( Saturn ( ( ( was first ) ( ( visited ( by ( Pioneer 11 ) ) ) ( in ( ( ( ( ( 1979 and ) ( later ( by ( Voyager 1 ) ) ) ) ( in 1980 ) ) and ) ( ( Voyager 2 ) ( in 1981 ) ) ) ) ) ) . ) )
(ROOT (S (NP (NNP Saturn)) (VP (VBD was) (ADVP (RB first)) (VP (VBN visited) (PP (IN by) (NP (NNP Pioneer) (CD 11))) (PP (IN in) (NP (NP (NP (CD 1979)) (CC and) (ADVP (RB later) (PP (IN by) (NP (NNP Voyager) (CD 1)))) (PP (IN in) (NP (CD 1980)))) (CC and) (NP (NP (NNP Voyager) (CD 2)) (PP (IN in) (NP (CD 1981)))))))) (. .)))
Saturn was first visited by Pioneer 11 in 1979 and later by Voyager 1 in 1980 and Voyager 2 in 1981.
(ROOT (S (NP (DT The) (NN voyager) (CD 1) (NN spacecraft)) (VP (VBD visited) (NP (NN saturn)) (PP (IN in) (NP (CD 1980)))) (. .)))