| DATA_SET_DESCRIPTION |
Data Set Overview
=================
The Mars Global Surveyor (MGS) Radio Science (RS) Raw Data
Archive (RDA) is a time-ordered collection of raw and partially
processed data collected during the MGS Mission to Mars.
For more information on the investigations proposed see
[TYLERETAL1992] and [TYLERETAL2001].
This data set was collected during the Extended Mission (EXT)
phase of MGS -- while the spacecraft was in a near-circular
orbit and systematically collecting data from Mars. Some of
the data supported MGS Navigation activities, but the majority
went directly to science analysis.
Two types of measurements were conducted during EXT; these
are known as closed-loop and open-loop recordings. The closed-
loop system used a phase-lock loop in the receiver to track the
downlink signal, reporting both amplitude and frequency at
rates typically of 1-10 times per second. In the open-loop
system, the signal was simply converted to a baseband frequency
range; the entire passband was sampled and recorded for later
processing. Typical open-loop sampling rates for MGS were
5000 samples per second. Closed-loop data are efficient for
characterizing slowly changing signals; open-loop data
(because of their much higher volume) are collected only
when the signal is very dynamic -- such as during an
occultation.
The data set includes five primary data types. Archival
Tracking Data Files (ATDFs or TDFs) and Tracking and Navigation
Files (TNFs) are the most primitive (and most voluminous)
products of the closed-loop system. TNFs superseded TDFs; the
first TNF was for data collected on 2002/344, and the last TDF
was for 2003/058. Although there was an interval when both
were produced, the transition at individual DSN antennas was
discrete; there are no cases where both data types were
produced for a single pass, and there are no cases where TDFs
were produced for an antenna once TNF production had started.
Orbit Data Files (ODFs) are edited versions of ATDFs or TNFs,
specifically targeted to spacecraft navigators and scientists
interested in gravity fields. Original Data Records (ODRs) and
Radio Science Receiver files (RSRs) are the primary data types
from the open-loop system. RSRs superseded ODRs; the first
RSR was created for 2001/122, and the last ODR was produced
on 2001/319. The ODR to RSR transition occurred when there
was very little open-loop data collection.
Typical users of these data might analyze range and Doppler
measurements in ATDFs, TNFs, or ODFs to derive the spacecraft
trajectory during EXT. Relevant questions would include the
measurement uncertainties in range and Doppler at different DSN
antennas; these could set constraints on any model of Mars'
gravity field developed later, for example. Users of ODRs or
RSRs could identify and characterize anomalous signals within
the recorded passband, derive the drift of the UltraStable
Oscillator (USO), and calculate Allan Deviation for various
radio science configurations.
Note on File Naming: In 2006 MGS entered its eleventh year of
operation (beginning with launch in late 1996). File names
which begin with the least significant digit of the year 'y'
would not have distinguished 2006 from 1996, so letters were
used instead starting in 2006. The letter 'G' was used for
2006, 'H' was used for 2007, 'I' for 2008, etc. In the
paragraphs below, only the original algorithm (pre-2006) for
constructing file names is usually mentioned.
Parameters
==========
The ATDF/TNF is the primary output from the MGS closed-loop
system. ATDFs had 150 fields, though not all were assigned
during the MGS era. Each ATDF in the data set is accompanied
by a full PDS label which defines both the content and the
format of the file at the bit level. ATDF data fields include:
Range
High- or low-rate Doppler
High or low-rate downlink phase
Differential Range vs Integrated Doppler (DRVID)
Allan deviation
Smoothed noise
Uplink phase
Other information included in ATDF data records is date and
time; spacecraft ID; ground station and its configuration;
status flags and values reported by various ground systems;
calibration values, noise estimates, and tolerances (station
delay, transmitter power, etc.); and signal strength.
In the TNF about 20 record types are defined, each designed
for a particular audience, although it was frequently the case
that users needed more than one record type. The quantities
stored are similar to those in the ATDF except that the
emphasis is on phase (rather than frequency) of both the
transmitted and received signals. Each TNF is accompanied by
a PDS minimal label which points to a software specification
document (TNF_SIS.TXT) in the DOCUMENT directory of the archive
for detailed descriptions of the records and fields.
The ODF is an edited version of the ATDF/TNF; it is a smaller
file, issued more frequently than the ATDF but less frequently
than the TNF (typically daily). It contains the
most important information (range and Doppler) needed by
spacecraft navigators and investigators interested in
determining gravitational fields of bodies such as Mars.
Each ODF is accompanied by a full PDS label which describes
both the content and format of the associated file. ODF data
fields include:
Narrowband spacecraft VLBI, Doppler mode (cycles)
Narrowband spacecraft VLBI, phase mode (cycles)
Narrowband quasar VLBI, Doppler mode (cycles)
Narrowband quasar VLBI, phase mode (cycles)
Wideband spacecraft VLBI (nanoseconds)
Wideband quasar VLBI (nanoseconds)
One-way Doppler (Hertz)
Two-way Doppler (Hertz)
Three-way Doppler (Hertz)
One-way total count phase (cycles)
Two-way total count phase (cycles)
Three-way total count phase (cycles)
PRA planetary operational discrete spectrum range (range
units)
SRA planetary operational discrete spectrum range (range
units)
RE(GSTDN) range (nanoseconds)
Azimuth angle (degrees)
Elevation angle (degrees)
Hour angle (degrees)
Declination angle (degrees)
Open loop data records (ODRs) contain 8- or 12-bit samples of
receiver output. Each block of (typically) 1000 data samples
is accompanied by a 166 byte header. Each ODR is accompanied
by a full PDS label which describes both the content and format
of the file at the bit level. Header information includes:
Date and time of the first data sample
Sample rate and channel assignments
Receiver local oscillator (POCA) frequency
Attenuator settings
RMS voltages at several stages in the receiving chain
Radio Science Receiver (RSR) records contain samples of open
loop receiver output; the samples are complex and can have
1-16 bits in both the in-phase (I) and quadrature (Q)
components, depending on sampling rate and precision
requested. Sampling rates between 1 ksps and 16 Msps may
be requested. Each record includes a header containing
information similar to that for the ODR except that there is
more emphasis on phase than in the ODR. Each RSR file is
accompanied by a full PDS label which describes both the
format and the content at the bit level.
