PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 128
FILE_RECORDS                      = 442
LABEL_RECORDS                     = 236

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                     = 237
^IMAGE                            = 379

/* 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          = 11
 FRAME_ID                         = "RIGHT"
 FRAME_TYPE                       = STEREO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "1000007"
 IMAGE_TYPE                       = THUMBNAIL
 INSTRUMENT_HOST_ID               = "MER2"
 INSTRUMENT_HOST_NAME             = "MARS EXPLORATION ROVER 2"
 INSTRUMENT_ID                    = "PANCAM_RIGHT"
 INSTRUMENT_NAME                  = "PANORAMIC CAMERA RIGHT"
 INSTRUMENT_SERIAL_NUMBER         = 103
 INSTRUMENT_TYPE                  = "IMAGING CAMERA"
 INSTRUMENT_VERSION_ID            = "FM"
 LOCAL_TRUE_SOLAR_TIME            = "16:20:37"
 MAGNET_ID                        = "NULL"
 MISSION_NAME                     = "MARS EXPLORATION ROVER"
 MISSION_PHASE_NAME               = "PRIMARY MISSION"
 OBSERVATION_ID                   = "4009820160"
 PLANET_DAY_NUMBER                = 1245
 PRODUCER_INSTITUTION_NAME        = "Arizona State University"
 PRODUCT_CREATION_TIME            = 2020-08-31T10:06:59Z
 PRODUCT_ID                       = "2P236904740IOTAUATP2762R2A1"
 PRODUCT_VERSION_ID               = "V3.0 D-22846"
 RELEASE_ID                       = "0001"
 ROVER_MOTION_COUNTER             = (130,129,125,528,240)
 ROVER_MOTION_COUNTER_NAME        = (SITE,DRIVE,IDD,PMA,HGA)
 SEQUENCE_ID                      = "p2762"
 SEQUENCE_VERSION_ID              = "9"
 SOLAR_LONGITUDE                  = 270.62
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "236904740.496"
 SPACECRAFT_CLOCK_STOP_COUNT      = "236904741.212"
 START_TIME                       = 2007-07-05T10:41:35.544
 STOP_TIME                        = 2007-07-05T10:41:36.259
 TARGET_NAME                      = MARS
 TARGET_TYPE                      = PLANET

/* TELEMETRY DATA ELEMENTS */

 APPLICATION_PROCESS_ID           = 22
 APPLICATION_PROCESS_NAME         = "PANCAM RIGHT"
 APPLICATION_PROCESS_SUBTYPE_ID   = 3
 EARTH_RECEIVED_START_TIME        = 2007-07-06T12:17:50.239
 EARTH_RECEIVED_STOP_TIME         = 2007-07-06T12:17:50.286
 EXPECTED_PACKETS                 = "N/A"
 PACKET_MAP_MASK                  = "N/A"
 RECEIVED_PACKETS                 = "N/A"
 SPICE_FILE_NAME                  = "chronos.mer"
 TELEMETRY_PROVIDER_ID            = "SSW MER_DP"
 TELEMETRY_SOURCE_NAME            = 
                               "022_003_p2762-009-0011_002_0236904740-127.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:
                                     2020-07-18T11:28:59Z ;;; 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: 2020-08-31T10:06:59Z"
 SOFTWARE_NAME                    = MER_ARCHIVE_IMAGE
 SOFTWARE_VERSION_ID              = "V2.02 05-Aug-2018"

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL
  CALIBRATION_SOURCE_ID           = "185"
  ^MODEL_DESC                     = "GEOMETRIC_CM.TXT"
  MODEL_TYPE                      = CAHVOR
  MODEL_COMPONENT_ID              = ("C","A","H","V","O","R")
  MODEL_COMPONENT_NAME            = (CENTER,AXIS,HORIZONTAL,VERTICAL,OPTICAL,
                                     RADIAL)
  MODEL_COMPONENT_1               = (0.412068,0.196337,-1.23959)
  MODEL_COMPONENT_2               = (0.78255,0.569839,0.250799)
  MODEL_COMPONENT_3               = (-106.059,197.286,7.83677)
  MODEL_COMPONENT_4               = (-20.9474,-15.0519,222.689)
  MODEL_COMPONENT_5               = (0.800454,0.553145,0.23088)
  MODEL_COMPONENT_6               = (0.022082,-0.033675,0.611672)
  FILTER_NAME                     = PANCAM_R2_754NM
  REFERENCE_COORD_SYSTEM_INDEX    = (130,129,125,528,240)
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (130,129,125,528,240)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = ROVER_FRAME
  ORIGIN_OFFSET_VECTOR            = (0.244432,0.118478,0.0119147)
  ORIGIN_ROTATION_QUATERNION      = (0.913907,-0.0361299,0.0289505,0.403274)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = FINE
  REFERENCE_COORD_SYSTEM_INDEX    = 130
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
END_GROUP                         = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (130,129,125,528,240)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = MB_FRAME
  ORIGIN_OFFSET_VECTOR            = (1.16562,-0.287679,0.32239)
  ORIGIN_ROTATION_QUATERNION      = (0.830069,-0.0721956,0.00534735,0.552941)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = DOWN
  REFERENCE_COORD_SYSTEM_INDEX    = (130,129,125,528,240)
  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       = (0.652612 <rad>,-0.310745 <rad>,
                                     0.652609 <rad>,-0.31078 <rad>,
                                     0.615563 <rad>,-0.572145 <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>,0.0198985 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME  = (AZIMUTH,ELEVATION)
END_GROUP                         = HGA_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: FILTER */

GROUP                             = FILTER_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "FILTER"
  ARTICULATION_DEVICE_NAME        = "FILTER ACTUATORS"
  ARTICULATION_DEV_POSITION       = (2,2,1)
  ARTICULATION_DEV_POSITION_ID    = ("PANCAM_L2_753NM","PANCAM_R2_754NM",
                                     "MI_CLOSED")
  ARTICULATION_DEV_POSITION_NAME  = ("LEFT PANCAM FILTER",
                                     "RIGHT PANCAM FILTER","MI DUST COVER")
END_GROUP                         = FILTER_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "IDD"
  ARTICULATION_DEVICE_NAME        = "INSTRUMENT DEPLOYMENT DEVICE"
  ARTICULATION_DEVICE_ANGLE       = (-0.389075 <rad>,0.0485326 <rad>,
                                     1.11322 <rad>,0.510542 <rad>,
                                     -1.65308 <rad>,-0.392462 <rad>,
                                     0.041243 <rad>,1.10881 <rad>,
                                     0.495399 <rad>,-1.67798 <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        = (-13.9539 <degC>,-6.12313 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT 1","TURRET JOINT 5")
  ARTICULATION_DEV_VECTOR         = (-0.0820567,-0.0426888,0.995713)
  ARTICULATION_DEV_INSTRUMENT_ID  = "MB"
  ARTICULATION_DEV_VECTOR_NAME    = GRAVITY
  CONTACT_SENSOR_STATE            = ("NO CONTACT","NO CONTACT",CONTACT,
                                     CONTACT,CONTACT,CONTACT,CLOSED,
                                     "NO CONTACT")
  CONTACT_SENSOR_STATE_NAME       = ("MI SWITCH 1","MI SWITCH 2",
                                     "RAT SWITCH 1","RAT SWITCH 2",
                                     "MB SWITCH 1","MB SWITCH 2",
                                     "APXS DOOR SWITCH","APXS CONTACT SWITCH")
END_GROUP                         = IDD_ARTICULATION_STATE

