PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

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

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                     = 233
^IMAGE                            = 372

/* IDENTIFICATION DATA ELEMENTS */

 DATA_SET_ID                      = "MER2-M-PANCAM-3-IOFCAL-SCI-V2.0"
 DATA_SET_NAME                    = "MER 2 MARS PANCAM I/F CALIBRATED RDR
                                     V2.0"
 COMMAND_SEQUENCE_NUMBER          = 32
 FRAME_ID                         = "RIGHT"
 FRAME_TYPE                       = STEREO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "1000028"
 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            = "12:02:16"
 MAGNET_ID                        = "NULL"
 MISSION_NAME                     = "MARS EXPLORATION ROVER"
 MISSION_PHASE_NAME               = "PRIMARY MISSION"
 OBSERVATION_ID                   = "252182528"
 PLANET_DAY_NUMBER                = 1509
 PRODUCER_INSTITUTION_NAME        = "Arizona State University"
 PRODUCT_CREATION_TIME            = 2020-08-31T11:56:52Z
 PRODUCT_ID                       = "2P260325045IOTAY00P2619R4A1"
 PRODUCT_VERSION_ID               = "V3.0 D-22846"
 RELEASE_ID                       = "0001"
 ROVER_MOTION_COUNTER             = (134,0,158,1035,1333)
 ROVER_MOTION_COUNTER_NAME        = (SITE,DRIVE,IDD,PMA,HGA)
 SEQUENCE_ID                      = "p2619"
 SEQUENCE_VERSION_ID              = "9"
 SOLAR_LONGITUDE                  = 52.8905
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "260325045.871"
 SPACECRAFT_CLOCK_STOP_COUNT      = "260325046.388"
 START_TIME                       = 2008-04-01T12:16:23.092
 STOP_TIME                        = 2008-04-01T12:16:23.608
 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        = 2008-04-01T21:40:35.116
 EARTH_RECEIVED_STOP_TIME         = 2008-04-01T21:40:35.162
 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_p2619-009-0032_002_0260325045-223.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:
                                     2020-07-18T17:36:26Z ;;; 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: 2020-08-31T11:56:52Z"
 SOFTWARE_NAME                    = MER_ARCHIVE_IMAGE
 SOFTWARE_VERSION_ID              = "V2.02 05-Aug-2018"

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL
  CALIBRATION_SOURCE_ID           = "187"
  ^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               = (0.556406,-0.130281,-1.22402)
  MODEL_COMPONENT_2               = (-0.687411,0.00190022,-0.726267)
  MODEL_COMPONENT_3               = (-16.6331,-221.738,-28.0587)
  MODEL_COMPONENT_4               = (-182.41,-7.27893,130.112)
  MODEL_COMPONENT_5               = (-0.672758,0.0265816,-0.739386)
  MODEL_COMPONENT_6               = (0.022082,-0.033675,0.611672)
  FILTER_NAME                     = PANCAM_R4_864NM
  REFERENCE_COORD_SYSTEM_INDEX    = (134,0,158,1035,1333)
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (134,0,158,1035,1333)
  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      = (0.141432,0.254572,-0.0305892,-0.956167)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = FINE
  REFERENCE_COORD_SYSTEM_INDEX    = 134
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
END_GROUP                         = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                             = IDD_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX         = (134,0,158,1035,1333)
  COORDINATE_SYSTEM_INDEX_NAME    = (SITE,DRIVE,IDD,PMA,HGA)
  COORDINATE_SYSTEM_NAME          = MI_FRAME
  ORIGIN_OFFSET_VECTOR            = (0.963993,-0.231268,-0.0369296)
  ORIGIN_ROTATION_QUATERNION      = (0.214529,0.280214,0.650678,-0.672365)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = DOWN
  REFERENCE_COORD_SYSTEM_INDEX    = (134,0,158,1035,1333)
  REFERENCE_COORD_SYSTEM_NAME     = ROVER_FRAME
END_GROUP                         = IDD_COORDINATE_SYSTEM

/* ARTICULATION DEVICE STATE: PANCAM MAST ASSEMBLY */

GROUP                             = PMA_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "PMA"
  ARTICULATION_DEVICE_NAME        = "PANCAM MAST ASSEMBLY"
  ARTICULATION_DEVICE_ANGLE       = (3.17305 <rad>,0.756084 <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       = (4.11868 <rad>,2.26586 <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       = (4,4,1)
  ARTICULATION_DEV_POSITION_ID    = ("PANCAM_L4_602NM","PANCAM_R4_864NM",
                                     "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       = (-0.0999718 <rad>,-0.80007 <rad>,
                                     1.89992 <rad>,2.75004 <rad>,
                                     0.000257103 <rad>,-0.106754 <rad>,
                                     -0.804528 <rad>,1.90754 <rad>,
                                     2.74402 <rad>,-0.0468955 <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        = (-51.5294 <degC>,-42.007 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT 1","TURRET JOINT 5")
  ARTICULATION_DEV_VECTOR         = (-0.478174,0.130506,0.868515)
  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         = (134,0,158,1035,1333)
  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      = (0.0161685,0.393884,0.00692991,-0.918992)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_INDEX    = (134,0,158,1035,1333)
  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       = (-0.0104713 <rad>,0.0121657 <rad>,
                                     -0.0278128 <rad>,-0.0467514 <rad>,
                                     -0.062348 <rad>,-0.0217296 <rad>,
                                     -0.020754 <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_R4_864NM
  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           = 2.6
  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        = FALSE
  DOWNLOAD_PRIORITY               = 65
  PIXEL_DOWNSAMPLE_OPTION         = SW_MEAN
  PIXEL_AVERAGING_HEIGHT          = 8
  PIXEL_AVERAGING_WIDTH           = 8
  SAMPLE_BIT_MODE_ID              = "NONE"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 1.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = A
  INST_DECOMP_STAGES              = 4
  INST_CMPRS_SEGMENTS             = 1
END_GROUP                         = IMAGE_REQUEST_PARMS