Processing
==========
ATDFs were screened for 'bad' data points, which were removed
before the file was released by the JPL Radio Metric Data
Conditioning Team (RMDCT). The typical ATDF contained data
from a 24-hour period, combining data from several antennas
if there were multiple passes in one day.
Although RMDCT provided a screening service for TNFs, the
files archived for MGS were not screened for 'bad' points.
Each TNF contains data from a single antenna (only).
ODFs are abstracted from subsets of ATDF/TNF data.
Open-loop data delivered to Stanford before about 2001/150
were usually in the ODS (Original Data Stream) format. ODS
packets were converted to the older ODR (Original Data Record)
format for consistency in subsequent processing and archive.
Headers applied by the Ground Data System (GDS) during packet
handling were not retained; they contained no additional
information about the data acquisition. In some cases, where
the GDS corrupted the ODS during delivery, lost it entirely,
or was unable to deliver it electronically because of volume
constraints, data have been recovered from tape in ODR format.
The resultant data (whether from ODS conversion or tape)
accurately represent the output of the DSCC Spectrum Processing
(DSP) Subsystem at the DSN station. A full PDS label
accompanies each ODR file and gives a bit level description
of the content and format.
A 32-byte label at the beginning of each ODR tape (when tape
was used) is not included in the data file. The 32-byte label
gives the version of the data taking software; this information
has been copied to the PDS label that accompanies the data
file. The software version recorded in the 'NOTE' keyword is
more likely to be accurate than the version recorded with the
'SOFTWARE_VERSION' keyword. Because the 32-byte label is no
longer part of the data stream, users can treat the remaining
file as an integral number of fixed-length records. The
32-byte label was never used in the ODS.
RSR data delivered to Stanford were modified during Ground
Data System handling so that MISSION_ID in the Primary Header
CHDO was set to 5. Data which were recorded on the VLBI
Science Receiver (VSR), then converted to RSR format, were
assigned the following values in the header(s):
MINOR_DATA_CLASS = 5 (normally 4) Primary Header CHDO
ORIGINATOR_ID = 123 (normally 48) Secondary Header CHDO
LAST_MODIFIER_ID = 123 (normally 48) Secondary Header CHDO
A VSR was used for MGS when all of the available RSR's had
been assigned to other missions.
Data
====
Data are stored on CD or DVD write-once volumes approximately
chronologically. This data set contains data from the MGS EXT
phase only. Volume boundaries were usually defined by the dates
of included spacecraft engineering and DSN monitor data (data
types ECH and MCH, respectively). ECH and MCH files were the
most regular, and often the largest, collected on a daily basis.
Files of other types were sometimes delayed in delivery to
Stanford and may be out of strict chronological order on the
volumes. Users should consult listings in the
INDEX/CUMINDEX.TAB file to ascertain full coverage of each
data type. Users working with dates near the beginning and
end of the EXT phase should check INDEX/CUMINDEX.TAB in the
data set covering the adjacent phase for files that appear
to be missing; in general, files that bridge a phase boundary
were stored with the earlier data set only.
ATDFs were delivered when approximately 39 MB had accumulated
(approximately weekly) during MGS EXT. ATDFs were stored in
the TDF directory on archival volumes. File names are of the
form ydddeeeC.TDF where y is the one-digit year of the
first data, ddd is the three-digit day-of-year of the first
data, eee is the three-digit day-of-year of the last data,
and C is a single letter (beginning with 'A') denoting the
sequence in which files with the same ydddeee were handled.
Generally ydddeeeB.TDF is a revised version of
ydddeeeA.TDF. The PDS label has file name ydddeeeC.LBL.
TNFs were delivered daily during MGS EXT and were stored
in the TNF directory on archival volumes. File names were
of the form ydddHssC.TNF where y is the one-digit year
of the first data (see Note on File Naming above for years
2006 and later), ddd is the three-digit day-of-year of the
first data, H is a one letter code for the hour of the first
data (A=00, B=01, ...), ss is the identifier for the DSN
antenna used (14, 15, 26, 43, etc.), and C is a single
letter (beginning with 'A') denoting the sequence in which
files with the same ydddHss were handled. Generally
ydddHssB.TNF is the result of a second request for TNF data
from a pass. It may contain more (or less) data than the
original (ydddHssA.TNF); revisions are rare. The PDS label
has file name ydddHssC.LBL. The typical TNF contains about
25 Mbytes (3 MB/hour for 8 hours).
ODFs were typically issued daily throughout MGS EXT; during
periods of high spacecraft activity (such as around maneuvers)
ODFs were released more often. Most ODFs released
during EXT are included in the archival data set. Of those
that were missed, most were generated by special request, and
Stanford did not receive a release notice. ODFs are stored in
the ODF directory. File names are of the form ydddeeeC.ODF
where the file name components are the same as for the ATDF
above (see Note on File Naming above for years 2006 and
later). In most cases ydddeeeB.ODF was NOT simply a revised
version of ydddeeeA.ODF; there were many requests for
special ODF processing -- to obtain higher time resolution
over short intervals, for example. The PDS label has file
name ydddeeeC.LBL. Typical ODF file sizes are small
multiples of 8064 bytes (e.g., less than 100 kB).
Original Data Records (ODRs) were produced whenever the DSP
was set to 'run' mode. These files are stored in the ODR
directory. In most cases, the entire DSP run was collected
into a single ODR file. But in other cases, it was more
convenient to subdivide the DSP data; queries were issued for
shorter time spans, and separate files were produced. File
names are of the form ydddhhmm.ODR where y is the one-digit
year of the first data, ddd is the day-of-year of the first
data, hh is the hour on which the first sample was taken, and
mm was the minute on which the first sample was taken. In
cases where two files had the same ydddhhmm (for example, two
DSN stations began recording at the same time, or a second query
was submitted for data which appeared suspicious after the
first query was processed), the less significant digit in mm
of the second file was converted to a letter ('0' became 'A',
'1' became 'B', ..., '9' became 'J'). In cases were three files
had the same ydddhhmm, the less significant mm digit was
converted to 'K', 'M', etc. The PDS label has file name
ydddhhmm.LBL.