/* COORDINATE SYSTEM STATE: PANCAM MAST ASSEMBLY */

GROUP                             = PMA_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (130,129,125,528,240)
  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      = (0.93883,0.0413011,-0.121303,0.319652)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_INDEX    = (130,129,125,528,240)
  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       = (-0.00980411 <rad>,0.0125831 <rad>,
                                     -0.0351377 <rad>,-0.0282065 <rad>,
                                     0.0274024 <rad>,-0.0171751 <rad>,
                                     0.0083748 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME  = ("LEFT FRONT WHEEL POTENTIOMETER",
                                     "RIGHT FRONT WHEEL POTENTIOMETER",
                                     "LEFT REAR WHEEL POTENTIOMETER",
                                     "RIGHT REAR WHEEL POTENTIOMETER",
                                     "LEFT BOGIE POTENTIOMETER",
                                     "RIGHT BOGIE POTENTIOMETER",
                                     "DIFFERENTIAL BOGIE POTENTIOMETER")
  ARTICULATION_DEVICE_MODE        = DEPLOYED
END_GROUP                         = CHASSIS_ARTICULATION_STATE

/* OBSERVATION REQUEST */

GROUP                             = OBSERVATION_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  COMMAND_INSTRUMENT_ID           = "PANCAM_RIGHT"
  FILTER_NAME                     = PANCAM_R2_754NM
  AUTO_EXPOSURE_DATA_CUT          = 2500
  AUTO_EXPOSURE_PERCENT           = 10.0
  AUTO_EXPOSURE_PIXEL_FRACTION    = 1.0
  BAD_PIXEL_REPLACEMENT_FLAG      = FALSE
  DETECTOR_ERASE_COUNT            = 2
  EARLY_PIXEL_SCALE_FLAG          = FALSE
  EARLY_IMAGE_RETURN_FLAG         = FALSE
  EXPOSURE_TYPE                   = AUTO
  EXPOSURE_SCALE_FACTOR           = 1.0
  EXPOSURE_DURATION_COUNT         = 50
  EXPOSURE_TABLE_ID               = "PANCAM_R2"
  EXPOSURE_TBL_UPDATE_FLAG        = TRUE
  FLAT_FIELD_CORRECTION_FLAG      = FALSE
  INSTRUMENT_COORDINATE           = (1.484 <rad>,-0.165806 <rad>)
  INSTRUMENT_COORDINATE_ID        = "LL AZEL"
  INSTRUMENT_BORESIGHT_ID         = "UNK"
  INSTRUMENT_IDLE_TIMEOUT         = 300 <s>
  MAX_AUTO_EXPOS_ITERATION_COUNT  = 6
  SHUTTER_CORRECTION_MODE_ID      = "CONDITIONAL"
  SHUTTER_CORRECT_THRESH_COUNT    = 0
END_GROUP                         = OBSERVATION_REQUEST_PARMS

/* IMAGE REQUEST */

GROUP                             = IMAGE_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = TRUE
  DOWNLOAD_PRIORITY               = 85
  PIXEL_DOWNSAMPLE_OPTION         = NONE
  PIXEL_AVERAGING_HEIGHT          = 1
  PIXEL_AVERAGING_WIDTH           = 1
  SAMPLE_BIT_MODE_ID              = "LUT3"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 1.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = A
  INST_DECOMP_STAGES              = 4
  INST_CMPRS_SEGMENTS             = 20
END_GROUP                         = IMAGE_REQUEST_PARMS

/* REFERENCE PIXEL REQUEST */

GROUP                             = REFERENCE_PIXEL_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 85
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 12.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = E
  INST_DECOMP_STAGES              = 4
  INST_CMPRS_SEGMENTS             = 1
END_GROUP                         = REFERENCE_PIXEL_REQUEST_PARMS

/* THUMBNAIL REQUEST */

GROUP                             = THUMBNAIL_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = TRUE
  DOWNLOAD_PRIORITY               = 0
  LINES                           = 64
  LINE_SAMPLES                    = 64
  SAMPLE_BIT_MODE_ID              = "NONE"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 1.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = E
  INST_DECOMP_STAGES              = 2
  INST_CMPRS_SEGMENTS             = 1
END_GROUP                         = THUMBNAIL_REQUEST_PARMS

/* SUBFRAME REQUEST */

GROUP                             = SUBFRAME_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  SUBFRAME_TYPE                   = NONE
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  LINES                           = 1024
  LINE_SAMPLES                    = 1024
END_GROUP                         = SUBFRAME_REQUEST_PARMS

/* ROW SUMMATION REQUEST */

GROUP                             = ROW_SUM_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 85
END_GROUP                         = ROW_SUM_REQUEST_PARMS

/* COLUMN SUMMATION REQUEST */

GROUP                             = COLUMN_SUM_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 85
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               = 85
END_GROUP                         = HISTOGRAM_REQUEST_PARMS

/* INSTRUMENT STATE RESULTS */

GROUP                             = INSTRUMENT_STATE_PARMS
  AZIMUTH_FOV                     = 15.8412 <deg>
  ELEVATION_FOV                   = 15.8412 <deg>
  BAD_PIXEL_REPLACEMENT_ID        = "N/A"
  DETECTOR_FIRST_LINE             = 1
  DETECTOR_LINES                  = 1024
  DETECTOR_TO_IMAGE_ROTATION      = 180.0
  DOWNSAMPLE_METHOD               = SOFTWARE
  EXPOSURE_COUNT                  = 2
  EXPOSURE_DURATION               = 716.8 <ms>
  EXPOSURE_DURATION_COUNT         = 140
  FILTER_NAME                     = PANCAM_R2_754NM
  FILTER_NUMBER                   = 2
  FLAT_FIELD_CORRECTION_FLAG      = FALSE
  FLAT_FIELD_CORRECTION_PARM      = (0.0,0.0,0.0,0.0,0.0)
  INSTRUMENT_MODE_ID              = "FULL_FRAME"
  INSTRUMENT_TEMPERATURE          = (-7.81104 <degC>,-3.21033 <degC>,
                                     -7.04168 <degC>,-12.8443 <degC>,
                                     -14.1538 <degC>,0.0 <degC>,
                                     -11.4572 <degC>,-17.6508 <degC>,
                                     0.0 <degC>)
  INSTRUMENT_TEMPERATURE_NAME     = ("FRONT HAZ ELECTRONICS",
                                     "REAR HAZ ELECTRONICS",
                                     "LEFT PAN ELECTRONICS","LEFT PAN CCD",
                                     "RIGHT PAN CCD","LEFT NAV CCD","MI CCD",
                                     "MI ELECTRONICS","DESCENT CAMERA CCD")
  OFFSET_MODE_ID                  = "4066"
  PIXEL_AVERAGING_HEIGHT          = 16
  PIXEL_AVERAGING_WIDTH           = 16
  SAMPLE_BIT_METHOD               = NONE
  SAMPLE_BIT_MODE_ID              = "NONE"
  SHUTTER_EFFECT_CORRECTION_FLAG  = FALSE
  SUN_FIND_FLAG                   = FALSE
  SUN_FIND_PARM                   = ("N/A","N/A","N/A")
  SUN_FIND_PARM_NAME              = ("WINDOW SIZE","BRIGHTNESS THRESHOLD",
                                     "SUMMED BRIGHTNESS")
  SUN_LINE                        = "N/A"
  SUN_LINE_SAMPLE                 = "N/A"
  SUN_VIEW_POSITION               = ("N/A","N/A","N/A")
  SUN_VIEW_DIRECTION              = ("N/A","N/A","N/A")
END_GROUP                         = INSTRUMENT_STATE_PARMS

