<?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="1528" 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_745584609">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="181.46"/>
        <parameter id="Joint Elevation" value="64.9436"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="181.406"/>
      <parameter id="Joint Elevation" value="64.9039"/>
      <parameter id="Twist" value="-0.289271"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.921994" value2="0.7689" value3="-1.88613"/>
      <parameter id="A" type="float_3" value1="0.895337" value2="0.00246066" value3="0.445363"/>
      <parameter id="H" type="float_3" value1="458.191" value2="1221.52" value3="215.723"/>
      <parameter id="V" type="float_3" value1="-80.1203" value2="12.2213" value3="1322.63"/>
      <parameter id="O" type="float_3" value1="0.893681" value2="0.00187528" value3="0.44868"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745584641">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="214.264"/>
        <parameter id="Joint Elevation" value="59.1166"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="214.303"/>
      <parameter id="Joint Elevation" value="59.1248"/>
      <parameter id="Twist" value="-0.180448"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.787189" value2="0.79772" value3="-1.87446"/>
      <parameter id="A" type="float_3" value1="0.708939" value2="0.461708" value3="0.533117"/>
      <parameter id="H" type="float_3" value1="-299.992" value2="1260.87" value3="262.303"/>
      <parameter id="V" type="float_3" value1="-184.164" value2="-106.888" value3="1307.89"/>
      <parameter id="O" type="float_3" value1="0.707598" value2="0.460136" value3="0.53625"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745584666">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="248.914"/>
        <parameter id="Joint Elevation" value="58.5196"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="248.914"/>
      <parameter id="Joint Elevation" value="58.5196"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.654763" value2="0.745419" value3="-1.87338"/>
      <parameter id="A" type="float_3" value1="0.318969" value2="0.777734" value3="0.541639"/>
      <parameter id="H" type="float_3" value1="-965.01" value2="862.977" value3="269.458"/>
      <parameter id="V" type="float_3" value1="-92.7865" value2="-206.068" value3="1305.7"/>
      <parameter id="O" type="float_3" value1="0.318755" value2="0.775644" value3="0.544752"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745584691">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="282.97"/>
        <parameter id="Joint Elevation" value="60.4757"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="283.007"/>
      <parameter id="Joint Elevation" value="60.4134"/>
      <parameter id="Twist" value="0.0899443"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.576032" value2="0.630539" value3="-1.87728"/>
      <parameter id="A" type="float_3" value1="-0.175414" value2="0.840226" value3="0.513063"/>
      <parameter id="H" type="float_3" value1="-1284.5" value2="181.447" value3="256.384"/>
      <parameter id="V" type="float_3" value1="31.5057" value2="-179.182" value3="1312.56"/>
      <parameter id="O" type="float_3" value1="-0.174436" value2="0.838482" value3="0.516239"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745584752">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="85.2819"/>
        <parameter id="Joint Elevation" value="102.608"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="85.2461"/>
      <parameter id="Joint Elevation" value="102.51"/>
      <parameter id="Twist" value="-0.0704866"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00152" value2="0.432499" value3="-1.96229"/>
      <parameter id="A" type="float_3" value1="-0.102383" value2="-0.975511" value3="-0.194625"/>
      <parameter id="H" type="float_3" value1="1161.62" value2="-622.998" value3="-105.356"/>
      <parameter id="V" type="float_3" value1="-71.4034" value2="-741.484" value3="1095.91"/>
      <parameter id="O" type="float_3" value1="-0.103053" value2="-0.976159" value3="-0.19099"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745584778">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="120.718"/>
        <parameter id="Joint Elevation" value="99.3262"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="120.711"/>
      <parameter id="Joint Elevation" value="99.2434"/>
      <parameter id="Twist" value="-0.129395"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04011" value2="0.567678" value3="-1.95613"/>
      <parameter id="A" type="float_3" value1="0.48726" value2="-0.862303" value3="-0.13782"/>
      <parameter id="H" type="float_3" value1="1310.06" value2="162.078" value3="-77.904"/>
      <parameter id="V" type="float_3" value1="341.603" value2="-588.648" value3="1136.97"/>
      <parameter id="O" type="float_3" value1="0.48699" value2="-0.863034" value3="-0.134149"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745584809">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="152.983"/>
        <parameter id="Joint Elevation" value="85.1644"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="152.863"/>
      <parameter id="Joint Elevation" value="85.1096"/>
      <parameter id="Twist" value="0.0160766"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00747" value2="0.687494" value3="-1.92808"/>
      <parameter id="A" type="float_3" value1="0.874528" value2="-0.472644" value3="0.108592"/>
      <parameter id="H" type="float_3" value1="1026.12" value2="832.557" value3="50.1059"/>
      <parameter id="V" type="float_3" value1="338.408" value2="-176.91" value3="1268.9"/>