/* REFERENCE PIXEL REQUEST */

GROUP                             = REFERENCE_PIXEL_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 65
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 12.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = E
  INST_DECOMP_STAGES              = 4
  INST_CMPRS_SEGMENTS             = 1
END_GROUP                         = REFERENCE_PIXEL_REQUEST_PARMS

/* THUMBNAIL REQUEST */

GROUP                             = THUMBNAIL_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = TRUE
  DOWNLOAD_PRIORITY               = 0
  LINES                           = 64
  LINE_SAMPLES                    = 64
  SAMPLE_BIT_MODE_ID              = "NONE"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 1.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = E
  INST_DECOMP_STAGES              = 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               = 65
END_GROUP                         = ROW_SUM_REQUEST_PARMS

/* COLUMN SUMMATION REQUEST */

GROUP                             = COLUMN_SUM_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 65
END_GROUP                         = COLUMN_SUM_REQUEST_PARMS

/* SUN FIND REQUEST */

GROUP                             = SUN_FIND_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  LINES                           = 63
  LINE_SAMPLES                    = 63
END_GROUP                         = SUN_FIND_REQUEST_PARMS

/* HISTOGRAM REQUEST */

GROUP                             = HISTOGRAM_REQUEST_PARMS
  SOURCE_ID                       = "GROUND COMMANDED"
  GROUP_APPLICABILITY_FLAG        = FALSE
  DOWNLOAD_PRIORITY               = 65
END_GROUP                         = HISTOGRAM_REQUEST_PARMS

/* INSTRUMENT STATE RESULTS */

GROUP                             = INSTRUMENT_STATE_PARMS
  AZIMUTH_FOV                     = 15.8412 <deg>
  ELEVATION_FOV                   = 15.8412 <deg>
  BAD_PIXEL_REPLACEMENT_ID        = "N/A"
  DETECTOR_FIRST_LINE             = 1
  DETECTOR_LINES                  = 1024
  DETECTOR_TO_IMAGE_ROTATION      = 180.0
  DOWNSAMPLE_METHOD               = SOFTWARE
  EXPOSURE_COUNT                  = 1
  EXPOSURE_DURATION               = 517.12 <ms>
  EXPOSURE_DURATION_COUNT         = 101
  FILTER_NAME                     = PANCAM_R4_864NM
  FILTER_NUMBER                   = 4
  FLAT_FIELD_CORRECTION_FLAG      = FALSE
  FLAT_FIELD_CORRECTION_PARM      = (0.0,0.0,0.0,0.0,0.0)
  INSTRUMENT_MODE_ID              = "FULL_FRAME"
  INSTRUMENT_TEMPERATURE          = (-42.682 <degC>,-19.4217 <degC>,
                                     -8.33527 <degC>,-23.6818 <degC>,
                                     -25.259 <degC>,0.0 <degC>,
                                     -41.3228 <degC>,-45.1213 <degC>,
                                     0.0 <degC>)
  INSTRUMENT_TEMPERATURE_NAME     = ("FRONT HAZ ELECTRONICS",
                                     "REAR HAZ ELECTRONICS",
                                     "LEFT PAN ELECTRONICS","LEFT PAN CCD",
                                     "RIGHT PAN CCD","LEFT NAV CCD","MI CCD",
                                     "MI ELECTRONICS","DESCENT CAMERA CCD")
  OFFSET_MODE_ID                  = "4066"
  PIXEL_AVERAGING_HEIGHT          = 16
  PIXEL_AVERAGING_WIDTH           = 16
  SAMPLE_BIT_METHOD               = NONE
  SAMPLE_BIT_MODE_ID              = "NONE"
  SHUTTER_EFFECT_CORRECTION_FLAG  = TRUE
  SUN_FIND_FLAG                   = FALSE
  SUN_FIND_PARM                   = ("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                 = 1.29688
  INST_CMPRS_RATIO                = 9.25301
  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      = 5.5
  INST_DECOMP_STAGES              = 2
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = -177.984 <deg>
  INSTRUMENT_ELEVATION            = 46.4004 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (134,0,158,1035,1333)
  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              = 13.974 <deg>
  INSTRUMENT_ELEVATION            = 17.6121 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = 134
