<?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="93" index2="2928" 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="11" instrument="NAV_RIGHT_B" unique_id="MSLNR_700486301">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.326"/>
        <parameter id="Joint Elevation" value="44.1269"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.503"/>
      <parameter id="Joint Elevation" value="43.8759"/>
      <parameter id="Twist" value="-0.196394"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.980417" value2="0.712521" value3="-1.84499"/>
      <parameter id="A" type="float_3" value1="0.623288" value2="-0.261576" value3="0.736936"/>
      <parameter id="H" type="float_3" value1="796.099" value2="989.289" value3="368.317"/>
      <parameter id="V" type="float_3" value1="-502.388" value2="221.571" value3="1206.19"/>
      <parameter id="O" type="float_3" value1="0.62046" value2="-0.261015" value3="0.739516"/>
      <parameter id="R" type="float_3" value1="1.50735e-05" value2="0.00177578" value3="-0.00540084"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" 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_700486373">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="143.971"/>
        <parameter id="Joint Elevation" value="74.8718"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="144.099"/>
      <parameter id="Joint Elevation" value="74.5493"/>
      <parameter id="Twist" value="-0.210784"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02629" value2="0.653889" value3="-1.90611"/>
      <parameter id="A" type="float_3" value1="0.762968" value2="-0.578284" value3="0.288879"/>
      <parameter id="H" type="float_3" value1="1127.63" value2="676.513" value3="137.48"/>
      <parameter id="V" type="float_3" value1="120.235" value2="-78.6391" value3="1317.48"/>
      <parameter id="O" type="float_3" value1="0.761732" value2="-0.578072" value3="0.292541"/>
      <parameter id="R" type="float_3" value1="1.50886e-05" value2="0.00177471" value3="-0.00539404"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" 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_700486405">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="173.933"/>
        <parameter id="Joint Elevation" value="74.7847"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="174.021"/>
      <parameter id="Joint Elevation" value="74.5705"/>
      <parameter id="Twist" value="-0.165702"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.949603" value2="0.751933" value3="-1.90623"/>
      <parameter id="A" type="float_3" value1="0.949795" value2="-0.120488" value3="0.288712"/>
      <parameter id="H" type="float_3" value1="639.603" value2="1148.93" value3="137.724"/>
      <parameter id="V" type="float_3" value1="143.637" value2="-8.53946" value3="1317.46"/>
      <parameter id="O" type="float_3" value1="0.948618" value2="-0.120921" value3="0.292379"/>
      <parameter id="R" type="float_3" value1="1.51188e-05" value2="0.00177257" value3="-0.00538044"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" 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_700486435">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="202.792"/>
        <parameter id="Joint Elevation" value="74.7739"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="202.863"/>
      <parameter id="Joint Elevation" value="74.6252"/>
      <parameter id="Twist" value="-0.114659"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.838738" value2="0.798051" value3="-1.90646"/>
      <parameter id="A" type="float_3" value1="0.890321" value2="0.352872" value3="0.287739"/>
      <parameter id="H" type="float_3" value1="5.83257" value2="1314.95" value3="137.661"/>
      <parameter id="V" type="float_3" value1="131.35" value2="61.8994" value3="1317.32"/>
      <parameter id="O" type="float_3" value1="0.889502" value2="0.351924" value3="0.291408"/>
      <parameter id="R" type="float_3" value1="1.51338e-05" value2="0.0017715" value3="-0.00537364"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" 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_700486459">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="230.899"/>
        <parameter id="Joint Elevation" value="73.6491"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="230.985"/>
      <parameter id="Joint Elevation" value="73.5366"/>
      <parameter id="Twist" value="-0.0197852"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.722206" value2="0.786009" value3="-1.9043"/>
      <parameter id="A" type="float_3" value1="0.615201" value2="0.726714" value3="0.305612"/>
      <parameter id="H" type="float_3" value1="-616.85" value2="1160" value3="148.238"/>
      <parameter id="V" type="float_3" value1="71.8599" value2="96.7108" value3="1319.82"/>
      <parameter id="O" type="float_3" value1="0.614884" value2="0.725436" value3="0.309261"/>
      <parameter id="R" type="float_3" value1="1.51489e-05" value2="0.00177043" value3="-0.00536683"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" 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_700486483">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="259.584"/>
        <parameter id="Joint Elevation" value="75.7084"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="259.622"/>
      <parameter id="Joint Elevation" value="75.6173"/>
      <parameter id="Twist" value="-0.0205644"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.623681" value2="0.718841" value3="-1.90874"/>
      <parameter id="A" type="float_3" value1="0.193763" value2="0.943035" value3="0.270413"/>
      <parameter id="H" type="float_3" value1="-1096.31" value2="727.52" value3="129.987"/>
      <parameter id="V" type="float_3" value1="26.1966" value2="166.807" value3="1314.5"/>
      <parameter id="O" type="float_3" value1="0.194124" value2="0.941895" value3="0.274104"/>
      <parameter id="R" type="float_3" value1="1.51489e-05" value2="0.00177043" value3="-0.00536683"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="128" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_700487625">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="329.705"/>
        <parameter id="Joint Elevation" value="80.9824"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="329.705"/>
      <parameter id="Joint Elevation" value="80.8821"/>
      <parameter id="Twist" value="0.0196756"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.593659" value2="0.443349" value3="-1.91976"/>
      <parameter id="A" type="float_3" value1="-0.838372" value2="0.514542" value3="0.179895"/>
      <parameter id="H" type="float_3" value1="-1065.9" value2="-777.624" value3="85.2194"/>
      <parameter id="V" type="float_3" value1="-250.452" value2="146.156" value3="1293.18"/>
      <parameter id="O" type="float_3" value1="-0.837471" value2="0.514679" value3="0.18366"/>
