PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 128
FILE_RECORDS                      = 443
LABEL_RECORDS                     = 236

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                     = 237
^IMAGE                            = 380

/* 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          = 11
 FRAME_ID                         = "LEFT"
 FRAME_TYPE                       = STEREO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "1000007"
 IMAGE_TYPE                       = THUMBNAIL
 INSTRUMENT_HOST_ID               = "MER1"
 INSTRUMENT_HOST_NAME             = "MARS EXPLORATION ROVER 1"
 INSTRUMENT_ID                    = "PANCAM_LEFT"
 INSTRUMENT_NAME                  = "PANORAMIC CAMERA LEFT"
 INSTRUMENT_SERIAL_NUMBER         = 115
 INSTRUMENT_TYPE                  = "IMAGING CAMERA"
 INSTRUMENT_VERSION_ID            = "FM"
 LOCAL_TRUE_SOLAR_TIME            = "13:57:20"
 MAGNET_ID                        = "NULL"
 MISSION_NAME                     = "MARS EXPLORATION ROVER"
 MISSION_PHASE_NAME               = "EXTENDED MISSION"
 OBSERVATION_ID                   = "3204448256"
 PLANET_DAY_NUMBER                = 950
 PRODUCER_INSTITUTION_NAME        = "Arizona State University"
 PRODUCT_CREATION_TIME            = 2019-12-20T16:37:28Z
 PRODUCT_ID                       = "1P212524801IOT76CNP2386L7A1"
 PRODUCT_VERSION_ID               = "V3.0 D-22846"
 RELEASE_ID                       = "0012"
 ROVER_MOTION_COUNTER             = (76,195,12,17,0)
 ROVER_MOTION_COUNTER_NAME        = (SITE,DRIVE,IDD,PMA,HGA)
 SEQUENCE_ID                      = "p2386"
 SEQUENCE_VERSION_ID              = "8"
 SOLAR_LONGITUDE                  = 112.003
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "212524801.871"
 SPACECRAFT_CLOCK_STOP_COUNT      = "212524810.109"
 START_TIME                       = 2006-09-26T06:35:46.387
 STOP_TIME                        = 2006-09-26T06:35:54.625
 TARGET_NAME                      = MARS
 TARGET_TYPE                      = PLANET

/* TELEMETRY DATA ELEMENTS */

 APPLICATION_PROCESS_ID           = 21
 APPLICATION_PROCESS_NAME         = "PANCAM LEFT"
 APPLICATION_PROCESS_SUBTYPE_ID   = 3
 EARTH_RECEIVED_START_TIME        = 2006-09-26T11:57:24.344
 EARTH_RECEIVED_STOP_TIME         = 2006-09-26T11:57:24.755
 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            = 
                               "021_003_p2386-008-0011_002_0212524801-223.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:
                                     2019-12-19T23:31:13Z ;;; 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: 2019-12-20T16:37:28Z"
 SOFTWARE_NAME                    = MER_ARCHIVE_IMAGE
 SOFTWARE_VERSION_ID              = "V2.02 05-Aug-2018"

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL
  CALIBRATION_SOURCE_ID           = "204"
  ^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               = (0.585013,-0.0406138,-1.24654)
  MODEL_COMPONENT_2               = (0.709732,0.692793,0.127746)
  MODEL_COMPONENT_3               = (-135.054,184.73,2.86363)
  MODEL_COMPONENT_4               = (0.807369,2.63887,228.777)
  MODEL_COMPONENT_5               = (0.702505,0.699114,0.133135)
  MODEL_COMPONENT_6               = (0.000998,0.003762,-0.057232)
  FILTER_NAME                     = PANCAM_L7_440NM
  REFERENCE_COORD_SYSTEM_INDEX    = (76,195,12,17,0)
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (76,195,12,17,0)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = ROVER_FRAME
  ORIGIN_OFFSET_VECTOR            = (-11.5605,25.8243,0.145018)
  ORIGIN_ROTATION_QUATERNION      = (0.642147,-0.00280189,-0.0135285,0.766457)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = COARSE
  REFERENCE_COORD_SYSTEM_INDEX    = 76
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
END_GROUP                         = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (76,195,12,17,0)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = APXS_FRAME
  ORIGIN_OFFSET_VECTOR            = (0.995703,-0.0624316,0.0278985)
  ORIGIN_ROTATION_QUATERNION      = (0.594858,-0.382612,0.385132,-0.592812)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = DOWN
  REFERENCE_COORD_SYSTEM_INDEX    = (76,195,12,17,0)
  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       = (0.746631 <rad>,-0.191917 <rad>,
                                     0.746618 <rad>,-0.191926 <rad>,
                                     0.51396 <rad>,-0.185742 <rad>)
  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 <rad>,0.0199709 <rad>)
  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       = (7,1,1)
  ARTICULATION_DEV_POSITION_ID    = ("PANCAM_L7_440NM","PANCAM_R1_440NM",
                                     "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       = (5.42735e-05 <rad>,-0.91987 <rad>,
                                     2.27507 <rad>,2.20887 <rad>,0.0 <rad>,
                                     -0.00188697 <rad>,-0.923066 <rad>,
                                     2.2645 <rad>,2.20699 <rad>,
                                     -0.0575805 <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 <degC>,-19.8645 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT 1","TURRET JOINT 5")
  ARTICULATION_DEV_VECTOR         = (0.0130795,-0.0243365,0.999618)
  ARTICULATION_DEV_INSTRUMENT_ID  = "APXS"
  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         = (76,195,12,17,0)
  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      = (0.92833,0.0236944,-0.0600817,0.366105)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_INDEX    = (76,195,12,17,0)
  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       = (0.00711919 <rad>,-0.133773 <rad>,
                                     -0.00832275 <rad>,-0.0319181 <rad>,
                                     0.0316427 <rad>,0.0426573 <rad>,
                                     -0.00894271 <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
END_GROUP                         = CHASSIS_ARTICULATION_STATE

