<?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_RIGHT_B" solution_id="mslopgs"/>
  <calibration calibration_id="7" frame_id="RIGHT" instrument="NAV_RIGHT_B" solution_id="mslopgs"/>
  <priority>
    <entry solution_id="mslopgs"/>
  </priority>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668177955">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.275"/>
        <parameter id="Joint Elevation" value="38.3836"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.354"/>
      <parameter id="Joint Elevation" value="38.3253"/>
      <parameter id="Twist" value="-0.256972"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.974918" value2="0.714499" value3="-1.83529"/>
      <parameter id="A" type="float_3" value1="0.554025" value2="-0.234251" value3="0.798853"/>
      <parameter id="H" type="float_3" value1="765.478" value2="1001.21" value3="400.043"/>
      <parameter id="V" type="float_3" value1="-606.524" value2="268.547" value3="1147.22"/>
      <parameter id="O" type="float_3" value1="0.551034" value2="-0.233616" value3="0.801105"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668177987">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.875"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.916"/>
      <parameter id="Joint Elevation" value="38.3969"/>
      <parameter id="Twist" value="-0.111052"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876302" value2="0.778437" value3="-1.83551"/>
      <parameter id="A" type="float_3" value1="0.598361" value2="0.0700918" value3="0.798144"/>
      <parameter id="H" type="float_3" value1="169.835" value2="1248.53" value3="400.92"/>
      <parameter id="V" type="float_3" value1="-658.44" value2="-68.0073" value3="1148.01"/>
      <parameter id="O" type="float_3" value1="0.595449" value2="0.0691601" value3="0.800401"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178073">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="193.478"/>
        <parameter id="Joint Elevation" value="66.8934"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="193.467"/>
      <parameter id="Joint Elevation" value="66.8742"/>
      <parameter id="Twist" value="-0.120684"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876222" value2="0.788989" value3="-1.89025"/>
      <parameter id="A" type="float_3" value1="0.889494" value2="0.192705" value3="0.414304"/>
      <parameter id="H" type="float_3" value1="198.189" value2="1291.53" value3="202.66"/>
      <parameter id="V" type="float_3" value1="-35.5518" value2="1.63316" value3="1324.7"/>
      <parameter id="O" type="float_3" value1="0.888093" value2="0.191801" value3="0.417716"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178105">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="224.429"/>
        <parameter id="Joint Elevation" value="70.1283"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="224.42"/>
      <parameter id="Joint Elevation" value="70.0612"/>
      <parameter id="Twist" value="0.0808146"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.748444" value2="0.79367" value3="-1.89701"/>
      <parameter id="A" type="float_3" value1="0.679442" value2="0.637725" value3="0.362834"/>
      <parameter id="H" type="float_3" value1="-487.791" value2="1215.8" value3="179.692"/>
      <parameter id="V" type="float_3" value1="25.1835" value2="31.0854" value3="1324.58"/>
      <parameter id="O" type="float_3" value1="0.678853" value2="0.636352" value3="0.366331"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178136">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="254.306"/>
        <parameter id="Joint Elevation" value="74.3665"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="254.354"/>
      <parameter id="Joint Elevation" value="74.2391"/>
      <parameter id="Twist" value="0.163911"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.639139" value2="0.734786" value3="-1.90585"/>
      <parameter id="A" type="float_3" value1="0.277545" value2="0.914753" value3="0.293562"/>
      <parameter id="H" type="float_3" value1="-1026.11" value2="821.138" value3="145.692"/>
      <parameter id="V" type="float_3" value1="35.8655" value2="131.876" value3="1318.12"/>
      <parameter id="O" type="float_3" value1="0.277799" value2="0.913517" value3="0.297149"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178167">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="283.683"/>
        <parameter id="Joint Elevation" value="78.4769"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="283.697"/>
      <parameter id="Joint Elevation" value="78.2884"/>
      <parameter id="Twist" value="0.148707"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.574487" value2="0.630991" value3="-1.91437"/>
      <parameter id="A" type="float_3" value1="-0.210236" value2="0.951438" value3="0.224834"/>
      <parameter id="H" type="float_3" value1="-1298.81" value2="222.027" value3="110.325"/>
      <parameter id="V" type="float_3" value1="-53.8038" value2="223.674" value3="1305.07"/>
      <parameter id="O" type="float_3" value1="-0.209466" value2="0.950736" value3="0.228494"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178198">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="312.807"/>
        <parameter id="Joint Elevation" value="81.4488"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="312.729"/>
      <parameter id="Joint Elevation" value="81.2145"/>
      <parameter id="Twist" value="0.0744452"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.56904" value2="0.509943" value3="-1.92047"/>
      <parameter id="A" type="float_3" value1="-0.652297" value2="0.737625" value3="0.17436"/>