  REFERENCE_COORD_SYSTEM_NAME     = SITE_FRAME
  SOLAR_AZIMUTH                   = 359.06 <deg>
  SOLAR_ELEVATION                 = 55.4133 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  DERIVED_IMAGE_TYPE              = IMAGE
  RADIANCE_SCALING_FACTOR         = 1.103651e-05
  RADIANCE_OFFSET                 = 0.3379717
  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      = "2P260325045ETHAY00P2619R4M1.IMG.gz"
  SOFTWARE_PARAMETER_NAME_1       = FILENAME
  SOFTWARE_PARAMETER_VALUE_2      = "2P260325045RATAY00P2619R4A1.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_260234797_AY00P2111_2.txt",
                                     "rc_2R6_260234777_AY00P2111_2.txt",
                                     "rc_2R5_260234693_AY00P2111_2.txt",
                                     "rc_2R4_260234672_AY00P2111_2.txt",
                                     "rc_2R3_260234566_AY00P2111_2.txt",
                                     "rc_2R2_260234546_AY00P2111_2.txt",
                                     "rc_2R1_260234436_AY00P2111_2.txt",
                                     "rc_2L7_260234393_AY00P2111_2.txt",
                                     "rc_2L6_260234262_AY00P2111_2.txt",
                                     "rc_2L5_260234241_AY00P2111_2.txt",
                                     "rc_2L4_260234085_AY00P2111_2.txt",
                                     "rc_2L3_260234065_AY00P2111_2.txt",
                                     "rc_2L2_260233950_AY00P2111_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          = (0.00014843955,-2.5420947e-07,0.0)
  RESPONSIVITY_CONSTANTS_FILE     = "rc_2R4_260234672_AY00P2111_2.txt"
  PROCESSING_INFO                 = ("responsivity constants file:
                                     rc_2R4_260234672_AY00P2111_2.txt",
            "associated selection filename: roi_00320_00272_080404185855.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: 2P260234672RADAY00P2111R4A2.IMG.gz",
                                     "solar azimuth (rover frame): 208.567",
                                    "solar elevation (rover frame): -83.1419",
                                     "dust model tau: 1.1929999",
                                     "dust model rad coeff: 0.057100132",
 "ROI radiances: 0.030924182 0.027102228 0.024411086 0.022009952 0.022567052 0.023741949 0.027652834 0.010962473 NaN NaN",
 "ROI uncertainty: 0.00063106236 0.00050172964 0.00059820135 0.00050884269 0.00066511092 0.00062169991 0.00068665839 0.00043725409 NaN NaN",
                             "ROI count: 221 210 173 227 10 1351 2641 68 0 0",
 "reflectances: 0.54346921 0.45671752 0.43317728 0.39173479 0.37959508 0.41823066 0.48020759 0.19063620 NaN NaN")
  FLAT_FIELD_FILE                 = ("MER_FLAT_SN_103_R4_V04.IMG",
                                     "MER_FLAT_STDDEV_SN_103_R4_V01.IMG")
  FLAT_FIELD_FILE_DESCRIPTION     = ("Flat field image.",
                                     "Flat field standard deviation image.")
  DARK_CURRENT_FILE               = ("mer_ccd_103_dark_active_flat_02.img",
                                  "mer_ccd_103_dark_active_exp_coeffs_02.dat",
                                     "mer_ccd_103_dark_active_change_02.sav")
  DARK_CURRENT_FILE_DESCRIPTION   = ("Active dark flat image.",
                                     "Active dark mean coefficients.",
                                     "Active dark flat changes over time.")
  INPUT_IMAGE                     = "2P260325045ETHAY00P2619R4M1"
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                        = 82761596
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = "N/A"
  MAXIMUM                         = 32766
  MEAN                            = 20205.46777343750
  MEDIAN                          = 24578
  MINIMUM                         = 0
  MISSING_CONSTANT                = "N/A"
  SAMPLE_BIT_MASK                 = 2#1111111111111111#
  STANDARD_DEVIATION              = 9247.694
  SCALING_FACTOR                  = 1.103651e-05
  OFFSET                          = 0.3379717
END_OBJECT                        = IMAGE

