PDS_VERSION_ID = PDS3 /* FILE DATA ELEMENTS */ RECORD_TYPE = FIXED_LENGTH RECORD_BYTES = 256 FILE_RECORDS = 320 LABEL_RECORDS = 120 /* POINTERS TO DATA OBJECTS */ ^IMAGE_HEADER = 121 ^IMAGE = 193 /* IDENTIFICATION DATA ELEMENTS */ DATA_SET_ID = "MER1-M-PANCAM-3-IOFCAL-SCI-V2.0" DATA_SET_NAME = "MER 1 MARS PANCAM I/F CALIBRATED RDR V2.0" COMMAND_SEQUENCE_NUMBER = 20 FRAME_ID = "RIGHT" FRAME_TYPE = STEREO GEOMETRY_PROJECTION_TYPE = RAW IMAGE_ID = "1000016" IMAGE_TYPE = REGULAR INSTRUMENT_HOST_ID = "MER1" INSTRUMENT_HOST_NAME = "MARS EXPLORATION ROVER 1" INSTRUMENT_ID = "PANCAM_RIGHT" INSTRUMENT_NAME = "PANORAMIC CAMERA RIGHT" INSTRUMENT_SERIAL_NUMBER = 114 INSTRUMENT_TYPE = "IMAGING CAMERA" INSTRUMENT_VERSION_ID = "FM" LOCAL_TRUE_SOLAR_TIME = "15:19:55" MAGNET_ID = "NULL" MISSION_NAME = "MARS EXPLORATION ROVER" MISSION_PHASE_NAME = "EXTENDED MISSION" OBSERVATION_ID = "1325531136" PLANET_DAY_NUMBER = 332 PRODUCER_INSTITUTION_NAME = "Arizona State University" PRODUCT_CREATION_TIME = 2019-12-19T22:52:10Z PRODUCT_ID = "1P157666185IOF40B8P2619R4A1" PRODUCT_VERSION_ID = "V3.0 D-22846" RELEASE_ID = "0005" ROVER_MOTION_COUNTER = (40,144,0,16,0) ROVER_MOTION_COUNTER_NAME = (SITE,DRIVE,IDD,PMA,HGA) SEQUENCE_ID = "p2619" SEQUENCE_VERSION_ID = "4" SOLAR_LONGITUDE = 136.637 SPACECRAFT_CLOCK_CNT_PARTITION = 1 SPACECRAFT_CLOCK_START_COUNT = "157666185.746" SPACECRAFT_CLOCK_STOP_COUNT = "157666186.744" START_TIME = 2004-12-30T08:08:01.805 STOP_TIME = 2004-12-30T08:08:02.801 TARGET_NAME = MARS TARGET_TYPE = PLANET /* TELEMETRY DATA ELEMENTS */ APPLICATION_PROCESS_ID = 22 APPLICATION_PROCESS_NAME = "PANCAM RIGHT" APPLICATION_PROCESS_SUBTYPE_ID = 1 EARTH_RECEIVED_START_TIME = 2005-01-29T18:49:10.406 EARTH_RECEIVED_STOP_TIME = 2005-01-29T18:49:10.870 EXPECTED_PACKETS = "N/A" PACKET_MAP_MASK = "N/A" RECEIVED_PACKETS = "N/A" SPICE_FILE_NAME = "chronos.mer" TELEMETRY_PROVIDER_ID = "SSW MER_DP" TELEMETRY_SOURCE_NAME = "022_001_p2619-004-0020_004_0157666185-191.dat" TELEMETRY_SOURCE_TYPE = "DATA PRODUCT" /* HISTORY DATA ELEMENTS */ PROCESSING_HISTORY_TEXT = "CODMAC LEVEL 1 to LEVEL 2 CONVERSION VIA JPL/MIPL MERTELEMPROC ;;; PANCAL dust corrected I/F Calibration -- USER: jj (Jonathan Joseph) / MACHINE: aeolis.sese.asu.edu / UTC: 2019-12-19T05:12:53Z ;;; Archive data product produced. This is a version 2.0 RDR based on in-flight calibration data. Additional updates are expected to be made based on improved calibration data by the PANCAM team for subsequent release. Unitless I/F value can be derived by multiplying the 16-bit signed integer values in this file by RADIANCE_SCALING_FACTOR and then adding RADIANCE_OFFSET. Explanation of the calibration procedures and PANCAL software keywords described in the DERIVED_IMAGE_PARMS label group below can be found in the document titled MER/Pancam Data Processing User's Guide that is available from the PDS along with this data distribution. Data set producers: James Bell (jfb8@cornell.edu), Jonathan Joseph. -- USER: jj (James F. Bell) / MACHINE: bikini.sese.asu.edu / UTC: 2019-12-19T22:52:10Z" SOFTWARE_NAME = MER_ARCHIVE_IMAGE SOFTWARE_VERSION_ID = "V2.02 05-Aug-2018" /* CAMERA_MODEL DATA ELEMENTS */ GROUP = GEOMETRIC_CAMERA_MODEL CALIBRATION_SOURCE_ID = "209" ^MODEL_DESC = "GEOMETRIC_CM.TXT" MODEL_TYPE = CAHVOR MODEL_COMPONENT_ID = ("C","A","H","V","O","R") MODEL_COMPONENT_NAME = (CENTER,AXIS,HORIZONTAL,VERTICAL,OPTICAL, RADIAL) MODEL_COMPONENT_1 = (0.507359,-0.129893,-1.252) MODEL_COMPONENT_2 = (-0.935132,-0.12131,-0.332886) MODEL_COMPONENT_3 = (2.15347,-451.473,-25.0727) MODEL_COMPONENT_4 = (-207.39,-31.9014,401.052) MODEL_COMPONENT_5 = (-0.936059,-0.12646,-0.328342) MODEL_COMPONENT_6 = (0.013087,0.023504,-0.374157) FILTER_NAME = PANCAM_R4_864NM REFERENCE_COORD_SYSTEM_INDEX = (40,144,0,16,0) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = GEOMETRIC_CAMERA_MODEL /* COORDINATE SYSTEM STATE: ROVER */ GROUP = ROVER_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (40,144,0,16,0) COORDINATE_SYSTEM_INDEX_NAME = (SITE,DRIVE,IDD,PMA,HGA) COORDINATE_SYSTEM_NAME = ROVER_FRAME ORIGIN_OFFSET_VECTOR = (-119.031,15.0566,0.262879) ORIGIN_ROTATION_QUATERNION = (0.64129,0.000722331,0.0161614,-0.767128) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = UP QUATERNION_MEASUREMENT_METHOD = COARSE REFERENCE_COORD_SYSTEM_INDEX = 40 REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME END_GROUP = ROVER_COORDINATE_SYSTEM /* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */ GROUP = IDD_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (40,144,0,16,0) COORDINATE_SYSTEM_INDEX_NAME = (SITE,DRIVE,IDD,PMA,HGA) COORDINATE_SYSTEM_NAME = MB_FRAME ORIGIN_OFFSET_VECTOR = (0.320827,-0.16293,-0.123201) ORIGIN_ROTATION_QUATERNION = (0.600934,0.615328,-0.349242,-0.371861) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = DOWN REFERENCE_COORD_SYSTEM_INDEX = (40,144,0,16,0) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = IDD_COORDINATE_SYSTEM /* ARTICULATION DEVICE STATE: PANCAM MAST ASSEMBLY */ GROUP = PMA_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "PMA" ARTICULATION_DEVICE_NAME = "PANCAM MAST ASSEMBLY" ARTICULATION_DEVICE_ANGLE = (3.28998 ,0.277001 ,0.0 , 0.0 ,0.0 ,0.0 ) ARTICULATION_DEVICE_ANGLE_NAME = ("AZIMUTH-MEASURED","ELEVATION-MEASURED", "AZIMUTH-REQUESTED", "ELEVATION-REQUESTED","AZIMUTH-INITIAL", "ELEVATION-INITIAL") ARTICULATION_DEVICE_MODE = DEPLOYED END_GROUP = PMA_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: HIGH GAIN ANTENNA */ GROUP = HGA_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "HGA" ARTICULATION_DEVICE_NAME = "HIGH GAIN ANTENNA" ARTICULATION_DEVICE_ANGLE = (2.87998 ,0.0199709 ) ARTICULATION_DEVICE_ANGLE_NAME = (AZIMUTH,ELEVATION) END_GROUP = HGA_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: FILTER */ GROUP = FILTER_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "FILTER" ARTICULATION_DEVICE_NAME = "FILTER ACTUATORS" ARTICULATION_DEV_POSITION = (4,4,1) ARTICULATION_DEV_POSITION_ID = ("PANCAM_L4_602NM","PANCAM_R4_864NM", "MI_CLOSED") ARTICULATION_DEV_POSITION_NAME = ("LEFT PANCAM FILTER", "RIGHT PANCAM FILTER","MI DUST COVER") END_GROUP = FILTER_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE */ GROUP = IDD_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "IDD" ARTICULATION_DEVICE_NAME = "INSTRUMENT DEPLOYMENT