PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 128
FILE_RECORDS                      = 435
LABEL_RECORDS                     = 232

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                     = 233
^IMAGE                            = 372

/* IDENTIFICATION DATA ELEMENTS */

 DATA_SET_ID                      = "MER2-M-PANCAM-3-IOFCAL-SCI-V2.0"
 DATA_SET_NAME                    = "MER 2 MARS PANCAM I/F CALIBRATED RDR
                                     V2.0"
 COMMAND_SEQUENCE_NUMBER          = 25
 FRAME_ID                         = "RIGHT"
 FRAME_TYPE                       = STEREO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "1000021"
 IMAGE_TYPE                       = THUMBNAIL
 INSTRUMENT_HOST_ID               = "MER2"
 INSTRUMENT_HOST_NAME             = "MARS EXPLORATION ROVER 2"
 INSTRUMENT_ID                    = "PANCAM_RIGHT"
 INSTRUMENT_NAME                  = "PANORAMIC CAMERA RIGHT"
 INSTRUMENT_SERIAL_NUMBER         = 103
 INSTRUMENT_TYPE                  = "IMAGING CAMERA"
 INSTRUMENT_VERSION_ID            = "FM"
 LOCAL_TRUE_SOLAR_TIME            = "14:34:30"
 MAGNET_ID                        = "NULL"
 MISSION_NAME                     = "MARS EXPLORATION ROVER"
 MISSION_PHASE_NAME               = "PRIMARY MISSION"
 OBSERVATION_ID                   = "1593835520"
 PLANET_DAY_NUMBER                = 91
 PRODUCER_INSTITUTION_NAME        = "Arizona State University"
 PRODUCT_CREATION_TIME            = 2020-08-30T17:22:48Z
 PRODUCT_ID                       = "2P134452070IOT2700P2375R2A1"
 PRODUCT_VERSION_ID               = "V3.0 D-22846"
 RELEASE_ID                       = "0001"
 ROVER_MOTION_COUNTER             = (27,0,0,8,26)
 ROVER_MOTION_COUNTER_NAME        = (SITE,DRIVE,IDD,PMA,HGA)
 SEQUENCE_ID                      = "p2375"
 SEQUENCE_VERSION_ID              = "3"
 SOLAR_LONGITUDE                  = 15.1016
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "134452070.246"
 SPACECRAFT_CLOCK_STOP_COUNT      = "134452070.481"
 START_TIME                       = 2004-04-05T15:46:56.755
 STOP_TIME                        = 2004-04-05T15:46:56.989
 TARGET_NAME                      = MARS
 TARGET_TYPE                      = PLANET

/* TELEMETRY DATA ELEMENTS */

 APPLICATION_PROCESS_ID           = 22
 APPLICATION_PROCESS_NAME         = "PANCAM RIGHT"
 APPLICATION_PROCESS_SUBTYPE_ID   = 3
 EARTH_RECEIVED_START_TIME        = 2004-04-05T16:14:51.054
 EARTH_RECEIVED_STOP_TIME         = 2004-04-05T16:14:51.803
 EXPECTED_PACKETS                 = "N/A"
 PACKET_MAP_MASK                  = "N/A"
 RECEIVED_PACKETS                 = "N/A"
 SPICE_FILE_NAME                  = "chronos.mer"
 TELEMETRY_PROVIDER_ID            = "SSW MER_DP"
 TELEMETRY_SOURCE_NAME            = 
                               "022_003_p2375-003-0025_002_0134452070-063.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:
                                     bikini.sese.asu.edu / UTC:
                                     2020-07-16T01:40:56Z ;;; 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: 2020-08-30T17:22:48Z"
 SOFTWARE_NAME                    = MER_ARCHIVE_IMAGE
 SOFTWARE_VERSION_ID              = "V2.02 05-Aug-2018"

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL
  CALIBRATION_SOURCE_ID           = "185"
  ^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               = (0.510484,0.188005,-1.24661)
  MODEL_COMPONENT_2               = (0.990044,-0.0500178,0.131579)
  MODEL_COMPONENT_3               = (42.376,220.056,3.36837)
  MODEL_COMPONENT_4               = (1.43997,0.823293,224.172)
  MODEL_COMPONENT_5               = (0.991011,-0.0741989,0.111322)
  MODEL_COMPONENT_6               = (0.022082,-0.033675,0.611672)
  FILTER_NAME                     = PANCAM_R2_754NM
  REFERENCE_COORD_SYSTEM_INDEX    = (27,0,0,8,26)
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (27,0,0,8,26)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = ROVER_FRAME
  ORIGIN_OFFSET_VECTOR            = (0.0,0.0,0.0)
  ORIGIN_ROTATION_QUATERNION      = (0.467798,-0.0283378,-0.00131567,0.88338)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = COARSE
  REFERENCE_COORD_SYSTEM_INDEX    = 27
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
END_GROUP                         = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (27,0,0,8,26)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = MI_FRAME
  ORIGIN_OFFSET_VECTOR            = (0.556095,-0.055277,-0.128569)
  ORIGIN_ROTATION_QUATERNION      = (0.395405,0.40323,0.582677,0.584421)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = DOWN
  REFERENCE_COORD_SYSTEM_INDEX    = (27,0,0,8,26)
  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       = (-0.0278893 <rad>,-0.189158 <rad>,
                                     -0.0278891 <rad>,-0.18923 <rad>,
                                     -0.280276 <rad>,-0.180332 <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       = (2.73209 <rad>,2.67771 <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       = (2,2,1)
  ARTICULATION_DEV_POSITION_ID    = ("PANCAM_L2_753NM","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       = (1.92599 <rad>,0.00603642 <rad>,
                                     2.88326 <rad>,3.40989 <rad>,
                                     0.0150084 <rad>,1.90498 <rad>,
                                     -0.000700719 <rad>,2.8815 <rad>,
                                     3.43363 <rad>,-0.0163173 <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        = (-22.5239 <degC>,-25.5985 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT 1","TURRET JOINT 5")
  ARTICULATION_DEV_VECTOR         = (-0.0488352,-0.0288372,0.99839)
  ARTICULATION_DEV_INSTRUMENT_ID  = "MI"
  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         = (27,0,0,8,26)
  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      = (0.997636,-0.000817393,-0.0676441,
                                     -0.0120552)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_INDEX    = (27,0,0,8,26)
  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       = (-0.00490114 <rad>,-0.0103955 <rad>,
                                     -0.00951828 <rad>,0.00603151 <rad>,
                                     0.143675 <rad>,-0.09531 <rad>,
                                     -0.0222702 <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_RIGHT"
  FILTER_NAME                     = PANCAM_R2_754NM
  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_R2"
  EXPOSURE_TBL_UPDATE_FLAG        = TRUE
  FLAT_FIELD_CORRECTION_FLAG      = FALSE