/* IMAGE HEADER DATA ELEMENTS */

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

END
LBLSIZE=17792  FORMAT='HALF'  TYPE='IMAGE'  BUFSIZ=128  DIM=3  EOL=0  RECSIZE=128  ORG='BSQ'  NL=64  NS=64  NB=1  N1=64  N2=64  N3=1  N4=0  NBB=0  NLB=0  HOST='x86_64'  INTFMT='HIGH'  REALFMT='IEEE'  BHOST='x86_64'  BINTFMT='HIGH'  BREALFMT='IEEE'  BLTYPE=''  PROPERTY='IDENTIFICATION'  DATA_SET_ID='MER2-M-PANCAM-3-IOFCAL-SCI-V2.0'  DATA_SET_NAME='MER 2 MARS PANCAM I/F CALIBRATED RDR V2.0'  COMMAND_SEQUENCE_NUMBER=32  FRAME_ID='RIGHT'  FRAME_TYPE='STEREO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='1000028'  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='12:02:16'  MAGNET_ID='NULL'  MISSION_NAME='MARS EXPLORATION ROVER'  MISSION_PHASE_NAME='PRIMARY MISSION'  OBSERVATION_ID='252182528'  PLANET_DAY_NUMBER=1509  PRODUCER_INSTITUTION_NAME='Arizona State University'  PRODUCT_CREATION_TIME='2020-08-31T11:56:52Z'  PRODUCT_ID='2P260325045IOTAY00P2619R4A1'  PRODUCT_VERSION_ID='V3.0 D-22846'  RELEASE_ID='0001'  ROVER_MOTION_COUNTER=(134,0,158,1035,1333)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA')  SEQUENCE_ID='p2619'  SEQUENCE_VERSION_ID='9'  SOLAR_LONGITUDE=52.8905  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='260325045.871'  SPACECRAFT_CLOCK_STOP_COUNT='260325046.388'  START_TIME='2008-04-01T12:16:23.092'  STOP_TIME='2008-04-01T12:16:23.608'  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='2008-04-01T21:40:35.116'  EARTH_RECEIVED_STOP_TIME='2008-04-01T21:40:35.162'  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_p2619-009-0032_002_0260325045-223.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: 2020-07-18T17:36:26Z ;;; 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: 2020-08-31T11:56:52Z'  SOFTWARE_NAME='MER_ARCHIVE_IMAGE'  SOFTWARE_VERSION_ID='V2.02 05-Aug-2018'  PROPERTY='GEOMETRIC_CAMERA_MODEL'  CALIBRATION_SOURCE_ID='187'  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=(0.556406,-0.130281,-1.22402)  MODEL_COMPONENT_2=(-0.687411,0.00190022,-0.726267)  MODEL_COMPONENT_3=(-16.6331,-221.738,-28.0587)  MODEL_COMPONENT_4=(-182.41,-7.27893,130.112)  MODEL_COMPONENT_5=(-0.672758,0.0265816,-0.739386)  MODEL_COMPONENT_6=(0.022082,-0.033675,0.611672)  FILTER_NAME='PANCAM_R4_864NM'  REFERENCE_COORD_SYSTEM_INDEX=(134,0,158,1035,1333)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='ROVER_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(134,0,158,1035,1333)  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=(0.141432,0.254572,-0.0305892,-0.956167)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  QUATERNION_MEASUREMENT_METHOD='FINE'  REFERENCE_COORD_SYSTEM_INDEX=134  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  PROPERTY='IDD_COORDINATE_SYSTEM'  COORDINATE_SYSTEM_INDEX=(134,0,158,1035,1333)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA')  COORDINATE_SYSTEM_NAME='MI_FRAME'  ORIGIN_OFFSET_VECTOR=(0.963993,-0.231268,-0.0369296)  ORIGIN_ROTATION_QUATERNION=(0.214529,0.280214,0.650678,-0.672365)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='DOWN'  REFERENCE_COORD_SYSTEM_INDEX=(134,0,158,1035,1333)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='PMA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='PMA'  ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY'  ARTICULATION_DEVICE_ANGLE=(3.17305,0.756084,0.0,0.0,0.0,0.0)  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=(4.11868,2.26586)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad')  ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH','ELEVATION')  PROPERTY='FILTER_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='FILTER'  ARTICULATION_DEVICE_NAME='FILTER ACTUATORS'  ARTICULATION_DEV_POSITION=(4,4,1)  ARTICULATION_DEV_POSITION_ID=('PANCAM_L4_602NM','PANCAM_R4_864NM','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=(-0.0999718,-0.80007,1.89992,2.75004,0.000257103,-0.106754,-0.804528,1.90754,2.74402,-0.0468955)  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=(-51.5294,-42.007)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5')  ARTICULATION_DEV_VECTOR=(-0.478174,0.130506,0.868515)  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=(134,0,158,1035,1333)  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=(0.0161685,0.393884,0.00692991,-0.918992)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_INDEX=(134,0,158,1035,1333)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(-0.0104713,0.0121657,-0.0278128,-0.0467514,-0.062348,-0.0217296,-0.020754)  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_R4_864NM'  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=2.6  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='FALSE'  DOWNLOAD_PRIORITY=65  PIXEL_DOWNSAMPLE_OPTION='SW_MEAN'  PIXEL_AVERAGING_HEIGHT=8  PIXEL_AVERAGING_WIDTH=8  SAMPLE_BIT_MODE_ID='NONE'  INST_CMPRS_MODE=1  INST_CMPRS_RATE=1.0  INST_CMPRS_QUALITY=0  INST_CMPRS_FILTER='A'  INST_DECOMP_STAGES=4  INST_CMPRS_SEGMENTS=1  PROPERTY='REFERENCE_PIXEL_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=65  INST_CMPRS_MODE=1  INST_CMPRS_RATE=12.0  INST_CMPRS_QUALITY=0  INST_CMPRS_FILTER='E'  INST_DECOMP_STAGES=4  INST_CMPRS_SEGMENTS=1  PROPERTY='THUMBNAIL_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='TRUE'  DOWNLOAD_PRIORITY=0  LINES=64  LINE_SAMPLES=64  SAMPLE_BIT_MODE_ID='NONE'  