PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 128
FILE_RECORDS                      = 444
LABEL_RECORDS                     = 237

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                     = 238
^IMAGE                            = 381

/* 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          = 28
 FRAME_ID                         = "LEFT"
 FRAME_TYPE                       = STEREO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "1000024"
 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            = "13:00:57"
 MAGNET_ID                        = "NULL"
 MISSION_NAME                     = "MARS EXPLORATION ROVER"
 MISSION_PHASE_NAME               = "EXTENDED MISSION"
 OBSERVATION_ID                   = "3204448256"
 PLANET_DAY_NUMBER                = 954
 PRODUCER_INSTITUTION_NAME        = "Arizona State University"
 PRODUCT_CREATION_TIME            = 2019-12-20T16:42:40Z
 PRODUCT_ID                       = "1P212876397IOT76EVP2392L6A1"
 PRODUCT_VERSION_ID               = "V3.0 D-22846"
 RELEASE_ID                       = "0012"
 ROVER_MOTION_COUNTER             = (76,275,12,120,54)
 ROVER_MOTION_COUNTER_NAME        = (SITE,DRIVE,IDD,PMA,HGA)
 SEQUENCE_ID                      = "p2392"
 SEQUENCE_VERSION_ID              = "8"
 SOLAR_LONGITUDE                  = 113.873
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "212876397.621"
 SPACECRAFT_CLOCK_STOP_COUNT      = "212876400.221"
 START_TIME                       = 2006-09-30T08:15:39.153
 STOP_TIME                        = 2006-09-30T08:15:41.755
 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        = 2006-09-30T13:53:04.050
 EARTH_RECEIVED_STOP_TIME         = 2006-09-30T13:53:05.367
 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_p2392-008-0028_002_0212876397-159.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:
                                     2019-12-19T23:43:57Z ;;; 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: 2019-12-20T16:42:40Z"
 SOFTWARE_NAME                    = MER_ARCHIVE_IMAGE
 SOFTWARE_VERSION_ID              = "V2.02 05-Aug-2018"

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL
  CALIBRATION_SOURCE_ID           = "203"
  ^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               = (0.549426,-0.105012,-1.22922)
  MODEL_COMPONENT_2               = (0.922945,0.07238,0.378067)
  MODEL_COMPONENT_3               = (13.2908,228.255,9.8016)
  MODEL_COMPONENT_4               = (-56.4228,-1.70748,221.721)
  MODEL_COMPONENT_5               = (0.920109,0.0817919,0.383027)
  MODEL_COMPONENT_6               = (0.000998,0.003762,-0.057232)
  FILTER_NAME                     = PANCAM_L6_483NM
  REFERENCE_COORD_SYSTEM_INDEX    = (76,275,12,120,54)
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (76,275,12,120,54)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = ROVER_FRAME
  ORIGIN_OFFSET_VECTOR            = (-23.1965,50.4914,1.02479)
  ORIGIN_ROTATION_QUATERNION      = (0.716905,0.00353899,-0.0040847,0.69715)
  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         = (76,275,12,120,54)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = APXS_FRAME
  ORIGIN_OFFSET_VECTOR            = (0.995748,-0.0623103,0.0277953)
  ORIGIN_ROTATION_QUATERNION      = (0.59477,-0.38278,0.385143,-0.592784)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = DOWN
  REFERENCE_COORD_SYSTEM_INDEX    = (76,275,12,120,54)
  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       = (0.0500008 <rad>,-0.451595 <rad>,
                                     0.0 <rad>,0.0 <rad>,0.0 <rad>,0.0 <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       = (6,7,1)
  ARTICULATION_DEV_POSITION_ID    = ("PANCAM_L6_483NM","PANCAM_R7_1001NM",
                                     "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       = (4.82431e-05 <rad>,-0.920063 <rad>,
                                     2.27503 <rad>,2.20877 <rad>,0.0 <rad>,
                                     -0.00223604 <rad>,-0.92334 <rad>,
                                     2.26445 <rad>,2.20764 <rad>,
                                     -0.0586843 <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>,-16.2671 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT 1","TURRET JOINT 5")
  ARTICULATION_DEV_VECTOR         = (0.0107911,-0.000621052,0.999942)
  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         = (76,275,12,120,54)
  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      = (0.980784,0.00528044,-0.193174,0.0268099)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_INDEX    = (76,275,12,120,54)
  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       = (0.00736439 <rad>,-0.1337 <rad>,
                                     -0.00824156 <rad>,-0.0323301 <rad>,
