PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 256
FILE_RECORDS                      = 314
LABEL_RECORDS                     = 116

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                     = 117
^IMAGE                            = 187

/* 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          = 38
 FRAME_ID                         = "LEFT"
 FRAME_TYPE                       = MONO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "1000034"
 IMAGE_TYPE                       = REGULAR
 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            = "17:17:47"
 MAGNET_ID                        = "NULL"
 MISSION_NAME                     = "MARS EXPLORATION ROVER"
 MISSION_PHASE_NAME               = "PRIMARY MISSION"
 OBSERVATION_ID                   = "-1895694336"
 PLANET_DAY_NUMBER                = 643
 PRODUCER_INSTITUTION_NAME        = "Arizona State University"
 PRODUCT_CREATION_TIME            = 2020-08-31T03:57:14Z
 PRODUCT_ID                       = "2P183467249IOFAI38P2618L2A1"
 PRODUCT_VERSION_ID               = "V3.0 D-22846"
 RELEASE_ID                       = "0001"
 ROVER_MOTION_COUNTER             = (118,38,0,185,30)
 ROVER_MOTION_COUNTER_NAME        = (SITE,DRIVE,IDD,PMA,HGA)
 SEQUENCE_ID                      = "p2618"
 SEQUENCE_VERSION_ID              = "7"
 SOLAR_LONGITUDE                  = 312.21
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "183467249.746"
 SPACECRAFT_CLOCK_STOP_COUNT      = "183467250.278"
 START_TIME                       = 2005-10-24T23:03:37.650
 STOP_TIME                        = 2005-10-24T23:03:38.181
 TARGET_NAME                      = MARS
 TARGET_TYPE                      = PLANET

/* TELEMETRY DATA ELEMENTS */

 APPLICATION_PROCESS_ID           = 21
 APPLICATION_PROCESS_NAME         = "PANCAM LEFT"
 APPLICATION_PROCESS_SUBTYPE_ID   = 1
 EARTH_RECEIVED_START_TIME        = 2005-10-25T22:25:26.112
 EARTH_RECEIVED_STOP_TIME         = 2005-10-25T22:25:26.401
 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_001_p2618-007-0038_002_0183467249-191.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:
                                     2020-07-17T13:37:44Z ;;; 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: 2020-08-31T03:57:14Z"
 SOFTWARE_NAME                    = MER_ARCHIVE_IMAGE
 SOFTWARE_VERSION_ID              = "V2.02 05-Aug-2018"

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL
  CALIBRATION_SOURCE_ID           = "177"
  ^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               = (0.494511,-0.104535,-1.25369)
  MODEL_COMPONENT_2               = (0.909808,0.32902,-0.252973)
  MODEL_COMPONENT_3               = (-92.4917,439.28,-17.2762)
  MODEL_COMPONENT_4               = (162.044,59.8234,414.38)
  MODEL_COMPONENT_5               = (0.906605,0.329442,-0.263699)
  MODEL_COMPONENT_6               = (0.022997,0.024872,-0.407146)
  FILTER_NAME                     = PANCAM_L2_753NM
  REFERENCE_COORD_SYSTEM_INDEX    = (118,38,0,185,30)
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (118,38,0,185,30)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = ROVER_FRAME
  ORIGIN_OFFSET_VECTOR            = (4.01668,3.39594,0.775112)
  ORIGIN_ROTATION_QUATERNION      = (0.906359,0.0485698,0.0091717,0.419607)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = COARSE
  REFERENCE_COORD_SYSTEM_INDEX    = 118
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
END_GROUP                         = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (118,38,0,185,30)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = MI_FRAME
  ORIGIN_OFFSET_VECTOR            = (0.556227,-0.0551687,-0.12851)
  ORIGIN_ROTATION_QUATERNION      = (0.395292,0.403295,0.582625,0.584505)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = DOWN
  REFERENCE_COORD_SYSTEM_INDEX    = (118,38,0,185,30)
  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       = (0.329592 <rad>,0.197737 <rad>,
                                     0.329603 <rad>,0.197737 <rad>,
                                     -0.180397 <rad>,0.197737 <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       = (2.88003 <rad>,0.0198442 <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       = (2,7,1)
  ARTICULATION_DEV_POSITION_ID    = ("PANCAM_L2_753NM","PANCAM_R7_1001NM",
                                     "MI_CLOSED")
  ARTICULATION_DEV_POSITION_NAME  = ("LEFT PANCAM FILTER",
                                     "RIGHT PANCAM FILTER","MI DUST COVER")
END_GROUP                         = FILTER_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "IDD"
  ARTICULATION_DEVICE_NAME        = "INSTRUMENT DEPLOYMENT DEVICE"
  ARTICULATION_DEVICE_ANGLE       = (1.92584 <rad>,0.00607863 <rad>,
                                     2.88312 <rad>,3.41015 <rad>,
                                     0.0152012 <rad>,1.90445 <rad>,
                                     -0.000691338 <rad>,2.88194 <rad>,
                                     3.42268 <rad>,-0.0151295 <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        = (-17.205 <degC>,-12.1702 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT 1","TURRET JOINT 5")
  ARTICULATION_DEV_VECTOR         = (0.0241348,0.0957405,0.995114)
  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         = (118,38,0,185,30)
  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      = (0.978358,-0.0208048,0.123678,0.164577)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_INDEX    = (118,38,0,185,30)
  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       = (-0.0277817 <rad>,-0.000193103 <rad>,
                                     -0.0307288 <rad>,-0.0203423 <rad>,
                                     -0.0760307 <rad>,0.108124 <rad>,
                                     -0.0479342 <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_L2_753NM
  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           = 50.0
  EXPOSURE_DURATION_COUNT         = 30
  EXPOSURE_TABLE_ID               = "NONE"
  EXPOSURE_TBL_UPDATE_FLAG        = TRUE
  FLAT_FIELD_CORRECTION_FLAG      = FALSE
  INSTRUMENT_COORDINATE           = (0.51 <rad>,0.0 <rad>)
  INSTRUMENT_COORDINATE_ID        = "MAST RELATIVE 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               = 74
  PIXEL_DOWNSAMPLE_OPTION         = SW_MEAN
  PIXEL_AVERAGING_HEIGHT          = 8
  PIXEL_AVERAGING_WIDTH           = 8
  SAMPLE_BIT_MODE_ID              = "NONE"
  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              = 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               = 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 <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                  = 3
  EXPOSURE_DURATION               = 532.48 <ms>
  EXPOSURE_DURATION_COUNT         = 104
  FILTER_NAME                     = PANCAM_L2_753NM
  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          = (-12.019 <degC>,-2.52972 <degC>,
                                     -0.154001 <degC>,-17.5944 <degC>,
                                     -19.4878 <degC>,0.0 <degC>,
                                     -13.1046 <degC>,-13.6884 <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                  = "4095"
  PIXEL_AVERAGING_HEIGHT          = 8
  PIXEL_AVERAGING_WIDTH           = 8
  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               = A
  INST_CMPRS_MODE                 = 2
  INST_CMPRS_NAME                 = "ICER ADAPTIVE VARIABLE-LENGTH CODING
                                     (ICER)"
  INST_CMPRS_RATE                 = 1.43994
  INST_CMPRS_RATIO                = 8.33367
  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            = 128
  INST_CMPRS_SEG_SAMPLES          = 128
  INST_CMPRS_SEG_MISSING_PIXELS   = "N/A"
  INST_CMPRS_SEGMENT_QUALITY      = 3.25296
  INST_DECOMP_STAGES              = 4
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = 19.0975 <deg>
  INSTRUMENT_ELEVATION            = 14.4095 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (118,38,0,185,30)
  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              = 69.8557 <deg>
  INSTRUMENT_ELEVATION            = 11.2568 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = 118
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  SOLAR_AZIMUTH                   = 254.388 <deg>
  SOLAR_ELEVATION                 = 14.3762 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  DERIVED_IMAGE_TYPE              = IMAGE
  RADIANCE_SCALING_FACTOR         = 1.455134e-06
  RADIANCE_OFFSET                 = 0.1019936
  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      = "2P183467249EDNAI38P2618L2M1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_1       = FILENAME
  SOFTWARE_PARAMETER_VALUE_2      = "2P183467249RADAI38P2618L2A1.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_2R7_183352673_AI00P2111_4.txt",
                                     "rc_2R6_183352652_AI00P2111_4.txt",
                                     "rc_2R5_183352631_AI00P2111_2.txt",
                                     "rc_2R4_183352610_AI00P2111_2.txt",
                                     "rc_2R3_183352590_AI00P2111_2.txt",
                                     "rc_2R2_183352569_AI00P2111_2.txt",
                                     "rc_2R1_183352547_AI00P2111_2.txt",
                                     "rc_2L7_183352519_AI00P2111_2.txt",
                                     "rc_2L6_183352486_AI00P2111_2.txt",
                                     "rc_2L5_183352455_AI00P2111_2.txt",
                                     "rc_2L4_183352435_AI00P2111_2.txt",
                                     "rc_2L3_183352415_AI00P2111_2.txt",
                                     "rc_2L2_183352395_AI00P2111_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          = (3.1915678e-05,1.6000679e-08,0.0)
  RESPONSIVITY_CONSTANTS_FILE     = "rc_2L2_183352395_AI00P2111_2.txt"
  PROCESSING_INFO                 = ("responsivity constants file:
                                     rc_2L2_183352395_AI00P2111_2.txt",
            "associated selection filename: roi_00320_00272_051025165448.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: 2P183352395RADAI00P2111L2A3.IMG.gz",
                                     "solar azimuth (rover frame): 38.2757",
                                    "solar elevation (rover frame): -68.3295",
                                     "dust model tau: 0.33484693",
                                     "dust model rad coeff: 0.13015779",
 "ROI radiances: 0.085243344 0.050987959 0.058408618 0.041329462 0.032883517 0.045827143 0.066708498 0.012966054 0.018597430 NaN",
 "ROI uncertainty: 0.0027650018 0.0013806226 0.0014103657 0.0013226327 0.0030721326 0.0013521140 0.0019522787 0.00092983469 0.00092137430 NaN",
                          "ROI count: 282 237 256 311 224 1146 3905 23 128 0",
 "reflectances: 0.60282949 0.34680096 0.42446504 0.29749002 0.22421223 0.33543422 0.47881084 0.096433299 0.13016786 NaN")
  FLAT_FIELD_FILE                 = ("MER_FLAT_SN_104_L2_V04.IMG",
                                     "MER_FLAT_STDDEV_SN_104_L2_V01.IMG")
  FLAT_FIELD_FILE_DESCRIPTION     = ("Flat field image.",
                                     "Flat field standard deviation image.")
  DARK_CURRENT_FILE               = ("mer_ccd_104_dark_active_flat_02.img",
                                  "mer_ccd_104_dark_active_exp_coeffs_02.dat",
                                     "mer_ccd_104_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                     = "2P183467249EDNAI38P2618L2M1"
END_GROUP                         = DERIVED_IMAGE_PARMS