  INSTRUMENT_COORDINATE           = (-4.13643 <rad>,-0.08727 <rad>)
  INSTRUMENT_COORDINATE_ID        = "LL AZEL"
  INSTRUMENT_BORESIGHT_ID         = "UNK"
  INSTRUMENT_IDLE_TIMEOUT         = 300 <s>
  MAX_AUTO_EXPOS_ITERATION_COUNT  = 6
  SHUTTER_CORRECTION_MODE_ID      = "CONDITIONAL"
  SHUTTER_CORRECT_THRESH_COUNT    = 0
END_GROUP                         = OBSERVATION_REQUEST_PARMS

/* IMAGE REQUEST */

GROUP                             = IMAGE_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = TRUE
  DOWNLOAD_PRIORITY               = 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                 = 4.0
  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              = 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               = 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      = 180.0
  DOWNSAMPLE_METHOD               = SOFTWARE
  EXPOSURE_COUNT                  = 1
  EXPOSURE_DURATION               = 235.52 <ms>
  EXPOSURE_DURATION_COUNT         = 46
  FILTER_NAME                     = PANCAM_R2_754NM
  FILTER_NUMBER                   = 2
  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          = (-14.7978 <degC>,-3.45984 <degC>,
                                     6.8896 <degC>,-11.4919 <degC>,
                                     -10.9073 <degC>,0.0 <degC>,
                                     -23.9098 <degC>,-24.682 <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                  = "4066"
  PIXEL_AVERAGING_HEIGHT          = 16
  PIXEL_AVERAGING_WIDTH           = 16
  SAMPLE_BIT_METHOD               = NONE
  SAMPLE_BIT_MODE_ID              = "NONE"
  SHUTTER_EFFECT_CORRECTION_FLAG  = TRUE
  SUN_FIND_FLAG                   = FALSE
  SUN_FIND_PARM                   = (0.0,0.0,0.0)
  SUN_FIND_PARM_NAME              = ("WINDOW SIZE","BRIGHTNESS THRESHOLD",
                                     "SUMMED BRIGHTNESS")
  SUN_LINE                        = -1
  SUN_LINE_SAMPLE                 = -1
  SUN_VIEW_POSITION               = (0.0,0.0,0.0)
  SUN_VIEW_DIRECTION              = (0.0,0.0,0.0)
END_GROUP                         = INSTRUMENT_STATE_PARMS

/* COMPRESSION RESULTS */

GROUP                             = COMPRESSION_PARMS
  ERROR_PIXELS                    = 0
  INST_CMPRS_DESC                 = "Lossy compression algorithm developed at
                                     JPL"
  INST_CMPRS_FILTER               = E
  INST_CMPRS_MODE                 = 2
  INST_CMPRS_NAME                 = "ICER ADAPTIVE VARIABLE-LENGTH CODING
                                     (ICER)"
  INST_CMPRS_RATE                 = 1.25781
  INST_CMPRS_RATIO                = 9.54037
  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      = 7.5
  INST_DECOMP_STAGES              = 4
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = -1.38463 <deg>
  INSTRUMENT_ELEVATION            = -7.75794 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (27,0,0,8,26)
  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              = 123.0 <deg>
  INSTRUMENT_ELEVATION            = -4.99606 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = 27
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  SOLAR_AZIMUTH                   = 296.161 <deg>
  SOLAR_ELEVATION                 = 46.2717 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  DERIVED_IMAGE_TYPE              = IMAGE
  RADIANCE_SCALING_FACTOR         = 7.407071e-06
  RADIANCE_OFFSET                 = 0.1270324
  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      = "2P134452070ETH2700P2375R2M1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_1       = FILENAME
  SOFTWARE_PARAMETER_VALUE_2      = "2P134452070RAT2700P2375R2A1.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_2L2_134454341_2700P2111_3.txt",
                                     "rc_2L3_134454401_2700P2111_3.txt",
                                     "rc_2L4_134454431_2700P2111_3.txt",
                                     "rc_2L5_134454479_2700P2111_3.txt",
                                     "rc_2L6_134454543_2700P2111_3.txt",
                                     "rc_2L7_134454609_2700P2111_3.txt",
                                     "rc_2R1_134454766_2700P2111_3.txt",
                                     "rc_2R2_134454814_2700P2111_3.txt",
                                     "rc_2R3_134454843_2700P2111_3.txt",
                                     "rc_2R4_134454876_2700P2111_3.txt",
                                     "rc_2R5_134454923_2700P2111_3.txt",
                                     "rc_2R6_134454984_2700P2111_3.txt",
                                     "rc_2R7_134455014_2700P2111_3.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       = "B"
  SOFTWARE_KEYWORD_NAME_21        = V1
  SOFTWARE_KEYWORD_VALUE_21       = 0
  SOFTWARE_KEYWORD_NAME_22        = DARK_CAL
  SOFTWARE_KEYWORD_VALUE_22       = 0
  RESPONSIVITY_CONSTANTS          = (3.3938358e-05,1.9901508e-08,0.0)
  RESPONSIVITY_CONSTANTS_FILE     = "rc_2R2_134454814_2700P2111_3.txt"
  PROCESSING_INFO                 = ("responsivity constants file:
                                     rc_2R2_134454814_2700P2111_3.txt",
            "associated selection filename: roi_00320_00272_040405212331.sel",
                                     "dust correction: v2.0",
 "dust spectrum file: /home/jj/git_idl_testing/MER_PANCAM/PANUTIL/development/dust/Cal_analysis/saves/merA_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: 2P134454814RAD2700P2111R2A2.IMG.gz",
                                     "solar azimuth (rover frame): 163.650",
                                    "solar elevation (rover frame): -38.6020",
                                     "dust model tau: 0.39145135",
                                     "dust model rad coeff: 0.081383965",
 "ROI radiances: 0.059067193 0.043909941 0.043457657 0.037666563 0.029785840 0.038848475 0.049042094 0.0064491066 0.010107202 0.014965115",
 "ROI uncertainty: 0.0016444167 0.0013781918 0.0013751940 0.0014819024 0.00091452571 0.0012609467 0.0022642703 0.00078140165 0.00070102798 0.00083791474",
                           "ROI count: 219 143 177 189 128 831 990 38 117 91",
 "reflectances: 0.45959237 0.29788883 0.35368521 0.26625358 0.24252881 0.28959818 0.38924616 0.061571851 0.080189894 0.10484934")
  FLAT_FIELD_FILE                 = ("MER_FLAT_SN_103_R2_V04.IMG",
                                     "MER_FLAT_STDDEV_SN_103_R2_V01.IMG")
  FLAT_FIELD_FILE_DESCRIPTION     = ("Flat field image.",
                                     "Flat field standard deviation image.")
