed motor rotor temp [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>trotor3</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>Joint 3 computed motor rotor temp [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>trotor4</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>Joint 4 computed motor rotor temp [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tgrapple</name>
          <data_type>ASCII_Real</data_type>
          <unit>degC</unit>
          <description>grapple motor temperature</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>cur1</name>
          <data_type>ASCII_Real</data_type>
          <unit>mA</unit>
          <description>Joint 1 motor currents [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>cur2</name>
          <data_type>ASCII_Real</data_type>
          <unit>mA</unit>
          <description>Joint 2 motor currents [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>cur3</name>
          <data_type>ASCII_Real</data_type>
          <unit>mA</unit>
          <description>Joint 3 motor currents [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>cur4</name>
          <data_type>ASCII_Real</data_type>
          <unit>mA</unit>
          <description>Joint 4 motor currents [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>volt1</name>
          <data_type>ASCII_Real</data_type>
          <unit>V</unit>
          <description>Joint 1 motor voltages [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>volt2</name>
          <data_type>ASCII_Real</data_type>
          <unit>V</unit>
          <description>Joint 2 motor voltages [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>volt3</name>
          <data_type>ASCII_Real</data_type>
          <unit>V</unit>
          <description>Joint 3 motor voltages [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>volt4</name>
          <data_type>ASCII_Real</data_type>
          <unit>V</unit>
          <description>Joint 4 motor voltages [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>stat</name>
          <data_type>UTF8_String</data_type>
          <unit>none</unit>
          <description>bit-mapped status word</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tool</name>
          <data_type>ASCII_Integer</data_type>
          <unit>none</unit>
          <description>currently selected tool</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>x_enc</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>X location of tool as Cartesian coordinates in IDA frame using joint encoder readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>y_enc</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>Y location of tool as Cartesian coordinates in IDA frame using joint encoder readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>z_enc</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>Z location of tool as Cartesian coordinates in IDA frame using joint encoder readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>th_enc</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>orientation of tool in IDA frame using joint encoder readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>x_pot</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>x location of tool as Cartesian coordinates in IDA frame using joint potentiometer readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>y_pot</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>y location of tool as Cartesian coordinates in IDA frame using joint potentiometer readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>z_pot</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>z location of tool as Cartesian coordinates in IDA frame using joint potentiometer readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>th_pot</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>orientation of tool in IDA frame using joint potentiometer readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>x_enc_defl</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>x deflected location of tool as Cartesian coordinates in IDA frame using joint encoder readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>y_enc_defl</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>y deflected location of tool as Cartesian coordinates in IDA frame using joint encoder readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>z_enc_defl</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>z deflected location of tool as Cartesian coordinates in IDA frame using joint encoder readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>th_enc_defl</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>deflected orientation of tool in IDA frame using joint encoder readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>x_pot_defl</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>x deflected location of tool as Cartesian coordinates in IDA frame using joint potentiometer readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>y_pot_defl</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>y deflected location of tool as Cartesian coordinates in IDA frame using joint potentiometer readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>z_pot_defl</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>z deflected location of tool as Cartesian coordinates in IDA frame using joint potentiometer readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>th_pot_defl</name>
          <data_type>ASCII_Real</data_type>
          <unit>m</unit>
          <description>deflected orientation of tool in IDA frame using joint potentiometer readings</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>v1</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad/s</unit>
          <description>joint 1 velocity [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>v2</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad/s</unit>
          <description>joint 2 velocity [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>v3</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad/s</unit>
          <description>joint 3 velocity [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>v4</name>
          <data_type>ASCII_Real</data_type>
          <unit>rad/s</unit>
          <description>joint 4 velocity [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tau1</name>
          <data_type>ASCII_Real</data_type>
          <unit>N-m</unit>
          <description>joint 1 torque [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tau2</name>
          <data_type>ASCII_Real</data_type>
          <unit>N-m</unit>
          <description>joint 2 torque [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tau3</name>
          <data_type>ASCII_Real</data_type>
          <unit>N-m</unit>
          <description>joint 3 torque [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>tau4</name>
          <data_type>ASCII_Real</data_type>
          <unit>N-m</unit>
          <description>joint 4 torque [RA_DOF]</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>Fr</name>
          <data_type>ASCII_Real</data_type>
          <unit>N</unit>
          <description>force at tool in cylindrical coordinates</description>
          <Special_Constants>
            <invalid_constant>-99999.0000</invalid_constant>
          </Special_Constants>
        </Field_Delimited>
        <Field_Delimited>
          <name>Ft</name>
          <data_type>ASCII_Real</data_type>
          <unit>N</unit>
          <description>force at tool in cylindrical coordinates</description>
          <Special_Constants>
            <invalid_constant>-99999.0000</invalid_constant>
          </Special_Constants>
        </Field_Delimited>
        <Field_Delimited>
          <name>Fz</name>
          <data_type>ASCII_Real</data_type>
          <unit>N</unit>
          <description>force at tool in cylindrical coordinates</description>
          <Special_Constants>
            <invalid_constant>-99999.0000</invalid_constant>
          </Special_Constants>
        </Field_Delimited>
        <Field_Delimited>
          <name>htr_cur</name>
          <data_type>ASCII_Real</data_type>
          <unit>mA</unit>
          <description>sum of heater currents</description>
        </Field_Delimited>
        <Field_Delimited>
          <name>grapple_phase</name>
          <data_type>ASCII_Integer</data_type>
          <unit>none</unit>
          <description>grapple phase</description>
        </Field_Delimited>
      </Record_Delimited>
    </Table_Delimited>
  </File_Area_Observational>
</Product_Observational>