/* OBSERVATION REQUEST */

GROUP                             = OBSERVATION_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  COMMAND_INSTRUMENT_ID           = "PANCAM_LEFT"
  FILTER_NAME                     = PANCAM_L7_440NM
  AUTO_EXPOSURE_DATA_CUT          = 2500
  AUTO_EXPOSURE_PERCENT           = 10.0
  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           = 1.0
  EXPOSURE_DURATION_COUNT         = 50
  EXPOSURE_TABLE_ID               = "PANCAM_L7"
  EXPOSURE_TBL_UPDATE_FLAG        = TRUE
  FLAT_FIELD_CORRECTION_FLAG      = FALSE
  INSTRUMENT_COORDINATE           = (2.50149 <rad>,-0.12217 <rad>)
  INSTRUMENT_COORDINATE_ID        = "LL AZEL"
  INSTRUMENT_BORESIGHT_ID         = "UNK"
  INSTRUMENT_IDLE_TIMEOUT         = 300 <s>
  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               = 27
  PIXEL_DOWNSAMPLE_OPTION         = NONE
  PIXEL_AVERAGING_HEIGHT          = 1
  PIXEL_AVERAGING_WIDTH           = 1
  SAMPLE_BIT_MODE_ID              = "NONE"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 3.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = A
  INST_DECOMP_STAGES              = 4
  INST_CMPRS_SEGMENTS             = 20
END_GROUP                         = IMAGE_REQUEST_PARMS

/* REFERENCE PIXEL REQUEST */

GROUP                             = REFERENCE_PIXEL_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 27
  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               = 27
END_GROUP                         = ROW_SUM_REQUEST_PARMS

/* COLUMN SUMMATION REQUEST */

GROUP                             = COLUMN_SUM_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 27
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               = 27
END_GROUP                         = HISTOGRAM_REQUEST_PARMS

/* INSTRUMENT STATE RESULTS */

GROUP                             = INSTRUMENT_STATE_PARMS
  AZIMUTH_FOV                     = 15.8412 <deg>
  ELEVATION_FOV                   = 15.8412 <deg>
  BAD_PIXEL_REPLACEMENT_ID        = "N/A"
  DETECTOR_FIRST_LINE             = 1
  DETECTOR_LINES                  = 1024
  DETECTOR_TO_IMAGE_ROTATION      = 0.0
  DOWNSAMPLE_METHOD               = SOFTWARE
  EXPOSURE_COUNT                  = 1
  EXPOSURE_DURATION               = 8238.08 <ms>
  EXPOSURE_DURATION_COUNT         = 1609
  FILTER_NAME                     = PANCAM_L7_440NM
  FILTER_NUMBER                   = 7
  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          = (-16.706 <degC>,-5.44234 <degC>,
                                     -2.56082 <degC>,-15.5255 <degC>,
                                     -15.3135 <degC>,-16.1038 <degC>,
                                     -20.1379 <degC>,-21.8101 <degC>,
                                     0.0 <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                  = "4082"
  PIXEL_AVERAGING_HEIGHT          = 16
  PIXEL_AVERAGING_WIDTH           = 16
  SAMPLE_BIT_METHOD               = NONE
  SAMPLE_BIT_MODE_ID              = "NONE"
  SHUTTER_EFFECT_CORRECTION_FLAG  = FALSE
  SUN_FIND_FLAG                   = FALSE
  SUN_FIND_PARM                   = ("N/A","N/A","N/A")
  SUN_FIND_PARM_NAME              = ("WINDOW SIZE","BRIGHTNESS THRESHOLD",
                                     "SUMMED BRIGHTNESS")
  SUN_LINE                        = "N/A"
  SUN_LINE_SAMPLE                 = "N/A"
  SUN_VIEW_POSITION               = ("N/A","N/A","N/A")
  SUN_VIEW_DIRECTION              = ("N/A","N/A","N/A")
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               = E
  INST_CMPRS_MODE                 = 2
  INST_CMPRS_NAME                 = "ICER ADAPTIVE VARIABLE-LENGTH CODING
                                     (ICER)"
  INST_CMPRS_RATE                 = 1.12305
  INST_CMPRS_RATIO                = 10.6852
  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            = 64
  INST_CMPRS_SEG_SAMPLES          = 64
  INST_CMPRS_SEG_MISSING_PIXELS   = "N/A"
  INST_CMPRS_SEGMENT_QUALITY      = 6.25
  INST_DECOMP_STAGES              = 4
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = 43.0456 <deg>
  INSTRUMENT_ELEVATION            = -7.40606 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (76,195,12,17,0)
  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              = 143.326 <deg>
  INSTRUMENT_ELEVATION            = -6.9993 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = 76
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  SOLAR_AZIMUTH                   = 313.15 <deg>
  SOLAR_ELEVATION                 = 51.9016 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  DERIVED_IMAGE_TYPE              = IMAGE
  RADIANCE_SCALING_FACTOR         = 2.795072e-06
  RADIANCE_OFFSET                 = 0.01843334
  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      = "1P212524801ETH76CNP2386L7M1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_1       = FILENAME
  SOFTWARE_PARAMETER_VALUE_2      = "1P212524801RAT76CNP2386L7A1.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_212696625_76EKP2122_2.txt",
                                     "rc_1L5_212696690_76EKP2122_2.txt",
                                     "rc_1L7_212696771_76EKP2122_2.txt",
                                     "rc_1R1_212696851_76EKP2122_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          = (0.00037761479,1.280088e-06,0.0)
  RESPONSIVITY_CONSTANTS_FILE     = "rc_1L7_212696771_76EKP2122_2.txt"
  PROCESSING_INFO                 = ("responsivity constants file:
                                     rc_1L7_212696771_76EKP2122_2.txt",
            "associated selection filename: roi_00320_00272_061011020155.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: 1P212696771RAD76EKP2122L7A2.IMG.gz",
                                     "solar azimuth (rover frame): 240.113",
                                    "solar elevation (rover frame): -65.0318",
                                     "dust model tau: 0.68151978",
                                     "dust model rad coeff: 0.12159576",
 "ROI radiances: 0.012744587 0.010789592 0.0098021384 0.0093513979 0.013361138 0.016583487 0.021262487 0.0017587597 0.0024523218 0.0034755736",
 "ROI uncertainty: 0.00048571234 0.00035591362 0.00037054697 0.00038678772 0.00049608921 0.00090997328 0.0010176982 0.00013769573 0.00026849957 0.00031766857",
                          "ROI count: 173 143 199 162 60 670 1237 76 211 250",
 "reflectances: 0.10895340 0.077106733 0.073198281 0.072421962 0.089461333 0.12431083 0.14197871 0.015116359 0.017312732 0.019102829")
  BIAS_COEFFS_FILE                = ("mer_ccd_115_bias_coeffs_03.dat",
                                     "mer_ccd_115_bias_offset_03.img",
                                     "DETAILED")
  BIAS_COEFFS_FILE_DESCRIPTION    = ("Bias coefficients file.",
                                     "Bias offset file.",
                                     "Bias subtraction method.")
  FLAT_FIELD_FILE                 = ("MER_FLAT_SN_115_L7_V04.IMG",
                                     "MER_FLAT_STDDEV_SN_115_L7_V01.IMG")
  FLAT_FIELD_FILE_DESCRIPTION     = ("Flat field image.",
                                     "Flat field standard deviation image.")
  REFERENCE_PIXEL_IMAGE           = "1P212524021ERP76CNP2386L7M1"
  DARK_CURRENT_FILE               = 
                                  ("mer_ccd_115_dark_shutter_col_flat_01.img",
                                "mer_ccd_115_dark_shutter_col_mn_flat_02.img",
                                 "mer_ccd_115_dark_shutter_exp_coeffs_02.dat",
                                     "mer_ccd_115_dark_shutter_hot_02.dat",
                                     "mer_ccd_115_dark_active_flat_02.img",
                                  "mer_ccd_115_dark_active_exp_coeffs_02.dat",
                                     "mer_ccd_115_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                     = "1P212524801ETH76CNP2386L7M1"
END_GROUP                         = DERIVED_IMAGE_PARMS

