PDS_VERSION_ID = PDS3 LABEL_REVISION_NOTE = "2004-08-04 NAIF:Semenov original" RECORD_TYPE = STREAM OBJECT = DATA_SET DATA_SET_ID = "MER1-M-SPICE-6-V1.0" OBJECT = DATA_SET_INFORMATION DATA_SET_NAME = "MARS EXPLORATION ROVER 1 SPICE KERNELS V1.0" DATA_SET_COLLECTION_MEMBER_FLG = "N" START_TIME = 2003-07-07T00:00:00 STOP_TIME = "UNK" DATA_SET_RELEASE_DATE = 2004-08-04 PRODUCER_FULL_NAME = "BORIS V. SEMENOV" DATA_OBJECT_TYPE = "SPICE KERNEL" DETAILED_CATALOG_FLAG = "Y" DATA_SET_TERSE_DESC = " This data set contains navigation and ancillary data in the form of SPICE System kernel files for the Mars Exploration Rover 1. " DATA_SET_DESC = " Data Set Overview ================= This data set includes the complete set of SPICE data for Mars Exploration Rover 1 (MER-1) in the form of SPICE kernels, which can be accessed using SPICE software available to read these files. The SPICE data contains geometric and other ancillary information needed to recover the full value of science instrument data. In particular SPICE kernels provide planetary ephemerides, rover location and orientation, and rover instrument locations and orientations. Data needed for relevant time conversions is also included. Data Types (SPICE kernel types) =============================== SPK kernels provide position and velocity information for spacecraft, planets, satellites, comets and asteroids as well as for moving or fixed spacecraft and instrument structures. SPK files are located under the data/spk directory on the volumes comprising this data set. PCK kernels contain certain physical, dynamical and cartographic constants for target bodies, such as size and shape specifications, and orientation of the spin axis and prime meridian. PCK files are located under the data/pck directory on the volumes comprising this data set. IK kernels (Instrument description kernels) give descriptive and operational data peculiar to a particular scientific instrument, such as field-of-view model parameters. IK files are located under the data/ik directory on the volumes comprising this data set. CK kernels describe pointing, containing a transformation traditionally called the C-matrix which is used to determine time-tagged pointing (orientation) angles for a spacecraft structure upon which science instruments are mounted. CK files are located under the data/ck directory on the volumes comprising this data set. EK (Events) kernels are derived from the integrated sequence of events used to produce actual spacecraft commands. EK files are located under the data/ek directory on the volumes comprising this data set. LSK (Leapseconds) kernels contain the leapseconds and the values of other constants required to perform a transformation between Universal Time Coordinated (UTC) and Ephemeris time (ET). LSK files are located under the data/lsk directory on the volumes comprising this data set. SCLK (Spacecraft Clock) kernels contain on-board clock calibration data required to perform a mapping between Ephemeris time (ET) and spacecraft on-board time (SCLK.) SCLK files are located under the data/sclk directory on the volumes comprising this data set. FK (Frame Definitions) kernels contain information required to define reference frames, sources of frame orientation data and inter-connections between these frames and other frames supported within the SPICE system. This includes mounting alignment information for each instrument. FK files are located under the data/fk directory on the volumes comprising this data set. Kernel File Details =================== Details specific to individual files are found in the *info.txt files in the corresponding data directory. The most detailed description of the data contained in each file is provided in metadata included inside the file -- in the description area of text kernels or in the comment area of binary kernels. Software ======== The SPICE Toolkit contains software modules needed to read SPICE kernel files. SPICELIB software is highly documented via internal headers. Additional documentation is available in separate ASCII text files called Required Reading files. For example, the S- and P- Kernel (SPK) Required Reading File, named SPK.REQ, describes use of the SPK kernel file readers and contains sample programs. The latest SPICE Toolkit for a variety of computer platforms such as PC, Mac, SUN, HP, SGI, VAX, DEC Alpha, etc. is available at the NAIF Node of Planetary Data System (via anonymous FTP and WWW servers). Loading Kernel