      <parameter id="O" type="float_3" value1="0.873881" value2="-0.47298" value3="0.112276"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745584840">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.875"/>
        <parameter id="Joint Elevation" value="77.9045"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.825"/>
      <parameter id="Joint Elevation" value="77.9123"/>
      <parameter id="Twist" value="-0.349187"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.899287" value2="0.78089" value3="-1.91326"/>
      <parameter id="A" type="float_3" value1="0.966213" value2="0.111402" value3="0.232392"/>
      <parameter id="H" type="float_3" value1="355.52" value2="1269.32" value3="104.969"/>
      <parameter id="V" type="float_3" value1="216.678" value2="38.8728" value3="1306.7"/>
      <parameter id="O" type="float_3" value1="0.965415" value2="0.11073" value3="0.236"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745584873">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="224.013"/>
        <parameter id="Joint Elevation" value="72.4133"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="223.98"/>
      <parameter id="Joint Elevation" value="72.4649"/>
      <parameter id="Twist" value="-0.162955"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.750477" value2="0.79426" value3="-1.90202"/>
      <parameter id="A" type="float_3" value1="0.694915" value2="0.642238" value3="0.32343"/>
      <parameter id="H" type="float_3" value1="-471.785" value2="1225.59" value3="154.741"/>
      <parameter id="V" type="float_3" value1="62.5722" value2="72.2467" value3="1321.66"/>
      <parameter id="O" type="float_3" value1="0.694428" value2="0.640989" value3="0.326935"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745584905">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="260.722"/>
        <parameter id="Joint Elevation" value="73.7895"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="260.79"/>
      <parameter id="Joint Elevation" value="73.8036"/>
      <parameter id="Twist" value="0.0950328"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.620555" value2="0.715135" value3="-1.90495"/>
      <parameter id="A" type="float_3" value1="0.172837" value2="0.937916" value3="0.300708"/>
      <parameter id="H" type="float_3" value1="-1111.78" value2="700.464" value3="147.97"/>
      <parameter id="V" type="float_3" value1="17.5539" value2="125.455" value3="1319.04"/>
      <parameter id="O" type="float_3" value1="0.173226" value2="0.936704" value3="0.304238"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745584937">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="297.405"/>
        <parameter id="Joint Elevation" value="76.691"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="297.452"/>
      <parameter id="Joint Elevation" value="76.5918"/>
      <parameter id="Twist" value="0.178405"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.564009" value2="0.574428" value3="-1.91084"/>
      <parameter id="A" type="float_3" value1="-0.427347" value2="0.867853" value3="0.253356"/>
      <parameter id="H" type="float_3" value1="-1312.83" value2="-96.2802" value3="125.627"/>
      <parameter id="V" type="float_3" value1="-87.7456" value2="170.136" value3="1311.21"/>
      <parameter id="O" type="float_3" value1="-0.426384" value2="0.867273" value3="0.256939"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745584968">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="332.617"/>
        <parameter id="Joint Elevation" value="82.8256"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="332.599"/>
      <parameter id="Joint Elevation" value="82.6581"/>
      <parameter id="Twist" value="0.0119707"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.600241" value2="0.432695" value3="-1.92343"/>
      <parameter id="A" type="float_3" value1="-0.86776" value2="0.474018" value3="0.149276"/>
      <parameter id="H" type="float_3" value1="-1027.83" value2="-829.044" value3="69.5979"/>
      <parameter id="V" type="float_3" value1="-292.255" value2="152.197" value3="1283.48"/>
      <parameter id="O" type="float_3" value1="-0.866981" value2="0.474275" value3="0.152938"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745585353">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="313.541"/>
        <parameter id="Joint Elevation" value="69.1296"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="313.522"/>
      <parameter id="Joint Elevation" value="68.9628"/>
      <parameter id="Twist" value="0.053549"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.569552" value2="0.506936" value3="-1.8949"/>
      <parameter id="A" type="float_3" value1="-0.622598" value2="0.684447" value3="0.379324"/>
      <parameter id="H" type="float_3" value1="-1221.38" value2="-470.804" value3="187.606"/>
      <parameter id="V" type="float_3" value1="-15.2066" value2="7.65961" value3="1324.98"/>
      <parameter id="O" type="float_3" value1="-0.621206" value2="0.68381" value3="0.38274"/>
      <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="1528" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1528" 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_745585384">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="341.813"/>
        <parameter id="Joint Elevation" value="78.7467"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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  </solution>
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    </image>
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    </image>
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    </image>
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    </image>
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  </surface_model>
</pointing_correction>