                                     0.0053486 <rad>,-0.00160851 <rad>,
                                     -0.0210179 <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_L6_483NM
  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           = 4.7
  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 <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               = 62
  PIXEL_DOWNSAMPLE_OPTION         = NONE
  PIXEL_AVERAGING_HEIGHT          = 1
  PIXEL_AVERAGING_WIDTH           = 1
  SAMPLE_BIT_MODE_ID              = "LUT3"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 1.0
  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               = 62
  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               = 62
END_GROUP                         = ROW_SUM_REQUEST_PARMS

/* COLUMN SUMMATION REQUEST */

GROUP                             = COLUMN_SUM_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 62
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               = 62
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                  = 2
  EXPOSURE_DURATION               = 2600.96 <ms>
  EXPOSURE_DURATION_COUNT         = 508
  FILTER_NAME                     = PANCAM_L6_483NM
  FILTER_NUMBER                   = 6
  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          = (-20.8067 <degC>,-13.6224 <degC>,
                                     5.08433 <degC>,-17.3642 <degC>,
                                     -16.393 <degC>,-21.5886 <degC>,
                                     -9.13213 <degC>,-10.1022 <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                 = 1.05273
  INST_CMPRS_RATIO                = 11.3989
  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      = 7.75
  INST_DECOMP_STAGES              = 4
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = 3.13161 <deg>
  INSTRUMENT_ELEVATION            = -22.2845 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (76,275,12,120,54)
  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              = 91.5597 <deg>
  INSTRUMENT_ELEVATION            = -22.8999 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = 76
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  SOLAR_AZIMUTH                   = 330.011 <deg>
  SOLAR_ELEVATION                 = 61.0235 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  DERIVED_IMAGE_TYPE              = IMAGE
  RADIANCE_SCALING_FACTOR         = 2.468507e-06
  RADIANCE_OFFSET                 = 0.01459049
  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      = "1P212876397ETH76EVP2392L6M1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_1       = FILENAME
  SOFTWARE_PARAMETER_VALUE_2      = "1P212876397RAT76EVP2392L6A1.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_1R7_212874006_76EVP2827_2.txt",
                                     "rc_1R6_212873975_76EVP2827_2.txt",
                                     "rc_1R2_212873954_76EVP2827_2.txt",
                                     "rc_1L6_212873933_76EVP2827_2.txt",
                                     "rc_1L5_212873912_76EVP2827_2.txt",
                                     "rc_1L2_212873891_76EVP2827_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          = (0.00010798032,2.5550775e-07,0.0)
  RESPONSIVITY_CONSTANTS_FILE     = "rc_1L6_212873933_76EVP2827_2.txt"
  PROCESSING_INFO                 = ("responsivity constants file:
                                     rc_1L6_212873933_76EVP2827_2.txt",
            "associated selection filename: roi_00320_00272_061012185637.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: 1P212873933RAD76EVP2827L6A2.IMG.gz",
                                     "solar azimuth (rover frame): 258.980",
                                    "solar elevation (rover frame): -64.5214",
                                     "dust model tau: 0.59678763",
                                     "dust model rad coeff: 0.15157188",
 "ROI radiances: 0.020405885 0.016786164 0.015903160 0.014578036 0.020587089 0.027846370 0.036699478 0.0029579389 0.0040264740 0.0058357497",
 "ROI uncertainty: 0.00072211632 0.00050413503 0.00052605158 0.00063231893 0.00074889280 0.0014951194 0.0016053828 0.00032987202 0.00023864947 0.00029343870",
                            "ROI count: 158 161 166 140 91 421 861 15 72 104",
 "reflectances: 0.13183414 0.094330253 0.093847961 0.089072430 0.12187374 0.16910037 0.20813987 0.021512592 0.026014314 0.030009804")
  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_L6_V04.IMG",
                                     "MER_FLAT_STDDEV_SN_115_L6_V01.IMG")
  FLAT_FIELD_FILE_DESCRIPTION     = ("Flat field image.",
                                     "Flat field standard deviation image.")