At 5000 12-bit samples per second, a 7-minute occultation would
yield a 3.5 MB ODR -- one X-band (RCP) channel; 5 records per
second, each with 1000 12-bit samples and a 166-byte header.
Two one-hour surface scattering experiments were conducted on
5 August 2001. These data were collected in two channels (RCP
and LCP) with 50000 8-bit samples per second in each channel
using the DSP. The data were also captured using one RSR on
X-RCP and another on X-LCP. The sampling rate for each RSR
was 25000 I/Q pairs per second.
RSRs were produced whenever the Radio Science Receiver was set
to record. These files are stored in the RSR directory. File
names are of the form ydddhhmm.RSR where y is the one-digit
year of the first data (see Note on File Naming above for years
2006 and later), ddd is the day-of-year of the first
data, hh is the hour on which the first sample was taken, and
mm was the minute on which the first sample was taken. In
cases where two or more files had the same ydddhhmm (for
example, two DSN stations began recording at the same time),
the less significant digit in mm of the second file was
converted to a letter ('0' became 'A', '1' became 'B', ...,
'9' became 'J'). In cases were three files had the same
ydddhhmm, the less significant mm digit was converted to 'K',
'M', etc. The PDS label has file name ydddhhmm.LBL.
At 2000 complex samples per second (16 bits I, 16 bits Q) a
9-minute occultation would yield a 5.5 MB RSR, including
headers.
Ancillary Data
==============
An extensive set of ancillary files is needed for proper
analysis and interpretation of the primary radio data (TDF,
TNF, ODF, ODR, and RSR). These are organized in parallel
directories and stored approximately chronologically. When
a file type is not represented on a CD or DVD volume, the
corresponding directory has been omitted. With the exception
of files stored in the CALIB directory, ancillary files
appear on only one CD or DVD volume. Users should refer to
the INDEX/CUMINDEX.TAB listing to locate ancillary files.
Files in the CALIB Directory
----------------------------
Files in the CALIB directory are those likely to have wide
applicability in working with the raw data. They help
unpack and allow use of the raw data, rather than being
'instrument' calibration data per se. They include
decommutation maps, clock conversion files, files of
planetary constants, leapsecond files, and files needed for
display of data on the MGS Science Operations Planning
Computer (SOPC). Each file is accompanied by a PDS minimal
label.
Clock Conversion files were produced by the JPL/PDS
Navigation Ancillary Information Facility (NAIF) for use
with NAIF-developed and MGS-provided software. These are
ASCII files of variable length records. Each record is
delimited by an ASCII carriage-return (ASCII 13)
line-feed pair (ASCII 10), which may need to be
converted to either or before the file is used
on the local machine. File names have the form TSCnnnnn.SCK
where nnnnn is a sequence number beginning with 00001
and the file with the highest number is the most recent.
The value of nnnnn is set by NAIF.
Planetary Constants files were produced by the JPL/PDS
Navigation Ancillary Information Facility (NAIF) for use
with NAIF-developed and MGS-provided software. These are
ASCII files of variable length records. Each record is
delimited by an ASCII carriage-return (ASCII 13)
line-feed pair (ASCII 10), which may need to be
converted to either or before the file is used
on the local machine. File names have the form PCKydddC.TPC
where y is the one-digit year of the file creation date,
ddd is the day-of-year of the file creation date, and C
is a character denoting sequence when more than one file
with the same yddd is handled. C starts from 'A'
and progresses to 'B', 'C', etc. with increasing numbers
of similar coverage files.
Leapsecond files were produced by the JPL/PDS
Navigation Ancillary Information Facility (NAIF) for use
with NAIF-developed and MGS-provided software. These are
ASCII files of variable length records. Each record is
delimited by an ASCII carriage-return (ASCII 13)
line-feed pair (ASCII 10), which may need to be
converted to either or before the file is used
on the local machine. File names have the form LSKydddC.TLS
where y is the one-digit year of the file creation date,
ddd is the day-of-year of the file creation date, and C
is a character denoting sequence when more than one file
with the same yddd is handled. C starts from 'A'
and progresses to 'B', 'C', etc. with increasing numbers
of similar coverage files.
Channel Conversion Language files come in three types --
source, dependency, and binary. File names are of the
forms CCLydddS.SRC, CCLydddD.BIN, and CCLydddB.BIN,
respectively, where y is the one-digit year of the file
creation date and ddd is the day-of-year of the file
creation date. Source files are ASCII files of variable
length records. Each record is delimited by an ASCII
carriage-return (ASCII 13) line-feed pair (ASCII
10), which may need to be converted to either or
before the file is used on the local machine. Dependency and
binary files are identical to those used on the SOPC. Source
and binary files are typically 500 kB; dependency files are
typically 15 kB. Channel Conversion Language files are used
in converting raw binary data in telemetry streams to
meaningful numbers.
Channel Parameter Table files come in two types -- source and
binary. File names are of the forms CPTydddS.SRC and
CCLydddB.BIN, respectively, where y is the one-digit year
of the file creation date and ddd is the day-of-year of the
file creation date. Source files are ASCII files of variable
length records. Each record is delimited by an ASCII
carriage-return (ASCII 13) line-feed pair (ASCII
10), which may need to be converted to either or
before the file is used on the local machine. Binary files
are identical to those used on the SOPC. Source and binary
files are typically less than 1 MB. Channel Parameter Table
files are used in converting raw binary data in telemetry
streams to meaningful numbers.
Template Description Language files come in two types --
source and binary. File names are of the forms TDLydddS.SRC
and TDLydddB.BIN, respectively, where y is the one-digit
year of the file creation date and ddd is the day-of-year
of the file creation date. Source files are ASCII files of
variable length records. Each record is delimited by an
ASCII carriage-return (ASCII 13) line-feed pair
(ASCII 10), which may need to be converted to either
or before the file is used on the local machine. Binary
files are identical to those used on the SOPC. Source and
binary files are typically less than 1 MB. Template
Description Language files are used during display of data on
the SOPC.
Decommutation Map files come in two types -- source and
binary. File names are of the forms DCSxxxxx.SRC and
DCOxxxxx.BIN, respectively, where xxxxx is a mnemonic for
the map. Source files are ASCII files of variable length
records. Each record is delimited by an ASCII carriage-
return (ASCII 13) line-feed pair (ASCII 10), which
may need to be converted to either or before the
file is used on the local machine. Binary files are identical
to those used on the SOPC. Source and binary files are
typically less than 200 kB. Decommutation Map files are used
in converting raw binary packet data to channelized formats.