  DARK_CURRENT_FILE               = ("mer_ccd_103_dark_active_flat_02.img",
                                  "mer_ccd_103_dark_active_exp_coeffs_02.dat",
                                     "mer_ccd_103_dark_active_change_02.sav")
  DARK_CURRENT_FILE_DESCRIPTION   = ("Active dark flat image.",
                                     "Active dark mean coefficients.",
                                     "Active dark flat changes over time.")
  INPUT_IMAGE                     = "2P134452070ETH2700P2375R2M1"
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                        = 86980469
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = "N/A"
  MAXIMUM                         = 32766
  MEAN                            = 21235.46606445312
  MEDIAN                          = 21061
  MINIMUM                         = 0
  MISSING_CONSTANT                = "N/A"
  SAMPLE_BIT_MASK                 = 2#1111111111111111#
  STANDARD_DEVIATION              = 2447.194
  SCALING_FACTOR                  = 7.407071e-06
  OFFSET                          = 0.1270324
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=17792  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='MER2-M-PANCAM-3-IOFCAL-SCI-V2.0'  DATA_SET_NAME='MER 2 MARS PANCAM I/F CALIBRATED RDR V2.0'  COMMAND_SEQUENCE_NUMBER=25  FRAME_ID='RIGHT'  FRAME_TYPE='STEREO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='1000021'  IMAGE_TYPE='THUMBNAIL'  INSTRUMENT_HOST_ID='MER2'  INSTRUMENT_HOST_NAME='MARS EXPLORATION ROVER 2'  INSTRUMENT_ID='PANCAM_RIGHT'  INSTRUMENT_NAME='PANORAMIC CAMERA RIGHT'  INSTRUMENT_SERIAL_NUMBER=103  INSTRUMENT_TYPE='IMAGING CAMERA'  INSTRUMENT_VERSION_ID='FM'  LOCAL_TRUE_SOLAR_TIME='14:34:30'  MAGNET_ID='NULL'  MISSION_NAME='MARS EXPLORATION ROVER'  MISSION_PHASE_NAME='PRIMARY MISSION'  OBSERVATION_ID='1593835520'  PLANET_DAY_NUMBER=91  PRODUCER_INSTITUTION_NAME='Arizona State University'  PRODUCT_CREATION_TIME='2020-08-30T17:22:48Z'  PRODUCT_ID='2P134452070IOT2700P2375R2A1'  PRODUCT_VERSION_ID='V3.0 D-22846'  RELEASE_ID='0001'  ROVER_MOTION_COUNTER=(27,0,0,8,26)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA')  SEQUENCE_ID='p2375'  SEQUENCE_VERSION_ID='3'  SOLAR_LONGITUDE=15.1016  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='134452070.246'  SPACECRAFT_CLOCK_STOP_COUNT='134452070.481'  START_TIME='2004-04-05T15:46:56.755'  STOP_TIME='2004-04-05T15:46:56.989'  TARGET_NAME='MARS'  TARGET_TYPE='PLANET'  PROPERTY='TELEMETRY'  APPLICATION_PROCESS_ID=22  APPLICATION_PROCESS_NAME='PANCAM RIGHT'  APPLICATION_PROCESS_SUBTYPE_ID=3  EARTH_RECEIVED_START_TIME='2004-04-05T16:14:51.054'  EARTH_RECEIVED_STOP_TIME='2004-04-05T16:14:51.803'  EXPECTED_PACKETS='N/A'  PACKET_MAP_MASK='N/A'  RECEIVED_PACKETS='N/A'  SPICE_FILE_NAME='chronos.mer'  TELEMETRY_PROVIDER_ID='SSW MER_DP'  TELEMETRY_SOURCE_NAME='022_003_p2375-003-0025_002_0134452070-063.