/* IMAGE DATA ELEMENTS */

OBJECT                            = IMAGE
  INTERCHANGE_FORMAT              = BINARY
  LINES                           = 128
  LINE_SAMPLES                    = 128
  SAMPLE_TYPE                     = MSB_INTEGER
  SAMPLE_BITS                     = 16
  BANDS                           = 1
  BAND_STORAGE_TYPE               = BAND_SEQUENTIAL
  CHECKSUM                        = 297629922
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = "N/A"
  MAXIMUM                         = 32766
  MEAN                            = 18165.88879394531
  MEDIAN                          = 21432
  MINIMUM                         = 0
  MISSING_CONSTANT                = "N/A"
  SAMPLE_BIT_MASK                 = 2#1111111111111111#
  STANDARD_DEVIATION              = 7056.340
  SCALING_FACTOR                  = 1.455134e-06
  OFFSET                          = 0.1019936
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=17920  FORMAT='HALF'  TYPE='IMAGE'  BUFSIZ=256  DIM=3  EOL=0  RECSIZE=256  ORG='BSQ'  NL=128  NS=128  NB=1  N1=128  N2=128  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=38  FRAME_ID='LEFT'  FRAME_TYPE='MONO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='1000034'  IMAGE_TYPE='REGULAR'  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='17:17:47'  MAGNET_ID='NULL'  MISSION_NAME='MARS EXPLORATION ROVER'  MISSION_PHASE_NAME='PRIMARY MISSION'  OBSERVATION_ID='-1895694336'  PLANET_DAY_NUMBER=643  PRODUCER_INSTITUTION_NAME='Arizona State University'  PRODUCT_CREATION_TIME='2020-08-31T03:57:14Z'  PRODUCT_ID='2P183467249IOFAI38P2618L2A1'  PRODUCT_VERSION_ID='V3.0 D-22846'  RELEASE_ID='0001'  ROVER_MOTION_COUNTER=(118,38,0,185,30)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA')  SEQUENCE_ID='p2618'  SEQUENCE_VERSION_ID='7'  SOLAR_LONGITUDE=312.21  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='183467249.746'  SPACECRAFT_CLOCK_STOP_COUNT='183467250.278'  START_TIME='2005-10-24T23:03:37.650'  STOP_TIME='2005-10-24T23:03:38.181'  TARGET_NAME='MARS'  TARGET_TYPE='PLANET'  PROPERTY='TELEMETRY'  APPLICATION_PROCESS_ID=21  APPLICATION_PROCESS_NAME='PANCAM LEFT'  APPLICATION_PROCESS_SUBTYPE_ID=1  EARTH_RECEIVED_START_TIME='2005-10-25T22:25:26.112'  EARTH_RECEIVED_STOP_TIME='2005-10-25T22:25:26.401'  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_001_p2618-007-0038_002_0183467249-191.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: 2020-07-17T13:37:44Z ;;; 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: 2020-08-31T03:57:14Z'  SOFTWARE_NAME='MER_ARCHIVE_IMAGE'  SOFTWARE_VERSION_ID='V2.02 05-Aug-2018'  PROPERTY='GEOMETRIC_CAMERA_MODEL'  CALIBRATION_SOURCE_ID='177'  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=(0.494511,-0.104535,-1.25369)  MODEL_COMPONENT_2=(0.909808,0.32902,-0.252973)  MODEL_COMPONENT_3=(-92.4917,439.28,-17.2762)  MODEL_COMPONENT_4=(162.044,59.8234,414.38)  MODEL_COMPONENT_5=(0.906605,0.329442,-0.263699)  MODEL_COMPONENT_6=(0.022997,0.024872,-0.407146)  FILTER_NAME='PANCAM_L2_753NM'  REFERENCE_COORD_SYSTEM_INDEX=(118,38,0,185,30)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='ROVER_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(118,38,0,185,30)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='ROVER_FRAME'  ORIGIN_OFFSET_VECTOR=(4.01668,3.39594,0.775112)  ORIGIN_ROTATION_QUATERNION=(0.906359,0.0485698,0.0091717,0.419607)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  QUATERNION_MEASUREMENT_METHOD='COARSE'  REFERENCE_COORD_SYSTEM_INDEX=118  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  PROPERTY='IDD_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(118,38,0,185,30)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='MI_FRAME'  ORIGIN_OFFSET_VECTOR=(0.556227,-0.0551687,-0.12851)  ORIGIN_ROTATION_QUATERNION=(0.395292,0.403295,0.582625,0.584505)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='DOWN'  REFERENCE_COORD_SYSTEM_INDEX=(118,38,0,185,30)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='PMA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='PMA'  ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY'  ARTICULATION_DEVICE_ANGLE=(0.329592,0.197737,0.329603,0.197737,-0.180397,0.197737)  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=(2.88003,0.0198442)  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=(2,7,1)  ARTICULATION_DEV_POSITION_ID=('PANCAM_L2_753NM','PANCAM_R7_1001NM','MI_CLOSED')  ARTICULATION_DEV_POSITION_NAME=('LEFT PANCAM FILTER','RIGHT PANCAM FILTER','MI DUST COVER')  PROPERTY='IDD_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='IDD'  ARTICULATION_DEVICE_NAME='INSTRUMENT DEPLOYMENT DEVICE'  ARTICULATION_DEVICE_ANGLE=(1.92584,0.00607863,2.88312,3.41015,0.0152012,1.90445,-0.000691338,2.88194,3.42268,-0.0151295)  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=(-17.205,-12.1702)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5')  ARTICULATION_DEV_VECTOR=(0.0241348,0.0957405,0.995114)  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=(118,38,0,185,30)  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=(0.978358,-0.0208048,0.123678,0.164577)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_INDEX=(118,38,0,185,30)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(-0.0277817,-0.000193103,-0.0307288,-0.0203423,-0.0760307,0.108124,-0.0479342)  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_L2_753NM'  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=50.0  EXPOSURE_DURATION_COUNT=30  EXPOSURE_TABLE_ID='NONE'  EXPOSURE_TBL_UPDATE_FLAG='TRUE'  FLAT_FIELD_CORRECTION_FLAG='FALSE'  INSTRUMENT_COORDINATE=(0.51,0.0)  INSTRUMENT_COORDINATE__UNIT=('rad','rad')  INSTRUMENT_COORDINATE_ID='MAST RELATIVE 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=74  PIXEL_DOWNSAMPLE_OPTION='SW_MEAN'  PIXEL_AVERAGING_HEIGHT=8  PIXEL_AVERAGING_WIDTH=8  SAMPLE_BIT_MODE_ID='NONE'  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=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=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=3  EXPOSURE_DURATION=532.48  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=104  FILTER_NAME='PANCAM_L2_753NM'  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=(-12.019,-2.52972,-0.154001,-17.5944,-19.4878,0.0,-13.1046,-13.6884,0.0)  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=8  PIXEL_AVERAGING_WIDTH=8  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='A'  INST_CMPRS_MODE=2  INST_CMPRS_NAME='ICER ADAPTIVE VARIABLE-LENGTH CODING (ICER)'  INST_CMPRS_RATE=1.43994  INST_CMPRS_RATIO=8.33367  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=128  INST_CMPRS_SEG_SAMPLES=128  INST_CMPRS_SEG_MISSING_PIXELS='N/A'  INST_CMPRS_SEGMENT_QUALITY=3.25296  INST_DECOMP_STAGES=4  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=19.0975  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=14.4095  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=(118,38,0,185,30)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=69.8557  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=11.2568  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=118  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=254.388  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=14.3762  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='DERIVED_IMAGE_PARMS'  DERIVED_IMAGE_TYPE='IMAGE'  RADIANCE_SCALING_FACTOR=1.455134e-06  RADIANCE_OFFSET=0.1019936  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='2P183467249EDNAI38P2618L2M1.IMG.gz'  SOFTWARE_PARAMETER_NAME_1='FILENAME'  SOFTWARE_PARAMETER_VALUE_2='2P183467249RADAI38P2618L2A1.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_2R7_183352673_AI00P2111_4.txt','rc_2R6_183352652_AI00P2111_4.txt','rc_2R5_183352631_AI00P2111_2.txt','rc_2R4_183352610_AI00P2111_2.txt','rc_2R3_183352590_AI00P2111_2.txt','rc_2R2_183352569_AI00P2111_2.txt','rc_2R1_183352547_AI00P2111_2.txt','rc_2L7_183352519_AI00P2111_2.txt','rc_2L6_183352486_AI00P2111_2.txt','rc_2L5_183352455_AI00P2111_2.txt','rc_2L4_183352435_AI00P2111_2.txt','rc_2L3_183352415_AI00P2111_2.txt','rc_2L2_183352395_AI00P2111_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=(3.1915678e-05,1.6000679e-08,0.0)  RESPONSIVITY_CONSTANTS_FILE='rc_2L2_183352395_AI00P2111_2.txt'  PROCESSING_INFO=('responsivity constants file: rc_2L2_183352395_AI00P2111_2.txt','associated selection filename: roi_00320_00272_051025165448.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: 2P183352395RADAI00P2111L2A3.IMG.gz','solar azimuth (rover frame): 38.2757','solar elevation (rover frame): -68.3295','dust model tau: 0.33484693','dust model rad coeff: 0.13015779','ROI radiances: 0.085243344 0.050987959 0.058408618 0.041329462 0.032883517 0.045827143 0.066708498 0.012966054 0.018597430 NaN','ROI uncertainty: 0.0027650018 0.0013806226 0.0014103657 0.0013226327 0.0030721326 0.0013521140 0.0019522787 0.00092983469 0.00092137430 NaN','ROI count: 282 237 256 311 224 1146 3905 23 128 0','reflectances: 0.60282949 0.34680096 0.42446504 0.29749002 0.22421223 0.33543422 0.47881084 0.096433299 0.13016786 NaN')  FLAT_FIELD_FILE=('MER_FLAT_SN_104_L2_V04.IMG','MER_FLAT_STDDEV_SN_104_L2_V01.IMG')  FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.')  DARK_CURRENT_FILE=('mer_ccd_104_dark_active_flat_02.img','mer_ccd_104_dark_active_exp_coeffs_02.dat','mer_ccd_104_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='2P183467249EDNAI38P2618L2M1'  PROPERTY='IMAGE_DATA'  CHECKSUM=297629922  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT='N/A'  MAXIMUM=32766  MEAN=18165.88879394531  MEDIAN=21432  MINIMUM=0  MISSING_CONSTANT='N/A'  SAMPLE_BIT_MASK='2#1111111111111111#'  STANDARD_DEVIATION=7056.34  SCALING_FACTOR=1.455134e-06  OFFSET=0.1019936  TASK='MERTELEM'  USER='pxz'  DAT_TIM='Tue Oct 25 22:41:23 2005'  TASK='MER_PANCAL_IMAGE'  USER='jj'  DAT_TIM='Fri Jul 17 06:37:44 2020'  TASK='MER_ARCHIVE_IMAGE'  USER='jj'  DAT_TIM='Sun Aug 30 20:57:14 2020'                                                                                                                                                    -   )      f  oACaw@1?P,|9`/_5qy
P7_Xl#:g7F:l
`5?z5bc\N1CNA>ue_X,a4.RR"	R@? %dm0bY{ F>@5opM~9/&W"BWA9N1]M;;z+:HTy0;	h2	(\		,5/w*/pusN)|(BFC1
Jt^vuur"f==_rW	y	&*ZZXY<	 		
	