On the SOPC, they are used with the MGS-provided program
mapx.
Antenna Reconstruction Files are typically used in conjunction
with Antenna Gimbal Kernel (AGK) files to determine the
pointing of an antenna or the position of its phase center
with respect to the spacecraft center of mass. There are
three types of Antenna Reconstruction Files: the Antenna SPK
(ASP) File, the Hinge CK (HCK) File, and the Text Frame Kernel
(TFK) File. An ASP file contains the locations of low-gain
antennas and boom lengths for the high-gain antenna (HGA).
The HCK file contains hinge angles for the (deployed) HGA.
The TFK file contains information on coordinate frame
definitions for translating between the spacecraft frame and
the frame of the high-gain antenna. File names are of the
forms HGAnnnnn.ASP, HINGEnnn.HCK, and HGAnnnnn.TFK, where the
'n' string gives a sequence number. ASP and HCK files are
ASCII files in NAIF transfer format; TFK files are ASCII
files. In all cases, each record is delimited by the ASCII
carriage-return (ASCII 13) line-feed (ASCII 10)
pair. On some systems it may be necessary to convert the
pair to either or before using the file on
the local machine. Each Antenna Reconstruction File is
accompanied by a PDS minimal label with the same file name
except for an extension of .LBL.
Antenna Gimbal Kernel Files (AGK Directory)
-------------------------------------------
Antenna Gimbal Kernel files were produced by NAIF. Each AGK
file contains information on the state of the HGA azimuth
and elevation gimbals as a function of time. These are ASCII
files in NAIF transfer format. Each record is delimited by
an ASCII carriage-return (ASCII 13) line-feed (LF> (ASCII
10) pair, which may need to be converted to either or
before the file is used on the local machine. File
names have the form ydddeeeZ.AGK where 'y' is the least
significant digit of the year in which data in the file begin,
'ddd' is the day-of-year when data begin, 'eee' is the
day-of-year when data end, and 'Z' is a single upper case
letter indicating order of files when there is more than one
with the same 'ydddeee' in the data set. Z is 'A' for the
first file, 'B' for the second, etc. Each AGK file is
accompanied by a PDS minimal label with file name
ydddeeeZ.LBL. Typical file sizes are 1 MByte.
Angular Momentum Desaturation Files (AMD Directory)
---------------------------------------------------
Angular Momentum Desaturation files were produced by the MGS
Spacecraft Team (SCT). Each AMD file documents a set of AMD
events on the spacecraft. These are ASCII files of variable
length records. Each record is delimited by an ASCII
carriage-return (ASCII 13) line-feed pair (ASCII
10), which may need to be converted to either or
before the file is used on the local machine. File names
have the form ydddeeeC.AMD where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee
is handled. C starts from 'A' and progresses to 'B', 'C',
etc. with increasing numbers of similar coverage files.
Each AMD file is accompanied by a PDS minimal label with file
name ydddeeeC.LBL. Typical file sizes are less than 1500
bytes.
Browse Files (BRO Directory)
----------------------------
Browse files are composite PostScript files summarizing
quick-look processing of ODR or RSR data. Each file has a
name of the form ydddhhmm.PSn where ydddhhmm is identical
to the character string in the source ODR or RSR file and n
is the receiver channel represented in the data. Each BRO
file is accompanied by a detached PDS label with name
ydddhhmm.LBL. Only one channel n is expected from each ODR
or RSR. Each PostScript file is sized to fit on a single
8-1/2x11 inch page. Each landscape format page includes four
panels showing a histogram of raw data (12-bit) samples (upper
left), one-minute average power spectra derived from the
raw samples (upper right), one-second averages of raw sample
power versus time (lower left), and an extract of the first
few lines of the source ODR or RSR PDS label (lower right).
BRO files may be helpful in quickly scanning data to determine
which files are suitable for closer study.
Channelized Engineering Data Files (ECH Directory)
---------------------------------------------------
Channelized Engineering Data files were produced by the MGS
query server, operating on telemetry packets stored in the
MGS Central Data Base (CDB). These are binary files, usually
representing the collection of raw spacecraft engineering
data received from a 24 hour period; they are not readily
interpretable by end users. File names have the form
ydddeeeC.ECH where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee
is handled. C starts from 'A' and progresses to 'B', 'C',
etc. with increasing numbers of similar coverage files.
Each ECH file is accompanied by a PDS minimal label with file
name ydddeeeC.LBL. File sizes can be as large as 200 MB.
In general, an ECH file can be derived from the corresponding
EPK file using MGS-provided software and a decommutation map.
Also in some ECH directories are ASCII tables of extracted
channel values--channelized state vectors, or CSV files.
These are values for a limited number of potentially
useful ECH channels that have been saved in tabular form.
CSV files in the ECH directory have names of the form
CSVydddC.ECH where y, ddd, and C are the same as for
the corresponding ECH file. Each CSV file is accompanied
by a detached PDS label with name CSVydddC.LBL which
completely describes the format and content of the CSV file.
Engineering Channelized Data Summary Files (ECS Directory)
---------------------------------------------------
Engineering Channelized Summary Data Files were created at
Stanford during ingestion of spacecraft engineering data.
Each file contains a summary line for each channel processed
from the previous day's telemetry. The ECS file thus gives
a snapshot (mean and standard deviation) of each channel
on each day. ECS files are PDS TABLE objects; each is
fully described as to format and content by a detached PDS
label. File names are of the form ydddeeeC.ECS where
y is the one-digit year of the first data, ddd is the
three-digit day-of-year of the first data, eee is the
three-digit day-of-year of the last data, and C is a
character denoting sequence when more than one file with
the same ydddeee is handled. File sizes vary depending
on the number of channels processed; typical growth is
4000 bytes per day.