  REFERENCE_PIXEL_IMAGE           = "1P212878045ERP76EVP2392L2M1"
  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                     = "1P212876397ETH76EVP2392L6M1"
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                        = 105917899
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = "N/A"
  MAXIMUM                         = 32766
  MEAN                            = 25858.86206054688
  MEDIAN                          = 26146
  MINIMUM                         = 0
  MISSING_CONSTANT                = "N/A"
  SAMPLE_BIT_MASK                 = 2#1111111111111111#
  STANDARD_DEVIATION              = 2560.833
  SCALING_FACTOR                  = 2.468507e-06
  OFFSET                          = 0.01459049
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=28  FRAME_ID='LEFT'  FRAME_TYPE='STEREO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='1000024'  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='13:00:57'  MAGNET_ID='NULL'  MISSION_NAME='MARS EXPLORATION ROVER'  MISSION_PHASE_NAME='EXTENDED MISSION'  OBSERVATION_ID='3204448256'  PLANET_DAY_NUMBER=954  PRODUCER_INSTITUTION_NAME='Arizona State University'  PRODUCT_CREATION_TIME='2019-12-20T16:42:40Z'  PRODUCT_ID='1P212876397IOT76EVP2392L6A1'  PRODUCT_VERSION_ID='V3.0 D-22846'  RELEASE_ID='0012'  ROVER_MOTION_COUNTER=(76,275,12,120,54)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA')  SEQUENCE_ID='p2392'  SEQUENCE_VERSION_ID='8'  SOLAR_LONGITUDE=113.873  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='212876397.621'  SPACECRAFT_CLOCK_STOP_COUNT='212876400.221'  START_TIME='2006-09-30T08:15:39.153'  STOP_TIME='2006-09-30T08:15:41.755'  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='2006-09-30T13:53:04.050'  EARTH_RECEIVED_STOP_TIME='2006-09-30T13:53:05.367'  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_p2392-008-0028_002_0212876397-159.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: 2019-12-19T23:43:57Z ;;; 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: 2019-12-20T16:42:40Z'  SOFTWARE_NAME='MER_ARCHIVE_IMAGE'  SOFTWARE_VERSION_ID='V2.02 05-Aug-2018'  PROPERTY='GEOMETRIC_CAMERA_MODEL'  CALIBRATION_SOURCE_ID='203'  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=(0.549426,-0.105012,-1.22922)  MODEL_COMPONENT_2=(0.922945,0.07238,0.378067)  MODEL_COMPONENT_3=(13.2908,228.255,9.8016)  MODEL_COMPONENT_4=(-56.4228,-1.70748,221.721)  MODEL_COMPONENT_5=(0.920109,0.0817919,0.383027)  MODEL_COMPONENT_6=(0.000998,0.003762,-0.057232)  FILTER_NAME='PANCAM_L6_483NM'  REFERENCE_COORD_SYSTEM_INDEX=(76,275,12,120,54)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='ROVER_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(76,275,12,120,54)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='ROVER_FRAME'  