      <parameter id="H" type="float_3" value1="-1246.87" value2="-432.137" value3="83.3293"/>
      <parameter id="V" type="float_3" value1="-200.849" value2="218.743" value3="1291.49"/>
      <parameter id="O" type="float_3" value1="-0.651411" value2="0.737524" value3="0.178059"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178751">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="341.802"/>
        <parameter id="Joint Elevation" value="82.4423"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="341.776"/>
      <parameter id="Joint Elevation" value="82.169"/>
      <parameter id="Twist" value="0.0197878"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.622924" value2="0.401755" value3="-1.9224"/>
      <parameter id="A" type="float_3" value1="-0.931018" value2="0.32914" value3="0.157655"/>
      <parameter id="H" type="float_3" value1="-881.672" value2="-982.625" value3="74.1772"/>
      <parameter id="V" type="float_3" value1="-302.569" value2="100.397" value3="1286.26"/>
      <parameter id="O" type="float_3" value1="-0.930255" value2="0.329501" value3="0.161361"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178835">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="10.9202"/>
        <parameter id="Joint Elevation" value="81.3256"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="10.9634"/>
      <parameter id="Joint Elevation" value="81.0606"/>
      <parameter id="Twist" value="-0.129826"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.722582" value2="0.33317" value3="-1.92"/>
      <parameter id="A" type="float_3" value1="-0.970151" value2="-0.166048" value3="0.176686"/>
      <parameter id="H" type="float_3" value1="-289.592" value2="-1287.6" value3="81.3567"/>
      <parameter id="V" type="float_3" value1="-288.157" value2="-58.2106" value3="1292.16"/>
      <parameter id="O" type="float_3" value1="-0.96959" value2="-0.165356" value3="0.18038"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178866">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="39.7638"/>
        <parameter id="Joint Elevation" value="78.2832"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="39.7687"/>
      <parameter id="Joint Elevation" value="78.0357"/>
      <parameter id="Twist" value="0.0730074"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.841289" value2="0.321336" value3="-1.91358"/>
      <parameter id="A" type="float_3" value1="-0.761765" value2="-0.606176" value3="0.228577"/>
      <parameter id="H" type="float_3" value1="371.326" value2="-1264.05" value3="112.617"/>
      <parameter id="V" type="float_3" value1="-173.631" value2="-143.133" value3="1305.94"/>
      <parameter id="O" type="float_3" value1="-0.761463" value2="-0.605166" value3="0.232231"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178897">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="69.2018"/>
        <parameter id="Joint Elevation" value="74.1339"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="69.2151"/>
      <parameter id="Joint Elevation" value="73.839"/>
      <parameter id="Twist" value="0.0111373"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.953488" value2="0.369961" value3="-1.90469"/>
      <parameter id="A" type="float_3" value1="-0.358178" value2="-0.884271" value3="0.299595"/>
      <parameter id="H" type="float_3" value1="948.154" value2="-909.672" value3="147.961"/>
      <parameter id="V" type="float_3" value1="-43.6955" value2="-120.705" value3="1318.95"/>
      <parameter id="O" type="float_3" value1="-0.358308" value2="-0.882997" value3="0.303175"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178928">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="99.2076"/>
        <parameter id="Joint Elevation" value="69.8865"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="99.24"/>
      <parameter id="Joint Elevation" value="69.5942"/>
      <parameter id="Twist" value="-0.09003"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02823" value2="0.470352" value3="-1.89575"/>
      <parameter id="A" type="float_3" value1="0.128797" value2="-0.920104" value3="0.369868"/>
      <parameter id="H" type="float_3" value1="1274.45" value2="-301.787" value3="181.946"/>
      <parameter id="V" type="float_3" value1="10.9149" value2="-28.3855" value3="1324.84"/>
      <parameter id="O" type="float_3" value1="0.128017" value2="-0.918804" value3="0.373355"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178961">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="130.264"/>
        <parameter id="Joint Elevation" value="66.7198"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="130.226"/>
      <parameter id="Joint Elevation" value="66.5277"/>
      <parameter id="Twist" value="-0.229632"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0417" value2="0.598806" value3="-1.88937"/>
      <parameter id="A" type="float_3" value1="0.570741" value2="-0.705884" value3="0.419484"/>
      <parameter id="H" type="float_3" value1="1242.15" value2="404.564" value3="204.409"/>
      <parameter id="V" type="float_3" value1="-18.4954" value2="38.9652" value3="1324.48"/>
      <parameter id="O" type="float_3" value1="0.569292" value2="-0.705019" value3="0.422892"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="87" index2="696" index3="6" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_668178993">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="161.818"/>
        <parameter id="Joint Elevation" value="65.61"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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  </surface_model>
</pointing_correction>