/* COMPRESSION RESULTS */

GROUP                             = COMPRESSION_PARMS
  ERROR_PIXELS                    = 0
  INST_CMPRS_DESC                 = "Lossy compression algorithm developed at
                                     JPL"
  INST_CMPRS_FILTER               = E
  INST_CMPRS_MODE                 = 2
  INST_CMPRS_NAME                 = "ICER ADAPTIVE VARIABLE-LENGTH CODING
                                     (ICER)"
  INST_CMPRS_RATE                 = 1.31055
  INST_CMPRS_RATIO                = 9.15648
  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      = 8.5
  INST_DECOMP_STAGES              = 2
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = 37.6052 <deg>
  INSTRUMENT_ELEVATION            = -14.7244 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (130,129,125,528,240)
  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              = 85.0271 <deg>
  INSTRUMENT_ELEVATION            = -9.49798 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = 130
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  SOLAR_AZIMUTH                   = 249.018 <deg>
  SOLAR_ELEVATION                 = 28.4204 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  DERIVED_IMAGE_TYPE              = IMAGE
  RADIANCE_SCALING_FACTOR         = 7.653289e-06
  RADIANCE_OFFSET                 = 0.07409761
  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      = "2P236904740ETHAUATP2762R2M1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_1       = FILENAME
  SOFTWARE_PARAMETER_VALUE_2      = "2P236904740RATAUATP2762R2A1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_2       = OUT_FILENAME
  SOFTWARE_PARAMETER_VALUE_3      = "Jonathan Joseph"
  SOFTWARE_PARAMETER_NAME_3       = PRODUCER
  NUM_SOFTWARE_KEYWORDS           = 22
  SOFTWARE_KEYWORD_NAME_1         = AMBIENT
  SOFTWARE_KEYWORD_VALUE_1        = 0
  SOFTWARE_KEYWORD_NAME_2         = CALIBRATION
  SOFTWARE_KEYWORD_VALUE_2        = 0
  SOFTWARE_KEYWORD_NAME_3         = ZERO
  SOFTWARE_KEYWORD_VALUE_3        = "none"
  SOFTWARE_KEYWORD_NAME_4         = ZDARK
  SOFTWARE_KEYWORD_VALUE_4        = 0
  SOFTWARE_KEYWORD_NAME_5         = COS4
  SOFTWARE_KEYWORD_VALUE_5        = 0
  SOFTWARE_KEYWORD_NAME_6         = DARK_IMG
  SOFTWARE_KEYWORD_VALUE_6        = 0
  SOFTWARE_KEYWORD_NAME_7         = FLAG_VALUES_VAL
  SOFTWARE_KEYWORD_VALUE_7        = (0,4095)
  SOFTWARE_KEYWORD_NAME_8         = FLAG_VALUES_TO
  SOFTWARE_KEYWORD_VALUE_8        = ("MISSING","INVALID")
  SOFTWARE_KEYWORD_NAME_9         = OVERWRITE
  SOFTWARE_KEYWORD_VALUE_9        = 1
  SOFTWARE_KEYWORD_NAME_10        = SIS
  SOFTWARE_KEYWORD_VALUE_10       = 1
  SOFTWARE_KEYWORD_NAME_11        = ALWAYS
  SOFTWARE_KEYWORD_VALUE_11       = 0
  SOFTWARE_KEYWORD_NAME_12        = ADJUST
  SOFTWARE_KEYWORD_VALUE_12       = 1
  SOFTWARE_KEYWORD_NAME_13        = NO_RADIOMETRY
  SOFTWARE_KEYWORD_VALUE_13       = 0
  SOFTWARE_KEYWORD_NAME_14        = ALLOW_NEG
  SOFTWARE_KEYWORD_VALUE_14       = 0
  SOFTWARE_KEYWORD_NAME_15        = FLOAT
  SOFTWARE_KEYWORD_VALUE_15       = 0
  SOFTWARE_KEYWORD_NAME_16        = DO_EXPDIV
  SOFTWARE_KEYWORD_VALUE_16       = 0
  SOFTWARE_KEYWORD_NAME_17        = RADFILE
  SOFTWARE_KEYWORD_VALUE_17       = ("rc_2L2_236904880_AUATP2090_2.txt",
                                     "rc_2L4_236904902_AUATP2090_2.txt",
                                     "rc_2L7_236904923_AUATP2090_2.txt",
                                     "rc_2R2_236904957_AUATP2090_2.txt",
                                     "rc_2R7_236904979_AUATP2090_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          = (8.8587271e-05,5.194772e-08,0.0)
  RESPONSIVITY_CONSTANTS_FILE     = "rc_2R2_236904957_AUATP2090_2.txt"
  PROCESSING_INFO                 = ("responsivity constants file:
                                     rc_2R2_236904957_AUATP2090_2.txt",
            "associated selection filename: roi_00320_00272_070708152007.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: 2P236904957RADAUATP2090R2A2.IMG.gz",
                                     "solar azimuth (rover frame): 200.995",
                                    "solar elevation (rover frame): -32.9023",
                                     "dust model tau: 0.28250145",
                                     "dust model rad coeff: 0.027145894",
 "ROI radiances: 0.025081582 0.016341941 0.017788136 0.012795401 0.0096704653 0.013832601 0.020006619 NaN NaN NaN",
 "ROI uncertainty: 0.00061075550 0.00036712621 0.00034709880 0.00027985383 0.00085423059 0.00040412249 0.00048473412 NaN NaN NaN",
                             "ROI count: 235 210 213 227 225 1053 1257 0 0 0",
 "reflectances: 0.46049962 0.29944094 0.35760014 0.26675073 0.25159705 0.29275604 0.41307656 NaN NaN NaN")
  BIAS_COEFFS_FILE                = ("mer_ccd_103_bias_coeffs_03.dat",
                                     "mer_ccd_103_bias_offset_03.img",
                                     "DETAILED")
  BIAS_COEFFS_FILE_DESCRIPTION    = ("Bias coefficients file.",
                                     "Bias offset file.",
                                     "Bias subtraction method.")
  FLAT_FIELD_FILE                 = ("MER_FLAT_SN_103_R2_V04.IMG",
                                     "MER_FLAT_STDDEV_SN_103_R2_V01.IMG")
  FLAT_FIELD_FILE_DESCRIPTION     = ("Flat field image.",
                                     "Flat field standard deviation image.")
  REFERENCE_PIXEL_IMAGE           = "2P236904696ERPAUATP2762R2M1"
  DARK_CURRENT_FILE               = 
                                  ("mer_ccd_103_dark_shutter_col_flat_01.img",
                                "mer_ccd_103_dark_shutter_col_mn_flat_02.img",
                                 "mer_ccd_103_dark_shutter_exp_coeffs_02.dat",
                                     "mer_ccd_103_dark_shutter_hot_02.dat",
                                     "mer_ccd_103_dark_active_flat_02.img",
                                  "mer_ccd_103_dark_active_exp_coeffs_02.dat",
                                     "mer_ccd_103_dark_active_change_02.sav")
  DARK_CURRENT_FILE_DESCRIPTION   = ("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                     = "2P236904740ETHAUATP2762R2M1"
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                        = 72482177
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = "N/A"
  MAXIMUM                         = 32766
  MEAN                            = 17695.84399414062
  MEDIAN                          = 18598
  MINIMUM                         = 0
  MISSING_CONSTANT                = "N/A"
  SAMPLE_BIT_MASK                 = 2#1111111111111111#
  STANDARD_DEVIATION              = 5196.389
  SCALING_FACTOR                  = 7.653289e-06
  OFFSET                          = 0.07409761
END_OBJECT                        = IMAGE