Engineering Channel Table Files (ECT Directory)
---------------------------------------------------
Engineering Channel Table Data Files are created at Stanford
during ingestion of spacecraft engineering data. Each ECT
file is an ASCII table of time-ordered values from a single
spacecraft engineering channel, and each file is fully
described by a detached PDS label. File names are of the
form XXXydddC.ECT where XXX is a unique identifier for
the engineering channel, y is the one-digit year of the
first data, ddd is the three-digit day-of-year of the first
data, and C is a character denoting sequence when more
than one file with the same yddd is handled. File sizes
vary depending on the rate at which a channel was sampled;
they are typically under 100 kB. The detached label has
file name XXXydddC.LBL.
Experimenters Notebook Files (ENB Directory)
--------------------------------------------
Experimenters Notebook files are e-mail messages and other
notes collected during and shortly after data acquisition.
They document expectations of various measurements and
anomalies discovered in subsequent analysis. File names
have the form ENByyddd.TXT, where yy is the two-digit
year and ddd is the three-digit day-of-year. In general
the messages in file ENByyddd.TXT refer to activities on
that date regardless of when the message was sent. These
are ASCII files with variable length records. Each record
is delimited by an ASCII carriage-return line-feed pair.
Earth Orientation Parameter Files (EOP Directory)
---------------------------------------------------
Earth Orientation Parameter files were produced by the Time
and Earth Motion Precision Observation (TEMPO) Group at JPL.
They documented and predicted Earth rotation (rate and axis).
These are ASCII files of variable length records. Each
record is delimited by an ASCII line-feed (ASCII 10).
File names have the form ydddzeee.EOP where y is
the one-digit year of the first data in the file, ddd is
the day-of-year of the first data in the file, z is the
one-digit year of the last data, and eee is the day-of-year
of the last data in the file. EOP files were typically
released on Tuesdays and Fridays. There are both 'long'
and 'short' versions. The long file covered past motion
since about 1962 and a prediction for about three months into
the future; these files have typical sizes of 860 kB. The
short file covered the most recent nine months of past motion
and a prediction for three months into the future; these
files are typically 30 kB. Each EOP file is accompanied
by a PDS minimal label with file name ydddzeee.LBL.
Engineering Packet Data Files (EPK Directory)
---------------------------------------------------
Engineering Packet Data files were produced by the MGS
query server, operating on telemetry packets stored in the
MGS Central Data Base (CDB). These are binary files, usually
representing the collection of raw spacecraft engineering
data received from a 24 hour period; they are not readily
interpretable by end users. File names have the form
ydddeeeC.EPK where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee
is handled. C starts from 'A' and progresses to 'B', 'C',
etc. with increasing numbers of similar coverage files.
Each EPK file is accompanied by a PDS minimal label with file
name ydddeeeC.LBL. File sizes can be as large as 100 MB.
No EPK files were collected during EXT; all engineering
data are in ECH files.
Filtered Body Rate Files (FBR Directory)
---------------------------------------------------
Filtered Body Rate Files were created at Stanford from
body rate data in the spacecraft engineering telemetry
stream. They give spacecraft attitude as a function of
time. FBR files are PDS TABLE objects; each is
fully described as to format and content by a detached PDS
label. File names are of the form ydddeeeC.FBR where
y is the one-digit year of the first data, ddd is the
three-digit day-of-year of the first data, eee is the
three-digit day-of-year of the last data, and C is a
character denoting sequence when more than one file with
the same ydddeee is handled. File sizes vary depending
on the time interval covered. FBR files were created
during MGS Cruise to support gravitational wave
experiments (GWE); no FBR files were created during the
EXT Phase.
GEODYN Trajectory Files (GDN Directory)
---------------------------------------------------
GEODYN SPK files were quick look orbit reconstructions
produced by the MOLA Precise Orbit Determination Team. They
were used for preliminary analysis of MOLA data and some radio
occultations. These files give spacecraft and planetary
ephemerides and are identical in format to SPK files (see
below) by the MGS NAV Team. Files with ORIGINAL_PRODUCT_ID
including 'qlnn' were based on the following gravity models
(see GDN_SPK.TXT in the DOCUMENT directory):
ql15 mgm0989a
ql16 mgm0989c
ql17 gmm2b (with no one-way Doppler daya)
ql18 gmm2b (with 1-way Doppler data if available)
ql19f gmm2b (with altimetry crossovers)
ql41c mgm1041c
ql41ch time varying mgm1041c
These are ASCII files of variable length records in a special
NAIF 'transfer' format. Each record is delimited by a
carriage-return (ASCII 13) line-feed (ASCII 10) pair,
which may need to be removed before the file is used on the
local machine. After delimiter conversion (if needed) the
file would ordinarily be passed through the NAIF utility
SPACIT or TOBIN to convert it to the local binary format.
File names have the form ydddeeeC.GDN where y is the
one-digit year of the first data in the file, ddd
is the day-of-year of the first data in the file, eee is the
day-of-year of the last data in the file, and C is a
character denoting sequence when more than one file
with the same ydddeee is handled. C starts from 'A' and
progresses to 'B', 'C', etc. with increasing numbers of
similar coverage files. Each GDN file is accompanied by a
PDS minimal label with file name ydddeeeC.LBL. Typical file
sizes are less than 5 MB.
GEODYN Trajectory Files (GDF Directory)
---------------------------------------------------
GDF files are the same as GDN files (above) except that they
are considered 'final' versions of the orbits. File names
end with the .GDF suffix. No GDF files were created during
the EXT phase; all GEODYN reconstructions appear in the GDN
directory.
Daily Health Report Files (HEA Directory)
---------------------------------------------------
Daily Health Report Files were created at Stanford; they
summarize spacecraft engineering data of interest for Radio
Science, list recently acquired radio data, summarize any
analysis performed on recent radio data, summarize anomalies
in recent radio science operations, and list files that have
been obtained from the MGS CDB or other sources. Daily
Health Report Files are PDS TEXT objects; each has an
attached PDS label. File names are of the form HEAydddC.TXT
where y is the one-digit year of the report, ddd is the
three-digit day-of-year of the report, and C is a
character denoting sequence when more than one file with
the same ydddeee is generated. The first report on a day
would be HEAydddA.TXT; subsequent revisions or updates
would be HEAydddB.TXT, HEAydddC.TXT, etc.
Some Health Reports are accompanied by plots, saved as
PostScript files. File names for these plot files
have names of the form HEAydddC.PSn where y and ddd
are as defined above and n is the figure number.
The PostScript files are accompanied by a detached
PDS label with name HEAydddC.LBL.
