PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 128
FILE_RECORDS                      = 441
LABEL_RECORDS                     = 235

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                     = 236
^IMAGE                            = 378

/* IDENTIFICATION DATA ELEMENTS */

 COMMAND_SEQUENCE_NUMBER          = 19
 FRAME_ID                         = "LEFT"
 FRAME_TYPE                       = MONO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "1000015"
 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            = "14:44:41"
 MAGNET_ID                        = "NULL"
 MISSION_NAME                     = "MARS EXPLORATION ROVER"
 OBSERVATION_ID                   = "4279959552"
 PLANET_DAY_NUMBER                = 4727
 PRODUCER_INSTITUTION_NAME        = "Arizona State University"
 PRODUCT_CREATION_TIME            = 2019-12-23T08:03:56Z
 PRODUCT_VERSION_ID               = "V3.0 D-22846"
 ROVER_MOTION_COUNTER             = (207,0,0,141,232)
 ROVER_MOTION_COUNTER_NAME        = (SITE,DRIVE,IDD,PMA,HGA)
 SEQUENCE_ID                      = "p2425"
 SEQUENCE_VERSION_ID              = "40"
 SOLAR_LONGITUDE                  = 3.32656
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "547835255.246"
 SPACECRAFT_CLOCK_STOP_COUNT      = "547835264.462"
 START_TIME                       = 2017-05-12T04:28:27.015
 STOP_TIME                        = 2017-05-12T04:28:36.230
 TARGET_NAME                      = MARS
 TARGET_TYPE                      = PLANET
 PRODUCT_ID                       = "1P547835255IOTCZ00P2425L7A1"
 DATA_SET_NAME                    = "MER 1 MARS PANCAM I/F CALIBRATED RDR
                                     V2.0"
 DATA_SET_ID                      = "MER1-M-PANCAM-3-IOFCAL-SCI-V2.0"
 MISSION_PHASE_NAME               = "EXTENDED MISSION"
 RELEASE_ID                       = "0054"

/* TELEMETRY DATA ELEMENTS */

 APPLICATION_PROCESS_ID           = 21
 APPLICATION_PROCESS_NAME         = "PANCAM LEFT"
 APPLICATION_PROCESS_SUBTYPE_ID   = 3
 EARTH_RECEIVED_START_TIME        = 2017-05-12T07:46:14.690
 EARTH_RECEIVED_STOP_TIME         = 2017-05-12T07:46:15.094
 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_p2425-040-0019_002_0547835255-063.dat"
 TELEMETRY_SOURCE_TYPE            = "DATA PRODUCT"

/* HISTORY DATA ELEMENTS */

 SOFTWARE_NAME                    = MER_ARCHIVE_IMAGE
 SOFTWARE_VERSION_ID              = "V2.02 05-Aug-2018"
 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:
                                     2019-11-22T16:45:34Z ;;; 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: 2019-12-23T08:03:56Z"

