<?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="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="390" index8="198" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674736790">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="138.745"/>
        <parameter id="Joint Elevation" value="77.0703"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="138.855"/>
      <parameter id="Joint Elevation" value="77.004"/>
      <parameter id="Twist" value="-0.194829"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03384" value2="0.633204" value3="-1.91123"/>
      <parameter id="A" type="float_3" value1="0.715416" value2="-0.653372" value3="0.247523"/>
      <parameter id="H" type="float_3" value1="1189.2" value2="566.534" value3="116.943"/>
      <parameter id="V" type="float_3" value1="153.409" value2="-127.209" value3="1309.94"/>
      <parameter id="O" type="float_3" value1="0.714344" value2="-0.6532" value3="0.25105"/>
      <parameter id="R" type="float_3" value1="1.29425e-05" value2="0.00185502" value3="-0.00591197"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="390" index8="198" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="392" index8="198" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674736814">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="108.252"/>
        <parameter id="Joint Elevation" value="78.2231"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="108.304"/>
      <parameter id="Joint Elevation" value="78.0952"/>
      <parameter id="Twist" value="-0.257071"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03947" value2="0.506511" value3="-1.9135"/>
      <parameter id="A" type="float_3" value1="0.285308" value2="-0.930767" value3="0.228594"/>
      <parameter id="H" type="float_3" value1="1312.78" value2="-118.95" value3="106.307"/>
      <parameter id="V" type="float_3" value1="75.844" value2="-211.62" value3="1305.8"/>
      <parameter id="O" type="float_3" value1="0.284495" value2="-0.930138" value3="0.232138"/>
      <parameter id="R" type="float_3" value1="1.29425e-05" value2="0.00185502" value3="-0.00591197"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="392" index8="198" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="394" index8="198" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674736845">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="78.0231"/>
        <parameter id="Joint Elevation" value="80.0325"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="78.0858"/>
      <parameter id="Joint Elevation" value="79.8491"/>
      <parameter id="Twist" value="-0.147851"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.980982" value2="0.395727" value3="-1.91722"/>
      <parameter id="A" type="float_3" value1="-0.223403" value2="-0.954358" value3="0.19818"/>
      <parameter id="H" type="float_3" value1="1073.97" value2="-766.014" value3="93.0403"/>
      <parameter id="V" type="float_3" value1="-52.4875" value2="-259.969" value3="1298.2"/>
      <parameter id="O" type="float_3" value1="-0.223821" value2="-0.953512" value3="0.201748"/>
      <parameter id="R" type="float_3" value1="1.29425e-05" value2="0.00185502" value3="-0.00591197"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="394" index8="198" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="396" index8="198" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674736876">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="47.7177"/>
        <parameter id="Joint Elevation" value="75.136"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="47.6945"/>
      <parameter id="Joint Elevation" value="74.921"/>
      <parameter id="Twist" value="-0.0662168"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.873543" value2="0.328557" value3="-1.90703"/>
      <parameter id="A" type="float_3" value1="-0.661386" value2="-0.695324" value3="0.281207"/>
      <parameter id="H" type="float_3" value1="545.881" value2="-1196.71" value3="136.881"/>
      <parameter id="V" type="float_3" value1="-100.716" value2="-115.635" value3="1316.11"/>
      <parameter id="O" type="float_3" value1="-0.661113" value2="-0.694161" value3="0.284701"/>
      <parameter id="R" type="float_3" value1="1.29576e-05" value2="0.00185397" value3="-0.00590516"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="396" index8="198" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="398" index8="198" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674736907">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="18.0374"/>
        <parameter id="Joint Elevation" value="76.856"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="17.9433"/>
      <parameter id="Joint Elevation" value="76.6564"/>
      <parameter id="Twist" value="-0.0210771"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.749965" value2="0.324752" value3="-1.91079"/>
      <parameter id="A" type="float_3" value1="-0.927014" value2="-0.277935" value3="0.251756"/>
      <parameter id="H" type="float_3" value1="-123.428" value2="-1310.98" value3="122.216"/>
      <parameter id="V" type="float_3" value1="-183.381" value2="-61.5699" value3="1310.82"/>
      <parameter id="O" type="float_3" value1="-0.926303" value2="-0.27709" value3="0.25528"/>
      <parameter id="R" type="float_3" value1="1.29576e-05" value2="0.00185397" value3="-0.00590516"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="398" index8="198" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="400" index8="198" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674736991">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="348.26"/>
        <parameter id="Joint Elevation" value="77.877"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="348.25"/>
      <parameter id="Joint Elevation" value="77.6844"/>
      <parameter id="Twist" value="-0.0943012"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.640981" value2="0.382564" value3="-1.91304"/>
      <parameter id="A" type="float_3" value1="-0.947244" value2="0.218631" value3="0.234334"/>
      <parameter id="H" type="float_3" value1="-759.068" value2="-1077.17" value3="111.178"/>
      <parameter id="V" type="float_3" value1="-213.194" value2="40.4723" value3="1307.12"/>
      <parameter id="O" type="float_3" value1="-0.946272" value2="0.219021" value3="0.23787"/>
      <parameter id="R" type="float_3" value1="1.29275e-05" value2="0.00185608" value3="-0.00591879"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="400" index8="198" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="402" index8="198" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674737022">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="319.268"/>
        <parameter id="Joint Elevation" value="77.8839"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="319.245"/>
      <parameter id="Joint Elevation" value="77.677"/>
      <parameter id="Twist" value="-0.0594159"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.575733" value2="0.484034" value3="-1.91309"/>
