<?xml version="1.0" encoding="UTF-8"?>
<pointing_correction mission="MSL:MSL">
  <origination id="mslopgs" institution="mipl" program="marsnav">
    <purpose>A pointing correction file for one mosaic might look for MSL:MSL</purpose>
  </origination>
  <static_parameters file="MSL:MSL_mast.point" instrument="NAV_LEFT_B" solution_id="mslopgs"/>
  <calibration calibration_id="7" frame_id="LEFT" instrument="NAV_LEFT_B" solution_id="mslopgs"/>
  <priority>
    <entry solution_id="mslopgs"/>
  </priority>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="11" instrument="NAV_LEFT_B" unique_id="MSLNL_626094112">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.162"/>
        <parameter id="Joint Elevation" value="44.116"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="157.932"/>
      <parameter id="Joint Elevation" value="43.7191"/>
      <parameter id="Twist" value="0.0161722"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.813709" value2="0.322346" value3="-1.84506"/>
      <parameter id="A" type="float_3" value1="0.625982" value2="-0.270891" value3="0.731264"/>
      <parameter id="H" type="float_3" value1="802.756" value2="987.138" value3="371.337"/>
      <parameter id="V" type="float_3" value1="-507.894" value2="218.384" value3="1203.06"/>
      <parameter id="O" type="float_3" value1="0.625981" value2="-0.270894" value3="0.731264"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000130128" value3="0.00637786"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094189">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="217.798"/>
        <parameter id="Joint Elevation" value="64.9832"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="217.782"/>
      <parameter id="Joint Elevation" value="64.9032"/>
      <parameter id="Twist" value="-0.218638"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02629" value2="0.457364" value3="-1.88602"/>
      <parameter id="A" type="float_3" value1="0.723683" value2="0.535547" value3="0.435264"/>
      <parameter id="H" type="float_3" value1="-359.893" value2="1257.31" value3="215.379"/>
      <parameter id="V" type="float_3" value1="-68.1461" value2="-43.3917" value3="1321.55"/>
      <parameter id="O" type="float_3" value1="0.723685" value2="0.535545" value3="0.435264"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000130128" value3="0.00637786"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094214">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="249.839"/>
        <parameter id="Joint Elevation" value="65.9979"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="249.839"/>
      <parameter id="Joint Elevation" value="65.9979"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04677" value2="0.590989" value3="-1.88825"/>
      <parameter id="A" type="float_3" value1="0.332005" value2="0.845799" value3="0.417587"/>
      <parameter id="H" type="float_3" value1="-971.627" value2="876.653" value3="210.211"/>
      <parameter id="V" type="float_3" value1="-21.3578" value2="-50.4546" value3="1322.87"/>
      <parameter id="O" type="float_3" value1="0.332008" value2="0.845798" value3="0.417587"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094238">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="280.89"/>
        <parameter id="Joint Elevation" value="69.2414"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="280.943"/>
      <parameter id="Joint Elevation" value="69.2096"/>
      <parameter id="Twist" value="0.113103"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.995506" value2="0.712406" value3="-1.89494"/>
      <parameter id="A" type="float_3" value1="-0.156362" value2="0.917564" value3="0.365528"/>
      <parameter id="H" type="float_3" value1="-1286.54" value2="258.866" value3="185.969"/>
      <parameter id="V" type="float_3" value1="-2.51076" value2="19.9995" value3="1323.85"/>
      <parameter id="O" type="float_3" value1="-0.156359" value2="0.917564" value3="0.365528"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094270">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="311.088"/>
        <parameter id="Joint Elevation" value="73.7311"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="311.032"/>
      <parameter id="Joint Elevation" value="73.6644"/>
      <parameter id="Twist" value="0.089481"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.892766" value2="0.787934" value3="-1.90431"/>
      <parameter id="A" type="float_3" value1="-0.611652" value2="0.735385" value3="0.291676"/>
      <parameter id="H" type="float_3" value1="-1251.43" value2="-410.717" value3="148.33"/>
      <parameter id="V" type="float_3" value1="-78.5036" value2="95.3736" value3="1318.23"/>
      <parameter id="O" type="float_3" value1="-0.611649" value2="0.735387" value3="0.291676"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094301">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="340.325"/>
        <parameter id="Joint Elevation" value="78.2391"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="340.253"/>
      <parameter id="Joint Elevation" value="78.2075"/>
      <parameter id="Twist" value="-0.0633045"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.770212" value2="0.80186" value3="-1.91388"/>
      <parameter id="A" type="float_3" value1="-0.911586" value2="0.350564" value3="0.214708"/>
      <parameter id="H" type="float_3" value1="-901.947" value2="-965.351" value3="106.622"/>
      <parameter id="V" type="float_3" value1="-213.514" value2="79.7988" value3="1304.23"/>
      <parameter id="O" type="float_3" value1="-0.911585" value2="0.350566" value3="0.214708"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129266" value3="0.00637913"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094704">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.192"/>
        <parameter id="Joint Elevation" value="44.0873"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.339"/>
      <parameter id="Joint Elevation" value="43.9619"/>
      <parameter id="Twist" value="-0.398084"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00054" value2="0.425668" value3="-1.8453"/>
      <parameter id="A" type="float_3" value1="0.593039" value2="0.34325" value3="0.728332"/>