/* 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               = (0.429596,-0.115784,-1.24612)
  MODEL_COMPONENT_2               = (0.86082,-0.490302,0.136356)
  MODEL_COMPONENT_3               = (140.245,180.817,3.10154)
  MODEL_COMPONENT_4               = (1.05402,0.974213,228.789)
  MODEL_COMPONENT_5               = (0.864861,-0.481587,0.141737)
  MODEL_COMPONENT_6               = (0.000998,0.003762,-0.057232)
  FILTER_NAME                     = PANCAM_L7_440NM
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
  REFERENCE_COORD_SYSTEM_INDEX    = (207,0,0,141,232)
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_NAME          = ROVER_FRAME
  COORDINATE_SYSTEM_INDEX         = (207,0,0,141,232)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  ORIGIN_OFFSET_VECTOR            = (0.0,0.0,0.0)
  ORIGIN_ROTATION_QUATERNION      = (0.709881,0.00803523,0.0390855,-0.703191)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = COARSE
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  REFERENCE_COORD_SYSTEM_INDEX    = 207
END_GROUP                         = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_NAME          = APXS_FRAME
  COORDINATE_SYSTEM_INDEX         = (207,0,0,141,232)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  ORIGIN_OFFSET_VECTOR            = (0.869116,0.0324879,-0.00633713)
  ORIGIN_ROTATION_QUATERNION      = (0.706878,-0.704869,0.0408886,-0.0425472)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = DOWN
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
  REFERENCE_COORD_SYSTEM_INDEX    = (207,0,0,141,232)
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       = (-0.544464 <rad>,-0.200606 <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       = (2.88017 <rad>,0.0199618 <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       = (7,2,1)
  ARTICULATION_DEV_POSITION_ID    = ("PANCAM_L7_440NM","PANCAM_R2_754NM",
                                     "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       = (-0.11828 <rad>,-0.899795 <rad>,
                                     2.47065 <rad>,1.57119 <rad>,-1.571 <rad>,
                                     -0.120907 <rad>,-0.910254 <rad>,
                                     2.46654 <rad>,1.53665 <rad>,
                                     -1.58606 <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>,9.26647 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT 1","TURRET JOINT 5")
  ARTICULATION_DEV_INSTRUMENT_ID  = "APXS"
  ARTICULATION_DEV_VECTOR         = (-0.0667927,-0.043561,0.996816)
  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_NAME          = MAST_FRAME
  COORDINATE_SYSTEM_INDEX         = (207,0,0,141,232)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  ORIGIN_OFFSET_VECTOR            = (0.45729,0.02605,-1.0962)
  ORIGIN_ROTATION_QUATERNION      = (0.961505,-0.0183767,-0.0664246,-0.266005)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
  REFERENCE_COORD_SYSTEM_INDEX    = (207,0,0,141,232)
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       = (0.0111259 <rad>,-0.134041 <rad>,
                                     -0.0479631 <rad>,-0.109469 <rad>,
                                     -0.0203377 <rad>,0.0229037 <rad>,
                                     -0.0304691 <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           = 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           = 30.0
  EXPOSURE_DURATION_COUNT         = 1500
  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               = 65
  PIXEL_DOWNSAMPLE_OPTION         = NONE
  PIXEL_AVERAGING_HEIGHT          = 1
  PIXEL_AVERAGING_WIDTH           = 1
  SAMPLE_BIT_MODE_ID              = "LUT3"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 2.0
  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               = 65
  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              = 2
  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               = 65
END_GROUP                         = ROW_SUM_REQUEST_PARMS

