<?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="1870" 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="11" instrument="NAV_RIGHT_B" unique_id="MSLNR_682376704">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.379"/>
        <parameter id="Joint Elevation" value="44.1255"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.407"/>
      <parameter id="Joint Elevation" value="44.0924"/>
      <parameter id="Twist" value="-0.130244"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.980849" value2="0.712032" value3="-1.84537"/>
      <parameter id="A" type="float_3" value1="0.625431" value2="-0.263707" value3="0.734355"/>
      <parameter id="H" type="float_3" value1="798.494" value2="987.651" value3="368.45"/>
      <parameter id="V" type="float_3" value1="-498.742" value2="219.492" value3="1207.8"/>
      <parameter id="O" type="float_3" value1="0.622723" value2="-0.263215" value3="0.736829"/>
      <parameter id="R" type="float_3" value1="1.30057e-05" value2="0.0018508" value3="-0.00588471"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682376781">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="97.3627"/>
        <parameter id="Joint Elevation" value="65.8271"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="97.3843"/>
      <parameter id="Joint Elevation" value="65.8227"/>
      <parameter id="Twist" value="-0.0759196"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02506" value2="0.464057" value3="-1.88792"/>
      <parameter id="A" type="float_3" value1="0.0960612" value2="-0.897631" value3="0.430134"/>
      <parameter id="H" type="float_3" value1="1262.62" value2="-330.296" value3="213.289"/>
      <parameter id="V" type="float_3" value1="0.351427" value2="58.2325" value3="1323.75"/>
      <parameter id="O" type="float_3" value1="0.0952932" value2="-0.896126" value3="0.433429"/>
      <parameter id="R" type="float_3" value1="1.30359e-05" value2="0.00184974" value3="-0.00587789"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682376820">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="128.75"/>
        <parameter id="Joint Elevation" value="67.6056"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="128.754"/>
      <parameter id="Joint Elevation" value="67.5882"/>
      <parameter id="Twist" value="-0.087955"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04277" value2="0.592428" value3="-1.89156"/>
      <parameter id="A" type="float_3" value1="0.557056" value2="-0.726363" value3="0.402578"/>
      <parameter id="H" type="float_3" value1="1253.87" value2="370.283" value3="198.669"/>
      <parameter id="V" type="float_3" value1="-5.15522" value2="18.3568" value3="1324.9"/>
      <parameter id="O" type="float_3" value1="0.555678" value2="-0.725555" value3="0.405924"/>
      <parameter id="R" type="float_3" value1="1.30962e-05" value2="0.00184763" value3="-0.00586426"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682376852">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="159.556"/>
        <parameter id="Joint Elevation" value="71.1109"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="159.549"/>
      <parameter id="Joint Elevation" value="71.0938"/>
      <parameter id="Twist" value="-0.0880648"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.992884" value2="0.709529" value3="-1.89891"/>
      <parameter id="A" type="float_3" value1="0.871636" value2="-0.347003" value3="0.346154"/>
      <parameter id="H" type="float_3" value1="897.895" value2="955.986" value3="169.229"/>
      <parameter id="V" type="float_3" value1="61.2916" value2="-16.1737" value3="1323.53"/>
      <parameter id="O" type="float_3" value1="0.870231" value2="-0.347089" value3="0.349587"/>
      <parameter id="R" type="float_3" value1="1.31264e-05" value2="0.00184658" value3="-0.00585744"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682376876">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="189.479"/>
        <parameter id="Joint Elevation" value="74.3705"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="189.479"/>
      <parameter id="Joint Elevation" value="74.3705"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.893074" value2="0.783536" value3="-1.90586"/>
      <parameter id="A" type="float_3" value1="0.946548" value2="0.136941" value3="0.292022"/>
      <parameter id="H" type="float_3" value1="309.379" value2="1277.77" value3="142.683"/>
      <parameter id="V" type="float_3" value1="136.048" value2="26.1668" value3="1317.78"/>
      <parameter id="O" type="float_3" value1="0.94557" value2="0.13619" value3="0.295521"/>
      <parameter id="R" type="float_3" value1="1.31264e-05" value2="0.00184658" value3="-0.00585744"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682376907">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="218.673"/>
        <parameter id="Joint Elevation" value="79.2292"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="218.644"/>
      <parameter id="Joint Elevation" value="79.2171"/>
      <parameter id="Twist" value="0.0394886"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.772306" value2="0.798034" value3="-1.91611"/>
      <parameter id="A" type="float_3" value1="0.776675" value2="0.593858" value3="0.209982"/>
      <parameter id="H" type="float_3" value1="-344.49" value2="1272.75" value3="101.028"/>
      <parameter id="V" type="float_3" value1="194.468" value2="156.412" value3="1301.33"/>
      <parameter id="O" type="float_3" value1="0.776426" value2="0.592907" value3="0.213559"/>
      <parameter id="R" type="float_3" value1="1.31264e-05" value2="0.00184658" value3="-0.00585744"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682377342">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="13.4366"/>
        <parameter id="Joint Elevation" value="99.1864"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="13.2391"/>
      <parameter id="Joint Elevation" value="99.2002"/>
      <parameter id="Twist" value="-0.280007"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.74165" value2="0.332278" value3="-1.95635"/>
      <parameter id="A" type="float_3" value1="-0.968737" value2="-0.205764" value3="-0.138538"/>
      <parameter id="H" type="float_3" value1="-238.462" value2="-1298.14" value3="-82.2756"/>
