PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 128
FILE_RECORDS                      = 447
LABEL_RECORDS                     = 240

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                     = 241
^IMAGE                            = 384

/* 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          = 15
 FRAME_ID                         = "LEFT"
 FRAME_TYPE                       = STEREO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "1000011"
 IMAGE_TYPE                       = THUMBNAIL
 INSTRUMENT_HOST_ID               = "MER2"
 INSTRUMENT_HOST_NAME             = "MARS EXPLORATION ROVER 2"
 INSTRUMENT_ID                    = "PANCAM_LEFT"
 INSTRUMENT_NAME                  = "PANORAMIC CAMERA LEFT"
 INSTRUMENT_SERIAL_NUMBER         = 104
 INSTRUMENT_TYPE                  = "IMAGING CAMERA"
 INSTRUMENT_VERSION_ID            = "FM"
 LOCAL_TRUE_SOLAR_TIME            = "12:50:54"
 MAGNET_ID                        = "NULL"
 MISSION_NAME                     = "MARS EXPLORATION ROVER"
 MISSION_PHASE_NAME               = "PRIMARY MISSION"
 OBSERVATION_ID                   = "1862270976"
 PLANET_DAY_NUMBER                = 867
 PRODUCER_INSTITUTION_NAME        = "Arizona State University"
 PRODUCT_CREATION_TIME            = 2020-08-31T07:17:34Z
 PRODUCT_ID                       = "2P203333369IOTAS00P2261L5A1"
 PRODUCT_VERSION_ID               = "V3.0 D-22846"
 RELEASE_ID                       = "0001"
 ROVER_MOTION_COUNTER             = (128,0,110,356,372)
 ROVER_MOTION_COUNTER_NAME        = (SITE,DRIVE,IDD,PMA,HGA)
 SEQUENCE_ID                      = "p2261"
 SEQUENCE_VERSION_ID              = "6"
 SOLAR_LONGITUDE                  = 64.891
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "203333369.871"
 SPACECRAFT_CLOCK_STOP_COUNT      = "203333371.371"
 START_TIME                       = 2006-06-11T21:23:47.205
 STOP_TIME                        = 2006-06-11T21:23:48.705
 TARGET_NAME                      = MARS
 TARGET_TYPE                      = PLANET

/* TELEMETRY DATA ELEMENTS */

 APPLICATION_PROCESS_ID           = 21
 APPLICATION_PROCESS_NAME         = "PANCAM LEFT"
 APPLICATION_PROCESS_SUBTYPE_ID   = 3
 EARTH_RECEIVED_START_TIME        = 2006-06-12T01:58:36.731
 EARTH_RECEIVED_STOP_TIME         = 2006-06-12T01:58:36.818
 EXPECTED_PACKETS                 = "N/A"
 PACKET_MAP_MASK                  = "N/A"
 RECEIVED_PACKETS                 = "N/A"
 SPICE_FILE_NAME                  = "chronos.mer"
 TELEMETRY_PROVIDER_ID            = "SSW MER_DP"
 TELEMETRY_SOURCE_NAME            = 
                               "021_003_p2261-006-0015_002_0203333369-223.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:
                                     2020-07-18T02:54:37Z ;;; 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: 2020-08-31T07:17:34Z"
 SOFTWARE_NAME                    = MER_ARCHIVE_IMAGE
 SOFTWARE_VERSION_ID              = "V2.02 05-Aug-2018"

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL
  CALIBRATION_SOURCE_ID           = "180"
  ^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               = (0.609131,-0.012719,-1.23441)
  MODEL_COMPONENT_2               = (0.65299,0.69632,0.297898)
  MODEL_COMPONENT_3               = (-140.55,175.052,7.59126)
  MODEL_COMPONENT_4               = (-26.6122,-25.0694,221.473)
  MODEL_COMPONENT_5               = (0.654191,0.699651,0.287271)
  MODEL_COMPONENT_6               = (0.022997,0.024872,-0.407146)
  FILTER_NAME                     = PANCAM_L5_535NM
  REFERENCE_COORD_SYSTEM_INDEX    = (128,0,110,356,372)
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (128,0,110,356,372)
  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      = (0.7222,-0.0681487,-0.0642224,0.685317)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = COARSE
  REFERENCE_COORD_SYSTEM_INDEX    = 128
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
END_GROUP                         = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (128,0,110,356,372)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = MI_FRAME
  ORIGIN_OFFSET_VECTOR            = (1.12951,-0.405496,-0.0502521)
  ORIGIN_ROTATION_QUATERNION      = (0.825814,0.34289,0.0949123,0.43755)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = DOWN
  REFERENCE_COORD_SYSTEM_INDEX    = (128,0,110,356,372)
  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       = (0.799904 <rad>,-0.360555 <rad>,0.0 <rad>,
                                     0.0 <rad>,0.0 <rad>,0.0 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME  = ("AZIMUTH-MEASURED","ELEVATION-MEASURED",
                                     "AZIMUTH-REQUESTED",
                                     "ELEVATION-REQUESTED","AZIMUTH-INITIAL",
                                     "ELEVATION-INITIAL")
  ARTICULATION_DEVICE_MODE        = DEPLOYED
END_GROUP                         = PMA_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: HIGH GAIN ANTENNA */

GROUP                             = HGA_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "HGA"
  ARTICULATION_DEVICE_NAME        = "HIGH GAIN ANTENNA"
  ARTICULATION_DEVICE_ANGLE       = (2.87999 <rad>,0.019998 <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       = (5,5,1)
  ARTICULATION_DEV_POSITION_ID    = ("PANCAM_L5_535NM","PANCAM_R5_903NM",
                                     "MI_CLOSED")
  ARTICULATION_DEV_POSITION_NAME  = ("LEFT PANCAM FILTER",
                                     "RIGHT PANCAM FILTER","MI DUST COVER")
END_GROUP                         = FILTER_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "IDD"
  ARTICULATION_DEVICE_NAME        = "INSTRUMENT DEPLOYMENT DEVICE"
  ARTICULATION_DEVICE_ANGLE       = (-0.529896 <rad>,-0.789734 <rad>,
                                     1.85298 <rad>,-0.209346 <rad>,
                                     1.38845 <rad>,-0.53183 <rad>,
                                     -0.794007 <rad>,1.85862 <rad>,
                                     -0.222293 <rad>,1.33837 <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        = (-37.6291 <degC>,-18.2479 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT 1","TURRET JOINT 5")
  ARTICULATION_DEV_VECTOR         = (-0.000644044,-0.186459,0.982462)
  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         = (128,0,110,356,372)
  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      = (0.909546,0.0597577,-0.140629,0.386496)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_INDEX    = (128,0,110,356,372)
  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       = (-0.00924149 <rad>,0.00584313 <rad>,
                                     -0.146285 <rad>,-0.200099 <rad>,