INST_CMPRS_MODE=1  INST_CMPRS_RATE=1.0  INST_CMPRS_QUALITY=0  INST_CMPRS_FILTER='E'  INST_DECOMP_STAGES=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=65  PROPERTY='COLUMN_SUM_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=65  PROPERTY='SUN_FIND_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  LINES=63  LINE_SAMPLES=63  PROPERTY='HISTOGRAM_REQUEST_PARMS'  SOURCE_ID='GROUND COMMANDED'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=65  PROPERTY='INSTRUMENT_STATE_PARMS'  AZIMUTH_FOV=15.8412  AZIMUTH_FOV__UNIT='deg'  ELEVATION_FOV=15.8412  ELEVATION_FOV__UNIT='deg'  BAD_PIXEL_REPLACEMENT_ID='N/A'  DETECTOR_FIRST_LINE=1  DETECTOR_LINES=1024  DETECTOR_TO_IMAGE_ROTATION=180.0  DOWNSAMPLE_METHOD='SOFTWARE'  EXPOSURE_COUNT=1  EXPOSURE_DURATION=517.12  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=101  FILTER_NAME='PANCAM_R4_864NM'  FILTER_NUMBER=4  FLAT_FIELD_CORRECTION_FLAG='FALSE'  FLAT_FIELD_CORRECTION_PARM=(0.0,0.0,0.0,0.0,0.0)  INSTRUMENT_MODE_ID='FULL_FRAME'  INSTRUMENT_TEMPERATURE=(-42.682,-19.4217,-8.33527,-23.6818,-25.259,0.0,-41.3228,-45.1213,0.0)  INSTRUMENT_TEMPERATURE__UNIT=('degC','degC','degC','degC','degC','degC','degC','degC','degC')  INSTRUMENT_TEMPERATURE_NAME=('FRONT HAZ ELECTRONICS','REAR HAZ ELECTRONICS','LEFT PAN ELECTRONICS','LEFT PAN CCD','RIGHT PAN CCD','LEFT NAV CCD','MI CCD','MI ELECTRONICS','DESCENT CAMERA CCD')  OFFSET_MODE_ID='4066'  PIXEL_AVERAGING_HEIGHT=16  PIXEL_AVERAGING_WIDTH=16  SAMPLE_BIT_METHOD='NONE'  SAMPLE_BIT_MODE_ID='NONE'  SHUTTER_EFFECT_CORRECTION_FLAG='TRUE'  SUN_FIND_FLAG='FALSE'  SUN_FIND_PARM=('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=1.29688  INST_CMPRS_RATIO=9.25301  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=5.5  INST_DECOMP_STAGES=2  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=-177.984  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=46.4004  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=(134,0,158,1035,1333)  REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME'  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH=13.974  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION=17.6121  INSTRUMENT_ELEVATION__UNIT='deg'  REFERENCE_COORD_SYSTEM_INDEX=134  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=359.06  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=55.4133  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='DERIVED_IMAGE_PARMS'  DERIVED_IMAGE_TYPE='IMAGE'  RADIANCE_SCALING_FACTOR=1.103651e-05  RADIANCE_OFFSET=0.3379717  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='2P260325045ETHAY00P2619R4M1.IMG.gz'  SOFTWARE_PARAMETER_NAME_1='FILENAME'  SOFTWARE_PARAMETER_VALUE_2='2P260325045RATAY00P2619R4A1.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_260234797_AY00P2111_2.txt','rc_2R6_260234777_AY00P2111_2.txt','rc_2R5_260234693_AY00P2111_2.txt','rc_2R4_260234672_AY00P2111_2.txt','rc_2R3_260234566_AY00P2111_2.txt','rc_2R2_260234546_AY00P2111_2.txt','rc_2R1_260234436_AY00P2111_2.txt','rc_2L7_260234393_AY00P2111_2.txt','rc_2L6_260234262_AY00P2111_2.txt','rc_2L5_260234241_AY00P2111_2.txt','rc_2L4_260234085_AY00P2111_2.txt','rc_2L3_260234065_AY00P2111_2.txt','rc_2L2_260233950_AY00P2111_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=(0.00014843955,-2.5420947e-07,0.0)  RESPONSIVITY_CONSTANTS_FILE='rc_2R4_260234672_AY00P2111_2.txt'  PROCESSING_INFO=('responsivity constants file: rc_2R4_260234672_AY00P2111_2.txt','associated selection filename: roi_00320_00272_080404185855.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: 2P260234672RADAY00P2111R4A2.IMG.gz','solar azimuth (rover frame): 208.567','solar elevation (rover frame): -83.1419','dust model tau: 1.1929999','dust model rad coeff: 0.057100132','ROI radiances: 0.030924182 0.027102228 0.024411086 0.022009952 0.022567052 0.023741949 0.027652834 0.010962473 NaN NaN','ROI uncertainty: 0.00063106236 0.00050172964 0.00059820135 0.00050884269 0.00066511092 0.00062169991 0.00068665839 0.00043725409 NaN NaN','ROI count: 221 210 173 227 10 1351 2641 68 0 0','reflectances: 0.54346921 0.45671752 0.43317728 0.39173479 0.37959508 0.41823066 0.48020759 0.19063620 NaN NaN')  FLAT_FIELD_FILE=('MER_FLAT_SN_103_R4_V04.IMG','MER_FLAT_STDDEV_SN_103_R4_V01.IMG')  FLAT_FIELD_FILE_DESCRIPTION=('Flat field image.','Flat field standard deviation image.')  DARK_CURRENT_FILE=('mer_ccd_103_dark_active_flat_02.img','mer_ccd_103_dark_active_exp_coeffs_02.dat','mer_ccd_103_dark_active_change_02.sav')  DARK_CURRENT_FILE_DESCRIPTION=('Active dark flat image.','Active dark mean coefficients.','Active dark flat changes over time.')  INPUT_IMAGE='2P260325045ETHAY00P2619R4M1'  PROPERTY='IMAGE_DATA'  CHECKSUM=82761596  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT='N/A'  MAXIMUM=32766  MEAN=20205.4677734375  MEDIAN=24578  MINIMUM=0  MISSING_CONSTANT='N/A'  SAMPLE_BIT_MASK='2#1111111111111111#'  STANDARD_DEVIATION=9247.694  SCALING_FACTOR=1.103651e-05  OFFSET=0.3379717  TASK='MERTELEM'  USER='pxz'  DAT_TIM='Tue Apr 1 22:06:50 2008'  TASK='MER_PANCAL_IMAGE'  USER='jj'  DAT_TIM='Sat Jul 18 10:36:26 2020'  TASK='MER_ARCHIVE_IMAGE'  USER='jj'  DAT_TIM='Mon Aug 31 04:56:52 2020'����>����r��������d9
[���i�� ��N ��o��h����?��L
��8&�
u�	
�P!�x�^��Ij^#}G	�����)b|R�o6�n����9"�������f�9��
$��>
�	�	��
;����A���~�
!%'[��	�$/UK�����I��N
���`Z�w��
G�

