Later, further data were provided by the European Remote-Sensing Satellite (ERS, 1991) using the same method, the Shuttle Radar Topography Mission (SRTM, 2000) using single-pass SAR and the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER, 2000) instrumentation on the Terra satellite using double-pass stereo pairs. The HRS instrument on SPOT 5 has acquired over 100 million square kilometers of stereo pairs. A tool of increasing value in planetary science has been use of orbital altimetry used to make digital elevation map of planets. A primary tool for this is laser altimetry but radar altimetry is also used. Planetary digital elevation maps made using laser altimetry include the Mars Orbiter Laser Altimeter (MOLA) mapping of Mars, the Lunar Orbital Laser Altimeter (LOLA) and Lunar Altimeter (LALT) mapping of the Moon, and the Mercury Laser Altimeter (MLA) mapping of Mercury. In planetary mapping, each planetary body has a unique reference surface. The quality of a DEM is a measure of how accurate elevation is at each pixel (absolute accuracy) and how accurately is the morphology presented (relative accuracy). Several factors play an important role for quality of DEM-derived products:   Common uses of DEMs include:  A free DEM of the whole world called GTOPO30 (30 arcsecond resolution, c. 1 km along the equator) is available, but its quality is variable and in some areas it is very poor. A much higher quality DEM from the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) instrument of the Terra satellite is also freely available for 99% of the globe, and represents elevation at 30 meter resolution. A similarly high resolution was previously only available for the United States territory under the Shuttle Radar Topography Mission (SRTM) data, while most of the rest of the planet was only covered in a 3 arc-second resolution (around 90 meters along the equator). SRTM does not cover the polar regions and has mountain and desert no data (void) areas. SRTM data, being derived from radar, represents the elevation of the first-reflected surface—quite often tree tops. So, the data are not necessarily representative of the ground surface, but the top of whatever is first encountered by the radar. Submarine elevation (known as bathymetry) data is generated using ship-mounted depth soundings. When land topography and bathymetry is combined, a truly global relief model is obtained.