                                     -0.0581291 <rad>,0.0304178 <rad>,
                                     -0.0199098 <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_L5_535NM
  AUTO_EXPOSURE_DATA_CUT          = 2500
  AUTO_EXPOSURE_PERCENT           = 20.0
  AUTO_EXPOSURE_PIXEL_FRACTION    = 1.0
  BAD_PIXEL_REPLACEMENT_FLAG      = FALSE
  DETECTOR_ERASE_COUNT            = 2
  EARLY_PIXEL_SCALE_FLAG          = FALSE
  EARLY_IMAGE_RETURN_FLAG         = FALSE
  EXPOSURE_TYPE                   = AUTO
  EXPOSURE_SCALE_FACTOR           = 3.5
  EXPOSURE_DURATION_COUNT         = 50
  EXPOSURE_TABLE_ID               = "PANCAM_L2"
  EXPOSURE_TBL_UPDATE_FLAG        = TRUE
  FLAT_FIELD_CORRECTION_FLAG      = FALSE
  INSTRUMENT_COORDINATE           = "N/A"
  INSTRUMENT_COORDINATE_ID        = "NONE"
  INSTRUMENT_BORESIGHT_ID         = "UNK"
  INSTRUMENT_IDLE_TIMEOUT         = 300 <s>
  MAX_AUTO_EXPOS_ITERATION_COUNT  = 6
  SHUTTER_CORRECTION_MODE_ID      = "CONDITIONAL"
  SHUTTER_CORRECT_THRESH_COUNT    = 0
END_GROUP                         = OBSERVATION_REQUEST_PARMS

/* IMAGE REQUEST */

GROUP                             = IMAGE_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = TRUE
  DOWNLOAD_PRIORITY               = 74
  PIXEL_DOWNSAMPLE_OPTION         = NONE
  PIXEL_AVERAGING_HEIGHT          = 1
  PIXEL_AVERAGING_WIDTH           = 1
  SAMPLE_BIT_MODE_ID              = "LUT3"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 2.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = A
  INST_DECOMP_STAGES              = 4
  INST_CMPRS_SEGMENTS             = 20
END_GROUP                         = IMAGE_REQUEST_PARMS

/* REFERENCE PIXEL REQUEST */

GROUP                             = REFERENCE_PIXEL_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 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                  = 2
  EXPOSURE_DURATION               = 1500.16 <ms>
  EXPOSURE_DURATION_COUNT         = 293
  FILTER_NAME                     = PANCAM_L5_535NM
  FILTER_NUMBER                   = 5
  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          = (-27.6792 <degC>,-27.3193 <degC>,
                                     -7.7453 <degC>,-24.108 <degC>,
                                     -25.5954 <degC>,0.0 <degC>,
                                     -15.4047 <degC>,-21.27 <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          = 16
  PIXEL_AVERAGING_WIDTH           = 16
  SAMPLE_BIT_METHOD               = NONE
  SAMPLE_BIT_MODE_ID              = "NONE"
  SHUTTER_EFFECT_CORRECTION_FLAG  = FALSE
  SUN_FIND_FLAG                   = FALSE
  SUN_FIND_PARM                   = (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                 = 1.09766
  INST_CMPRS_RATIO                = 10.9324
  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      = 7.99609
  INST_DECOMP_STAGES              = 4
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = 46.0444 <deg>
  INSTRUMENT_ELEVATION            = -17.5783 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (128,0,110,356,372)
  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              = 134.821 <deg>
  INSTRUMENT_ELEVATION            = -9.69049 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = 128
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  SOLAR_AZIMUTH                   = 341.335 <deg>
  SOLAR_ELEVATION                 = 50.5697 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  DERIVED_IMAGE_TYPE              = IMAGE
  RADIANCE_SCALING_FACTOR         = 3.905718e-06
  RADIANCE_OFFSET                 = 0.02400714
  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      = "2P203333369ETHAS00P2261L5M1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_1       = FILENAME
  SOFTWARE_PARAMETER_VALUE_2      = "2P203333369RATAS00P2261L5A1.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_203332464_AS00P2111_2.txt",
                                     "rc_2R6_203332443_AS00P2111_2.txt",
                                     "rc_2R5_203332422_AS00P2111_2.txt",
                                     "rc_2R4_203332401_AS00P2111_2.txt",
                                     "rc_2R3_203332380_AS00P2111_2.txt",
                                     "rc_2R2_203332360_AS00P2111_2.txt",
                                     "rc_2R1_203332338_AS00P2111_2.txt",
                                     "rc_2L7_203332298_AS00P2111_2.txt",
                                     "rc_2L6_203332264_AS00P2111_2.txt",
                                     "rc_2L5_203332233_AS00P2111_2.txt",
                                     "rc_2L4_203332212_AS00P2111_2.txt",
                                     "rc_2L3_203332191_AS00P2111_2.txt",
                                     "rc_2L2_203332171_AS00P2111_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       = "3"
  SOFTWARE_KEYWORD_NAME_21        = V1
  SOFTWARE_KEYWORD_VALUE_21       = 0
  SOFTWARE_KEYWORD_NAME_22        = DARK_CAL
  SOFTWARE_KEYWORD_VALUE_22       = 0
  RESPONSIVITY_CONSTANTS          = (9.13643e-05,1.7094358e-07,0.0)
  RESPONSIVITY_CONSTANTS_FILE     = "rc_2L5_203332233_AS00P2111_2.txt"
  PROCESSING_INFO                 = ("responsivity constants file:
                                     rc_2L5_203332233_AS00P2111_2.txt",
            "associated selection filename: roi_00320_00272_060614045605.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: 2P203332233RADAS00P2111L5A2.IMG.gz",
                                     "solar azimuth (rover frame): 257.830",
                                    "solar elevation (rover frame): -62.3288",
                                     "dust model tau: 1.0231596",
                                     "dust model rad coeff: 0.14578813",
 "ROI radiances: 0.023788299 0.027353866 0.027186196 0.022970881 0.026511924 0.030206552 0.033750575 0.0040217941 0.0054702112 0.0070066066",
 "ROI uncertainty: 0.00078560882 0.00079204808 0.00087339067 0.00074573014 0.00078737655 0.00094986758 0.0012425185 0.00035736752 0.00041257196 0.00064314022",
                         "ROI count: 253 237 256 214 203 962 2741 97 214 382",
 "reflectances: 0.14539460 0.15857701 0.16040506 0.14503635 0.16030145 0.18599346 0.21185287 0.029266069 0.031321180 0.033421318")
  BIAS_COEFFS_FILE                = ("mer_ccd_104_bias_coeffs_03.dat",
                                     "mer_ccd_104_bias_offset_03.img",
                                     "DETAILED")
  BIAS_COEFFS_FILE_DESCRIPTION    = ("Bias coefficients file.",
                                     "Bias offset file.",
                                     "Bias subtraction method.")