DEVICE" ARTICULATION_DEVICE_ANGLE = (1.9257 ,0.013291 , 2.86956 ,3.44341 , -0.0294062 ,1.9253 , 0.0102111 ,2.86159 , 3.45077 ,-0.106702 ) ARTICULATION_DEVICE_ANGLE_NAME = ("JOINT 1 AZIMUTH-ENCODER", "JOINT 2 ELEVATION-ENCODER", "JOINT 3 ELBOW-ENCODER", "JOINT 4 WRIST-ENCODER", "JOINT 5 TURRET-ENCODER", "JOINT 1 AZIMUTH-POTENTIOMETER", "JOINT 2 ELEVATION-POTENTIOMETER", "JOINT 3 ELBOW-POTENTIOMETER", "JOINT 4 WRIST-POTENTIOMETER", "JOINT 5 TURRET-POTENTIOMETER") ARTICULATION_DEVICE_MODE = "FREE SPACE" ARTICULATION_DEVICE_TEMP = (1.0e+30 ,-15.4972 ) ARTICULATION_DEVICE_TEMP_NAME = ("AZIMUTH JOINT 1","TURRET JOINT 5") ARTICULATION_DEV_VECTOR = (-0.0218365,-0.0238693,0.999477) ARTICULATION_DEV_INSTRUMENT_ID = "MB" ARTICULATION_DEV_VECTOR_NAME = GRAVITY CONTACT_SENSOR_STATE = ("NO CONTACT","NO CONTACT",CONTACT, CONTACT,"NO CONTACT","NO CONTACT",CLOSED, "NO CONTACT") CONTACT_SENSOR_STATE_NAME = ("MI SWITCH 1","MI SWITCH 2", "RAT SWITCH 1","RAT SWITCH 2", "MB SWITCH 1","MB SWITCH 2", "APXS DOOR SWITCH","APXS CONTACT SWITCH") END_GROUP = IDD_ARTICULATION_STATE /* COORDINATE SYSTEM STATE: PANCAM MAST ASSEMBLY */ GROUP = PMA_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (40,144,0,16,0) COORDINATE_SYSTEM_INDEX_NAME = (SITE,DRIVE,IDD,PMA,HGA) COORDINATE_SYSTEM_NAME = MAST_FRAME ORIGIN_OFFSET_VECTOR = (0.45729,0.02605,-1.0962) ORIGIN_ROTATION_QUATERNION = (0.0753461,0.168519,0.0129204,-0.982729) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = UP REFERENCE_COORD_SYSTEM_INDEX = (40,144,0,16,0) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = PMA_COORDINATE_SYSTEM /* ARTICULATION DEVICE STATE: MOBILITY CHASSIS */ GROUP = CHASSIS_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "CHASSIS" ARTICULATION_DEVICE_NAME = "MOBILITY CHASSIS" ARTICULATION_DEVICE_ANGLE = (0.00532051 ,-0.000827945 , -0.00717876 ,-0.00604826 , 0.0259581 ,0.0385126 , 0.0162991 ) ARTICULATION_DEVICE_ANGLE_NAME = ("LEFT FRONT WHEEL POTENTIOMETER", "RIGHT FRONT WHEEL POTENTIOMETER", "LEFT REAR WHEEL POTENTIOMETER", "RIGHT REAR WHEEL POTENTIOMETER", "LEFT BOGIE POTENTIOMETER", "RIGHT BOGIE POTENTIOMETER", "DIFFERENTIAL BOGIE POTENTIOMETER") ARTICULATION_DEVICE_MODE = DEPLOYED END_GROUP = CHASSIS_ARTICULATION_STATE /* OBSERVATION REQUEST */ GROUP = OBSERVATION_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" COMMAND_INSTRUMENT_ID = "PANCAM_RIGHT" FILTER_NAME = PANCAM_R4_864NM AUTO_EXPOSURE_DATA_CUT = 2500 AUTO_EXPOSURE_PERCENT = 20.0 AUTO_EXPOSURE_PIXEL_FRACTION = 1.0 BAD_PIXEL_REPLACEMENT_FLAG = FALSE DETECTOR_ERASE_COUNT = 2 EARLY_PIXEL_SCALE_FLAG = FALSE EARLY_IMAGE_RETURN_FLAG = FALSE EXPOSURE_TYPE = AUTO EXPOSURE_SCALE_FACTOR = 2.6 EXPOSURE_DURATION_COUNT = 50 EXPOSURE_TABLE_ID = "PANCAM_L2" EXPOSURE_TBL_UPDATE_FLAG = TRUE FLAT_FIELD_CORRECTION_FLAG = FALSE INSTRUMENT_COORDINATE = "N/A" INSTRUMENT_COORDINATE_ID = "NONE" INSTRUMENT_BORESIGHT_ID = "UNK" INSTRUMENT_IDLE_TIMEOUT = 300 MAX_AUTO_EXPOS_ITERATION_COUNT = 6 SHUTTER_CORRECTION_MODE_ID = "CONDITIONAL" SHUTTER_CORRECT_THRESH_COUNT = 0 END_GROUP = OBSERVATION_REQUEST_PARMS /* IMAGE REQUEST */ GROUP = IMAGE_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = TRUE DOWNLOAD_PRIORITY = 74 PIXEL_DOWNSAMPLE_OPTION = SW_MEAN PIXEL_AVERAGING_HEIGHT = 8 PIXEL_AVERAGING_WIDTH = 8 SAMPLE_BIT_MODE_ID = "NONE" INST_CMPRS_MODE = 1 INST_CMPRS_RATE = 1.0 INST_CMPRS_QUALITY = 0 INST_CMPRS_FILTER = A INST_DECOMP_STAGES = 4 INST_CMPRS_SEGMENTS = 1 END_GROUP = IMAGE_REQUEST_PARMS /* REFERENCE PIXEL REQUEST */ GROUP = REFERENCE_PIXEL_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 74 INST_CMPRS_MODE = 1 INST_CMPRS_RATE = 12.0 INST_CMPRS_QUALITY = 0 INST_CMPRS_FILTER = E INST_DECOMP_STAGES = 4 INST_CMPRS_SEGMENTS = 1 END_GROUP = REFERENCE_PIXEL_REQUEST_PARMS /* THUMBNAIL REQUEST */ GROUP = THUMBNAIL_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = TRUE DOWNLOAD_PRIORITY = 0 LINES = 64 LINE_SAMPLES = 64 SAMPLE_BIT_MODE_ID = "NONE" INST_CMPRS_MODE = 1 INST_CMPRS_RATE = 1.0 INST_CMPRS_QUALITY = 0 INST_CMPRS_FILTER = E INST_DECOMP_STAGES = 4 INST_CMPRS_SEGMENTS = 1 END_GROUP = THUMBNAIL_REQUEST_PARMS /* SUBFRAME REQUEST */ GROUP = SUBFRAME_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE SUBFRAME_TYPE = NONE FIRST_LINE = 1 FIRST_LINE_SAMPLE = 1 LINES = 1024 LINE_SAMPLES = 1024 END_GROUP = SUBFRAME_REQUEST_PARMS /* ROW SUMMATION REQUEST */ GROUP = ROW_SUM_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 74 END_GROUP = ROW_SUM_REQUEST_PARMS /* COLUMN SUMMATION REQUEST */ GROUP = COLUMN_SUM_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 74 END_GROUP = COLUMN_SUM_REQUEST_PARMS /* SUN FIND REQUEST */ GROUP = SUN_FIND_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE LINES = 63 LINE_SAMPLES = 63 END_GROUP = SUN_FIND_REQUEST_PARMS /* HISTOGRAM REQUEST */ GROUP = HISTOGRAM_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 74 END_GROUP = HISTOGRAM_REQUEST_PARMS /* INSTRUMENT STATE RESULTS */ GROUP = INSTRUMENT_STATE_PARMS AZIMUTH_FOV = 15.8412 ELEVATION_FOV = 15.8412 BAD_PIXEL_REPLACEMENT_ID = "N/A" DETECTOR_FIRST_LINE = 1 DETECTOR_LINES = 1024 DETECTOR_TO_IMAGE_ROTATION = 180.0 DOWNSAMPLE_METHOD = SOFTWARE EXPOSURE_COUNT = 1 EXPOSURE_DURATION = 998.4 EXPOSURE_DURATION_COUNT = 195 FILTER_NAME = PANCAM_R4_864NM FILTER_NUMBER = 4 FLAT_FIELD_CORRECTION_FLAG = FALSE FLAT_FIELD_CORRECTION_PARM = (0.0,0.0,0.0,0.0,0.0) INSTRUMENT_MODE_ID = "FULL_FRAME" INSTRUMENT_TEMPERATURE = (-10.384 ,-6.14196 , -2.78733 ,-13.9323 , -14.3685 ,-15.8572 , -14.0221 ,-15.3201 , 0.0 ) INSTRUMENT_TEMPERATURE_NAME = ("FRONT HAZ ELECTRONICS", "REAR HAZ ELECTRONICS", "LEFT PAN ELECTRONICS","LEFT PAN CCD", "RIGHT PAN CCD","LEFT NAV CCD","MI CCD", "MI ELECTRONICS","DESCENT CAMERA CCD") OFFSET_MODE_ID = "4071" PIXEL_AVERAGING_HEIGHT = 8 PIXEL_AVERAGING_WIDTH = 8 SAMPLE_BIT_METHOD = NONE SAMPLE_BIT_MODE_ID = "NONE" SHUTTER_EFFECT_CORRECTION_FLAG = FALSE SUN_FIND_FLAG = FALSE SUN_FIND_PARM = (0.0,0.0,0.0) SUN_FIND_PARM_NAME = ("WINDOW SIZE","BRIGHTNESS THRESHOLD", "SUMMED BRIGHTNESS") SUN_LINE = -1 SUN_LINE_SAMPLE = -1 SUN_VIEW_POSITION = (0.0,0.0,0.0) SUN_VIEW_DIRECTION = (0.0,0.0,0.0) END_GROUP = INSTRUMENT_STATE_PARMS /* COMPRESSION RESULTS */ GROUP = COMPRESSION_PARMS ERROR_PIXELS = 0 INST_CMPRS_DESC = "Lossy compression algorithm developed at JPL" INST_CMPRS_FILTER = A INST_CMPRS_MODE = 2 