<?xml version="1.0" encoding="UTF-8"?>
<pointing_correction mission="MSL:MSL">
  <origination id="rgd" institution="mipl" program="marsnav">
    <purpose>A pointing correction file for one mosaic might look for MSL:MSL</purpose>
  </origination>
  <static_parameters file="MSL:MSL_pma.point" instrument="NAV_LEFT_A" solution_id="rgd"/>
  <calibration calibration_id="4" frame_id="LEFT" instrument="NAV_LEFT_A" solution_id="rgd"/>
  <priority>
    <entry solution_id="rgd"/>
  </priority>
  <solution index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0" solution_id="rgd">
    <image frame_id="LEFT" image_id="1" instrument="NAV_LEFT_A" unique_id="MSLNL_399365236">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="126.951"/>
        <parameter id="Joint Elevation" value="60.6178"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="126.932"/>
      <parameter id="Joint Elevation" value="60.6509"/>
      <parameter id="Twist" value="0.0734279"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.711945" value2="0.320789" value3="-1.91922"/>
      <parameter id="A" type="float_3" value1="0.509247" value2="-0.694209" value3="0.50865"/>
      <parameter id="H" type="float_3" value1="1248.88" value2="370.714" value3="245.38"/>
      <parameter id="V" type="float_3" value1="-101.034" value2="158.433" value3="1313.14"/>
      <parameter id="O" type="float_3" value1="0.523158" value2="-0.685483" value3="0.506361"/>
      <parameter id="R" type="float_3" value1="0.000274" value2="-0.004951" value3="0.021485"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0" solution_id="rgd">
    <image frame_id="LEFT" image_id="1" instrument="NAV_LEFT_A" unique_id="MSLNL_399365176">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="87.8029"/>
        <parameter id="Joint Elevation" value="77.6306"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="87.7975"/>
      <parameter id="Joint Elevation" value="77.6331"/>
      <parameter id="Twist" value="0.00257588"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.582739" value2="0.442644" value3="-1.95968"/>
      <parameter id="A" type="float_3" value1="-0.0496654" value2="-0.970864" value3="0.234394"/>
      <parameter id="H" type="float_3" value1="1199.56" value2="-553.747" value3="108.422"/>
      <parameter id="V" type="float_3" value1="-0.812734" value2="-205.248" value3="1310.54"/>
      <parameter id="O" type="float_3" value1="-0.0333271" value2="-0.972162" value3="0.231889"/>
      <parameter id="R" type="float_3" value1="0.000274" value2="-0.004951" value3="0.021485"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0" solution_id="rgd">
    <image frame_id="LEFT" image_id="1" instrument="NAV_LEFT_A" unique_id="MSLNL_399365204">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="117.502"/>
        <parameter id="Joint Elevation" value="74.9962"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="117.502"/>
      <parameter id="Joint Elevation" value="74.9962"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.670772" value2="0.345997" value3="-1.95355"/>
      <parameter id="A" type="float_3" value1="0.432643" value2="-0.857186" value3="0.27935"/>
      <parameter id="H" type="float_3" value1="1313.89" value2="118.345" value3="130.466"/>
      <parameter id="V" type="float_3" value1="74.1124" value2="-123.732" value3="1318.65"/>
      <parameter id="O" type="float_3" value1="0.447529" value2="-0.850323" value3="0.27686"/>
      <parameter id="R" type="float_3" value1="0.000274" value2="-0.004951" value3="0.021485"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0" solution_id="rgd">
    <image frame_id="LEFT" image_id="1" instrument="NAV_LEFT_A" unique_id="MSLNL_399365141">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="58.6411"/>
        <parameter id="Joint Elevation" value="79.4406"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="58.7387"/>
      <parameter id="Joint Elevation" value="79.4674"/>
      <parameter id="Twist" value="0.105896"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.554898" value2="0.566577" value3="-1.96384"/>
      <parameter id="A" type="float_3" value1="-0.518733" value2="-0.830552" value3="0.20269"/>
      <parameter id="H" type="float_3" value1="778.147" value2="-1069.05" value3="94.7376"/>
      <parameter id="V" type="float_3" value1="-124.928" value2="-213.762" value3="1303.2"/>
      <parameter id="O" type="float_3" value1="-0.505032" value2="-0.83955" value3="0.200203"/>
      <parameter id="R" type="float_3" value1="0.000274" value2="-0.004951" value3="0.021485"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0" solution_id="rgd">
    <image frame_id="LEFT" image_id="1" instrument="NAV_LEFT_A" unique_id="MSLNL_399365272">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="157.398"/>
        <parameter id="Joint Elevation" value="57.9896"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="157.296"/>
      <parameter id="Joint Elevation" value="58.0142"/>
      <parameter id="Twist" value="0.0727458"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.845677" value2="0.306547" value3="-1.91263"/>
      <parameter id="A" type="float_3" value1="0.76801" value2="-0.331442" value3="0.547988"/>
      <parameter id="H" type="float_3" value1="879.459" value2="956.03" value3="264.394"/>
      <parameter id="V" type="float_3" value1="-222.449" value2="110.763" value3="1303.03"/>
      <parameter id="O" type="float_3" value1="0.775698" value2="-0.316925" value3="0.545742"/>
      <parameter id="R" type="float_3" value1="0.000274" value2="-0.004951" value3="0.021485"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0" solution_id="rgd">
    <image frame_id="LEFT" image_id="1" instrument="NAV_LEFT_A" unique_id="MSLNL_399365300">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.626"/>
        <parameter id="Joint Elevation" value="56.1975"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.552"/>
      <parameter id="Joint Elevation" value="56.2377"/>
      <parameter id="Twist" value="-0.0122331"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.971042" value2="0.36463" value3="-1.90815"/>
      <parameter id="A" type="float_3" value1="0.81118" value2="0.113239" value3="0.573714"/>
      <parameter id="H" type="float_3" value1="248.443" value2="1272.78" value3="275.029"/>
      <parameter id="V" type="float_3" value1="-288.01" value2="-23.3692" value3="1294.66"/>
      <parameter id="O" type="float_3" value1="0.810303" value2="0.129644" value3="0.571476"/>
      <parameter id="R" type="float_3" value1="0.000274" value2="-0.004951" value3="0.021485"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="3" index2="100" index3="8" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="rgd">
      <parameter id="X" value="-0.0775388"/>
      <parameter id="Y" value="-0.0115254"/>
      <parameter id="Z" value="-0.00237745"/>
      <parameter id="Normal_X" value="0.0534366"/>
      <parameter id="Normal_Y" value="0.0653148"/>
      <parameter id="Normal_Z" value="-1.05512"/>
      <reference_frame name="SITE_FRAME" index1="3"/>
  </surface_model>
</pointing_correction>
