PDS_VERSION_ID = PDS3 /* FILE DATA ELEMENTS */ RECORD_TYPE = FIXED_LENGTH RECORD_BYTES = 128 FILE_RECORDS = 333 LABEL_RECORDS = 169 /* POINTERS TO DATA OBJECTS */ ^IMAGE_HEADER = 170 ^IMAGE = 270 /* IDENTIFICATION DATA ELEMENTS */ DATA_SET_ID = "MER2-M-PANCAM-2-EDR-SCI-V1.0" DATA_SET_NAME = "MER 2 MARS PANORAMIC CAMERA SCIENCE EDR VERSION 1.0" COMMAND_SEQUENCE_NUMBER = 14 FRAME_ID = "LEFT" FRAME_TYPE = STEREO GEOMETRY_PROJECTION_TYPE = RAW IMAGE_ID = "1000010" IMAGE_TYPE = THUMBNAIL INSTRUMENT_HOST_ID = "MER2" INSTRUMENT_HOST_NAME = "MARS EXPLORATION ROVER 2" INSTRUMENT_ID = "PANCAM_LEFT" INSTRUMENT_NAME = "PANORAMIC CAMERA LEFT" INSTRUMENT_SERIAL_NUMBER = 104 INSTRUMENT_TYPE = "IMAGING CAMERA" INSTRUMENT_VERSION_ID = "FM" LOCAL_TRUE_SOLAR_TIME = "11:28:43" MAGNET_ID = "NULL" MISSION_NAME = "MARS EXPLORATION ROVER" MISSION_PHASE_NAME = "EXTENDED MISSION" OBSERVATION_ID = "252444672" PLANET_DAY_NUMBER = 2113 PRODUCER_INSTITUTION_NAME = "CORNELL UNIVERSITY" PRODUCT_CREATION_TIME = 2010-07-16T16:59:09 PRODUCT_ID = "2P313944994ETHB260P2626L4C1" PRODUCT_VERSION_ID = "V3.0 D-22846" RELEASE_ID = "0025" ROVER_MOTION_COUNTER = (138, 60, 0, 60, 127) ROVER_MOTION_COUNTER_NAME = (SITE, DRIVE, IDD, PMA, HGA) SEQUENCE_ID = "p2626" SEQUENCE_VERSION_ID = "3" SOLAR_LONGITUDE = 22.8897 SPACECRAFT_CLOCK_CNT_PARTITION = 1 SPACECRAFT_CLOCK_START_COUNT = "313944994.746" SPACECRAFT_CLOCK_STOP_COUNT = "313944995.938" START_TIME = 2009-12-13T02:35:40.195 STOP_TIME = 2009-12-13T02:35:41.386 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 = 2009-12-13T07:05:33.117 EARTH_RECEIVED_STOP_TIME = 2009-12-13T07:05:33.163 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_p2626-003-0014_002_0313944994-191.dat" TELEMETRY_SOURCE_TYPE = "DATA PRODUCT" /* HISTORY DATA ELEMENTS */ PROCESSING_HISTORY_TEXT = "CODMAC LEVEL 1 to LEVEL 2 CONVERSION VIA JPL/MIPL MERTELEMPROC ;;; PANCAM EDR created using MER_MAKE_PCAM_EDR -- USER: jjoseph (James F. Bell) / MACHINE: merbpan1x.fltops.jpl.nasa.gov / UTC: 2010-07-16T16:59:09Z" SOFTWARE_NAME = MER_MAKE_PCAM_EDR SOFTWARE_VERSION_ID = "V9.00 22-Dec-2005" /* CAMERA_MODEL DATA ELEMENTS */ GROUP = GEOMETRIC_CAMERA_MODEL CALIBRATION_SOURCE_ID = "179" ^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 = (0.569991, 0.153805, -1.21934) MODEL_COMPONENT_2 = (-0.637251, 0.0536586, -0.768786) MODEL_COMPONENT_3 = (-41.0481, -219.595, -23.4154) MODEL_COMPONENT_4 = (-189.951, 18.1971, 118.213) MODEL_COMPONENT_5 = (-0.628857, 0.0513213, -0.775827) MODEL_COMPONENT_6 = (0.022997, 0.024872, -0.407146) FILTER_NAME = PANCAM_L4_602NM REFERENCE_COORD_SYSTEM_INDEX = (138, 60, 0, 60, 127) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = GEOMETRIC_CAMERA_MODEL /* COORDINATE SYSTEM STATE: ROVER */ GROUP = ROVER_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (138, 60, 0, 60, 127) COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA) COORDINATE_SYSTEM_NAME = ROVER_FRAME ORIGIN_OFFSET_VECTOR = (0.0182921, -0.00302313, 0.0128959) ORIGIN_ROTATION_QUATERNION = (0.977978, -0.142648, 0.0185819, -0.151214) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = UP QUATERNION_MEASUREMENT_METHOD = COARSE REFERENCE_COORD_SYSTEM_INDEX = 138 REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME END_GROUP = ROVER_COORDINATE_SYSTEM /* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */ GROUP = IDD_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (138, 60, 0, 60, 127) COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA) COORDINATE_SYSTEM_NAME = MI_FRAME ORIGIN_OFFSET_VECTOR = (0.725374, -0.0809015, -0.00628797) ORIGIN_ROTATION_QUATERNION = (0.530056, -0.528085, -0.471457, 0.466793) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = DOWN REFERENCE_COORD_SYSTEM_INDEX = (138, 60, 0, 60, 127) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = IDD_COORDINATE_SYSTEM /* ARTICULATION DEVICE STATE: PANCAM MAST ASSEMBLY */ GROUP = PMA_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "PMA" ARTICULATION_DEVICE_NAME = "PANCAM MAST ASSEMBLY" ARTICULATION_DEVICE_ANGLE = (3.03316 , 0.819009 , 3.03315 , 0.818904 , 3.03316 , 0.557582 ) 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 = (4.03279 , 2.69338 ) ARTICULATION_DEVICE_ANGLE_NAME = (AZIMUTH, ELEVATION) END_GROUP = HGA_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: FILTER */ GROUP = FILTER_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "FILTER" ARTICULATION_DEVICE_NAME = "FILTER ACTUATORS" ARTICULATION_DEV_POSITION = (4, 2, 1) ARTICULATION_DEV_POSITION_ID = ("PANCAM_L4_602NM", "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 = (-0.118371 , -0.899964 , 2.4708 , 1.5708 , 1.57122 , -0.126494 , -0.904248 , 2.47395 , 1.55997 , 1.51423 ) 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 = (-35.4577 , -21.0324 ) ARTICULATION_DEVICE_TEMP_NAME = ("AZIMUTH JOINT 1", "TURRET JOINT 5") ARTICULATION_DEV_VECTOR = (0.00679544, -0.284633, 0.958613) ARTICULATION_DEV_INSTRUMENT_ID = "MI" ARTICULATION_DEV_VECTOR_NAME = GRAVITY CONTACT_SENSOR_STATE = ("NO CONTACT", "NO CONTACT", CONTACT, CONTACT, "NO CONTACT", "NO CONTACT", OPEN, "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 = (138, 60, 0, 60, 127) COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA) COORDINATE_SYSTEM_NAME = MAST_FRAME ORIGIN_OFFSET_VECTOR = (0.45781, 0.02779, -1.09668) ORIGIN_ROTATION_QUATERNION = (0.0474289, -0.422084, 0.0221194, 0.905045) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = UP REFERENCE_COORD_SYSTEM_INDEX = (138, 60, 0, 60, 127) 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 = (-0.00997857 , 0.0118374 , -0.0260137 , -0.0500253 , 0.13729 , 0.050745 , 0.0770991 ) 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_L4_602NM AUTO_EXPOSURE_DATA_CUT = 2500 AUTO_EXPOSURE_PERCENT = 10.0 AUTO_EXPOSURE_PIXEL_FRACTION = 1.0 BAD_PIXEL_REPLACEMENT_FLAG = FALSE DETECTOR_ERASE_COUNT = 2 EARLY_PIXEL_SCALE_FLAG = FALSE EARLY_IMAGE_RETURN_FLAG = FALSE EXPOSURE_TYPE = AUTO EXPOSURE_SCALE_FACTOR = 1.0 EXPOSURE_DURATION_COUNT = 50 EXPOSURE_TABLE_ID = "PANCAM_L4" EXPOSURE_TBL_UPDATE_FLAG = TRUE FLAT_FIELD_CORRECTION_FLAG = FALSE INSTRUMENT_COORDINATE = (3.03687 , 0.87266 ) INSTRUMENT_COORDINATE_ID = "RVR BODY AZEL" INSTRUMENT_BORESIGHT_ID = "UNK" INSTRUMENT_IDLE_TIMEOUT = 300 MAX_AUTO_EXPOS_ITERATION_COUNT = 2 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 = FALSE DOWNLOAD_PRIORITY = 74 PIXEL_DOWNSAMPLE_OPTION = SW_MEAN PIXEL_AVERAGING_HEIGHT = 8 PIXEL_AVERAGING_WIDTH = 8 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 = 1 END_GROUP = IMAGE_REQUEST_PARMS /* REFERENCE PIXEL REQUEST */ GROUP = REFERENCE_PIXEL_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 74 INST_CMPRS_MODE = 1 INST_CMPRS_RATE = 12.0 INST_CMPRS_QUALITY = 0 INST_CMPRS_FILTER = E INST_DECOMP_STAGES = 4 INST_CMPRS_SEGMENTS = 1 END_GROUP = REFERENCE_PIXEL_REQUEST_PARMS /* THUMBNAIL REQUEST */ GROUP = THUMBNAIL_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = TRUE DOWNLOAD_PRIORITY = 0 LINES = 64 LINE_SAMPLES = 64 SAMPLE_BIT_MODE_ID = "NONE" INST_CMPRS_MODE = 1 INST_CMPRS_RATE = 1.0 INST_CMPRS_QUALITY = 0 INST_CMPRS_FILTER = E INST_DECOMP_STAGES = 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 = 74 END_GROUP = ROW_SUM_REQUEST_PARMS /* COLUMN SUMMATION REQUEST */ GROUP = COLUMN_SUM_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 74 END_GROUP = COLUMN_SUM_REQUEST_PARMS /* SUN FIND REQUEST */ GROUP = SUN_FIND_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE LINES = 63 LINE_SAMPLES = 63 END_GROUP = SUN_FIND_REQUEST_PARMS /* HISTOGRAM REQUEST */ GROUP = HISTOGRAM_REQUEST_PARMS SOURCE_ID = "GROUND COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 74 END_GROUP = HISTOGRAM_REQUEST_PARMS /* INSTRUMENT STATE RESULTS */ GROUP = INSTRUMENT_STATE_PARMS AZIMUTH_FOV = 15.8412 ELEVATION_FOV = 15.8412 BAD_PIXEL_REPLACEMENT_ID = "N/A" DETECTOR_FIRST_LINE = 1 DETECTOR_LINES = 1024 DETECTOR_TO_IMAGE_ROTATION = 0.0 DOWNSAMPLE_METHOD = SOFTWARE EXPOSURE_COUNT = 2 EXPOSURE_DURATION = 1192.96 EXPOSURE_DURATION_COUNT = 233 FILTER_NAME = PANCAM_L4_602NM FILTER_NUMBER = 4 FLAT_FIELD_CORRECTION_FLAG = FALSE FLAT_FIELD_CORRECTION_PARM = (0.0, 0.0, 0.0, 0.0, 0.0) INSTRUMENT_MODE_ID = "FULL_FRAME" INSTRUMENT_TEMPERATURE = (-35.1922 , -34.3851 , -11.2151 , -17.7293 , -18.8583 , 0.0 , -14.796 , -14.184 , 0.0 ) INSTRUMENT_TEMPERATURE_NAME = ("FRONT HAZ ELECTRONICS", "REAR HAZ ELECTRONICS", "LEFT PAN ELECTRONICS", "LEFT PAN CCD", "RIGHT PAN CCD", "LEFT NAV CCD", "MI CCD", "MI ELECTRONICS", "DESCENT CAMERA CCD") OFFSET_MODE_ID = "4095" 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 = 1.58008 INST_CMPRS_RATIO = 7.59456 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 = 2.93333 INST_DECOMP_STAGES = 2 END_GROUP = COMPRESSION_PARMS /* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */ GROUP = ROVER_DERIVED_GEOMETRY_PARMS INSTRUMENT_AZIMUTH = 174.0 INSTRUMENT_ELEVATION = 50.0057 REFERENCE_COORD_SYSTEM_INDEX = (138, 60, 0, 60, 127) 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 = 176.101 INSTRUMENT_ELEVATION = 49.2764 REFERENCE_COORD_SYSTEM_INDEX = 138 REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME SOLAR_AZIMUTH = 18.1757 SOLAR_ELEVATION = 64.5237 END_GROUP = SITE_DERIVED_GEOMETRY_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 = 9347897 FIRST_LINE = 1 FIRST_LINE_SAMPLE = 1 INVALID_CONSTANT = 4095 MAXIMUM = 2405 MEAN = 2282.201416015625 MEDIAN = 2287.000 MINIMUM = 2019 MISSING_CONSTANT = 0 SAMPLE_BIT_MASK = 2#0000111111111111# STANDARD_DEVIATION = 67.93835 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=12800 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' INTFMT='HIGH' REALFMT='IEEE' BHOST='x86' BINTFMT='HIGH' BREALFMT='IEEE' BLTYPE='' PROPERTY='IDENTIFICATION' DATA_SET_ID='MER2-M-PANCAM-2-EDR-SCI-V1.0' DATA_SET_NAME='MER 2 MARS PANORAMIC CAMERA SCIENCE EDR VERSION 1.0' COMMAND_SEQUENCE_NUMBER=14 FRAME_ID='LEFT' FRAME_TYPE='STEREO' GEOMETRY_PROJECTION_TYPE='RAW' IMAGE_ID='1000010' IMAGE_TYPE='THUMBNAIL' INSTRUMENT_HOST_ID='MER2' INSTRUMENT_HOST_NAME='MARS EXPLORATION ROVER 2' INSTRUMENT_ID='PANCAM_LEFT' INSTRUMENT_NAME='PANORAMIC CAMERA LEFT' INSTRUMENT_SERIAL_NUMBER=104 INSTRUMENT_TYPE='IMAGING CAMERA' INSTRUMENT_VERSION_ID='FM' LOCAL_TRUE_SOLAR_TIME='11:28:43' MAGNET_ID='NULL' MISSION_NAME='MARS EXPLORATION ROVER' MISSION_PHASE_NAME='EXTENDED MISSION' OBSERVATION_ID='252444672' PLANET_DAY_NUMBER=2113 PRODUCER_INSTITUTION_NAME='CORNELL UNIVERSITY' PRODUCT_CREATION_TIME='2010-07-16T16:59:09Z' PRODUCT_ID='2P313944994ETHB260P2626L4C1' PRODUCT_VERSION_ID='V3.0 D-22846' RELEASE_ID='0025' ROVER_MOTION_COUNTER=(138,60,0,60,127) ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA') SEQUENCE_ID='p2626' SEQUENCE_VERSION_ID='3' SOLAR_LONGITUDE=22.8897 SPACECRAFT_CLOCK_CNT_PARTITION=1 SPACECRAFT_CLOCK_START_COUNT='313944994.746' SPACECRAFT_CLOCK_STOP_COUNT='313944995.938' START_TIME='2009-12-13T02:35:40.195' STOP_TIME='2009-12-13T02:35:41.386' 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='2009-12-13T07:05:33.117' EARTH_RECEIVED_STOP_TIME='2009-12-13T07:05:33.163' 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_p2626-003-0014_002_0313944994-191.dat' TELEMETRY_SOURCE_TYPE='DATA PRODUCT' PROPERTY='PDS_HISTORY' PROCESSING_HISTORY_TEXT='CODMAC LEVEL 1 to LEVEL 2 CONVERSION VIA JPL/MIPL MERTELEMPROC ;;; PANCAM EDR created using MER_MAKE_PCAM_EDR -- USER: jjoseph (James F. Bell) / MACHINE: merbpan1x.fltops.jpl.nasa.gov / UTC: 2010-07-16T16:59:09Z' SOFTWARE_NAME='MER_MAKE_PCAM_EDR' SOFTWARE_VERSION_ID='V9.00 22-Dec-2005' PROPERTY='GEOMETRIC_CAMERA_MODEL' CALIBRATION_SOURCE_ID='179' 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=(0.569991,0.153805,-1.21934) MODEL_COMPONENT_2=(-0.637251,0.0536586,-0.768786) MODEL_COMPONENT_3=(-41.0481,-219.595,-23.4154) MODEL_COMPONENT_4=(-189.951,18.1971,118.213) MODEL_COMPONENT_5=(-0.628857,0.0513213,-0.775827) MODEL_COMPONENT_6=(0.022997,0.024872,-0.407146) FILTER_NAME='PANCAM_L4_602NM' REFERENCE_COORD_SYSTEM_INDEX=(138,60,0,60,127) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='ROVER_COORDINATE_SYSTEM' COORDINATE_SYSTEM_INDEX=(138,60,0,60,127) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='ROVER_FRAME' ORIGIN_OFFSET_VECTOR=(0.0182921,-0.00302313,0.0128959) ORIGIN_ROTATION_QUATERNION=(0.977978,-0.142648,0.0185819,-0.151214) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='UP' QUATERNION_MEASUREMENT_METHOD='COARSE' REFERENCE_COORD_SYSTEM_INDEX=138 REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME' PROPERTY='IDD_COORDINATE_SYSTEM' COORDINATE_SYSTEM_INDEX=(138,60,0,60,127) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='MI_FRAME' ORIGIN_OFFSET_VECTOR=(0.725374,-0.0809015,-0.00628797) ORIGIN_ROTATION_QUATERNION=(0.530056,-0.528085,-0.471457,0.466793) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='DOWN' REFERENCE_COORD_SYSTEM_INDEX=(138,60,0,60,127) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='PMA_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='PMA' ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY' ARTICULATION_DEVICE_ANGLE=(3.03316,0.819009,3.03315,0.818904,3.03316,0.557582) 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=(4.03279,2.69338) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH','ELEVATION') PROPERTY='FILTER_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='FILTER' ARTICULATION_DEVICE_NAME='FILTER ACTUATORS' ARTICULATION_DEV_POSITION=(4,2,1) ARTICULATION_DEV_POSITION_ID=('PANCAM_L4_602NM','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=(-0.118371,-0.899964,2.4708,1.5708,1.57122,-0.126494,-0.904248,2.47395,1.55997,1.51423) 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=(-35.4577,-21.0324) ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC') ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5') ARTICULATION_DEV_VECTOR=(0.00679544,-0.284633,0.958613) ARTICULATION_DEV_INSTRUMENT_ID='MI' ARTICULATION_DEV_VECTOR_NAME='GRAVITY' CONTACT_SENSOR_STATE=('NO CONTACT','NO CONTACT','CONTACT','CONTACT','NO CONTACT','NO CONTACT','OPEN','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=(138,60,0,60,127) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='MAST_FRAME' ORIGIN_OFFSET_VECTOR=(0.45781,0.02779,-1.09668) ORIGIN_ROTATION_QUATERNION=(0.0474289,-0.422084,0.0221194,0.905045) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='UP' REFERENCE_COORD_SYSTEM_INDEX=(138,60,0,60,127) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='CHASSIS_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='CHASSIS' ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS' ARTICULATION_DEVICE_ANGLE=(-0.00997857,0.0118374,-0.0260137,-0.0500253,0.13729,0.050745,0.0770991) 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_L4_602NM' AUTO_EXPOSURE_DATA_CUT=2500 AUTO_EXPOSURE_PERCENT=10.0 AUTO_EXPOSURE_PIXEL_FRACTION=1.0 BAD_PIXEL_REPLACEMENT_FLAG='FALSE' DETECTOR_ERASE_COUNT=2 EARLY_PIXEL_SCALE_FLAG='FALSE' EARLY_IMAGE_RETURN_FLAG='FALSE' EXPOSURE_TYPE='AUTO' EXPOSURE_SCALE_FACTOR=1.0 EXPOSURE_DURATION_COUNT=50 