/* IMAGE HEADER DATA ELEMENTS */

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

END
LBLSIZE=18176  FORMAT='HALF'  TYPE='IMAGE'  BUFSIZ=128  DIM=3  EOL=0  RECSIZE=128  ORG='BSQ'  NL=64  NS=64  NB=1  N1=64  N2=64  N3=1  N4=0  NBB=0  NLB=0  HOST='x86_64'  INTFMT='HIGH'  REALFMT='IEEE'  BHOST='x86_64'  BINTFMT='HIGH'  BREALFMT='IEEE'  BLTYPE=''  PROPERTY='IDENTIFICATION'  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=11  FRAME_ID='RIGHT'  FRAME_TYPE='STEREO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='1000007'  IMAGE_TYPE='THUMBNAIL'  INSTRUMENT_HOST_ID='MER2'  INSTRUMENT_HOST_NAME='MARS EXPLORATION ROVER 2'  INSTRUMENT_ID='PANCAM_RIGHT'  INSTRUMENT_NAME='PANORAMIC CAMERA RIGHT'  INSTRUMENT_SERIAL_NUMBER=103  INSTRUMENT_TYPE='IMAGING CAMERA'  INSTRUMENT_VERSION_ID='FM'  LOCAL_TRUE_SOLAR_TIME='16:20:37'  MAGNET_ID='NULL'  MISSION_NAME='MARS EXPLORATION ROVER'  MISSION_PHASE_NAME='PRIMARY MISSION'  OBSERVATION_ID='4009820160'  PLANET_DAY_NUMBER=1245  PRODUCER_INSTITUTION_NAME='Arizona State University'  PRODUCT_CREATION_TIME='2020-08-31T10:06:59Z'  PRODUCT_ID='2P236904740IOTAUATP2762R2A1'  PRODUCT_VERSION_ID='V3.0 D-22846'  RELEASE_ID='0001'  ROVER_MOTION_COUNTER=(130,129,125,528,240)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA')  SEQUENCE_ID='p2762'  SEQUENCE_VERSION_ID='9'  SOLAR_LONGITUDE=270.62  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='236904740.496'  SPACECRAFT_CLOCK_STOP_COUNT='236904741.212'  START_TIME='2007-07-05T10:41:35.544'  STOP_TIME='2007-07-05T10:41:36.259'  TARGET_NAME='MARS'  TARGET_TYPE='PLANET'  PROPERTY='TELEMETRY'  APPLICATION_PROCESS_ID=22  APPLICATION_PROCESS_NAME='PANCAM RIGHT'  APPLICATION_PROCESS_SUBTYPE_ID=3  EARTH_RECEIVED_START_TIME='2007-07-06T12:17:50.239'  EARTH_RECEIVED_STOP_TIME='2007-07-06T12:17:50.286'  EXPECTED_PACKETS='N/A'  PACKET_MAP_MASK='N/A'  RECEIVED_PACKETS='N/A'  SPICE_FILE_NAME='chronos.mer'  TELEMETRY_PROVIDER_ID='SSW MER_DP'  TELEMETRY_SOURCE_NAME='022_003_p2762-009-0011_002_0236904740-127.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: 2020-07-18T11:28:59Z ;;; 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: 2020-08-31T10:06:59Z'  SOFTWARE_NAME='MER_ARCHIVE_IMAGE'  SOFTWARE_VERSION_ID='V2.02 05-Aug-2018'  PROPERTY='GEOMETRIC_CAMERA_MODEL'  CALIBRATION_SOURCE_ID='185'  MODEL_DESC__PTR='GEOMETRIC_CM.TXT'  MODEL_TYPE='CAHVOR'  MODEL_COMPONENT_ID=('C','A','H','V','O','R')  MODEL_COMPONENT_NAME=('CENTER','AXIS','HORIZONTAL','VERTICAL','OPTICAL','RADIAL')  MODEL_COMPONENT_1=(0.412068,0.196337,-1.23959)  MODEL_COMPONENT_2=(0.78255,0.569839,0.250799)  MODEL_COMPONENT_3=(-106.059,197.286,7.83677)  MODEL_COMPONENT_4=(-20.9474,-15.0519,222.689)  MODEL_COMPONENT_5=(0.800454,0.553145,0.23088)  MODEL_COMPONENT_6=(0.022082,-0.033675,0.611672)  FILTER_NAME='PANCAM_R2_754NM'  REFERENCE_COORD_SYSTEM_INDEX=(130,129,125,528,240)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='ROVER_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(130,129,125,528,240)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='ROVER_FRAME'  ORIGIN_OFFSET_VECTOR=(0.244432,0.118478,0.0119147)  ORIGIN_ROTATION_QUATERNION=(0.913907,-0.0361299,0.0289505,0.403274)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  QUATERNION_MEASUREMENT_METHOD='FINE'  REFERENCE_COORD_SYSTEM_INDEX=130  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  PROPERTY='IDD_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(130,129,125,528,240)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='MB_FRAME'  ORIGIN_OFFSET_VECTOR=(1.16562,-0.287679,0.32239)  ORIGIN_ROTATION_QUATERNION=(0.830069,-0.0721956,0.00534735,0.552941)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='DOWN'  REFERENCE_COORD_SYSTEM_INDEX=(130,129,125,528,240)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='PMA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='PMA'  ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY'  ARTICULATION_DEVICE_ANGLE=(0.652612,-0.310745,0.652609,-0.31078,0.615563,-0.572145)  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=(2.87999,0.0198985)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad')  ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH','ELEVATION')  PROPERTY='FILTER_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='FILTER'  ARTICULATION_DEVICE_NAME='FILTER ACTUATORS'  ARTICULATION_DEV_POSITION=(2,2,1)  