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The vector helium magnetometer, one of the Pioneer-Jupiter experiments, has measured the magnetic field of Jupiter and the interplanetary magnetic field in the outer solar system. The comprehensive scientific objectives of the investigations are explained and are then translated into the major instrument requirements. The principles of operation of the magnetometer, which involve the optical pumping of metastable helium, are discussed and the Pioneer instrument is described. The in-flight performance of the magnetometer is discussed and principal scientific results obtained thus far by the Pioneer investigation are summarized.