<?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="82" 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="11" instrument="NAV_LEFT_B" unique_id="MSLNL_647223320">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.3"/>
        <parameter id="Joint Elevation" value="44.1173"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.156"/>
      <parameter id="Joint Elevation" value="44.0784"/>
      <parameter id="Twist" value="0.285744"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.814951" value2="0.32212" value3="-1.84569"/>
      <parameter id="A" type="float_3" value1="0.631249" value2="-0.270232" value3="0.726969"/>
      <parameter id="H" type="float_3" value1="797.604" value2="990.794" value3="373.654"/>
      <parameter id="V" type="float_3" value1="-504.461" value2="208.303" value3="1206"/>
      <parameter id="O" type="float_3" value1="0.631085" value2="-0.270497" value3="0.727012"/>
      <parameter id="R" type="float_3" value1="2.64831e-06" value2="0.000101871" value3="0.00645375"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" 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_647223441">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="350.249"/>
        <parameter id="Joint Elevation" value="81.8493"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="350.383"/>
      <parameter id="Joint Elevation" value="81.4127"/>
      <parameter id="Twist" value="0.523526"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.728732" value2="0.792045" value3="-1.92057"/>
      <parameter id="A" type="float_3" value1="-0.96932" value2="0.186804" value3="0.159708"/>
      <parameter id="H" type="float_3" value1="-721.907" value2="-1108.12" value3="91.4166"/>
      <parameter id="V" type="float_3" value1="-292.538" value2="67.1368" value3="1289.28"/>
      <parameter id="O" type="float_3" value1="-0.969307" value2="0.18686" value3="0.159719"/>
      <parameter id="R" type="float_3" value1="4.71672e-07" value2="0.000108552" value3="0.00641122"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" 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_647223524">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="19.7696"/>
        <parameter id="Joint Elevation" value="79.817"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="19.8647"/>
      <parameter id="Joint Elevation" value="79.1686"/>
      <parameter id="Twist" value="0.261773"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.623606" value2="0.724477" value3="-1.91602"/>
      <parameter id="A" type="float_3" value1="-0.929118" value2="-0.312108" value3="0.198273"/>
      <parameter id="H" type="float_3" value1="-80.3621" value2="-1318.99" value3="106.075"/>
      <parameter id="V" type="float_3" value1="-238.005" value2="-74.0111" value3="1300.08"/>
      <parameter id="O" type="float_3" value1="-0.929168" value2="-0.311933" value3="0.198311"/>
      <parameter id="R" type="float_3" value1="1.55999e-06" value2="0.000105212" value3="0.00643248"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" 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_647223555">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="48.5272"/>
        <parameter id="Joint Elevation" value="76.2807"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="48.8999"/>
      <parameter id="Joint Elevation" value="75.6475"/>
      <parameter id="Twist" value="-0.851306"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.565972" value2="0.615657" value3="-1.90876"/>
      <parameter id="A" type="float_3" value1="-0.651463" value2="-0.713323" value3="0.258361"/>
      <parameter id="H" type="float_3" value1="570.651" value2="-1191.14" value3="114.064"/>
      <parameter id="V" type="float_3" value1="-100.666" value2="-136.298" value3="1312.86"/>
      <parameter id="O" type="float_3" value1="-0.651677" value2="-0.713103" value3="0.258428"/>
      <parameter id="R" type="float_3" value1="2.64831e-06" value2="0.000101871" value3="0.00645375"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" 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_647223586">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="78.3285"/>
        <parameter id="Joint Elevation" value="72.0999"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="78.8114"/>
      <parameter id="Joint Elevation" value="71.8518"/>
      <parameter id="Twist" value="-0.824941"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.569717" value2="0.489319" value3="-1.90085"/>
      <parameter id="A" type="float_3" value1="-0.204926" value2="-0.924224" value3="0.322178"/>
      <parameter id="H" type="float_3" value1="1090.46" value2="-739.284" value3="147.675"/>
      <parameter id="V" type="float_3" value1="-1.20811" value2="-82.33" value3="1321.19"/>
      <parameter id="O" type="float_3" value1="-0.205221" value2="-0.924136" value3="0.322244"/>
      <parameter id="R" type="float_3" value1="2.64831e-06" value2="0.000101871" value3="0.00645375"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" 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_647223618">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="108.906"/>
        <parameter id="Joint Elevation" value="68.3871"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="109.152"/>
      <parameter id="Joint Elevation" value="68.3493"/>
      <parameter id="Twist" value="-0.397925"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.637106" value2="0.380856" value3="-1.89351"/>
      <parameter id="A" type="float_3" value1="0.2833" value2="-0.880571" value3="0.379893"/>
      <parameter id="H" type="float_3" value1="1310.5" value2="-74.414" value3="185.805"/>
      <parameter id="V" type="float_3" value1="6.8193" value2="3.19242" value3="1323.73"/>
      <parameter id="O" type="float_3" value1="0.283" value2="-0.880641" value3="0.379956"/>
      <parameter id="R" type="float_3" value1="2.64831e-06" value2="0.000101871" value3="0.00645375"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_647224265">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.156"/>
        <parameter id="Joint Elevation" value="44.09"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.234"/>
      <parameter id="Joint Elevation" value="44.1342"/>
      <parameter id="Twist" value="-0.0876271"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00051" value2="0.425311" value3="-1.8456"/>
