<?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="92" index2="2254" 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_695164159">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.15"/>
        <parameter id="Joint Elevation" value="38.3836"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.009"/>
      <parameter id="Joint Elevation" value="38.5483"/>
      <parameter id="Twist" value="-0.119609"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.976097" value2="0.713351" value3="-1.83567"/>
      <parameter id="A" type="float_3" value1="0.555459" value2="-0.238813" value3="0.796503"/>
      <parameter id="H" type="float_3" value1="770.823" value2="996.893" value3="400.642"/>
      <parameter id="V" type="float_3" value1="-601.996" value2="267.755" value3="1149.75"/>
      <parameter id="O" type="float_3" value1="0.552489" value2="-0.238179" value3="0.798755"/>
      <parameter id="R" type="float_3" value1="1.40311e-05" value2="0.00181491" value3="-0.00565296"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" 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_695164191">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.911"/>
        <parameter id="Joint Elevation" value="38.3945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.911"/>
      <parameter id="Joint Elevation" value="38.3945"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876319" value2="0.778421" value3="-1.83551"/>
      <parameter id="A" type="float_3" value1="0.598336" value2="0.0700388" value3="0.798168"/>
      <parameter id="H" type="float_3" value1="168.078" value2="1248.31" value3="402.404"/>
      <parameter id="V" type="float_3" value1="-658.26" value2="-70.3128" value3="1147.95"/>
      <parameter id="O" type="float_3" value1="0.595437" value2="0.0691003" value3="0.800415"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" 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_695164314">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="49.6776"/>
        <parameter id="Joint Elevation" value="79.8629"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="49.7455"/>
      <parameter id="Joint Elevation" value="79.0824"/>
      <parameter id="Twist" value="-0.639727"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.882079" value2="0.331433" value3="-1.91572"/>
      <parameter id="A" type="float_3" value1="-0.647881" value2="-0.731961" value3="0.210869"/>
      <parameter id="H" type="float_3" value1="581.14" value2="-1184.41" value3="88.9196"/>
      <parameter id="V" type="float_3" value1="-150.631" value2="-198.697" value3="1301.49"/>
      <parameter id="O" type="float_3" value1="-0.647771" value2="-0.730995" value3="0.214528"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" 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_695164345">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="78.2534"/>
        <parameter id="Joint Elevation" value="73.8033"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="78.2791"/>
      <parameter id="Joint Elevation" value="73.4272"/>
      <parameter id="Twist" value="-0.639289"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.981467" value2="0.395811" value3="-1.9038"/>
      <parameter id="A" type="float_3" value1="-0.213922" value2="-0.927484" value3="0.306585"/>
      <parameter id="H" type="float_3" value1="1078.76" value2="-752.041" value3="138.424"/>
      <parameter id="V" type="float_3" value1="-8.52612" value2="-119.737" value3="1319.71"/>
      <parameter id="O" type="float_3" value1="-0.214206" value2="-0.926232" value3="0.31015"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" 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_695164378">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="108.422"/>
        <parameter id="Joint Elevation" value="67.6646"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="108.248"/>
      <parameter id="Joint Elevation" value="67.706"/>
      <parameter id="Twist" value="-0.80853"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03929" value2="0.50686" value3="-1.89181"/>
      <parameter id="A" type="float_3" value1="0.267533" value2="-0.876399" value3="0.400419"/>
      <parameter id="H" type="float_3" value1="1305.78" value2="-98.5126" value3="183.558"/>
      <parameter id="V" type="float_3" value1="17.0873" value2="20.0859" value3="1324.9"/>
      <parameter id="O" type="float_3" value1="0.266569" value2="-0.875116" value3="0.403851"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" 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_695164402">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="139.795"/>
        <parameter id="Joint Elevation" value="63.1812"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="139.652"/>
      <parameter id="Joint Elevation" value="63.5394"/>
      <parameter id="Twist" value="-0.237674"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03128" value2="0.637794" value3="-1.88321"/>
      <parameter id="A" type="float_3" value1="0.661332" value2="-0.587495" value3="0.46634"/>
      <parameter id="H" type="float_3" value1="1150.8" value2="609.927" value3="228.248"/>
      <parameter id="V" type="float_3" value1="-76.1477" value2="81.5986" value3="1320.45"/>
      <parameter id="O" type="float_3" value1="0.659635" value2="-0.586767" value3="0.469648"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_695164428">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="172.554"/>
        <parameter id="Joint Elevation" value="61.8061"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="172.466"/>
