<?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="38.0809"/>
      <parameter id="Twist" value="-0.331022"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975376" value2="0.713763" value3="-1.83488"/>
      <parameter id="A" type="float_3" value1="0.549755" value2="-0.235588" value3="0.801406"/>
      <parameter id="H" type="float_3" value1="769.991" value2="997.613" value3="400.602"/>
      <parameter id="V" type="float_3" value1="-609.173" value2="274.874" value3="1144.23"/>
      <parameter id="O" type="float_3" value1="0.546793" value2="-0.23495" value3="0.803616"/>
      <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="188.193"/>
      <parameter id="Joint Elevation" value="38.3534"/>
      <parameter id="Twist" value="-0.325219"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875193" value2="0.778745" value3="-1.83544"/>
      <parameter id="A" type="float_3" value1="0.597419" value2="0.0729191" value3="0.798597"/>
      <parameter id="H" type="float_3" value1="167.217" value2="1249.71" value3="398.561"/>
      <parameter id="V" type="float_3" value1="-659.587" value2="-66.7783" value3="1147.34"/>
      <parameter id="O" type="float_3" value1="0.594545" value2="0.0719868" value3="0.800823"/>
      <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="8" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745584577">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="150.911"/>
        <parameter id="Joint Elevation" value="71.1894"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="150.875"/>
      <parameter id="Joint Elevation" value="71.0229"/>
      <parameter id="Twist" value="-0.195232"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01337" value2="0.679428" value3="-1.89875"/>
      <parameter id="A" type="float_3" value1="0.808954" value2="-0.474329" value3="0.347258"/>
      <parameter id="H" type="float_3" value1="1032.17" value2="809.371" value3="167.758"/>
      <parameter id="V" type="float_3" value1="58.0017" value2="-22.7076" value3="1323.64"/>
      <parameter id="O" type="float_3" value1="0.807541" value2="-0.474184" value3="0.350729"/>
      <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="8" 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="181.43"/>
      <parameter id="Joint Elevation" value="64.8946"/>
      <parameter id="Twist" value="-0.2646"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.921904" value2="0.768948" value3="-1.88611"/>
      <parameter id="A" type="float_3" value1="0.895264" value2="0.00283132" value3="0.445508"/>
      <parameter id="H" type="float_3" value1="457.416" value2="1221.72" value3="216.267"/>
      <parameter id="V" type="float_3" value1="-80.3395" value2="11.6627" value3="1322.62"/>
      <parameter id="O" type="float_3" value1="0.893608" value2="0.00224366" value3="0.448824"/>
      <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="214.314"/>
      <parameter id="Joint Elevation" value="59.1172"/>
      <parameter id="Twist" value="-0.179698"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.78714" value2="0.797714" value3="-1.87445"/>
      <parameter id="A" type="float_3" value1="0.708793" value2="0.461803" value3="0.53323"/>
      <parameter id="H" type="float_3" value1="-300.266" value2="1260.79" value3="262.375"/>
      <parameter id="V" type="float_3" value1="-184.281" value2="-107.031" value3="1307.86"/>
      <parameter id="O" type="float_3" value1="0.707451" value2="0.46023" value3="0.536362"/>
      <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"/>
      <parameter id="Joint Elevation" value="60.4171"/>
      <parameter id="Twist" value="0.0878492"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.57604" value2="0.630568" value3="-1.87729"/>
      <parameter id="A" type="float_3" value1="-0.17532" value2="0.84028" value3="0.513006"/>
      <parameter id="H" type="float_3" value1="-1284.48" value2="181.639" value3="256.317"/>
      <parameter id="V" type="float_3" value1="31.423" value2="-179.111" value3="1312.57"/>
      <parameter id="O" type="float_3" value1="-0.174343" value2="0.838537" value3="0.516183"/>
      <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="85.246"/>
      <parameter id="Joint Elevation" value="102.422"/>
      <parameter id="Twist" value="-0.0252227"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00151" value2="0.432412" value3="-1.96213"/>
