<?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="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744253399">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.275"/>
        <parameter id="Joint Elevation" value="38.3863"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.376"/>
      <parameter id="Joint Elevation" value="38.3018"/>
      <parameter id="Twist" value="-0.189047"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.974819" value2="0.71454" value3="-1.83525"/>
      <parameter id="A" type="float_3" value1="0.55382" value2="-0.233913" value3="0.799094"/>
      <parameter id="H" type="float_3" value1="764.003" value2="1001.98" value3="401.228"/>
      <parameter id="V" type="float_3" value1="-607.745" value2="267.213" value3="1146.78"/>
      <parameter id="O" type="float_3" value1="0.550867" value2="-0.233307" value3="0.801309"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253431">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.889"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.968"/>
      <parameter id="Joint Elevation" value="38.3818"/>
      <parameter id="Twist" value="-0.163202"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.87609" value2="0.778463" value3="-1.83548"/>
      <parameter id="A" type="float_3" value1="0.598096" value2="0.0706144" value3="0.798297"/>
      <parameter id="H" type="float_3" value1="169.605" value2="1248.78" value3="400.518"/>
      <parameter id="V" type="float_3" value1="-658.92" value2="-67.5557" value3="1147.66"/>
      <parameter id="O" type="float_3" value1="0.59523" value2="0.0696833" value3="0.800518"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253521">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="89.4559"/>
        <parameter id="Joint Elevation" value="77.3785"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="89.5034"/>
      <parameter id="Joint Elevation" value="77.3146"/>
      <parameter id="Twist" value="0.0211656"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00991" value2="0.43352" value3="-1.9119"/>
      <parameter id="A" type="float_3" value1="-0.0298056" value2="-0.969927" value3="0.24153"/>
      <parameter id="H" type="float_3" value1="1204.52" value2="-532.618" value3="118.68"/>
      <parameter id="V" type="float_3" value1="-1.85483" value2="-207.376" value3="1308.76"/>
      <parameter id="O" type="float_3" value1="-0.0303837" value2="-0.96901" value3="0.24511"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253552">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="118.526"/>
        <parameter id="Joint Elevation" value="73.3713"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="118.613"/>
      <parameter id="Joint Elevation" value="73.2641"/>
      <parameter id="Twist" value="-0.0474788"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04527" value2="0.549237" value3="-1.9034"/>
      <parameter id="A" type="float_3" value1="0.43676" value2="-0.84449" value3="0.309936"/>
      <parameter id="H" type="float_3" value1="1307.26" value2="128.766" value3="152.091"/>
      <parameter id="V" type="float_3" value1="57.6775" value2="-98.2174" value3="1320.19"/>
      <parameter id="O" type="float_3" value1="0.435697" value2="-0.843743" value3="0.313446"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253576">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="148.935"/>
        <parameter id="Joint Elevation" value="69.4866"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="148.997"/>
      <parameter id="Joint Elevation" value="69.3815"/>
      <parameter id="Twist" value="-0.0850503"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01697" value2="0.672651" value3="-1.89532"/>
      <parameter id="A" type="float_3" value1="0.784237" value2="-0.495085" value3="0.373961"/>
      <parameter id="H" type="float_3" value1="1053.2" value2="778.24" value3="183.681"/>
      <parameter id="V" type="float_3" value1="23.8648" value2="-6.35425" value3="1324.86"/>
      <parameter id="O" type="float_3" value1="0.782744" value2="-0.494849" value3="0.377385"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253608">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="180.346"/>
        <parameter id="Joint Elevation" value="71.8197"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="180.334"/>
      <parameter id="Joint Elevation" value="71.7328"/>
      <parameter id="Twist" value="-0.11159"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.927425" value2="0.766636" value3="-1.90032"/>
      <parameter id="A" type="float_3" value1="0.941825" value2="-0.0150426" value3="0.335742"/>
      <parameter id="H" type="float_3" value1="502.086" value2="1212.43" value3="162.939"/>
      <parameter id="V" type="float_3" value1="77.8409" value2="7.36011" value3="1322.79"/>
      <parameter id="O" type="float_3" value1="0.940567" value2="-0.0156158" value3="0.339224"/>
      <parameter id="R" type="float_3" value1="1.35787e-05" value2="0.00183074" value3="-0.0057552"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253640">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.348"/>
