  Context. Closed-loop Doppler data obtained by deep space tracking networks (e.g., NASA's DSN and ESA's Estrack) are routinely used for navigation and science applications. By "shadow tracking" the spacecraft signal, Earth-based radio telescopes involved in Planetary Radio Interferometry and Doppler Experiment (PRIDE) can provide open-loop Doppler tracking data when the dedicated deep space tracking facilities are operating in closed-loop mode only. Aims. We explain in detail the data processing pipeline, discuss the capabilities of the technique and its potential applications in planetary science. Methods. We provide the formulation of the observed and computed values of the Doppler data in PRIDE tracking of spacecraft, and demonstrate the quality of the results using as a test case an experiment with ESA's Mars Express spacecraft. Results. We find that the Doppler residuals and the corresponding noise budget of the open-loop Doppler detections obtained with the PRIDE stations are comparable to the closed-loop Doppler detections obtained with the dedicated deep space tracking facilities. 
Planetary Radio Interferometry and Doppler Experiment (PRIDE) Technique:   a Test Case of the Mars Express Phobos Fly-by. 2. Doppler tracking:   Formulation of observed and computed values, and noise budget