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: bikini.sese.asu.edu / UTC: 2020-07-16T01:40:56Z ;;; 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: 2020-08-30T17:22:48Z'  SOFTWARE_NAME='MER_ARCHIVE_IMAGE'  SOFTWARE_VERSION_ID='V2.02 05-Aug-2018'  PROPERTY='GEOMETRIC_CAMERA_MODEL'  CALIBRATION_SOURCE_ID='185'  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=(0.510484,0.188005,-1.24661)  MODEL_COMPONENT_2=(0.990044,-0.0500178,0.131579)  MODEL_COMPONENT_3=(42.376,220.056,3.36837)  MODEL_COMPONENT_4=(1.43997,0.823293,224.172)  MODEL_COMPONENT_5=(0.991011,-0.0741989,0.111322)  MODEL_COMPONENT_6=(0.022082,-0.033675,0.611672)  FILTER_NAME='PANCAM_R2_754NM'  REFERENCE_COORD_SYSTEM_INDEX=(27,0,0,8,26)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='ROVER_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(27,0,0,8,26)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='ROVER_FRAME'  ORIGIN_OFFSET_VECTOR=(0.0,0.0,0.0)  ORIGIN_ROTATION_QUATERNION=(0.467798,-0.0283378,-0.00131567,0.88338)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  QUATERNION_MEASUREMENT_METHOD='COARSE'  REFERENCE_COORD_SYSTEM_INDEX=27  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  PROPERTY='IDD_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(27,0,0,8,26)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='MI_FRAME'  ORIGIN_OFFSET_VECTOR=(0.556095,-0.055277,-0.128569)  ORIGIN_ROTATION_QUATERNION=(0.395405,0.40323,0.582677,0.584421)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='DOWN'  REFERENCE_COORD_SYSTEM_INDEX=(27,0,0,8,26)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='PMA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='PMA'  ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY'  ARTICULATION_DEVICE_ANGLE=(-0.0278893,-0.189158,-0.0278891,-0.18923,-0.280276,-0.180332)  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=(2.73209,2.67771)  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=(2,2,1)  ARTICULATION_DEV_POSITION_ID=('PANCAM_L2_753NM','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=(1.92599,0.00603642,2.88326,3.40989,0.0150084,1.90498,-0.000700719,2.8815,3.43363,-0.0163173)  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=(-22.5239,-25.5985)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5')  ARTICULATION_DEV_VECTOR=(-0.0488352,-0.0288372,0.99839)  ARTICULATION_DEV_INSTRUMENT_ID='MI'  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=(27,0,0,8,26)  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=(0.997636,-0.000817393,-0.0676441,-0.0120552)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_INDEX=(27,0,0,8,26)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(-0.00490114,-0.0103955,-0.00951828,0.00603151,0.143675,-0.09531,-0.0222702)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad')  ARTICULATION_DEVICE_ANGLE_NAME=('LEFT FRONT WHEEL POTENTIOMETER','RIGHT FRONT WHEEL POTENTIOMETER','LEFT REAR WHEEL POTENTIOMETER','RIGHT REAR WHEEL POTENTIOMETER','LEFT BOGIE POTENTIOMETER','RIGHT BOGIE POTENTIOMETER','DIFFERENTIAL BOGIE POTENTIOMETER')  ARTICULATION_DEVICE_MODE='DEPLOYED'  PROPERTY='OBSERVATION_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  COMMAND_INSTRUMENT_ID='PANCAM_RIGHT'  FILTER_NAME='PANCAM_R2_754NM'  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_R2'  EXPOSURE_TBL_UPDATE_FLAG='TRUE'  FLAT_FIELD_CORRECTION_FLAG='FALSE'  INSTRUMENT_COORDINATE=(-4.13643,-0.08727)  INSTRUMENT_COORDINATE__UNIT=('rad','rad')  INSTRUMENT_COORDINATE_ID='LL AZEL'  INSTRUMENT_BORESIGHT_ID='UNK'  INSTRUMENT_IDLE_TIMEOUT=300  