	
		O		L	:
	a
4	=		


I				k
)	m	|
p		

6
J


	
	61_#He$Z~e`	9!TXwr	[	]		
 		a	N							t
	

a
	
d
	
		



2s
]Zva<|e
r-!wQ^"Dz?\J7t24=-(	x"{		*		8	/							|	

	e			
;		Z
r	X
<	T

6

v

s
i


c
TI



6@eWTK/T%pGS>~_@69S4Yrrpd@	hz		*	B		+
s
i
=


n


!


n
^nReB1+
>"I

LcT9#n3{!>BtUH;6	
f	8	o
	;
	
	P

~4 ?Qt[8WdI8^L$)i I|t;?&*`j6EL!PIBN5Z~$3#<eqp9DNW.<7^	t|xy
-hv *2a2(Np1	2mHwl`:Jrw
zhyEO<pXZ0f_REs">=9[1!ds3% "qAFxaT=I!{/,;Rsb-$C7Mb7^8LwXcvu*O c@;DJ1 	V$ir4s8b)0t?[bk.YB/'9Y7}.{Z6xq%Jo
BPMs$qZlV%Us?;nGh~
* @3U)g$~4#7SZ#A9p0yu
[k* /Br=/~\v3uT	wBb=M!dBM! 5;YB~.C])XLUcSZK{Xo8/5Kb#;cwMud9}EuP	5IwiKHzgwrB=A4 xn&Yi5\iPSfnPK.bh~m@]RIPV`CX~SXJaXcR\ED{4dtK.x_Z0p5fD@1~AEE%I\i4rcDqFf'DScmuh?P)D@}P(7*]{=RU&\Am
2nFAwn@"3(5 ;I:LXaC?jI"a,a<,\oLh`A?'QmmYcqE.a3
_IImHx_$wGCHr :+oQf(rc"@kt-Q8"m=`j$(\f:>\u$~#yZ3A ]Eo}INVl9\HDk%tTRh,S6rga,_iMu'*U7G"L:CIq"U\(*iTb sP| ?   O        r      <gJE5+D/r|SZM\):R9=2`yn_F>7bSv&]
J\-Jx  
\ t y j  g   Y i   ! !L !!q!![ !!" ")!!!!6!D!!V"!k!!!}!!"Z!!JvFKcHTmnYVS;. (q    L! V  : !K j   !j   k!     O !!C !G  !!!!!"!X!!"Z""w""O"v!""J""#1#""""#n##*#w"#l#"$""#>"##G""##@"LHtAWRI/ ]  W " !!O  p J 4! \!'!@!?!!!e!!!2!!i!z!"#!d !"K""4"""'"*""<!"!"$"o"!"1!"!"<"!"s"N#0"""##!##~# #'####^#0#r##H#$w###$ $$$$$%;$$S$$$$j$,$7$$$$$$_##MzJ$p B N  s  %  W   !+!~ !l!!7!Z!g!x!!E"!!Z!!!!!"x"!!",!"H""
""!""8#R"#n"####i#X#[#%$/$4#$^#$#s##"#$ ##7#9#I$C"##V$$#$$$$q#$X$h$n%4%u%$~$%%4$$l%%%%U%%p$%5%%S%%&v&&o&{&9&%&C%&-%%1&%%%w&3%POK!!u !"Y!m!!"m!"!<!#"x"!""+"#*#E#"#"##""#x"##""##$$F###<$#$$#$2$;$$$a$$$$.%_%W$%3%%2%%%%%`$$$%%x$%$a%%j%%n%%%
%%%&%%%%&%&&n&%&&_&W&!&&:&&0&'&''q''%''G'R( '''m((m(*('&8&('C&'zPL##"o##	#2#\$\"##3#*$n$@##$w#$$$N$$y%$!$$5$$a%$$%%%:$%L%n%$%&(%%j&&%%%n%&%&g&&%,&A%&&v%%&&'&'&&_&&&5'.&8' '	&C&' 'v'J'A&'A''C'''(-''(7(H(,''''|(''(-'((}()()t)I()())t)()m)9()_(((u) (j(QN?$#$f$?$%@##%$;$%%%%%%$&(&1%%%&@&&&!&&&&&&&?&'&&'r''*&'''a''''"()'~''''V('S'((!'((?'(=(''((l'(N'(()A(b((&(*)q)7(()q((())F())@)P))I)(*=)*3))**l*:*i***+*e*2)*+7*)***a)*r+)*)SNN%&.%&&%3&'(&,&D&'&&@&D(&&&&&'B'4(.''(:''('''((;((e((#((t(}'((((O(()x(s(W))0()L))))m)6)w*W)z*)Z));))))*q)F)*/)*;*))*j*`*))******j*#**Z+**++++R+`+**+S+e++++*++,,l,,],+*++++/+TP'Z'*(+(s'(G'A'''(R((('(g('(((k(/')()())())))7)))D))))s)Z()))*P)}*+	)*))+9**\**+!*W**]*+)*+*3+e+u+A+'*+++C+,++t,5,,I+,+d+t++Z+O+,,F,+,M*+{,+,F+-2,,A-+-D,-J-v,-,-,-~--!-{-,,-;-/,,--UQ(<((()()2)*))>)*}))*\**\))*$****+**+*h**
+?**+U++X+z+*+c++X+3+++++s,8+,W++,++,d,?,',!,D,,A,L,#,,k,,,-,-----O-h.--n-T.*,-,-g-q-.+,---E-5--.j-.A..g/-...u.y./..^.u/B../<./Q/.h-/.VR*y***+#*`**+**p+2*}++]*+#+J++C+9+++,=+- ,1+W,u+,+},
-h,<,,,,S,~,,`,,->,,--}-#-V-q,-,-------N-*--s-/-.G-.Y./+...7.x./4/0.//..~.+.//.G.////N/9/C.z/ .X/q/S///6//0W/0X/0/b0 0//j0///0 /0h//Y/WS++++,+,,,,,,N-a,0-K,-g-?-Y-4,,,--S-^.-k--7--P--i-Y-.----.--.~.c..-./,-/B..-.S/J/2/0/Z.//&/H///0//0//0!0'00[0%//00/0H00/0F/]00Y0w/000Q00X/1U01L111j00c161Q1011e01Q1
00}011X010pXgU6,,-w-b--,---a..-.. ...L....N///r//A./,/.-//*/:..////.0/;/	///I/D0Y/0R0.0E00//0O0O/0v00"0001 0111D1101b11101W1;11;110z111112212R21122[22Y2'121222222W122	2y21222/21312QZVo.-.4/@.6/.//*/./i0./00,00//0 0f0K0/0n000T0O0J/1/u/00J0b0000101_000111102A1"01_1I1022@2C222{23i12223292323S223h393Y343!223+222s323333x33X4Y333u4*3@44{3333;33373333w4h3P32233K[Wf//v////0c0k0011q0160/1101t11`1&111121I222X1T21262K1w2t2m212B112,222?233r223'2323i2~2g3e323T23g3o3c4(436334343A3\44k4544344#4L4F4V4345+444:4|5"55 4455N5(54!5445Q4445H5T45p5
