CREATE TABLE table_34631 ("Spacecraft" TEXT, "Destination" TEXT, "Launched" TEXT, "Closest approach" TEXT, "Time elapsed" TEXT)

What Launched has Time elapsed of 1991 days (5 yr, 5 mo, 12 d)?
SELECT "Launched" FROM table_34631 WHERE "Time elapsed" = '1991 days (5 yr, 5 mo, 12 d)'
SELECT "Launched" FROM "table_34631" WHERE "Time elapsed" = '1991 days (5 yr, 5 mo, 12 d)'