<?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="158.077"/>
      <parameter id="Joint Elevation" value="38.0718"/>
      <parameter id="Twist" value="-0.343723"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975365" value2="0.713768" value3="-1.83486"/>
      <parameter id="A" type="float_3" value1="0.549638" value2="-0.235537" value3="0.801501"/>
      <parameter id="H" type="float_3" value1="770.13" value2="997.551" value3="400.49"/>
      <parameter id="V" type="float_3" value1="-609.232" value2="275.193" value3="1144.12"/>
      <parameter id="O" type="float_3" value1="0.546676" value2="-0.234898" value3="0.803711"/>
      <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="6" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745584498">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.031"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.194"/>
      <parameter id="Joint Elevation" value="38.3533"/>
      <parameter id="Twist" value="-0.331091"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875192" value2="0.778745" value3="-1.83544"/>
      <parameter id="A" type="float_3" value1="0.597417" value2="0.0729219" value3="0.798598"/>
      <parameter id="H" type="float_3" value1="167.31" value2="1249.72" value3="398.486"/>
      <parameter id="V" type="float_3" value1="-659.602" value2="-66.6575" value3="1147.34"/>
      <parameter id="O" type="float_3" value1="0.594544" value2="0.07199" value3="0.800824"/>
      <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="6" 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="181.426"/>
      <parameter id="Joint Elevation" value="64.8896"/>
      <parameter id="Twist" value="-0.277072"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.921915" value2="0.768941" value3="-1.8861"/>
      <parameter id="A" type="float_3" value1="0.895225" value2="0.00277779" value3="0.445586"/>
      <parameter id="H" type="float_3" value1="457.588" value2="1221.69" value3="216.07"/>
      <parameter id="V" type="float_3" value1="-80.4543" value2="11.9326" value3="1322.61"/>
      <parameter id="O" type="float_3" value1="0.893569" value2="0.00219104" value3="0.448902"/>
      <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="214.311"/>
      <parameter id="Joint Elevation" value="59.1183"/>
      <parameter id="Twist" value="-0.181931"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.787153" value2="0.797715" value3="-1.87445"/>
      <parameter id="A" type="float_3" value1="0.708826" value2="0.461771" value3="0.533213"/>
      <parameter id="H" type="float_3" value1="-300.173" value2="1260.82" value3="262.326"/>
      <parameter id="V" type="float_3" value1="-184.291" value2="-106.967" value3="1307.86"/>
      <parameter id="O" type="float_3" value1="0.707485" value2="0.460198" value3="0.536345"/>
      <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="283.008"/>
      <parameter id="Joint Elevation" value="60.4131"/>
      <parameter id="Twist" value="0.089381"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.576031" value2="0.630537" value3="-1.87728"/>
      <parameter id="A" type="float_3" value1="-0.175422" value2="0.840222" value3="0.513067"/>
      <parameter id="H" type="float_3" value1="-1284.5" value2="181.438" value3="256.377"/>
      <parameter id="V" type="float_3" value1="31.4973" value2="-179.192" value3="1312.56"/>
      <parameter id="O" type="float_3" value1="-0.174444" value2="0.838478" value3="0.516244"/>
      <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="85.2866"/>
      <parameter id="Joint Elevation" value="102.481"/>
      <parameter id="Twist" value="-0.0612391"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00161" value2="0.43261" value3="-1.96224"/>
      <parameter id="A" type="float_3" value1="-0.101704" value2="-0.975682" value3="-0.194124"/>
      <parameter id="H" type="float_3" value1="1162.05" value2="-622.268" value3="-104.908"/>
      <parameter id="V" type="float_3" value1="-71.0171" value2="-740.957" value3="1096.29"/>
      <parameter id="O" type="float_3" value1="-0.102374" value2="-0.976328" value3="-0.190489"/>
      <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="120.747"/>
      <parameter id="Joint Elevation" value="99.2138"/>
      <parameter id="Twist" value="-0.131825"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04012" value2="0.567803" value3="-1.95608"/>
      <parameter id="A" type="float_3" value1="0.487834" value2="-0.86206" value3="-0.137308"/>
      <parameter id="H" type="float_3" value1="1309.97" value2="162.867" value3="-77.6954"/>
      <parameter id="V" type="float_3" value1="341.727" value2="-587.897" value3="1137.33"/>
      <parameter id="O" type="float_3" value1="0.487563" value2="-0.86279" value3="-0.133636"/>
      <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="152.898"/>
      <parameter id="Joint Elevation" value="85.0844"/>
      <parameter id="Twist" value="0.00711622"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0074" value2="0.687613" value3="-1.92803"/>
      <parameter id="A" type="float_3" value1="0.874773" value2="-0.472089" value3="0.10903"/>
      <parameter id="H" type="float_3" value1="1025.61" value2="833.182" value3="50.139"/>
      <parameter id="V" type="float_3" value1="338.114" value2="-176.269" value3="1269.07"/>
      <parameter id="O" type="float_3" value1="0.874125" value2="-0.472423" value3="0.112714"/>
      <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="187.844"/>
      <parameter id="Joint Elevation" value="77.8931"/>
      <parameter id="Twist" value="-0.344942"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.899214" value2="0.780922" value3="-1.91322"/>
      <parameter id="A" type="float_3" value1="0.966097" value2="0.111721" value3="0.232718"/>
      <parameter id="H" type="float_3" value1="355.034" value2="1269.43" value3="105.223"/>
      <parameter id="V" type="float_3" value1="216.24" value2="38.8066" value3="1306.77"/>
      <parameter id="O" type="float_3" value1="0.965299" value2="0.111048" value3="0.236325"/>
      <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="223.988"/>
      <parameter id="Joint Elevation" value="72.4553"/>
      <parameter id="Twist" value="-0.178443"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.750441" value2="0.794251" value3="-1.902"/>
      <parameter id="A" type="float_3" value1="0.694778" value2="0.642306" value3="0.323588"/>
      <parameter id="H" type="float_3" value1="-471.909" value2="1225.57" value3="154.51"/>
      <parameter id="V" type="float_3" value1="62.1758" value2="72.3492" value3="1321.67"/>
      <parameter id="O" type="float_3" value1="0.69429" value2="0.641058" value3="0.327093"/>
      <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="73.8021"/>
      <parameter id="Twist" value="0.077524"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.620551" value2="0.71513" value3="-1.90495"/>
      <parameter id="A" type="float_3" value1="0.17281" value2="0.937913" value3="0.300732"/>
      <parameter id="H" type="float_3" value1="-1111.77" value2="700.54" value3="147.627"/>
      <parameter id="V" type="float_3" value1="17.1778" value2="125.49" value3="1319.04"/>
      <parameter id="O" type="float_3" value1="0.173197" value2="0.936702" value3="0.304263"/>
      <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="297.456"/>
      <parameter id="Joint Elevation" value="76.5933"/>
      <parameter id="Twist" value="0.187117"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.564008" value2="0.574412" value3="-1.91084"/>
      <parameter id="A" type="float_3" value1="-0.427407" value2="0.867831" value3="0.253331"/>
      <parameter id="H" type="float_3" value1="-1312.81" value2="-96.4058" value3="125.794"/>
      <parameter id="V" type="float_3" value1="-87.6051" value2="170.243" value3="1311.21"/>
      <parameter id="O" type="float_3" value1="-0.426444" value2="0.867251" value3="0.256914"/>
      <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>
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</pointing_correction>