5545A45'5m5D5[Y"/0011[1122022F2]2p2P2222232223:3.3J2333X3Z3333643s3344Y33a433433334&3l344d4F434544445445444545Y55S556 555465555P56	5d565666>556*66(666\6h6!6H60667"6i76i666566=6+555]CYf2222 23O3Q23}3w434P4334]344443344?444#435444|4445?4@544445-4455X545W5>565555N6)565555566v5V6c6656667676776y77S67g7-777$777z8j79777{7=7|77787^77778777m8*7O78/77)78877t77E^Z43333Y444-4"4E44O5,4q5@5	5X5)455{555d655)556!6=556p66$6n5656y6E666666f66676x6687"6]7?7_7 6676+767i777777z7z77z78s888%98X8d878Y8T8h79888\9w8i8|8988888o89>9E89.8998:59+998e89898K928_B\s44I545v555556*5556y66767u6667G667>67E7,667{707677i6767g7J77{777776778787s8o8778o888-8888888889-79#9h:S89999_::
99:9:9k:999:N99:
:9::t:Y:[:::K:'99::;:::::g;P::7:9;99`\5s555656R6f67&677I778788Z8'888!8g878{9)8B8(89I8888G98978988.89!889q89D9h9T9]99999n:F9s:999H9K99*9p::@:\9:-:::=:;:]::-::P::":;:;;:;;x:;C;;;2;J;<;;;;;~;,;;:;<F<G<}<F<!;^<);;Z<\;N;;k;a^f6677677788q78]88999t99x9G9399X9~8989?:j9_9t99L:>:
: 95:;9999::::9:::;	:]::;:::::;;;;!;9;:g;;B;C:\:;:;U;;i<;r;@;;<<N<;<^;<9<<!<<,<<<E<<<<^;<~<<<=Y=<=Y<<y=7<<=7==e<k=<==<=<=<8d
_l778#88m9L8^85:0888::-929:?9::;:;m:;R::;;p:.;:;::;A;;2;H<;%;::;_;~;;;~<@;;;D<M<;l;<;<b;;<Y<g<;<=%<A<<<<<<<=X<==<<==-===B><=z;=>r==='=={==q==g=====w>=>3>\>q>?>\=>Y=>>>>=>>>,b`88999:$9999::::;2:;;;;;`;;"<n<';<<o<N<;;;;;;<K;<;<~<h<<}<L<<==n<=<=<=c<<9;<<<=x>="=G=<=========i=y=b==>#=>>a>>>w>>>>[>>!>>K>>?>`?[>?>>????? ?3?)@@,@R???@ ??h>>@??>e`9::;W:;o:;;_;;;t;;<'<<;=<=t==U===a==&=<=<==<=!=$=====3>(=>\=>> >>p>}>>@>>>==>>> >>y>>=?>>">'?J>>>?D????<>??h?h@?1???@`>>>@g@Z@?@@@@eA@@@@@?@?A@@@@@@@A@@A.@P@AA@Vfap:;;;B< <<<;<g<<=====>=>x=>>(>u=>??>>>>>>>=>}>J>?G??>>>??Z????f>????????@??@%?@x????@?v????@?@{@@@@C@@A@@5@@d@@A|@@AA@@BBA|AaBGAAABQAB\AxB
BxBBLB,AgAABAAABbBNAAgPc<<N<e=1<==U=l>=h==>1=?>>>?K@?2?@2??@J@?@V@(@#?????@8>@4@?@t@?A	@?@@@hA,@AbA>A2?AAA-@@AW@UAA@h@ABAoAiA@Z@AABA3@@AA@AAbB3ABAA{A0BMAAAABB_C4B{B]CCCCC<C5CNBCRC5CpBdCBCMBCWCBCBhBKBqBC2CShc`>>=9>,>>>>>?Q?>?n>??@lA:?@A@AAAAMBBpAnABA@A@@A@AAb@J@AAAA@ABABhBKAIAAB#ABsAABVBBWB)AfAC,ABCABBNB|BAABHBUBKBBBB`BBBBBBBgC"BBCC$BC1CcC,CDD DCdCDDDZDD_CDcDCDVCDkD[DkDCDCDD0CECC[jd>m?>|??>@?@y@?A7@PA@A@@@AAB]B.ABCBfB|BBBHBAAAB5B5BAxBdC2BBABCC,BBCCD$C&D
CrCxCuCCCDC1C\BCIDICtBDCUD)CCQCCCCCCCBCCCDSCQDDYCD%CDDCD:DzDE DD]EE{DEEkEEEEEtEODDFDDDE DEEDE1DDDDie?@E@i@@Al@A@ACA^AAA0B4ABC(BBC{C2CC"D@CCDhCCCCNCCCCC#CBCCBDRCVCDBCCCvDDWDD/CDBDnDD,ED[DDBDNDDlE'DD|D"CDwED|DDDEEDE7CEcEDEkDlEDEEDEF3EaEiFFEFFFIFWFIEFFkF@FTF0F6FsFEFFEFE|EEF*EFFFFkg@sAAAxADABBB>BpBBB&B2C|BCFCDDPCDDiDCDCCDDELD9D1DDpD`DD\EECD~E+DE0EfDEDDE EXEELEEEEHEEEEEEsEDF,EFXFEEEEEFBFEEEFTEFiFUEF;FFhFUFnFEFFF FG GGOGOFFG\GYGG`FFGGGGGGGH!FGuFFFGFFFGk6h&BBBC)BCsBCDrCDCCD CCD DE|EEEDEF,E'EEFEEF\FHEEEF+EErDEEDEEVEFnFyFFGBGFFEEHGFFFGFFF\FG5GcFVFGvGGFGfGGYFrFFFFFGGFGGDGGGGGnG%H!HyGGGHKGHHBHGH4GvHFG{GHLHIDHHHGGyIGHUGfGGdGGmi[C(CxCGCDXCDkDCDDEDDEDE$EEF
EFF<FkEFEF FNFFFFGSFPGGGFFqFFEFFGFFGGDGFHIGHDHMGGFGG!GH/GGGHKHzGH/HHGGH}H9HHGGGGH)HGHGHI"HXHHHHHI-HIHhHPHHH#IHI\IHGIIhII$I$HIIIaI%HHHHICHIIHIHn@iDDE2E6DDEjEEEIEFEFFEiFFmEFFGMGGFHG%GGYGGH GHKGH GHGCHGGHBHHH&HHHHHHH{I<II	GHI-IHIIuHIAHHgHImHHIgIHIvHI IRHHI4IvI+HzIIIHIIIIIIJIIJIJ@IBIIxIPIJ!J2JJIIIIJJ_J5IJOIJJIIJJJJ\IInjDDF,EwFoFCEEEF-FGG#FGG0GGFHGHGHGHGHVHOH*HHHHHI;I#IHI[IH]IIIJIqIIIIJJ