h
T��
�
Z	s���[��7��E|��Ou�b>:%�-r�sjQ��&���HXb��G�^�R�8�#a{
L
�
3
����2
;��^��7����E���ZE�%t�����%��b��~�)��\�9l�|i�~�Mu��y
vV�,�_�|z��y��Zz�.bp�5(�� c�}}Pu�2��k���y` �d2��K�7�\�j�]��[
���#l�Sqn8w�5`�'�\�(#	�	���'"jq�h1u�v$�YIe9�X��p��0�|q�����k';��`qE����Bk��6S����������)��W�k�1��a��+k�
�EZ�!�6t/aE�O�
�Q)�Ck�j�=&C��Z��i�c��VDK~hv����{��n��W!�0�.�l�-�*�'d�U���+�z�5m����
+h�n���������6���v�F����[���O�W�K�|�T�1r�nS� �,�w+S�t�$�������H���������  ] � � � 2�����  '��"w8��[��U��]���3��!�-A�+
*�u�R��9\j\�� - M _ � �!!.!+!;!J!>!�!�""7"!�!�!]!�""�#W"�!" � 	�Y����,`S�y�j����U#/-i$�d�:�A���m�  
 . 7 X A �!!�"�"�###<###E$$$\$~$t$E$M%7%>&4'+%�#i#a#6"O ��lI\��Q�
�i��I�|%�-��5�P�T/y�� ` - � �!)!V!H!�"�#
#�$o$�%6%q%�&&_&�&�&�&�'I'�(�(!(�)~*
(�&�%�&�%�$5#N"l"9"N!� � w�����y��(8.�R�y��H��  I f �!&!�!�"|"�##�$�%:%B&�&r','�(�)�)�*(*,)�)�*+�-<+,T,�,+�*y(�)�(�'�'&�%�%�#�"�$"<!f ��M�F� *�/��fU|� / � �!!!S"Z##�$$�%B&m'�(�(�(=(�)�*�+�,v-c-�-p-�-�.}/�0(..�.�.Q.	-�-�+x+'*�+"*�*(�&�%}'�%�%$�#U!! bnCF.�0��  f _ � �!�!�"B"""D#<$L%U&$&�'�)F+K,Z,H)�+�,-�./0i00�1�2L3f3-2)1L0�0�1
0�03-2,�..�/L.�,i*�)(+�)�)t)%'S$�$�#g!y p2U1 �� �!�!}!a"##�#�$#$n$�&''O(�)�*�,7-�.�.�-/*0/�1|3T3�4454]5�7}6�5�5j4�4}43�3�5�1T0�1j2w3�2U/�.D-�/5-�,�+�+-*W(&�%_$#4�1�!H �""�"�"�#�$�%v%�&�'�'�(�)�+C,�. /�0^1,11|2�4�24�86�7�7�6t8C:�:89�9�8�8&706�7#7a6�5�5;5�7-5�2�2A2�2�1=/-.^0
+j*k).(V6�2�"c"o#�$w$�$�%�'#()*a+e,�,8-.u0V1�2�3J3�4�5�5�7�6�8�<):�=:�:�<>�?*>=4=;�:�;";�;U;Z;:|:�:�965�6�6j4�2o0z0�2!/X.�-*�:�3
##�%@&
&7&�'�*+T,�-�.�2!0024)5�6[6(7*989�9:�<�<Q?�?hB�>>�?�B�C�C5@�A�@F>�@@�@d?�A	@?�>X<�9�9�:�9�8W6�5�4V3^4"40�-"?x4�$L$�&�((�)�+$-.�/�0�2T5#4U4�57?9�9�9n:�<=N>O?d@�@SDD	E�C�B�C�F1GF�DEVD�C�C�ECEB8ENC�CB9?g=�=r>0=�<[;:
97�6�6�4�1g@`6]&Z&�(�*�+l,�/	1^2(2�3�5~7u8�9�9�:�<�=�=�?$?RA�D=D�C�C�H�H[G�I>G4G�I	IwI2G�H[IDI�GgH�F~D�I~F%E�F]CB�A�AD@�@�@1>�>�=�9?9�8�6�@�8�(�)+y-�/�0�2�4�5o5�6�8S:p<�=�>>?�?�@�A�A�C�E:G]H+F�FDKJ�ILL	LK�LLPL�LM4NzLK�K�K�M�JJ�J�G|G�FID�EEeD�DWC@k<�<�<6:YF�;�,+�.�1i456�8�9:94:r<x>�@IAB�DKC�C�GDE�H�I�JnJ�JLH�M`M3K�M�QPN�N�OfP]OmP�RP�NXP�TQ�M�PmNGK�M-J�H&I�I�I�H�E�B=@�@�@d>xN�?.�/"25�78�:<;�<7<l>hA'BB�D{EtE�H4F�KJ�L�MXMQMM�MwQP�O>Q-T�TRQ�R�S�RPR	R�T�SdQ�S�W�U�ROS?ROP�NKM�M*L�K_H�D�DgEtD�CAQvB�2,3�6o:�9�;<�>�?T@CF9E�ESHYG[FbL�I�M�PcO'Q=PHO�Q�S{U�U�T�U.V�X�W+W�Y�T�U�V0W�V&V�V4YFX�VnV%V�RS�Q0OmR�P�OIMcK�IIVJ�IH�R�F7�9�:~>�<�=�?"A�B�DFeH�I�I
