Performance characteristics of the PAW instrumentation on Beagle 2 (The astrobiology lander on ESA's Mars express mission) by Sims, MR, Pullan, D, Fraser, G, Whitehead, S, Sykes, J, Holt, J, Butcher, G, Nelms, N, Dowson, J, Ross, D, Bicknell, C, Crocker, M, Favill, B, Wells, A, Richter, L, Kochan, H, Hamacher, H, Ratke, L, Griffiths, A, Coates, A, Phillips, N, Senior, A, Zarnecki, J, Towner, M, Leese, MR