<?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="3408" index3="6" index4="0" index5="0" index6="0" index7="228" index8="32" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_701185162">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="236.593"/>
        <parameter id="Joint Elevation" value="52.405"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="236.673"/>
      <parameter id="Joint Elevation" value="52.3896"/>
      <parameter id="Twist" value="0.042597"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.695214" value2="0.769508" value3="-1.86122"/>
      <parameter id="A" type="float_3" value1="0.440974" value2="0.640758" value3="0.628454"/>
      <parameter id="H" type="float_3" value1="-778.3" value2="1021.59" value3="314.82"/>
      <parameter id="V" type="float_3" value1="-212.015" value2="-296.194" value3="1274.09"/>
      <parameter id="O" type="float_3" value1="0.440134" value2="0.638486" value3="0.631348"/>
      <parameter id="R" type="float_3" value1="1.39407e-05" value2="0.00181808" value3="-0.00567341"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="228" index8="32" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" 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_701098017">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.145"/>
        <parameter id="Joint Elevation" value="44.1228"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.412"/>
      <parameter id="Joint Elevation" value="44.2753"/>
      <parameter id="Twist" value="-0.055849"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.981036" value2="0.712035" value3="-1.8457"/>
      <parameter id="A" type="float_3" value1="0.627598" value2="-0.264559" value3="0.732197"/>
      <parameter id="H" type="float_3" value1="798.18" value2="987.828" value3="368.098"/>
      <parameter id="V" type="float_3" value1="-495.599" value2="216.405" value3="1209.82"/>
      <parameter id="O" type="float_3" value1="0.624829" value2="-0.264035" value3="0.73475"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" 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_701098101">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="58.7179"/>
        <parameter id="Joint Elevation" value="82.7655"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="58.7327"/>
      <parameter id="Joint Elevation" value="82.9301"/>
      <parameter id="Twist" value="-0.228322"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.917258" value2="0.347122" value3="-1.92368"/>
      <parameter id="A" type="float_3" value1="-0.531967" value2="-0.834261" value3="0.144926"/>
      <parameter id="H" type="float_3" value1="757.292" value2="-1082.04" value3="63.892"/>
      <parameter id="V" type="float_3" value1="-171.818" value2="-288.095" value3="1282.03"/>
      <parameter id="O" type="float_3" value1="-0.532162" value2="-0.833482" value3="0.148645"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" 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_701098132">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="87.3463"/>
        <parameter id="Joint Elevation" value="77.6679"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="87.4501"/>
      <parameter id="Joint Elevation" value="77.8039"/>
      <parameter id="Twist" value="-0.366583"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00532" value2="0.426299" value3="-1.91293"/>
      <parameter id="A" type="float_3" value1="-0.0646625" value2="-0.970265" value3="0.233211"/>
      <parameter id="H" type="float_3" value1="1184.44" value2="-578.078" value3="106.329"/>
      <parameter id="V" type="float_3" value1="-1.80237" value2="-219.163" value3="1306.94"/>
      <parameter id="O" type="float_3" value1="-0.0651767" value2="-0.969344" value3="0.23687"/>
      <parameter id="R" type="float_3" value1="1.43629e-05" value2="0.0018033" value3="-0.00557798"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" 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_701098156">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="116.661"/>
        <parameter id="Joint Elevation" value="71.5619"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="116.946"/>
      <parameter id="Joint Elevation" value="71.7342"/>
      <parameter id="Twist" value="-0.310997"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04486" value2="0.542355" value3="-1.9002"/>
      <parameter id="A" type="float_3" value1="0.408245" value2="-0.849095" value3="0.335197"/>
      <parameter id="H" type="float_3" value1="1309.29" value2="92.9629" value3="159.643"/>
      <parameter id="V" type="float_3" value1="44.6586" value2="-65.8755" value3="1322.8"/>
      <parameter id="O" type="float_3" value1="0.407175" value2="-0.848201" value3="0.338742"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" 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_701098181">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="147.848"/>
        <parameter id="Joint Elevation" value="69.9306"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="148.17"/>
      <parameter id="Joint Elevation" value="70.1299"/>
      <parameter id="Twist" value="-0.0626231"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01871" value2="0.669542" value3="-1.89688"/>
      <parameter id="A" type="float_3" value1="0.781037" value2="-0.508971" value3="0.361818"/>
      <parameter id="H" type="float_3" value1="1065.94" value2="761.91" value3="177.815"/>
      <parameter id="V" type="float_3" value1="38.1944" value2="-16.6842" value3="1324.54"/>
      <parameter id="O" type="float_3" value1="0.779567" value2="-0.50872" value3="0.365324"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" 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_701098205">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="179.537"/>
        <parameter id="Joint Elevation" value="67.5918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="179.747"/>
      <parameter id="Joint Elevation" value="67.7438"/>
      <parameter id="Twist" value="0.141012"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.928851" value2="0.765425" value3="-1.892"/>
      <parameter id="A" type="float_3" value1="0.915988" value2="-0.024031" value3="0.400465"/>
      <parameter id="H" type="float_3" value1="499.613" value2="1207.63" value3="200.94"/>
      <parameter id="V" type="float_3" value1="-14.2028" value2="3.60301" value3="1325.11"/>
      <parameter id="O" type="float_3" value1="0.914459" value2="-0.0245947" value3="0.403909"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_701098718">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="216.273"/>