      <parameter id="A" type="float_3" value1="-0.722442" value2="0.650372" value3="0.234686"/>
      <parameter id="H" type="float_3" value1="-1186.03" value2="-574.215" value3="111.536"/>
      <parameter id="V" type="float_3" value1="-166.377" value2="138.578" value3="1307.2"/>
      <parameter id="O" type="float_3" value1="-0.721401" value2="0.650241" value3="0.238224"/>
      <parameter id="R" type="float_3" value1="1.29425e-05" value2="0.00185502" value3="-0.00591197"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="402" index8="198" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="314" index8="132" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="11" instrument="NAV_RIGHT_B" unique_id="MSLNR_674657666">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.155"/>
        <parameter id="Joint Elevation" value="44.1119"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.28"/>
      <parameter id="Joint Elevation" value="44.127"/>
      <parameter id="Twist" value="-0.155387"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.981225" value2="0.711637" value3="-1.84543"/>
      <parameter id="A" type="float_3" value1="0.62525" value2="-0.265269" value3="0.733947"/>
      <parameter id="H" type="float_3" value1="801.203" value2="985.651" value3="367.819"/>
      <parameter id="V" type="float_3" value1="-497.329" value2="220.786" value3="1208.18"/>
      <parameter id="O" type="float_3" value1="0.622532" value2="-0.264762" value3="0.736436"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="314" index8="132" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="316" index8="132" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674657770">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="289.402"/>
        <parameter id="Joint Elevation" value="76.8915"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="289.367"/>
      <parameter id="Joint Elevation" value="76.6937"/>
      <parameter id="Twist" value="0.00868556"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.568532" value2="0.608104" value3="-1.91105"/>
      <parameter id="A" type="float_3" value1="-0.301183" value2="0.919724" value3="0.251755"/>
      <parameter id="H" type="float_3" value1="-1313.7" value2="90.5058" value3="121.286"/>
      <parameter id="V" type="float_3" value1="-67.0812" value2="181.587" value3="1310.84"/>
      <parameter id="O" type="float_3" value1="-0.300323" value2="0.919025" value3="0.255308"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="316" index8="132" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="318" index8="132" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674657800">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="260.036"/>
        <parameter id="Joint Elevation" value="75.1262"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="260.056"/>
      <parameter id="Joint Elevation" value="74.9975"/>
      <parameter id="Twist" value="0.0675362"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.622589" value2="0.717479" value3="-1.90745"/>
      <parameter id="A" type="float_3" value1="0.186042" value2="0.941561" value3="0.280776"/>
      <parameter id="H" type="float_3" value1="-1102.05" value2="717.875" value3="137.278"/>
      <parameter id="V" type="float_3" value1="23.9042" value2="152.146" value3="1316.08"/>
      <parameter id="O" type="float_3" value1="0.186432" value2="0.940426" value3="0.284299"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="318" index8="132" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="320" index8="132" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674657831">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="230.308"/>
        <parameter id="Joint Elevation" value="69.0947"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="230.31"/>
      <parameter id="Joint Elevation" value="69.0468"/>
      <parameter id="Twist" value="0.0810902"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.724621" value2="0.786517" value3="-1.89491"/>
      <parameter id="A" type="float_3" value1="0.606098" value2="0.699172" value3="0.379192"/>
      <parameter id="H" type="float_3" value1="-611.949" value2="1157.08" value3="188.09"/>
      <parameter id="V" type="float_3" value1="6.32084" value2="15.7309" value3="1324.96"/>
      <parameter id="O" type="float_3" value1="0.605637" value2="0.697718" value3="0.382592"/>
      <parameter id="R" type="float_3" value1="1.33375e-05" value2="0.00183919" value3="-0.00580973"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="320" index8="132" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="322" index8="132" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674657856">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="199.562"/>
        <parameter id="Joint Elevation" value="75.262"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="199.562"/>
      <parameter id="Joint Elevation" value="75.262"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.852454" value2="0.795587" value3="-1.90777"/>
      <parameter id="A" type="float_3" value1="0.912151" value2="0.301988" value3="0.277069"/>
      <parameter id="H" type="float_3" value1="82.8841" value2="1312.88" value3="134.814"/>
      <parameter id="V" type="float_3" value1="148.843" value2="56.2618" value3="1315.48"/>
      <parameter id="O" type="float_3" value1="0.911367" value2="0.301095" value3="0.280599"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="322" index8="132" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="324" index8="132" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674657881">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="168.994"/>
        <parameter id="Joint Elevation" value="74.2261"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="169.106"/>
      <parameter id="Joint Elevation" value="74.2152"/>
      <parameter id="Twist" value="-0.105308"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.965552" value2="0.738694" value3="-1.90547"/>
      <parameter id="A" type="float_3" value1="0.934217" value2="-0.201074" value3="0.294605"/>
      <parameter id="H" type="float_3" value1="735.038" value2="1090.03" value3="142.269"/>
      <parameter id="V" type="float_3" value1="133.604" value2="-20.3584" value3="1318.16"/>
      <parameter id="O" type="float_3" value1="0.933025" value2="-0.201427" value3="0.298118"/>
      <parameter id="R" type="float_3" value1="1.33375e-05" value2="0.00183919" value3="-0.00580973"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="324" index8="132" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="366" index3="12" index4="60" index5="0" index6="0" index7="354" index8="132" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_674658182">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.945"/>
        <parameter id="Joint Elevation" value="44.0955"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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</pointing_correction>