INST_CMPRS_NAME = "ICER ADAPTIVE VARIABLE-LENGTH CODING (ICER)" INST_CMPRS_RATE = 1.14355 INST_CMPRS_RATIO = 10.4936 INST_CMPRS_SEGMENTS = 1 INST_CMPRS_SEGMENT_STATUS = 0 INST_CMPRS_SEG_FIRST_LINE = 1 INST_CMPRS_SEG_FIRST_LINE_SAMP = 1 INST_CMPRS_SEG_LINES = 128 INST_CMPRS_SEG_SAMPLES = 128 INST_CMPRS_SEG_MISSING_PIXELS = "N/A" INST_CMPRS_SEGMENT_QUALITY = 3.50593 INST_DECOMP_STAGES = 4 END_GROUP = COMPRESSION_PARMS /* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */ GROUP = ROVER_DERIVED_GEOMETRY_PARMS INSTRUMENT_AZIMUTH = -171.231 INSTRUMENT_ELEVATION = 19.461 REFERENCE_COORD_SYSTEM_INDEX = (40,144,0,16,0) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = ROVER_DERIVED_GEOMETRY_PARMS /* DERIVED GEOMETRY DATA ELEMENTS: SITE FRAME */ GROUP = SITE_DERIVED_GEOMETRY_PARMS INSTRUMENT_AZIMUTH = 88.9494 INSTRUMENT_ELEVATION = 18.0117 REFERENCE_COORD_SYSTEM_INDEX = 40 REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME SOLAR_AZIMUTH = 293.157 SOLAR_ELEVATION = 37.195 END_GROUP = SITE_DERIVED_GEOMETRY_PARMS /* DERIVED IMAGE DATA ELEMENTS */ GROUP = DERIVED_IMAGE_PARMS DERIVED_IMAGE_TYPE = IMAGE RADIANCE_SCALING_FACTOR = 2.351253e-06 RADIANCE_OFFSET = 0.2058359 RADIOMETRIC_CORRECTION_TYPE = PANCAL SOFTWARE_LANGUAGE = IDL SOFTWARE_MODULE_NAME = MER_PANCAL_IMAGE SOFTWARE_MODULE_TYPE = FUNCTION NUM_SOFTWARE_PARAMETERS = 3 SOFTWARE_PARAMETER_VALUE_1 = "1P157666185EDN40B8P2619R4M1.IMG.gz" SOFTWARE_PARAMETER_NAME_1 = FILENAME SOFTWARE_PARAMETER_VALUE_2 = "1P157666185RAD40B8P2619R4A1.IMG.gz" SOFTWARE_PARAMETER_NAME_2 = OUT_FILENAME SOFTWARE_PARAMETER_VALUE_3 = "Jonathan Joseph" SOFTWARE_PARAMETER_NAME_3 = PRODUCER NUM_SOFTWARE_KEYWORDS = 22 SOFTWARE_KEYWORD_NAME_1 = AMBIENT SOFTWARE_KEYWORD_VALUE_1 = 0 SOFTWARE_KEYWORD_NAME_2 = CALIBRATION SOFTWARE_KEYWORD_VALUE_2 = 0 SOFTWARE_KEYWORD_NAME_3 = ZERO SOFTWARE_KEYWORD_VALUE_3 = "none" SOFTWARE_KEYWORD_NAME_4 = ZDARK SOFTWARE_KEYWORD_VALUE_4 = 0 SOFTWARE_KEYWORD_NAME_5 = COS4 SOFTWARE_KEYWORD_VALUE_5 = 0 SOFTWARE_KEYWORD_NAME_6 = DARK_IMG SOFTWARE_KEYWORD_VALUE_6 = 0 SOFTWARE_KEYWORD_NAME_7 = FLAG_VALUES_VAL SOFTWARE_KEYWORD_VALUE_7 = (0,4095) SOFTWARE_KEYWORD_NAME_8 = FLAG_VALUES_TO SOFTWARE_KEYWORD_VALUE_8 = ("MISSING","INVALID") SOFTWARE_KEYWORD_NAME_9 = OVERWRITE SOFTWARE_KEYWORD_VALUE_9 = 1 SOFTWARE_KEYWORD_NAME_10 = SIS SOFTWARE_KEYWORD_VALUE_10 = 1 SOFTWARE_KEYWORD_NAME_11 = ALWAYS SOFTWARE_KEYWORD_VALUE_11 = 0 SOFTWARE_KEYWORD_NAME_12 = ADJUST SOFTWARE_KEYWORD_VALUE_12 = 1 SOFTWARE_KEYWORD_NAME_13 = NO_RADIOMETRY SOFTWARE_KEYWORD_VALUE_13 = 0 SOFTWARE_KEYWORD_NAME_14 = ALLOW_NEG SOFTWARE_KEYWORD_VALUE_14 = 0 SOFTWARE_KEYWORD_NAME_15 = FLOAT SOFTWARE_KEYWORD_VALUE_15 = 0 SOFTWARE_KEYWORD_NAME_16 = DO_EXPDIV SOFTWARE_KEYWORD_VALUE_16 = 0 SOFTWARE_KEYWORD_NAME_17 = RADFILE SOFTWARE_KEYWORD_VALUE_17 = ("rc_1L2_157666758_40B8P2119_2.txt", "rc_1L3_157666789_40B8P2119_2.txt", "rc_1L4_157666818_40B8P2119_2.txt", "rc_1L5_157666849_40B8P2119_2.txt", "rc_1L6_157666880_40B8P2119_2.txt", "rc_1L7_157666912_40B8P2119_2.txt", "rc_1R3_157666951_40B8P2119_2.txt", "rc_1R4_157666983_40B8P2119_2.txt", "rc_1R5_157667025_40B8P2119_2.txt", "rc_1R6_157667057_40B8P2119_2.txt", "rc_1R7_157667079_40B8P2119_2.txt") SOFTWARE_KEYWORD_NAME_18 = INCREMENT_VERSION SOFTWARE_KEYWORD_VALUE_18 = 0 SOFTWARE_KEYWORD_NAME_19 = NO_FLAT SOFTWARE_KEYWORD_VALUE_19 = 0 SOFTWARE_KEYWORD_NAME_20 = IOF_VER SOFTWARE_KEYWORD_VALUE_20 = "1" SOFTWARE_KEYWORD_NAME_21 = V1 SOFTWARE_KEYWORD_VALUE_21 = 0 SOFTWARE_KEYWORD_NAME_22 = DARK_CAL SOFTWARE_KEYWORD_VALUE_22 = 0 RESPONSIVITY_CONSTANTS = (0.00010861646,-1.893786e-07,0.0) RESPONSIVITY_CONSTANTS_FILE = "rc_1R4_157666983_40B8P2119_2.txt" PROCESSING_INFO = ("responsivity constants file: rc_1R4_157666983_40B8P2119_2.txt", "associated selection filename: roi_00320_00272_050130195742.sel", "dust correction: v2.0", "dust spectrum file: /home/jj/git_idl_testing/MER_PANCAM/PANUTIL/development/dust/Cal_analysis/saves/merB_smoothed_dust_spectrum_v2.sav", "solar angles used in dust model: Yes", "outliers excluded from selections: Yes", "force fit to intercept origin: Yes", "cal-target file: 1P157666983RAD40B8P2119R4A2.IMG.gz", "solar azimuth (rover frame): 32.6753", "solar elevation (rover frame): -32.4211", "dust model tau: 0.10438416", "dust model rad coeff: 0.041729486", "ROI radiances: 0.028721668 0.018938867 NaN 0.010014231 0.0085303029 0.013522732 0.021130892 0.0039621037 0.0069327508 0.011581397", "ROI uncertainty: 0.0012420252 0.00048184738 NaN 0.00030033072 0.00093969060 0.00045484711 0.00058207433 0.00026556619 0.00030079325 0.00037111480", "ROI count: 183 119 0 108 242 849 2263 28 67 100", "reflectances: 0.36524417 0.24288379 NaN 0.12543292 0.099562747 0.17620054 0.27727424 0.054069208 0.092140074 0.14361313") BIAS_COEFFS_FILE = ("mer_ccd_114_bias_coeffs_03.dat", "mer_ccd_114_bias_offset_03.img", "DETAILED") BIAS_COEFFS_FILE_DESCRIPTION = ("Bias coefficients file.", "Bias offset file.", "Bias subtraction method.") FLAT_FIELD_FILE = ("MER_FLAT_SN_114_R4_V04.IMG", "MER_FLAT_STDDEV_SN_114_R4_V01.IMG") FLAT_FIELD_FILE_DESCRIPTION = ("Flat field image.", "Flat field standard deviation image.") REFERENCE_PIXEL_IMAGE = "1P157665637ERP40B8P2619R8M1" DARK_CURRENT_FILE = ("mer_ccd_114_dark_shutter_col_flat_01.img", "mer_ccd_114_dark_shutter_col_mn_flat_02.img", "mer_ccd_114_dark_shutter_exp_coeffs_02.dat", "mer_ccd_114_dark_shutter_hot_02.dat", "mer_ccd_114_dark_active_flat_02.img", "mer_ccd_114_dark_active_exp_coeffs_02.dat", "mer_ccd_114_dark_active_change_02.sav") DARK_CURRENT_FILE_DESCRIPTION = ("Shutter dark column flat image.", "Shutter dark column-mean flat array.", "Shutter dark mean coefficients.", "Shutter dark hot pixels.", "Active dark flat image.", "Active dark mean coefficients.", "Active dark flat changes over time.") INPUT_IMAGE = "1P157666185EDN40B8P2619R4M1" END_GROUP = DERIVED_IMAGE_PARMS /* IMAGE DATA ELEMENTS */ OBJECT = IMAGE INTERCHANGE_FORMAT = BINARY LINES = 128 LINE_SAMPLES = 128 SAMPLE_TYPE = MSB_INTEGER SAMPLE_BITS = 16 BANDS = 1 BAND_STORAGE_TYPE = BAND_SEQUENTIAL CHECKSUM = 242354480 FIRST_LINE = 1 FIRST_LINE_SAMPLE = 1 INVALID_CONSTANT = "N/A" MAXIMUM = 32766 MEAN = 14792.14355468750 MEDIAN = 16023 MINIMUM = 0 MISSING_CONSTANT = "N/A" SAMPLE_BIT_MASK = 2#1111111111111111# STANDARD_DEVIATION = 6548.804 SCALING_FACTOR = 2.351253e-06 OFFSET = 0.2058359 END_OBJECT = IMAGE /* IMAGE HEADER DATA ELEMENTS */ OBJECT = IMAGE_HEADER HEADER_TYPE = VICAR2 INTERCHANGE_FORMAT = ASCII BYTES = 12544 ^DESCRIPTION = "VICAR2.TXT" END_OBJECT = IMAGE_HEADER END LBLSIZE=18432 FORMAT='HALF' TYPE='IMAGE' BUFSIZ=256 DIM=3 EOL=0 RECSIZE=256 ORG='BSQ' NL=128 NS=128 NB=1 N1=128 N2=128 N3=1 N4=0 NBB=0 NLB=0 HOST='x86_64' INTFMT='HIGH' REALFMT='IEEE' BHOST='x86_64' BINTFMT='HIGH' BREALFMT='IEEE' BLTYPE='' PROPERTY='IDENTIFICATION' DATA_SET_ID='MER1-M-PANCAM-3-IOFCAL-SCI-V2.0' DATA_SET_NAME='MER 1 MARS PANCAM I/F CALIBRATED RDR V2.0' COMMAND_SEQUENCE_NUMBER=20 FRAME_ID='RIGHT' FRAME_TYPE='STEREO' GEOMETRY_PROJECTION_TYPE='RAW' IMAGE_ID='1000016' IMAGE_TYPE='REGULAR' INSTRUMENT_HOST_ID='MER1' INSTRUMENT_HOST_NAME='MARS EXPLORATION ROVER 1' INSTRUMENT_ID='PANCAM_RIGHT' INSTRUMENT_NAME='PANORAMIC CAMERA RIGHT' INSTRUMENT_SERIAL_NUMBER=114 INSTRUMENT_TYPE='IMAGING CAMERA' INSTRUMENT_VERSION_ID='FM' LOCAL_TRUE_SOLAR_TIME='15:19:55' MAGNET_ID='NULL' MISSION_NAME='MARS EXPLORATION ROVER' MISSION_PHASE_NAME='EXTENDED MISSION' OBSERVATION_ID='1325531136' PLANET_DAY_NUMBER=332 PRODUCER_INSTITUTION_NAME='Arizona State University' PRODUCT_CREATION_TIME='2019-12-19T22:52:10Z' PRODUCT_ID='1P157666185IOF40B8P2619R4A1' PRODUCT_VERSION_ID='V3.0 D-22846' RELEASE_ID='0005' ROVER_MOTION_COUNTER=(40,144,0,16,0) ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA') SEQUENCE_ID='p2619' SEQUENCE_VERSION_ID='4' SOLAR_LONGITUDE=136.637 SPACECRAFT_CLOCK_CNT_PARTITION=1 SPACECRAFT_CLOCK_START_COUNT='157666185.746' SPACECRAFT_CLOCK_STOP_COUNT='157666186.744' START_TIME='2004-12-30T08:08:01.805' STOP_TIME='2004-12-30T08:08:02.801' TARGET_NAME='MARS' TARGET_TYPE='PLANET' PROPERTY='TELEMETRY' APPLICATION_PROCESS_ID=22 APPLICATION_PROCESS_NAME='PANCAM RIGHT' APPLICATION_PROCESS_SUBTYPE_ID=1 EARTH_RECEIVED_START_TIME='2005-01-29T18:49:10.406' EARTH_RECEIVED_STOP_TIME='2005-01-29T18:49:10.870' EXPECTED_PACKETS='N/A' PACKET_MAP_MASK='N/A' RECEIVED_PACKETS='N/A' SPICE_FILE_NAME='chronos.mer' TELEMETRY_PROVIDER_ID='SSW MER_DP' TELEMETRY_SOURCE_NAME='022_001_p2619-004-0020_004_0157666185-191.dat' TELEMETRY_SOURCE_TYPE='DATA PRODUCT' PROPERTY='PDS_HISTORY' PROCESSING_HISTORY_TEXT='CODMAC LEVEL 1 to LEVEL 2 CONVERSION VIA JPL/MIPL MERTELEMPROC ;;; PANCAL dust corrected I/F Calibration -- USER: jj (Jonathan Joseph) / MACHINE: aeolis.sese.asu.edu / UTC: 2019-12-19T05:12:53Z ;;; Archive data product produced. This is a version 2.0 RDR based on in-flight calibration data. Additional updates are expected to be made based on improved calibration data by the PANCAM team for subsequent release. Unitless I/F value can be derived by multiplying the 16-bit signed integer values in this file by RADIANCE_SCALING_FACTOR and then adding RADIANCE_OFFSET. Explanation of the calibration procedures and PANCAL software keywords described in the DERIVED_IMAGE_PARMS label group below can be found in the document titled MER/Pancam Data Processing User''s Guide that is available from the PDS along with this data distribution. Data set producers: James Bell (jfb8@cornell.edu), Jonathan Joseph. -- USER: jj (James F. Bell) / MACHINE: bikini.sese.asu.edu / UTC: 2019-12-19T22:52:10Z' SOFTWARE_NAME='MER_ARCHIVE_IMAGE' SOFTWARE_VERSION_ID='V2.02 05-Aug-2018' PROPERTY='GEOMETRIC_CAMERA_MODEL' CALIBRATION_SOURCE_ID='209' MODEL_DESC__PTR='GEOMETRIC_CM.TXT' MODEL_TYPE='CAHVOR' MODEL_COMPONENT_ID=('C','A','H','V','O','R') MODEL_COMPONENT_NAME=('CENTER','AXIS','HORIZONTAL','VERTICAL','OPTICAL','RADIAL') MODEL_COMPONENT_1=(0.507359,-0.129893,-1.252) MODEL_COMPONENT_2=(-0.935132,-0.12131,-0.332886) MODEL_COMPONENT_3=(2.15347,-451.473,-25.0727) MODEL_COMPONENT_4=(-207.39,-31.9014,401.052) MODEL_COMPONENT_5=(-0.936059,-0.12646,-0.328342) MODEL_COMPONENT_6=(0.013087,0.023504,-0.374157) FILTER_NAME='PANCAM_R4_864NM' REFERENCE_COORD_SYSTEM_INDEX=(40,144,0,16,0) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='ROVER_COORDINATE_SYSTEM' COORDINATE_SYSTEM_INDEX=(40,144,0,16,0) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='ROVER_FRAME' ORIGIN_OFFSET_VECTOR=(-119.031,15.0566,0.262879) ORIGIN_ROTATION_QUATERNION=(0.64129,0.000722331,0.0161614,-0.767128) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='UP' QUATERNION_MEASUREMENT_METHOD='COARSE' REFERENCE_COORD_SYSTEM_INDEX=40 REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME' PROPERTY='IDD_COORDINATE_SYSTEM' COORDINATE_SYSTEM_INDEX=(40,144,0,16,0) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='MB_FRAME' ORIGIN_OFFSET_VECTOR=(0.320827,-0.16293,-0.123201) ORIGIN_ROTATION_QUATERNION=(0.600934,0.615328,-0.349242,-0.371861) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='DOWN' REFERENCE_COORD_SYSTEM_INDEX=(40,144,0,16,0) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='PMA_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='PMA' ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY' ARTICULATION_DEVICE_ANGLE=(3.28998,0.277001,0.0,0.0,0.0,0.0) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH-MEASURED','ELEVATION-MEASURED','AZIMUTH-REQUESTED','ELEVATION-REQUESTED','AZIMUTH-INITIAL','ELEVATION-INITIAL') ARTICULATION_DEVICE_MODE='DEPLOYED' PROPERTY='HGA_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='HGA' ARTICULATION_DEVICE_NAME='HIGH GAIN ANTENNA' ARTICULATION_DEVICE_ANGLE=(2.87998,0.0199709) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH','ELEVATION') PROPERTY='FILTER_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='FILTER' ARTICULATION_DEVICE_NAME='FILTER ACTUATORS' ARTICULATION_DEV_POSITION=(4,4,1) ARTICULATION_DEV_POSITION_ID=('PANCAM_L4_602NM','PANCAM_R4_864NM','MI_CLOSED') ARTICULATION_DEV_POSITION_NAME=('LEFT PANCAM FILTER','RIGHT PANCAM FILTER','MI DUST COVER') PROPERTY='IDD_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='IDD' ARTICULATION_DEVICE_NAME='INSTRUMENT DEPLOYMENT DEVICE' ARTICULATION_DEVICE_ANGLE=(1.9257,0.013291,2.86956,3.44341,-0.0294062,1.9253,0.0102111,2.86159,3.45077,-0.106702) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad','rad','rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('JOINT 1 AZIMUTH-ENCODER','JOINT 2 ELEVATION-ENCODER','JOINT 3 ELBOW-ENCODER','JOINT 4 WRIST-ENCODER','JOINT 5 TURRET-ENCODER','JOINT 1 AZIMUTH-POTENTIOMETER','JOINT 2 ELEVATION-POTENTIOMETER','JOINT 3 