Both Health Reports themselves and accompanying PostScript
files have variable length records delimited by carriage-
return (ASCII 13) line-feed (ASCII 10) pairs.
Ionosphere Calibration Files (ION Directory)
---------------------------------------------------
Ionosphere Calibration files were produced by the Tracking
System Analytic Calibration (TSAC) Group at JPL. They
documented and predicted Earth ionospheric conditions.
These are ASCII files of variable length records. Each
record is delimited by an ASCII line-feed (ASCII 10).
File names have the form ydddeeeC.ION where y is
the one-digit year of the first data in the file, ddd is
the day-of-year of the first data in the file, eee is the
day-of-year of the last data in the file, and C is a
character denoting sequence when more than one file with the
same ydddeee is handled. C starts from 'A' and progresses
to 'B', 'C', etc. with increasing numbers of similar coverage
files. ION files were usually released at one week
intervals to cover a single month; ydddeeeA.ION would be
the file released during the first week, ydddeeeB.ION would
be the file released during the second week, etc. Each ION
file is accompanied by a PDS minimal label with file name
ydddeeeC.LBL. Typical file sizes are less than 50 kB.
In mid-2003 the method of producing Ionosphere Calibration
files was improved. Global Ionosphere Map (GIM) software
created daily Global Ionospheric Maps from global GPS data.
Each day, a final map was created for the UT day three days
previously and a preliminary map was created for the UT day
immediately before. Also created were predict maps a couple
times a week by averaging recent 'normal' days. Then the
software evaluated the maps at the spacecraft line-of-sight
and fitted the results to a normalized polynomial versus
time over each spacecraft pass. This was done for all
three modes: final, preliminary, and predict. Then the
software selected the best available calibration for each
pass (in priority order final > preliminary > predict).
Then the operator ran a plotting program to view all of the
calibrations and overrode the default selections where
desired. The mapping technique is described by
[MANNUCCIETAL1998].
Light Time Files (LIT Directory)
---------------------------------------------------
Light Time files were produced by the MGS Navigation Team
(NAV). They gave radio propagation time from the spacecraft
to Earth vs time. These are ASCII files of fixed
length records. Each record is delimited by an ASCII
carriage-return (ASCII 13) line-feed pair (ASCII
10), which may need to be converted to either or
before the file is used on the local machine. File names
have the form ydddeeeC.LIT where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee
is handled. C starts from 'A' and progresses to 'B', 'C',
etc. with increasing numbers of similar coverage files.
Each LIT file is accompanied by a PDS minimal label with file
name ydddeeeC.LBL. Typical file sizes are less than 1 MB.
Channelized DSN Monitor Data Files (MCH Directory)
---------------------------------------------------
Channelized DSN Monitor Data files were produced by the MGS
query server, operating on DSN Monitor packets stored in the
MGS Central Data Base (CDB). These are binary files, usually
representing the collection of DSN Monitor data received from
a 24 hour period; they are not readily interpretable by end
users. File names have the form ydddeeeC.MCH where y is
the one-digit year of the first data in the file, ddd is
the day-of-year of the first data in the file, eee is the
day-of-year of the last data in the file, and C is a
character denoting sequence when more than one file with the
same ydddeee is handled. C starts from 'A' and progresses
to 'B', 'C', etc. with increasing numbers of similar coverage
files. With few exceptions C was always 'A' until early
2003, at which time the method for generating (and, hence,
processing) the files changed.
In early 2003, generation of the Monitor data was changed
as part of the Network Simplification Plan (NSP). New
channels were defined, and it became impossible to handle
data from multiple stations in a single file because over
the first six months of 2003 some stations were generating
the old formats and some were generating the new. Instead,
the data were collected individually according to antenna
number. The character C in the file name was interpreted
as follows:
Character C Antenna Number
----------- --------------
A all (pre-2003)
B 14
C 15
D 16
E 24
F 25
G 26
H 27
I 28
J 34
K 43
L 45
M 46
N 54
O 55
P 63
Q 65
R 66
Each MCH file is accompanied by a PDS minimal label
with file name ydddeeeC.LBL. File sizes can be as large as
30 MB. In general, an MCH file can be derived from the
corresponding MPK file using MGS-provided software and a
decommutation map; but this was almost never done for
Mars Global Surveyor. Monitor data are collected according
to MST (Monitor Sample Time) measured in UTC.
Also in some MCH directories are ASCII tables of extracted
channel values--channelized state vectors, or CSV files.
These are values for a limited number of potentially
useful MCH channels that have been saved in tabular form.
CSV files in the MCH directory have names of the form
CSVydddC.MCH where y, ddd, and C are the same as for
the corresponding MCH file. Each CSV file is accompanied
by a detached PDS label with name CSVydddC.LBL which
completely describes the format and content of the CSV file.
CSV files were generated only for pre-NSP data.
Monitor Channel Tables (MCT Directory)
--------------------------------------
Monitor Channel Tables were derived from MCH files at
Stanford. Each table lists a single Monitor channel versus
time in an ASCII PDS TABLE format. File names have the form
XXXydddC.MCT where XXX is a three-character mnemonic for
the channel, y is the one-digit year, ddd is the three-
digit day-of-year, and C is a single character (starting
with 'A') denoting the version. For NSP-derived MCT files,
C denotes the source antenna (see assignments under MCH
above). Each MCT file is accompanied by a PDS label with
file name XXXyddC.LBL which completely describes both the
content and the format of the table. Examples of pre-2003
MCT files include:
XXX Description
--- ---------------------------------------------
AGC AGC level from M-0349 (Ant A, Rcv A)
DSS DSS antenna ID from M-0300
ELA Elevation angle from M-0304 (Ant A)
TSY System temperature from M-0725 (Ant A, Rcv A)
TSZ System temperature from M-0725 (Ant A, Rcv B)
Examples of NSP-based MCT files include:
XXX Description
--- ---------------------------------------------
AZA Antenna azimuth angle
CON CONSCAN drive status
DTA Antenna number
ELV Antenna elevation angle
SNT System noise temperature
Maneuver Implementation/Reconstruction Files (MIF Directory)
---------------------------------------------------
Maneuver Implementation/Reconstruction files were produced by
the MGS Spacecraft Team (SCT); they documented spacecraft
maneuver events. These are ASCII files of variable length
records. Each record is delimited by an ASCII line-feed
(ASCII 10). File names have the form ydddeeeC.MIF where y
is the one-digit year of the first data in the file, ddd is
the day-of-year of the first data in the file, eee is the
day-of-year of the last data in the file, and C is a
character denoting sequence when more than one file with the
same ydddeee is handled. C starts from 'A' and progresses
to 'B', 'C', etc. with increasing numbers of similar coverage
files. Each MIF file is accompanied by a PDS minimal label
with file name ydddeeeC.LBL. Typical file sizes are 2327
bytes.