Files into a SPICE-based Application =================================================== The following lists of kernels in SPICE meta-kernel format, also referred to as ``FURNSH'' lists, can be used with a SPICE-based application running on a UNIX workstation to load MER-1 SPICE data provided in this data set (note that the logical path provided the PATH_VALUES keyword and pointing to the volume root directory should be changed to be the actual path of the volume root directory on the system where the volume is mounted.) Each of the meta-kernel blocks below also includes a few additional keywords needed for the CHRONOS time conversion utility provided with the SPICE toolkit. The FURNSH list below was used to produce image products included in the first MER-1 data delivery to PDS. This setup does not include kernels that provide cruise stage position and orientation or rover surface position and orientation. It only includes kernels that are needed to compute global geometry at the landing site: \begindata PATH_VALUES = ( './data' ) PATH_SYMBOLS = ( 'KERNELS' ) KERNELS_TO_LOAD = ( '$KERNELS/lsk/naif0007.tls' '$KERNELS/sclk/mer_253_sclkscet_00008.tsc' '$KERNELS/sclk/mer1_hlst_tm20b3_v2.tsc' '$KERNELS/pck/mars_iau2000_v0.tpc' '$KERNELS/spk/de410.bsp' '$KERNELS/spk/mer1_ls_040128_iau2000_v1.bsp' '$KERNELS/spk/mer1_still_at_ls_v1.bsp' '$KERNELS/fk/mer1_v07.tf' ) SPACECRAFT_ID = -253 CENTER_ID = 499 LANDING_TIME = '2004-01-25 04:55' LANDING_SOL_INDEX = 1 BODY10_GM = 132712440035.0199 \begintext The FURNSH list below includes all SPICE kernels needed to compute cruise position and orientation, and rover surface position and orientation along with orientation of the rover structures (PMA, IDD, and HGA) and the camera parameters. This FURNSH list includes the rover and site position SPK file containing data based only on rover telemetry (and, therefore, not corrected for slippage and sliding) and gravity-compensated Microscopic Imager (MI) tip position SPK and MI orientation CK (``iddg'' files) that provide correct information ONLY at the times of MI images. \begindata PATH_VALUES = ( './data' ) PATH_SYMBOLS = ( 'KERNELS' ) KERNELS_TO_LOAD = ( '$KERNELS/lsk/naif0007.tls' '$KERNELS/pck/mars_iau2000_v0.tpc' '$KERNELS/sclk/mer_253_sclkscet_00008.tsc' '$KERNELS/sclk/mer1_hlst_tm20b3_v2.tsc' '$KERNELS/fk/mer1_v07.tf' '$KERNELS/ik/mer1_fl_20040125_c33.ti' '$KERNELS/ik/mer1_fr_20040125_c34.ti' '$KERNELS/ik/mer1_mi_f1_20040125_c195.ti' '$KERNELS/ik/mer1_nl_20040125_c196.ti' '$KERNELS/ik/mer1_nr_20040125_c197.ti' '$KERNELS/ik/mer1_pl_f1_20040125_c198.ti' '$KERNELS/ik/mer1_pr_f1_20040125_c206.ti' '$KERNELS/ik/mer1_rl_20040125_c35.ti' '$KERNELS/ik/mer1_rr_20040125_c36.ti' '$KERNELS/spk/de410.bsp' '$KERNELS/spk/mar033_2000_2025.bsp' '$KERNELS/spk/mer1_cruise.bsp' '$KERNELS/spk/mer1_ls_040128_iau2000_v1.bsp' '$KERNELS/spk/mer1_surf_rover_prim_v1.bsp' '$KERNELS/spk/mer1_surf_iddg_prim_v1.bsp' '$KERNELS/ck/mer1_cruise.bc' '$KERNELS/ck/mer1_surf_rover_prim_v1.bc' '$KERNELS/ck/mer1_surf_pma_prim_v1.bc' '$KERNELS/ck/mer1_surf_hga_prim_v1.bc' '$KERNELS/ck/mer1_surf_iddg_prim_v1.bc' ) SPACECRAFT_ID = -253 CENTER_ID = 499 LANDING_TIME = '2004-01-25 04:55' LANDING_SOL_INDEX = 1 BODY10_GM = 132712440035.0199 \begintext The FURNSH list below is very similar to the previous one except that it includes the rover and site position SPK file containing data corrected for slippage and sliding using bundle-adjustment results provided by Dr. Ron Li/OSU. \begindata PATH_VALUES = ( './data' ) PATH_SYMBOLS = ( 'KERNELS' ) KERNELS_TO_LOAD = ( '$KERNELS/lsk/naif0007.tls' '$KERNELS/pck/mars_iau2000_v0.tpc' '$KERNELS/sclk/mer_253_sclkscet_00008.tsc' '$KERNELS/sclk/mer1_hlst_tm20b3_v2.tsc' '$KERNELS/fk/mer1_v07.tf' '$KERNELS/ik/mer1_fl_20040125_c33.ti' '$KERNELS/ik/mer1_fr_20040125_c34.ti' '$KERNELS/ik/mer1_mi_f1_20040125_c195.ti' '$KERNELS/ik/mer1_nl_20040125_c196.ti' '$KERNELS/ik/mer1_nr_20040125_c197.ti' '$KERNELS/ik/mer1_pl_f1_20040125_c198.ti' '$KERNELS/ik/mer1_pr_f1_20040125_c206.ti' '$KERNELS/ik/mer1_rl_20040125_c35.ti' '$KERNELS/ik/mer1_rr_20040125_c36.ti' '$KERNELS/spk/de410.bsp' '$KERNELS/spk/mar033_2000_2025.bsp' '$KERNELS/spk/mer1_cruise.bsp' '$KERNELS/spk/mer1_ls_040128_iau2000_v1.bsp' '$KERNELS/spk/mer1_surf_roverrl_prim_v1.bsp' '$KERNELS/spk/mer1_surf_iddg_prim_v1.bsp' '$KERNELS/ck/mer1_cruise.bc' '$KERNELS/ck/mer1_surf_rover_prim_v1.bc' '$KERNELS/ck/mer1_surf_pma_prim_v1.bc' '$KERNELS/ck/mer1_surf_hga_prim_v1.bc' '$KERNELS/ck/mer1_surf_iddg_prim_v1.bc' ) SPACECRAFT_ID = -253 CENTER_ID = 499 LANDING_TIME = '2004-01-25 04:55' LANDING_SOL_INDEX = 1 BODY10_GM = 132712440035.0199 \begintext " CONFIDENCE_LEVEL_NOTE = " This volume contains SPICE kernel files created during mission operations and after mission data reconstruction and analysis. Some general information about this collection follows here, but the prospective user is also referred to extensive descriptions about each file that are stored inside each kernel file. These metadata provide detailed information regarding the information source from which the data were derived, the type of processing applied to the source data, applicability of the data, etc. Metadata are located in the ``comment area'' for binary kernel types (SPK, CK, EK/SEQ), accessible using either the COMMNT or SPACIT utility program found in the NAIF Toolkit. Metadata are located after ``\begintext'' markers within the text kernel types (PCK, IK, FK, LSK, SCLK), accessible by using any available text file display tool such as a word processor, text editor, or the UNIX ``more'' or ``cat'' commands. In some cases data accuracy information does not exist, or may be estimated after mission completion. Where there are questions about data accuracy or ``confidence'' not addressed herein the reader is invited to examine subsequent SPICE archive releases associated with this data set (if such exist), or to contact the NAIF node of the Planetary Data System for possible further information. SPK Files ========= SP-Kernel files included in this dataset provide the following types of position information: -- cruise trajectory -- landing site position relative to the center of Mars -- positions of the numbered sites along the rover path -- position of the rover with respect to site(s) -- relative locations of the rover structures and science instruments relative to each other -- gravity-compensated position of the Microscopic Imager touch point relative to the rover reference frame origin -- ephemerides for planets and Martian satellites The spkinfo.txt file located in the data/spk directory provides names of and/or explains naming convention for each of the SPK types provided in this data set. Cruise SPK ---------- This SPK file provide the final reconstructed cruise trajectory, from the TECO up to the atmospheric entry point. The accuracy of this trajectory is about or better than a hundred meters. Landing Site Position SPK ------------------------- This SPK file provides the location of the landing site on the surface of Mars determined by the MER NAV team using post-landing radio tracking data. It is based on the final solution that was different from the earlier solutions by only a few tens of meters. Site and Rover Position SPKs ----------------------------- These SPK files provide positions of the numbered sites along the rover path and position of the rover relative to these sites. Two types of site/rover position SPKs are included in this data set: one is based solely on rover telemetry and the other is based on the rover telemetry combined with the bundle-adjustment data provided by Dr. Ron Li, Ohio State University. Telemetry data used to generate both types of files consisted of a combination of the rover position data relative to the current site determined by the on-board mobility software and the index of the current site. The numbered site positions relative to the landing site were computed by combining these two inputs and checking for site increment, computing inter-site positions based on them, and accumulating these positions from the initial site to each individual site. The telemetry was extracted from the channelized telemetry stream and from a variety of non-channelized telemetry products including image and other science products, mobility system products, etc. It provided a sufficient number of data points for SPICE SPK interpolation technique to correctly represent rover position during traverses and at the time when the rover was stationary. Because the position data that came in telemetry is known to be inaccurate -- since the rover did not have an on-board capability to take slippage and sliding into account -- the SPK files based solely on telemetry ``carry over'' these errors. At the same time, the data provided in these SPKs are consistent with the position information from other telemetry-only based products such as image labels. The second type of SPK attempts to fix the slippage and sliding