<?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="97" index2="2762" 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_720018399">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="147.598"/>
        <parameter id="Joint Elevation" value="62.7114"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="147.776"/>
      <parameter id="Joint Elevation" value="62.7415"/>
      <parameter id="Twist" value="-0.152545"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01766" value2="0.669252" value3="-1.88159"/>
      <parameter id="A" type="float_3" value1="0.732219" value2="-0.48445" value3="0.478693"/>
      <parameter id="H" type="float_3" value1="1049.59" value2="768.77" value3="236.015"/>
      <parameter id="V" type="float_3" value1="-103.198" value2="78.7968" value3="1318.82"/>
      <parameter id="O" type="float_3" value1="0.730386" value2="-0.48394" value3="0.481997"/>
      <parameter id="R" type="float_3" value1="1.44232e-05" value2="0.00180119" value3="-0.00556435"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018423">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="180.532"/>
        <parameter id="Joint Elevation" value="60.0517"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="180.609"/>
      <parameter id="Joint Elevation" value="60.1171"/>
      <parameter id="Twist" value="-0.0905871"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.922816" value2="0.76731" value3="-1.87634"/>
      <parameter id="A" type="float_3" value1="0.854994" value2="-0.00953638" value3="0.518534"/>
      <parameter id="H" type="float_3" value1="453.117" value2="1215.32" value3="256.968"/>
      <parameter id="V" type="float_3" value1="-189.904" value2="10.3362" value3="1311.48"/>
      <parameter id="O" type="float_3" value1="0.853027" value2="-0.0101022" value3="0.521753"/>
      <parameter id="R" type="float_3" value1="1.44534e-05" value2="0.00180013" value3="-0.00555754"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018449">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="213.852"/>
        <parameter id="Joint Elevation" value="61.4755"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="213.947"/>
      <parameter id="Joint Elevation" value="61.5363"/>
      <parameter id="Twist" value="-0.0643984"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.789685" value2="0.798519" value3="-1.87935"/>
      <parameter id="A" type="float_3" value1="0.730053" value2="0.468974" value3="0.49706"/>
      <parameter id="H" type="float_3" value1="-284.377" value2="1267.7" value3="245.745"/>
      <parameter id="V" type="float_3" value1="-136.859" value2="-77.8987" value3="1315.82"/>
      <parameter id="O" type="float_3" value1="0.728788" value2="0.467464" value3="0.500329"/>
      <parameter id="R" type="float_3" value1="1.44835e-05" value2="0.00179908" value3="-0.00555072"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018473">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="245.877"/>
        <parameter id="Joint Elevation" value="66.5164"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="245.877"/>
      <parameter id="Joint Elevation" value="66.5164"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.66628" value2="0.756219" value3="-1.88972"/>
      <parameter id="A" type="float_3" value1="0.388613" value2="0.820363" value3="0.419484"/>
      <parameter id="H" type="float_3" value1="-903.653" value2="942.859" value3="206.767"/>
      <parameter id="V" type="float_3" value1="-24.6947" value2="-34.6421" value3="1324.53"/>
      <parameter id="O" type="float_3" value1="0.388466" value2="0.818674" value3="0.422907"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018505">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="275.409"/>
        <parameter id="Joint Elevation" value="73.471"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="275.42"/>
      <parameter id="Joint Elevation" value="73.4163"/>
      <parameter id="Twist" value="0.139475"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.587147" value2="0.663607" value3="-1.90418"/>
      <parameter id="A" type="float_3" value1="-0.0695304" value2="0.949184" value3="0.306917"/>
      <parameter id="H" type="float_3" value1="-1252.55" value2="395.423" value3="151.931"/>
      <parameter id="V" type="float_3" value1="-13.1732" value2="117.554" value3="1319.92"/>
      <parameter id="O" type="float_3" value1="-0.0688483" value2="0.948067" value3="0.310504"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_720018789">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="46.3025"/>
        <parameter id="Joint Elevation" value="96.8196"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="46.3553"/>
      <parameter id="Joint Elevation" value="96.5899"/>
      <parameter id="Twist" value="-0.310314"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.874485" value2="0.333223" value3="-1.95121"/>
      <parameter id="A" type="float_3" value1="-0.702683" value2="-0.705387" value3="-0.0930009"/>
      <parameter id="H" type="float_3" value1="507.578" value2="-1219.51" value3="-59.1531"/>
      <parameter id="V" type="float_3" value1="-435.359" value2="-453.872" value3="1166.46"/>
      <parameter id="O" type="float_3" value1="-0.703334" value2="-0.705224" value3="-0.0892433"/>
      <parameter id="R" type="float_3" value1="1.44835e-05" value2="0.00179908" value3="-0.00555072"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_720018813">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="75.5158"/>
        <parameter id="Joint Elevation" value="90.9949"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="75.6209"/>
      <parameter id="Joint Elevation" value="90.8856"/>
      <parameter id="Twist" value="-0.214714"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975067" value2="0.392488" value3="-1.93985"/>
      <parameter id="A" type="float_3" value1="-0.269393" value2="-0.962997" value3="0.00685989"/>
      <parameter id="H" type="float_3" value1="1038.02" value2="-819.023" value3="-6.04991"/>
      <parameter id="V" type="float_3" value1="-127.978" value2="-492.984" value3="1223.43"/>
      <parameter id="O" type="float_3" value1="-0.269945" value2="-0.962808" value3="0.0106368"/>