ELBOW-POTENTIOMETER','JOINT 4 WRIST-POTENTIOMETER','JOINT 5 TURRET-POTENTIOMETER') ARTICULATION_DEVICE_MODE='FREE SPACE' ARTICULATION_DEVICE_TEMP=(1.0e+30,-15.4972) ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC') ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5') ARTICULATION_DEV_VECTOR=(-0.0218365,-0.0238693,0.999477) ARTICULATION_DEV_INSTRUMENT_ID='MB' ARTICULATION_DEV_VECTOR_NAME='GRAVITY' CONTACT_SENSOR_STATE=('NO CONTACT','NO CONTACT','CONTACT','CONTACT','NO CONTACT','NO CONTACT','CLOSED','NO CONTACT') CONTACT_SENSOR_STATE_NAME=('MI SWITCH 1','MI SWITCH 2','RAT SWITCH 1','RAT SWITCH 2','MB SWITCH 1','MB SWITCH 2','APXS DOOR SWITCH','APXS CONTACT SWITCH') PROPERTY='PMA_COORDINATE_SYSTEM' COORDINATE_SYSTEM_INDEX=(40,144,0,16,0) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='MAST_FRAME' ORIGIN_OFFSET_VECTOR=(0.45729,0.02605,-1.0962) ORIGIN_ROTATION_QUATERNION=(0.0753461,0.168519,0.0129204,-0.982729) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='UP' REFERENCE_COORD_SYSTEM_INDEX=(40,144,0,16,0) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='CHASSIS_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='CHASSIS' ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS' ARTICULATION_DEVICE_ANGLE=(0.00532051,-0.000827945,-0.00717876,-0.00604826,0.0259581,0.0385126,0.0162991) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('LEFT FRONT WHEEL POTENTIOMETER','RIGHT FRONT WHEEL POTENTIOMETER','LEFT REAR WHEEL POTENTIOMETER','RIGHT REAR WHEEL POTENTIOMETER','LEFT BOGIE POTENTIOMETER','RIGHT BOGIE POTENTIOMETER','DIFFERENTIAL BOGIE POTENTIOMETER') ARTICULATION_DEVICE_MODE='DEPLOYED' PROPERTY='OBSERVATION_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' COMMAND_INSTRUMENT_ID='PANCAM_RIGHT' FILTER_NAME='PANCAM_R4_864NM' AUTO_EXPOSURE_DATA_CUT=2500 AUTO_EXPOSURE_PERCENT=20.0 AUTO_EXPOSURE_PIXEL_FRACTION=1.0 BAD_PIXEL_REPLACEMENT_FLAG='FALSE' DETECTOR_ERASE_COUNT=2 EARLY_PIXEL_SCALE_FLAG='FALSE' EARLY_IMAGE_RETURN_FLAG='FALSE' EXPOSURE_TYPE='AUTO' EXPOSURE_SCALE_FACTOR=2.6 EXPOSURE_DURATION_COUNT=50 EXPOSURE_TABLE_ID='PANCAM_L2' EXPOSURE_TBL_UPDATE_FLAG='TRUE' FLAT_FIELD_CORRECTION_FLAG='FALSE' INSTRUMENT_COORDINATE='N/A' INSTRUMENT_COORDINATE_ID='NONE' INSTRUMENT_BORESIGHT_ID='UNK' INSTRUMENT_IDLE_TIMEOUT=300 INSTRUMENT_IDLE_TIMEOUT__UNIT='s' MAX_AUTO_EXPOS_ITERATION_COUNT=6 SHUTTER_CORRECTION_MODE_ID='CONDITIONAL' SHUTTER_CORRECT_THRESH_COUNT=0 PROPERTY='IMAGE_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='TRUE' DOWNLOAD_PRIORITY=74 PIXEL_DOWNSAMPLE_OPTION='SW_MEAN' PIXEL_AVERAGING_HEIGHT=8 PIXEL_AVERAGING_WIDTH=8 SAMPLE_BIT_MODE_ID='NONE' INST_CMPRS_MODE=1 INST_CMPRS_RATE=1.0 INST_CMPRS_QUALITY=0 INST_CMPRS_FILTER='A' INST_DECOMP_STAGES=4 INST_CMPRS_SEGMENTS=1 PROPERTY='REFERENCE_PIXEL_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=74 INST_CMPRS_MODE=1 INST_CMPRS_RATE=12.0 INST_CMPRS_QUALITY=0 INST_CMPRS_FILTER='E' INST_DECOMP_STAGES=4 INST_CMPRS_SEGMENTS=1 PROPERTY='THUMBNAIL_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='TRUE' DOWNLOAD_PRIORITY=0 LINES=64 LINE_SAMPLES=64 SAMPLE_BIT_MODE_ID='NONE' INST_CMPRS_MODE=1 INST_CMPRS_RATE=1.0 INST_CMPRS_QUALITY=0 INST_CMPRS_FILTER='E' INST_DECOMP_STAGES=4 INST_CMPRS_SEGMENTS=1 PROPERTY='SUBFRAME_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' SUBFRAME_TYPE='NONE' FIRST_LINE=1 FIRST_LINE_SAMPLE=1 LINES=1024 LINE_SAMPLES=1024 PROPERTY='ROW_SUM_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=74 PROPERTY='COLUMN_SUM_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=74 PROPERTY='SUN_FIND_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' LINES=63 LINE_SAMPLES=63 PROPERTY='HISTOGRAM_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=74 PROPERTY='INSTRUMENT_STATE_PARMS' AZIMUTH_FOV=15.8412 AZIMUTH_FOV__UNIT='deg' ELEVATION_FOV=15.8412 ELEVATION_FOV__UNIT='deg' BAD_PIXEL_REPLACEMENT_ID='N/A' DETECTOR_FIRST_LINE=1 DETECTOR_LINES=1024 DETECTOR_TO_IMAGE_ROTATION=180.0 DOWNSAMPLE_METHOD='SOFTWARE' EXPOSURE_COUNT=1 EXPOSURE_DURATION=998.4 EXPOSURE_DURATION__UNIT='ms' EXPOSURE_DURATION_COUNT=195 FILTER_NAME='PANCAM_R4_864NM' FILTER_NUMBER=4 FLAT_FIELD_CORRECTION_FLAG='FALSE' FLAT_FIELD_CORRECTION_PARM=(0.0,0.0,0.0,0.0,0.0) INSTRUMENT_MODE_ID='FULL_FRAME' INSTRUMENT_TEMPERATURE=(-10.384,-6.14196,-2.78733,-13.9323,-14.3685,-15.8572,-14.0221,-15.3201,0.0) INSTRUMENT_TEMPERATURE__UNIT=('degC','degC','degC','degC','degC','degC','degC','degC','degC') INSTRUMENT_TEMPERATURE_NAME=('FRONT HAZ ELECTRONICS','REAR HAZ ELECTRONICS','LEFT PAN ELECTRONICS','LEFT PAN CCD','RIGHT PAN CCD','LEFT NAV CCD','MI CCD','MI ELECTRONICS','DESCENT CAMERA CCD') OFFSET_MODE_ID='4071' PIXEL_AVERAGING_HEIGHT=8 PIXEL_AVERAGING_WIDTH=8 SAMPLE_BIT_METHOD='NONE' SAMPLE_BIT_MODE_ID='NONE' SHUTTER_EFFECT_CORRECTION_FLAG='FALSE' SUN_FIND_FLAG='FALSE' SUN_FIND_PARM=(0.0,0.0,0.0) SUN_FIND_PARM_NAME=('WINDOW SIZE','BRIGHTNESS THRESHOLD','SUMMED BRIGHTNESS') SUN_LINE=-1 SUN_LINE_SAMPLE=-1 SUN_VIEW_POSITION=(0.0,0.0,0.0) SUN_VIEW_DIRECTION=(0.0,0.0,0.0) PROPERTY='COMPRESSION_PARMS' ERROR_PIXELS=0 INST_CMPRS_DESC='Lossy compression algorithm developed at JPL' INST_CMPRS_FILTER='A' INST_CMPRS_MODE=2 INST_CMPRS_NAME='ICER ADAPTIVE VARIABLE-LENGTH CODING (ICER)' INST_CMPRS_RATE=1.14355 INST_CMPRS_RATIO=10.4936 INST_CMPRS_SEGMENTS=1 INST_CMPRS_SEGMENT_STATUS=0 INST_CMPRS_SEG_FIRST_LINE=1 INST_CMPRS_SEG_FIRST_LINE_SAMP=1 INST_CMPRS_SEG_LINES=128 INST_CMPRS_SEG_SAMPLES=128 INST_CMPRS_SEG_MISSING_PIXELS='N/A' INST_CMPRS_SEGMENT_QUALITY=3.50593 INST_DECOMP_STAGES=4 PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS' INSTRUMENT_AZIMUTH=-171.231 INSTRUMENT_AZIMUTH__UNIT='deg' INSTRUMENT_ELEVATION=19.461 INSTRUMENT_ELEVATION__UNIT='deg' REFERENCE_COORD_SYSTEM_INDEX=(40,144,0,16,0) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='SITE_DERIVED_GEOMETRY_PARMS' INSTRUMENT_AZIMUTH=88.9494 INSTRUMENT_AZIMUTH__UNIT='deg' INSTRUMENT_ELEVATION=18.0117 INSTRUMENT_ELEVATION__UNIT='deg' REFERENCE_COORD_SYSTEM_INDEX=40 REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME' SOLAR_AZIMUTH=293.157 SOLAR_AZIMUTH__UNIT='deg' SOLAR_ELEVATION=37.195 SOLAR_ELEVATION__UNIT='deg' PROPERTY='DERIVED_IMAGE_PARMS' DERIVED_IMAGE_TYPE='IMAGE' RADIANCE_SCALING_FACTOR=2.351253e-06 RADIANCE_OFFSET=0.2058359 