INSTRUMENT_IDLE_TIMEOUT__UNIT='s'  MAX_AUTO_EXPOS_ITERATION_COUNT=6  SHUTTER_CORRECTION_MODE_ID='CONDITIONAL'  SHUTTER_CORRECT_THRESH_COUNT=0  PROPERTY='IMAGE_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='TRUE'  DOWNLOAD_PRIORITY=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=4.0  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=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=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=180.0  DOWNSAMPLE_METHOD='SOFTWARE'  EXPOSURE_COUNT=1  EXPOSURE_DURATION=235.52  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=46  FILTER_NAME='PANCAM_R2_754NM'  FILTER_NUMBER=2  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=(-14.7978,-3.45984,6.8896,-11.4919,-10.9073,0.0,-23.9098,-24.682,0.0)  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='4066'  PIXEL_AVERAGING_HEIGHT=16  PIXEL_AVERAGING_WIDTH=16  SAMPLE_BIT_METHOD='NONE'  SAMPLE_BIT_MODE_ID='NONE'  SHUTTER_EFFECT_CORRECTION_FLAG='TRUE'  SUN_FIND_FLAG='FALSE'  SUN_FIND_PARM=(0.0,0.0,0.0)  SUN_FIND_PARM_NAME=('WINDOW SIZE','BRIGHTNESS THRESHOLD','SUMMED BRIGHTNESS')  SUN_LINE=-1  SUN_LINE_SAMPLE=-1  SUN_VIEW_POSITION=(0.0,0.0,0.0)  SUN_VIEW_DIRECTION=(0.0,0.0,0.0)  PROPERTY='COMPRESSION_PARMS'  ERROR_PIXELS=0  INST_CMPRS_DESC='Lossy compression algorithm developed at JPL'  INST_CMPRS_FILTER='E'  INST_CMPRS_MODE=2  INST_CMPRS_NAME='ICER ADAPTIVE VARIABLE-LENGTH CODING (ICER)'  INST_CMPRS_RATE=1.25781  INST_CMPRS_RATIO=9.54037  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=7.5  INST_DECOMP_STAGES=4  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=-1.38463  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-7.75794  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=(27,0,0,8,26)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=123.0  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-4.99606  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=27  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=296.161  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=46.2717  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='DERIVED_IMAGE_PARMS'  DERIVED_IMAGE_TYPE='IMAGE'  RADIANCE_SCALING_FACTOR=7.407071e-06  RADIANCE_OFFSET=0.1270324  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='2P134452070ETH2700P2375R2M1.IMG.gz'  SOFTWARE_PARAMETER_NAME_1='FILENAME'  SOFTWARE_PARAMETER_VALUE_2='2P134452070RAT2700P2375R2A1.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_2L2_134454341_2700P2111_3.txt','rc_2L3_134454401_2700P2111_3.txt','rc_2L4_134454431_2700P2111_3.txt','rc_2L5_134454479_2700P2111_3.txt','rc_2L6_134454543_2700P2111_3.txt','rc_2L7_134454609_2700P2111_3.txt','rc_2R1_134454766_2700P2111_3.txt','rc_2R2_134454814_2700P2111_3.txt','rc_2R3_134454843_2700P2111_3.txt','rc_2R4_134454876_2700P2111_3.txt','rc_2R5_134454923_2700P2111_3.txt','rc_2R6_134454984_2700P2111_3.txt','rc_2R7_134455014_2700P2111_3.