errors by combining the same, relatively complete telemetry stream with the sparse data set containing more accurate position of the sites and selected rover position between the sites determined by Dr. Ron Li by processing the image data. Li's data was used to replace the corresponding telemetry-based values, resulting in more accurate but discontinuous rover path. Rover Structures SPK -------------------- This SPK provides relative locations of various rover structures and science instruments with respect to the rover frame origin and/or each other. The data provided in this file were obtained from a number of sources such as the rover engineering drawings, IDD calibration report, and latest official CAHVOR camera models. When loaded together with the IDD, PMA, and HGA orientation CK files this SPK allows one to compute positions of these structures and science instruments mounted on them with respect to the rover reference frame origin. Gravity-compensated MI Position SPK ------------------------------------ These SPK files provide gravity-compensated position of the Microscopic Imager (MI) touch point relative to the rover reference frame origin. The position data stored in this SPK was determined by the on-board IDD software and was sent to the ground in the image product headers. Although the gravity compensated position provided by this file is more accurate than the same position computed using a combination of structures SPK and IDD CK, it is correct ONLY at the times images were taken. Between the images this SPK will return completely bogus position as SPICE does not have a way of preventing the SPK subsystem to interpolate between the actual data stored in this SPK file even if they are days apart. Planet and Martian Satellite Ephemeris SPKs ------------------------------------------- The Martian satellite SPK provided in this data set contains ephemeris data for Mars, Phobos, Deimos, Earth and the sun. Formal one-sigma accuracy information for Phobos and Deimos are reported as follows: Body Downtrack Crosstrack Radial Uncertainty Uncertainty Uncertainty ------ ----------- ----------- ----------- Phobos 15 km 7 km 3 km Deimos 30 km 16 km 3 km Accuracies for Mars-Sun and Mars-Earth directions (positions obtained from SPK files) are at the level of 0.001 arc-sec (1 sigma). The planet ephemeris SPK file included in this data set provides the best current knowledge of the ephemeris of Mars. CK Files ======== C-kernel files included in this dataset provide the following types of orientation data: -- cruise orientation -- rover orientation during surface operations -- Pancam Mast Assembly (PMA) orientation -- Instrument Deployment Device (IDD) orientation -- High Gain Antenna (HGA) orientation -- Gravity-compensated orientation of the Microscopic Imager relative to the rover reference frame The ckinfo.txt file located in the data/ck directory provides names of and/or explains naming convention for each of the CK types provided in this data set. Cruise CK --------- The cruise orientation CK file provided in this data set was created by ``packaging'' the complete set of cruise stage orientation quaternions extracted from channelized telemetry into a type 3 CK file. This file should be used with great caution because it allows to compute orientation that is only partially correct. During cruise the spacecraft was spinning about +Z axis at approximately 12 rpm at the very beginning of cruise and at 2 rpm during the rest of cruise. The cruise orientation quaternions ``packaged'' in this CK file were downlinked relatively infrequently (mostly only once every 25 seconds) and sometimes with large gaps in coverage (up to a half a day). Because of that, when SPICE is reading this file using the simple interpolation approach implemented in the type 3 CK, it produces incorrect interpolation results with regards to the rotation phase. The spin (+Z) axis direction, though, should be very close to reality. Rover Surface Orientation CK ---------------------------- These CK files provide orientation of the rover relative to the local level frame. These CKs are based solely on the rover orientation quaternions determined by the on-board mobility software. On the ground quaternions were extracted from channelized telemetry stream and from a variety of non-channelized telemetry products including image and other science products, mobility system products, etc. The set of quaternions contained a sufficient number of data