RADIOMETRIC_CORRECTION_TYPE='PANCAL' SOFTWARE_LANGUAGE='IDL' SOFTWARE_MODULE_NAME='MER_PANCAL_IMAGE' SOFTWARE_MODULE_TYPE='FUNCTION' NUM_SOFTWARE_PARAMETERS=3 SOFTWARE_PARAMETER_VALUE_1='1P157666185EDN40B8P2619R4M1.IMG.gz' SOFTWARE_PARAMETER_NAME_1='FILENAME' SOFTWARE_PARAMETER_VALUE_2='1P157666185RAD40B8P2619R4A1.IMG.gz' SOFTWARE_PARAMETER_NAME_2='OUT_FILENAME' SOFTWARE_PARAMETER_VALUE_3='Jonathan Joseph' SOFTWARE_PARAMETER_NAME_3='PRODUCER' NUM_SOFTWARE_KEYWORDS=22 SOFTWARE_KEYWORD_NAME_1='AMBIENT' SOFTWARE_KEYWORD_VALUE_1=0 SOFTWARE_KEYWORD_NAME_2='CALIBRATION' SOFTWARE_KEYWORD_VALUE_2=0 SOFTWARE_KEYWORD_NAME_3='ZERO' SOFTWARE_KEYWORD_VALUE_3='none' SOFTWARE_KEYWORD_NAME_4='ZDARK' SOFTWARE_KEYWORD_VALUE_4=0 SOFTWARE_KEYWORD_NAME_5='COS4' SOFTWARE_KEYWORD_VALUE_5=0 SOFTWARE_KEYWORD_NAME_6='DARK_IMG' SOFTWARE_KEYWORD_VALUE_6=0 SOFTWARE_KEYWORD_NAME_7='FLAG_VALUES_VAL' SOFTWARE_KEYWORD_VALUE_7=(0,4095) SOFTWARE_KEYWORD_NAME_8='FLAG_VALUES_TO' SOFTWARE_KEYWORD_VALUE_8=('MISSING','INVALID') SOFTWARE_KEYWORD_NAME_9='OVERWRITE' SOFTWARE_KEYWORD_VALUE_9=1 SOFTWARE_KEYWORD_NAME_10='SIS' SOFTWARE_KEYWORD_VALUE_10=1 SOFTWARE_KEYWORD_NAME_11='ALWAYS' SOFTWARE_KEYWORD_VALUE_11=0 SOFTWARE_KEYWORD_NAME_12='ADJUST' SOFTWARE_KEYWORD_VALUE_12=1 SOFTWARE_KEYWORD_NAME_13='NO_RADIOMETRY' SOFTWARE_KEYWORD_VALUE_13=0 SOFTWARE_KEYWORD_NAME_14='ALLOW_NEG' SOFTWARE_KEYWORD_VALUE_14=0 SOFTWARE_KEYWORD_NAME_15='FLOAT' SOFTWARE_KEYWORD_VALUE_15=0 SOFTWARE_KEYWORD_NAME_16='DO_EXPDIV' SOFTWARE_KEYWORD_VALUE_16=0 SOFTWARE_KEYWORD_NAME_17='RADFILE' SOFTWARE_KEYWORD_VALUE_17=('rc_1L2_157666758_40B8P2119_2.txt','rc_1L3_157666789_40B8P2119_2.txt','rc_1L4_157666818_40B8P2119_2.txt','rc_1L5_157666849_40B8P2119_2.txt','rc_1L6_157666880_40B8P2119_2.txt','rc_1L7_157666912_40B8P2119_2.txt','rc_1R3_157666951_40B8P2119_2.txt','rc_1R4_157666983_40B8P2119_2.txt','rc_1R5_157667025_40B8P2119_2.txt','rc_1R6_157667057_40B8P2119_2.txt','rc_1R7_157667079_40B8P2119_2.txt') SOFTWARE_KEYWORD_NAME_18='INCREMENT_VERSION' SOFTWARE_KEYWORD_VALUE_18=0 SOFTWARE_KEYWORD_NAME_19='NO_FLAT' SOFTWARE_KEYWORD_VALUE_19=0 SOFTWARE_KEYWORD_NAME_20='IOF_VER' SOFTWARE_KEYWORD_VALUE_20='1' SOFTWARE_KEYWORD_NAME_21='V1' SOFTWARE_KEYWORD_VALUE_21=0 SOFTWARE_KEYWORD_NAME_22='DARK_CAL' SOFTWARE_KEYWORD_VALUE_22=0 RESPONSIVITY_CONSTANTS=(0.00010861646,-1.893786e-07,0.0) RESPONSIVITY_CONSTANTS_FILE='rc_1R4_157666983_40B8P2119_2.txt' PROCESSING_INFO=('responsivity constants file: rc_1R4_157666983_40B8P2119_2.txt','associated selection filename: roi_00320_00272_050130195742.sel','dust correction: v2.0','dust spectrum file: /home/jj/git_idl_testing/MER_PANCAM/PANUTIL/development/dust/Cal_analysis/saves/merB_smoothed_dust_spectrum_v2.sav','solar angles used in dust model: Yes','outliers excluded from selections: Yes','force fit to intercept origin: Yes','cal-target file: 1P157666983RAD40B8P2119R4A2.IMG.gz','solar azimuth (rover frame): 32.6753','solar elevation (rover frame): -32.4211','dust model tau: 0.10438416','dust model rad coeff: 0.041729486','ROI radiances: 0.028721668 0.018938867 NaN 0.010014231 0.0085303029 0.013522732 0.021130892 0.0039621037 0.0069327508 0.011581397','ROI uncertainty: 0.0012420252 0.00048184738 NaN 0.00030033072 0.00093969060 0.00045484711 0.00058207433 0.00026556619 0.00030079325 0.00037111480','ROI count: 183 119 0 108 242 849 2263 28 67 100','reflectances: 0.36524417 0.24288379 NaN 0.12543292 0.099562747 0.17620054 0.27727424 0.054069208 0.092140074 0.14361313') BIAS_COEFFS_FILE=('mer_ccd_114_bias_coeffs_03.dat','mer_ccd_114_bias_offset_03.img','DETAILED') BIAS_COEFFS_FILE_DESCRIPTION=('Bias coefficients file.','Bias offset file.','Bias subtraction method.') FLAT_FIELD_FILE=('MER_FLAT_SN_114_R4_V04.IMG','MER_FLAT_STDDEV_SN_114_R4_V01.IMG') FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.') REFERENCE_PIXEL_IMAGE='1P157665637ERP40B8P2619R8M1' DARK_CURRENT_FILE=('mer_ccd_114_dark_shutter_col_flat_01.img','mer_ccd_114_dark_shutter_col_mn_flat_02.img','mer_ccd_114_dark_shutter_exp_coeffs_02.dat','mer_ccd_114_dark_shutter_hot_02.dat','mer_ccd_114_dark_active_flat_02.img','mer_ccd_114_dark_active_exp_coeffs_02.dat','mer_ccd_114_dark_active_change_02.sav') DARK_CURRENT_FILE_DESCRIPTION=('Shutter dark column flat image.','Shutter dark column-mean flat array.','Shutter dark mean coefficients.','Shutter dark hot pixels.','Active dark flat image.','Active dark mean coefficients.','Active dark flat changes over time.') INPUT_IMAGE='1P157666185EDN40B8P2619R4M1' PROPERTY='IMAGE_DATA' CHECKSUM=242354480 FIRST_LINE=1 FIRST_LINE_SAMPLE=1 INVALID_CONSTANT='N/A' MAXIMUM=32766 MEAN=14792.1435546875 MEDIAN=16023 MINIMUM=0 MISSING_CONSTANT='N/A' SAMPLE_BIT_MASK='2#1111111111111111#' STANDARD_DEVIATION=6548.804 SCALING_FACTOR=2.351253e-06 OFFSET=0.2058359 TASK='MERTELEM' USER='dalex' DAT_TIM='Fri Jun 17 15:17:21 2005' TASK='MDAP_FIX_MERB' USER='jj' DAT_TIM='Fri Sep 20 12:12:26 2013' TASK='MDAP_FIX_MERB' USER='jj' DAT_TIM='Sat Feb 1 07:59:07 2014' TASK='MER_PANCAL_IMAGE' USER='jj' DAT_TIM='Wed Dec 18 22:12:54 2019' TASK='MER_ARCHIVE_IMAGE' USER='jj' DAT_TIM='Thu Dec 19 15:52:10 2019'8 {   w   { l \ S f R  ? V q  A  W g  & T z  K 1 3 @ ]  V 3^S0f"~K@m0\2,U]l .7C y S [ y    c c  } " ] 1 % 8 5 2 Z y . ; 7 < =  l  G : n e , ) o l p Z N H / ) jX r3)@'8[N*V[S^/~9  , $ L  E }  \   o a , S B L C * L D J   G ^ I  k _ k  ~ p K-lJ[ 9u-d1<j/B:e A A s  ] 1  Z D I 1 y % w m5 e   m X ) 1 c M ?  7 V ' W 3 9 q  } X U  ! \ g z P F  s r Z 5 8 IX :]%L[>Rjc0;;  L  u S O 2 f ]E ?R QR Y  F T  e F   .  V ? } - 4 [ 3   0 B  T   d% eA/}b/2p< nb  g ,Cj @0[?&lc:i Uw { g  o G ' | ~ i M  R e Y  9 'pY qn~/51!pG@2i=sER[X=\09 j&h)lE4M RJl(K/ -C S8 HAW1  - , _ # |  ' % h + e x uc )z3=Yce5 oT$/gm<F&"7hUH%nGIrErS$k  +(zyC$ E,5 <% 5 g X  r M  C N $ 0 3  j4?`Ox5W>YFjJ1jX$s[~[[ Qt%kD1Y k.LPsBxSw)>Y b3 $ M e t Q  A r 7lX5??3 @Fb(@\^$#6 Wjc^h30^W)HIChg)/o! 8Y =p 'B#TM} x  {Z J s / W 1  P G t L 6@%T uJ<}Y2P#Hp\-~w37NX0C}H(Crp?2wh(C}(+ p i 0 y Q v  w E e x o .7VBG!4Dwxo^B!h-Rk2B= ' gT] BZ3>5 'e t1 l ? L $ 9A>vLwNX5BmB=)Y c2} BSnD>>`u1,UXz01^H$qm\;_mfi6%%%    9  ^ U 8BE<; (,{ KowFU9D"RW x*/bfYx$-r!06\`GqCxElMR^V.yZf[>!5% Z = %  :kD$JjJo(~t*" 2 cK1>F4g|F.vE* =v9uX7#@ +/}<Wnr&?n  c :}EBCvBnq6[% G2HJ)Ru UF:4 :Zy~Q+ G\`\pSV )%aQ+`RPa0pJ9+<o K  L ;uF ?V{=f6Z Yh}<XFL\\N )"NHaMvc8uEJ>`\Ku6RFQ!