/* IMAGE DATA ELEMENTS */

OBJECT                            = IMAGE
  INTERCHANGE_FORMAT              = BINARY
  LINES                           = 64
  LINE_SAMPLES                    = 64
  SAMPLE_TYPE                     = MSB_INTEGER
  SAMPLE_BITS                     = 16
  BANDS                           = 1
  BAND_STORAGE_TYPE               = BAND_SEQUENTIAL
  CHECKSUM                        = 75753395
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = "N/A"
  MAXIMUM                         = 32766
  MEAN                            = 18494.48120117188
  MEDIAN                          = 18663
  MINIMUM                         = 0
  MISSING_CONSTANT                = "N/A"
  SAMPLE_BIT_MASK                 = 2#1111111111111111#
  STANDARD_DEVIATION              = 3627.656
  SCALING_FACTOR                  = 2.795072e-06
  OFFSET                          = 0.01843334
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=18304  FORMAT='HALF'  TYPE='IMAGE'  BUFSIZ=128  DIM=3  EOL=0  RECSIZE=128  ORG='BSQ'  NL=64  NS=64  NB=1  N1=64  N2=64  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=11  FRAME_ID='LEFT'  FRAME_TYPE='STEREO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='1000007'  IMAGE_TYPE='THUMBNAIL'  INSTRUMENT_HOST_ID='MER1'  INSTRUMENT_HOST_NAME='MARS EXPLORATION ROVER 1'  INSTRUMENT_ID='PANCAM_LEFT'  INSTRUMENT_NAME='PANORAMIC CAMERA LEFT'  INSTRUMENT_SERIAL_NUMBER=115  INSTRUMENT_TYPE='IMAGING CAMERA'  INSTRUMENT_VERSION_ID='FM'  LOCAL_TRUE_SOLAR_TIME='13:57:20'  MAGNET_ID='NULL'  MISSION_NAME='MARS EXPLORATION ROVER'  MISSION_PHASE_NAME='EXTENDED MISSION'  OBSERVATION_ID='3204448256'  PLANET_DAY_NUMBER=950  PRODUCER_INSTITUTION_NAME='Arizona State University'  PRODUCT_CREATION_TIME='2019-12-20T16:37:28Z'  PRODUCT_ID='1P212524801IOT76CNP2386L7A1'  PRODUCT_VERSION_ID='V3.0 D-22846'  RELEASE_ID='0012'  ROVER_MOTION_COUNTER=(76,195,12,17,0)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA')  SEQUENCE_ID='p2386'  SEQUENCE_VERSION_ID='8'  SOLAR_LONGITUDE=112.003  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='212524801.871'  SPACECRAFT_CLOCK_STOP_COUNT='212524810.109'  START_TIME='2006-09-26T06:35:46.387'  STOP_TIME='2006-09-26T06:35:54.625'  TARGET_NAME='MARS'  TARGET_TYPE='PLANET'  PROPERTY='TELEMETRY'  APPLICATION_PROCESS_ID=21  APPLICATION_PROCESS_NAME='PANCAM LEFT'  APPLICATION_PROCESS_SUBTYPE_ID=3  EARTH_RECEIVED_START_TIME='2006-09-26T11:57:24.344'  EARTH_RECEIVED_STOP_TIME='2006-09-26T11:57:24.755'  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='021_003_p2386-008-0011_002_0212524801-223.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: 2019-12-19T23:31:13Z ;;; 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: 2019-12-20T16:37:28Z'  SOFTWARE_NAME='MER_ARCHIVE_IMAGE'  SOFTWARE_VERSION_ID='V2.02 05-Aug-2018'  PROPERTY='GEOMETRIC_CAMERA_MODEL'  CALIBRATION_SOURCE_ID='204'  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=(0.585013,-0.0406138,-1.24654)  MODEL_COMPONENT_2=(0.709732,0.692793,0.127746)  MODEL_COMPONENT_3=(-135.054,184.73,2.86363)  MODEL_COMPONENT_4=(0.807369,2.63887,228.777)  