  FLAT_FIELD_FILE                 = ("MER_FLAT_SN_104_L5_V04.IMG",
                                     "MER_FLAT_STDDEV_SN_104_L5_V01.IMG")
  FLAT_FIELD_FILE_DESCRIPTION     = ("Flat field image.",
                                     "Flat field standard deviation image.")
  REFERENCE_PIXEL_IMAGE           = "2P203332522ERPAS00P2261L2M1"
  DARK_CURRENT_FILE               = 
                                  ("mer_ccd_104_dark_shutter_col_flat_01.img",
                                "mer_ccd_104_dark_shutter_col_mn_flat_02.img",
                                 "mer_ccd_104_dark_shutter_exp_coeffs_02.dat",
                                     "mer_ccd_104_dark_shutter_hot_02.dat",
                                     "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   = ("Shutter dark column flat image.",
                                     "Shutter dark column-mean flat array.",
                                     "Shutter dark mean coefficients.",
                                     "Shutter dark hot pixels.",
                                     "Active dark flat image.",
                                     "Active dark mean coefficients.",
                                     "Active dark flat changes over time.")
  INPUT_IMAGE                     = "2P203333369ETHAS00P2261L5M1"
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                        = 98114182
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = "N/A"
  MAXIMUM                         = 32766
  MEAN                            = 23953.65771484375
  MEDIAN                          = 24399
  MINIMUM                         = 0
  MISSING_CONSTANT                = "N/A"
  SAMPLE_BIT_MASK                 = 2#1111111111111111#
  STANDARD_DEVIATION              = 2593.236
  SCALING_FACTOR                  = 3.905718e-06
  OFFSET                          = 0.02400714
END_OBJECT                        = IMAGE

/* IMAGE HEADER DATA ELEMENTS */

OBJECT                            = IMAGE_HEADER
  HEADER_TYPE                     = VICAR2
  INTERCHANGE_FORMAT              = ASCII
  BYTES                           = 12544
  ^DESCRIPTION                    = "VICAR2.TXT"
END_OBJECT                        = IMAGE_HEADER

END
LBLSIZE=18304  FORMAT='HALF'  TYPE='IMAGE'  BUFSIZ=128  DIM=3  EOL=0  RECSIZE=128  ORG='BSQ'  NL=64  NS=64  NB=1  N1=64  N2=64  N3=1  N4=0  NBB=0  NLB=0  HOST='x86_64'  INTFMT='HIGH'  REALFMT='IEEE'  BHOST='x86_64'  BINTFMT='HIGH'  BREALFMT='IEEE'  BLTYPE=''  PROPERTY='IDENTIFICATION'  DATA_SET_ID='MER2-M-PANCAM-3-IOFCAL-SCI-V2.0'  DATA_SET_NAME='MER 2 MARS PANCAM I/F CALIBRATED RDR V2.0'  COMMAND_SEQUENCE_NUMBER=15  FRAME_ID='LEFT'  FRAME_TYPE='STEREO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='1000011'  IMAGE_TYPE='THUMBNAIL'  INSTRUMENT_HOST_ID='MER2'  INSTRUMENT_HOST_NAME='MARS EXPLORATION ROVER 2'  INSTRUMENT_ID='PANCAM_LEFT'  INSTRUMENT_NAME='PANORAMIC CAMERA LEFT'  INSTRUMENT_SERIAL_NUMBER=104  INSTRUMENT_TYPE='IMAGING CAMERA'  INSTRUMENT_VERSION_ID='FM'  LOCAL_TRUE_SOLAR_TIME='12:50:54'  MAGNET_ID='NULL'  MISSION_NAME='MARS EXPLORATION ROVER'  MISSION_PHASE_NAME='PRIMARY MISSION'  OBSERVATION_ID='1862270976'  PLANET_DAY_NUMBER=867  PRODUCER_INSTITUTION_NAME='Arizona State University'  PRODUCT_CREATION_TIME='2020-08-31T07:17:34Z'  PRODUCT_ID='2P203333369IOTAS00P2261L5A1'  PRODUCT_VERSION_ID='V3.0 D-22846'  RELEASE_ID='0001'  ROVER_MOTION_COUNTER=(128,0,110,356,372)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA')  SEQUENCE_ID='p2261'  SEQUENCE_VERSION_ID='6'  