/* COLUMN SUMMATION REQUEST */

GROUP                             = COLUMN_SUM_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 65
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               = 65
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               = 9216.0 <ms>
  EXPOSURE_DURATION_COUNT         = 1800
  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          = (-0.643887 <degC>,-2.14472 <degC>,
                                     14.5538 <degC>,-0.811496 <degC>,
                                     -2.9105 <degC>,-3.83668 <degC>,
                                     0.0 <degC>,4.63897 <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                 = 1.125
  INST_CMPRS_RATIO                = 10.6667
  INST_CMPRS_SEGMENTS             = 1
  INST_CMPRS_SEGMENT_QUALITY      = 6.25
  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_DECOMP_STAGES              = 2
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = -30.9287 <deg>
  INSTRUMENT_ELEVATION            = -7.90389 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (207,0,0,141,232)
  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              = -119.89 <deg>
  INSTRUMENT_ELEVATION            = -5.88311 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = 207
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  SOLAR_AZIMUTH                   = 274.394 <deg>
  SOLAR_ELEVATION                 = 48.695 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  DERIVED_IMAGE_TYPE              = IMAGE
  RADIANCE_SCALING_FACTOR         = 4.3347e-06
  RADIANCE_OFFSET                 = 0.04635216
  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      = "1P547835255ETHCZ00P2425L7M1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_1       = FILENAME
  SOFTWARE_PARAMETER_VALUE_2      = "1P547835255RATCZ00P2425L7A1.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_1R2_547833958_CZ00P2119_2.txt",
                                     "rc_1L7_547833926_CZ00P2119_2.txt",
                                     "rc_1L5_547833889_CZ00P2119_2.txt",
                                     "rc_1L2_547833857_CZ00P2119_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       = "2"
  SOFTWARE_KEYWORD_NAME_21        = V1
  SOFTWARE_KEYWORD_VALUE_21       = 0
  SOFTWARE_KEYWORD_NAME_22        = DARK_CAL
  SOFTWARE_KEYWORD_VALUE_22       = 0
  RESPONSIVITY_CONSTANTS          = (0.0006078377100000001,2.0605278e-06,0.0)
  RESPONSIVITY_CONSTANTS_FILE     = "rc_1L7_547833926_CZ00P2119_2.txt"
  PROCESSING_INFO                 = ("responsivity constants file:
                                     rc_1L7_547833926_CZ00P2119_2.txt",
            "associated selection filename: roi_00320_00272_170515202810.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: 1P547833926RADCZ00P2119L7A2.IMG.gz",
                                     "solar azimuth (rover frame): 7.27092",
                                    "solar elevation (rover frame): -49.9924",
                                     "dust model tau: 1.0464733",
                                     "dust model rad coeff: 0.063826012",
                      "dust-contaminated areas excluded from selections: Yes",
 "ROI radiances: NaN 0.0054998603 NaN 0.0052228221 0.0060619973 0.0067863506 0.0073135681 NaN NaN NaN",
 "ROI uncertainty: NaN 0.00017200276 NaN 0.00018932397 0.00024584173 0.00026211477 0.00029783988 NaN NaN NaN",
                                  "ROI count: 0 233 0 311 422 703 2464 0 0 0",
 "reflectances: NaN 0.065509195 NaN 0.064260270 0.070271032 0.082315848 0.087856759 NaN NaN NaN")
  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_04674_V01.IMG",
                                     "MER_FLAT_STDDEV_SN_115_L7_V01.IMG")
  FLAT_FIELD_FILE_DESCRIPTION     = ("Flat field image.",
                                     "Flat field standard deviation image.")
  REFERENCE_PIXEL_IMAGE           = "1P547834016ERPCZ00P2425L2M1"
  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                     = "1P547835255ETHCZ00P2425L7M1"
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                        = 26599844
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = "N/A"
  MAXIMUM                         = 32766
  MEAN                            = 6494.102539062500
  MEDIAN                          = 4082
  MINIMUM                         = 0
  MISSING_CONSTANT                = "N/A"
  SAMPLE_BIT_MASK                 = 2#1111111111111111#
  STANDARD_DEVIATION              = 6935.618
  SCALING_FACTOR                  = 4.3347e-06
  OFFSET                          = 0.04635216
END_OBJECT                        = IMAGE

/* IMAGE HEADER DATA ELEMENTS */

OBJECT                            = IMAGE_HEADER
  HEADER_TYPE                     = VICAR2
  INTERCHANGE_FORMAT              = ASCII
  BYTES                           = 12672
  ^DESCRIPTION                    = "VICAR2.TXT"
END_OBJECT                        = IMAGE_HEADER