      <parameter id="A" type="float_3" value1="0.595571" value2="0.343255" value3="0.726261"/>
      <parameter id="H" type="float_3" value1="-307.807" value2="1236.21" value3="366.677"/>
      <parameter id="V" type="float_3" value1="-472.996" value2="-269.681" value3="1206.62"/>
      <parameter id="O" type="float_3" value1="0.595571" value2="0.343252" value3="0.726262"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011097" value3="0.00640087"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_647224289">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.037"/>
        <parameter id="Joint Elevation" value="44.0804"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.988"/>
      <parameter id="Joint Elevation" value="44.1454"/>
      <parameter id="Twist" value="-0.0502348"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04123" value2="0.540306" value3="-1.84558"/>
      <parameter id="A" type="float_3" value1="0.346685" value2="0.594049" value3="0.725878"/>
      <parameter id="H" type="float_3" value1="-881.023" value2="920.233" value3="366.592"/>
      <parameter id="V" type="float_3" value1="-276.159" value2="-468.468" value3="1206.91"/>
      <parameter id="O" type="float_3" value1="0.346687" value2="0.594047" value3="0.725878"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000110698" value3="0.00640119"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_647224321">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.974"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.799"/>
      <parameter id="Joint Elevation" value="44.0677"/>
      <parameter id="Twist" value="0.105878"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0194" value2="0.660471" value3="-1.84546"/>
      <parameter id="A" type="float_3" value1="0.00537906" value2="0.687165" value3="0.72647"/>
      <parameter id="H" type="float_3" value1="-1222" value2="357.733" value3="369.028"/>
      <parameter id="V" type="float_3" value1="-3.55673" value2="-544.838" value3="1206.44"/>
      <parameter id="O" type="float_3" value1="0.00538108" value2="0.687164" value3="0.726471"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000110426" value3="0.0064015"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_647224353">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.917"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.717"/>
      <parameter id="Joint Elevation" value="43.933"/>
      <parameter id="Twist" value="0.256728"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.940426" value2="0.754096" value3="-1.8453"/>
      <parameter id="A" type="float_3" value1="-0.337325" value2="0.597152" value3="0.72774"/>
      <parameter id="H" type="float_3" value1="-1236.04" value2="-302.026" value3="372.047"/>
      <parameter id="V" type="float_3" value1="272.701" value2="-474.288" value3="1205.42"/>
      <parameter id="O" type="float_3" value1="-0.337323" value2="0.597152" value3="0.72774"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000110154" value3="0.00640182"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_647224418">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="81.509"/>
        <parameter id="Joint Elevation" value="94.0579"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="81.6607"/>
      <parameter id="Joint Elevation" value="93.7147"/>
      <parameter id="Twist" value="-0.797324"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.574636" value2="0.484182" value3="-1.94563"/>
      <parameter id="A" type="float_3" value1="-0.167015" value2="-0.984495" value3="-0.0534738"/>
      <parameter id="H" type="float_3" value1="1122.81" value2="-703.432" value3="-43.5215"/>
      <parameter id="V" type="float_3" value1="-78.6599" value2="-561.572" value3="1196.17"/>
      <parameter id="O" type="float_3" value1="-0.167017" value2="-0.984494" value3="-0.0534728"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000110698" value3="0.00640119"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_647224450">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="115.989"/>
        <parameter id="Joint Elevation" value="89.7968"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="116.122"/>
      <parameter id="Joint Elevation" value="89.731"/>
      <parameter id="Twist" value="-0.26464"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.658583" value2="0.365063" value3="-1.93762"/>
      <parameter id="A" type="float_3" value1="0.419853" value2="-0.907431" value3="0.0166154"/>
      <parameter id="H" type="float_3" value1="1324.58" value2="53.8337" value3="3.35071"/>
      <parameter id="V" type="float_3" value1="206.808" value2="-434.979" value3="1233.04"/>
      <parameter id="O" type="float_3" value1="0.419852" value2="-0.907431" value3="0.0166164"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000110426" value3="0.0064015"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_647224482">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="150.981"/>
        <parameter id="Joint Elevation" value="87.9725"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="150.929"/>
      <parameter id="Joint Elevation" value="87.9235"/>
      <parameter id="Twist" value="-0.138503"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.796439" value2="0.316058" value3="-1.93384"/>
      <parameter id="A" type="float_3" value1="0.861797" value2="-0.504905" value3="0.0485867"/>
      <parameter id="H" type="float_3" value1="1056.47" value2="800.516" value3="21.7998"/>
      <parameter id="V" type="float_3" value1="382.727" value2="-220.972" value3="1247.82"/>
      <parameter id="O" type="float_3" value1="0.861796" value2="-0.504907" value3="0.0485877"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000110426" value3="0.0064015"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="0" index3="0" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_647224514">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="185.814"/>
        <parameter id="Joint Elevation" value="89.0749"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="185.782"/>
      <parameter id="Joint Elevation" value="89.0683"/>
      <parameter id="Twist" value="-0.116169"/>
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  </surface_model>
</pointing_correction>