SOLAR_LONGITUDE=64.891  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='203333369.871'  SPACECRAFT_CLOCK_STOP_COUNT='203333371.371'  START_TIME='2006-06-11T21:23:47.205'  STOP_TIME='2006-06-11T21:23:48.705'  TARGET_NAME='MARS'  TARGET_TYPE='PLANET'  PROPERTY='TELEMETRY'  APPLICATION_PROCESS_ID=21  APPLICATION_PROCESS_NAME='PANCAM LEFT'  APPLICATION_PROCESS_SUBTYPE_ID=3  EARTH_RECEIVED_START_TIME='2006-06-12T01:58:36.731'  EARTH_RECEIVED_STOP_TIME='2006-06-12T01:58:36.818'  EXPECTED_PACKETS='N/A'  PACKET_MAP_MASK='N/A'  RECEIVED_PACKETS='N/A'  SPICE_FILE_NAME='chronos.mer'  TELEMETRY_PROVIDER_ID='SSW MER_DP'  TELEMETRY_SOURCE_NAME='021_003_p2261-006-0015_002_0203333369-223.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: 2020-07-18T02:54:37Z ;;; 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: 2020-08-31T07:17:34Z'  SOFTWARE_NAME='MER_ARCHIVE_IMAGE'  SOFTWARE_VERSION_ID='V2.02 05-Aug-2018'  PROPERTY='GEOMETRIC_CAMERA_MODEL'  CALIBRATION_SOURCE_ID='180'  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=(0.609131,-0.012719,-1.23441)  MODEL_COMPONENT_2=(0.65299,0.69632,0.297898)  MODEL_COMPONENT_3=(-140.55,175.052,7.59126)  MODEL_COMPONENT_4=(-26.6122,-25.0694,221.473)  MODEL_COMPONENT_5=(0.654191,0.699651,0.287271)  MODEL_COMPONENT_6=(0.022997,0.024872,-0.407146)  FILTER_NAME='PANCAM_L5_535NM'  REFERENCE_COORD_SYSTEM_INDEX=(128,0,110,356,372)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='ROVER_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(128,0,110,356,372)  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=(0.7222,-0.0681487,-0.0642224,0.685317)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  QUATERNION_MEASUREMENT_METHOD='COARSE'  REFERENCE_COORD_SYSTEM_INDEX=128  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  PROPERTY='IDD_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(128,0,110,356,372)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='MI_FRAME'  ORIGIN_OFFSET_VECTOR=(1.12951,-0.405496,-0.0502521)  ORIGIN_ROTATION_QUATERNION=(0.825814,0.34289,0.0949123,0.43755)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='DOWN'  REFERENCE_COORD_SYSTEM_INDEX=(128,0,110,356,372)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='PMA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='PMA'  ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY'  ARTICULATION_DEVICE_ANGLE=(0.799904,-0.360555,0.0,0.0,0.0,0.0)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad')  ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH-MEASURED','ELEVATION-MEASURED','AZIMUTH-REQUESTED','ELEVATION-REQUESTED','AZIMUTH-INITIAL','ELEVATION-INITIAL')  ARTICULATION_DEVICE_MODE='DEPLOYED'  PROPERTY='HGA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='HGA'  ARTICULATION_DEVICE_NAME='HIGH GAIN ANTENNA'  ARTICULATION_DEVICE_ANGLE=(2.87999,0.019998)  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=(5,5,1)  ARTICULATION_DEV_POSITION_ID=('PANCAM_L5_535NM','PANCAM_R5_903NM','MI_CLOSED')  ARTICULATION_DEV_POSITION_NAME=('LEFT PANCAM FILTER','RIGHT PANCAM FILTER','MI DUST COVER')  PROPERTY='IDD_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='IDD'  ARTICULATION_DEVICE_NAME='INSTRUMENT DEPLOYMENT DEVICE'  ARTICULATION_DEVICE_ANGLE=(-0.529896,-0.789734,1.85298,-0.209346,1.38845,-0.53183,-0.794007,1.85862,-0.222293,1.33837)  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=(-37.6291,-18.2479)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5')  ARTICULATION_DEV_VECTOR=(-0.000644044,-0.186459,0.982462)  