<?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="4" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745584474">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="157.972"/>
        <parameter id="Joint Elevation" value="38.1873"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.073"/>
      <parameter id="Joint Elevation" value="38.0769"/>
      <parameter id="Twist" value="-0.374686"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975383" value2="0.713752" value3="-1.83487"/>
      <parameter id="A" type="float_3" value1="0.549686" value2="-0.235608" value3="0.801447"/>
      <parameter id="H" type="float_3" value1="770.723" value2="997.263" value3="400.068"/>
      <parameter id="V" type="float_3" value1="-608.851" value2="275.803" value3="1144.17"/>
      <parameter id="O" type="float_3" value1="0.546725" value2="-0.234967" value3="0.803657"/>
      <parameter id="R" type="float_3" value1="1.36391e-05" value2="0.00182863" value3="-0.00574157"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <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="181.415"/>
      <parameter id="Joint Elevation" value="64.8951"/>
      <parameter id="Twist" value="-0.273456"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.92196" value2="0.768918" value3="-1.88611"/>
      <parameter id="A" type="float_3" value1="0.895268" value2="0.00259554" value3="0.445501"/>
      <parameter id="H" type="float_3" value1="457.823" value2="1221.59" value3="216.095"/>
      <parameter id="V" type="float_3" value1="-80.3262" value2="11.8721" value3="1322.62"/>
      <parameter id="O" type="float_3" value1="0.893612" value2="0.00200889" value3="0.448817"/>
      <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="214.307"/>
      <parameter id="Joint Elevation" value="59.1166"/>
      <parameter id="Twist" value="-0.18532"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.787168" value2="0.797716" value3="-1.87445"/>
      <parameter id="A" type="float_3" value1="0.708843" value2="0.461717" value3="0.533238"/>
      <parameter id="H" type="float_3" value1="-300.066" value2="1260.86" value3="262.278"/>
      <parameter id="V" type="float_3" value1="-184.369" value2="-106.916" value3="1307.86"/>
      <parameter id="O" type="float_3" value1="0.707501" value2="0.460144" value3="0.53637"/>
      <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="283.005"/>
      <parameter id="Joint Elevation" value="60.4141"/>
      <parameter id="Twist" value="0.10014"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.576035" value2="0.630549" value3="-1.87728"/>
      <parameter id="A" type="float_3" value1="-0.17538" value2="0.84024" value3="0.513052"/>
      <parameter id="H" type="float_3" value1="-1284.47" value2="181.394" value3="256.565"/>
      <parameter id="V" type="float_3" value1="31.7074" value2="-179.123" value3="1312.56"/>
      <parameter id="O" type="float_3" value1="-0.174402" value2="0.838496" value3="0.516228"/>
      <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="85.2644"/>
      <parameter id="Joint Elevation" value="102.457"/>
      <parameter id="Twist" value="-0.0702825"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00155" value2="0.43251" value3="-1.96219"/>
      <parameter id="A" type="float_3" value1="-0.102091" value2="-0.975724" value3="-0.193711"/>
      <parameter id="H" type="float_3" value1="1161.81" value2="-622.726" value3="-104.888"/>
      <parameter id="V" type="float_3" value1="-71.065" value2="-740.491" value3="1096.6"/>
      <parameter id="O" type="float_3" value1="-0.102761" value2="-0.976368" value3="-0.190076"/>
      <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="120.724"/>
      <parameter id="Joint Elevation" value="99.1994"/>
      <parameter id="Twist" value="-0.155135"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04013" value2="0.567696" value3="-1.95605"/>
      <parameter id="A" type="float_3" value1="0.487499" value2="-0.862289" value3="-0.137059"/>
      <parameter id="H" type="float_3" value1="1310.01" value2="162.373" value3="-78.0607"/>
      <parameter id="V" type="float_3" value1="341.778" value2="-587.543" value3="1137.49"/>