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='B'  SOFTWARE_KEYWORD_NAME_21='V1'  SOFTWARE_KEYWORD_VALUE_21=0  SOFTWARE_KEYWORD_NAME_22='DARK_CAL'  SOFTWARE_KEYWORD_VALUE_22=0  RESPONSIVITY_CONSTANTS=(3.3938358e-05,1.9901508e-08,0.0)  RESPONSIVITY_CONSTANTS_FILE='rc_2R2_134454814_2700P2111_3.txt'  PROCESSING_INFO=('responsivity constants file: rc_2R2_134454814_2700P2111_3.txt','associated selection filename: roi_00320_00272_040405212331.sel','dust correction: v2.0','dust spectrum file: /home/jj/git_idl_testing/MER_PANCAM/PANUTIL/development/dust/Cal_analysis/saves/merA_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: 2P134454814RAD2700P2111R2A2.IMG.gz','solar azimuth (rover frame): 163.650','solar elevation (rover frame): -38.6020','dust model tau: 0.39145135','dust model rad coeff: 0.081383965','ROI radiances: 0.059067193 0.043909941 0.043457657 0.037666563 0.029785840 0.038848475 0.049042094 0.0064491066 0.010107202 0.014965115','ROI uncertainty: 0.0016444167 0.0013781918 0.0013751940 0.0014819024 0.00091452571 0.0012609467 0.0022642703 0.00078140165 0.00070102798 0.00083791474','ROI count: 219 143 177 189 128 831 990 38 117 91','reflectances: 0.45959237 0.29788883 0.35368521 0.26625358 0.24252881 0.28959818 0.38924616 0.061571851 0.080189894 0.10484934')  FLAT_FIELD_FILE=('MER_FLAT_SN_103_R2_V04.IMG','MER_FLAT_STDDEV_SN_103_R2_V01.IMG')  FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.')  DARK_CURRENT_FILE=('mer_ccd_103_dark_active_flat_02.img','mer_ccd_103_dark_active_exp_coeffs_02.dat','mer_ccd_103_dark_active_change_02.sav')  DARK_CURRENT_FILE_DESCRIPTION=('Active dark flat image.','Active dark mean coefficients.','Active dark flat changes over time.')  INPUT_IMAGE='2P134452070ETH2700P2375R2M1'  PROPERTY='IMAGE_DATA'  CHECKSUM=86980469  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT='N/A'  MAXIMUM=32766  MEAN=21235.46606445312  MEDIAN=21061  MINIMUM=0  MISSING_CONSTANT='N/A'  SAMPLE_BIT_MASK='2#1111111111111111#'  STANDARD_DEVIATION=2447.194  SCALING_FACTOR=7.407071e-06  OFFSET=0.1270324  TASK='MERTELEM'  USER='pxz'  DAT_TIM='Fri Dec 31 22:25:46 2004'  TASK='MER_PANCAL_IMAGE'  USER='jj'  DAT_TIM='Wed Jul 15 18:40:56 2020'  TASK='MER_ARCHIVE_IMAGE'  USER='jj'  DAT_TIM='Sun Aug 30 10:22:48 2020'D�N�N�N�M2L�M<L�M5MKM�M�M�M�MfMKL�L�L�LlL�L�L�L�MM'L�L�L�L=K�K�K�KCKUKQKdKCKzKJ�J�J�J�J�KKSKiKwK!KJ�J�JPI�IWIDI�JI�H�I\H{>�E
ON�N�L�L�L�MM@M{MiM�M�M�MYL�MML�LsLRLuL�L�L�L�L�L�L`K�K�K�KnKK)K
K
J�J�J�J�J�J�J�J�J�J�KK!K@J�J�J�JLI�IoIRIzI�IaH�IIHX>�E�Q`PFO�MmL�MBM�N_N�N�N�N�N�NdNmNM�M�ML�L�L�MKM�NN
M�M
L�L�LbL%K�K�K�K�K�K�K�K�K�K�K�K�K�K�K�K�K�K�KSJ�KJ�J[JJ�J�JIJ�J�?�HNPHO�O�ON�O!OlOkO�O�O�O�O�OgON�N-NiN�N�OO
N�N�NVNN#N4NM�M�MHMGMgL�L�L�L�L�M/MMMDM4M5M%M!M*M3M%ML�L�LPK�K�K�K�K|J�J�JB\LNUO�P�P�Q.QCQ8QQ
Q=Q�QbP�O�OGOOBPP�Q�R<Q�P�ON�NbN�OsO}O/O*O/N�N�N�NM�NNN[N`N�N�N�N�N�ON�OON�N�N�M�McMMMMM1L�KH�FSO�Q�RgR^R
RRqR�S$S�S�S�S�R�RbRQ�Q�Q�RR�R�R�RQQJQP�PuPMP�PXPkPVO�O�OJO(O(O>O�O�O�O�O�P9O�O�O�O�O�O�O�O�O-N�NvN9NN#M�L�K0ISRV�U=S�R
Q�R;S�UU�U�UaUT�T�TyS�S�R�Q�QQ
Q�RYS�T\TLSQXQ*Q�QTQ!P�QP�P�P�P�P�QP�QP�P�P�P~PO�O�O�O�O�O�O�O�OpOiONJM�M�N�K�UT_S?RKQ�QgQ�R�TT�T�TKS�S�S�R�Q�QP.O�O�O|PQCR�SS:S�TpTSRJRRR]R�SDSlSdSUR�R�R_Q�Q�P�PdO�O�O1O]O~O�O�O�PIP�O�ONMNO�P}T�N�O-O>P�P�PaP�P�PpP)P;O�PO�N)LKRKlL*M#M�M�N�O O,O�R}VVS�R�R"RAR�S�TdT�T�T#S�SR�RQPO8N�NM�M�M�NqNdNWOSP�O�N$M%L�MO�U{U�N�N�NDOpOhNlMlL�LK�J�K