ORIGIN_OFFSET_VECTOR=(-23.1965,50.4914,1.02479)  ORIGIN_ROTATION_QUATERNION=(0.716905,0.00353899,-0.0040847,0.69715)  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=(76,275,12,120,54)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='APXS_FRAME'  ORIGIN_OFFSET_VECTOR=(0.995748,-0.0623103,0.0277953)  ORIGIN_ROTATION_QUATERNION=(0.59477,-0.38278,0.385143,-0.592784)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='DOWN'  REFERENCE_COORD_SYSTEM_INDEX=(76,275,12,120,54)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='PMA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='PMA'  ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY'  ARTICULATION_DEVICE_ANGLE=(0.0500008,-0.451595,0.0,0.0,0.0,0.0)  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=(6,7,1)  ARTICULATION_DEV_POSITION_ID=('PANCAM_L6_483NM','PANCAM_R7_1001NM','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=(4.82431e-05,-0.920063,2.27503,2.20877,0.0,-0.00223604,-0.92334,2.26445,2.20764,-0.0586843)  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,-16.2671)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5')  ARTICULATION_DEV_VECTOR=(0.0107911,-0.000621052,0.999942)  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=(76,275,12,120,54)  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=(0.980784,0.00528044,-0.193174,0.0268099)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_INDEX=(76,275,12,120,54)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(0.00736439,-0.1337,-0.00824156,-0.0323301,0.0053486,-0.00160851,-0.0210179)  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_L6_483NM'  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=4.7  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=62  PIXEL_DOWNSAMPLE_OPTION='NONE'  PIXEL_AVERAGING_HEIGHT=1  PIXEL_AVERAGING_WIDTH=1  SAMPLE_BIT_MODE_ID='LUT3'  INST_CMPRS_MODE=1  INST_CMPRS_RATE=1.0  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=62  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=62  PROPERTY='COLUMN_SUM_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=62  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=62  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=2  EXPOSURE_DURATION=2600.96  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=508  FILTER_NAME='PANCAM_L6_483NM'  FILTER_NUMBER=6  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=(-20.8067,-13.6224,5.08433,-17.3642,-16.393,-21.5886,-9.13213,-10.1022,0.0)  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=1.05273  INST_CMPRS_RATIO=11.3989  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=7.75  