      <parameter id="O" type="float_3" value1="0.487229" value2="-0.863017" value3="-0.133387"/>
      <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="152.883"/>
      <parameter id="Joint Elevation" value="85.0867"/>
      <parameter id="Twist" value="-0.0297528"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00743" value2="0.687561" value3="-1.92804"/>
      <parameter id="A" type="float_3" value1="0.874657" value2="-0.472314" value3="0.10899"/>
      <parameter id="H" type="float_3" value1="1025.9" value2="832.876" value3="49.3381"/>
      <parameter id="V" type="float_3" value1="338.487" value2="-175.69" value3="1269.05"/>
      <parameter id="O" type="float_3" value1="0.87401" value2="-0.472646" value3="0.112674"/>
      <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="187.834"/>
      <parameter id="Joint Elevation" value="77.901"/>
      <parameter id="Twist" value="-0.335677"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.899253" value2="0.780905" value3="-1.91324"/>
      <parameter id="A" type="float_3" value1="0.966149" value2="0.111551" value3="0.232584"/>
      <parameter id="H" type="float_3" value1="355.23" value2="1269.37" value3="105.347"/>
      <parameter id="V" type="float_3" value1="216.448" value2="38.5923" value3="1306.74"/>
      <parameter id="O" type="float_3" value1="0.965351" value2="0.110878" value3="0.236192"/>
      <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="223.985"/>
      <parameter id="Joint Elevation" value="72.4564"/>
      <parameter id="Twist" value="-0.176837"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.750456" value2="0.794255" value3="-1.90201"/>
      <parameter id="A" type="float_3" value1="0.694826" value2="0.642265" value3="0.323569"/>
      <parameter id="H" type="float_3" value1="-471.834" value2="1225.6" value3="154.533"/>
      <parameter id="V" type="float_3" value1="62.2233" value2="72.3379" value3="1321.67"/>
      <parameter id="O" type="float_3" value1="0.694337" value2="0.641016" value3="0.327074"/>
      <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="260.792"/>
      <parameter id="Joint Elevation" value="73.8038"/>
      <parameter id="Twist" value="0.0867844"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.62055" value2="0.71513" value3="-1.90495"/>
      <parameter id="A" type="float_3" value1="0.17281" value2="0.937922" value3="0.300703"/>
      <parameter id="H" type="float_3" value1="-1111.79" value2="700.485" value3="147.8"/>
      <parameter id="V" type="float_3" value1="17.3787" value2="125.494" value3="1319.04"/>
      <parameter id="O" type="float_3" value1="0.173198" value2="0.936711" value3="0.304233"/>
      <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="297.454"/>
      <parameter id="Joint Elevation" value="76.5915"/>
      <parameter id="Twist" value="0.192282"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.564009" value2="0.574422" value3="-1.91084"/>
      <parameter id="A" type="float_3" value1="-0.42737" value2="0.86784" value3="0.253362"/>
      <parameter id="H" type="float_3" value1="-1312.8" value2="-96.3843" value3="125.916"/>
      <parameter id="V" type="float_3" value1="-87.4814" value2="170.257" value3="1311.21"/>
      <parameter id="O" type="float_3" value1="-0.426406" value2="0.86726" value3="0.256945"/>
      <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="332.608"/>
      <parameter id="Joint Elevation" value="82.6481"/>
      <parameter id="Twist" value="0.0328172"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.600257" value2="0.432665" value3="-1.92341"/>
      <parameter id="A" type="float_3" value1="-0.86781" value2="0.473872" value3="0.149448"/>
      <parameter id="H" type="float_3" value1="-1027.63" value2="-829.242" value3="70.1246"/>
      <parameter id="V" type="float_3" value1="-291.87" value2="152.434" value3="1283.54"/>
      <parameter id="O" type="float_3" value1="-0.86703" value2="0.47413" value3="0.15311"/>
      <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>
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  </surface_model>
</pointing_correction>