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=(128,0,110,356,372)  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=(0.909546,0.0597577,-0.140629,0.386496)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_INDEX=(128,0,110,356,372)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(-0.00924149,0.00584313,-0.146285,-0.200099,-0.0581291,0.0304178,-0.0199098)  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_L5_535NM'  AUTO_EXPOSURE_DATA_CUT=2500  AUTO_EXPOSURE_PERCENT=20.0  AUTO_EXPOSURE_PIXEL_FRACTION=1.0  BAD_PIXEL_REPLACEMENT_FLAG='FALSE'  DETECTOR_ERASE_COUNT=2  EARLY_PIXEL_SCALE_FLAG='FALSE'  EARLY_IMAGE_RETURN_FLAG='FALSE'  EXPOSURE_TYPE='AUTO'  EXPOSURE_SCALE_FACTOR=3.5  EXPOSURE_DURATION_COUNT=50  EXPOSURE_TABLE_ID='PANCAM_L2'  EXPOSURE_TBL_UPDATE_FLAG='TRUE'  FLAT_FIELD_CORRECTION_FLAG='FALSE'  INSTRUMENT_COORDINATE='N/A'  INSTRUMENT_COORDINATE_ID='NONE'  INSTRUMENT_BORESIGHT_ID='UNK'  INSTRUMENT_IDLE_TIMEOUT=300  INSTRUMENT_IDLE_TIMEOUT__UNIT='s'  MAX_AUTO_EXPOS_ITERATION_COUNT=6  SHUTTER_CORRECTION_MODE_ID='CONDITIONAL'  SHUTTER_CORRECT_THRESH_COUNT=0  PROPERTY='IMAGE_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='TRUE'  DOWNLOAD_PRIORITY=74  PIXEL_DOWNSAMPLE_OPTION='NONE'  PIXEL_AVERAGING_HEIGHT=1  PIXEL_AVERAGING_WIDTH=1  SAMPLE_BIT_MODE_ID='LUT3'  INST_CMPRS_MODE=1  INST_CMPRS_RATE=2.0  INST_CMPRS_QUALITY=0  INST_CMPRS_FILTER='A'  INST_DECOMP_STAGES=4  INST_CMPRS_SEGMENTS=20  PROPERTY='REFERENCE_PIXEL_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=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=2  EXPOSURE_DURATION=1500.16  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=293  FILTER_NAME='PANCAM_L5_535NM'  FILTER_NUMBER=5  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=(-27.6792,-27.3193,-7.7453,-24.108,-25.5954,0.0,-15.4047,-21.27,0.0)  INSTRUMENT_TEMPERATURE__UNIT=('degC','degC','degC','degC','degC','degC','degC','degC','degC')  INSTRUMENT_TEMPERATURE_NAME=('FRONT HAZ ELECTRONICS','REAR HAZ ELECTRONICS','LEFT PAN ELECTRONICS','LEFT PAN CCD','RIGHT PAN CCD','LEFT NAV CCD','MI CCD','MI ELECTRONICS','DESCENT CAMERA CCD')  OFFSET_MODE_ID='4095'  PIXEL_AVERAGING_HEIGHT=16  PIXEL_AVERAGING_WIDTH=16  SAMPLE_BIT_METHOD='NONE'  SAMPLE_BIT_MODE_ID='NONE'  SHUTTER_EFFECT_CORRECTION_FLAG='FALSE'  SUN_FIND_FLAG='FALSE'  SUN_FIND_PARM=(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=1.09766  INST_CMPRS_RATIO=10.9324  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=7.99609  INST_DECOMP_STAGES=4  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=46.0444  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-17.5783  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=(128,0,110,356,372)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=134.821  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-9.69049  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=128  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=341.335  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=50.5697  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='DERIVED_IMAGE_PARMS'  DERIVED_IMAGE_TYPE='IMAGE'  RADIANCE_SCALING_FACTOR=3.905718e-06  RADIANCE_OFFSET=0.02400714  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='2P203333369ETHAS00P2261L5M1.IMG.gz'  SOFTWARE_PARAMETER_NAME_1='FILENAME'  SOFTWARE_PARAMETER_VALUE_2='2P203333369RATAS00P2261L5A1.