Below is the list of tables from the database along with their columns and datatype. Need to generate an accurate SQL query for the question.
Only use the columns present in the respective table. Only use the columns which are required to generate the SQL query. Only use table joins if required and not otherwise.

### Tables ###
TABLE: CREATE TABLE table_name_76 ( Id VARCHAR )

### Question ###
What is 1994, when 2002 is ATP Masters Series?

### Accurate SQL ###

SELECT 1994 FROM table_name_76 WHERE 2002 = "atp masters series"