MODEL_COMPONENT_5=(0.702505,0.699114,0.133135)  MODEL_COMPONENT_6=(0.000998,0.003762,-0.057232)  FILTER_NAME='PANCAM_L7_440NM'  REFERENCE_COORD_SYSTEM_INDEX=(76,195,12,17,0)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='ROVER_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(76,195,12,17,0)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='ROVER_FRAME'  ORIGIN_OFFSET_VECTOR=(-11.5605,25.8243,0.145018)  ORIGIN_ROTATION_QUATERNION=(0.642147,-0.00280189,-0.0135285,0.766457)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  QUATERNION_MEASUREMENT_METHOD='COARSE'  REFERENCE_COORD_SYSTEM_INDEX=76  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  PROPERTY='IDD_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(76,195,12,17,0)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='APXS_FRAME'  ORIGIN_OFFSET_VECTOR=(0.995703,-0.0624316,0.0278985)  ORIGIN_ROTATION_QUATERNION=(0.594858,-0.382612,0.385132,-0.592812)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='DOWN'  REFERENCE_COORD_SYSTEM_INDEX=(76,195,12,17,0)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='PMA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='PMA'  ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY'  ARTICULATION_DEVICE_ANGLE=(0.746631,-0.191917,0.746618,-0.191926,0.51396,-0.185742)  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=(7,1,1)  ARTICULATION_DEV_POSITION_ID=('PANCAM_L7_440NM','PANCAM_R1_440NM','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=(5.42735e-05,-0.91987,2.27507,2.20887,0.0,-0.00188697,-0.923066,2.2645,2.20699,-0.0575805)  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,-19.8645)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5')  ARTICULATION_DEV_VECTOR=(0.0130795,-0.0243365,0.999618)  ARTICULATION_DEV_INSTRUMENT_ID='APXS'  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=(76,195,12,17,0)  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=(0.92833,0.0236944,-0.0600817,0.366105)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_INDEX=(76,195,12,17,0)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(0.00711919,-0.133773,-0.00832275,-0.0319181,0.0316427,0.0426573,-0.00894271)  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_LEFT'  FILTER_NAME='PANCAM_L7_440NM'  AUTO_EXPOSURE_DATA_CUT=2500  AUTO_EXPOSURE_PERCENT=10.0  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=1.0  EXPOSURE_DURATION_COUNT=50  EXPOSURE_TABLE_ID='PANCAM_L7'  EXPOSURE_TBL_UPDATE_FLAG='TRUE'  FLAT_FIELD_CORRECTION_FLAG='FALSE'  INSTRUMENT_COORDINATE=(2.50149,-0.12217)  INSTRUMENT_COORDINATE__UNIT=('rad','rad')  INSTRUMENT_COORDINATE_ID='LL AZEL'  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=27  PIXEL_DOWNSAMPLE_OPTION='NONE'  PIXEL_AVERAGING_HEIGHT=1  PIXEL_AVERAGING_WIDTH=1  SAMPLE_BIT_MODE_ID='NONE'  INST_CMPRS_MODE=1  INST_CMPRS_RATE=3.0  INST_CMPRS_QUALITY=0  INST_CMPRS_FILTER='A'  INST_DECOMP_STAGES=4  INST_CMPRS_SEGMENTS=20  PROPERTY='REFERENCE_PIXEL_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=27  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=27  PROPERTY='COLUMN_SUM_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=27  