      <parameter id="R" type="float_3" value1="1.45439e-05" value2="0.00179696" value3="-0.00553709"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_720018844">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="104.545"/>
        <parameter id="Joint Elevation" value="83.6604"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="104.611"/>
      <parameter id="Joint Elevation" value="83.6378"/>
      <parameter id="Twist" value="-0.0638509"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03537" value2="0.49278" value3="-1.92502"/>
      <parameter id="A" type="float_3" value1="0.228898" value2="-0.96425" value3="0.133458"/>
      <parameter id="H" type="float_3" value1="1304.03" value2="-209.814" value3="61.6558"/>
      <parameter id="V" type="float_3" value1="87.0682" value2="-339.246" value3="1278.1"/>
      <parameter id="O" type="float_3" value1="0.228204" value2="-0.963889" value3="0.137202"/>
      <parameter id="R" type="float_3" value1="1.4574e-05" value2="0.00179591" value3="-0.00553027"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_720018875">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="134.386"/>
        <parameter id="Joint Elevation" value="77.111"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="134.466"/>
      <parameter id="Joint Elevation" value="77.0986"/>
      <parameter id="Twist" value="-0.204298"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03886" value2="0.615513" value3="-1.91142"/>
      <parameter id="A" type="float_3" value1="0.663597" value2="-0.706512" value3="0.245894"/>
      <parameter id="H" type="float_3" value1="1228.88" value2="474.072" value3="115.827"/>
      <parameter id="V" type="float_3" value1="145.177" value2="-140.458" value3="1309.73"/>
      <parameter id="O" type="float_3" value1="0.662531" value2="-0.706227" value3="0.249558"/>
      <parameter id="R" type="float_3" value1="1.46042e-05" value2="0.00179485" value3="-0.00552346"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_720018906">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="165.118"/>
        <parameter id="Joint Elevation" value="72.8596"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="165.252"/>
      <parameter id="Joint Elevation" value="72.878"/>
      <parameter id="Twist" value="-0.114872"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.977207" value2="0.727538" value3="-1.90266"/>
      <parameter id="A" type="float_3" value1="0.911721" value2="-0.261478" value3="0.316825"/>
      <parameter id="H" type="float_3" value1="803.039" value2="1039.18" value3="153.389"/>
      <parameter id="V" type="float_3" value1="102.713" value2="-20.7868" value3="1321.07"/>
      <parameter id="O" type="float_3" value1="0.910401" value2="-0.261709" value3="0.320409"/>
      <parameter id="R" type="float_3" value1="1.46042e-05" value2="0.00179485" value3="-0.00552346"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018937">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="196.779"/>
        <parameter id="Joint Elevation" value="72.2362"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="196.805"/>
      <parameter id="Joint Elevation" value="72.2746"/>
      <parameter id="Twist" value="-0.0233645"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.863656" value2="0.793052" value3="-1.90151"/>
      <parameter id="A" type="float_3" value1="0.91044" value2="0.253544" value3="0.3268"/>
      <parameter id="H" type="float_3" value1="138.279" value2="1305.25" value3="159.668"/>
      <parameter id="V" type="float_3" value1="85.325" value2="31.1216" value3="1322.11"/>
      <parameter id="O" type="float_3" value1="0.9094" value2="0.252643" value3="0.330373"/>
      <parameter id="R" type="float_3" value1="1.46343e-05" value2="0.0017938" value3="-0.00551664"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018962">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="227.86"/>
        <parameter id="Joint Elevation" value="75.4396"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="227.874"/>
      <parameter id="Joint Elevation" value="75.4765"/>
      <parameter id="Twist" value="0.0106164"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.734652" value2="0.790116" value3="-1.90834"/>
      <parameter id="A" type="float_3" value1="0.660483" value2="0.699348" value3="0.273235"/>
      <parameter id="H" type="float_3" value1="-549.69" value2="1195.24" value3="132.439"/>
      <parameter id="V" type="float_3" value1="107.991" value2="124.436" value3="1314.94"/>
      <parameter id="O" type="float_3" value1="0.660197" value2="0.698187" value3="0.276872"/>
      <parameter id="R" type="float_3" value1="1.46343e-05" value2="0.0017938" value3="-0.00551664"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018992">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="257.844"/>
        <parameter id="Joint Elevation" value="81.4517"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="257.902"/>
      <parameter id="Joint Elevation" value="81.5025"/>
      <parameter id="Twist" value="0.0724505"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.62839" value2="0.723332" value3="-1.92101"/>
      <parameter id="A" type="float_3" value1="0.22732" value2="0.958806" value3="0.170292"/>
      <parameter id="H" type="float_3" value1="-1071.46" value2="770.527" value3="80.9196"/>
      <parameter id="V" type="float_3" value1="64.0381" value2="295.543" value3="1290.26"/>
      <parameter id="O" type="float_3" value1="0.227747" value2="0.958035" value3="0.174021"/>
      <parameter id="R" type="float_3" value1="1.46645e-05" value2="0.00179274" value3="-0.00550982"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720019023">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="287.118"/>
        <parameter id="Joint Elevation" value="88.593"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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      <parameter id="R" type="float_3" value1="1.46947e-05" value2="0.00179169" value3="-0.00550301"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.458586"/>
      <parameter id="Y" value="0.256063"/>
      <parameter id="Z" value="-0.024674"/>
      <parameter id="Normal_X" value="0.0855966"/>
      <parameter id="Normal_Y" value="0.161205"/>
      <parameter id="Normal_Z" value="-1.0203"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