points to provide rover orientation during traverses and all science observations activities when the rover was stationary. PMA, IDD, and HGA Orientation CKs --------------------------------- These CK files provide rotations in the PMA, IDD, and HGA joints/gimbals. When combined with the frame definition information from the FK files these rotations allow one to compute orientation of these structures and science instruments mounted on them with respect to the rover reference frame. These CKs are based solely on the joint/gimbal angles reported by the on-board software. On the ground the angles were extracted from channelized telemetry stream and from a variety of non-channelized telemetry products including image and other science products, mobility system products, etc. The set of angles for each structure contained a sufficient number of data points to provide orientation during all science and engineering activities performed using these structures. Gravity-Compensated MI Orientation CK ------------------------------------- These CK files provide gravity-compensated orientation of the IDD turret frame (co-aligned with the MI frame) relative to the rover reference frame. The orientation data stored in this CK was determined by the on-board IDD software and sent to the ground in the image product headers. Although the gravity compensated orientation provided by this file is more accurate than the same orientation computed using IDD CKs, it is provided ONLY at the times of images. This CK will not return orientation data for the times between the images. PCK Files ========= The data for the Planetary Constants Kernel provided in this archive are official IAU/IAG/COSPAR values for the size, shape and orientation for Mars, Phobos and Deimos accepted in 2000.A description of these data items and reference to their source is provided inside the PCK file, which is a simple text file that can be viewed using any word processor, text editor or text display utility. The pckinfo.txt file located in the data/pck directory provides names of and/or explains naming convention for the PCK files provided in this data set. FK Files ======== The Frame Definitions Kernel (FK) file provided in this data set contains the complete set of definitions for the surface frames, rover frames, rover appendage/manipulator frames, and science instrument frames. Meta information provided in the comments included in the FK file consist of the frame definitions, description of the frame relationships, source of and accuracy of the mounting alignment information, etc. The fkinfo.txt file located in the data/fk directory provides names of and/or explains naming convention for the FK files provided in this data set. IK Files ======== The Instrument Kernel (IK) files for MER-1 cameras provided in the data set contain values derived from the official CAHVOR models used by on-board and ground software. These IK files provide specifications for the optical and physical instrument parameters and field-of-view size, shape and orientation. No I-Kernel files for Miniature Thermal Emission Spectrometer (MiniTES), Moessbauer Spectrometer (MB), Alpha Particle X-ray Spectrometer (APXS), or Descent Camera (DESCAM) are provided on this volume. The ikinfo.txt file located in the data/ik directory provides names of and/or explains naming convention for the IK files provided in this data set. SCLK Files ========== Spacecraft Clock Kernel (SCLK) files providing the following types of time correlation data are included in this data set: -- on-board clock correlation SCLK files -- Hybrid Local Solar Time (HLST) SCLK files The sclkinfo.txt file located in the data/sclk directory provides names of and/or explains naming convention for each of the SCLK types provided in this data set. On-board Clock Correlation SCLKs -------------------------------- The SCLK files provide a tabulation of data needed for converting time measurements between ephemeris time (ET) and spacecraft clock time (SCLK). A SPICE SCLK file is made from a similar file -- SCLK/SCET file, or SCLKvSCET file -- produced by another mission entity. Each newly made SCLK file fully replaces the previous SCLK file. The official on-board correlation SCLK files used in operations and included in this data set provide correlation that is incorrect in an absolute sense by as much as 20 seconds during some periods. The error stems from a combinations of reasons: the rover generated too few time correlation