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=27  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=0.0  DOWNSAMPLE_METHOD='SOFTWARE'  EXPOSURE_COUNT=1  EXPOSURE_DURATION=8238.08  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=1609  FILTER_NAME='PANCAM_L7_440NM'  FILTER_NUMBER=7  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=(-16.706,-5.44234,-2.56082,-15.5255,-15.3135,-16.1038,-20.1379,-21.8101,0.0)  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='4082'  PIXEL_AVERAGING_HEIGHT=16  PIXEL_AVERAGING_WIDTH=16  SAMPLE_BIT_METHOD='NONE'  SAMPLE_BIT_MODE_ID='NONE'  SHUTTER_EFFECT_CORRECTION_FLAG='FALSE'  SUN_FIND_FLAG='FALSE'  SUN_FIND_PARM=('N/A','N/A','N/A')  SUN_FIND_PARM_NAME=('WINDOW SIZE','BRIGHTNESS THRESHOLD','SUMMED BRIGHTNESS')  SUN_LINE='N/A'  SUN_LINE_SAMPLE='N/A'  SUN_VIEW_POSITION=('N/A','N/A','N/A')  SUN_VIEW_DIRECTION=('N/A','N/A','N/A')  PROPERTY='COMPRESSION_PARMS'  ERROR_PIXELS=0  INST_CMPRS_DESC='Lossy compression algorithm developed at JPL'  INST_CMPRS_FILTER='E'  INST_CMPRS_MODE=2  INST_CMPRS_NAME='ICER ADAPTIVE VARIABLE-LENGTH CODING (ICER)'  INST_CMPRS_RATE=1.12305  INST_CMPRS_RATIO=10.6852  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=64  INST_CMPRS_SEG_SAMPLES=64  INST_CMPRS_SEG_MISSING_PIXELS='N/A'  INST_CMPRS_SEGMENT_QUALITY=6.25  INST_DECOMP_STAGES=4  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=43.0456  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-7.40606  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=(76,195,12,17,0)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=143.326  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-6.9993  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=76  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=313.15  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=51.9016  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='DERIVED_IMAGE_PARMS'  DERIVED_IMAGE_TYPE='IMAGE'  RADIANCE_SCALING_FACTOR=2.795072e-06  RADIANCE_OFFSET=0.01843334  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='1P212524801ETH76CNP2386L7M1.IMG.gz'  SOFTWARE_PARAMETER_NAME_1='FILENAME'  SOFTWARE_PARAMETER_VALUE_2='1P212524801RAT76CNP2386L7A1.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_212696625_76EKP2122_2.txt','rc_1L5_212696690_76EKP2122_2.txt','rc_1L7_212696771_76EKP2122_2.txt','rc_1R1_212696851_76EKP2122_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=(0.00037761479,1.280088e-06,0.0)  RESPONSIVITY_CONSTANTS_FILE='rc_1L7_212696771_76EKP2122_2.txt'  PROCESSING_INFO=('responsivity constants file: rc_1L7_212696771_76EKP2122_2.txt','associated selection filename: roi_00320_00272_061011020155.