        <parameter id="Joint Elevation" value="76.8508"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="216.447"/>
      <parameter id="Joint Elevation" value="76.8366"/>
      <parameter id="Twist" value="0.193678"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.781685" value2="0.799323" value3="-1.91113"/>
      <parameter id="A" type="float_3" value1="0.791038" value2="0.558138" value3="0.25045"/>
      <parameter id="H" type="float_3" value1="-300.246" value2="1281.66" value3="124.79"/>
      <parameter id="V" type="float_3" value1="158.14" value2="115.042" value3="1310.69"/>
      <parameter id="O" type="float_3" value1="0.790611" value2="0.557096" value3="0.254089"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_701098748">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="251.88"/>
        <parameter id="Joint Elevation" value="79.0338"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="251.939"/>
      <parameter id="Joint Elevation" value="78.9399"/>
      <parameter id="Twist" value="0.0543417"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.646551" value2="0.741248" value3="-1.91566"/>
      <parameter id="A" type="float_3" value1="0.322801" value2="0.921883" value3="0.214275"/>
      <parameter id="H" type="float_3" value1="-986.973" value2="873.846" value3="103.01"/>
      <parameter id="V" type="float_3" value1="74.8057" value2="232.515" value3="1302.5"/>
      <parameter id="O" type="float_3" value1="0.323092" value2="0.920918" value3="0.217957"/>
      <parameter id="R" type="float_3" value1="1.44835e-05" value2="0.00179908" value3="-0.00555072"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_701098772">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="287.278"/>
        <parameter id="Joint Elevation" value="82.805"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="287.149"/>
      <parameter id="Joint Elevation" value="82.7218"/>
      <parameter id="Twist" value="-0.127624"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.570865" value2="0.61606" value3="-1.92359"/>
      <parameter id="A" type="float_3" value1="-0.271048" value2="0.950989" value3="0.148784"/>
      <parameter id="H" type="float_3" value1="-1311.94" value2="151.081" value3="65.7709"/>
      <parameter id="V" type="float_3" value1="-100.263" value2="314.912" value3="1283.33"/>
      <parameter id="O" type="float_3" value1="-0.270332" value2="0.950602" value3="0.152513"/>
      <parameter id="R" type="float_3" value1="1.44835e-05" value2="0.00179908" value3="-0.00555072"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_701098816">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.758"/>
        <parameter id="Joint Elevation" value="65.4994"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.93"/>
      <parameter id="Joint Elevation" value="65.5636"/>
      <parameter id="Twist" value="0.100468"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.79948" value2="0.799704" value3="-1.88761"/>
      <parameter id="A" type="float_3" value1="0.774301" value2="0.459667" value3="0.43491"/>
      <parameter id="H" type="float_3" value1="-226.981" value2="1284.4" value3="217.068"/>
      <parameter id="V" type="float_3" value1="-57.9079" value2="-28.761" value3="1323.63"/>
      <parameter id="O" type="float_3" value1="0.77319" value2="0.458312" value3="0.438304"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_701098840">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="243.805"/>
        <parameter id="Joint Elevation" value="65.685"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="243.805"/>
      <parameter id="Joint Elevation" value="65.685"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.673369" value2="0.760864" value3="-1.88799"/>
      <parameter id="A" type="float_3" value1="0.415165" value2="0.800278" value3="0.43264"/>
      <parameter id="H" type="float_3" value1="-870.385" value2="972.196" value3="213.519"/>
      <parameter id="V" type="float_3" value1="-34.7903" value2="-50.8245" value3="1323.78"/>
      <parameter id="O" type="float_3" value1="0.414933" value2="0.798551" value3="0.436039"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_701098865">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="274.407"/>
        <parameter id="Joint Elevation" value="71.1768"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="274.382"/>
      <parameter id="Joint Elevation" value="71.1105"/>
      <parameter id="Twist" value="-0.102637"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.589076" value2="0.667348" value3="-1.89936"/>
      <parameter id="A" type="float_3" value1="-0.0516368" value2="0.937181" value3="0.344976"/>
      <parameter id="H" type="float_3" value1="-1244.91" value2="413.292" value3="166.497"/>
      <parameter id="V" type="float_3" value1="-13.295" value2="64.3555" value3="1323.58"/>
      <parameter id="O" type="float_3" value1="-0.0509832" value2="0.935906" value3="0.348516"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_701098889">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="303.723"/>
        <parameter id="Joint Elevation" value="77.2588"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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      <parameter id="Twist" value="-0.176877"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
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        <parameter id="Joint Azimuth" value="332.559"/>
        <parameter id="Joint Elevation" value="82.5025"/>
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      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="332.343"/>
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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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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    </camera_model>
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    <pointing_parameters type="MSLmastCamera3dof">
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.0621311"/>
      <parameter id="Y" value="0.100345"/>
      <parameter id="Z" value="0.0497159"/>
      <parameter id="Normal_X" value="0.202303"/>
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      <parameter id="Normal_Z" value="-0.841187"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="93" index2="3408" index3="6" index4="0" index5="0" index6="0" index7="228" index8="32" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