L�K�JsP2M�QS�QVT�S(T%T�W
X�Y�Y6X9X+[�\LZ�^�Y�Z
Zj[X�[X�Z�Z2Y�[[�U�U�USU8V�T�R�PBN!M�NdOIMN�W�I�=�?�?wB%@�@sA�D�F�HjI�J�L�M�P�QsP�T*R�T�V�S�WsV�Y}X9Y�[!]c]�[Y�^C`�[�b�^�^W^r^LZ�_V\\z[Y\Z`�_�Y~W�Y"Z�Z�W�U�S+PeS R�S_P�S^�MMAmC�C�DBD�C�E�H�J�K�L�NN�QpS�WEVpWzUW�Y�WzZ+[�^1\/]^?^,_�`D_i`c�]�b�`�a=_�^P\�c`)^�_`�c�aK]0Z�[4^3]4Z#XiWT�V�S�U�SrS�b�Q?C�FhF�EJG�HPKL�M�N�P�R�QhTXU�\[wZ�W�[!\�[�\�acbY`[`�a{^^`�f.g+b�e�`3a�b~c�a8]�`]feb�dNe�d�ba _�]T`�_�][A[�Z�Y�SOW�U�Svd�UAGH�I�H
LlMnN�Q*R	RTV�V�Y�Y�^#_~\�\M`0_{_�_.d�d`dcdyd�bPe)i�i�f�f�d,b�d(f�eWbDdgg�f�f�hFf cgb�cwaba2`_�^�_2]�W�[�X�V^e�X;I�J!K�K�P�R-Q�U;U�U�W~Z�\�]�]�]�a�]�`�eawbQae�f�gZg�gxg�k:k=i�k�h�i/elfni�i�h�g�g�i�j"ghygd�caf�e�b�bb�c�aHa�`�]�_�[�Z�g(YpM3NOOqT�U�VOY�Y�Yh[^D`D`�`s_�c�a�d�g�fBe"d�i~k'jhk�lKk{pPn}k�o�k�n'ii�l"l�lk�j�j�l$i�i�h3g�e�iRhffeZe�gld`b|b�a�b�^7^(lY�P>SS�R�WjX`[]�]}\�]�abgb!b�b�d�f�g�h�jsgh~m�pMlQn�o�ns�q�m~qn�qjlxmn�nl�mJn�k	m"mk�ji�ij3i�ioh�h5j
f�a�dd*d-_[`�r\YTVW�X�V�ZX\	_`�a4_�a�d�e�e�d�e=f�j�k%k5ljwl�o�rp o�r?pttsFr!s�qr�o<p	r�qm�o�q�mn�m�n;l�i�iTi�j�k�kii�k�h@dh	h)d�`�br�`jX�[�\�Z7\7_�a�bzd�b�eg�ih�f�gzi�m�n�n7k�mpnq)q�s�o�r�rJq�s!vSu}rq�q=r�vJs�n pr0n�n�l^p�o1i�hg�k`ml�j�kKh@f�k3k�dBbc
p�c�[L]�^�]�`�d7d�e5h;e�gkulykik_j�m�p�r0pl�ofs�s-qut�rUu�s�q`r�u�t�q�p�r�u>v@t�qtpq�opo�m:r�o�lWi�jAj�n�m�krkWg�foj�n�f3d�d�tg`]_^�`~djh�g�g�j�h�h�oolop�m�q�r�tDq�m�q�v:uq�shu�xu^q�qWr&q�qgn�ru�rvs�t�n�n�nZorm�q�nGok�lEh�m�m
j�i^f�df�nbgf3d�w�j�_�a"`a�f�l\ivjll�k�i�p�ptnHt�p�t�t�ueuIp�s�v�uHs#s�u�xUwPrGo�p�q�r9o�p�t.q>sMu"oOn
m�n�npoojmm�iMk�k�k%h�gBfufmgg.g�e&u�m�a�dbUb�g�m�jum9o`nj�r&q�o�wr�vOvQt�x�s�uRuPt�tMs�tu�xSr�n�p�rcsq�n�q}pr=r�pDm-l�m�n7m�o�m�mHm�khOitksg�h�i�e�i;e=g�e8qq�dif+d�f�i�m�l�qq^p�mhtRr1q�x�t�x�w�t�ytLuu�v!t�r�sWu{v�sho�qq�tGrvpIqxpXp6qcpal�m1o|n�n^o~l�m�nl�iri�k�h�i.j�d�g�fyg�g;pGuTg�h�hKlWmQl�pcus�sq�v�r
tExv�z�wjt�v:r�t2v�xs�sr�t�t`sq�q�p?t�r�s�sFr4n>p/o�l�n0qotpn�l
l�m�m	k�kktj�ii_d<f�h�hiGq�xni�j7l6p:o�os.w)t�t�t�wrrux�wO{�w�t�t�r�t�v�xt�r�r~r$r�syp�s�p�u;r�ts�soKn�phm�n�qCo�pKnak�km@l�kMk�k�kjfi�f�f�j;h�i�r�{*k�lDp,rwp�q�t�wltu!v�vSr�t�x�w*{Zw�t�r�s$uWxmvct�q�r$n�q�s�o�u�r5t�rs�s�sq~l�o�on�p�o�o�n�l`il�j�i�lj�j�k�jEi�fdi�h�hDs�|nUm�p4rxqnt$v�w�uvv-u�v^sTtfw�vzDv-t�r�s�wzmv�so�q