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: 1P212696771RAD76EKP2122L7A2.IMG.gz','solar azimuth (rover frame): 240.113','solar elevation (rover frame): -65.0318','dust model tau: 0.68151978','dust model rad coeff: 0.12159576','ROI radiances: 0.012744587 0.010789592 0.0098021384 0.0093513979 0.013361138 0.016583487 0.021262487 0.0017587597 0.0024523218 0.0034755736','ROI uncertainty: 0.00048571234 0.00035591362 0.00037054697 0.00038678772 0.00049608921 0.00090997328 0.0010176982 0.00013769573 0.00026849957 0.00031766857','ROI count: 173 143 199 162 60 670 1237 76 211 250','reflectances: 0.10895340 0.077106733 0.073198281 0.072421962 0.089461333 0.12431083 0.14197871 0.015116359 0.017312732 0.019102829')  BIAS_COEFFS_FILE=('mer_ccd_115_bias_coeffs_03.dat','mer_ccd_115_bias_offset_03.img','DETAILED')  BIAS_COEFFS_FILE_DESCRIPTION=('Bias coefficients file.','Bias offset file.','Bias subtraction method.')  FLAT_FIELD_FILE=('MER_FLAT_SN_115_L7_V04.IMG','MER_FLAT_STDDEV_SN_115_L7_V01.IMG')  FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.')  REFERENCE_PIXEL_IMAGE='1P212524021ERP76CNP2386L7M1'  DARK_CURRENT_FILE=('mer_ccd_115_dark_shutter_col_flat_01.img','mer_ccd_115_dark_shutter_col_mn_flat_02.img','mer_ccd_115_dark_shutter_exp_coeffs_02.dat','mer_ccd_115_dark_shutter_hot_02.dat','mer_ccd_115_dark_active_flat_02.img','mer_ccd_115_dark_active_exp_coeffs_02.dat','mer_ccd_115_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='1P212524801ETH76CNP2386L7M1'  PROPERTY='IMAGE_DATA'  CHECKSUM=75753395  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT='N/A'  MAXIMUM=32766  MEAN=18494.48120117188  MEDIAN=18663  MINIMUM=0  MISSING_CONSTANT='N/A'  SAMPLE_BIT_MASK='2#1111111111111111#'  STANDARD_DEVIATION=3627.656  SCALING_FACTOR=2.795072e-06  OFFSET=0.01843334  TASK='MERTELEM'  USER='dalex'  DAT_TIM='Tue Feb 13 02:15:41 2007'  TASK='MDAP_FIX_MERB'  USER='jj'  DAT_TIM='Fri Sep 20 20:32:20 2013'  TASK='MDAP_FIX_MERB'  USER='jj'  DAT_TIM='Sat Feb 1 16:10:51 2014'  TASK='MER_PANCAL_IMAGE'  USER='jj'  DAT_TIM='Thu Dec 19 16:31:13 2019'  TASK='MER_ARCHIVE_IMAGE'  USER='jj'  DAT_TIM='Fri Dec 20 09:37:28 2019'�z�y�x�zyPxw�x%x�y�ygx�y�{5{Bz�z�z�z�z�z�z�z�zz�z�z�z0zTz�z�z�z�z�zrzYz7y�y�y�y�y�ypyx�x�x�y0yFx�xwv�v�w:w~v�u�vwu<uD{�~Lx�w�w'x'x!x8x�x�yyzy�y�ycy^y�zpz�z�z�z�z�z�z�z�z�z�z�z4z^z�{z�z�zwzxz.zy�y�y�y�y�y,x�x�x�x�x�yx�x'wMv�v�wv�vsu�u�u�s�s�z�|tau�txtqt,t5tTu�u�t�uqu�uEuXvgv`v;vHv*u�v`vfv�www<x2w�v�wmw@w�w�w�wGvCvKv5u�uDuu
tgtVs�s�s�tt1s�r�q�q�qHp:oAm�mvn�q!pcq
x@TTK�L!K�L�LtK�L�L�L�M"L�M:M�N
MgM�NGN'NDN?M}M�M�M�M�M�MFM�N�NmNM�M�M�NPN�NAN3NM�L�L=LAL@LLLK�K?J�J�K`LKtJ`JVJzJ+JJOKI�J�S
S2J�I�I�L+LJ�J�J1J!LJ�KL�MJJ�KAL6L�L|K�K�N%M�L�L�L�J�K�N.MkL�K#LL]L�L�K�K�LYL�K�J�J�J�K�J�J"I	HtH�JJoI�H�HTH�H�HEH�IcH�H�Q�OVF%E�E	F@FUF&E�FLF�E�H�I�H�G�I<G�HDJyJAI�KJI�H�G�G�I�IG
G�G�HqG�H�IKIHJ�J�KHL�M�M�L)KBH�H_G�GUFgE�E�G�G�FnF�G[F�E�FsGE�G�P<Ai8J9�9�;�<�<�<�?4<�5-:9:�7%5�8�:#9�8�9�<�>�9�9U8�7!4�9
:�6�::Z;�:{<�>�A0DxB�@I=�<�;�8c8�8P<�;'7l9
8�6�6)4�213
3�4n56�9�:�@I`:	3�9�;�=�=�<�?<�2g*�)�-L9.<=�&3/()x)�)X'1*w'($�+=)�#e+.>&�'�+P2�8D;�;�9�9�8Q3�.n)�,0.�3�3>/�,K0P(+�1.3i6t:<?�BBoCsDEF#P=�8G;+:�;:L:�>2e!:!�#p1�<.�
���C�� �#�*\1x)�%���#�-17�5�84�&�%J"��D&# oQ�@_&�(�)�-G*+�-+/�.�,3.=*~6�@'9�<�;�;7=<�0��_+�5>#/�o��'�'4'D+v3�5Y ����w!�-5�4m.p,� 
�!��#$��Y����#�'�1U1}2�76,7�6x2�1�34�1�>�C2;=<v=)>�;E%�!,�8L;4"�I��(!�+-/�8�+o
r��'�-?1)/v$%#
�� 5 ��#��d��!��)j3%9<C;�8s8}:a:�;k<]:�;<�<A<�I�D�<
=�<r;�<59�..29s915�-�$�$=��$�0�1�7@�A�<*"�;s�%\$a#C �$�&�)'`#�,�)�18�;D?yA?H>8;�=�<�:r9�;