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_203332464_AS00P2111_2.txt','rc_2R6_203332443_AS00P2111_2.txt','rc_2R5_203332422_AS00P2111_2.txt','rc_2R4_203332401_AS00P2111_2.txt','rc_2R3_203332380_AS00P2111_2.txt','rc_2R2_203332360_AS00P2111_2.txt','rc_2R1_203332338_AS00P2111_2.txt','rc_2L7_203332298_AS00P2111_2.txt','rc_2L6_203332264_AS00P2111_2.txt','rc_2L5_203332233_AS00P2111_2.txt','rc_2L4_203332212_AS00P2111_2.txt','rc_2L3_203332191_AS00P2111_2.txt','rc_2L2_203332171_AS00P2111_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='3'  SOFTWARE_KEYWORD_NAME_21='V1'  SOFTWARE_KEYWORD_VALUE_21=0  SOFTWARE_KEYWORD_NAME_22='DARK_CAL'  SOFTWARE_KEYWORD_VALUE_22=0  RESPONSIVITY_CONSTANTS=(9.13643e-05,1.7094358e-07,0.0)  RESPONSIVITY_CONSTANTS_FILE='rc_2L5_203332233_AS00P2111_2.txt'  PROCESSING_INFO=('responsivity constants file: rc_2L5_203332233_AS00P2111_2.txt','associated selection filename: roi_00320_00272_060614045605.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: 2P203332233RADAS00P2111L5A2.IMG.gz','solar azimuth (rover frame): 257.830','solar elevation (rover frame): -62.3288','dust model tau: 1.0231596','dust model rad coeff: 0.14578813','ROI radiances: 0.023788299 0.027353866 0.027186196 0.022970881 0.026511924 0.030206552 0.033750575 0.0040217941 0.0054702112 0.0070066066','ROI uncertainty: 0.00078560882 0.00079204808 0.00087339067 0.00074573014 0.00078737655 0.00094986758 0.0012425185 0.00035736752 0.00041257196 0.00064314022','ROI count: 253 237 256 214 203 962 2741 97 214 382','reflectances: 0.14539460 0.15857701 0.16040506 0.14503635 0.16030145 0.18599346 0.21185287 0.029266069 0.031321180 0.033421318')  BIAS_COEFFS_FILE=('mer_ccd_104_bias_coeffs_03.dat','mer_ccd_104_bias_offset_03.img','DETAILED')  BIAS_COEFFS_FILE_DESCRIPTION=('Bias coefficients file.','Bias offset file.','Bias subtraction method.')  FLAT_FIELD_FILE=('MER_FLAT_SN_104_L5_V04.IMG','MER_FLAT_STDDEV_SN_104_L5_V01.IMG')  FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.')  REFERENCE_PIXEL_IMAGE='2P203332522ERPAS00P2261L2M1'  DARK_CURRENT_FILE=('mer_ccd_104_dark_shutter_col_flat_01.img','mer_ccd_104_dark_shutter_col_mn_flat_02.img','mer_ccd_104_dark_shutter_exp_coeffs_02.dat','mer_ccd_104_dark_shutter_hot_02.dat','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=('Shutter dark column flat image.','Shutter dark column-mean flat array.','Shutter dark mean coefficients.','Shutter dark hot pixels.','Active dark flat image.','Active dark mean coefficients.','Active dark flat changes over time.')  INPUT_IMAGE='2P203333369ETHAS00P2261L5M1'  PROPERTY='IMAGE_DATA'  CHECKSUM=98114182  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT='N/A'  MAXIMUM=32766  MEAN=23953.65771484375  MEDIAN=24399  MINIMUM=0  MISSING_CONSTANT='N/A'  SAMPLE_BIT_MASK='2#1111111111111111#'  STANDARD_DEVIATION=2593.236  SCALING_FACTOR=3.905718e-06  OFFSET=0.02400714  TASK='MERTELEM'  USER='pxz'  DAT_TIM='Mon Jun 12 02:05:11 2006'  TASK='MER_PANCAL_IMAGE'  USER='jj'  DAT_TIM='Fri Jul 17 19:54:37 2020'  TASK='MER_ARCHIVE_IMAGE'  USER='jj'  DAT_TIM='Mon Aug 31 00:17:34 2020'YtZ�\�\�[�Z�\&\�]H]�^�_R_�_�^x\�[Z�\]�_{_�^[{X&V�V�W�Y	YkX�WoU�U�V�V�V�X4V�K
S�S�R(Q�Q�R3S�U�W�X�X�W�VMVV�XY�Y@W�WSV�T\T�a�W�E�T�^cO=ZZ�[l\/]U^q_j_L^g\�[/Z�[�]d__*^
[�Y�XXXJX�YJYzX�W}U�VV�W
WcW�VL�S�S�R�RzR|R�S�UV�WOWsV�U�V/V�W�Y7X�WPV�VT�U�_�V�K�GdGaLWR�\^$\�_NbXb�a�aOa`j\k[1[�\[]o^.^�^Z]�^�^�Z�U�T�U�VEV�V�V�V�V�V�U�QbN�O�T�VDV@U�U=T�S�S�TU-VwW�X�Y�Z�Z�Y�X
V WuX�Y�[�P�V�X4YT�L�LBO�P�Q�V2\^^�^=\�]w]s]�^;_1_�_�`�a_�^S_|a�`�]4[,YZXRY.\�_GZR8U
Z^ZnViU�V!V!U�T�S�S#S{T�VbWW�W�WzWfV�UaT$U�[-[d�W�]�`4cpa�\�Y=V]V&WVX"Y�Z�[�Y�^�_�_�`�b.btb@a�a+`