      <parameter id="H" type="float_3" value1="-307.217" value2="1237.27" value3="362.689"/>
      <parameter id="V" type="float_3" value1="-478.596" value2="-266.404" value3="1205.39"/>
      <parameter id="O" type="float_3" value1="0.593041" value2="0.343248" value3="0.728332"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129841" value3="0.00637829"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094736">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="240.863"/>
        <parameter id="Joint Elevation" value="44.0763"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.91"/>
      <parameter id="Joint Elevation" value="44.0773"/>
      <parameter id="Twist" value="-0.139836"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04107" value2="0.539967" value3="-1.84547"/>
      <parameter id="A" type="float_3" value1="0.347053" value2="0.592825" value3="0.726702"/>
      <parameter id="H" type="float_3" value1="-879.508" value2="921.882" value3="365.21"/>
      <parameter id="V" type="float_3" value1="-278.974" value2="-468.014" value3="1206.7"/>
      <parameter id="O" type="float_3" value1="0.347055" value2="0.592824" value3="0.726702"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129266" value3="0.00637913"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094768">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.988"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.936"/>
      <parameter id="Joint Elevation" value="44.0569"/>
      <parameter id="Twist" value="0.0868215"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01905" value2="0.660965" value3="-1.84546"/>
      <parameter id="A" type="float_3" value1="0.00373131" value2="0.687035" value3="0.726603"/>
      <parameter id="H" type="float_3" value1="-1222.86" value2="354.6" value3="368.327"/>
      <parameter id="V" type="float_3" value1="-2.66201" value2="-544.666" value3="1206.77"/>
      <parameter id="O" type="float_3" value1="0.00373431" value2="0.687035" value3="0.726603"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000128979" value3="0.00637956"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094793">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.933"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.883"/>
      <parameter id="Joint Elevation" value="43.9971"/>
      <parameter id="Twist" value="0.138858"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.939738" value2="0.754486" value3="-1.84543"/>
      <parameter id="A" type="float_3" value1="-0.339457" value2="0.596872" value3="0.726977"/>
      <parameter id="H" type="float_3" value1="-1236.06" value2="-304.049" value3="369.441"/>
      <parameter id="V" type="float_3" value1="271.02" value2="-473.218" value3="1206.48"/>
      <parameter id="O" type="float_3" value1="-0.339454" value2="0.596873" value3="0.726977"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000128979" value3="0.00637956"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094877">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="9.5716"/>
        <parameter id="Joint Elevation" value="81.6597"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="9.52964"/>
      <parameter id="Joint Elevation" value="81.7241"/>
      <parameter id="Twist" value="-0.22392"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.656737" value2="0.754224" value3="-1.92128"/>
      <parameter id="A" type="float_3" value1="-0.977819" value2="-0.141532" value3="0.154341"/>
      <parameter id="H" type="float_3" value1="-320.777" value2="-1283.95" value3="73.1951"/>
      <parameter id="V" type="float_3" value1="-303.682" value2="-49.0138" value3="1287.77"/>
      <parameter id="O" type="float_3" value1="-0.97782" value2="-0.141529" value3="0.154341"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129266" value3="0.00637913"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094908">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="38.1969"/>
        <parameter id="Joint Elevation" value="83.1052"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="38.0084"/>
      <parameter id="Joint Elevation" value="83.2101"/>
      <parameter id="Twist" value="0.0834493"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.582079" value2="0.660445" value3="-1.92442"/>
      <parameter id="A" type="float_3" value1="-0.794965" value2="-0.592799" value3="0.128854"/>
      <parameter id="H" type="float_3" value1="329.555" value2="-1282.05" value3="67.3178"/>
      <parameter id="V" type="float_3" value1="-274.315" value2="-201.925" value3="1279.43"/>
      <parameter id="O" type="float_3" value1="-0.794967" value2="-0.592797" value3="0.128854"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000128979" value3="0.00637956"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094939">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="67.3191"/>
        <parameter id="Joint Elevation" value="82.1994"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="66.9604"/>
      <parameter id="Joint Elevation" value="82.141"/>
      <parameter id="Twist" value="0.561995"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.560841" value2="0.539854" value3="-1.92224"/>
      <parameter id="A" type="float_3" value1="-0.407622" value2="-0.901114" value3="0.14772"/>
      <parameter id="H" type="float_3" value1="910.073" value2="-959.65" value3="87.3891"/>
      <parameter id="V" type="float_3" value1="-141.922" value2="-282.827" value3="1285.63"/>
      <parameter id="O" type="float_3" value1="-0.407625" value2="-0.901113" value3="0.14772"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000128692" value3="0.00637998"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="77" index2="1416" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_626094970">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="96.2346"/>
        <parameter id="Joint Elevation" value="79.1839"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="95.8984"/>
      <parameter id="Joint Elevation" value="78.8958"/>
      <parameter id="Twist" value="0.335975"/>
    </pointing_parameters>
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  </surface_model>
</pointing_correction>