EXPOSURE_TABLE_ID='PANCAM_L4' EXPOSURE_TBL_UPDATE_FLAG='TRUE' FLAT_FIELD_CORRECTION_FLAG='FALSE' INSTRUMENT_COORDINATE=(3.03687,0.87266) INSTRUMENT_COORDINATE__UNIT=('rad','rad') INSTRUMENT_COORDINATE_ID='RVR BODY AZEL' INSTRUMENT_BORESIGHT_ID='UNK' INSTRUMENT_IDLE_TIMEOUT=300 INSTRUMENT_IDLE_TIMEOUT__UNIT='s' MAX_AUTO_EXPOS_ITERATION_COUNT=2 SHUTTER_CORRECTION_MODE_ID='CONDITIONAL' SHUTTER_CORRECT_THRESH_COUNT=0 PROPERTY='IMAGE_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=74 PIXEL_DOWNSAMPLE_OPTION='SW_MEAN' PIXEL_AVERAGING_HEIGHT=8 PIXEL_AVERAGING_WIDTH=8 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=1 PROPERTY='REFERENCE_PIXEL_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=74 INST_CMPRS_MODE=1 INST_CMPRS_RATE=12.0 INST_CMPRS_QUALITY=0 INST_CMPRS_FILTER='E' INST_DECOMP_STAGES=4 INST_CMPRS_SEGMENTS=1 PROPERTY='THUMBNAIL_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='TRUE' DOWNLOAD_PRIORITY=0 LINES=64 LINE_SAMPLES=64 SAMPLE_BIT_MODE_ID='NONE' INST_CMPRS_MODE=1 INST_CMPRS_RATE=1.0 INST_CMPRS_QUALITY=0 INST_CMPRS_FILTER='E' INST_DECOMP_STAGES=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=74 PROPERTY='COLUMN_SUM_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=74 PROPERTY='SUN_FIND_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' LINES=63 LINE_SAMPLES=63 PROPERTY='HISTOGRAM_REQUEST_PARMS' SOURCE_ID='GROUND COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=74 PROPERTY='INSTRUMENT_STATE_PARMS' AZIMUTH_FOV=15.8412 AZIMUTH_FOV__UNIT='deg' ELEVATION_FOV=15.8412 ELEVATION_FOV__UNIT='deg' BAD_PIXEL_REPLACEMENT_ID='N/A' DETECTOR_FIRST_LINE=1 DETECTOR_LINES=1024 DETECTOR_TO_IMAGE_ROTATION=0.0 DOWNSAMPLE_METHOD='SOFTWARE' EXPOSURE_COUNT=2 EXPOSURE_DURATION=1192.96 EXPOSURE_DURATION__UNIT='ms' EXPOSURE_DURATION_COUNT=233 FILTER_NAME='PANCAM_L4_602NM' FILTER_NUMBER=4 FLAT_FIELD_CORRECTION_FLAG='FALSE' FLAT_FIELD_CORRECTION_PARM=(0.0,0.0,0.0,0.0,0.0) INSTRUMENT_MODE_ID='FULL_FRAME' INSTRUMENT_TEMPERATURE=(-35.1922,-34.3851,-11.2151,-17.7293,-18.8583,0.0,-14.796,-14.184,0.0) 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='4095' 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=1.58008 INST_CMPRS_RATIO=7.59456 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=2.93333 INST_DECOMP_STAGES=2 PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS' INSTRUMENT_AZIMUTH=174.0 INSTRUMENT_AZIMUTH__UNIT='deg' INSTRUMENT_ELEVATION=50.0057 INSTRUMENT_ELEVATION__UNIT='deg' REFERENCE_COORD_SYSTEM_INDEX=(138,60,0,60,127) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='SITE_DERIVED_GEOMETRY_PARMS' INSTRUMENT_AZIMUTH=176.101 INSTRUMENT_AZIMUTH__UNIT='deg' INSTRUMENT_ELEVATION=49.2764 INSTRUMENT_ELEVATION__UNIT='deg' REFERENCE_COORD_SYSTEM_INDEX=138 REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME' SOLAR_AZIMUTH=18.1757 SOLAR_AZIMUTH__UNIT='deg' SOLAR_ELEVATION=64.5237 SOLAR_ELEVATION__UNIT='deg' PROPERTY='IMAGE_DATA' CHECKSUM=9.3479e+06 FIRST_LINE=1 FIRST_LINE_SAMPLE=1 INVALID_CONSTANT=4095 MAXIMUM=2405.0 MEAN=2282.2 MEDIAN=2287.0 MINIMUM=2019.0 MISSING_CONSTANT=0 SAMPLE_BIT_MASK='2#0000111111111111#' STANDARD_DEVIATION=67.9301 TASK='MERTELEM' USER='dalex' DAT_TIM='Thu Jun 10 21:09:41 2010' TASK='MER_MAKE_PCAM_EDR' USER='jjoseph' DAT_TIM='Fri Jul 16 16:59:09 2010' }}xne\TME<2'  j !