K>K+J]I=II�J�K�L�M=ML�N-O�O�OXP�R�RP�PPP�PGP�P�P�P�PRPaO�O�ON�N]MAL�L}LK�KBLNM�M�M�M�L�M%M�MN�W�UqO�N�M@ML�J�I^G�F�F�E�E�E�E�F�G`H�I�J�K�L�L�L6KpMoO�LOG�J)O|O5MyL�LJ-JI�I�I�J�KKcKuK�LLKJ�J�JnIG�I-K�KIkI�JIL.M�K�J�UjQ�JDJ�I�IZG�G.F�FNE�ECE�EC�B�D2F�HLIkKL5L�LlL�K�JHrL~RKPAJeJ�K�K!I H�F�FFUF�HAH>G�G�HG�G�HqHVHEHRIyJ4HDwD�FCE;E�HLJ�E�A�MnLRA�D�DmD�BCD=E�E�EQH
FkD^A�CF�HqI�K=L�ML�LJ�ING�FDD�C^C�HwJ�J%H+H�F-E�E�FxG�G<E�EtE6C�B�D�D�D�E�I�M�H�@@QDA8@�BDD)?':�FcJ�>qB�AkAB�A�AQAQB�DgC�FDxA�CyGH�I�KL*L�M$L�LKfJ�H�F�GG�F�II�I�GG�G�G�H7H�HCGcF�FHFGE�BlBCE5E�F�K�PJ�AsAB@Z?Q>~@lG�T�Ll?|D@�?�G�Bo?�=�@�DF>�FGE�DE~HYI�J�KK�L�M\M�NSOAO�N�L�O�Q-FDG�I�L�FK�L(K�LKJ�K"J�I�K�L�A�C,BHB�C�EnG;G�C�?�F-A,@�A?AC�J�N5C�E�B�B6H�D�C�B�EG�C�IqIzH$H�I�J#J�KwL�M�NN�O6O�O�N�M�O�P�G{G�J]NRJN�O�O�L�KELM�L�KmMM�E�G$FfF*E�E�G�JG�D�H�B�CTE�D�EyL�P�I�G�FoF�G�HsJDL�M?ML�M�M=LdK�KJ�J�K�M�O$O\ON\M�L�K�KTKiK?I~H�J�NFOrP�RfRM7J�K�N�M�LK�LXL$L�L�LJ�IJJ}M5M�MI�D�GKNH�F�P�SK`I.HBIH�J)L�O�P;N�N�N;NUN}N;M�M~MFM]MfMML�LKI�II:H�H|H�H�I�K�N?N�NyMfN)K=J�J�L,K�L.L�N?N�ONK�I�J�M�N7L�I�GhH�KHAG�TTWJ�JI
J0J�J�LjN=ON�N4MrM�N�OnP*PiO�NrLJ�J{I�I�IH�H&G�G�GyHIH�HG|H�J{G�EDN�KdH�E�IJ�L<L�M\M�M�M>J�I
JLOJ�H[H)I�IG�EeG�U�QBL�J�J�MML"K3JK�N�N�M�M�M�M�M�M�NM�MIL�KhJ�I�J`KwK�KJIIuJ;J�HCEE�H�F�E�LXIdI�IF�H�IrJNJ�KjK�J�H�FfGH�G]EBFJG�GED�HdS�MMO�K�L�O�O�M?I�F�HMbN�N�M�LJqH�I?J�K�O(PJNM�LJM�P0QMO�N�M�NN$JDmD�IJqJ2I	F�LO�F
F�F�G&G�HPHdG�F�C�C�D�D)C>C�DC�C�DpG�M�RQ$LXL!NeNmL�J�H�J
KmL�L�K�JaI0HoH�J�M�NL�LJ�L+MNM�N,M�M�O1PmL�G�H<LvM�M&I�G�KP�I�J�JJsJ7JZJ�J?H�G�GQGIF�F�D�D[F	G�E9B�I�[�Q�M�K�L�L�L�N�O�P(KZJ�K
KJ�KK8K)K�O5K�GBG�GK�KjI
GLIrJJK�OQ}O^K�MP�PN�LhI�I�NOO�PO�O�O4O�O�M�O~N�ML�LzH�G�J�M�G�@�K�`>Q!R�QfQ�Q�RS�V�R�P�N�O
OWPPO�O1MJpHBLtKLD*H^L`LjI�I�GnHjJ�MFN�M�K�LjN
N�M�K�JLjM�N1M"MWM�N~O<O$O�R�R3Q8N�M{M'MzLK_KmKoO�\%a�P�Y�YYYX�XDYQ\�TW�VUGV?X~VGR�O�L
B�O@T�D]N5OLO�N�R'H�ImLOL�K�LLK�KJJ�L)L�K�LP�N�L�I�IdJFLNML�L�VRiQ�O1M�M�P�N�ML^J�L�R�^mQ!Y�YvX`U�T�X�Y"S3U�T�SlVZY-U�O�TlZ�TxReYGM=S�T+T�UEY�O�P%S�S�RQ�SRSRP�PBQQ[N�R�S
R&P�O�PcQ#N
JCR�R~Q�PAQ�S`NL>L�M�M�O(V�X�R�V)U�S�O�L�U�R*Q�P�Q�P;RS�U�S�QbNrU�Rp\�YcY?Y�Zz[�]�X�Y#\�]S\_[,\�\�\�W�U�WW~K�XqZ�Z�Y<Y#X;U�R2L�NRQ�Q�QqU�X�J8J`McP
P�P`]!XzSLTNTuU3R9O�V�T�T�U
R�SqTGW�X�Z�V%Q�U�R�ZX�Z^[\�\�W�W�Y�\]�]�]�[sZ�YWX�TbTT�P�\�T�G�M�Y�Y�V�X0]7X�Q�P�Q�RQFOEU�R�P�L�O�[\�U�UdVX�XcW�Y�Z�Zo]W�Y�Y_\�[p_�[WyS�SwTsQS�S�W1XeO�Q�U
VJX%Z"[�ULR�PWO�O�QyU�WRbL�ShT�X8\�UP�O)P�QN OO�M�I�D�O2H�NiU�b�]�^�\Y�X�X�XjY�Z�X1]�[�[OVQWR-S�S�W<W]Q�L�?�9?O1Z;S�R$U�V�VpT�WSR�Q�WUT�R�P�R�W�T�O�WQ�TT�TmLMN�TKO�L
R	Y�I	^�W R\H�O�V�h`�g�a�YV�WHVU�X*N�b�ZA[2MpS�DL�N�[�Y[T#Z�NQGL�b�YJPoU�U�SpM�\yVYYX�Z,X*S�N�WTW
UiYP=O[GmS0L:O�S
NSS}QDR�UYaW�S�P/T�Y�e>E�Z�Z�Y[X�W�W)V�W�Ql]�TQY�W�c%`&`BTv[�Y�S�TI�P�@�]_PpY�R]R�S�VoV�[)X.^QX�M�PuY[Y�J3MJU#M�O�S]I�OeU�PME=B�S�T�K�L�O�P�QX�\VZp�h�e�`�\DY�Y�ZZ�X%XnU�Q�R�UUTaW�[T\nV T�N9=V8�J�X�O�U�VRfTi[�fZJVdW�b�_#W�I{5�WH]]V}<�P�]�V�E�U�ZpT�M�Q�^U^U]�`|_w[�V�K�kbb[bUU�Z�\�\�[{Y�ZV�XoY�PJb�X�Z�]�YlWTBQ�D�0zE�YiO�MfSa�da`Y_bWSX_\o_+V�^�kEk�b7^}X�FzX�a	VA>9En[Q�Y?\�e�_nU�_�_A^�d�_^�i^�`�]Z	[?]JYT|\�V5Z�[Z�X�Z�]^ \_Wu]�P�D�H:hD�O[\�g�^�ZY]�`3P�UOY[^�ZwRG[ig�`�d1ar]SZF]�cd�Z+J=bS�[,M(QV�K�V�]Gd�fl]WbHi�\�_�]`Y�UO�N`P�W-V8U�Z\A]\*\:]!^�[QaX�Z`�h�b�X�T�V�`_P`^P�V_V�X�[ ^W�OGM�Yf]�^^�Z�Z"\�UkG�DxYR�TL�J]�\�V�MT�RTXTk,[`�Y�R�V&]�\TUdP#X�O�V�Z�_(^Y([a8bxb�f�k}m(l~fw`�Zd]�q�g�bw_3ZiYpV�UYYj_�[�X�`0h)gJ^�Z:WQnO�H�F�Y�`WD�U�Z[�[b�TxL�]�^�g�m�[�_Y�UyV�[�b�g�`_V�V�Z?_8^E\n]�_�fkhh�b�d�ksr�vEy�r