IKJ&IIIJKJbIIsJnIJIIIIJ-IJKIJPKJIJ&JJIJgJBJJDJ.JJxJK	KJJJ(J6JoJJJJKJ~KJ-KJJKQJKlKKTKmKKJKKKK LJJKK>okFFEFFyGFFgFGFGHGHH'HGHHHHHmJHIFHI HnIQIIaIIIJdJyJ:JrIIJ[JJIJvJJJJWJJKgJJJMJJIJJXKKKKtKKJKKKKJOKJKHKcJKKK{K]KKKKKKKKKLLKKK@KLKvL?LKKcKKLLL	LL@KLLLL:LKL$LJLwLLoLFKLL*KKpmlFqGhH!HBHGHDGIKGuHkHIHIHITIIIIJ9IfJQJYJJ?JIJuJJJJ{K7K-JKKWJGJKJLAJKK!KKKKLVK\K%K KxKHLKgKKaLK7KLLKLLxLLL2LrL(KL!LqLELLKKLKLLLMLMM;LMMMoMZMMLMLMWMMrMBM5LMmM'MxMfL&LMuMMMMMM3LLLMBMLM$qlYHHhHKHHH]H?IsI
IIIIoJ7IJ3JzJJJbK;JiJJK KfKKKLwK/KKKKKbL>KLpKLKLSLbKM&LMM LLLLLLLL<LLLLLwLLL{LLNLLM-LvLLL,MMdLMLKMMMMLM@NN9N1NNuNONNNMN'NN%MNNNNqNMNMMFNNNMNN&NNNNN<NJNM;N3MrnBIIHI?III2IIIJbJK"JJ"JK KL#JLdLLyLKL$LtKDLKLL	ML{LlL`M	LNLM?LML]MmMUNNM MMMN%MM5MoMrLLMqMLMM9MN MMMN#MNMPN6MN8MNN/MNKN,MNnNN NNmNpNFOOJNON^ONNO9NOBNNNNINOO`OOJOOkOcO	O3OOO	OONO]NO7N
OBNOIronJCIIJkJUJIJJKKKKLRKKLL>LvLKLLLM2LwL=LL@MMMMMNLN=MNsNMOMN9NdM;NMMNNNNO~N\NvNNNNlN~NOcNNNNBN|NNNNNDNNO,MONOONO`NNOOOhNOOO8OPOOP=PP'POPOPOONOtONOiPTOOPOPHPAOP3P;OOOPPOOoOO@P5OsoJKtKfKKqL
KK3KLKLKML&L_MBM M2MMMM4MxNpN#M	MNnNNRMN^NWNOO'ONNOSNO?NPOO>OOPhNPOOO7O7OO*OOxOONOOPNOOOP4OPOPdP"P6ObP OP2OPAOPlPiQ/OPPQPOPPPPQ2PPPoP}PPOnQPJPQ7P9Q;PQ,PPQ%PPQ&Q`PPQPQQP0spL$K|LKL|LLMKM$MPLMBLqMN?M	MdMMMM1N'N.NBNqOOOOO(POOWOP;PsPOOzPOP4PPPP6PPPQ PPQ!QPPPYPOPPPQP(QPPPGPP*Q+Q@PQ'PQQPPPPQ$Q9P%Q.QSQQ1RPXR{QPQQRPQBQQR+QQIQPQQPR{QR#RWQRQQQQQRrQQlQRBPPQ$PtqMM}MM	MLuMN)MQNMMMN+NpMNO#NNOO7N:O8O.OOaOPPP?P=PPBQ#PPPOQPQQ R*QMQQRRgQ@Q#QWQQQQPR7QPQQIQ QTQRRQPQ6QQ`QJRSQQQ^Q6QLRQRtRHQ^RSRQR%RLRQRQQQNRpRRRRRRRRRQQR:SRRRRR{RS.RRRSPS	RoS RdR=RRRR"RuKq_M;MNGMNNNN(N>O N]NoN|NNONOO]OuOO#O{P\OOOoOPQUQQQWQQbQNRNQ;QQ|QRER~QRRR@RRRReSLSRSZQRR6RwQRQR$QR RtRRQRQRRaRGRpR[QRaR9QRORR+R2RRRRRRRpS?SgRSRS`RSRRSKRrSeSSS7SRPSSSWRSRSRRRSkRSSSRS,RvrNZONqO5NTO6NOOOdPIOOOOPFPPP9OPgPXPPLP:PPQQQtQQQR/R-R`RRtRRRRLRRVRScSR8S7SSSFT5SSzSS^SSTRS)RhRRS	SKRS*SS]S)R=SVRSRS\RS9SRSxSRRSFSScSRSlTShT{SSeTSeTS{T3SST>T+T9TTTTSTTT T[SS[TT}TXT^SSSpS}v.sONOOOOPOPPPQQPPPcPOPvQHQPPQPQ<QQR}R/RRRRRRRS9SZRSrSSOS~TASfSSTTT[TT{T&SqSTWSTSjT#UTfTT)SSSTSSSSSSTSrTSST/TPTTSTPTTT#TSTUuTsTtTTvTUTTTTUU<TT9T7UXUDUpUUU6UUeUHUU{TUTFTU|UUTTSxsOPP	OPPOPPHPQQ;QQ1QaQQR-QRRRR"QRRaQRS$SMSRS"STPRSTmST	TjTTCTLTTTTUSTU7TTTUnTT}TTTTUTTUTUTUTeTgTeTHTsThT.TTST9U2UT_UsTtTPTT{UTU"TU[T]VUXU{UXUU|U}UUVU,TUUUV!VV-V5VVvVVV{UUTUUHVyUUTUAUUWwtEPPPPPOQQVRAQ]QRRiQRRRRRR+RSS8RoS[RSSDSSuSSSTSTqToTU%U=TTU2TDUUKTU9UuU UpUuUUAUjUV,UUTVUTUUcUTcTU8UUUUUUTUWVUpTVUV!UUV UU
VUUkV=UVzUU^VVbUTUUVSVKVW XUVVWsVWVV VfV+V#VFVVmVUiUV$VUxtVPQQQJQQRR
S)RRRSRSRuS}SSS`SUTbSTFRTOSSTSTSTT8TUTGUUUVUlUUVUTUV#UUUVUUVhVV@UVUUVbVHVoUbUUV'UUUVV-VV/W VVXVWV VWVVUVVVlV VgV9WVdVjWVWVWW
VV`WVWVVVWhVWVVVVWVqV~WVVVVVVVxnv@R/QR`R;RRSqSmSSTTSS-SSStTTT8TTTbUT<TT{TYUTV#TTVU~UVVNUVVVLV^VVLV>VWFW{W5VVWWSVVVVVVVUW VWMWV!V!VDVVVGW7WGVV>WBVW%VVW VVW>VWWzWeWUW8VWdWWWyWWWWWWWWvWWWWXvXWWdWyW|WW:WXfWVW*VWVVZVz2vRRqSSS*SST	STDT#UTYU^TUTUTcUUiTUKUUUUrUU9U'VGV\V$UVVVV,W=WLWVWW.WWnWW;WWWWVXVWXWWW/WVWWW0WWqWmWVWWVWHW*VVVWdWlW>WrVW8WX9WWX1WWWXWXOW^WWXjXEXXRYcXXWXX|WXYY#X XWWXWXbWWX"WnWWWW<WxvlTTShSSTT~STTTTV6UWTUV-UUU@V:UUUUUW,V<VV\VAVVWmVyVWVWWW`WVXWXWWWXXTX=WXXXWWWXWYWX:XXWWWX"WW}XX=XfX.WXXXXoXWXWXX;XX<XX\XXXXXXoXYTYYXX]YXXYKXYXXXWY&XkYXXXWXXWWXSXWYzxHTT:TTTUT]USTU}UUUUUUUVVVVW_VMV}VfVVWW+VVWTWVWdWWWXYWCX=WWXMXXX\XXXX/Y+Y$XYRXXeYXrY!XXXY{XXXXY\XXX@XXjXXX`XXXY$XYXXXvXY%YYYyYY5YQYXY{Y{YZYZ1Z5ZZ	XYWY1Y&ZHYXXYYY%ZY4YXYYXXXfXYE{wUvUUeVBU`UUV:VUVUVWW:WVVVWVgXW=WWWWmVX XWW?XGWXXX~WXWXXtY&Y+XXXXZYZIXY?YXY^XXYXYXYVY%Y<YXYBYUYHYWXYhXYXY6YY*Y_YgY=Y=YZLXYYYYYSYYYYGYZ2ZLZ3ZZ