ARTICULATION_DEV_POSITION_ID=('PANCAM_L2_753NM','PANCAM_R2_754NM','MI_CLOSED')  ARTICULATION_DEV_POSITION_NAME=('LEFT PANCAM FILTER','RIGHT PANCAM FILTER','MI DUST COVER')  PROPERTY='IDD_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='IDD'  ARTICULATION_DEVICE_NAME='INSTRUMENT DEPLOYMENT DEVICE'  ARTICULATION_DEVICE_ANGLE=(-0.389075,0.0485326,1.11322,0.510542,-1.65308,-0.392462,0.041243,1.10881,0.495399,-1.67798)  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=(-13.9539,-6.12313)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5')  ARTICULATION_DEV_VECTOR=(-0.0820567,-0.0426888,0.995713)  ARTICULATION_DEV_INSTRUMENT_ID='MB'  ARTICULATION_DEV_VECTOR_NAME='GRAVITY'  CONTACT_SENSOR_STATE=('NO CONTACT','NO CONTACT','CONTACT','CONTACT','CONTACT','CONTACT','CLOSED','NO CONTACT')  CONTACT_SENSOR_STATE_NAME=('MI SWITCH 1','MI SWITCH 2','RAT SWITCH 1','RAT SWITCH 2','MB SWITCH 1','MB SWITCH 2','APXS DOOR SWITCH','APXS CONTACT SWITCH')  PROPERTY='PMA_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(130,129,125,528,240)  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=(0.93883,0.0413011,-0.121303,0.319652)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_INDEX=(130,129,125,528,240)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(-0.00980411,0.0125831,-0.0351377,-0.0282065,0.0274024,-0.0171751,0.0083748)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad')  ARTICULATION_DEVICE_ANGLE_NAME=('LEFT FRONT WHEEL POTENTIOMETER','RIGHT FRONT WHEEL POTENTIOMETER','LEFT REAR WHEEL POTENTIOMETER','RIGHT REAR WHEEL POTENTIOMETER','LEFT BOGIE POTENTIOMETER','RIGHT BOGIE POTENTIOMETER','DIFFERENTIAL BOGIE POTENTIOMETER')  ARTICULATION_DEVICE_MODE='DEPLOYED'  PROPERTY='OBSERVATION_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  COMMAND_INSTRUMENT_ID='PANCAM_RIGHT'  FILTER_NAME='PANCAM_R2_754NM'  AUTO_EXPOSURE_DATA_CUT=2500  AUTO_EXPOSURE_PERCENT=10.0  AUTO_EXPOSURE_PIXEL_FRACTION=1.0  BAD_PIXEL_REPLACEMENT_FLAG='FALSE'  DETECTOR_ERASE_COUNT=2  EARLY_PIXEL_SCALE_FLAG='FALSE'  EARLY_IMAGE_RETURN_FLAG='FALSE'  EXPOSURE_TYPE='AUTO'  EXPOSURE_SCALE_FACTOR=1.0  EXPOSURE_DURATION_COUNT=50  EXPOSURE_TABLE_ID='PANCAM_R2'  EXPOSURE_TBL_UPDATE_FLAG='TRUE'  FLAT_FIELD_CORRECTION_FLAG='FALSE'  INSTRUMENT_COORDINATE=(1.484,-0.165806)  INSTRUMENT_COORDINATE__UNIT=('rad','rad')  INSTRUMENT_COORDINATE_ID='LL AZEL'  INSTRUMENT_BORESIGHT_ID='UNK'  INSTRUMENT_IDLE_TIMEOUT=300  INSTRUMENT_IDLE_TIMEOUT__UNIT='s'  MAX_AUTO_EXPOS_ITERATION_COUNT=6  SHUTTER_CORRECTION_MODE_ID='CONDITIONAL'  SHUTTER_CORRECT_THRESH_COUNT=0  PROPERTY='IMAGE_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='TRUE'  DOWNLOAD_PRIORITY=85  PIXEL_DOWNSAMPLE_OPTION='NONE'  PIXEL_AVERAGING_HEIGHT=1  PIXEL_AVERAGING_WIDTH=1  SAMPLE_BIT_MODE_ID='LUT3'  INST_CMPRS_MODE=1  INST_CMPRS_RATE=1.0  INST_CMPRS_QUALITY=0  INST_CMPRS_FILTER='A'  INST_DECOMP_STAGES=4  INST_CMPRS_SEGMENTS=20  PROPERTY='REFERENCE_PIXEL_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=85  INST_CMPRS_MODE=1  INST_CMPRS_RATE=12.0  INST_CMPRS_QUALITY=0  INST_CMPRS_FILTER='E'  INST_DECOMP_STAGES=4  INST_CMPRS_SEGMENTS=1  PROPERTY='THUMBNAIL_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='TRUE'  DOWNLOAD_PRIORITY=0  LINES=64  LINE_SAMPLES=64  SAMPLE_BIT_MODE_ID='NONE'  INST_CMPRS_MODE=1  INST_CMPRS_RATE=1.0  INST_CMPRS_QUALITY=0  INST_CMPRS_FILTER='E'  INST_DECOMP_STAGES=2  INST_CMPRS_SEGMENTS=1  PROPERTY='SUBFRAME_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  SUBFRAME_TYPE='NONE'  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  LINES=1024  LINE_SAMPLES=1024  PROPERTY='ROW_SUM_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=85  PROPERTY='COLUMN_SUM_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=85  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=85  PROPERTY='INSTRUMENT_STATE_PARMS'  AZIMUTH_FOV=15.8412  AZIMUTH_FOV__UNIT='deg'  ELEVATION_FOV=15.8412  ELEVATION_FOV__UNIT='deg'  BAD_PIXEL_REPLACEMENT_ID='N/A'  DETECTOR_FIRST_LINE=1  DETECTOR_LINES=1024  DETECTOR_TO_IMAGE_ROTATION=180.0  DOWNSAMPLE_METHOD='SOFTWARE'  EXPOSURE_COUNT=2  EXPOSURE_DURATION=716.8  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=140  FILTER_NAME='PANCAM_R2_754NM'  FILTER_NUMBER=2  FLAT_FIELD_CORRECTION_FLAG='FALSE'  FLAT_FIELD_CORRECTION_PARM=(0.0,0.0,0.0,0.0,0.0)  INSTRUMENT_MODE_ID='FULL_FRAME'  INSTRUMENT_TEMPERATURE=(-7.81104,-3.21033,-7.04168,-12.8443,-14.1538,0.0,-11.4572,-17.6508,0.0)  