pGp�r�o�u�r�s�q�r�r:qqkl\m�o
p1olo�o<orn�i�lDk�i�j#g�j�ni�iagyh�hAg�uj{eoYn�npqxq�vpw�xv�vs�w
s�t�vjs�x?t�u�s�uxC{�v�p�no�tp'p�qu�q�r�qqKpn7o�l�l�nKq�m�pn�p�q�kPksl�jvgjd�j�o�ig�h�f�g�g$v'y�n�o�o�q�ruv�w�w>v�t�t�w>ut�uUtvPs�u�s�t�wy�vppnn�qkueq\q�q�t�o�p�p�pwoKno-mwmGmkn�k�p�nwq'slRj�m(k-hIe�h
m�ksf�g�fOg�f	t�x�m&p�r�r�s�u�vVu�u�r$u�v�vt�t�t�t~t<v�ts�tru�uKq�q>sYvJs�sMrrt�m?o�q�p_o�o2on�om5k~j�qdm�p�rrm�jVm�l}k�i�e�j$og�f{f�g�erGzZm�r2t�s�t�u@ueu�u�r�t�t�u|utxtEtLt�ves�sr�t1u�r@r�t�v�t	s�q�s_m{o�r-po�o�p%plo�oQl`k�pn7ovp�pTk�mmm�m�j�g�h�mh�f�f?f�e	q�|�n�s�u�tJu�t�t�vYvtss�t=ut{sGtsu�u�s�r\rt�w�stAtxwbt	t�q�r�o�o�r�p	o�pxq�q�pHr�p/mTn�n�nNm�rn^k�n�n�j�k�h�i=j�h�f�f�e�q�}�ott�r�u�spu�v�us�s�s�sCsr�s�t$v&u)s�r�rt�w�t/t�rfu�r�v�s�q�p�n�r�pLp
pOqMr�qrr�qnlbnNmgl�qTo0k�l�m�kYj�h!h�j�i�g
f�f�r}�pr�s�p�u+r�w#v�s�r�u�t6q�pbqHtXs�v<u4s�r�r�t�w-vt�o�s2q�xEv,q
q�n�s�qOo�o{p�slsrYq#n�j�nYm�n0o1onl�iKl�l�h
gwjii�g�fCg�r�~�q�r?s�p1s�st�s:ts�vt
q�oqXt�sNumuxs�roq�rMtuvr�oqhq�x$u�pqfnNrkqlp}nHp5q�rp�p�o�j�manmwm�nxl#h�kk4gCe�hyi$hgd�e�r0q6q^t�qwr�s�q�o:t�u�uys�q�o|q�t�ss]u�r�q�p�o�p�s�p�o�p*r�vr�nspsn�p�q�p�m�o�o�p
oFp�p�lXllpkmm)mNk�h�j;h�g�dfMh�fkfeb�bPp�~@qCq*uur1r�s�q[n�t
t/u�s�qpo�qZtq q�s�r�q>o�opq�p�pepBq�s7rn�oZoo�q$n�m;n�m�m�n�obpl�loo�mLm�m$k
h�k5i�f�fgd�fMe�g�c�ahoa}#p�q�u�sZs�trpr�r�t�t�q�qHq�sao�p�q�rYp�oodqp�q�q�q�pmpqs�pGn�n�pRq�mQm�njmbk�n{n_n�l�m^n1nrn�m�j�i=mlf%i�d�c�fi�eWb�n-~Np�rts7s�tr�q0r�qtr-u$q�q�r2q�o7p�q)q�p�n�n�o�rr�rpJoun�s.p�oem�p'r	l�n\n�pWjVmn�nfk�m�l�ml�l7k�i�l>k�g5jLe�c�e>herd%o)�p�r�q�rs�t�s:rutmrvpu�r�s�ro�o�q�q�qCqo�n�n�t�s�q�n�o�oorgp�q;m�p+r�m�o
pOt?jDlIpGn�k)o.mLk)iljmQjui�i�ii|g�fd�d�duePq�p;q�p>q�rfsAslr�u+r�pSs�sEs�q�oRpJrsq�p�n�m�n�ts�q�oEpyoQqBp@q�n�o�q�m�n�o�sFk�mknQm�k;om�i�h?g{l@h�g�h�i�i7hf�e�c�d�d�qj~.o�q/p'qQq�q�s�r�u�s}q�p}s�sNqmprqnter�p�nnnlpcr�s)sq�q_ppOo�r�ro�pYn�ooq0n�o+l l}ln�nZi�h�f�k7e�f�h�jSj2h�g�g�c�e4dp�|Up5rzp�p�p�q�us�u�s	q7oKr	r3qco�rq�s%pzo�o�pUq^rSt)sHq0qjsp�n�ror�oo)n|mo�qUo�o*ksk lk�m_j�j�g�k�f�fg�i3j*i�g�f�c�dIdo�zjp�r�qo�pkrQu1tsurprn�o%p�q�n�q�p�q�m�n�qLq�q-p�s�r�pp�t�p"m�r6q�nEm�m^j�ppm�m�k�jTl$h�j�j�lh�k�f�e�fg�h�jBf�e4c'b#d&nV}�sdp\p�t�s�q�sq0rGt�trq�sHurqt�s>t�qFpxp�p�o�m6o�r�tXr�sn�pv)u]qo�qo0rm^l@p�ocmp,l	k�h�jChOh�cke�j6h�e�h�iAh@fpd�g�qG