<?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="90" index2="232" 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_680869025">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="224.005"/>
        <parameter id="Joint Elevation" value="80.6226"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="223.893"/>
      <parameter id="Joint Elevation" value="80.631"/>
      <parameter id="Twist" value="0.0368795"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.750404" value2="0.793896" value3="-1.91908"/>
      <parameter id="A" type="float_3" value1="0.722689" value2="0.665737" value3="0.185737"/>
      <parameter id="H" type="float_3" value1="-457.745" value2="1237.49" value3="88.5122"/>
      <parameter id="V" type="float_3" value1="202.876" value2="195.405" value3="1294.76"/>
      <parameter id="O" type="float_3" value1="0.722592" value2="0.664828" value3="0.189335"/>
      <parameter id="R" type="float_3" value1="1.31565e-05" value2="0.00184552" value3="-0.00585063"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" 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_680869055">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="194.836"/>
        <parameter id="Joint Elevation" value="75.3846"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="194.836"/>
      <parameter id="Joint Elevation" value="75.3846"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.871748" value2="0.790826" value3="-1.90801"/>
      <parameter id="A" type="float_3" value1="0.934506" value2="0.225918" value3="0.275033"/>
      <parameter id="H" type="float_3" value1="191.095" value2="1301.65" value3="133.882"/>
      <parameter id="V" type="float_3" value1="155.672" value2="44.3506" value3="1315.13"/>
      <parameter id="O" type="float_3" value1="0.933661" value2="0.225094" value3="0.278555"/>
      <parameter id="R" type="float_3" value1="1.31867e-05" value2="0.00184447" value3="-0.00584381"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" 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_680869087">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="165.159"/>
        <parameter id="Joint Elevation" value="69.6877"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="165.274"/>
      <parameter id="Joint Elevation" value="69.7279"/>
      <parameter id="Twist" value="-0.0550448"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.976776" value2="0.727633" value3="-1.89608"/>
      <parameter id="A" type="float_3" value1="0.893711" value2="-0.255949" value3="0.368449"/>
      <parameter id="H" type="float_3" value1="793.78" value2="1042.03" value3="181.178"/>
      <parameter id="V" type="float_3" value1="32.0752" value2="-1.83571" value3="1324.66"/>
      <parameter id="O" type="float_3" value1="0.89224" value2="-0.256152" value3="0.371857"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" 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_680869118">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="134.257"/>
        <parameter id="Joint Elevation" value="65.0731"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="134.384"/>
      <parameter id="Joint Elevation" value="65.1415"/>
      <parameter id="Twist" value="-0.0730415"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03789" value2="0.616176" value3="-1.8865"/>
      <parameter id="A" type="float_3" value1="0.613289" value2="-0.655029" value3="0.441357"/>
      <parameter id="H" type="float_3" value1="1205.3" value2="498.127" value3="218.753"/>
      <parameter id="V" type="float_3" value1="-45.8" value2="58.9245" value3="1322.95"/>
      <parameter id="O" type="float_3" value1="0.61174" value2="-0.654254" value3="0.444646"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" 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_680869150">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="101.976"/>
        <parameter id="Joint Elevation" value="62.9996"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="102.271"/>
      <parameter id="Joint Elevation" value="63.0165"/>
      <parameter id="Twist" value="-0.267934"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03219" value2="0.484199" value3="-1.88213"/>
      <parameter id="A" type="float_3" value1="0.167905" value2="-0.864418" value3="0.473892"/>
      <parameter id="H" type="float_3" value1="1284.38" value2="-212.635" value3="232.097"/>
      <parameter id="V" type="float_3" value1="-12.9494" value2="122.425" value3="1319.33"/>
      <parameter id="O" type="float_3" value1="0.166993" value2="-0.862816" value3="0.477123"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869604">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="327.88"/>
        <parameter id="Joint Elevation" value="104.251"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="328.128"/>
      <parameter id="Joint Elevation" value="103.816"/>
      <parameter id="Twist" value="0.102675"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.602914" value2="0.441269" value3="-1.96508"/>
      <parameter id="A" type="float_3" value1="-0.817373" value2="0.533402" value3="-0.21764"/>
      <parameter id="H" type="float_3" value1="-1082.48" value2="-750.76" value3="-115.339"/>
      <parameter id="V" type="float_3" value1="-647.644" value2="417.135" value3="1078.12"/>
      <parameter id="O" type="float_3" value1="-0.817705" value2="0.534344" value3="-0.214054"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869635">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="297.573"/>
        <parameter id="Joint Elevation" value="107.448"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="297.788"/>
      <parameter id="Joint Elevation" value="107.168"/>
      <parameter id="Twist" value="0.301266"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.572468" value2="0.55607" value3="-1.97112"/>
      <parameter id="A" type="float_3" value1="-0.429504" value2="0.860498" value3="-0.273957"/>
      <parameter id="H" type="float_3" value1="-1310.58" value2="-106.799" value3="-140.317"/>
      <parameter id="V" type="float_3" value1="-372.144" value2="743.748" value3="1031.57"/>
      <parameter id="O" type="float_3" value1="-0.429396" value2="0.861668" value3="-0.270426"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869668">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="266.267"/>