END
LBLSIZE=18176  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'  COMMAND_SEQUENCE_NUMBER=19  FRAME_ID='LEFT'  FRAME_TYPE='MONO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='1000015'  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='14:44:41'  MAGNET_ID='NULL'  MISSION_NAME='MARS EXPLORATION ROVER'  OBSERVATION_ID='4279959552'  PLANET_DAY_NUMBER=4727  PRODUCER_INSTITUTION_NAME='Arizona State University'  PRODUCT_CREATION_TIME='2019-12-23T08:03:56Z'  PRODUCT_VERSION_ID='V3.0 D-22846'  ROVER_MOTION_COUNTER=(207,0,0,141,232)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA')  SEQUENCE_ID='p2425'  SEQUENCE_VERSION_ID='40'  SOLAR_LONGITUDE=3.32656  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='547835255.246'  SPACECRAFT_CLOCK_STOP_COUNT='547835264.462'  START_TIME='2017-05-12T04:28:27.015'  STOP_TIME='2017-05-12T04:28:36.230'  TARGET_NAME='MARS'  TARGET_TYPE='PLANET'  PRODUCT_ID='1P547835255IOTCZ00P2425L7A1'  DATA_SET_NAME='MER 1 MARS PANCAM I/F CALIBRATED RDR V2.0'  DATA_SET_ID='MER1-M-PANCAM-3-IOFCAL-SCI-V2.0'  MISSION_PHASE_NAME='EXTENDED MISSION'  RELEASE_ID='0054'  PROPERTY='TELEMETRY'  APPLICATION_PROCESS_ID=21  APPLICATION_PROCESS_NAME='PANCAM LEFT'  APPLICATION_PROCESS_SUBTYPE_ID=3  EARTH_RECEIVED_START_TIME='2017-05-12T07:46:14.690'  EARTH_RECEIVED_STOP_TIME='2017-05-12T07:46:15.094'  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_p2425-040-0019_002_0547835255-063.dat'  TELEMETRY_SOURCE_TYPE='DATA PRODUCT'  PROPERTY='PDS_HISTORY'  SOFTWARE_NAME='MER_ARCHIVE_IMAGE'  SOFTWARE_VERSION_ID='V2.02 05-Aug-2018'  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: 2019-11-22T16:45:34Z ;;; 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: 2019-12-23T08:03:56Z'  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=(0.429596,-0.115784,-1.24612)  MODEL_COMPONENT_2=(0.86082,-0.490302,0.136356)  MODEL_COMPONENT_3=(140.245,180.817,3.10154)  MODEL_COMPONENT_4=(1.05402,0.974213,228.789)  MODEL_COMPONENT_5=(0.864861,-0.481587,0.141737)  MODEL_COMPONENT_6=(0.000998,0.003762,-0.057232)  FILTER_NAME='PANCAM_L7_440NM'  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  REFERENCE_COORD_SYSTEM_INDEX=(207,0,0,141,232)  PROPERTY='ROVER_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_NAME='ROVER_FRAME'  COORDINATE_SYSTEM_INDEX=(207,0,0,141,232)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  ORIGIN_OFFSET_VECTOR=(0.0,0.0,0.0)  ORIGIN_ROTATION_QUATERNION=(0.709881,0.00803523,0.0390855,-0.703191)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  QUATERNION_MEASUREMENT_METHOD='COARSE'  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  REFERENCE_COORD_SYSTEM_INDEX=207  PROPERTY='IDD_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_NAME='APXS_FRAME'  COORDINATE_SYSTEM_INDEX=(207,0,0,141,232)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  ORIGIN_OFFSET_VECTOR=(0.869116,0.0324879,-0.00633713)  ORIGIN_ROTATION_QUATERNION=(0.706878,-0.704869,0.0408886,-0.0425472)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='DOWN'  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  REFERENCE_COORD_SYSTEM_INDEX=(207,0,0,141,232)  PROPERTY='PMA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='PMA'  ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY'  ARTICULATION_DEVICE_ANGLE=(-0.544464,-0.200606,0.0,0.0,0.0,0.0)  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=(2.88017,0.0199618)  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=(7,2,1)  ARTICULATION_DEV_POSITION_ID=('PANCAM_L7_440NM','PANCAM_R2_754NM','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=(-0.11828,-0.899795,2.47065,1.57119,-1.571,-0.120907,-0.910254,2.46654,1.53665,-1.58606)  