;b;;(:_8�9�;�<?8�9_F�E'<�>I<[:�9@7�8x;�;p8A6M4�3&3�8�@$B@�A�B�D�F�ItIgD�C�C�B�CB�C�D_D!C�C�D�D"B�?i=�>�@?0=�>�=3_:�;8�8�98d7>767h5/5'6�3�14^CGu>�>�>B?�@�A�B/?�@iB�B�A�Au@�A@�A�BiB[B�B�DCC]GzG�GGD
A[@�A�BB
BeAq@D>�>�>�=�=r=�=�:�5�.�77�8<4t/�184�1�*�*Z�"�/-./'F1�I�A@�@�B�B�BvB�BVAm@�@�A�B�C�DED�D�ED�DZDHD�F+G�G�GiGF*D1A�B;DDTD,C�C`B�B�A|?B;�87�:�<�;�-
�.�+}-a/ 2�5b1�,�3U8�?W>vAn@�I�J�BDC�B:A�A2@�AtCC�CB<ABCcB?�@�CHE@FuF5D�D1C�DDyDlD-D_D�D�C�C�CA�@M@lA3B'B�B�BB�D5C�A�?�=�AcC�D�D>E;E�D�CJC�@�BHA	B@�H�LIC�FEUE#D�D�D�ESE}EwEGEEHE]D�D!D!DWD�D�D�EEE�FF�G�H�IH�H�H�H�I�I�I�I�J J�J�J�JJNJ�JIH�IWJ�J�J�J�J�K9KmKjJNHpH�IHH�P�RI9H�HJ�J�JrJ�KAKiK(K3K%J�J�K.K�K�K�K�K�LL7L&L#L!L'K�K�K�K�KyK9KeK�LK�L,L�L�L�MML�K�K�LLCLJ�KUJ�K	J�J�J�J�JSJ9JzJ�I�J�SISJ�KDJ�LLK�K�LHLPLMLSLLL#LL$LILL�L�L�L\L
K�K�K�L�M5M�MhM�M&ML�L�LL0L�LfL'LK�KAJkJ}KK,J�J�J�KKeK+J�JhJI�H�I>I�I�J~SS�KTK�K�L�L�LKL�L�L�L�L�L�L�L�L�L�L�L�L�L�L�L�L�L�LsL�L�L�M@M�M�M�M$L�LBL�L�K�K�K�K�KaKqK5J�J�J�J�J�J�J�J�JaI�I�I�I8HxI7JH�JR�S�KbK�KJLQL8K�K�LGL<LUL-L'LL$LLFL!LML*L<LOLeLlL�L�LhLK�L�MMfMCM$K�H�LaK�J�J�K{KSJ�KOK�KkJhJJ�J�J}JJI�I�I�J%J$I�H�I�JG�IvQ�S�KgL*K�LQL;K�K�LLTL4L0L K�L	L
K�LLLL L(L1LiL{L�L]L8K�LL�L�L�L�I�<�F�H�J(J�KK_K�J;H�H�I�J?JUJQJOI�I�I~IiI}I�IbH�H�H�H[H�Q?T*LHLrLL�L�L9LnL�L�LxLML3LQLlL<LGLrLIL5L#L]LuLwL�L�LrLNLSLpL�L�M)L�L=KuLLK�K�KbKJ�J�JhJBJ5J\J�JjJ4I�I�I�I�I�I�I�I)HG<I�H�QSTdKILK|LYK�K�K�L(LDLL'K�K�K�K�K�K�K�K�K�K�LL
LLLK�K�L)L1LlL�L|L,L�LCK�K�KK-J�J�J�JVJHJEJ<JlJAJI�I\IOI*IQIcI&H�G�GH�HYP�T�J(LKpK�K�KjK�K�K�K�K�K�K�K�K�K�K�K�LK�K�K�K�K�K�K�K�K�K�LLJLvL(K�K�K�K�K�K�KNKJ�J�J�J�J�J�J�J�J-I�IwI?IQIcI�I!H'HHG/H$PwT�JJK�KK�K|K%KSK�K�K�KVKKQKDKlK�K�K�K�K�KwKyK�KzK�K�K�K�K�K�K�K�K�K�K�K�K�KK-J�J�J�J�J�J�J�J�J�JDI�I�IYI	H�IItH�G�G�H
F�G�P>S�K
K�J�K�K�K'K_K�K�KmK�KwK@KOK�K�K�K�K�K�K�K�K�K�K�K�K�K~K�K�K�K�K�K�K�K�K�KxKSJ�J�J�J�J�J�J�J�J�J=JI�I>IIIIH�G�G�G�F�G�P3S�J�K~J�K�KVJ�J�KgK�KcK;K-K.K;KmKxK�KvKuK�K�K�K�KLKMKQKaKXKeK(K*KKFK6KQK K
J�J�JhJiJ�J�J�JqJ�J|JdJI�I|H�H�H�H�H�HhGnG�G�F&G
O)S�K/K�J�K�KLJ�KKlKiKOKOK?KIKcKPK�K�K�K�K�K�K�K�K�K�KrKaKAK,K2J�J�J�J�J�J�JfJ�JyJhJdJLJNJwJDJJ=JKJ
I�I'H�HzHQH�H�G�GG~H?E�F�M�SMJ�KpJ�KfKEJ�J�K0K=KAK?KK$KDKnK�K�K�K�K�K�K�K_K�K�K3KIK J�J�J�JqJXJnJCJKJTJDJ6J:JSJ2JIJ,JJ<JIJI�I�I/H�H�HaH:H G�GNGYGpF�F�OiR�JBJ�JmK+J�J|J�K#KJ�J�J�KK$K&K>KPKvKrK[KfK�K�KbK}K@K2J�J�J�JtJjJ6JJJbJ.JXJJJAJ1J3I�I�JJJJ I�I�H�HqHHH$G�G�GdF�FHG�F�QhR]I�J�J5J�J�JdJ�J�KKJ�J�J�J�KKLKDK-KEKTKBKKWK:KKJ�J�J�JtJ3JJ JJ'J
JJ6JQJJJJI�I�I~I[I�I�I�IPH�H�H)G�HH0G�G&GG
G
DwN!Q�IJkI�JlJ%I�I�JQJgJTJ`J9JwJ�J�J�K
KJ�J�J�K"J�KJ�J�J�J~JAJJI�I�JAJ)I�I�JJJI�I|IVI
H�HqH�IHIrIH�H>G�G�G�G�GCF�F�G�FaF�N�QnIEJI�JI�I�I�J<JWJNJ^J^JdJ�J�J�K	KKKKKJ�J�J�J�J�JdJeJ:JJ
I�I�I�I�I�I�I�I�I�I�I3H�H�IHIUIOIAIHsHG�G�G�G_F�E�F�G�FF�N�Q�II�II�I�I]I�JJYJ4J+JJ?J^J}J�J�J�J�J�J�J�J�J�J�J_JXJ9J$JI�JI_H�IIZIuI�I�I�I�IbH�HAH}JI�IAIH�HaHG�GZG>F�F2E�F\G'E�F6N�Q�IICH�JI�IzI�J*J"J,JJJJ0JpJ�J�J�J�J�J�J�J�JkJAJhJ,J&J(JI�I�I�JI�IzIlIxI�I�I�ITH�H�G�F�G�H�I!H�H*G�GeGG�HGXFvF�F�EEVM�RI.H�HkI�I�I2I�I�I�I�I�I�JI�J5JPJyJ�J�J�J[JzJ\JDJ&I�J
I�I�JI�H�I�J�JuI H�IIIIH�HtG�G�H(H\H�H�H<HGmF�F�GwH�H;F�F�F5DADmL�R#IHIHoI�I�I\InJJ+J