INSTRUMENT_TEMPERATURE__UNIT=('degC','degC','degC','degC','degC','degC','degC','degC','degC')  INSTRUMENT_TEMPERATURE_NAME=('FRONT HAZ ELECTRONICS','REAR HAZ ELECTRONICS','LEFT PAN ELECTRONICS','LEFT PAN CCD','RIGHT PAN CCD','LEFT NAV CCD','MI CCD','MI ELECTRONICS','DESCENT CAMERA CCD')  OFFSET_MODE_ID='4066'  PIXEL_AVERAGING_HEIGHT=16  PIXEL_AVERAGING_WIDTH=16  SAMPLE_BIT_METHOD='NONE'  SAMPLE_BIT_MODE_ID='NONE'  SHUTTER_EFFECT_CORRECTION_FLAG='FALSE'  SUN_FIND_FLAG='FALSE'  SUN_FIND_PARM=('N/A','N/A','N/A')  SUN_FIND_PARM_NAME=('WINDOW SIZE','BRIGHTNESS THRESHOLD','SUMMED BRIGHTNESS')  SUN_LINE='N/A'  SUN_LINE_SAMPLE='N/A'  SUN_VIEW_POSITION=('N/A','N/A','N/A')  SUN_VIEW_DIRECTION=('N/A','N/A','N/A')  PROPERTY='COMPRESSION_PARMS'  ERROR_PIXELS=0  INST_CMPRS_DESC='Lossy compression algorithm developed at JPL'  INST_CMPRS_FILTER='E'  INST_CMPRS_MODE=2  INST_CMPRS_NAME='ICER ADAPTIVE VARIABLE-LENGTH CODING (ICER)'  INST_CMPRS_RATE=1.31055  INST_CMPRS_RATIO=9.15648  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=8.5  INST_DECOMP_STAGES=2  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=37.6052  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-14.7244  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=(130,129,125,528,240)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=85.0271  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=-9.49798  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=130  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=249.018  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=28.4204  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='DERIVED_IMAGE_PARMS'  DERIVED_IMAGE_TYPE='IMAGE'  RADIANCE_SCALING_FACTOR=7.653289e-06  RADIANCE_OFFSET=0.07409761  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='2P236904740ETHAUATP2762R2M1.IMG.gz'  SOFTWARE_PARAMETER_NAME_1='FILENAME'  SOFTWARE_PARAMETER_VALUE_2='2P236904740RATAUATP2762R2A1.IMG.gz'  SOFTWARE_PARAMETER_NAME_2='OUT_FILENAME'  SOFTWARE_PARAMETER_VALUE_3='Jonathan Joseph'  SOFTWARE_PARAMETER_NAME_3='PRODUCER'  NUM_SOFTWARE_KEYWORDS=22  SOFTWARE_KEYWORD_NAME_1='AMBIENT'  SOFTWARE_KEYWORD_VALUE_1=0  SOFTWARE_KEYWORD_NAME_2='CALIBRATION'  SOFTWARE_KEYWORD_VALUE_2=0  SOFTWARE_KEYWORD_NAME_3='ZERO'  SOFTWARE_KEYWORD_VALUE_3='none'  SOFTWARE_KEYWORD_NAME_4='ZDARK'  SOFTWARE_KEYWORD_VALUE_4=0  SOFTWARE_KEYWORD_NAME_5='COS4'  SOFTWARE_KEYWORD_VALUE_5=0  SOFTWARE_KEYWORD_NAME_6='DARK_IMG'  SOFTWARE_KEYWORD_VALUE_6=0  SOFTWARE_KEYWORD_NAME_7='FLAG_VALUES_VAL'  SOFTWARE_KEYWORD_VALUE_7=(0,4095)  SOFTWARE_KEYWORD_NAME_8='FLAG_VALUES_TO'  SOFTWARE_KEYWORD_VALUE_8=('MISSING','INVALID')  SOFTWARE_KEYWORD_NAME_9='OVERWRITE'  SOFTWARE_KEYWORD_VALUE_9=1  SOFTWARE_KEYWORD_NAME_10='SIS'  SOFTWARE_KEYWORD_VALUE_10=1  SOFTWARE_KEYWORD_NAME_11='ALWAYS'  SOFTWARE_KEYWORD_VALUE_11=0  SOFTWARE_KEYWORD_NAME_12='ADJUST'  SOFTWARE_KEYWORD_VALUE_12=1  SOFTWARE_KEYWORD_NAME_13='NO_RADIOMETRY'  SOFTWARE_KEYWORD_VALUE_13=0  SOFTWARE_KEYWORD_NAME_14='ALLOW_NEG'  SOFTWARE_KEYWORD_VALUE_14=0  SOFTWARE_KEYWORD_NAME_15='FLOAT'  SOFTWARE_KEYWORD_VALUE_15=0  SOFTWARE_KEYWORD_NAME_16='DO_EXPDIV'  SOFTWARE_KEYWORD_VALUE_16=0  SOFTWARE_KEYWORD_NAME_17='RADFILE'  SOFTWARE_KEYWORD_VALUE_17=('rc_2L2_236904880_AUATP2090_2.txt','rc_2L4_236904902_AUATP2090_2.txt','rc_2L7_236904923_AUATP2090_2.txt','rc_2R2_236904957_AUATP2090_2.txt','rc_2R7_236904979_AUATP2090_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=(8.8587271e-05,5.194772e-08,0.0)  RESPONSIVITY_CONSTANTS_FILE='rc_2R2_236904957_AUATP2090_2.txt'  PROCESSING_INFO=('responsivity constants file: rc_2R2_236904957_AUATP2090_2.txt','associated selection filename: roi_00320_00272_070708152007.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: 2P236904957RADAUATP2090R2A2.IMG.gz','solar azimuth (rover frame): 200.995','solar elevation (rover frame): -32.9023','dust model tau: 0.28250145','dust model rad coeff: 0.027145894','ROI radiances: 0.025081582 0.016341941 0.017788136 0.012795401 0.0096704653 0.013832601 0.020006619 NaN NaN NaN','ROI uncertainty: 0.00061075550 0.00036712621 0.00034709880 0.00027985383 0.00085423059 0.00040412249 0.00048473412 NaN NaN NaN','ROI count: 235 210 213 227 225 1053 1257 0 0 0','reflectances: 0.46049962 0.29944094 0.35760014 0.26675073 0.25159705 0.29275604 0.41307656 NaN NaN NaN')  BIAS_COEFFS_FILE=('mer_ccd_103_bias_coeffs_03.dat','mer_ccd_103_bias_offset_03.img','DETAILED')  BIAS_COEFFS_FILE_DESCRIPTION=('Bias coefficients file.','Bias offset file.','Bias subtraction method.')  