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+30,9.26647)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5')  ARTICULATION_DEV_INSTRUMENT_ID='APXS'  ARTICULATION_DEV_VECTOR=(-0.0667927,-0.043561,0.996816)  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_NAME='MAST_FRAME'  COORDINATE_SYSTEM_INDEX=(207,0,0,141,232)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  ORIGIN_OFFSET_VECTOR=(0.45729,0.02605,-1.0962)  ORIGIN_ROTATION_QUATERNION=(0.961505,-0.0183767,-0.0664246,-0.266005)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  REFERENCE_COORD_SYSTEM_INDEX=(207,0,0,141,232)  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(0.0111259,-0.134041,-0.0479631,-0.109469,-0.0203377,0.0229037,-0.0304691)  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=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=30.0  EXPOSURE_DURATION_COUNT=1500  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=65  PIXEL_DOWNSAMPLE_OPTION='NONE'  PIXEL_AVERAGING_HEIGHT=1  PIXEL_AVERAGING_WIDTH=1  SAMPLE_BIT_MODE_ID='LUT3'  INST_CMPRS_MODE=1  INST_CMPRS_RATE=2.0  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=65  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=2  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=65  PROPERTY='COLUMN_SUM_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=65  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=65  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=9216.0  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=1800  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=(-0.643887,-2.14472,14.5538,-0.811496,-2.9105,-3.83668,0.0,4.63897,0.0)  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=1.125  INST_CMPRS_RATIO=10.6667  INST_CMPRS_SEGMENTS=1  INST_CMPRS_SEGMENT_QUALITY=6.25  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_DECOMP_STAGES=2  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=-30.9287  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-7.90389  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=(207,0,0,141,232)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=-119.89  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-5.88311  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=207  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=274.394  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=48.695  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='DERIVED_IMAGE_PARMS'  DERIVED_IMAGE_TYPE='IMAGE'  RADIANCE_SCALING_FACTOR=4.3347e-06  RADIANCE_OFFSET=0.04635216  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='1P547835255ETHCZ00P2425L7M1.IMG.gz'  SOFTWARE_PARAMETER_NAME_1='FILENAME'  SOFTWARE_PARAMETER_VALUE_2='1P547835255RATCZ00P2425L7A1.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_1R2_547833958_CZ00P2119_2.txt','rc_1L7_547833926_CZ00P2119_2.txt','rc_1L5_547833889_CZ00P2119_2.txt','rc_1L2_547833857_CZ00P2119_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='2'  SOFTWARE_KEYWORD_NAME_21='V1'  SOFTWARE_KEYWORD_VALUE_21=0  SOFTWARE_KEYWORD_NAME_22='DARK_CAL'  SOFTWARE_KEYWORD_VALUE_22=0  RESPONSIVITY_CONSTANTS=(0.0006078377100000001,2.0605278e-06,0.0)  RESPONSIVITY_CONSTANTS_FILE='rc_1L7_547833926_CZ00P2119_2.txt'  PROCESSING_INFO=('responsivity constants file: rc_1L7_547833926_CZ00P2119_2.txt','associated selection filename: roi_00320_00272_170515202810.