  We have implemented a universal quantum logic gate between qubits stored in
the spin state of a pair of trapped calcium 40 ions. An initial product state
was driven to a maximally entangled state deterministically, with 83% fidelity.
We present a general approach to quantum state tomography which achieves good
robustness to experimental noise and drift, and use it to measure the spin
state of the ions. We find the entanglement of formation is 0.54.
