<?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="804" 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_675895560">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="122.691"/>
        <parameter id="Joint Elevation" value="69.6086"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="122.811"/>
      <parameter id="Joint Elevation" value="69.5957"/>
      <parameter id="Twist" value="-0.110575"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04513" value2="0.567214" value3="-1.89574"/>
      <parameter id="A" type="float_3" value1="0.485969" value2="-0.791695" value3="0.370184"/>
      <parameter id="H" type="float_3" value1="1289.06" value2="232.63" value3="181.703"/>
      <parameter id="V" type="float_3" value1="21.4509" value2="-20.6267" value3="1324.69"/>
      <parameter id="O" type="float_3" value1="0.484746" value2="-0.790853" value3="0.373572"/>
      <parameter id="R" type="float_3" value1="1.29878e-05" value2="0.00185186" value3="-0.00589153"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="804" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="804" 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_675895585">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="153.24"/>
        <parameter id="Joint Elevation" value="69.7335"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="153.24"/>
      <parameter id="Joint Elevation" value="69.7335"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00806" value2="0.688004" value3="-1.89606"/>
      <parameter id="A" type="float_3" value1="0.820729" value2="-0.436755" value3="0.368282"/>
      <parameter id="H" type="float_3" value1="993.282" value2="853.759" value3="182.447"/>
      <parameter id="V" type="float_3" value1="30.4715" value2="-9.82808" value3="1324.64"/>
      <parameter id="O" type="float_3" value1="0.819252" value2="-0.436655" value3="0.371674"/>
      <parameter id="R" type="float_3" value1="1.30057e-05" value2="0.0018508" value3="-0.00588471"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="804" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="804" 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_675895609">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="183.944"/>
        <parameter id="Joint Elevation" value="71.0863"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="183.934"/>
      <parameter id="Joint Elevation" value="71.0435"/>
      <parameter id="Twist" value="-0.0267089"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.914099" value2="0.773913" value3="-1.89889"/>
      <parameter id="A" type="float_3" value1="0.93681" value2="0.0439481" value3="0.347042"/>
      <parameter id="H" type="float_3" value1="422.523" value2="1241.46" value3="170.415"/>
      <parameter id="V" type="float_3" value1="61.2485" value2="9.75961" value3="1323.58"/>
      <parameter id="O" type="float_3" value1="0.935567" value2="0.0432863" value3="0.350464"/>
      <parameter id="R" type="float_3" value1="1.30057e-05" value2="0.0018508" value3="-0.00588471"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="804" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="804" 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_675895640">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="214.215"/>
        <parameter id="Joint Elevation" value="73.2171"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="214.189"/>
      <parameter id="Joint Elevation" value="73.1581"/>
      <parameter id="Twist" value="-0.0588431"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.791253" value2="0.800023" value3="-1.90343"/>
      <parameter id="A" type="float_3" value1="0.797235" value2="0.516745" value3="0.312049"/>
      <parameter id="H" type="float_3" value1="-255.392" value2="1288.67" value3="151.248"/>
      <parameter id="V" type="float_3" value1="88.4085" value2="67.0651" value3="1320.38"/>
      <parameter id="O" type="float_3" value1="0.796597" value2="0.515619" value3="0.315521"/>
      <parameter id="R" type="float_3" value1="1.3066e-05" value2="0.00184869" value3="-0.00587108"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="804" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="804" 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_675895671">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="244.155"/>
        <parameter id="Joint Elevation" value="75.5852"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="243.98"/>
      <parameter id="Joint Elevation" value="75.5458"/>
      <parameter id="Twist" value="0.0267129"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.673472" value2="0.761652" value3="-1.90854"/>
      <parameter id="A" type="float_3" value1="0.440699" value2="0.855497" value3="0.271832"/>
      <parameter id="H" type="float_3" value1="-859.44" value2="996.353" value3="132.007"/>
      <parameter id="V" type="float_3" value1="70.0196" value2="150.746" value3="1314.57"/>
      <parameter id="O" type="float_3" value1="0.440777" value2="0.854332" value3="0.275348"/>
      <parameter id="R" type="float_3" value1="1.3066e-05" value2="0.00184869" value3="-0.00587108"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="804" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="88" index2="804" 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="11" instrument="NAV_RIGHT_B" unique_id="MSLNR_675895711">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.282"/>
        <parameter id="Joint Elevation" value="38.3686"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.206"/>
      <parameter id="Joint Elevation" value="38.4159"/>
      <parameter id="Twist" value="0.193576"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975399" value2="0.713958" value3="-1.83544"/>
      <parameter id="A" type="float_3" value1="0.554594" value2="-0.236178" value3="0.79789"/>
      <parameter id="H" type="float_3" value1="761.807" value2="1001.95" value3="405.632"/>
      <parameter id="V" type="float_3" value1="-608.138" value2="260.655" value3="1148.02"/>
      <parameter id="O" type="float_3" value1="0.551666" value2="-0.235603" value3="0.800087"/>
      <parameter id="R" type="float_3" value1="1.3066e-05" value2="0.00184869" value3="-0.00587108"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="88" index2="804" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.394976"/>
      <parameter id="Y" value="-0.346"/>
      <parameter id="Z" value="-0.0488786"/>
      <parameter id="Normal_X" value="0.0315165"/>
      <parameter id="Normal_Y" value="-0.0408186"/>
      <parameter id="Normal_Z" value="-0.62454"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="88" index2="804" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