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: 1P547833926RADCZ00P2119L7A2.IMG.gz','solar azimuth (rover frame): 7.27092','solar elevation (rover frame): -49.9924','dust model tau: 1.0464733','dust model rad coeff: 0.063826012','dust-contaminated areas excluded from selections: Yes','ROI radiances: NaN 0.0054998603 NaN 0.0052228221 0.0060619973 0.0067863506 0.0073135681 NaN NaN NaN','ROI uncertainty: NaN 0.00017200276 NaN 0.00018932397 0.00024584173 0.00026211477 0.00029783988 NaN NaN NaN','ROI count: 0 233 0 311 422 703 2464 0 0 0','reflectances: NaN 0.065509195 NaN 0.064260270 0.070271032 0.082315848 0.087856759 NaN NaN NaN')  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_04674_V01.IMG','MER_FLAT_STDDEV_SN_115_L7_V01.IMG')  FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.')  REFERENCE_PIXEL_IMAGE='1P547834016ERPCZ00P2425L2M1'  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='1P547835255ETHCZ00P2425L7M1'  PROPERTY='IMAGE_DATA'  CHECKSUM=26599844  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT='N/A'  MAXIMUM=32766  MEAN=6494.1025390625  MEDIAN=4082  MINIMUM=0  MISSING_CONSTANT='N/A'  SAMPLE_BIT_MASK='2#1111111111111111#'  STANDARD_DEVIATION=6935.618  SCALING_FACTOR=4.3347e-06  OFFSET=0.04635216  TASK='MERTELEM'  USER='dalex'  DAT_TIM='Fri May 12 07:46:28 2017'  TASK='LABEL'  USER='dalex'  DAT_TIM='Fri May 12 07:46:29 2017'  TASK='LABEL'  USER='dalex'  DAT_TIM='Fri May 12 07:46:29 2017'  TASK='MER_PANCAL_IMAGE'  USER='jj'  DAT_TIM='Fri Nov 22 09:45:34 2019'  TASK='MER_ARCHIVE_IMAGE'  USER='jj'  DAT_TIM='Mon Dec 23 01:03:56 2019'a�Zn[-Z�\\�\�]Q^�_5_�_�`G`�a�b?b�c[c�cKcxc�d�eme�f�f�gBg�h�ibi�j;j�kRlMl�m|m�nfooao�pep�q
q�r!r�s4s�t3u*usu�wAxcx�x�y0y�y�{.�^�XCX�X�ZXZ�ZF[m[�\�]B]�]�^�_V_�_�`�`�`�ava�b�ckc�d�d�e)eDff�gWg�h[h�i�iZj�k�l9l�l�m�m�ndn�oYp.p�qgq�r{r�sntu<u�vzv�v�w�w�y~e\pU�V"VZW�X>X�XYX�Y�Z�Z�Z�[\8\B\0]]�^g^}_`daawa�b�b�b�b�d!d;d�e�f�g,gig�h�i�j�j�kAkdk�l_l�m�naoo�o�qq�rwr�t\t�twuu�t�wZ|�[	SGS�S�U/UKT�U:U�VCV�WrYY�Y�Y�ZFZ�[[�\t])]�^�^�_+_,_v_�`"aa�c.c�c�eeevf�gfg�h
huh�h�ijkNk�l�m!m�n~n�o|pNqSq�rrKs�s3t+zoXN�Q:PZQ�Q�Q�R
S@T4T}U,U�VU�V�W�V�W]XoY�Z(Y�Zt[b[�[�\!\�\�]C^�_�aaSa�b9cc�c�c�d�d�e�d�e�f�g�ii�i�joj�k-k�l�m�npn/o0o[o�q'v�7�.�2
3L6r8�:�<�>�A�D:GFI{LCNJO�Q@SoU�U_T9UV�WBWXX�YWYLZZ�[d[�\L]f^�^Y^�_E_�a)a�a�b�c�d0ee�ff^f�f�gohqi�j�k�l2l7m[m�mSn�tf*�#S#�#j$F$V$)$�%�&B&�&s&&�'�(y(�+�/0�1i4c8\;�>�A�D�F�G�J:M�P�S�V�X&Y+Z6Z�[\\X\�^_C_C__�`�aZa�bhb�c|de7f-gKh�h�i%i�j�j�k�q5&�:0��g�yH~�!!!�!�"�#�#"#8%=%_$�%j&�&�&R&�(('�(�)p*�-R0o4x7�:�=�@�CdEaIrM�P�SFV�ZB]^n_�`�a)a�bNb�c�c�d�eTesg�n�$���d���(W�H�L� j;�  y x!6 � . �!m!�"9"�$%&w&;&&g'K&�&�'�('(�(�)
))�*A+�-�1�5�8�;�>�B�E�H�M�R�U;XaF$��_�����-`u��xzU|<���t��-_��Qd�/|� d!#!X!�"#|$($�%E%K%�&:&n%�&�'�(:(;(�(�)�*r)�,5S%a����mRbt%n^<n�Q�{��������6&�v@�����N������F��:��� *"I!�!�"N"�#�$�$�&
/�$��"��]z�n���Pl���609��F��Ci�7:��q��O-�����P@��������\�*'�#:��W�w��w>�m��h���#� b;��	f�����A�S5
V�jC�%Q#�iZ��Nj��^�'���B���9�������7M�I�4NOVJ�VXC�tQ��f ��8����
R�����6��&�����\&#}y�g����	E:	]�J�"A�%'v�'���{��j��
�!�q���)�N�}��"�&:��0� ���	�����H�����p��,���������������Y���V�z����{�txr �d�n%
�*����RR��%��G_X��b���x��Ls��Q�����|��������a���>�����`'�#h��b��y2rR�WF�|�\<;\�
�O����0�z�{T3(=��]Z��$(�����8��
B`�#\��kfe���KeUqv��2$k�����r�A�:Q��~�K<z��K��+����������~|R�@3Q`"y�t]��0�c���e�����4��a:��)M�-cJ�Qc����K��a���h�
������/K��m A6�	�s(�l�
�0-�fN�&"�^��&#��qa>U3p����A�3N�g�5,t��K���H���������^�<w�CQAF��U8�5n�����%��j*�4k����i������]��������!H����G R6%�+P��E�W���h}Boft��#�u��$�h�P�S�z��"Y���S"�i"����Mx3��x�m�E'=v�A*�o���!���J1Z�����$��8���c.��P� j(����8�� �m@b
��h�oR����A(��Ta�X6 ����]�21z��
q�Rc6���$>����
�(G��t��u�m��
�I��=xo�Fq�B���U����iW�/���9;�pXJ"��#-��<99���f���G���������
�0(�m�{����\O�� �$K>FZ�m��E�@�������k���_��U�_��f�8d��
�]�3t
�

�����pd0�{��\��i�S���?)#��pFZ��M�����r;@BoJ�	��n�
S���
�c	�}n
N
A_��=��&
��S�{
�
�[CI�����]��P�H��#�,�6,���[���
t	�	1
�'�
�
n\
�
S�l��b<7�p^<^	�?�o��5A���_��QK�%�^[v���N
Z�����#�
�
e
l�)
��
�r	f
����7�Q$
��J��
-aWI�W��r`^N>��Ym��i��)^Qt
�O����=�R8	 oL��%��
�
�0^�
�
b
�s	�	�

��Z	!
0������
�z�	|
�'����
�
��5X��w/�
����)����IBb�
F
�

�
)g��eM��	�5��b��<�B6�
������L>:D���wJ�|e
�a�9	f���`
w]`S-	�
��	�	j	R��N9�
w��
��"(j���cp6b)2z��Z�ttM�K����
�
�
�
�
|�
V
�
E
�	
�	^
�
�J

�
�� �	_�	q
=
 
�' �6���1
�B��l�}���ep��Py��
�6R�6
�j
�
��<	�
��
F
B
�
�
�
�
�S
L
=V�y�5
h
=
��
��	���
^
��
�~�h��U����n`�s����
�8����
�	�	�
$i�fy��
A
 ���R'
�
cVA�G:�
F
�
�����
�
o
�����
VF

�N8��C�my^�L'R

����
e	I
*����
P
f
�
>��V�K
d���

�
�
�4�����L��.
���-�_S��L>
�
���Y�
O
��
�9
������G
&
>�
R
z
���.
�
]
1

/
4
[
�
�[������U'����<	��R
�f�*�

��
�-l�*T�
yMn��

�O��h$���?����I>��%I#
B(`TOK�,Ig�7�}
�
�
=w
1
?�g���
��
c���
6
�
�U��������	U����-�
"��������������M�v�����
V@
���K~z��������

U
M�
�
�
g|c�����
h'��>*�IX����*��xu���NT�
J��]y�%
��
�'\
Pg�s�
W	�	M	j	.	�

	Hx"	�
�>�N
�������"
A�!

