<?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="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644564789">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.285"/>
        <parameter id="Joint Elevation" value="38.3863"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.505"/>
      <parameter id="Joint Elevation" value="38.3015"/>
      <parameter id="Twist" value="-0.205709"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.810299" value2="0.324746" value3="-1.83564"/>
      <parameter id="A" type="float_3" value1="0.562179" value2="-0.236755" value3="0.792392"/>
      <parameter id="H" type="float_3" value1="762.966" value2="1007.62" value3="400.03"/>
      <parameter id="V" type="float_3" value1="-611.018" value2="260.822" value3="1144.98"/>
      <parameter id="O" type="float_3" value1="0.562177" value2="-0.236757" value3="0.792393"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000110154" value3="0.00640182"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644564814">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.017"/>
        <parameter id="Joint Elevation" value="38.3945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.24"/>
      <parameter id="Joint Elevation" value="38.3526"/>
      <parameter id="Twist" value="-0.185567"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.925989" value2="0.358563" value3="-1.83561"/>
      <parameter id="A" type="float_3" value1="0.606179" value2="0.0737372" value3="0.791892"/>
      <parameter id="H" type="float_3" value1="162.703" value2="1253.57" value3="399.429"/>
      <parameter id="V" type="float_3" value1="-659.025" value2="-76.3192" value3="1145.51"/>
      <parameter id="O" type="float_3" value1="0.60617" value2="0.0735529" value3="0.791916"/>
      <parameter id="R" type="float_3" value1="1.55999e-06" value2="0.000105212" value3="0.00643248"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644564907">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="251.754"/>
        <parameter id="Joint Elevation" value="75.9627"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="251.701"/>
      <parameter id="Joint Elevation" value="75.8918"/>
      <parameter id="Twist" value="-0.163945"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04618" value2="0.600011" value3="-1.90879"/>
      <parameter id="A" type="float_3" value1="0.324" value2="0.910974" value3="0.255214"/>
      <parameter id="H" type="float_3" value1="-989.117" value2="873.826" value3="124.591"/>
      <parameter id="V" type="float_3" value1="53.1703" value2="164.48" value3="1312.43"/>
      <parameter id="O" type="float_3" value1="0.324052" value2="0.910952" value3="0.255226"/>
      <parameter id="R" type="float_3" value1="4.71672e-07" value2="0.000108552" value3="0.00641122"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644564938">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="281.584"/>
        <parameter id="Joint Elevation" value="74.5831"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="281.62"/>
      <parameter id="Joint Elevation" value="74.5728"/>
      <parameter id="Twist" value="0.020269"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.993718" value2="0.715181" value3="-1.90609"/>
      <parameter id="A" type="float_3" value1="-0.172507" value2="0.945275" value3="0.276909"/>
      <parameter id="H" type="float_3" value1="-1292.44" value2="260.048" value3="139.373"/>
      <parameter id="V" type="float_3" value1="-26.8165" value2="140.668" value3="1315.99"/>
      <parameter id="O" type="float_3" value1="-0.172326" value2="0.945297" value3="0.276947"/>
      <parameter id="R" type="float_3" value1="1.55999e-06" value2="0.000105212" value3="0.00643248"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644564963">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="311.704"/>
        <parameter id="Joint Elevation" value="73.1094"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="311.63"/>
      <parameter id="Joint Elevation" value="73.0861"/>
      <parameter id="Twist" value="0.0633169"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.890467" value2="0.788912" value3="-1.9031"/>
      <parameter id="A" type="float_3" value1="-0.617363" value2="0.726681" value3="0.301299"/>
      <parameter id="H" type="float_3" value1="-1246.62" value2="-424.287" value3="152.915"/>
      <parameter id="V" type="float_3" value1="-70.9099" value2="83.6015" value3="1319.21"/>
      <parameter id="O" type="float_3" value1="-0.617217" value2="0.72679" value3="0.301336"/>
      <parameter id="R" type="float_3" value1="1.55999e-06" value2="0.000105212" value3="0.00643248"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644565003">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="341.821"/>
        <parameter id="Joint Elevation" value="71.8884"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="341.748"/>
      <parameter id="Joint Elevation" value="71.823"/>
      <parameter id="Twist" value="0.049484"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.763794" value2="0.801037" value3="-1.9006"/>
      <parameter id="A" type="float_3" value1="-0.892219" value2="0.316651" value3="0.321965"/>
      <parameter id="H" type="float_3" value1="-862.231" value2="-993.594" value3="163.653"/>
      <parameter id="V" type="float_3" value1="-76.129" value2="27.3952" value3="1321.28"/>
      <parameter id="O" type="float_3" value1="-0.892146" value2="0.316818" value3="0.322002"/>
      <parameter id="R" type="float_3" value1="1.55999e-06" value2="0.000105212" value3="0.00643248"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644565094">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="12.4672"/>
        <parameter id="Joint Elevation" value="71.2416"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="12.3571"/>
      <parameter id="Joint Elevation" value="71.1127"/>
      <parameter id="Twist" value="0.0978391"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.646516" value2="0.746659" value3="-1.89924"/>
      <parameter id="A" type="float_3" value1="-0.925187" value2="-0.180824" value3="0.333639"/>
      <parameter id="H" type="float_3" value1="-233.801" value2="-1293.63" value3="171.194"/>
      <parameter id="V" type="float_3" value1="-63.7898" value2="-10.347" value3="1322.19"/>
      <parameter id="O" type="float_3" value1="-0.925187" value2="-0.180822" value3="0.33364"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000110154" value3="0.00640182"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644565518">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="43.0435"/>
        <parameter id="Joint Elevation" value="71.3814"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="42.7704"/>