JI�I�J0JKJ�J�J�J�J�J�J�JXJAJJ#J$J1I�I�I�JIG�HII+IDI!I:H�H�H�H�H�HH*H}H]H�G�G-GGMF�E�D�D�E{F�EUE�M�Q�IH�HnIWI�I/IcI�I�I�I�I�I�I�I�J)JdJdJ�JNJtJEJI�I�I�I�I�I�I�IqIXI8I-I(I0I8IIIH�HH�IJH�G�G�G�G�G�GTF�F�F�FeFOF�GmG�GJE�F�OFR
IKIJH�I�I�I-IJI�I�I�I�I�I�I�JJJ;J]J!J@JJEJYJlJeI�I�I�I�I�IWI1I1IbI�I�I�I�IFI
H�H�G�F�F�HH3G�GwGFGF�F�FYF�GlE�D3EEGMFF+NLQ�IIiH�I~IpH�H�I<I�I�IaIXIVI�I�J JJJ
I�I�I�J"JiJ$I�IqI�IxI.H�H�H�I'I|I�JI�I]I H}HHHuH�H(G�G3F�F�FkFFF"F�F�F@EpFGD�DMLFQ�H�I�H�IXIcI3I�JJ2I�I�IlIkI�I�I�JI�I�I�I�I�I�I�I�J8JI�IBIJI7IH�I(II%IIH�HQH?H,G�GiG!GF�G0F�F�FYF#F&E�FTF�FfE�E�FBE;F�OTP�H�I�H�IUI.I�JJ�J�I�IPIfIdIAI�IyI�I�I�I�I�I�IHzIJPJI'H�I1IHIH�H�H3G�G�G�G�G;G�H)GXFE�E�FIGGF�FE�E�E�F?FRE�E=E}F=D�E
M@QYH�IdH�IMH�G�G�H=H�I/IoI;IZI;IGI:I;IGIqI�I�IrI~I�H�G�G�H�IH�H�H�HH9H"G�G�G�HH�HRGbHH�IAI:H�HGyG;F�F8E�E�F
F:EiEE�F-DrD�L�QH�ILH3H�H�I�JJJ�I�H�H�IjI?I5H�I
I II)IAI_I�I�J)J;J
I�IsI!HbH-HHHH^HfHNG�H�I�H�G�GHjG�G�G�H-H%G�F�F8E�E�E�E�EED�EAE�D%DeLXPMG�H�H[H�H6F�GG�IJJI]I4II<I3IICI)I7IpI�I�I�I�I�I�I	I
H�H�HfH^HFH9HBH�H�G�FFgGCGF)F�GRG�GwGuGF�FE�EE~E�EDKD�E�DDDLIO"F�H�HoH�H]G�H�J\K#K@J�IPH�IIQI]IwI<IaI�I]I8H�H�H�HxH�H�H�I3IwI4I	H�H~HMHG�G�G�GF�G�H�H�G>F�F~FE�E�E�EtD�EE�D�DD�E�DD�MReI�I>H0H�H�H�H�HuG�G�HH�IAH�I7I�I�I�JI�I�IgH�H�HeHvHuH�H�H�H�H�H�IH�HG�G�G�GG�HGEE�E�F�F�FPE�FEzE&E_E�E�EtE D�EE[D�EQM�P�HH�H�ISIEH�IUI�I�I'H�H�H�H�I#I�J4JuJI�I�I�I\I6H�I>H�HSHdHiHZH�H�IhH�HH
H)G�G�H0HfG�GpGF�F�F�F�F�E�D�EjF�F�EE/EQENEjD�FNAP�HH�HH6HG�HFH�I{I�IHyH�I&I�J#I�I�I
H�H�H�H�IxI�IH�H�ICI�J�J�J�IhH�G�GaF�F�F�F�E�F
FLF�F�GF�F�F\F.FWECxDIE�EC�DvE�DAE�OP�G�H�G8GF�F�F�G�H�I�I�H�H�IlI�I�IHWHG�G�H
H�I�I�H�I�JI�G�GYG�G�HEH6G�GdFVE�E�D�D-D~E�FtF�G'G
F�E�FFF�F*EOE�FnD�B�C�E�C�E\O�O�F�G/G{IIH�I=I�IH+H"ICH�G�F�F|F�G�IJ=J�JEH�GtG�H�HVG�G�H�HF�FE�F�G�H�IRH�HH�ISIG�G�F�F�F0F0FtEiDJD�EJEqEE�FFE5C�CONN�F'GXF�F�F�F�F�F�F�FaGBH�I�I�IaII[IwI�IFH�G]FWE�E�G�H�I�JI�J4J�JUI�I�I:H�H{G�G2GpG�F�EvE�F�F�F0E�E�FHF�F�EpE2ENE#ED�D#D�A�L;P�GxG'F�G�G}F�G�IJJzI�H:GVF�F�G~G�G�G�H�I|J#JoJdI�H�I I{I�I1IDIuI�IeIHIG�G5F�FBF
EoF�H�H�GcF�FOFF
EC�D+EE�EsD�C�C-C@D�DGN�N�F6GqG�I,H�H.HmH�HOG
FAFF�H?IJ`J�J�J�I�HDF�HJ{K7JDI�HfH HG�GWG�G�G�F�F�F�F�FzF(E�FqG�G�G�G�G�F�E�EWE�E�EE�E�DlB}B�DaCjC�L�S�J�J>H�ILIH�H^HBH�IiI�I�I7H�HGLG!GF�GH�J�J@H�HHGPF�F�GHGF�F-E�F�HH�IyI�JJ;I�HUE�EEKE=E�F<F8EC!B�B�B�B�CKC�DtD}CC�K�P}GCGF�H�H�H`HNHeH_H:H}H�H[G�G�HG�GlGF�FxFE�EUED�D�E�FJG$I@K�K�J�J�K)J5H�G{FlE�D�DC�C�C�DD�E�FiFIE�EgE�E�FFfF�F9D�CiC�K�O�G�IzH[G�G�GaG�HH.G�G<F�GmH�HFOE�E�E�F>F�GG�G�H\HvG�G�I�L`K�JJJ�H�F|E�E�EZD�D�EpF:GG�HHGhFhEZD�D�D�D�E�F6D�BECD�C$C�L^P}G�GFLG-GFdF�G�G�F�F�F�FEOEsF0FFJF�G�H�I�J�L?L�L�L�L�J�HFGF�FrF�GyHdH�H,H�I�IPH�HQG�F�E0D�D�D�DC�C�C�C�D%DlC�B�C�EB�B�MfP�GyH$G�IH�G�FmEED�E�F�G�II�J�K�LwL�L�L!KBJCH�GWF�F�G{H9GiFF`F�F�F�F�F�G�H
GvFME�E�D�DMD�ErEWE7ED�DC�C�C�DD6C�C&C�DTB�B�MjRF�E�D�FeF�G<H�J�KbKKYK�J1G�F�FjF�G9F�FFYGGF�GG)GnG:F�F
F�HHoHGUFRE�E�E�FE�E�E�FFF9FIF4F8E�EmD�D�D�D�D�D�D�D)C�C�BdMBQ�GcII<J�J�I�H,FaFFvFFE�E�D�E�F�F�E�FPGcG$FE�EgEaE�F"F�HI9H�GFfFIFF
FE�E�EeEqEbED�D�D�D�ED�D�DsD�D�D�D�ED�C�C
CD�B�L�Q�HNH�GGNE�DNDD�D�D�EvG
H:IIZH�HpGVF�E�E�F*G�I"J*J?I�H�G�GFEBD�D�ExF�F�FE�E_ERE$D�C�C\C�C�D;C�CrC�DeDtDxD�EmDGB�BJB�D�C�L�QRG�E3C�E3E�E�E�E�FwF�F�F&GWI^IGHCHkI�JJ}J�J2IGfF'E<ED�E5E�FF�G1G�G!F�FSFE�D�D_C�D�E�FFF!F<F�F�E�DC�C�C�C�D�EkDAB�DOC�LR