�
�
�����%#�
M�n
�	���S���X
�
�
	&�z}P�;!�E�	&	h	�	^	U	�
4
	=�
�
�
.
C
[
�*A
�
�:�\

*
6$�L!
&�

�
f
w#�
��r�!
		�	�	
���Q���Z�H��w��M		)��	�	��,�
�
��	
�i'8���
�<c.;
���
B,
�n=
�
	9���Tf-��N}WX���	�
D	��p�M��yp�f�C��EHM9��3u�	P	�	�
�
	�
���%��
�nQ
b
�	��;\�������GmS1J	h	��q�	x��Zq���S{$��;o{Nx')	Y	-�	p
�����
�1*��	�	�X��a�P��8	2	D��	%��<����	i	R	A������w�	� 	�
�U
�	N
�
�"
�	��u�	1W

:|/	��4��N�	/		��0'=�	YK���	���i�	�
:
$�@j�	
H	��	x	�
:
]
@	�	�	
��
xT���
�
�
�@�)	��{����	@	�	r	W	�	]	9p�B	�	����		1	L	�	1[�	�
`
J	h
/	�	�
�

�
;
u
#�X
�
	�	����	�
�5�K��9}�h
	�		�	�	_			�	�

L
^
-�ol	�
>	�	K�\�	N		�	�
&
�
H
���	�
�
q	�	d	��D�	�
>
���7",
'�	e�	�%	^�~*�XI
�
�	�	�	R	�	k	K	&	�	Q�			d	�
�2	���sZ	)	�
�
�
��R	h	�	�	��q����c		#	�
�
�
�
S�	�	���I�
&��
#�t
�
�	�	�	�	���	T�	
�
�

��
���	->t�	�
�
�
�
S
b	-��	�	}	O	q	�	i�	�
�	��v���	'	
��
��	u
����	�d
5C
��	#
�k��W
���

p
U\VY	�	�
�g��
�
�
p
	�
G
|
(	�
h	�2	r	o	;	(	�
-	�	c	&�	
	�
	��j	�
#
L�	��	<	�	;	�
K
�
;	R	�	�
�
�
�F
�
�
@
M
�
�
�
�
�
�
	�
u
<
z
x
��q��
�	^	�
q
		P	�
�
l		(
�
�
�
�
f	�
<
�
j	��	K�	I	2�	n�f�
F��x
�
�K����'
�
�J
�
�

c
V
�
�
�	�
=
�=�s
�	�	�
�
�
�
&�*�B			j	�	D
�
���	��m�f<��L�	U
O
�����^�k1E�Ro��*/
�
�7��C.�
�
���@4�1
�	���	h�V�KqB��
H���G�,S2	,	^	L
�
�Q�
�
���

=
�
�
*`:fP2��`����v��f����=
(
��{0�
�	���
�:/	
�	@	-�-����'f�]�����		8	I	{
.��
D
=��
�
����s/K����j/��xM
�
�
�o��
1
�
�
j	�	�	�	`�?���GH]\�����7��K�	�6��O
A
�
��@ 51_�MOu<��:�&	�
�
��
��^
	
[��p-�}�
�	��,�q�f�����b��k�i�����		��
��
:r��4

����b�



#^�	B	��
��	Im	
�
O
Y��F�M
�	�	S	��o3�������EPU@�3_��b	�	�
f
��
$�`
@����'	�
\
�|�P�=�t	�}Y���_�4
�
	P����N6�i�����Dl����h[4c���Ss��	����&
�
�������f��|�/�1��	Q
�	
N
U	I�l���]�
��F$D�N�"����D<4�/x���9�u=	�
�-;