INST_DECOMP_STAGES=4  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=3.13161  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-22.2845  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=(76,275,12,120,54)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=91.5597  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-22.8999  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=76  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=330.011  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=61.0235  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='DERIVED_IMAGE_PARMS'  DERIVED_IMAGE_TYPE='IMAGE'  RADIANCE_SCALING_FACTOR=2.468507e-06  RADIANCE_OFFSET=0.01459049  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='1P212876397ETH76EVP2392L6M1.IMG.gz'  SOFTWARE_PARAMETER_NAME_1='FILENAME'  SOFTWARE_PARAMETER_VALUE_2='1P212876397RAT76EVP2392L6A1.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_1R7_212874006_76EVP2827_2.txt','rc_1R6_212873975_76EVP2827_2.txt','rc_1R2_212873954_76EVP2827_2.txt','rc_1L6_212873933_76EVP2827_2.txt','rc_1L5_212873912_76EVP2827_2.txt','rc_1L2_212873891_76EVP2827_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=(0.00010798032,2.5550775e-07,0.0)  RESPONSIVITY_CONSTANTS_FILE='rc_1L6_212873933_76EVP2827_2.txt'  PROCESSING_INFO=('responsivity constants file: rc_1L6_212873933_76EVP2827_2.txt','associated selection filename: roi_00320_00272_061012185637.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: 1P212873933RAD76EVP2827L6A2.IMG.gz','solar azimuth (rover frame): 258.980','solar elevation (rover frame): -64.5214','dust model tau: 0.59678763','dust model rad coeff: 0.15157188','ROI radiances: 0.020405885 0.016786164 0.015903160 0.014578036 0.020587089 0.027846370 0.036699478 0.0029579389 0.0040264740 0.0058357497','ROI uncertainty: 0.00072211632 0.00050413503 0.00052605158 0.00063231893 0.00074889280 0.0014951194 0.0016053828 0.00032987202 0.00023864947 0.00029343870','ROI count: 158 161 166 140 91 421 861 15 72 104','reflectances: 0.13183414 0.094330253 0.093847961 0.089072430 0.12187374 0.16910037 0.20813987 0.021512592 0.026014314 0.030009804')  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_L6_V04.IMG','MER_FLAT_STDDEV_SN_115_L6_V01.IMG')  FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.')  