Maneuver Performance Data Files (MPD Directory)
---------------------------------------------------
Maneuver Performance Data files were produced by the MGS
Spacecraft Team (SCT). They contain estimates of spacecraft
mass and center of mass; moments of inertia; thruster
locations, directions, and magnitudes; and propellant flow
rate. These are ASCII files of variable length records.
Each record is delimited by an ASCII line-feed
(ASCII 10). File names have the form ydddeeeC.MPD where
y is the one-digit year of the first data in the file,
ddd is the day-of-year of the first data in the file, eee
is the day-of-year of the last data in the file, and C is
a character denoting sequence when more than one file with
the same ydddeee is handled. C starts from 'A' and
progresses to 'B', 'C', etc. with increasing numbers of
similar coverage files. Each MPD file is accompanied by a
PDS minimal label with file name ydddeeeC.LBL. Typical
file sizes are 4 kB.
Maneuver Profile Files (MPF Directory)
---------------------------------------------------
Maneuver Profile Files were produced by the MGS Navigation
Team (NAV). They are generic descriptions of orbit
adjustments used by MGS during aerobraking. These are ASCII
files of variable length records. Each record is delimited
by a carriage-return (ASCII 13) line-feed
(ASCII 10) pair. File names have the form ydddeeeC.MPF
where y is the least significant digit in the year, ddd
is the day of year of the first data, eee is the day of
year of the last data, and C is a character indicating the
version of the file ('A' is first, 'B' is second, ...).
Each MPF is accompanied by a PDS minimal label with file
name ydddeeeC.LBL. Typical file sizes are less than 700
bytes.
DSN Monitor Packet Data Files (MPK Directory)
---------------------------------------------------
DSN Monitor Packet Data files were produced by the MGS
query server, operating on DSN Monitor packets stored in the
MGS Central Data Base (CDB). Monitor data are records of
DSN status and radio measurements. These are binary files,
data received from a 24 hour period; they are not readily
interpretable by end users. File names have the form
ydddeeeC.MPK where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee
is handled. C starts from 'A' and progresses to 'B', 'C',
etc. with increasing numbers of similar coverage files.
Each MPK file is accompanied by a PDS minimal label with file
name ydddeeeC.LBL. File sizes can be as large as 30 MB.
No MPK data were collected during the EXT phase; all DSN
Monitor data are in the MCH directories.
Orbit Propagation and Time Generation Files (OPT Directory)
---------------------------------------------------
Orbit Propagation and Time Generation files were produced by
the MGS Navigation Team (NAV). They contain estimates of
event timing (e.g., equator crossings) that depend on
precise knowledge of the spacecraft orbit. These are ASCII
files of variable length records. Each record is delimited
by an ASCII line-feed (ASCII 10). File names
have the form ydddeeeC.OPT where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee
is handled. C starts from 'A' and progresses to 'B', 'C',
etc. with increasing numbers of similar coverage files.
Each OPT file is accompanied by a PDS minimal label with file
name ydddeeeC.LBL. Typical file sizes are less than 100 kB.
Typical OPT files during EXT included one day of orbit
reconstructions followed by several days of orbit
predictions.
Solar Array Kernel Files (SAK Directory)
---------------------------------------------------
Solar Array Kernel files were produced by the MGS Spacecraft
Team (SCT). They give the attitude of each solar array
panel as a function of time. These are ASCII files of
variable length records in a special NAIF 'transfer' format.
Each record is delimited by a carriage-return (ASCII 13)
line-feed (ASCII 10) pair, which may need to be
removed before the file is used on the local machine.
After delimiter conversion (if needed) the file would
ordinarily be passed through the NAIF utility SPACIT or
TOBIN to convert it to the local binary format. File names
have the form ydddeeeC.TCK where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee
is handled. C starts from 'A' and progresses to 'B', 'C',
etc. with increasing numbers of similar coverage files.
Each TCK file is accompanied by a PDS minimal label with
file name ydddeeeC.LBL. Typical file sizes are less than
5 MB.
Space Flight Operation Schedule Files (SFO Directory)
---------------------------------------------------
Space Flight Operations Schedule Files were produced by the
MGS Mission Control Team, usually in parallel with
a corresponding Sequence of Events (SOE) file. They
graphically present parts of the SOE. These are
ASCII files of variable length records in a special format
that allows use with the MGS-provided sfosedt program.
Each record is delimited by a carriage-return (ASCII 13)
line-feed (ASCII 10) pair, which may need to be removed
before the file is used on the local machine. File names
have the form ydddeeeC.SFO where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee is
handled. C starts from 'A' and progresses to 'B', 'C', etc.
with increasing numbers of similar coverage files. Each SFO
file is accompanied by a PDS minimal label with file name
ydddeeeC.LBL. Typical file sizes are less than 100 kB.
No SFO files were produced after 1998-08-20.
Sequence of Events Files (SOE Directory)
---------------------------------------------------
Sequence of Events Files were produced by the MGS Mission
Control Team. These are ASCII files of variable length
records. Until 1998-08-20 SOE files were produced in a
special format that allowed use with the MGS-provided soeedt
program. After 1998-08-20, files were produced in a straight
ASCII format that required no special software; these may be
identified by the '.tsoe' suffix in the ORIGINAL_PRODUCT_ID.
Each record is delimited by a carriage-return (ASCII 13)
line-feed (ASCII 10) pair, which may need to be removed
before the file is used on the local machine. File names
have the form ydddeeeC.SOE where y is the one-digit year
of the first data in the file, ddd is the day-of-year of
the first data in the file, eee is the day-of-year of the
last data in the file, and C is a character denoting
sequence when more than one file with the same ydddeee is
handled. C starts from 'A' and progresses to 'B', 'C',
etc. with increasing numbers of similar coverage files.