^aAkPVdSl!aH oF E 4 jU?,02E{`*f5LZv0-<nBD<=Q[jB=GWF%/ $ QZ[vQ{5"E6?]ynAJ? jd  D:BZ0J~/5_Ma{;d',lZ? GBnzaAGvkb ]bs mtTc4R# Ity$sxtY\F,?tb);o/352R^'{6] +*a'>EI zq|( :I~1Ws={}^/5 26J2Fi@P~^NmD[%126y%H6) L h'LM{N@?Ic,STLqN9LB2o0A yB~bZ'Ntb,<%[Ar(m( C;'f=d;S{RI6-@IZIb @'{Rbx#POd'#uK n:,]- 4 &|N,s M 3wG(L ccUO4 A!KpJaaXm~%pWyO]  Rd 0 9 j\o s@ Q[ns%P] ?AiQ+)(jvw-X@PZ7zBML r q  M  S M yg!9 !& v!d !  % n  t  ;!J    bPL"lJ0]_1> M2I<yw K~,tf/h{-2JQByL9   4!J I! !J H b "#! !E!!!!f! !I!`",! t!G!f!V!!! !4 !V!7 l    |nZ C 5"ri68l LSYM( XXnzrCRwUDM![ !1 !|!!A! "!!"!q!!"#"E!";!!)"d ""3"'"!<"G !q!"f"S!"!f!""!"!""?!!L!"! !g!!e  q R ! x   ,R C 9 $,^xj%EsLmNe(\9]/3Tz#mEVM!!!E"!:!!!!"b""!J"""#("L""{"""#;#7"# "$"##"","*"#[## """##q""k""D"%"v"v"d!!!"!S!E!!"J"!w! !!Y! X ] v $ CXR %T WO|S/&TU%EN"#3#h#a"#"y"j"#a#a#$ $6#N#)#$$$$>$$:#/#8#z$O$$ #$$#{$M##$$T#######$Q#$#$T$"""$Z"#",!"9"#"C!""9"e"T"["V" "! !$!! !V !M + + pT Ou9GsR`U}[Z{u;E[O"c"""###$.$$O%$$X$%G$%#$w$$$$$$)$$k$$$%$$m$L$$$R$$$%;%p%%i$&#%7%>$ $H#$##S"###]#S#"##V#`"!#%"""!!"!!2!{ !w  5   uQ .UYJNXt9B%y\GfPO#$`##$L$$$$%[&C%E%%%9&f%%J&|%o%%N&%%%%m%/%&%%$$&%%$%&%%V&%%%%$%%%>%,$5$%$*%B$ $'$G$H$$"$!##)#e$#"""""y#(# "!y!!!"S L!!!#!! ~ N R!A k  R@xRTJCC4v<fP#G1Q)%V%%7%%$%&&Z&&(&%&'-&`''.%&&&&&&g&&&b'_&y&&8&&&|&s&'&%%&Z%&&&&'D&%% &&6%$$$%% $$%4$%;$$$$]$+$y%*$ $$.#c#$#a"#""?"8" !+"2"!"e"%"d" !S"R! I!Z!J L 1 zUKJc<kHR/&3%&\&'<&'N&'q&&' '(!' ''''''''1&&(=''L&'z(0'&''''''&(#'t(\( (4'c('((' &%_&^&6&&&}&9%V%`%%%%%$%%%%%^%%O$$#$:#$$H$G##H"##{#"d"T#!"!"]""!!!!"N"!q o!w!! C s K8v0'ZHRm'k''`'''T'2&'''p(((G''~'(1''((q(<) (()((_(z'((((0((r(0'('()L(((((N'''h'(&&(&&[&H'0'&&|&2&'%&>&&J%&e&$%&%%[%'%%u$V%N$W%$}#j#$(#P#x#$1#^"w#""#?#""!!"#!!!!!  k tijyI8TF't('((R']''(((')+()t))Q)n).*))))(*!)r)X()*(*);)))))n)()i)((())n(((l('n('x&'c'((''k'~&' '.&x&''J&d')&&r'5''%%{%i%%%X%$$1%$#$o#$##"#W#<#$_#$># #"%""""{!!!p!& 8 hs*BvIT)&()z)Y)S)V)()-)*.*))J((*)*0())*)*B*+* +))**+`**')P**)*F**)**G)()f(*()'))((((()4((('(''((''#'e'R'' &y&%'-'v&`&S$%%%&;%%`%{%x%$$$%c##$b$#$$N#X#"!`"" "!(!3! g auKT)))* )O)d**)**+_*****R*P+D+ *+a***r+ *+++ **,S+P+0+++>++?+"*+z*8*)*K*+***)***))*)*1)*))M)o)))v)) )}())'(('&''G'_'%('& &'\&&=&%&*$&@%%%U&S%u%t%3%f%r$#$l$/##4#y""<"!s!!" r , 5!<KU**R+G**+***+*++++5+++b+++f,!,,,,+W,++,%+,k+,,a-#---.,,,,<,+++-+z+5+%**3+*,\*+1***&**>*F*]*)*}*"**O*)*)h*|)(x')M(B)'((('''&&'M']''&'m&&f&$%&_%K$%%%!%%$G###p"##f"_"!D! !V  W L_U++t+N*<*,+,,+],C+++,+t,J,+,-8,,,--0. -[,--,-,--=- --a.-[-M+,v,I-3-,Q,m,,,+++++7+*+*+\++L*}++|**+R+X**()))*y)()))b)I()((C(('&( ''v''t&#'X'O&&&!&0&&N&%X%y%J$&#K#9#j"""!"!!"!\!O!' vMXL,|,,&,,,-,f,,,,,,-m-4-D,,.5-<-~-.-.J--..[..#-.. -.|.-C,.-..?-,,-<--,-+-- ,,,,f,+,+x,2+,,m++, ++ ,++Y+t*,***9*)**)(*g)5*C)L(()(h(m(L(b((''C'y'''&''+&$%%b%&i%G%i%## # #"{"n"""["!P MX,-U-V-K-N--",,N--z--K.*-.%.V-h.Z-.-n.././h../-./h.q..*..."..%-....!..9..---,--4.K--,Y,,-F,-q,,-!-,,,+,+++*X*+'+3+******)))K)))T*))M))) )(m(M(("'''.&\&F&%% %5% %$% #*#"#$I#'"H!!NYq-.-..5--.e/r./6//f.n/////0/p/01r///.../00;/A.///m/+//4/J/,--J--/-I- -8,@,,,&+y*+H+*+o+,7+*}**+ * *m**X)h**p)'q((('&'''&&$%Q%c&"%J#""T$##k#PZD/?._.&/)..-.$.c//9./^./g0Z0 /s0%00/0//0/0I0004/|/}/|0'0/0/0b0g00091 0i/L0B00)0I/*////h/.6//.Y../l//J/B./..-.i-----J,,S,,,,,{,{,,7-G++i++*+X*+E+ **5*%*)))v(((/(''' &Y&'p'g&5&k%&4%$$$####\PHY//// /z.0/x0/00M/0_0001001h1e11202b1.1B001?1R100f01j1/000001-11#1/0Q0//100?/0D00S000?//y../0/./6.f-..--.q-U-Y..--5,,,,,,,H,,+~,{+++,+/**X**m))Z)(('((`'[&&'Z&&0&%%k%$I%$Q0/0 1/01{1j1x1B11`10101B01=2|112&211t2~2 2122p1y12P2 1b2h112s11S2-1f11P1J1`11111#0z0000[00B101/8/0/0.//./ /[0S.e/M/0[.D.Z.-./*-.[..--.,,S,,,-Y++,+i+1+4***))(()")t('o(7''t''&Y&b&&%I&x%R$[0111p01Y0x1011@22~12w22o1q3,2H22g22z1d123T2b2)3232323J32x2b23223'2s333d2n3612V2N2122L1111211,112H1g1Z1>000?0?110/$/0V0/ /|///A/D/R/G.//|..f....,,-h--f-,p+*9*+ *+u*9*) )))0()''(N''z&'&'R]6301o2z3232 2J22222W33Q22[3123?22343{23:3o3h2X3333$224!2j34c3H33G3C33(3f4222223q2222.2B2q2A2L1u11a1121111211100110E00 /0C/0/00-//..g-..-u-,,,,,,,J,S++*+<)Y* )))`* ()(((L(('&wSx\1t22213V3382=222x323K4(3}23b233|333344@4/4$43y43U44_33334434344'3R554z34z34|4&23Q2c22Q1o22_22 2202t3P2212 1]12-111\011N11z1 0+00#///)//k0O/ ...-...-E,V,+_,7,,K,.+~**r*q)y*8))~)((]() ((jTk]34-323V4S334&334344_444(4h4!44h45q44444434\44 44g4 45i6454n44445444H4Z4p434r3)34323M22}2223433*333^2322o232?122(12<2+11010100]000.t//}.-.-G--B.- --l-,,S+u++s+ +#)t*a)*?)* ((U@^G34454v345444z5448434A55444}55M45+4c55E4d45+545b5]56%55?5 556656L54555;55X4544'5H33223|343133444$23J3333I3o2233f23t3P2372 12O111G111r0:0/l/ 0d/./o.>.0-,-,^-y,--++,$+p+J*+ *{*))a)UX_A4^5x54556545"655y5o56h5~6\4565664565556F6!46m5566I77657b7\666o565556)645g45}455n433k434^4555)34444434444I4U4(33z3E3-2+23121]2B2 2]0200/00//Q/./--.--,`--(-c,&-),*+,G+*o*V_ 4554G5555Z655Y4666Q5r6567666667 6677D6m6|56o6z766767Q7Q7667\7#6M66667X757R66}5756M5B5_45~45645Z5755w5C5I5c4x5545q545f3404(5484 43373933A22!21J22O290/00.../0..i.-.W---,,G,-+++Y+8*V`b6^656657>6o6767/666?6Z7r7d77"7787/668(7g67}7756677787_888.77I777=84788877l7576y7-56v6n565<68556J666<665J656 6?6 66|5,6x55,55B544443233212t231R101=0M050/h///R/8..6.-w---,{-,],,+Xb 7z7X657P7867C7F677888=871788 8M88|8788 878477;968 8: 9 9I9#79c999o9D92:89~8979x8{8788i7877D6?66p7K7q7;777667767i67 667_75556q5%645 4&54k334C33,23h2121#110C01,//0$.0l/c/...D..+-.-,Xbn7`98477D777788388k89k889b888d88989;9B88W8^89)98h8z9c99?9.9::59>89;?:g9:A:999F9B9]998078778G9;688}828D8|88%8/8q8869/88778i6776366667$66454545_443322222012*111101'0/0/0p/// ..m.j.F-Zb87888K88988)9j9+88889899:999:~9d9:C:9994:x::}9::<:h:6:;_:::S:93:;5::9:9::989M99898`99 9n9r9989 899888l88878-7S7677i66555Y3544544z4'4+3i23213>2101_01]1 1_000 00x/w/)//\Y|c69@9X98999 8:u:9992:h: 9::[:w:g9::b:s:9:;W::;:s;:;;1:Q;_;Q;<c>=>==<===<}=<<>S=====j==<=;<1<<<;<{;;h;; ==u=>I<=>8=>===>{=G====>e>e<>P>'>=j>>k>==^=F<<=$<=$=X;C;;;;|;<[:;;::::P99:t:Q:(898 8!888877!67j67-65455q5B34p4;4t33423<112822N1]e4:;;;===<==>>>0>Q==+>B>=?>>?8>d?9>?X? ? ??>>l>>>0>>>>z>D??t>??&?R??f?@?>>J<==x<<={<=Z<;<<==]<==q>=&=>=>f?O>>A>>?=>?h>?Z@?>>>??O>??.@3??9@@T??:?>a>v>????#?k@~@N??C??}>?>>>(=>>==>1>=>===-==_;<<;;O;1;W::^::89'89Y9G86878R767z67757656255654!4`444o34]3\g=a====>@==|=i<>N>=>>=>>l>??=??(@N?????/@j@@?Q?@Q??@?@x@-@@?@@AD@_@@@??@@?S@@A2@q?@@@???r???(>?M>>=>>}>A>h>>~>/=>*==<=>>>===>=>z?/@?3>@@@?@?A|@@@sA+@@"@AA@ATASA*@@@t@AA@A@A@1A@@?@eA*AM@@@B>AA1@eAS@AB@*@m@@O@2?k?q@>|?Q>\>@>>|>>u======v=]<'<;R;;;;;9:J:%99989j78X88K88766656W65555s6954_h?=>?>)?>>>>>>2??>>T?????@x?@AA@AA@AAzA:@ARBI@APBgBABT@A&B"A5B2AAgAA@@AA@cAA}BBBA~AARAAgAX@AAA@8@-AD@??