ZYZEZgYZYZ YYZZZ9YZ<YYZZZYDXXYY8YDXW{yU|VdVgVsVVVVWVW[VWTVWrWW7WWWX-XWX XWWXXQXXXXzXXXXXXYY?YYYYYYYlYtYXYYZYZZYYYYZYYYZ5YMZZzYZXYY4YY[3YZYY{YY9ZUYY\YyYZ,Y[5ZAYZ%YsZYZZ-Z\Z)Z[!Z[&[jZrZZxZZ4ZZ[ZZz[ZhZY[ZgYYYYiYY3|xVW	WWVXWjWW|W}WWX&WKXWX4XXXXYXXNYCXXYKYYXYXXXYYYYYTZyYRYZOZlY=YYMZZYYZZ#ZuYZ5ZoZZZ5ZZ2[eZ![5ZZZiZZ[.ZY[ZZZ7YZNZXZFZZ`ZYZZA[EYZZZJ[Z[Z[7[Z[P[Z[['[G["[[[&[tZ[KZK[KZGZZ[#YUYZ\YZwYZZ8{KyWVWVWX/WEWWWXEWXGXYXXXXYYXY;YcYGYYDZXYYYY&YeYZ^Z,YZZZ^ZYZCZ1ZZZZZZZcZ[BZW[M[Z[[ Zg[[Z[[Z[/Z[)[Z[T[2Z[V[-[[.Z[:[Z[B[jZi['Z[[N[[2[BZZZ[Z[Z[[[['[[:[[l\M\W\w[rZ[[Z[\I[4Z[[Q[ZZ$ZZ&Z[Z{yWWhXZX7X X&XXzXYYOY"YOXYYZYY,Y(Z2ZYZYZZYZYZhZZZZZZV[HZ[Z|Z[`[B[)ZJZJ[/Z[Z[W[s[[[Z[\$[[[p\w[[\W\[6[[\\ \0[[[`[[\:[[[\_\\<\$\\J[[<\6[Q[[[[{[]\3[[[\\\[[\\+[\1[\[\H\C[WZ[[e[Z[>ZZ[>ZZ}yY'XHY!YY	YXY)YYY\ZYZ>YZSYZ[,ZYZZZZZZZ[ZZ[WZL[Z[j[[F[E[u[[[[+[[[\[[[\L[a\@[\	\@\[\`[\\3\4\m\B\y\E\\#\[\	\%\D\u\5\[\T\[\\^\\3\k[{\o\[[\.\B\O[\[\\2\)\\\v\F\\2[\7\\\\7\fZ[i\9[[[[i[M[[([p[F|^{X4YYXYXYaYYZoZZ'ZZZZ[)Z[[\Z=ZZ\Z[:\[[T[![[~[y[[[\m[5\[[\\\\\H[\[\]z\\\]8\\4\H\\\\q]\\o\\@]]<\N\]6]L\\U][\]&\\\\p\C\\]M\\@]\[\)\S]0\\\]\\h\|\]G\]}\\\\\\G[\\Y[[\([[[[w[[0[}{YZZ?YZMZ>YZZZZ[ [C[[\;[[[[X[\[v[[\([[\`[\\[\7\Y\U\\\\\r],\\j\]\]]']\;]q\]]\^_]t]I\=].\]]]]p]]]]<]\][]o\]]M]\]b]!]\]]C]4]3]]\!\)\'\\]/],\\]]\\\]]O\]\I\]/\\\Q\\,\\\\\M[\+[p[[\4[)||-ZZZ[7ZZa[Z\
[[\'[T[[[\t[]!\v\R]	\\[\\\]\\B\A\]I]H]F]U\\]\] ]B]y]:]3]C]_\]]g]]]}^{]]]^$]]]]^W]^]~]]L^]]\]d]]]J\]^]]|]]L]B]]]]]]r]]>]]\]\]>\]]y]\\]o]^]R]&\\O]C\\\\\;\;\\\g\A\&] [[[||ZZZ[\[D[y[<[\ [\8\]F[\\;\/\\-\o[\]]	]M^\]],]K]\v]]B]]]]^$^^^^E]]^ ]^+]3]^^0^O^]]^B^o^^^]^m^]]^,]S^]2]u]^]]^T]^]^"]^]^]^^^^5]]}]P]n]]]a\]!]],]W]X]\]]\]t^]\]]k\]B\]I\]G\\b\\\[\[]|}X[[:[=[\[B\\\\6\s\\\\\]]S]J]]`]]J]K]]]]]D]^B^f]g]^*]e^>^E^^e^]	^)^M^J^{]^w]^^_F^^^u^__^]^{^^|_^~^i^^"_^^q^K^^^c^^p]V^^@^`^)]^Z^^]]]]X^'^w]I^%]]\]E]]]Q^;]]r^t]]^K]]]s]\]\]$]d]\]]:\]>\\O[}}[[[[[\F](\\\]\\\\%\]],\]]^^@]^]]]]^]^<^9^^y^^B^1^<^f]_^^^_^x^h^^^i^d^~^_^,^_^^_^__%_x^S_)^_^a^^^_f_^^]^t^^^<_^^ ^^]]^^^2^]^]]]]^[]e]^=^7]]^,^]^^^*^]L^]|^O\^w]]B]]j]9].\\[~M~[\ ]\\\];^ ] ]@]N\]N])\]]v]]^#]^U^k^^^`^Z^w^^^^^^'^|_^e_^_J^K_J^^_&^^_8^@^L_b^|___`8__^____^_0`e_._w_F_s_D_[_^R^^^^^g^g^f`^_^^^___]_]^^ ^^X^]_^^^^^^A^V^]__^^z]j^K])]]]}]\]P]]]n\6\}k}]]0\]K]]]9];]\]]\]\]^#^]]^^^_	^^@__V^^_M^N^^_ ^___v^^_P__&^^___ ^__z_4_____ `
_P_*____F_O_`____^`_&_X_O_r__^V^~__b^_'^g^^/_R^{_^_b^G^^5^^s_^_Q^_	__^_
_Q^*^]_^"^_]]|^i^,]]]]j]\~~\]]\]\]]]]B]];_]_^]^~_N^/^q^^^_^^P^^u_b^_b__^__R_____*__@_h_U_^_N_C____^_4___^_q`5_|_____0___`_`y^____%__a___.^` __S^b_w^X_^___I^^_8^^&_t^^^_^W__|__^o^]^!]^@^^^E_^V^]!^],] ~~]]]]]]]]^]^.]^w_^p^C^^_3_Q^^_^`^_^_@_$___^____+_V_^`O_a`__^_9_M``_a_b_`B___`Q___`____}`u`_{`9_```4_``_w`6____r^^_N^V_G_g__^^_n^J_8__)____j_G__K_`^P_`$^^_.^_^[^^^^~^<^K]r]^\~%~']]]]]]]/]w^U^-]^]^N^t_^^^r^_`8^n_ _=]___?___P`____`+`J``/`_`___$`m__``a__@``p_``L_``B_`7`___``V`&_`6_5` ``3`j`c_\__`_a__u^__k_^_7_^_/_9___`R__M__H`^w_O_g__3^_^^^^__?^]^^~^(^H^A^]]r'~^o^}]]2^^^]^]]^a]^^^^^"_b^^^{_"_5_n_^^__>__`
_____``Q`Y_````-``````_`}__`S``_a`~_`b`.`m_,`__`S_`+`6_{_``w`&__`_`__u__c__`5_[^_7______`_n___z__`3_`9_G^q_P^_Y^^_R^^^^]^^,]~r]D]^S]^3]^^^t^^5]^U]^^^_6^^_5^v^_^__t_w^_i__^``_`a7```B`
`-`z`S_`_``i`````+__b`Oa<``c`h``H`a-_`j``;`_
`__`_``Q`````C`f````$_____t_^_`__)``m_`____`C`,`_>____v_i_x_^_,^^^^]^]~]~]{^]~]^]^]]^^^]^[^^g^__