      <parameter id="V" type="float_3" value1="-663.847" value2="-153.107" value3="1136.47"/>
      <parameter id="O" type="float_3" value1="-0.969348" value2="-0.205293" value3="-0.134916"/>
      <parameter id="R" type="float_3" value1="1.30359e-05" value2="0.00184974" value3="-0.00587789"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682377366">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="42.5872"/>
        <parameter id="Joint Elevation" value="95.2898"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="42.4562"/>
      <parameter id="Joint Elevation" value="95.3344"/>
      <parameter id="Twist" value="-0.0995537"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.858159" value2="0.328406" value3="-1.94878"/>
      <parameter id="A" type="float_3" value1="-0.750387" value2="-0.657137" value3="-0.0712282"/>
      <parameter id="H" type="float_3" value1="422.016" value2="-1252.51" value3="-43.697"/>
      <parameter id="V" type="float_3" value1="-448.532" value2="-402.712" value3="1179.98"/>
      <parameter id="O" type="float_3" value1="-0.750974" value2="-0.656852" value3="-0.0675806"/>
      <parameter id="R" type="float_3" value1="1.3066e-05" value2="0.00184869" value3="-0.00587108"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682377395">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="72.1692"/>
        <parameter id="Joint Elevation" value="93.0357"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="72.1197"/>
      <parameter id="Joint Elevation" value="93.0712"/>
      <parameter id="Twist" value="-0.145117"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.964936" value2="0.383704" value3="-1.94422"/>
      <parameter id="A" type="float_3" value1="-0.327514" value2="-0.944317" value3="-0.0313594"/>
      <parameter id="H" type="float_3" value1="986.133" value2="-880.759" value3="-24.0304"/>
      <parameter id="V" type="float_3" value1="-174.272" value2="-527.178" value3="1203.1"/>
      <parameter id="O" type="float_3" value1="-0.328115" value2="-0.944223" value3="-0.0277019"/>
      <parameter id="R" type="float_3" value1="1.30962e-05" value2="0.00184763" value3="-0.00586426"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682377419">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="101.734"/>
        <parameter id="Joint Elevation" value="92.8782"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="101.756"/>
      <parameter id="Joint Elevation" value="92.8985"/>
      <parameter id="Twist" value="-0.0739013"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03087" value2="0.485895" value3="-1.94381"/>
      <parameter id="A" type="float_3" value1="0.18231" value2="-0.982839" value3="-0.027835"/>
      <parameter id="H" type="float_3" value1="1292.69" value2="-278.022" value3="-20.6732"/>
      <parameter id="V" type="float_3" value1="106.903" value2="-540.5" value3="1205.06"/>
      <parameter id="O" type="float_3" value1="0.181734" value2="-0.983042" value3="-0.0241779"/>
      <parameter id="R" type="float_3" value1="1.30962e-05" value2="0.00184763" value3="-0.00586426"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682377448">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="131.34"/>
        <parameter id="Joint Elevation" value="94.8532"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="131.302"/>
      <parameter id="Joint Elevation" value="94.8663"/>
      <parameter id="Twist" value="-0.0536365"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03682" value2="0.608115" value3="-1.94769"/>
      <parameter id="A" type="float_3" value1="0.642303" value2="-0.763954" value3="-0.0616828"/>
      <parameter id="H" type="float_3" value1="1261.05" value2="396.367" value3="-37.7341"/>
      <parameter id="V" type="float_3" value1="385.477" value2="-448.607" value3="1185.7"/>
      <parameter id="O" type="float_3" value1="0.641982" value2="-0.764509" value3="-0.0580311"/>
      <parameter id="R" type="float_3" value1="1.30962e-05" value2="0.00184763" value3="-0.00586426"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" 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_682377478">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="160.705"/>
        <parameter id="Joint Elevation" value="98.437"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="160.681"/>
      <parameter id="Joint Elevation" value="98.4588"/>
      <parameter id="Twist" value="-0.108817"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.980403" value2="0.716803" value3="-1.9547"/>
      <parameter id="A" type="float_3" value1="0.92906" value2="-0.34857" value3="-0.123812"/>
      <parameter id="H" type="float_3" value1="901.087" value2="965.279" value3="-71.0031"/>
      <parameter id="V" type="float_3" value1="624.732" value2="-225.824" value3="1146.49"/>
      <parameter id="O" type="float_3" value1="0.929268" value2="-0.349288" value3="-0.120178"/>
      <parameter id="R" type="float_3" value1="1.31264e-05" value2="0.00184658" value3="-0.00585744"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_682377515">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="190.354"/>
        <parameter id="Joint Elevation" value="102.698"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="190.376"/>
      <parameter id="Joint Elevation" value="102.753"/>
      <parameter id="Twist" value="-0.0223685"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875443" value2="0.782624" value3="-1.96286"/>
      <parameter id="A" type="float_3" value1="0.967845" value2="0.155459" value3="-0.197718"/>
      <parameter id="H" type="float_3" value1="298.256" value2="1283.85" value3="-107.355"/>
      <parameter id="V" type="float_3" value1="737.64" value2="125.361" value3="1093.58"/>
      <parameter id="O" type="float_3" value1="0.968649" value2="0.154978" value3="-0.194126"/>
      <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="1870" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="90" index2="1870" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_682377544">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="220.954"/>
        <parameter id="Joint Elevation" value="103.574"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
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  </surface_model>
</pointing_correction>