      <parameter id="Joint Elevation" value="71.1327"/>
      <parameter id="Twist" value="0.341392"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.573476" value2="0.640913" value3="-1.89935"/>
      <parameter id="A" type="float_3" value1="-0.706471" value2="-0.624211" value3="0.33353"/>
      <parameter id="H" type="float_3" value1="454.513" value2="-1232.72" value3="176.599"/>
      <parameter id="V" type="float_3" value1="-53.7963" value2="-36.9925" value3="1322.18"/>
      <parameter id="O" type="float_3" value1="-0.706472" value2="-0.624209" value3="0.333531"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112059" value3="0.0063996"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644565550">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="73.126"/>
        <parameter id="Joint Elevation" value="72.2196"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="73.0876"/>
      <parameter id="Joint Elevation" value="71.8688"/>
      <parameter id="Twist" value="-0.0501899"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.563908" value2="0.51308" value3="-1.90089"/>
      <parameter id="A" type="float_3" value1="-0.296112" value2="-0.899301" value3="0.321804"/>
      <parameter id="H" type="float_3" value1="1013.08" value2="-839.315" value3="163.103"/>
      <parameter id="V" type="float_3" value1="-25.2833" value2="-77.1514" value3="1321.29"/>
      <parameter id="O" type="float_3" value1="-0.296114" value2="-0.8993" value3="0.321805"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111515" value3="0.00640023"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644565582">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="103.34"/>
        <parameter id="Joint Elevation" value="73.5603"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="103.388"/>
      <parameter id="Joint Elevation" value="73.2468"/>
      <parameter id="Twist" value="-0.119144"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.620178" value2="0.397933" value3="-1.9037"/>
      <parameter id="A" type="float_3" value1="0.199614" value2="-0.932991" value3="0.299441"/>
      <parameter id="H" type="float_3" value1="1299.02" value2="-217.558" value3="150.362"/>
      <parameter id="V" type="float_3" value1="25.0282" value2="-109.428" value3="1319.01"/>
      <parameter id="O" type="float_3" value1="0.199612" value2="-0.932991" value3="0.299442"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111242" value3="0.00640055"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644565614">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="133.334"/>
        <parameter id="Joint Elevation" value="75.0351"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="133.409"/>
      <parameter id="Joint Elevation" value="74.8089"/>
      <parameter id="Twist" value="-0.209977"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.725722" value2="0.327362" value3="-1.90685"/>
      <parameter id="A" type="float_3" value1="0.644846" value2="-0.71359" value3="0.273763"/>
      <parameter id="H" type="float_3" value1="1236.55" value2="458.347" value3="135.137"/>
      <parameter id="V" type="float_3" value1="101.788" value2="-106.892" value3="1315.52"/>
      <parameter id="O" type="float_3" value1="0.644844" value2="-0.713591" value3="0.273764"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111242" value3="0.00640055"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644565660">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="162.822"/>
        <parameter id="Joint Elevation" value="76.2372"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="162.961"/>
      <parameter id="Joint Elevation" value="76.0783"/>
      <parameter id="Twist" value="-0.0964625"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.850387" value2="0.318709" value3="-1.90937"/>
      <parameter id="A" type="float_3" value1="0.918416" value2="-0.304399" value3="0.252659"/>
      <parameter id="H" type="float_3" value1="851.744" value2="1007.97" value3="126.214"/>
      <parameter id="V" type="float_3" value1="167.958" value2="-53.5725" value3="1311.98"/>
      <parameter id="O" type="float_3" value1="0.918415" value2="-0.304401" value3="0.25266"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011097" value3="0.00640087"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644565690">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="192.607"/>
        <parameter id="Joint Elevation" value="76.8577"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="192.714"/>
      <parameter id="Joint Elevation" value="76.7101"/>
      <parameter id="Twist" value="-0.090485"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.963755" value2="0.373207" value3="-1.91057"/>
      <parameter id="A" type="float_3" value1="0.951044" value2="0.192177" value3="0.242005"/>
      <parameter id="H" type="float_3" value1="240.505" value2="1298.11" value3="120.288"/>
      <parameter id="V" type="float_3" value1="186.431" value2="40.2404" value3="1309.97"/>
      <parameter id="O" type="float_3" value1="0.951044" value2="0.192175" value3="0.242006"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111242" value3="0.00640055"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="0" index3="0" 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_644565721">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="222.277"/>
        <parameter id="Joint Elevation" value="76.7402"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="222.218"/>
      <parameter id="Joint Elevation" value="76.6068"/>
      <parameter id="Twist" value="-0.181982"/>
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    <camera_model type="CAHVOR">
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  </solution>
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    </image>
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    </camera_model>
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    </image>
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    </camera_model>
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    </image>
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    </camera_model>
  </solution>
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      <parameter id="X" value="0.577314"/>
      <parameter id="Y" value="0.78837"/>
      <parameter id="Z" value="-0.112638"/>
      <parameter id="Normal_X" value="0.0278378"/>
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      <parameter id="Normal_Z" value="-0.899089"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="80" index2="0" index3="0" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