FLAT_FIELD_FILE=('MER_FLAT_SN_103_R2_V04.IMG','MER_FLAT_STDDEV_SN_103_R2_V01.IMG')  FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.')  REFERENCE_PIXEL_IMAGE='2P236904696ERPAUATP2762R2M1'  DARK_CURRENT_FILE=('mer_ccd_103_dark_shutter_col_flat_01.img','mer_ccd_103_dark_shutter_col_mn_flat_02.img','mer_ccd_103_dark_shutter_exp_coeffs_02.dat','mer_ccd_103_dark_shutter_hot_02.dat','mer_ccd_103_dark_active_flat_02.img','mer_ccd_103_dark_active_exp_coeffs_02.dat','mer_ccd_103_dark_active_change_02.sav')  DARK_CURRENT_FILE_DESCRIPTION=('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='2P236904740ETHAUATP2762R2M1'  PROPERTY='IMAGE_DATA'  CHECKSUM=72482177  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT='N/A'  MAXIMUM=32766  MEAN=17695.84399414062  MEDIAN=18598  MINIMUM=0  MISSING_CONSTANT='N/A'  SAMPLE_BIT_MASK='2#1111111111111111#'  STANDARD_DEVIATION=5196.389  SCALING_FACTOR=7.653289e-06  OFFSET=0.07409761  TASK='MERTELEM'  USER='pxz'  DAT_TIM='Fri Jul 6 12:21:40 2007'  TASK='MER_PANCAL_IMAGE'  USER='jj'  DAT_TIM='Sat Jul 18 04:28:59 2020'  TASK='MER_ARCHIVE_IMAGE'  USER='jj'  DAT_TIM='Mon Aug 31 03:06:59 2020'$+#�AQS�_T�<|, Ed2h2�,�4�B�H�I�KI;DL;�/�;�0�!D$�2:7!;(HV%TZd�e�^@
/"�*�#$c&�&(�<a5�.;<�F�H�-�:15,4!�D9C�:�;v>�9�P�`���
�x`
��m*�0�,J3�?KFPJ;J�F�B�;-+�04�<9}2�2�9EyQ�J�K�@�-	�*S*'�'���
<�+3?�<_.�07+9-lI:�?�=��K"6�@�C�?�P�a�(���SQ�\	��g�&D4�?�JIO�I8�G-0\'�'�31@�39j1�1m5�@�5P'4�.�*�/11�(����*40=�A<W�Cm(�HQN�M�=Y'B!�-*;�MV{^ze]*]�������
S '.�1�-s*�4sD�L<M�/1'n�&�0t6�+-;�>�46�=�HK>91k4�5B6�6�5M,�'�8�Q[L�M�A�C�:�4�K�Q�[�`W)G�M�D�SbfW�G(g~(�
# �q����^+�35.p4�9�<�5<B�=�3�2a7�@�H�B9
MbJ&U�50�6�@BP�N�D>�>�GxR�K�@_@#GvKO�RV�U�N�JX5_�e�_\`k�f/i�a�kww>i(� 1#�(u'�$#�!��!5�5���
��B�KjC?S>EkPO5J�SmVtS	( =(P/a4I@WL�Q�O�IWBWH�Q�T�R�U�Yube�a�X�J�]�e
i8r�sse@D*^)nn�b;R�*D)�*�+<,z-�0p7�9�>A.<�+k
%�I�W�U�M�BBD}PZz_uP\�I�&���0+@4OZ�\�Y+T9Qv[�cMe�aL`�c�maph
]�O�`}d:c#u	p2Y?9b�o�j�^Yf}2x6g9u7�4[7�>�A�J�P�O[>$6%�:�PWGT�SoP�MgM7YGe�U�\T�M�G�I�\�cob�[�b~j�b&RSff�d�ghR]�Y0d]neob5M�D_�l�Y�=�O�T4TN�X�@_CJLF>�B�KKF�W+T�J\G2I�S�ax\�PgQV*QmJ�RY^Y�O�S�^a_�_�\�Z<a,l�e'Y�WVe%r�dFQ;d\�]�_,h�g�0��!yD�S�T�G?Q�d�b�WzCE5�-s4�>ACP6Q�S�OH�K�PhHHP2N�M�R�Y
U�J	DTDL~X�XBQ�Q	Ue^�i
fS\�[nZ�]�bic^�^3Z�]�h^a%P�7��%&L�b�d�Z;=yu�.�Qj�\�PhU�IER@]5�,�,
8�:!]V]?WbU|UKS�OBN�M�=�-�6L>W/\P_C_0`�b%`�\�WhQ�QaTWU�U�S�R�X�^4R3<�OOW�VWg�dIaY+Q�U"I�Z�W V$Q�K�I�Q>Y�U�I�@�<�=�&�+-9:@�>�1�;n<U[Y\�Zc\�`�`�a^�Z*\]�Z�X!`]m�q�p�o�nlnIl>d7YAT3ROO�NuOlQ�Q^Q!Vb�`S=o*i9�Q|e�g1\�[6G�PROpG�>D�L]<? ��?��x �24:e<�5=�<�U�Y�_�e�j�k�q�vyGz�q�j�f�n�}=�{�w�sss�kq^�U�O�J�H�HnJ'M�P!G�W�].[@O�DFK�;�ArNN�FhAt@�5W&�$&[��
&N
��	�o�)�-�4�:?<�j�nZu^rk�o(pgrHs
p�sCqm;j�i�mo$dATHR�V�M�@�@9FjF�D�Bq@VA?�2�9KC�SQP�C�F�=S,�s"277�'���!�,?&O.�����b3/.:�=�88�T�UGPQ�Z+h�[�X�T�J>[	^�\�QBjDRJ�;�$!&~M� 39TA$?T>�:p/�%.�DFF@_EH�:�:D+Wa� <�A=�.�U��&�%�����!�I2(<-8
,4B�B�>�;A:�B/74�2^*�4�'��-�(�wy��U	,,�7�;8�3�7O?�D�B�:
/M0�4�&�(�%c#�&/�FLCKMA98--�%	M �)a+�)�#wf$1N �)#�5],�,F.4&�
�C��&U&�!d����b�dL&A-�4<:�>�>�=B=�=4�(�"� j��)<\H�PR�U�XOYT�MhIYE�>-<7^2,3&R"����&�5�� ��!�'%�$�'�,�*�"8�Z��^!�%�'�)�+�-�3:T@�E�I�H�C;�>eE;C}>!B�G�D�>�BcLqWg\�\]W-UR�M�HdJ'G^C_=p7V0�+(p%$�&�-�>xY,�r2 �"�&i&�&�&b%�'�*�,-',.+�2�=-A�A�A�@�C	G�K�O�S+Q�NxH�F{F$F�F�LkP\D1�3K@Dt+�.�;�@�?�;�9�K�JgK>H0C�=�:�:+<�?�<-:�J� s�o�#@*�.�/�.�1�7�;=�A�FM
R�P�JXJ�N�P�Q@PoO�SXX�Y@VkQ\O>N�M�P�R�THO\C�2�%P1�2<*�Off&�<&@�G�K�K�IaGEE�H K�I�G|N!+�#)�$5�g)S5�;A=R:�B�N]PxP\gf�Z�D�B�LNP�U@Z�_[�U]V�Z�X�[YZ�W�VMT7O�R�RWR�Q�N�JdEnEHCBE!H-H�IbN�R�KK<�?PJ�PQ�P�N
NQPQ�R�N2�%:/�-�+�2<`@�H�JkKJ�K�U#_T`?�0�*	6�OVX�Z�^�`>]�W�QLDO�P�THW�U�QoS
O�N�M0M=N$M�L�L!RcVY[ZxZWZiZ�[Y]W�O�O�T�VCW
W�W�VTeUy7�*C5@:6B	K�R�I5TUX�N�AXKZuGp.�0�B�L�T=YY[LZ�X*WdT�I�>�JcE�K�R�OgJ
U8KyJfG�F{G/KP�Tn^&b�dzcC_�_�`Z�S?Q)QvRETW�\�^�].V_Q[^}?!9�=dE+POUmSEF�M�T�U�P�G�C�D�P�X�VpM�M�Q�R�R�R6P�N_L�R�^DhCY�S�L�H�JaV`Q	O�O�NdM�Q�X�`�`-]�Y�Z.Z�Q�E`GuPQ�Q{T�YzY�X�YyZV�Ua]|F�K�GhK�QO�H?�>,N�L#L�L�G@AL5E�K<R�R�M�J�H9F�FdF�J�V�c{ZjE�AVC�HPmWZZFYf\�\�[�YWY�e�Y5RI�C�CK�V�W9OPM=Q'XS`C[CPHN�R�VOZ�W�MK1QqF(6�8�D8D6@K$F�L	N�I�E|PTLtSDZ�YfRuN�K8F.A�B^F�LDQQV�Y�P�F�K�WUYX�[�Y\_!buQ�=%K�T�R�I�HlLzSE\�Y�S�S5T)Z_$ZpP3NPvS	V=YPBRJjI�H�G�HgIhJ�IBF,KTL�L�QU�U�X�[\[|Y�W�S�MFECAh@�B9BD�C�D+M�W�^uX�Ps[vTHU�V�R�MHQV/UgS�Y<`�_k^T"W�Y�WWY8YXX&T�S]R�PO]�O1G'IIJK�K�J�K�M�L�K�F�HrM�Q�U�Z�Q>B�G T%V�T/QMJ�I�IK�H�K3TmZI\b\�V