\eklp[m�cC`�_�U�J�TBa�]�UFU�]�cHe�d�[/U�R�W�RXVY\[�_�`g�Pj�o�`�cKn�\_4Z�X [�`�b�b�c�f�i�]�^�`�^^DdOe�\�Q�UQd\f�i�l�a�k�iJZ�_�t��oe�_�`�d�ph�ZqX�\}fra�O4S�PeS�VXYgY�ZDY�[a�]\)Z{Z]X%YG_#hGZvcz^�Y3]�jwrsw�w6s�z�uo�kyhlb�^5_�a�ccA_�a�a�fB`Ffa"]�ep'nhd�Z�X�]�b�k�n`V^k�g�[�b�]�^�V�V6[�ZtY�Y�ZzX�R"ZH]�V�J?KsU8^�_Xwc�an\\[�`_[�_�e�e�^W�Wp\ZY�]�a�`�`xWX^�X�\|` ^�Y4a�e fyc�X�[Z�[�]�g�c#YrZ#`�_�Q]UV�U�^HY>]�\Y�S�YlU�?�QVuU}TEX�T]`a[URT\E`�^\\#Z�]�b�]YXn`�d�Nv>�[�Y,[�\FU�WG\�\o\A]�^_�W�W$Y�]nX9[�ZHY]�Z�Z�Y�Z�[t^�W�bM]V�^�W�[<]|\U
ZS�DL�JN%P4U�P]�a!bL[�Z<\xaB[k\�`(_�^NZ]i
d�U�[^O[R�T�J[�[�c�a�]z]}`XN[`�f^$]�_{\YX�\�MnT(]t[�V�^NeRf	^2T`Z�V�X]
\�[n]~PNQ�X�\�NL�MGaZ�[�\A[<W�P>T�Z2_�^�Y�]_�a�X�c�]�`xh�]�Y�[�^�Y�_�`�^u\P�EEV�c]�^e^`�`�T4Z�Y	[Z�[]<b|U�D�D�ZSb)^vZ�]\`�[@U3Y�P"GVQ/U0Q�U�e�m�f�Yu_�iR�QmU9\�]�YD_=Y$]Na7[/`�\`�Q�Fh_�[�[oY�Y�X;a�Z�Y�M�V�[m_`8_�]�YC_=KQ�^`e�X�NHORX[G^]_�^^H�T�d[WX�V�[Cc�gb�WGa"ih^5X�d�V�E�UTY�`�\]X-^\2]A_T]b6YKYZ�ZKS�Z�[�YMV?Y�_�^�_�RWM�[9_�`�^�[g^iU�QX�X1W_Q^�[�W�^�[�)�2<.?�X�Z�[wW�\#b�a9\�X�^�e\d�\ibWZ�RVWY]�`bd�ZhZ+\�aW`/]%]�]�[KZ�^*]�\UY�[�[�T�]Y}av`�]WN�]k^�^&_@`5]MW�Zz_�VrLN\�Z�Y�W�[�L�7wJVP�X�[:Y�XQY/Y�S�N�V�VO^g�Z�^�\+ZfZya�b�Z�X�fVdk]�\�]�[�Z�\�]�[�\�[�ZDY�Z�W]Z�VJ]D]�]k�^/\�]�^^u]?\�\	Z�\�\SM�X�ZjZ�V�Q�L�IT�WU�SVVX1YXT�Q(W�W�^Ph�Y�X�]�e�\L_]�O�L�T[U�TzZJ^ZWTX�^'bgVCWMYt[WW�[�V�T>U4Z~TY]�[�\�\�\u[�Z�Z�Z�[F[�[SXfVz[^�QG�]K]x]!\pS�K1R�Z0\I[�]Z�Y,\la�[�U�Y�[\z\�^�=�>>FHREVeXbZ|[_S�Z]�`CZ�Z�X�Y\YT�[mT�V�Y?\�T�\-[f\[TZ>Y�YX[Y\Z�Z�Z�^�b�^�W�Z�Z�T�S-X�[WX�S�U�b�e�b�]�[�[-[�cTN�S�Y�W[R�W|X:S�P�Y�W*X�^�\SZ�T
\�Z�X�`�_pXhVb[�Q�W�SMW�]�^YDZ�[[�ZRX[W�W�V:V�W�Z�^�[�R�QVT�`pYTSE>�P�W(]�^�V�g�l�h�Z�X�]	X�c�ai^�OkS�_[U�R�R5[Z�X;Q
[�fa'_
XQ�YU�X*U;W7S�W-P�M'K�Q[~\)Z�Y�Y?XU1T.VeV�V�UASFW�a7^`W�Y�V�WNPG\RXwS�JpA�R3Z�a�X�W�[]XDc<auT�K�N7T�IuS�S+Q}U+Y�XMD�RU�Y�\wXN�OF�R�W0O`S�Z�`�\=TV
^#Z:Y�WwX�XDT�RgWU�T
QWMLvXaYX�Q�WzW�U
RFM�QQW�WlT�R�U�T�W>V�W�a�b�W�[+Z�YePrX�U�QWSV�RD%R�T�XV�WzZZ�I�;NV�UV�R�ONO�S�YzZ�Q,V�W�WW�[�[�S�T�V�U"U�ZbW�Y�VpPRV�W�X�R�N�R%XqT:K\M�Q�W�WWTT�bbQV�R�R�YU_�_WZ�T�U;U�ObOPU�S�V�U�PGNZS
UpW�Y4XZR�P�T'UuU�[�T�G$T8X�V=WHa
a�R$OND�?F3]U[�R�R�U�VV�T�TlVfXLKB�N]R�WGV�RQ`V[�O�V�MEV/[�a�c]cYc�e^]�Q�P�M�O�Q�PUR5Y�V�O
MUR�XLY�VsU&\S�MyXT6T�\;W�>�I�PI�N�URb6TW!RJSS�T�ST6U$WU�O�FvQ#Sb=�Q�RP*W\V�IU=M9F[�\w^uZ�V�X�`�KV;IF�BdChUVW�O�S)W�^�WKX�^\�YvZFT�=�CTU�\�W�7�1/6c3S �4�GP�QlT+S�T>S�S�O�R�TYU�R�V�R�S8V�S�P&P�P�L`h(U,W�KB	Q�\+^�[�UiJ�M�T�S3I81�K�TT]XtX�W	_/[�T
R}S�R�[qYVN�F(_+Z�U_YdP�Z$`S\�I�I�S�UZU�XBZ�VgU
S�V�U�V
P9S?THS�VJW2T�R�SapQ�Q�Us]l[ YPU�Z�W-?P8T�VT=\.�AO@[_)XfF$__wF
B[RNT
X�XKQ6R�O�N{X�[0Z�XY_\�TJ�O^WYX�\+`*Z�_V	YU�[�D�LR�OaW_�Z+U�a�afZ1Z�U�PJ?=�T�W�I�X#U;]_�U�V=^mXV�V)Qf:n7j]�V.R][�U�T$Q�IRQ>W$Z�K<\�W�NnQ-WZ�X�T\TW�[�U�N\�bYYuUkT;\�D<A�LWTW*V�X�Y�dF_�bNc�VBH&XxT�J�V5M�@�F*S�_�W�R�W.]�_eQ�I�K"?a3�@�N�O�Q�QRW�^<V.X�W�U�P�MO�V�[-OwT�M�E L�U>[lM(;XZ�_5\QMO�R�Q�TkZ\�T I,US[�]\E\�_�UQI�S�R�NwXnJ�8-<8Qf^Y
XfNxP�W(O+TiX�M�<�6�M4P�U�Y/X�TQN�T�WmVMJT:�B�U�X�KV�\.S�P�NWO*S�[�U3X1TvN�O�R�PILT�USoX�SOQIX-O�T�SgP�K�O�P�T&R�O�K>S�S�S�b�Y]V�QD`M�P�M�:��=IU�WG�C0C�H`P�QeM)J�JiMdRcSZP�RNR�P�PEQQ�NIT�Q�K
K�O�PN�P�S�R�N�L�JJI5IN,X�M�S�U�U�KbQlT_U�W�X2P#U+T�SYJ([�[|R
A�K�We�a�?4X�Z�Z`TR�S�T�S,P[M1L�N�QJS�T7T}S�T�T�S@S�S�P Z7R�HnJ�R�R�O�S�X�T=L-O�X�\�bek