`�^�\�_Ocyaz\m[�]�b�f�asV�SjS�S�WWU�V1V�VOU�UUTU�VqV�VT�S�R�R"Q�RS�]h^�`�[bU`E[�Z�\_b�c�c�d�ffecf�`�_�`�b
cc|c"bra^a_�a5c�_�Y�Z]�_9`	`�a�a�`�]�U�E7\X^}[~[[7Z�Y�Y�Y�Z	Z&Y�YW�V4U�UuTWT`Z�]
^UZ^9^�`�ba�`G`)`�_�_zbtd�`i\�f{`8`6`�aeb�c8ca�_�a�^�`�cfc`�`_�_�_�[�X\�e�i&ig8e�db#`�`,_�_�_�_	^�^7^]`\�\-\h\�ZCX�`�UY�h�f�c�b2ce�ijhid�e1f�d�d,g[h�\�`J_~_�`�a�baMa`f]g`]�Z�[j]�_`M^�\�\�]�ZU�W�]�cfe�d!`v_k_�`�a�bai_�^8]D\�]M^.^�^�^[R	:�S�g�]5ec�b�h@p/n�idh�j�iwiVgud�b�`	^l^_�a}_�]`�cUj[R^�c�a�\[�]�\yZ�\�_�_�^�dTi|^�NXOjY�\�\�_aa�`0^[sY�Y�[N]�^a^�_�a'`�aNm�j�_XWY�acNc�d�e�e�fg�g?fd�a�`+_
^�_�`�_`]�_&`"WQ]�Z�W1Y@]�\:X�X�[Z�Z�^sdfTe�d�b�a!_�_3^�^�^�^/]n\*Z�Y�Z�\�_4_�^�_�`�`cfn�hee�_�_"_�Y\Q}U3^�`
^lb^a�a�bD`$`�`�`�`g_�_W^o]�]�[�[�[�\�^�`d[�UTW>\#YDT�Zc�eDc<eLhag�e.b�_�]Z�Y�Y�ZZ�[�\�^B_�_]�]/\hZZWece>b�`!]Y]D_aaBc*e-e�`A_�_n`�dc�c�b�am_U^�^t^�^�^�[�Z�Y'V�Uf[Tc�a�[n\^^�X9O�Q�Y/Y�WTWW�X�Y�ZaZ�Z�Z�[�]�^S^�^�][|ZRZY�U�T^o^�b�d�c�a�aYb�d,f�lSnG]�_�_�ah�f�f�d�b^_�^�^Q`a�`]�Y-T_Q�Q6Vg^^�\�_b^�Z�\`�`�_�_R^<Z3VW�\�^Q^i_�`�aF`�^Z!WgV�XX�S�O*X�hgHh�fGcidRe�aY�Z0\V3b
fiDd$f�f�f^d�bqaE`�`�a�_�[�\t_�a"b�aO^�_�a]WPW�Z�\�]A]�]�\�[�^�cub�_.^�_�`xa_a�aI_l\�[\Z[�]W�R�[gb?\�gQg�etco`�]"Y�Y�[�]�ch�o�Y�cod�f�ge�e�ea_
^�]�^R_)^�a6`�_y_&_3__-_�]t\OX�X�Y�[�^F_Y_-_w_s_�_�`O``f`]aYb�c`�a�b�]�Y�b�t�eWa�_�a�_H[�[c\�^�a[[dR�Z�_Sa�dd�f�h�he�c�^�^7a�b`�a�_U^�^�^�__h_�`1a�^QZ�Y�[�]H_Xaa�a4`5``�`=_�^�^�akd�c�cb+`�\eZ�e�r`�Z�Y�]AZ�W\]ejf�e�]sP
>�^�b�bobSb1dagfcUdH^�^�fW`?WT_s\n]<]�^�_#__�`$fKb`U^`U`�a�c?docca@`�a_`._A]?]0`ne	a�c`W[�W�X`eej�c�f�e4b�^�[�_be�g�c�a�_;`�a�c�bc�d�_�X&Y�^�Y�\e@dJ{.�J�e�i^�^vaB`z_>c�dfaa1a1dUhVh�f|d�cbb�b;a0_*_t_�ab�f`�_�^Z�Y�b1bd�`�c�i!h�e"c�c�e�a.d�e}eMe�e*dod}c�a�_^�\K�Sf�d�V�F+Y_�a�^�ac�aK^�f�\"g]`	b�a�f�l�lDhg6fLe*c\cwa�b�cd�\90Y[�b�c�a�]�^hd�ck`bJge}b�f�l�f�eFc�ijg�f�f�f,fXe�d�c�_�Vl::MF_�a�]ug8cnc$bfbpb�a^�_=Q^ma�b�f�d^`�b�g�h�igvfId�f,fihAe�`Z[
_�b�ehfgeE`�k^�`�_k_�` `�a�_�W�e}a�fig=g�g�g�hh�i�kkDi�h�g�h	f�d�c�fkhlhRfpec2_�[�\b`Zf�iI]me�f�gg�h�i
kRi^h,e�kNh�i�g;d�a�d�e}fMi�l�gS^�Xb�duc�b�`�__�d�T�\�_+b3c�d�d�e)e�g�iBhzhi�kgji�j9kej�j�i{g�f�f~f�g�g�gChSi_<e�e�e�fAg�j�j�iMd�g�f\i�f�f-e<g�f�g�i�h�g�j�e�d�b�f j�f�_4`r`�L�,3+3S�_/_�`f_sb3bW`.b4`?a;a�cQf�i�lhm�mkhe�im�g�`�ej�j�f.dId�dmdzd�gkth�h�a'a�R�a�a�eEdAd�f�jJm+fR_�l�fd$O�Q�]aNa_`�Y�G�=N�X ^�`�`^�e8lUZ�]S_�a$aJa�c�e�g�gCf	g�h�c�\�]�b	d�jif�e_cbce�h0ehOi�h�>�%3?�bQiacidcf�h�ig�g<mAa�c�Z�^'fe|arc9e�^�cdc�dc`b�dMe�b�d�a>W�]�a`�]RYR�[^�aUbMduf	b�_=b�e4b�gqf�hd3aa�cte�f�_�kc�hWR�:qI(g�i�d4b b�h�m)_Pjvc�aY\�\�`$a7`�\�Yu`�^`�d�f�e�`6ZAae�d1dO_�`DXJM:I�-�[�d[i�dlcUchfKh�c
_�hklkl�ec�b�cdcc=a^beRb�h&i�ea�a�d�bab�ddiec�dk�g�^�_�[�X�[�a3TjHc ^�cne�ea�a�^�O�j�a \�@?�2r!B
�	[DW�de�eGb�io]ee_Te�Z�_�_e�g�e�c�b�b�b�b�a?_�a2bY�R�b�b[c�cud�f�aJ]#k�i?\�a^�\y[�[_�fVc�`Oac�b�aMb�d�e�bD`�@�s���K�V�b�`{d3fLaZxb@b�TIW�Va�b�e�f�c�b�cc�daX]�_�b�[�S�`�bdgd+e&c�a�a�h+h�\�c�be`^�b	d�ge�`�_/_�`Pa�c�e�d&`�V�Do)�*,%� '�4�X�cJ[�aqf�[J�UB�5/n1p`�b�bWfc�c�c�d{d�bJ^�]�]�\�\�_�b�d�dNekacgd{f^�dc�^MK�a�f�gb�]]\�^�_�`�c�f�b�Zp\�a�WX�]c�b_�b�_
_�a�bib`�^�_�:t56�<cN~a@cJa@aa{b�b�a�`�^�]�]!]N^/`c�c`�]`bwe�htb�b�ea�]6]�b�c�a�]�Z[�_�aMa�c
c�b_�_^WZ�ZH^c�cl`T_!^'b�h�f�bd�h6_24�;09�1?[H�e�\�]�^�a�`}^<__�_^8]�^Ua�e>aw\U7e0]�Q+Y�cGeVbD_�^E`�c@cTa�_\�]�a[bZb�b�b�b�b`�`�c5bh`.]�`�eKa�]
_�eVd�b]crcWY��H
:�`�_�\$^&bEb`�`�bn_�\m^]b�b�a�cq`�X�b�`�]�e�e�f�_�^�a`b�c�d%c�c9blb�c�c�c�d
dAd(c�c$ca�^!^�a?`]F\N\c\%]_b8e�]UR�]y>!<C
J�U]a�_�\�^a�a|`1c�e�aZ�^�f�c�^=e,f�c�b{bb�b1f�e�a�a�c�dddd�d�d�d�d�d�dXd�d�d�d�edGb8a�_y\�\�^�__�abw`�_(el�j\gub[_J`�d�ed$b@^�^
[�N�E�c
d�d�__�cd�dC_\b�d�b2cd�b�k�c{gf�e�d�c�c�d�eeRe/ed�d�d�ee'eOe�d�b�fDauZ�\bqe�f�g�g;e�b�c