O�Y�U0TwTS�S�S�V�X�Y�ZsY�V�G�7�K6M�SsTUoU�V�W�W�U2W!`(L&O�I1K4M�P(M�NOStTsBD�PVT�P*NkQ�V�T�N_N]Q�T�XVYOX'W\�T�W�dxc�[T$P�Q�U�VxT�SFVZ]Y�W�[�^"U�I3G�-m�9~9'I�L�RWS�V�Z�^�__efb%LiKPL�MRPvO�Q�ST�S�O�GTUS�Z�X�MoO�WU:P�QZU�Z�^�\�WxT�LfQ�O�IyRS0K�L�P8M�M�OQ`T
VqV�W
Zj^QXmN�PI<�,�=S3S=�I�Q`U�T�XT^)d�c�f%N^B�P[O�R"KU�V�XT�OJDD�!�(�B�NhT�TdU,W�Y�\h_(_aZ�P%A�/mF�:�V0�D�CH!J�FyD_I�PGQOQ�U�W<Zl[�]6b;_�W�J�8�5vItO�Y�Q�SkY�e�Z�g�N�G�I)P�Q�D]O
U(X�WR�VMG-E0�I�Z�\�T�W�\6_y_�[�V�Z]S[2�@5)q
��5�=�@�@$I�Q�R�Q�R�T�V�W�W�TV[c^�dB[VH�DC?�HE�Y�R�T�Xc`}V�^�O�Q\>O�O?�H�Q�V�W�W�^XfQeQ�Zd&`"V�[�_�_�[�YU�L�7�:9�RK&�8�:7�P�d�_�S�R=V�X�Y�WOKsL�TSU�KiC�T�R�GS:�X?VMY4XW]T�Q]SFOm@J�J%JMZ�V�SRhQfH�M�\2fc[�JJN[\V[�\6Z�YwWjQ�G5G�l
/��0O=XF�J�WUZ�NY>�1�=HSMFD�L�Y�W�E]FhP1^�V8JA�WW}YVjS�RQLWH�H<E�G�Wi�W�PAKsE;,�A/TXccfY\h`�QRU0T�XTWOBF�<�+�F�B�&e2�H�X�>�@�H�;�6�6�A�L�;�A-N�a�cQ=Juc
bFR�P5S�W�XiXIVS.QZ>U�J�I@L3R�J�9�7'Q"R�G�7PJIO�Y�\�\]S�F<?�UX\;[UXqT�M�C9?�A�BfCQCEOL[^XrHo0�>�M\I�E�@3CGt=�C2J+Xd�`_*b�\�V@YtaP_�]�\�[yU�Uxb�OLO�O�M�K�K�M�R"YWTQ�S�X�JNzK�PrSVU�Wc[sb�`�V�P6O�K:G�L�N;N�NzML
L"PU�W�WoI�6i;�L�L�FgFDeI�U�R�^fP�U>T�V�[�bgd�b�a�_NVFU�bcF�J'L7L�K�L{M�PIQ;Q/QCS�O�B>G�L)K�N�SW X�Z�^�L�)�v-�F�Z�Q9<�L�O�M�T&[�X�MBNUVkUOyK�G�D�I=RrXATh`_VEW�N�B�?�C�N�]x\�Q�H�<�B�@�CE�H�K�M�MI`D�F�K�JC�B�H�R\B�CUJ�SWGPK>O�4�9OR�TVE�C�FOJQP�Ww[MR�EFmN�M>H�KtKv@N?Y�Z�\�]�Z�WqT�Q�Q4ScW�[QJ$3J?�D�O�LQL�HoG�H�G�G�I?K�J�J�SX`vb�YnI�$�*AElT�Y�JJ&[z[F?�N�TVT�OK�J_L�RW Y�Q�FFOL�M�L�M,NDKZKVfX�U�X�Z^YV�V�X�\�Z�I`6
>jB|VL+o3�JKC@A�I�U
X�WY.]�[tU[V�W�Q�I�O�Z�[hZ?`�d�[M
L�QTTU�S�P�POQ�S�U�R�L�H�G�LCR�OLN/MjK69N�NDJ�Q�\�^V\�[�[|^�ZR�JEB=V[4�9WHG�?�>]@!F8O\T�Ys]z\�]"[�S(I�D�F�O1[�a�_QY`S[TU�R
MZG�CvE�L�N�O�QQ�Q�O�M[J�MEQGPBJX�f�Q�PH�E�MJZ�a_hXaM�LSW�\�W	A62:H{R!�@�H A5=�8[;CsK�V�[BU�Z�_;JN-�-A.N
Y
_�]�L�6�>�UT�E�4�&p.5B�JML�NyOJPQaS�TM5G~U�SS�Q�KdF�C�D�J�V^_\�Q?v9eW�`DVQF8K']�(�1�BuM	N�3�� _E�R�Q%NDP�S�RYI�<�<9@nF�O)TUwR
N=SVXyM�9�*�#�,�?�H�J�L�M�P�T�V�U�N�H�W1V�P�B~0�_'C@�N�T�QM[S�[�PfSyVZ6=D7�I�JO�PK!IB
CI{SU�K>J�Ig@�H�T�S�CS=E>6HqUsP�GcMdT6H�4�/�3�9�B�IKKNL�NYS:XiWR3PfQ
S�R�Q�OOMhK<H�GKcN�DH?J8MgN4N@GWSN:4>a\KUKQ�M;M�J�M�K�K!K K3N�B;EBC;F<�1�1�@&A�@D3KLP!OzK:IN6ULP�G�HrMJNeP-O�O�TY.T�L�NSQP�P�PuP�P�M�I�K�M�?�G�C�@@G�PqL�S�=�5�M�RZA�?�J	C�Q�INB�;8BP�O�E�:�F�;r.�&\AHHF!D�M�R9MI�I�MuQ8V�X�W�S�U/R�Q,SLV�Q3H�I�N�L�N�OeO�O�N�L�K)M'O�C K�A�6�AhV�Z�T]F`3�>�J(0a0�-��3Y>�@�80�B`FTA�8(A�>�21GPG#?�FGP�N�OQJLxJVIL�O�NjK�N�M�N4N�OzOTPmP0H�@)F?L�ON�N�N\LJ�QS�G�H�L�T<XAX�U�M}K�T�]�?#���+
4�8�><F2�05�>�;�:�F�>�G�L�B4�E]K�G�VQ�L2BF<�6r24wD?�D�I�J?G�P�Y&H�2]B�I�MELLK�K5L^RaSRzREPMKNP^P+L�D�W*X
B	4�CL?�;G>HSED??>�9<�D	C�=GV@�>?�?�?3?{=�5�C�T�Q�O�E�0�.L?�;�?9DAHYNCN�KrF�C�L�EE�G�HBH�LP*N�R�T�S�Q�O NeNsLH(B�T�Y=N}K�HIEMmR�Z�K�>�L�L*M�L�M&FD�>�+�2p9pD
FjDJCAE�L�Q�L"?�6r6�627f;e=!={@�F>R�O*B7P/�34;�@�CFDLE�M~S�H�P�Q�Q�PM�N,N�J�D�CpJ�WjB
GXEkF�JOK�CZ<'2
?�C�J�NIIFG>GSG�7�8;�C{E�FEI�K�JgH�D0>�?�;�<�>�=�?d?w>E>GmD�=�8|4�5�<�?e@�B�FLAPsF�M%M�M�LJmKL�K�IZHGI�W[.�5�9	;K>�>�#�*�$!(�0�>�K(@�G�J�NUK�G�C�@�EM�Q�R�I�<R:u@=K�=�?�EC�B$>�7�@�5�7�<�=�>v@4BAt@�C�H]ItH�F�G�GKGFE'F�J�N�QPM�K'VZ6�5�7�>�G�S7G�F�0�+�2C<�HFP�GH8n>AKK,F�K�T
T�N�E�<|;�C�LRAqAHC�E>�,�"1~8�9F5?6�;?IC�E`E�G"HNGRD�D�C�B�BCD-E�HNMP�LG�Q_H�:�@�=3�;<GXI�C�>�<qA�JjLcL-JGG{H
JlL5NtR�VREFJB-BJCfG�FB�B�B�<*~d5=O=�5�(�(	/$7�A�H�K�J�GEKC]B?�>�>�A8D�FE�HqJ�F8B�L>^56a6
=�:5o6�=�@�A�F�LUJ�B9�37NBeH<J�K�JG�HeE
AXC�E�D�B@�=�2�'~�K�M�J�#s-�:�DJ"I�D�C�D�?�:�8�;.?UD!C~A�C�G>EkC�P|0�1L3C�����.�<FD�KuM+E�5�$R{ �7�?�@X?5:�7�G�E�=�@AmD?�?B:�$�!�*	������� c,x8�B{Do@@A�E�>�74`8�>�DA�>O?�D�FrG�W�QCGD19�I
�z 4�= A�F�H�DO8�(�^#�7�;o9%@�E.{+0	<�>qAp>�@�?T8#:�.�Z���	�V��)
:�<6�:�?�@�:l:V;A-H�HnA�B�F=F/J�U�Ly<I/a"��%w3tA�?!:�<zA]DlDD<�2w4�=]<�:oC�L�;;�=�A�8�C�9�D<A�8�*(&�
H
�
%0�
1�y-3q3�-�3)8qA�@nDA�G2N�P�H�H�J!HNO1J�;�74
2�4�8A;<=6<�4�5�;�A�F�D=�>�B�@;=eEON�DC|B�A�:C�=CG!D�<�2#��z�^�k/5H3o3V2�31>3�=�:D=�@�K%N(L�HhH�HJ�P�O3ME6:�>B(H�IND&9�0+9�254�:J?�D�E3C�EuGKE�CTE�J�K�K�GX@�>TAuC�G�E�@8�0�,d*�*r*�(�&	&.0V1�0
02Y:r;87�FJ/�9�7�Q�S�I�7�JOAiKsW)M�K�J�:�,�->6L4`-�+j.�=r;\?�CzC�A�B�D�FcGgH!G�F_D�GUH�F@�>�<�?6@�<l5`4�6y5�3`2�2�6.:�=J5a3�3�4}5�5�;4�<�0�A09�D�Q�W1�[�5GRF�I�G�N�A�@=�>�AyC�?S9�=�D�II�E>>A�C`D�H�L;F�=�<Q?YA?A�=i6�4�3�/�+�0|8�9&5�57<�F5P�5�0�3�9
<+X50�/^4@�?z;�=qE�X<P�JZ.dV�C�B�RtE�D�A�ACGF�F�CV;R3�.�,�2;�@�C>D�E�KiP!I<^:]>�AB�@9J/�(�3�GnH�?�9�6;�C6:E/|Cz5�3�5'=8AA'�1�3�3�.�$x)�4�<�Hn`�H [RB�?
C&B_