REFERENCE_PIXEL_IMAGE='1P212878045ERP76EVP2392L2M1'  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='1P212876397ETH76EVP2392L6M1'  PROPERTY='IMAGE_DATA'  CHECKSUM=105917899  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT='N/A'  MAXIMUM=32766  MEAN=25858.86206054688  MEDIAN=26146  MINIMUM=0  MISSING_CONSTANT='N/A'  SAMPLE_BIT_MASK='2#1111111111111111#'  STANDARD_DEVIATION=2560.833  SCALING_FACTOR=2.468507e-06  OFFSET=0.01459049  TASK='MERTELEM'  USER='dalex'  DAT_TIM='Tue Feb 13 02:29:13 2007'  TASK='MDAP_FIX_MERB'  USER='jj'  DAT_TIM='Fri Sep 20 20:36:53 2013'  TASK='MDAP_FIX_MERB'  USER='jj'  DAT_TIM='Sat Feb 1 16:15:06 2014'  TASK='MER_PANCAL_IMAGE'  USER='jj'  DAT_TIM='Thu Dec 19 16:43:58 2019'  TASK='MER_ARCHIVE_IMAGE'  USER='jj'  DAT_TIM='Fri Dec 20 09:42:40 2019'a�U�VV)X�W�UZUUV�V�V�V�V�W,W�X�Z
Z�[�\\�\�]	]\�\A[EZ�ZBZ
Z'[U\�]�^f^�^�^u^c^k^k^S^^^n^�^�_�`�a�c
c�e'e�e�d�c�a�_�^�_�a&^�^{i�cnW�XpXkZ\Y�XX@YYY2Y{Y�Y�Z�[`\6]]x]�]�^]^x^�^�^
]j\�\�\z\�]l^x_@_y_�_�_�_�_�_�_�_�_�`!`[`�a�b#b�c�d�e`eld�c�b`P_U`Ra�_�^�jNk�[�_(^�`O`�a�a~`Y`�agb�cub�c�dVeed�c�c^cc�dVe;eGeeVef�e�e+d�d�d�d�d�d�d`d*c�dd�e*e�e�e�d�c�c�d�d�d�e-e2d�d�c�b�c�d�b�b�l�l�e�g�e�dre�f�ggvg�g�ggh[hDh6g�h%h�h�h�h�h�hg�h�jj2j+h�jHi�ih�h�imi�i�i�i�i+ii�j/j�jVi�ig�f�ff�h	hg�hg�f�ff�h;edOp�k�p|oak�i]j�jj�mIm~lJj�i�l0kqjPh�i�k�mAm�n@m�k�i�kWn{n�mUjl�ml9l�m�nEn�ooo	n�nxn\nnnm�mm�mPkdh�j�l�l�k]k7khj[h�j#kEg�e�tt�rrj�m�r�q�q�p�nxn�pr)s7p�p�o�n�o�qeq�q�r6rqo�qps�s!p[s�rq�p�qOr$req�q�r,q�q�q�qhq6p�pnpp+pto�o>n�o|n�m�m�nm3l+lxl�kk�sZc�X�^�i�j<c-pop�j;kpBu|x�rms�t,uu!t�s�sZs�t�t�u+v�w�s�m�{�uBt�s�s�tFs�r�rTr7r�r�r�r^rq�q�qZq�qIr�t�q�ppo�ofo!n�n�m l3n�rTo�`KW�`cY$��O�]�a�g�kLi+fHnNn�p�q�qZppiq�sit^s�svlw�k0`~m�q>t#s�s)rr7r�r�rrMr�s3r�r�r)rhr�q�q�rrr�p3o�qOqp1o�own�nUo�rpri[�5�-qM5N�3DLz,cXib�b�U�I�e�dwh{h�g�fh�m'n�on�n`n;mg�jzk�k�n2p�o�l�m�pEp�p�p�qlq�r\q�q2q�r�p�qorm%qao]ofr)rp�o�o"o�p�n�n4w�K~UF_:
Z�]�_�_�Y�\@_U(Llb�bd�d\dIdPe�hjk�lklZk�k�qIowm�m�n
n�n+m
mMn�o)oXo�p�q#p�p�p�pwp�q�p�sov�p]o�r&sfs�rsqHpxq}r�oonpzoIL�HBT�a)M�8�V[Y^e^�^�^�b�d4c�a�cDe�ec,d�hgj�k�jg�mH^�c'm�o�mBn%o�oim�nn�o�pup	opo�p�n�m:rQqrPo�l�plu�s�t%s�r�q�r�scp�o�{~V�R�B+G�X/a�b/a\�\�_Kbd�dZe�c�a*cfe?b�c,f	i�l�g=R�!��"?Z�nMn?q�sr�q�q�r7q�q;q}rr3q�p�pQo�q�V?c�o�vCsJs�s~s1r�s�tRrFrV|�h�]�]]�a�`U]x^Z^�_�avc�e�g;ge.b�c�f8f#d}d�fog�h�h�b�KL2�B�hsIp�r�tt�uu�vt�r�s�u�t�s;tt�oo"-�"�UVt�qJr�s>s�s�s)t"t�sKs�}MnCavc�b�b�cca�b|csd�e�g�h1g�fmdze�hng�e�eZe�f`g}g(fZh�k�k�j�j{kl�n�n�nppVs>t�t�t/r�sStttfs�u�U�*�;5bkx�ufvawIw�v�u�vvgs�r�*lbad6cnc�dd�ff�g"g�h-hh>hsg�gh�ki�gff&fcf�e�c�c�eKfe�d!bqcke�edcf�k+oTrlqm�n]qOs�u�vs�n	nNt�z�z�y�zf{qy�w-w�xs�q��m�bGe�e=fyf�f�gg�g�g�hg�g�g�hh�i�i�h�g�h3i4i5hae�dAe�ifh�f0d�c�b�cegDe3`�_�a,e>j~k�j�k5k�mApKu�u�r�q�r�r�rfrr{s{u4v�uOt�|nuce�f`h�h4g
f�f�f�f�g
g�g}gh*i�i gzg�iEkml�kh.g]gg~h�i�ji�h�g�g�ii�ji�h�i�k
i�f/c�cdf�g�guf�e�f�g�f�e g^ln�p�s�u�rgmsa�d�d&e}eYe)e�fxgg_g~g�h�i�i�h�iIj_j�j�lmWlj}l�n)m�l�m�n�mik�n\p�i�_ea�j<l�ljk�k'l1n�q�sXpVi�f�fVg�j-j�i�jMj}h%d�cUcLc�ed�mva�dLbva�b�dQe�gMh�i�i�i�k+mk:h�j�n�o�m�ml~k@k�rEtzu[tQs�r�qEo�q�t�rym�l�n`o�qqUp�nkl�o�p�n�lyj	lwqYq�o�opo�php�n�kQge<n�s�hLh�h�j�j�jnkkl�l�l�m|m�l�k9mHpbo�no�rKq|p.s\v�q�p?q�t�tYrprIs(s/s�teu�v�w:vtPsr�s�s�oOiHg�jul�m�h�`�]�^s`�c:b_�bFf&b�`�ldx�mk�l�qp�nim�m�l�k�k�l-j�h