Each SOE file is accompanied by a PDS minimal label with
file name ydddeeeC.LBL. Typical file sizes are less than
1 MB.
Spacecraft/Planetary Ephemeris (SPK) Files (SPK Directory)
---------------------------------------------------
Spacecraft/Planetary Ephemeris Files (also known as SP
kernels or SPK files) were produced by the MGS Navigation Team
(NAV). These files give spacecraft and planetary ephemerides.
These are ASCII files of variable length records in
a special NAIF 'transfer' format. Each record is delimited
by a carriage-return (ASCII 13) line-feed (ASCII 10)
pair, which may need to be removed before the file is used on
the local machine. After delimiter conversion (if needed)
the file would ordinarily be passed through the NAIF utility
SPACIT or TOBIN to convert it to the local binary format.
File names have the form ydddeeeC.SPK where y is the
one-digit year of the first data in the file, ddd is the
day-of-year of the first data in the file, eee is the
day-of-year of the last data in the file, and C is a
character denoting sequence when more than one file
with the same ydddeee is handled. C starts from 'A' and
progresses to 'B', 'C', etc. with increasing numbers of
similar coverage files. Each SPK file is accompanied by a
PDS minimal label with file name ydddeeeC.LBL. Typical file
sizes are less than 5 MB. Typical SPK files during EXT
included one day of orbit reconstructions followed by several
days of orbit predictions.
Spacecraft Attitude (CK) Files (TCK Directory)
---------------------------------------------------
Spacecraft Attitude Files (also known as C kernels or CK
files) were produced by the MGS Spacecraft Team (SCT).
These are ASCII files of variable length records in
a special NAIF 'transfer' format. Each record is delimited
by a carriage-return (ASCII 13) line-feed (ASCII 10)
pair, which may need to be removed before the file is used on
the local machine. After delimiter conversion (if needed)
the file would ordinarily be passed through the NAIF utility
SPACIT or TOBIN to convert it to the local binary format.
File names have the form ydddeeeC.TCK where y is the
one-digit year of the first data in the
file, ddd is the day-of-year of the first data in the file,
eee is the day-of-year of the last data in the file, and C
is a character denoting sequence when more than one file
with the same ydddeee is handled. C starts from 'A' and
progresses to 'B', 'C', etc. with increasing numbers of
similar coverage files. Each TCK file is accompanied by a
PDS minimal label with file name ydddeeeC.LBL. Typical file
sizes are less than 5 MB.
Troposphere Calibration Files (TRO Directory)
---------------------------------------------------
Troposphere Calibration files were produced by the
Tracking System Analytic Calibration (TSAC) Group at JPL.
They documented and predicted Earth tropospheric conditions.
These are ASCII files of variable length records. Each
record is delimited by an ASCII line-feed (ASCII 10).
File names have the form ydddeeeC.TRO where y is
the one-digit year of the first data in the file, ddd is
the day-of-year of the first data in the file, eee is the
day-of-year of the last data in the file, and C is a
character denoting sequence when more than one file with the
same ydddeee is handled. C starts from 'A' and progresses
to 'B', 'C', etc. with increasing numbers of similar coverage
files. TRO files were typically released at the beginning of
a month and covered the previous month. Each TRO file is
accompanied by a PDS minimal label with file name
ydddeeeC.LBL. Typical file sizes are 100 kB.
Starting in early 2001, TSAC began basing TRO files on
surface weather and Global Positioning Satellite (GPS)
zenith delay. These files can be distinguished by an
ORIGINAL_PRODUCT_ID beginning with 'ATC' rather than the
earlier 'TROPCAL'. Detailed file structure was slightly
different, but the same Software Interface Specification
(SIS) was used.
UltraStable Oscillator Files (USO Directory)
--------------------------------------------
UltraStable Oscillator (USO) files are calibration data
derived from open-loop radio measurements. Files are PDS
table objects with detached labels. Examples include USO
Allan Deviation (type A files) and the piecewise-continuous
linear model of USO frequency (type M files). File names
are of the form USOtyddd.TAB, where t is the file type
(see above), y is the one-digit year in which the file was
created, and ddd is the three-digit day-of-year in which
the file was created. Each USO file is accompanied by a
detached PDS label with name USOtyddd.LBL which completely
describes the content and format of the file.
DSN Weather Files (WEA Directory)
---------------------------------------------------
DSN Weather files were produced by the Tracking System
Analytic Calibration (TSAC) Group at JPL. Files give weather
calibration information for DSN complexes. These are ASCII
files of variable length records. Each record is delimited
by an ASCII line-feed (ASCII 10). File names have
the form ydddeeeD.WEA where y is the one-digit year of
the first data in the file, ddd is the day-of-year of the
first data in the file, eee is the day-of-year of the last
data in the file, and D is a single digit denoting the
DSN complex at which the data were acquired ('1' for
Goldstone, '4' for Canberra, or '6' for Madrid). WEA files
were typically released weekly and contain all weather data
for the complex since 1 January. Each WEA file is
accompanied by a PDS minimal label with file name
ydddeeeC.LBL. The files grow at the rate of approximately
90 kB per month.
Coordinate System
=================
SPK ephemeris files and TCK files were produced for the
J2000 inertial reference frame until the second orbit after
Mars Orbit Insertion, when the TCK files were referenced to
the Mars Mean Equator frame. SAK files presumably follow the
same format as TCK files. NAIF reader routines may be
used to convert these to other coordinate systems.
Other data types are not dependent on definition of a
coordinate system.
Software
========
Software for parsing, reducing, and analyzing data such as
these has been developed at Stanford University and elsewhere.
Because such software must usually operate at the bit-level and
is written for a narrow range of platforms, it is not suitable
for general distribution. No software is included with this
archival data set.
Media/Format
============
The archival data set was written to CD-WO media using the
Young Minds CD Studio and Yamaha/GEAR authoring systems;
the CD-WO volumes conform to ISO 9660 standards. DVD volumes
were written using DiscJuggler software and a Plextor writer;
they are single-sided, single-layer with a maximum of 4.7 GB
and they conform to the UDF-bridge format.
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