      <parameter id="Joint Elevation" value="62.1045"/>
      <parameter id="Twist" value="-0.278556"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.952019" value2="0.748286" value3="-1.88035"/>
      <parameter id="A" type="float_3" value1="0.862282" value2="-0.133294" value3="0.488554"/>
      <parameter id="H" type="float_3" value1="631.263" value2="1137.17" value3="238.306"/>
      <parameter id="V" type="float_3" value1="-140.93" value2="33.9389" value3="1317.21"/>
      <parameter id="O" type="float_3" value1="0.86038" value2="-0.133585" value3="0.491817"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_695165470">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.926"/>
        <parameter id="Joint Elevation" value="44.1242"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.945"/>
      <parameter id="Joint Elevation" value="44.0404"/>
      <parameter id="Twist" value="0.277923"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790531" value2="0.792284" value3="-1.84547"/>
      <parameter id="A" type="float_3" value1="0.588854" value2="0.336291" value3="0.734944"/>
      <parameter id="H" type="float_3" value1="-304.447" value2="1231.44" value3="373.354"/>
      <parameter id="V" type="float_3" value1="-474.572" value2="-269.435" value3="1207.55"/>
      <parameter id="O" type="float_3" value1="0.586779" value2="0.3344" value3="0.737462"/>
      <parameter id="R" type="float_3" value1="1.39105e-05" value2="0.00181913" value3="-0.00568023"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_695165503">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.048"/>
        <parameter id="Joint Elevation" value="44.0818"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.205"/>
      <parameter id="Joint Elevation" value="43.7988"/>
      <parameter id="Twist" value="0.0488"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.67495" value2="0.753326" value3="-1.84515"/>
      <parameter id="A" type="float_3" value1="0.337496" value2="0.584896" value3="0.737548"/>
      <parameter id="H" type="float_3" value1="-882.553" value2="912.151" value3="370.926"/>
      <parameter id="V" type="float_3" value1="-281.059" value2="-473.214" value3="1205.43"/>
      <parameter id="O" type="float_3" value1="0.336635" value2="0.582213" value3="0.740059"/>
      <parameter id="R" type="float_3" value1="1.39407e-05" value2="0.00181808" value3="-0.00567341"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_695165528">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.987"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.472"/>
      <parameter id="Joint Elevation" value="43.6427"/>
      <parameter id="Twist" value="-0.363704"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.59487" value2="0.661464" value3="-1.84495"/>
      <parameter id="A" type="float_3" value1="-0.00340326" value2="0.673635" value3="0.739045"/>
      <parameter id="H" type="float_3" value1="-1221.99" value2="348.656" value3="365.614"/>
      <parameter id="V" type="float_3" value1="-13.1714" value2="-553.029" value3="1204.15"/>
      <parameter id="O" type="float_3" value1="-0.00282141" value2="0.670876" value3="0.741553"/>
      <parameter id="R" type="float_3" value1="1.39407e-05" value2="0.00181808" value3="-0.00567341"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_695165553">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.931"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="301.875"/>
      <parameter id="Joint Elevation" value="43.6329"/>
      <parameter id="Twist" value="-0.781574"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.572054" value2="0.541366" value3="-1.84495"/>
      <parameter id="A" type="float_3" value1="-0.343884" value2="0.579545" value3="0.73882"/>
      <parameter id="H" type="float_3" value1="-1233.65" value2="-311.852" value3="359.669"/>
      <parameter id="V" type="float_3" value1="260.749" value2="-487.661" value3="1204.24"/>
      <parameter id="O" type="float_3" value1="-0.342007" value2="0.577444" value3="0.741332"/>
      <parameter id="R" type="float_3" value1="1.39407e-05" value2="0.00181808" value3="-0.00567341"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_695165586">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.915"/>
        <parameter id="Joint Elevation" value="44.0011"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="332.144"/>
      <parameter id="Joint Elevation" value="43.7721"/>
      <parameter id="Twist" value="-1.06732"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.612708" value2="0.426764" value3="-1.84516"/>
      <parameter id="A" type="float_3" value1="-0.590792" value2="0.328443" value3="0.736935"/>
      <parameter id="H" type="float_3" value1="-912.941" value2="-888.265" value3="355.006"/>
      <parameter id="V" type="float_3" value1="465.247" value2="-292.983" value3="1205.7"/>
      <parameter id="O" type="float_3" value1="-0.588126" value2="0.327561" value3="0.739456"/>
      <parameter id="R" type="float_3" value1="1.39407e-05" value2="0.00181808" value3="-0.00567341"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.117547"/>
      <parameter id="Y" value="-0.245326"/>
      <parameter id="Z" value="0.066266"/>
      <parameter id="Normal_X" value="0.328605"/>
      <parameter id="Normal_Y" value="-0.0361136"/>
      <parameter id="Normal_Z" value="-0.949883"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="92" index2="2254" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