packets, the specifics of the process used to derive the correlation function, and the requirement for backward compatibility between correlation versions imposed by the ground system tools. Until an improved version of the on-board clock correlation becomes available, this table providing on-board clock time, the corresponding UTC computed using the official correlation, and the correction, in seconds, to be added to the UTC computed using the official correlation, can be used to compensate for the error in the UTC time tags attached to the science data products: SCLK UTC Correction ------------- ------------------- ------------ 122714000.000 2003-11-21T19:12:10 0.00000000 128538000.000 2004-01-28T04:58:47 0.35045579 128539000.000 2004-01-28T05:15:27 0.00000000 129171000.000 2004-02-04T12:48:47 6.03954345 129172000.000 2004-02-04T13:05:33 0.00000000 129521000.000 2004-02-08T14:02:17 -0.07783715 129522000.000 2004-02-08T14:18:56 0.00000000 129881000.000 2004-02-12T18:02:20 -0.74451666 129882000.000 2004-02-12T18:18:59 0.00000000 131747000.000 2004-03-05T08:22:30 -2.78524545 131748000.000 2004-03-05T08:39:07 0.00000000 137232000.000 2004-05-07T19:59:27 -21.78271598 137233000.000 2004-05-07T20:15:45 0.00000000 143539000.000 2004-07-19T19:55:34 -23.00951022 143540000.000 2004-07-19T20:11:51 0.00000000 (Linear interpolation can be used to estimate correction value between the points.) Hybrid Local Solar Time (HLST) SCLK files ----------------------------------------- These SCLK files provide a way of converting between the Hybrid Local Solar Time (HLST) time system used during surface operations and other time systems. HLST was introduced as a replacement of the True Local Solar Time (TLST) because a time system with a constant duration of a second was needed for use in the planning and sequencing processes. The HLST is essentially a linear approximation of the true local time with the rate set equal to the mean Mars local second duration and the initial reference point set to make sure that HLST deviates from TLST by no more that 15 local minutes during the primary mission. This approximation continued to deviate from the TLST as the surface operations went on, reaching over 50 local minutes difference by the end of the extended mission, as illustrated by this table: True LST Hybrid LST ---------------- ---------------- SOL-001-12:00:00 SOL-001-12:11:04 SOL-010-12:00:00 SOL-010-12:09:46 SOL-020-12:00:00 SOL-020-12:07:49 SOL-030-12:00:00 SOL-030-12:05:23 SOL-040-12:00:00 SOL-040-12:02:36 SOL-050-12:00:00 SOL-050-11:59:30 SOL-060-12:00:00 SOL-060-11:56:10 SOL-070-12:00:00 SOL-070-11:52:39 SOL-080-12:00:00 SOL-080-11:49:01 SOL-090-12:00:00 SOL-090-11:45:20 SOL-100-12:00:00 SOL-100-11:41:39 SOL-110-12:00:00 SOL-110-11:38:00 SOL-120-12:00:00 SOL-120-11:34:26 SOL-130-12:00:00 SOL-130-11:31:00 SOL-140-12:00:00 SOL-140-11:27:41 SOL-150-12:00:00 SOL-150-11:24:34 SOL-160-12:00:00 SOL-160-11:21:37 SOL-170-12:00:00 SOL-170-11:18:54 SOL-180-12:00:00 SOL-180-11:16:23 SOL-190-12:00:00 SOL-190-11:14:05 SOL-200-12:00:00 SOL-200-11:11:58 SOL-210-12:00:00 SOL-210-11:10:04 SOL-220-12:00:00 SOL-220-11:08:18 SOL-230-12:00:00 SOL-230-11:06:43 SOL-240-12:00:00 SOL-240-11:05:13 SOL-250-12:00:00 SOL-250-11:03:50 SOL-260-12:00:00 SOL-260-11:02:29 SOL-270-12:00:00 SOL-270-11:01:09 SOL-280-12:00:00 SOL-280-10:59:50 SOL-290-12:00:00 SOL-290-10:58:29 SOL-300-12:00:00 SOL-300-10:57:06 LSK Files ========= The leapseconds kernel file provides a tabulation of ``leapseconds'' and some other terms used in converting time measurements between ephemeris time (ET) and Universal Time (UTC). ``Spacecraft Event Time'' (SCET) is the commonly used name for UTC events measured at the spacecraft. Metadata describing how the LSK data are obtained or computed is contained inside the LSK text file. The time conversion provided by SPICE LSK files is accurate to approximately 0.000030 seconds. The lskinfo.txt file located in the data/lsk directory provides names of and/or explains naming convention for the LSK files provided in this data set. EK Files ======== No Event Kernel (EK) files are included in this data set. " END_OBJECT = DATA_SET_INFORMATION OBJECT = DATA_SET_TARGET TARGET_NAME = "MARS" END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_HOST INSTRUMENT_HOST_ID = "MER1" INSTRUMENT_ID = "N/A" END_OBJECT = DATA_SET_HOST OBJECT = DATA_SET_REFERENCE_INFORMATION REFERENCE_KEY_ID = UNK END_OBJECT = DATA_SET_REFERENCE_INFORMATION END_OBJECT = DATA_SET END