|skd\TI=2)'  ({tmdYPH=2,(! (voje\PG?6-& /xsndWNG>61,#  6wkeaVHA=5+# <xpg]TKB:3+# 9    sg`\TKC=6.# >      phb[TNG?6,' A         xkb[UOI@6.) E              {olc\WQG=83 F                 }yqke^UME<: F                    }ytneZSM@> L        # $ $ # $ !         {tkaWOJ? T       " $ ( + ' & + ( ! # !       zqg_WNG P       " $ ' ) , 0 + 0 * , & ( ( ' "      vld]TN U      ! ( ( + . - . 4 2 1 / - . / / & % "     zric\V V      " ( ' , . 0 4 6 2 6 5 3 4 5 2 . 0 * & !      |tjc^ X      % & - 0 3 5 9 7 8 : : 8 8 8 8 6 2 / + ' #    }xpkg Y     ! # # - - 1 4 6 6 < > ? ? > = < ; : 9 7 2 + % "    {vpk [     # ( , ( 1 4 8 A B E D D C A ? > > ; 4 0 - ( ' "    |{tm ]      # * - / 7 2 7 > = D E F F F G G D > < = 8 0 - ) & "     |vr _      # ' , 0 . 6 9 ; @ D D G J K I E A > < > 9 2 2 , ) $     |xv _      # + 2 6 2 6 ; C F H M M M M N N I A A @ = 8 1 5 / ' %   {y  ]       ) . 0 3 7 ; B D E K I K N N M J G J D > 8 5 4 0 * $   |  [      ! * . 2 5 9 = A D I M J O Q Q O N Q S J F @ ; 8 6 4 0 * "    Y     $ # + 0 4 6 8 B G K N O O Q T T S U W Q I C ? < 9 7 6 / %     ^     , 0 2 4 ; C C H K N Q T X [ [ Z X V T R K B > < 7 2 / *     Z     ' * + 1 8 ; = F F J N Q T W Y [ _ \ V T P K D @ < 6 . * $     Y      # + 2 5 6 9 = E G J L R Z _ b c a b a Y R K E C C < 4 - *      X      ! ( . 0 3 8 ? D H K M R W [ ^ d c e d X S M I D @ = = 0 (      Z     " ' + 1 8 = @ C G J M P T Z ` ` e b ] _ Y T O J F @ 6 3 ) $      ]   # ( + 1 4 : @ C E H K O T W Y a _ _ ] Y U R M E @ = 2 - (      [     ( / 1 5 9 > C G J K O S U X _ ^ ] Z X U Q L J E ; : 0 $     W     ' 1 0 5 8 < B I K K M Q U Y \ \ Z W U T Q M M G A : 0 % !      W    ! # . 3 9 = @ A E I K M R X W U T S Q O P Q J G A : 3 + "      X    $ , 4 8 : > B E H I J M R U U S O M L K L N E A : 4 . &       P     % , 2 7 : > B E F H L Q T R N N O M J L O J L F A 9 1 * #      P     % + 0 3 8 = A D F G H L R S Q P N L J J J I E < < 8 3 *    " O     $ + / 1 3 6 ; A E H I H H H F D C B B C A ? @ 7 4 0 (     $ L     " & , 1 3 4 8 = A D F F E D F H F C B E C @ > ; 5 - &    " L     $ ' + / 4 7 9 = A C C C C B @ @ A C A A @ < 6 3 / &     " J      $ . 3 5 5 7 : > A B A ? ? A @ ? D ? > < ; 9 5 1 (    " D       # & + 1 4 5 9 = > < ; < > @ ; 7 < > = ; 7 5 2 - '      " F      % & ) + 1 6 9 : = ? < ; < ; 9 8 9 = 9 8 6 8 3 ) &     " =       # ( , . 2 7 ; 8 3 7 ; 6 2 < 7 6 4 7 5 4 / * ' %     " =      & , , . 3 7 5 2 7 5 4 5 3 2 7 4 8 0 0 , ) ( "    ! 8       ! % * + / 2 1 . 2 0 2 1 2 3 / 4 - 2 + ( ( %     ! 5       & ) + + , , , , 1 . . - - / 3 - - % &      " 6        $ ' ( ' & ) . ) , , + + * & , $ "       .       $ $ $ # & ( * + + ) & $ # !       )         ! ! $ ' ( & $ "          %             $ $            !           !                                                                       { {  |~z  rz}{xq