        <parameter id="Joint Elevation" value="107.98"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="266.342"/>
      <parameter id="Joint Elevation" value="107.915"/>
      <parameter id="Twist" value="0.307438"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.604736" value2="0.676798" value3="-1.97239"/>
      <parameter id="A" type="float_3" value1="0.0822488" value2="0.954692" value3="-0.285974"/>
      <parameter id="H" type="float_3" value1="-1173.93" value2="590.889" value3="-146.435"/>
      <parameter id="V" type="float_3" value1="71.6732" value2="841.457" value3="1021.08"/>
      <parameter id="O" type="float_3" value1="0.0829549" value2="0.955678" value3="-0.282455"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869699">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="236.032"/>
        <parameter id="Joint Elevation" value="99.5646"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="236.008"/>
      <parameter id="Joint Elevation" value="99.5747"/>
      <parameter id="Twist" value="-0.0831214"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.69628" value2="0.768619" value3="-1.95711"/>
      <parameter id="A" type="float_3" value1="0.571135" value2="0.808211" value3="-0.143467"/>
      <parameter id="H" type="float_3" value1="-706.34" value2="1114.94" value3="-81.8689"/>
      <parameter id="V" type="float_3" value1="389.141" value2="566.107" value3="1133.08"/>
      <parameter id="O" type="float_3" value1="0.571921" value2="0.808293" value3="-0.13983"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869730">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="206.305"/>
        <parameter id="Joint Elevation" value="94.8652"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="206.284"/>
      <parameter id="Joint Elevation" value="94.8523"/>
      <parameter id="Twist" value="0.0268478"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.817705" value2="0.796395" value3="-1.94788"/>
      <parameter id="A" type="float_3" value1="0.904357" value2="0.422351" value3="-0.0611752"/>
      <parameter id="H" type="float_3" value1="-55.9899" value2="1320.68" value3="-37.2135"/>
      <parameter id="V" type="float_3" value1="532.812" value2="255.561" value3="1186"/>
      <parameter id="O" type="float_3" value1="0.904809" value2="0.421897" value3="-0.0575064"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869761">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="176.849"/>
        <parameter id="Joint Elevation" value="89.1408"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="176.863"/>
      <parameter id="Joint Elevation" value="89.1667"/>
      <parameter id="Twist" value="0.0133489"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.935981" value2="0.759091" value3="-1.93643"/>
      <parameter id="A" type="float_3" value1="0.996339" value2="-0.0764213" value3="0.0381004"/>
      <parameter id="H" type="float_3" value1="601.128" value2="1177.78" value3="13.6549"/>
      <parameter id="V" type="float_3" value1="469.44" value2="-30.1936" value3="1238.75"/>
      <parameter id="O" type="float_3" value1="0.996146" value2="-0.0770123" value3="0.0417701"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869792">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="146.202"/>
        <parameter id="Joint Elevation" value="89.9005"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="146.365"/>
      <parameter id="Joint Elevation" value="89.951"/>
      <parameter id="Twist" value="0.0456497"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01878" value2="0.665" value3="-1.93793"/>
      <parameter id="A" type="float_3" value1="0.820056" value2="-0.571755" value3="0.0242426"/>
      <parameter id="H" type="float_3" value1="1115.79" value2="709.691" value3="7.88746"/>
      <parameter id="V" type="float_3" value1="402.483" value2="-275.13" value3="1232.11"/>
      <parameter id="O" type="float_3" value1="0.81963" value2="-0.572198" value3="0.0279157"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869823">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="116.604"/>
        <parameter id="Joint Elevation" value="86.5986"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="116.766"/>
      <parameter id="Joint Elevation" value="86.7021"/>
      <parameter id="Twist" value="-0.14217"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04366" value2="0.543924" value3="-1.93131"/>
      <parameter id="A" type="float_3" value1="0.429302" value2="-0.899559" value3="0.0804712"/>
      <parameter id="H" type="float_3" value1="1320.29" value2="66.7277" value3="32.9507"/>
      <parameter id="V" type="float_3" value1="187.088" value2="-373.203" value3="1257.58"/>
      <parameter id="O" type="float_3" value1="0.428633" value2="-0.899543" value3="0.0841349"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_680869854">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="86.6793"/>
        <parameter id="Joint Elevation" value="86.1138"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    <camera_model type="CAHVOR">
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    </camera_model>
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="357.997"/>
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
  <solution index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0" solution_id="mslopgs">
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    <camera_model type="CAHVOR">
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    </camera_model>
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    </camera_model>
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    <pointing_parameters type="MSLmastCamera3dof">
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    </camera_model>
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    <pointing_parameters type="MSLmastCamera3dof">
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
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      <parameter id="Y" value="-0.717481"/>
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      <parameter id="Normal_Y" value="0.0483807"/>
      <parameter id="Normal_Z" value="-1.02904"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="90" index2="232" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