^^^^^__Y__3^_x_B__p__n`` ```1a4```__a`````?_`l`.`k`_`e````^``Ca`+```a2``ya`m`_a`Qa_|``U`a ```_g_`&`T_``W`)_z_`0`$``._`Y`___`X__`{___/_;`_c__^^^t^^^]]e?^]^^[^^U^,^^^a_]^^^	_____!]_^^_	^[_R^__^__u_____``-```aH```:a`{`a_`K`#```Z````m```Ca```{``Ja``` `_``Ya``__`Q``_``_`{`T_`v__]`h_z`K`Y__`=_`#_~__``(_-_^`7`2__^_^^_T^^l^=^^~]_Y^^'_3]q^^c^^^	_N^^^^q^3_]_{___I_u__^d_:__A^^_``?__`d`C``5``a-``a_```aM`_a8```d`~`Ta-`^`ya````R``a7``R``a``p`(_```_`j``a`_`Q_r_=`_`_`_`\_`x___H`s__`!______^_"_^^^_^_^i^j]]v~~_H^__6^_
__&_^^^_#_X^_}_<_P_;__P^_l__q__L__9__"_0_D`\__>``U```]``a```zaU`R`a%``a``aTaa	aead``'aap`aa`a)`a`Ka``a'``a``za`"``a```_``__`M`8`.`_``?`
`E`=_:`_y_`____f_H__x^e^_^^^^2^^2]~5^g^l]^A_A_,^__p^___H_w^_s^_^_^^`w_^_^f_q^____^`4_`O```^a```P`:`J`a`waY``````aa`aa/a aB`av````va/`aa"```a`a*`a`aa%aaa`````_``aI`4_`n_`"__`__```M___t_U_Z_^^_^#^^7_n^^J^^~;^^#_1^]^_^__=^^_U^^r^___=]^__G^^_o___j^__\^_``_^_``_`___`na<`aE`a;`>`````aaa=aa`a`LaaG`aaVaea?`g`a$a`ao`aDa``a``K`aO````_`d` _`<_`S`_^__^_^_T_y__?_F_^__^^X_^^P^^]^^+]~^^^w`!^_^L_g_)_^^^__,_=_C_!^_~_j_x^L__=^^^_w_v_____g____`B_z`*_````t`t``a`Pa`~``aa`aaM`a^``aK`ab`a`\a``a`a@a*aq`aaYa'aBa-`p_a2`````````o_Y_w_`__^`_v_4`@^_^`_ _
_"^^b^_a]^]^^^@^]^K}]^x^^_^_^`$_M_^_}^`N^_^^_T^^^_G____^_1_O___``'_:`%_``~_`g_`j_````a`a/``aJa^`a<```aW`aaaa$`aan``za```a/a``f`Z`m``a````h```I`z__D__ __^_!___`
__`L_N___^^^^^^q^^^m^^^j^]~^%^^_^___1^w_7^g__3_^^^^^^__$_#_^^_D_i^F_>_^_`,__`_` `'_``*``_`_``C````a`ax`ada`a`a`aa<aa|aar````S```F``7`r``$``Y_````~_`ya
``L`x_`___^`_$_/__'^8`_O_b^^^]^R^o^P]^i^']]<]^s]^K]}~^^^Z^^_^_
_+_T^_4_g^M^_B^z_0^\^^_^__3_^^!_a^^^`D_z______E___`!__`-_`q``a`NajaN`a````YaH`kaab`aa`aO```_``a``A`````_`_z``m`S`x_____`_^^___-_^^^]_\^^m^^~^^]]]f]}^i\]^\]w]0]}'^^^`^^F^_Y^^^^^^^^^^T^^>_^^j_w_^^^^r__._@_n_4^_
___s``_``Q`_H``P```````E``a_aMa/``a`aa\aaLaa`aC``E```a``_`f`=`u``B```_w`______^____^^~^^]^s_^3^^]^A_]^]^]%]]_\]v\]\\~~^)]^_^]^]^F^+^^^^^8^^^Q^j]^^^^^__t^^_F^^__}_s__I_j`___	``)`_B`S_^_`7`Ta`e_`__````a	a`a``a_`a)`ap`````a;`````$a _`G_`6_``_|`___M__T_=_t_Y^\_s^'^:^/^U^^^+^k]y]y^m]^]^d]p]]!\]R\f\](\]}}^p^^^^]_"^D^^^^^_^_4^^C_#^^^^_$^_^e^^^_3__i_W_9__^_*_R__``_`_`n__ga`+_``+`	``1`8aC``au``aCaP`aGa`haMa`g`T`````Z``^___\_U_`C^`(`__t__y_^_^_^j^^^]^]^]S]]^^^]]\]]\\\]Q[[[|x~^_e^\^@^W^^^^7^i^^=_w]^^^&^^^2_8^__Z^^_^^l_^b_^^__^_B__R__L________`_`__`B``Ja``c`S``@a`````_aQ`j`P```9`n`_W``B_X_____^^_S___W_w_]^b^~^^m^^z_+_^]^]^]^];]p]	]8\]\]f]s\F])\T\\ [[[|~u]]^^^]^-^+^l^^|]r^b_%]^G^?]^_^^^G^^^a^^2^__3^^i_-_Q_Q^_J^___~^___``f_`(_`T`X__`,_c`[`d_````E_Z`z_`*`^``3___t_`_\`[_^^`___^^j__n^_'^_d^^^e]^^^^^_l]^>\]/]W]c];]i\^\]w\\t\\+[\\[[[y[[{~ ]^O]^^]]]^]^,]^M^V^ ^d^^Q^e^T]^o^_^_&^^r^^^s^^ ^_o_g_M^_y^__Y_ _'^^___v__R__^__`_`M_``7`__``E`I`m`a_`I___w^c_
_Y___^k^^]^_^^u]^l^J]^]^]]^b^ ^t]]^]]\]e]\\]\C\[\]Y[\t[_[\G\*Z[[&[{}]]o]]]^#]]u]0]5]]]]]n^^-^5^]^]^;^^3^]^^b_2^^^l^^_#^H^_B^^^s___t_Z^_F^_U^__`__u_____q_`a_~`_`.__f_`&_B_^`O__l__G^^^~_R^M_1^^e^8_^(]^;]^']]]]]]]v]^]]9]\]\\j]\[\k\L\[[s[[\[\;Z[ZZZi|}]]]]v]X]]]_]"]]^^t]^'^	]]m^^o]^0^]^Y]_@]3^^^^s_S^^^Y_^_*^z^_l^_0_^_`__^_-^_I_^9__#_`__B^^__^_G^_+_G^{_^g^t^^^^|^k^^^t^;^O^]]>^^D]:\\]]j]]]!] ]]]3\n\\\\{]"\f]-\#\[[[e[[[Z[[)[V[H\&ZN[[Zz`}]\]]]^\]\\]]]]]^]X]\\]{]]]^ ]E^^b]^^C^^a^ ^F^$^]^^>^^^^_(^]_^^]_]^^^]^^^^_-^y_^^_
^_^^^%^K^^8^A^]^^b^ ]]^]^)]Q]]]U\]D]]F]\t]@\\U][\\\]P\\\<][\m[[m[[[?[U[`Z[KZEZZ[WZZbYz}K\]\]'\u\z\\]]\\\]t]]\]\~]n]\]]]\]]]D]]M]]^]]]]^]"^l]]^:^O]^~]^^'^w]^$]]^]^^b^_^^/^*^^]^^]^q^^^G^^]^D]^\K^$^\].\]]]L\]*\g]]\?\\\h\'\f\\\\\\\j[[[Z\[v[w[OZZZZZZZIZZZcZXZz	}\]1\]u]]]]8\\]]\\[\]