      <parameter id="A" type="float_3" value1="-0.102417" value2="-0.975808" value3="-0.193112"/>
      <parameter id="H" type="float_3" value1="1161.59" value2="-623.348" value3="-103.642"/>
      <parameter id="V" type="float_3" value1="-72.1872" value2="-739.702" value3="1097.06"/>
      <parameter id="O" type="float_3" value1="-0.10309" value2="-0.97645" value3="-0.189476"/>
      <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="120.697"/>
      <parameter id="Joint Elevation" value="99.1437"/>
      <parameter id="Twist" value="-0.134867"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04015" value2="0.567543" value3="-1.95594"/>
      <parameter id="A" type="float_3" value1="0.487158" value2="-0.862634" value3="-0.136097"/>
      <parameter id="H" type="float_3" value1="1310.16" value2="161.641" value3="-77.1444"/>
      <parameter id="V" type="float_3" value1="340.583" value2="-586.955" value3="1138.16"/>
      <parameter id="O" type="float_3" value1="0.486885" value2="-0.863359" value3="-0.132425"/>
      <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="152.893"/>
      <parameter id="Joint Elevation" value="85.0555"/>
      <parameter id="Twist" value="-0.176603"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00742" value2="0.68759" value3="-1.92797"/>
      <parameter id="A" type="float_3" value1="0.874685" value2="-0.472136" value3="0.109532"/>
      <parameter id="H" type="float_3" value1="1026.02" value2="832.884" value3="46.5056"/>
      <parameter id="V" type="float_3" value1="339.395" value2="-172.552" value3="1269.23"/>
      <parameter id="O" type="float_3" value1="0.874041" value2="-0.472459" value3="0.113218"/>
      <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="187.847"/>
      <parameter id="Joint Elevation" value="77.9017"/>
      <parameter id="Twist" value="-0.318732"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.8992" value2="0.780928" value3="-1.91324"/>
      <parameter id="A" type="float_3" value1="0.966126" value2="0.111781" value3="0.232571"/>
      <parameter id="H" type="float_3" value1="354.846" value2="1269.45" value3="105.691"/>
      <parameter id="V" type="float_3" value1="216.496" value2="38.2874" value3="1306.75"/>
      <parameter id="O" type="float_3" value1="0.965328" value2="0.111106" value3="0.236178"/>
      <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="223.992"/>
      <parameter id="Joint Elevation" value="72.4537"/>
      <parameter id="Twist" value="-0.177114"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.750428" value2="0.794248" value3="-1.902"/>
      <parameter id="A" type="float_3" value1="0.694737" value2="0.642338" value3="0.323614"/>
      <parameter id="H" type="float_3" value1="-471.985" value2="1225.53" value3="154.55"/>
      <parameter id="V" type="float_3" value1="62.1645" value2="72.3073" value3="1321.67"/>
      <parameter id="O" type="float_3" value1="0.694249" value2="0.641089" value3="0.327119"/>
      <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="260.789"/>
      <parameter id="Joint Elevation" value="73.8021"/>
      <parameter id="Twist" value="0.0852154"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.620559" value2="0.71514" value3="-1.90495"/>
      <parameter id="A" type="float_3" value1="0.172863" value2="0.937903" value3="0.300731"/>
      <parameter id="H" type="float_3" value1="-1111.74" value2="700.555" value3="147.783"/>
      <parameter id="V" type="float_3" value1="17.3461" value2="125.46" value3="1319.04"/>
      <parameter id="O" type="float_3" value1="0.173252" value2="0.936692" value3="0.304262"/>
      <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>
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      <parameter id="O" type="float_3" value1="-0.582262" value2="0.339623" value3="0.738655"/>
      <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="1528" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.259281"/>
      <parameter id="Y" value="0.282018"/>
      <parameter id="Z" value="-0.00709637"/>
      <parameter id="Normal_X" value="0.193742"/>
      <parameter id="Normal_Y" value="0.157284"/>
      <parameter id="Normal_Z" value="-0.723312"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="1528" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