        <parameter id="Joint Elevation" value="74.1711"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.367"/>
      <parameter id="Joint Elevation" value="74.1149"/>
      <parameter id="Twist" value="-0.0358363"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.803128" value2="0.800418" value3="-1.90542"/>
      <parameter id="A" type="float_3" value1="0.826109" value2="0.479385" value3="0.296172"/>
      <parameter id="H" type="float_3" value1="-189.739" value2="1300.77" value3="143.593"/>
      <parameter id="V" type="float_3" value1="111.022" value2="73.2589" value3="1318.4"/>
      <parameter id="O" type="float_3" value1="0.825456" value2="0.478316" value3="0.299699"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253916">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.942"/>
        <parameter id="Joint Elevation" value="43.9397"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.942"/>
      <parameter id="Joint Elevation" value="43.9397"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790462" value2="0.792213" value3="-1.84529"/>
      <parameter id="A" type="float_3" value1="0.587751" value2="0.335625" value3="0.73613"/>
      <parameter id="H" type="float_3" value1="-301.083" value2="1233.31" value3="370.061"/>
      <parameter id="V" type="float_3" value1="-479.421" value2="-265.36" value3="1206.48"/>
      <parameter id="O" type="float_3" value1="0.585686" value2="0.333757" value3="0.738621"/>
      <parameter id="R" type="float_3" value1="1.34581e-05" value2="0.00183497" value3="-0.00578247"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253948">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.055"/>
        <parameter id="Joint Elevation" value="44.0818"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.998"/>
      <parameter id="Joint Elevation" value="44.0303"/>
      <parameter id="Twist" value="-0.0369641"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675799" value2="0.753996" value3="-1.84556"/>
      <parameter id="A" type="float_3" value1="0.341116" value2="0.586239" value3="0.734811"/>
      <parameter id="H" type="float_3" value1="-877.753" value2="917.871" value3="368.39"/>
      <parameter id="V" type="float_3" value1="-281.932" value2="-467.135" value3="1207.54"/>
      <parameter id="O" type="float_3" value1="0.340262" value2="0.583592" value3="0.73731"/>
      <parameter id="R" type="float_3" value1="1.34883e-05" value2="0.00183391" value3="-0.00577565"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253979">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.121"/>
        <parameter id="Joint Elevation" value="44.0476"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.047"/>
      <parameter id="Joint Elevation" value="43.9571"/>
      <parameter id="Twist" value="-0.00189399"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595656" value2="0.663351" value3="-1.84551"/>
      <parameter id="A" type="float_3" value1="0.00160895" value2="0.677686" value3="0.735338"/>
      <parameter id="H" type="float_3" value1="-1219.46" value2="354.131" value3="368.995"/>
      <parameter id="V" type="float_3" value1="-9.54428" value2="-546.463" value3="1207.12"/>
      <parameter id="O" type="float_3" value1="0.00219721" value2="0.674964" value3="0.737836"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744254011">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.932"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.936"/>
      <parameter id="Joint Elevation" value="43.8827"/>
      <parameter id="Twist" value="-0.0182184"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571676" value2="0.545418" value3="-1.8454"/>
      <parameter id="A" type="float_3" value1="-0.335937" value2="0.587886" value3="0.73588"/>
      <parameter id="H" type="float_3" value1="-1233.67" value2="-300.665" value3="369.199"/>
      <parameter id="V" type="float_3" value1="264.354" value2="-479.465" value3="1206.69"/>
      <parameter id="O" type="float_3" value1="-0.334071" value2="0.585817" value3="0.738376"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744254043">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.909"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.956"/>
      <parameter id="Joint Elevation" value="43.842"/>
      <parameter id="Twist" value="-0.166695"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609945" value2="0.430824" value3="-1.84529"/>
      <parameter id="A" type="float_3" value1="-0.584638" value2="0.341057" value3="0.736112"/>
      <parameter id="H" type="float_3" value1="-919.571" value2="-876.288" value3="367.623"/>
      <parameter id="V" type="float_3" value1="467.738" value2="-285.441" value3="1206.49"/>
      <parameter id="O" type="float_3" value1="-0.581989" value2="0.340191" value3="0.738608"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.0994696"/>
      <parameter id="Y" value="0.24839"/>
      <parameter id="Z" value="0.0528683"/>
      <parameter id="Normal_X" value="0.14795"/>
      <parameter id="Normal_Y" value="0.0682801"/>
      <parameter id="Normal_Z" value="-0.988074"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