] ]G]\\]w]e]])]]^<]]]~]]]]]c^I^2\]^]]]]^]r]]F^]]-]]!]y^r]^G^]?^M^Z]]]]^]]]L^]f]^]]]7\^7\]X\\]\]\[\\y]\](]|\P\R]2\D[\[\[[\[+[\q\Q[F[[Z[[[Z[7ZjZZMZ{[YZLZYYZYzd|]E]\f\]%\\\]]\\\\;\y\\\\n\p\]\](\]\]L]]&]n\]h]](]l]{]]]]M]=]]]^\]9]^k]']\\]t]]M]]\]^,]]O]'\]\]\^?]]\\]\]f\]]>\\i[\\a\\E\\\V\|\0]\y[[E[[[[\[[[\ZZ[7Z[[=[YZZYYZZZVYZ Y?ZYYOYY"yn|]\\\[[]\\\&\5]\\\\]\[\E[[]\\N\\\\\\\]3\](\z\\']
\\] \\]~\G]v\m]p\]]\\\\]8\\}\]\G\]5]\S]]']*\]h\\\\\\\]U\\[\;\V\K\0[}\2\<[[G[[\[[K\9[L[[[;[[[\[[[AZZZ\Z/ZrYZZiZZYYKYYrYYXYfXXyD{\R\I\[\;\\\[\P[\*[\o\\[*[q[\}\$\[[[\\\X\r\Y\\\[\\\2[\|\c\~\X\\\\\\F\|\\I\[\\Q\\[\S[\6\P\\[\5[\t\'[\_\\[[\[\
\\N[[[\[\$[8[["[[9[[E[[[S[[?[nZ`[Z[[Y^Y[6ZYYY;YYYZXXYXXXXY
XXXWxz[[[[[\$[2\[[x\[g[[\"[[Z[9\Z[[J[[[\Z\[H[\\s[=[[\+[[\[\v[\T\5\]\\[[]\I[\[\%\T\'\2\\\[o[\4[\![\H[\[K[<[[[[\/[^[[[@[K[[ZZ[[[Z[>Z[#[%[1Z|[Z~[ZZZRZZwZZFY[$YYY)Z0XXYY_XaXYXXYXUX`WXXsWtwx[E[[#[[[\a[[;Z[_[PZ[O[[Z[[[m[[dZ[[%[gZZ\[[Z[N[a\
Z[[[Z[DZ[[[e[[A[[\	[[[[[J\[[[[[[qZ[[nZq[1Z[[[(Z\[[[a[[QZ[/Z[Z['Zk[H[GZZZ2[ZZZ[0ZZZZZ[Y+ZhYZYXYXY[XYXWWXXWX X(XXX+WXuWfW,utC[[ZZ[\Z'Z[.[?[f[
[,[ZZ[-[[;[;ZZ8ZZ[Z[Y[Z[<Z[	ZZZZ`Z'Z[Z[wZ[k[y[
[xZ<[GZ[AZ[+ZZ[[X[ZYZB[ZZyZZTZZYZ[Z[$ZZ^Z[SYZZKZYYZhZIZ4Z^YqZZ)YZYYYYUYIYYYY3ZYEYXXY XXXFXWXW(XFW>WWW~WXAWWWW+VVtBpZ[5Z[[wZ[eZUZZZZZZZN[(YZYZZZcZG[ ZxZYYYZ'ZyYZYZmZ[ZYZm[Z[.ZZyYY[[:Z+Z.ZZ)ZEZYZ#ZYZQZZZZYJZDZ)ZZ<YZ7YYYZZ(YZVZ]YiY&ZYVYYYYZYZYYZXYXY_XYXXXXoYJXYXiXWWIXRWWVVW!WMVWVEWVW`WVHVVVp#kZ}[2Z0ZYZZ[>Z8ZZYZ,ZZYZZY]Z+YZ?ZYZ\Z8YZ$YYvZAYZ[ZZ&Y1ZYZZZYZ(ZYZoZ/YYZwYZYYZRYZaZuYZZYZYuZoYYdXYZZkYY(YYYXZIY5YxYwYYYYVYbYkZXYKXXYpXXXYXY*XXWXX+XSXX(VWWNWWWFWWVVV|VkVW.UVUVVSVk3gCZFZbZZ8YZZZvYYZdZYYZZDY~ZYYYYTZ=YZ,Z YIYZ"XYoYXYEYYYYYPY*YZ*YYSYUYZYlXY3XY
YYYEY`YYJYYKXXXXY5XYY0YY^YYXXX~YXY,X1X/Y$XXXfYYXfY+XqXXX XWXWXOWXX"WWWWWVWWVWVOW]VV!VVsV,V:VUViUUUTTgbsZY3YYZ!YVYYYYYYY YZYY"XYjXYDYYYoXYXXXXXXX!YXXYXY7YNYBYXXxYYXYXYGXY3XY6XYXYX#XnXXWXXKXXXYXtXEXpXXWYX/X|WWX\X\WXIWX"XkWXXX[WRXW}WWVWUW^WXXWvVVWWuWOVjWVVVVVVPUVDUUXVUZUUKTnT7UETTU@c+]YYXYXXYYJXXXuXXXX(XY5XWXYXXXXXmY`XXCXXJW}X|WXXX#XWXX~XDX3XXXVWXYXXWXZX,XX;WXXjXvX{WWUWWWWWWXcWFWX`X#XWrVWX_WWWWuWbWVWVzWWWVWUWVVVVVVWVVOVuV>UVUUUV-UkUUUUUUTT^STUSSSS2_XWXWXXXXtX0X#XWWXvX'WXIXXHWXYXwXWXsX
XXXWX6WX=XGWWX:XWX WWWXVW&XLWX"X/WX9WXX'X
WWWWW]XHVWVVWWVWXWW&WWVW.W;WxW"UVVVWWCVVUWVVzV6VUVVmVUVGV/VVUUUUUUUUkUPU-TU
TTPT~T*T/TcTCSSSSRSS[SWXHXyXaWWWWyWW WWXEWGWW}X$WWWWWVWXW}VWVW.VWW	W_WhWQVXWWWWWWWVWaWWWVW"WWwVVVWZVW VlWTVVWVVWVVV`W;V\VFVVEVV9WeUVUV{UVeUV3UHV+UUV.UUURUBU9VUUtUUUTUTTTUFTTmT=U3STJSSVSrSSJS2SShR1S/QRiWNWVWZWVVWXWnVVVVVV'VWV WAV^WVWWVW-W)VW+WnV[WEVWVfWVVWVVV[V^VFVUWW W.VjVyVVhUVUVFUVKUVUV6UVlVMUV=UVV3UUU$UTUUUUVUVtU0V	UnTUULUUTSTT$TTjTTTSTSU'TYTTS?SSSSSSSSRRR;RS]RRRrQQQRJVV VUQVVnVUVAUUV~UUVoWVW!VVsV+UVKWVFV+VWVCUUU`VUV>UV#V:VMVjV<UVoVYUVTUUiV'V"TU|VfVTU]UAUwV	TU@UUUUAUU*TU[UUUUU1UnTUrTU5UUTzUUUTTUUTUVTSTyT7SSSSSSRSgS'S!RRSRSvRSRSTR2RQRQaRQQQZQHQPPN#DUUUUUUTU`UV)UTVU\VCV6UVUVQUVFUBUVVDUTUUUqUTTUUUUUUUTUU8UeVTU2UgUBTUU^TTU\U'SU;UmTU:TTdUTUQT[TTjTUT TSTUjSUTTTiST	T@TvSTkSSSSRSUSBSS_SS3RS@S,S!RcRQRQR0RMRRRQ'QRGQQQPcPPPPOPOJSAqU/UUSUUU>UMUTTTUT~U7TUUbUV?UU
TU-U*UUTUU>TUTU#TUUTVTU<TUTTlTTTBTTTsTTTT
TTOU>TTTTUaTT1T{STGTT~T7TXT6ToTSSSSSTAS4SRSSS'SSRSyTISSSSKR^SRRfRRR+RRBQ<R=QwRQQyQ*QQQnQ/PQP_QPCPP-PRPPP0PPJOOF<yTT2TTpTT5U;TTDTSTTTHTTTTUXTTTTUTUTaT{ST<TTSTTTKSTTmSSSTRTGSTS^SST:SSTSSST]T~ST~S8TTT+T=SSS`SSJRRoT>SSOS#R~R8RSR+QSSAQQSRRS!RR}QSQQRVRQQFQPQ\QPPPQQzPPOQ=OPPJOOO*OORONOlO6NC8T=TgTYT6ST@T8TtSwT`SSzT%SST?TUTTXTTST%S+TS"T[STESSSSSESTSySSuTGSSSSSzT
SdRSS}SSXSRSSSfRRS2RSSS,S[RS6RRR^RNS#SR8RRRfR8RoRQQRQPRUQCQQRQRGQQBQRQQQPQQPPPPOPPhOONPOOzOMOxOGNO,NNzMlNN)NOD>