e�bvZ+RyV�_WXL_Sk`fXSbweNg�k�m�h�^�Y�X�]�eVg�fb7]`\I]�_\`�`T^�^�d�hMj&f�_�^9_�b�fKf�d�ckaY]�]ZhvhH[�]X,T�U�Y�YWWSXW�W/VcU�UT�THS�Q�NhIhDxDE�C�TAP�GJ�T'U�TmX0^Obb�\�S�T.Y?Z�Z�[�]eaDf#h�e�cQa�d�iWga�a�eFeNc�c�b�^�\�g�g5Z�Z�W�U�U�V!TWQ�S?VT�R�U:XlSK�P�Z�[�W�WW1V�V�VVX�Y�Y�WQS�TsWKW�XY�[�[wZ�\H^�^�]�^"_�a�bR^O�Ry]~_�^�a�f$f�e�e
d�fkg�b�_(i a�U�V�T
RvS�W�XZWqURZSZT�QK'JaM�T[�_�^�YMQ�S8Y_\�[�Y�W�[�`�^�X�W�X�Z�\MZ8WFYk^q`�_�[�V�X�^\`na�a�a~aqc�g}hf�e�ef!gsb�_xi�^)R�U�S�T#W�]#_�_'ZfTCS�W3XsX�YNY~[,]�_�`�`�_�__^�^]*\\�]�]
[WZ�[�^v`}[�TjWg_�`]'^`aP`�]T�dHhAh�h�f�gg�h�idhe�e<d�a_�jp\cP�S7TLW�W�U
OH�KR�Wn[ ]]�^B^#^�_p_�_�_�`_^]�]\�\?\P^`_�^S^7^�_z_	[�XDZ�_P`_^�[�P�H�[VcVhlh�g8d�eMg�i�j�i�g�dj`Y]�`k�]-Q�S]U�Z�ZAW�XX�W/U\X�^�`�aZa&`!``_?]R\w]\L[Z�Z�[�]`cEc�b�bhb"_�\�]�`!a6_�`'a�`h^]`/ccajb�ecL`6a�e�f�g�imi�e�^�]ubm�a�U�V�X�]f\XyZ]�[�X$Y�]�_�_�`�`�_c]�^�a;a�`�_�_9_x`D`�b#d�g�hf+dTb%aLab�c�a�aa�a�a�a-a�c6e�h�g!c�ddeLa�\Z[_ofXj�l=h�f�rHg�\!\\�`B_
[�]pa_�\U[�\?\u\�^[`w^�\�_�e�h
eeEf~g�h�hg�iNk�k�i�fjc3dFgeg�fUb�c�d�de&e�bh^�dlm4k�eme�hjg�eKe�fJg�iHh6e�eiw�i?]W^�_�b0cec_RZ`\�bqb$^�^�`Fab#cmdcF_�]�`,b�g$h�h�gVd�e�iykk�l�l]g�b4dnjZk9exh�p�oEi.f�e_�Y�\ce�e�epd2eg�g*e�i�o2l�ivp�ik]�`rbcetd�dfhi�i�g�d�c�e�f8f�glhrl�m�c�]�^�d�f�eKc�`�`�cph!mgo�ohm/ehR�@J	T�Z^di�k�i_c�d�g�f�c�a]``�b�c�f�hg�ea�ch
j?o�d�g�d�cd(d�ae^�a;gRh�g�g�fAe�fEhj9g�f�k�k�k>hde�d�f�k(imd�d�f�f~dPa�_�di�e�ljo i�g�f=fJf�dpaLa)bla�a)c�hej�ih�h>g�h�n�u�sv�k�k�e&`�_D]�_e�dbPdgchjdic�c�d�f�`D^siAf,h�k2j%hWk�s�v?t�u�v�swntlg�X�G�J�C�TR�Y�`�d
f!k�p�nxgzdyd�i)o�r$k9k�m�i�dgSni{sDc�\�[�^�^�a_OX�]�c�d
a/aec�a@c?d�bW�P_�f�lop-p�m�e�a�^�S�GbGsJ�<�*+-H:{8�L�['U�`Xou�u�soOr�xq�f�f�l!kioto nr�w�r|i�h�j^[�a�d�bA[�\�`�[`^[�X;X�c�c�_�`�`�gtd�fW^�[�Z�\�^�[�OI�K3H�C�A�@6�-�7KGV�a$e7c�h�on�k6i�jrm
o�l�g�g4gh_mp�sSr�t�u-k�a�lr�i�gLa*`?]O&C{B�3c/,>�Z2d�\]*_h_`b=^�c\�]^,`�`l_^Yc�d�_Z,Y3_Wf�_dQ'PUEVFS�Xzafa�_�eHl5h5_�amh�mPqtyti�p_p]plq�q�j�c?i7hXe�c�f[w|o0M�g_`8���+F�NBX�^1`�e�Q�[�G3^oc�fhi�i�bf�h�bIcxd0c�a�^tZ�Y�S�9�_Ch�l�l�h�e�e�n�y�tzf�e+ii�i;i'k2k�j�j.h�h�i{e�o�M�^�k�l+a�j�t1^{h�blY{K�A�S�V�Ybg'hVzU�1ka0aXV"S�ZTpQtkU�8�Xsjr�p3he^�bjk2dacgfkuj�f�e�fOgOhaf�dYe	g�h�h�i�i�iEh�g-e�h"l�m�9�4�c�W�9~QP�K|Tcf�e�i"g�R'=�]�f�eeZqK�^Pba�\�Zij�N�F\ui�q�l�`�]�_`�b3`�a�b�c�ePf-dpb bQc�c�d)ejf�g�hih�h�hkg�f�e�foj�v3(�E�V7)�:�O'\�h�l�k�n�p�m�f[}Vhwc�iiHaRc�bYbe�i+c�`iy_�[qZ>\c`�bgb$b�c�e(cb�czd�f%e�c�c\c�d"ee�f�g�g�hdhsf�e�gUh�c9^�je�X*Rb?[�]ra*dQfjf|e�gi3f�b�b]d�fSdcb�b�e�ghibkel�k�j�i7f�d�e�g�geld�d�d*dId�ff7f(f�f�gNh�g�f&f f�f�ggbgZf�e�f}gnd�do�b�Y&W�a�abm_�^�^c^�_m_�_�`Aa�d�g�e^c�cWc�e�f"ghOi�j�j�l�l,jOh�f�gh2g�gfMe�eQeHe�fff�ff�hh�h^g&f�f�f�fyf�f�f.eXf>g^d�d�o�e V�Y�\^\�YxVcT�WZ�Y�W�[�bWc.a\b_d~e�ed�dwd�f%f/e�egede�g_h�iSh%fBfggIf�f�e�e�ebff�e<e�g_gNg�g�gzf�f�fSf�f�e�eQe�gJeue�oTe1\�]�\�^�ad