c�c>_t]e]9_�c�e�e�c�a_�^0Y�U�\ d�f'coc1b�_2WJH�[{cCcc�c�c4�c�i�g f�e<c�dd�eqe�eid�dLe@e1ege�fefh�e/f�h�f�dOfdj�j�g�da/a�c�b�cud�e�c^�\:[�^�c�c�`�\�Y?[?ce
d)d db�`�\�fIc�d�ePe�c^g�g�hxgRfed�d�eWe�eyd�coc�d�e�e�f/e�c�a�n�g�e�c�b�b�f�kwj/ea]_�_�awcZe�g@g�g�g�g�g�hg�f{dK`�]]T_�`�`�b�e�ge�_�?�= a�jf�cAeTh�h�g�fed�ee�e�e}d�dAc�d'gi�d<^�i�U�c`g�g�c�b�duf>h3g�e�fe�d�c6dbf�g�g�hRf�f?fRgg�ge(b<_^'^F\�[�^hb�b�a�f�V�Pua�c�a�b?gEiig�e�e
d�eYff+e�e�e�e�eHfzg�f�e3c6`{d3g�f�cxd+fZe1cd+gpj�j9h+eAeHg*g3f�f�cubJbc�e�etd	b�a:_]&ZW�X-Zi\!^�cze�c�`[�ZbCh�i�i$gJeze'f"fe�e�e�f�hg�g'fyezeieb�a�b�f�gUffe�d�ee�e^�YcZ�`�dafaggdIc�cFdc�cc4dIeQe�a�\Z�Z�Y#WrX�\]�`a�^�Z�Zf�j^j�h
e�dBef_fCd�d�eg3jPi�he�c�ccobF`�bd�e�e�h�h]�QkT�]Q�FoK�Z.`[c
e�eS`Vbb�c�b9_X_�b�e�g�c[�\^_\�X,XhY�V�RV]Q[�Ye�jjPe�d)dcjcedTe�eUef*hg�e�e�ge�ca�aKa�b�cRd
dc�]�T�S�X�_�_�_\M[�\$[�[`]�W�U�U�X�] ^�]�^�`=`3_[�Y�Z�]4\�[�\�_"a>`T�G�K�g�g�aGa*b�a_,`�dPekd�c�b�b�a�d�h�f�a�`�a�a_�^�^�]^�]�Y�[�a�f�S4T�]�]�XnSQ�`)^�_�__^�\�Y�W^V�\�b�]RV�Y�a�c�b�a�_�]�Y�V�U�V<c�c8\�\�_�`�`_^^�`,bda0^�_ccD_�Y�Z�`a_|^4\�[ Y�_%b�^�YR�O�[vZG^a
axa�hmmb9f|fetcaa0aGbPa�`�`1a�h�m�k5c�a`�`�`�\�X�^�f�e?_/^6XW�[�^�_�]EX�Z_^�^�[�Zl_�_V]$]�_�^�\�[1Z�Z�Y�cf�b�dtc�c\e�gh h�h�hg�gWi�m*l�jheCa�]�W�S�Zf�kbcVaw`�]�[6[v\�]^�d#fjbL^�^�S�V!\.W�QIU^�bLaZ�S�W�[X]�_^�]q]e]�]�]�`�f�a�a�g�g%ibkUi8iUn�vvtm0lqn=m�k�i"e�a�^a[�Z	WV6[�cG`�b'a�aR_�]Q[�\E_mc�c"e,h!``�T�S�UW@[�X�U�W�\/_ck�\Z]a�_�\]`�cc�kw_�V�i�ik�nUmCi�g�gqh�l�o�p�luc�^�[�W�TCTVY]]�^�ZzR_Ca�aUa__\[_-c�]T`l�]�[hWS�T�VXVoXXXrY�\Ab�qk�e�]\_�abdc�h�njHgNP�]�n:r#j�er^�X�UY]Ni�jmc�^�Z�Y-YoY�Y�Y"Z|_�c�ZOg\]]�[GX�U�U�T�R�RZ^�j^�V�Z�V�X	XDS_V�Z|cyl�l�f�f�e�^�V"U[f+eObe~qf�\�PN�kqu�q#r�rpi�]�\�b�f{gk^�UcU[�_�b�bb�b�`�Z�VtT�W�[|`�b�`�ZAQ�D�>JX�_�b�o%`�Z�]�^�[C\}]�f�jUk�i�e�a_`�^�Jw9x`
bJm�kkavf�]�S�\�Y\6hl]juaaW\�j2h	]�[wYHZ�]�\oX�WDVs])chV�?�E�WTU�M�R]X�I�[�WDPUYL^�`�h�]Z�j<g&a�o6b�]\�`�`-^�]�]a_�_�Oy@bX3f�q�]�^lebh[i�h-^JODZ�Z@W&T�T!W�^WZ�T�]�c"`�[�ai�f�S�G~B�R�ZJ\�V)RN�P�VW�X�YQV�M�Y�db^�Z�eGu�q�c�d�g�_4]�^|Z�V/Y�a�b
]�X�V�c�g:jW�[�hkjmp\�Q.N�SS~R�U�Zc�kL`�Xi`�o�m`&XYY�V�V.`�TO�P0S�X�Z{X�W<SPQeSD\�Xue�R�U�]�lvv�e�QMh�b�bN]�ZSS�V'P�J5Q�^xd�b�]�U2Y�e
g�d?d�k�`�KvK�VBW�U�U�\�j�xkpSt3s�pae	TE�UPV�Y@e_V@I�PYP�Q�U�X�Z\[[_aO\�X�f	OX�iknrnh�^[�_�_�]W^UVa[
^`�a�c` ]'YV�TQLP�UHY�U�T�V�S]P�Zc�Q�](X�V]h�k�h�`k`�a�V�YT�P�SBA�+	K�R!RVS6VCW�Y�]�`�^AZ�`�Ua[�\�`nc�ce`]�ZY7Y�W�]�ZU;Z�d�e�_\�Y�U5Q�V4[�X�TfYfT�R�O�QWVl^na-b�c�b]@VoR�Q�RT	VV�VTIR=M�K=N�Q�T�Q�S�T�V�X�[\t\�Z]*Z>W�Zb^f]3YV5VT�TXY�W�[�]CSKe�cG^�T�T
U7L�J"b�YkL�P�J�W�Z
X�X
X"^�ec9[�V"P�NN�SeYW�TQUDWR�O�T�YcYV@Y�W�W�W�W]V�W�Z)Z�d�V�UPV�[+V�O(O�S�QHN�[KTUrX;YNY.W�RmQ;R9T�T}I�AA_FJ�N�O3M�K�ITJ\M�WVb	_wU]R�S!R�TY�_IW(R`T{ZX
T*Z�c�_Wc*^],Z�XU4S�W0a�abXCWHTwSlUmX&T,NLRXmL�TUIV�Y|[SX	T�U<V�SMOS�U�R�N�L�L�LgK!J�KL[O�Q�R�SSAS�T�UT�S�SV�T[UV�Y5Z�X�TRS�_%Z:Y�X�Y�[qZ�\�i\\^[#X�VcS~QPPyRU�T_X�X>WgX�[�]�^�^>[�V�R|Y�T�OJHWH�L�K�KEORT&RPR^T,VRU�TU�W�W�T�J{BNP�S�T�STV"Z7X�T'SiT:T�S�U�YW�S�P�Qh[�i!gYa�`C`�aJ`ZTT.Z�e�hi]�[ZyV�SV�]\XfY�Z�P�R�U$XGS�L�M�QQ�RU�UR�NJ|IO
W�W�R]NFG9�CKI1P�TUW�Zo[o[{\9^JZ�VX~]wZ�W`�dL[�^�bg�iZg=^}TAWLQ�`�_�`W]&UeLHL�R�W�Z�T�M�YS�T�UQmNSUWS�N�USGUFWQW�V�WWU�T�T#SO�LLM?P�Q�Q�Q�P�P�Q�R*R�S�T�WJXHRXL.T�e�S'?-;�BkC�=l%��D�W�X�_�]LV�WxZFU�O�S7ZT�MWeUT\SzV�Y�S�N�P�T�OSJU�X�Y�YWX)VU�V6U�U�W�YV�QCN�N�O�QnQ�QiRR�Q�Q�U�Y7SGK�S�]�R�R�P�P}N0LRM�QTV�WpZ![�X�S�T�W�TrPSwYeV�P�S\V�U"R�Y`9UV�[K]G�S�VX�Y�Y�XBVT�UMW�ZX>T�S�S�RpP�R�U�U�T+T�T�Q�O�R�WmSCM�V�[�QDT9P�M�M~N�MK�NW�Z�Z;WfSZR�U'YI]�]�Z8V(R=Q�VVZUSW�W�H�M�OzR�RVTVHX�ZFZX%UTT�V(W&X�\yaa�`.`�`�\�W�U�U�TzS�S)RNH�HMY2