@??>M>@F????6>==x=<=I<<8=<<<{;::;9:69T:.:#9>8E8888878-7T8Q76Z6655445h_Ui???r>?>>??Y?@@?:?A@?@AAA@lA@w@AABC1BABqABBBACBAB"BBBhAACBbBBAAC;AABAAB@ABC BpBFBbBgBA@A'AAM@@@AR@@@O@~@@?@p?>???X>m>:>s===<=R@3@@@A@FADAAmA@A6A AhBA AABC}CBCZC D0CB.ACrDBCBCBCBCUCiCGCCCTBCCiBDC=BC$CDBC6BBdBdBBABxC;B-ABoAB4@@A5A@AZAAb@u@K@_At?A\??V>??}>J>=)==<=.=>>>H==>=Q=="=-<<;;;=;1:::::9:@9j9 9*88K8077Z77KajzAY@A@mA4AAAF@~AAAHBBjBdBlCZC9BC6BCXBCCrBcCCDCDDPDID2DwE CE D8CCDkDCCDCpDDHDD^CCDFDDDlDDC@CCYCC DBBCBrCD C9BBSBAcBBABBvB9AA@AA@@@P@f@@@@T>?{??^?/>9>/>8==>,=*<>???B=><===<={=<<<;<;w;;;::::999:8cjACC@BABQBBCD"BC/D8C\CD/D$CCCCCEEDDDQEEEpEDEFEF2FEFEF6FEbEeEEJEEEE]E4E$ExEREDDEE;DFDE$DD>E,D+EBDEEDSDDGD$DCCED(CCC`CBD1CAABBAAAg@@@?A@@??'>>=>C==><=2=<FFEFeEEoDFFEEEEDEEDEJDEDDCLDDKDDD@CBhBBxB~BBBjAB7BAAA@@@A#??s??V?S===C=,>>=>i<>>g>&>>p=d<==l=B>?}>?8>>>===2<==<8=<%;rf5lDzEEEF1DEFHF5EsEFEF+EWFFFUFFGGHFGHG+H GHGLH1H]GIAHHqIKHwH9GH~HH{HHHHGHGHgH}GyGGNGHGGGGGGGFGzGGFGYG F{F#G,GuFGEFbG&E~EF6EE>EmDDDD5D@DCCDCmBNCAB*BOAABRA[@Q@>??v@u?@?;?t??>L>=(=<==5@P>?1>>U>>*>>!g>nEFEjFFFEF_FFGGGH$GsGGG@HHHGI6HIIGI+HHH4JfHHIJaIMGIII|IIAICHI"JII4HI|HIIVIIIIHHHHHTGH HIHVGiH%FGH"GGHTGuGGVG|FyGVGFFFFFSFdEEEDDDDZCMDCC[BBBBwB$AzAAaAAA@@??Y?x??>?;?$>M>?n>f>hioGGG GpF-FHMGGGMGHHGYGGHIHHHJ I;IIIBJIIJAJJJBIIyIJQJJJI{IIIIJJLJ/IIIIJ HHIIdHHHGHlHIlHAHIH@GH#GGHGGGtGfEF;F=FODEEEEsDDwDkDbCBBNCC^BBB*A@AA_AAA@A@@V?4>hVoGG2G6HGGJKIIJKJ{JmIJFJYJ"JJAJJIHJI*JfJIIHI{HHHI3HIHeHI0I HHHHGHDHZH8GGDFFFFRFEFE0DDDsDDCCBCBClBBJBfBAB AA @@Ap@@??a?A>?Hi]qMI6IHH}IImIHI%IIJIiIIIJhIJKJJYJJJJJKKK?JKJJeKQKiL[KzLWKKK.KJK%KJKLTK+JLcKkKKJK-K-KaJ0KJJJ1K1J,JMIJHJIJcJI"IQI=JMIIIH|HIIFJKI)I(HHkHGG'G7G%GyGFF1FjEFDDcDtDDWDPDCXBBCQBBB]ACaBIBl@AAd?A"@@@i,o]HIqHHHJ#II IIyJGJmJ IrIIIJIcKJK0KJoJKfLKKeKKLKJJKL?JJKKK\KLULKKKKmK[KK!L KiKOKKLKJKJJ/JoJJJJK3JJIJ'IJUIIIJ8J@I I~IJ-IJI|H|HH-GIGH{FGFEFFEE4EDDDDDDUC BCgDBBlBkBCAB/B@fABAU@A@ALirIHIIIIxJJK(JK-KsKKK9KKKZKlKKJKjLKsKKLKLSLjKLL)LVLrMeLLKLeLKLLMsLMMnLLLeKKLwL[KLKCM9KKL&K^KmK_LMLKJJ KKcKeJJIJOJ7JKKJJ^I1IIHJ HII&HhILGIGGGG FGF#FFE|E,EAEDD!DxBCoBDCBCC^C'CbCBBfABHA1jqJ;IIJJyJEJJIJxKKXJK L L\KL[KLL KLYL5MLLLJLPLLLyKLLLM1MnM+NM7M'LM9LL]LLLLLKLM(LMM!LKKKL$LLKKKKQLBKwL`KKeLLsKTJ\JJJJJJJIIIJSIZIHGIHHmHH>H;GFFLFFFSFEEDD$EADhCCDZCCCuBCABCCBOBAAYlsJL K]KKnJKKKLLLnLL2LKKLzL&MOM?LMnLLLLM'MSLN)MrMMMMCMMMiMM&M7NNMOMsNYMM N MMAMLMMLM>MrLqL%MLgLMDKML{LWKKL]KLKLL"LcKKJKKJJK$ITIJIJ IJIHH2IHGH3GF>GGGRFFEEEcEEEDEDDEE$DC8CCWCdBCjskL)KKKvK.L&LUKKLNMLLLM\LLLNMwMMLN_M^MMMeMM4N|NNzLMM]NMXMmMLxM0LMOLLL-LMLMUL0MLLLlLKL KKJ3KJKtJJJKoJQI.K$HIpIRIIyHGH GFGFGGDGF&E5FvEDFEbEOPOPPPOPjPPWOPPOP|Q'Q/Q3PPiQ9QjQYPQ&PQPR3PQQQFQPRS9RRPPARUPPPQQP{QQ7QFQMQOPLP,PPQPPPuPPOPP9PP OPPOaNOOO{OYNNNO+NNJNNENMNM^McLL!LLL!LnK{JK?IKK^KKFIJrJBIJJ_HPQAP_PQPP2POOPDP5PPOOOON5NNN:NN&MnNwNWNMcM MaMAMKM)LL4M K=LL4JIJJJJmKJLKyJ(J\HIeHXIHGGp%xPPPPPsQPPOQQ4QPQYPQHQQRmPPQ}RRR$QReQRRR]QRSVRR?R[RRQRS2SSRR!RRQR^RRRRbRR{RQQRQRQQWQQQQQPNQ9P_QOPPyPPPP3OQOOOOO`O^NOONtNlO^ONNMMN]LN*M3MLxM.LMLKL8K|JK$KUJKK;J4J7JIImIIWIHHEqrwOPKQ=QwQQvQMRSRPQQ(RRRjR@RQRoSRRYQRRS=SSRRTzS`R?SPS STTVSSSISSHRoSDRBRSRSSRRRRtRSRR6R1R-RR*S SCRjQS RmRRQR Q{QuQRPQQPPPPP-PPOO5OOLOMOMOMN=NMMMNNN+MvMML?LLWL0LyMKM)KKyLKL)JiJ~IIJFIIrgxQ+PR4RQQYQ\R%QR&QRVRS)RRSiQSSgSSR|ST>RSSRT`T*T TjSFT ST#SRTxT7TETWT SSS[S2SSRSTSSRTSTRSuSmSS0SR@RtQSlRRRQvRBRRQMPTRFQQPQQPQ`QPQQPOOPOONOOO%OOOO2MMLMMMMMLLLKLLFK=KJ~K|K4KJCIIIq[wQR3QQ%RXQQR)Q QR|RRRRRRjRcRRRRKSSS>SSS2TKTST2TyS{SS^SSS>S6S)S4SSS~TPSwRS_SS{SSQQPRQLQePP.QMPPOPcOAOO*OYOONNOMNMNMcMMYMMLL\MWLMLgL8KKHsz+RSSLSS4TRkQRR@S STTUSS SSdT/US0SKTTUCUUITTTTTURV$TUsTTQU.UWVUUUUyTTTTTTSUT>SSTTTT-S`STSSSSCRRvRRhRSURS R"QTRQhR6R]QQ/QPPP_PPOPOFPPzNOONONOONhNeN|OO&M}MoLLL[LLxL6KLszSGRS\RSSSmSSTT-SBSSS STUSSTU7UTnTTuUUU7UUTTUsTUCUUUV=UfTTUT|UTTTVTeT4UTU>UTUT`U]TTU-STTTUSTBSSSySSnSSS}RSLRSRRaQQRRQRR%P{QPPPQvQ'QQP\PP1P)OPVQBP;PPO~O^NOO NNhN/N.NNMMLgMM"M'L4tyRSmRSS&TeSS+RSSpS+TTT STSTTMTTTtUhUTTUTsTVMVlUPTWUpUTUU UUUVJUUUUUUUTTUUBTCUU&USTSUVUYTTTTTT~STgTTTCTTnTTUU+TUQVaUUV:VVVUVVDVPV8VKVnUEV UV8TV?VV^W V[V U?V`VWVUUUVW V>VUUWUUUU[U/UUUkUhV0TUT-TTTfSTT*SRSTwUsT$SUSRT#R%RRRRSQQQRR.R.QRQRPQPP{PP(QP@POP/OP OONOaNONMLLu9{OTvTT$SU9STTyU TU%U&TU-TTU]UyUUVUVUUVtVzUVVV UqV~V+VVyWVmVVVgWW/VVUUV?VZVZWVUPVvVQVUDUVUV?UUpTTUUxUvUqTUUTUT}TTSTT`T9RSSORSSSaTWRTnSRSRS RVRRQRRwRnQQfR5PqQQQlQ\PcQP6PPPgOOO%OrNNMNTMMMv){T T~TTZTU2UKUPV?T`TST;TTUVV'UVUVVaVVV(VMVVWeVVfVVV}UVWBW;UVUVVuVWCVVUVTVwVWVUUSUVrVVPUUUUUUUUWU/TTUDTUtUSSTBTUBTTJSSsSST'SSST,S RSQR`RQRRRgQyQQRJPQ]QQ.QQ)PP@PPPLNOTOOzN(ON]MM Mhw|VTTTrUYTqUUTU0TUUVIUVUVVVIW0VbV|VVU4VTUUUUUVTUTUU9U UTDU:UTUUTUZUsT8RTSPRSScTSSmSfSESS0RBQSVQRRQR,Q0Q#PQyQQOOOO5N`ORON!Nu}MUVsVU(UTVUV\URUVXVUGUVW1VgVVVWVW'X/W:WVW=WXWWXXX@XXXOVWX.X^XVWWWVWWUTTUTTWWWW#XWXWWXY XwWYhWWXXXJW*WXyXW\VAWWX_WXX*WVWW[W8W#WX@VuWVWHVV&VVUVUUUiV}VUVjVTV+TUV=UmUDUWVXThTTSTUTSTNT'T SSTRSS SISS*SSRQQWRPQQPaPcPPPWOP4Ov}V;VVV8VRWVVWWVVV)VVUWXVwWKWWX!XXWWVWbWXXWWX$XX:XXyXXbXXbXRXX,XWWWXtWpVW%X7XX5WWWXW'VeW]VW!VVVUWVV_VRVbW4VUVUWVrVUUVTTUTyTTSUzSUyTTxTUOSTT)UNST9SPT SRRSSbS&R$QRRgRRVQwQPPQPPUO#x}VBVVV0UVVVWrWWRVWWVW|WYWXVXbWXLWXWY%XXcWyXYYWYCWXX:Y&XkXpXWWWXXXXYX X"X}XWXWkWWJXOWqVWWVVWVVwWmVHWVV/VVVVVVUURV{UVU"TVTV{U!UIUTUUUEUTU}T+TTWYRWXXVXVVWWVWWvWW}WTWWdVSW VVUVUVVVWcVVV`VgU5UUV^UULTTUV`VTTUU>UTTHTTtTTiS>SSSSSRSRSRRR|SRRPPQ}PQY!XZYWYX)WYYmYX0X.YXYPYWWWXX]VX XWXWYRXXXSXYPWWWXYYYY!Y XY4YXYSXYfYZ"XYtXZFYXYWYXUXXYWYXwYYiY'Y#WWXYWXWWX+W9XX(XWMXWW0WWW]WVWWWWIW_WVUVVVV|VVpWUUV?UsUUUTTU.TUwTTTT2SSTST SwS+RRQfRR*RIRHRQzI~rW$XWUW%WWWXcWXY)WVWWX_WYXzXXYbXcYXXY1XY=YXXYX'X?YX>YY=XBYYgYY{XXRYXYYZYlY}Y5X7XY2YWYPWXXWXX]WWX]WuX|VXDWWXrWjXyW=WXX9VVVoWWxVW;WVVVVVWFVYUVUUeUTUUUxTU]U TXSxTSSST8SSS6QSRRVQQR*Ryr~{YWX WWW^W'WXX#WWjXXWWWX]YX X5Y.WY3XXWXY#XYWXXYZYdYYiYYgYyYYYpXYYYhYYXXXWYWYY!Y_XXXXWKXXwXYQWXWWWWYXXWqVX/WWWWWWWVhVDWWWVFUV4VUeUVrUlUDUKU~UUTTTUTTSSRSHT3SS/RRQRQ$QYRHR0yL~W/WWW&WVWX XWvWYNXWXXXXZXYYFXXXXXYJY=YsX8YY XhY;XYZYVYiYDYxYGYBY"Y5YXYpYyXX)YXYX0YYXXXYZY`XXXWYWXXXFWXXXpXKXX=XSXWWW{WWWWWRWAWVUVVKW0VUUUUUcU?UU VUTTUThTeSTTVSUSKSRRR^RHSYQ7QQx~YX>WYoX;XmYXWYoYeXWXYXXYY2W{Y`XXYlY)YlYXY#YYAYYYYYZ XYYXYYY>XXYRY4Z&YYYOY^YYX XXWYYYXXZY WXYxXX{XhXhXX]XXRX\XX[XXX XXWWWVWWoW'VVXWWWIVgWUV&VV{VWUVTUTUSTSU TRST'TqRSRRSGQ`RQQJzWW6XPXX XXX)XXXbY2XY1WXXYFYXYYEY!YXY`YYYYYfXXYYXpX~Z6ZtXYXWWdXXpXWbVXVW;WOXVFVUVWUU}V VGVTUVU`UTSVUT3SSFRSSR0RRSR)yXnX+W}WXWHXXXXVX4XX8YXWX|WYWYY-WXXYJX YY.XYYNYZYYY7ZYYLYZ,YYYYX%YZZWXXX XWXWW_XWWVVVVWZVVVVhV~VUTVUJUTTTSTTT,SSSS=RRESeQRz