g�j�j	f�f�g�f�ecebb�e e�fVe�eOeqf.e�d�dc�dof>hi�h�f�f�f�f�f�f�f�f8e�e�gGj~khTgg�i�i~h
gfPfVf�e�eZf�hje�d�qGd�f1_�`dd0d�c�b�a�a�bhb�c�d�fe�d�eee�gg0f�f�f�f,eqd�d�d�ebf�h;h�h#ggfPf7fEftf�f�f�eufIm;nzh�fag�j�j�h�gXfTfUg%fTecg_i=e�d�s!f;eU_b_�cjdcc
b�b~b�cCc�d/d djd{d_d�e�e�e�fe�e�e�e�e�e�e�f�gAg�h5g�g+f-ffHf�f�g�gmeZa[�_zd�d�gIiiQh.g�f�gf�f�fIg,h!gph(o�h�^�^]�`D`�`�a\bgb�b�b�bau`�aSb6btbVdTcic�ddMd�e	e�f{g_g�hh6g�g�gPfhe�fZgtfej!m�`iHQ6�LXc�c�f{eff�gbg�gxgf�gfsf3im;j�kL\�^�^e`f`�`�abbmb`ba�a7`_�_�`&`�`�c8d_d�d�dGd�e2e�f~f�f�f�f�frfGf4e�e�f(gg�guf�ih�[Za}l�f]e�e�e~e�ghjhg3gg%f�f\hOkbk�l�]3`p`$a�a�aTaWa�a�bba�a�aK`7_U`ja�_8d�f/fhf(eYd�ed�d�d�d�d�eYefe�e�e�f7f�f�f�g�ih]f�e�g�i�h�hYgfce.fh�ig�f�fBf�g�e�fp6i�aja,`�a�a�aXa�b5bBa�a�a�a�b~ekii�iFl�g}feWe�f}f�feMd&c�c�dXd�e8eYexe�f
f~gg�hhAh�i8k
j"iih�h9fSd�f3i)ithf�fg6h d�dNp�dvf�b	aa�a�a�bb�cca�adh<ga�[�Y�i�hMg3cad�g�hYg]fWd�ded�d�eee�e�e�e�fff�g�hjh-g�g@g�g8g
g�h�h�hf�edf�i6iChEgaf�gWg�e\d�p'e�d�b2a�a�a�a�bb�c�c�b�bSd�g�cW]Z`�fZ]�g�fvcc�e~e�ed�d�ee;e�e�f>fsf�f�f�f�gjg�g�f�f�f�f�f�gvh2hQhf�ff�h�ih1g\f�gg�e3d�pj�`0b�bbTba�blccc�dieVe�c�aL`�bb�c�d�e�ehd�czb!aba�ce4f=f�ggg#gGgpg�g�g}g!f�f�frf�g.g?g�g�h*h1g�g�g?g_g�hUh�g�f�g`heEe	pNk\^|b�b%a�a�a�b�d1d�d�d�dRb�a/a�cXdddAd�eVd�db�a�bVc�e�f�gg'f�g)g'g�g�g�gEf�f"f'ff�f�g`gng�g�g�g�g�g�gXgHg�h,g�f�gg�eKep8j%^�b�a�a�a[b5cwe<e�d�cabd�d�dhd|dzdQd<e�eIe}ehe�e�f(f�f�ggf�ggAgUggg�gkg
f�ff�f�gLgog�g�g�g�g�g�g�g�gOg�h�g�f�gjh)e�e�p�i!^Pbqa�ada>a�c]d�eNd�c+abbyd�e0d~d�e�f7f�e
e^eIe�ff�f�f�f�f�f�fCfTfrf�f�f�f�f�f�f�f�f�g
g1gJg9g*g3g$g7ggf�g�hOg�f�gPh
e�e�p�h�]�a�awa�a�bb�dd�d�daddd{dvd�exf�huh�d�e�ed�e~f�f�fNf3fJfe�e�e�ff/fTfxf�f�gNgGgzg�g�gmg�gOg2gg
f�f�gg�heg�f�g�h[e�e�qht]ra}aa�a�bb�c�dfdhd�d�dAdud�eed�d�eAhXe�eMee�f�f�fPf#e�e�e�ege�e�e�ff$f�g:gAghg�gRgPgog=g f�f�f�f�f�f�g�h.g�f�g�h9e�e�qiV^asa>a�bCbGc
c�d]d�d�d�d�d�ee�dJb\``�j1e�f,fnf�f�fjfvf=f,f3f5e�e�f.fHf{f�g'g[gZg�g�g�g�gkgg�gbg>f�f�f�g*g�hg�f�gqhwf,fqaj^�a�a bqb�b�c,c�dd_d�d�e
e
d(ckd
e�gLfo^�e�gCg�f�e7e_fUfifqf�f�f�f�f�f�f�f�gg2gg,g'g0g/gog�g�g�g�gfgNg"g.g�hgXfhg?h_f7f#q1kp`Iba�b�c#b�cc�ddSdfd�d�ddJda�\�W�WDh�e�hh�f�d%dee�f�f�f�g)gwg�g�g�gdgAgf�f�f�f�f�gg{g�h%hOh#hg�ggmg�g�g<frgVh�f'f	q>lC`�a�a�cb�b�ccgc�c�c�c�d�eb�a#fk�eQ\�gwe+fDf�e�dpd�e�f(fxf�g#g\gLgpg8gDf�f�fWf;f
e�fAf�f�gig�h
g�g�g{g{gJg�g�g&fgh@f8f
ql�`�b/a^b�b�b�b�c>c�cnc5ccdc�d~eLff�gg;gLd4c<c3dUe�f0e�e�f8f�f�f�g>gf�f�f�f7e�e�e�e�e�f5f�g'g�g�g�g�g^g:gag�g�gfDg5hPf"fyq�l`naK`�a�b$a�a�bUbQb9a�a�a�b�c�d�egfih�i�f`b�a(a-ce�e�d�d�d�e|e�ffKf9ffe�ed�d�d�d�d�eMe�fBf�ggf�fpfoff�f�f&eAfg�e�e�qj