      <parameter id="R" type="float_3" value1="1.51037e-05" value2="0.00177364" value3="-0.00538724"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="128" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="130" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_700487656">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="360.291"/>
        <parameter id="Joint Elevation" value="78.8722"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="360.257"/>
      <parameter id="Joint Elevation" value="78.7315"/>
      <parameter id="Twist" value="0.0015636"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.681509" value2="0.352287" value3="-1.91519"/>
      <parameter id="A" type="float_3" value1="-0.976119" value2="0.0169074" value3="0.216539"/>
      <parameter id="H" type="float_3" value1="-519.145" value2="-1211.5" value3="104.135"/>
      <parameter id="V" type="float_3" value1="-241.456" value2="-2.02607" value3="1303.12"/>
      <parameter id="O" type="float_3" value1="-0.975272" value2="0.0174813" value3="0.220279"/>
      <parameter id="R" type="float_3" value1="1.51338e-05" value2="0.0017715" value3="-0.00537364"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="130" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="132" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_700487739">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="31.1005"/>
        <parameter id="Joint Elevation" value="79.4251"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="31.1471"/>
      <parameter id="Joint Elevation" value="79.184"/>
      <parameter id="Twist" value="0.292375"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.805365" value2="0.318561" value3="-1.91601"/>
      <parameter id="A" type="float_3" value1="-0.847822" value2="-0.48736" value3="0.20895"/>
      <parameter id="H" type="float_3" value1="176.878" value2="-1305.9" value3="106.956"/>
      <parameter id="V" type="float_3" value1="-218.336" value2="-124.781" value3="1301.22"/>
      <parameter id="O" type="float_3" value1="-0.847427" value2="-0.48643" value3="0.212689"/>
      <parameter id="R" type="float_3" value1="1.51037e-05" value2="0.00177364" value3="-0.00538724"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="132" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="134" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_700487770">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="61.4056"/>
        <parameter id="Joint Elevation" value="82.2103"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="61.4081"/>
      <parameter id="Joint Elevation" value="81.8538"/>
      <parameter id="Twist" value="0.0735462"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.926931" value2="0.352326" value3="-1.92144"/>
      <parameter id="A" type="float_3" value1="-0.491015" value2="-0.855654" value3="0.163537"/>
      <parameter id="H" type="float_3" value1="808.296" value2="-1043.26" value3="79.7104"/>
      <parameter id="V" type="float_3" value1="-151.87" value2="-271.819" value3="1288.2"/>
      <parameter id="O" type="float_3" value1="-0.491217" value2="-0.854807" value3="0.167314"/>
      <parameter id="R" type="float_3" value1="1.51188e-05" value2="0.00177257" value3="-0.00538044"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="134" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="136" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_700487794">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="91.6721"/>
        <parameter id="Joint Elevation" value="84.474"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="91.6575"/>
      <parameter id="Joint Elevation" value="84.0994"/>
      <parameter id="Twist" value="-0.0488314"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01459" value2="0.442892" value3="-1.926"/>
      <parameter id="A" type="float_3" value1="0.00694612" value2="-0.992091" value3="0.125258"/>
      <parameter id="H" type="float_3" value1="1223.82" value2="-497.004" value3="57.7905"/>
      <parameter id="V" type="float_3" value1="8.53348" value2="-360.899" value3="1275.19"/>
      <parameter id="O" type="float_3" value1="0.00635365" value2="-0.991608" value3="0.12906"/>
      <parameter id="R" type="float_3" value1="1.51338e-05" value2="0.0017715" value3="-0.00537364"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="136" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="138" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_700487825">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="121.924"/>
        <parameter id="Joint Elevation" value="85.5392"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="122.02"/>
      <parameter id="Joint Elevation" value="85.2175"/>
      <parameter id="Twist" value="-0.208058"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04447" value2="0.565416" value3="-1.92827"/>
      <parameter id="A" type="float_3" value1="0.508615" value2="-0.854388" value3="0.106375"/>
      <parameter id="H" type="float_3" value1="1307.87" value2="188.599" value3="44.6274"/>
      <parameter id="V" type="float_3" value1="205.223" value2="-326.035" value3="1268.07"/>
      <parameter id="O" type="float_3" value1="0.507906" value2="-0.854326" value3="0.110187"/>
      <parameter id="R" type="float_3" value1="1.51338e-05" value2="0.0017715" value3="-0.00537364"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="138" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="140" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_700487856">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="152.146"/>
        <parameter id="Joint Elevation" value="87.1515"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="152.204"/>
      <parameter id="Joint Elevation" value="86.9369"/>
      <parameter id="Twist" value="-0.268266"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00829" value2="0.685602" value3="-1.93183"/>
      <parameter id="A" type="float_3" value1="0.871629" value2="-0.484087" value3="0.0768554"/>
      <parameter id="H" type="float_3" value1="1036.73" value2="820.058" value3="27.8499"/>
      <parameter id="V" type="float_3" value1="374.896" value2="-195.282" value3="1256.08"/>
      <parameter id="O" type="float_3" value1="0.871086" value2="-0.48444" value3="0.0806808"/>
      <parameter id="R" type="float_3" value1="1.51489e-05" value2="0.00177043" value3="-0.00536683"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="140" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="2928" index3="6" index4="0" index5="0" index6="0" index7="142" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_700487887">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="182.098"/>
        <parameter id="Joint Elevation" value="87.3617"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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  </surface_model>
</pointing_correction>
