<?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="2682" index3="6" 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_747093235">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.127"/>
        <parameter id="Joint Elevation" value="38.3905"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.261"/>
      <parameter id="Joint Elevation" value="38.3732"/>
      <parameter id="Twist" value="-0.0818148"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975213" value2="0.714177" value3="-1.83537"/>
      <parameter id="A" type="float_3" value1="0.554266" value2="-0.235407" value3="0.798346"/>
      <parameter id="H" type="float_3" value1="764.748" value2="1001" value3="402.151"/>
      <parameter id="V" type="float_3" value1="-606.762" value2="265.753" value3="1147.67"/>
      <parameter id="O" type="float_3" value1="0.551301" value2="-0.234795" value3="0.800576"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" 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_747093259">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.024"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.106"/>
      <parameter id="Joint Elevation" value="38.4026"/>
      <parameter id="Twist" value="-0.0303923"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875589" value2="0.77865" value3="-1.83552"/>
      <parameter id="A" type="float_3" value1="0.59821" value2="0.0720834" value3="0.79808"/>
      <parameter id="H" type="float_3" value1="164.469" value2="1248.95" value3="402.043"/>
      <parameter id="V" type="float_3" value1="-657.982" value2="-71.8855" value3="1147.97"/>
      <parameter id="O" type="float_3" value1="0.595333" value2="0.0711371" value3="0.800313"/>
      <parameter id="R" type="float_3" value1="1.37899e-05" value2="0.00182335" value3="-0.00570749"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" 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_747093347">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="101.12"/>
        <parameter id="Joint Elevation" value="71.1361"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="101.425"/>
      <parameter id="Joint Elevation" value="71.1919"/>
      <parameter id="Twist" value="0.0353994"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03148" value2="0.47871" value3="-1.89908"/>
      <parameter id="A" type="float_3" value1="0.165572" value2="-0.924304" value3="0.343849"/>
      <parameter id="H" type="float_3" value1="1285.77" value2="-256.989" value3="171.191"/>
      <parameter id="V" type="float_3" value1="15.8508" value2="-64.5691" value3="1323.45"/>
      <parameter id="O" type="float_3" value1="0.16475" value2="-0.923148" value3="0.347331"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" 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_747093371">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="131.479"/>
        <parameter id="Joint Elevation" value="70.2939"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="131.671"/>
      <parameter id="Joint Elevation" value="70.2815"/>
      <parameter id="Twist" value="0.064441"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04116" value2="0.604126" value3="-1.89717"/>
      <parameter id="A" type="float_3" value1="0.604927" value2="-0.710667" value3="0.359165"/>
      <parameter id="H" type="float_3" value1="1238.23" value2="428" value3="179.321"/>
      <parameter id="V" type="float_3" value1="31.9335" value2="-31.5192" value3="1324.36"/>
      <parameter id="O" type="float_3" value1="0.603597" value2="-0.710039" value3="0.362628"/>
      <parameter id="R" type="float_3" value1="1.37899e-05" value2="0.00182335" value3="-0.00570749"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" 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_747093396">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="163.026"/>
        <parameter id="Joint Elevation" value="70.4784"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="163.199"/>
      <parameter id="Joint Elevation" value="70.4113"/>
      <parameter id="Twist" value="0.0735966"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.982866" value2="0.721279" value3="-1.8975"/>
      <parameter id="A" type="float_3" value1="0.887969" value2="-0.289495" value3="0.357332"/>
      <parameter id="H" type="float_3" value1="831.926" value2="1012.31" value3="178.016"/>
      <parameter id="V" type="float_3" value1="46.2978" value2="-10.5907" value3="1324.27"/>
      <parameter id="O" type="float_3" value1="0.886514" value2="-0.289657" value3="0.360798"/>
      <parameter id="R" type="float_3" value1="1.37899e-05" value2="0.00182335" value3="-0.00570749"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" 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_747093428">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="194.8"/>
        <parameter id="Joint Elevation" value="73.075"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="194.847"/>
      <parameter id="Joint Elevation" value="72.9989"/>
      <parameter id="Twist" value="0.0103155"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.871666" value2="0.790864" value3="-1.90302"/>
      <parameter id="A" type="float_3" value1="0.922518" value2="0.223227" value3="0.314823"/>
      <parameter id="H" type="float_3" value1="184.75" value2="1300.23" value3="154.362"/>
      <parameter id="V" type="float_3" value1="102.523" value2="31.3151" value3="1320.78"/>
      <parameter id="O" type="float_3" value1="0.921516" value2="0.222369" value3="0.318346"/>
      <parameter id="R" type="float_3" value1="1.37899e-05" value2="0.00182335" value3="-0.00570749"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" 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_747093460">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="225.709"/>
        <parameter id="Joint Elevation" value="78.8762"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="225.639"/>
      <parameter id="Joint Elevation" value="78.8226"/>
      <parameter id="Twist" value="-0.0530583"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.743503" value2="0.792405" value3="-1.91532"/>
      <parameter id="A" type="float_3" value1="0.69751" value2="0.683029" value3="0.216641"/>
      <parameter id="H" type="float_3" value1="-497.286" value2="1220.97" value3="102.334"/>
      <parameter id="V" type="float_3" value1="166.312" value2="174.365" value3="1303.03"/>
      <parameter id="O" type="float_3" value1="0.697345" value2="0.682038" value3="0.220269"/>
      <parameter id="R" type="float_3" value1="1.382e-05" value2="0.0018223" value3="-0.00570068"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="92" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747096093">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.999"/>
        <parameter id="Joint Elevation" value="44.1173"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.999"/>
      <parameter id="Joint Elevation" value="44.1173"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790391" value2="0.792298" value3="-1.84561"/>
      <parameter id="A" type="float_3" value1="0.589396" value2="0.337337" value3="0.734029"/>
      <parameter id="H" type="float_3" value1="-301.336" value2="1233.57" value3="368.94"/>
      <parameter id="V" type="float_3" value1="-475.884" value2="-263.961" value3="1208.2"/>
      <parameter id="O" type="float_3" value1="0.587332" value2="0.335468" value3="0.736537"/>
      <parameter id="R" type="float_3" value1="1.36089e-05" value2="0.00182969" value3="-0.00574839"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="92" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="94" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747096117">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.054"/>
        <parameter id="Joint Elevation" value="44.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.969"/>
      <parameter id="Joint Elevation" value="44.0249"/>
      <parameter id="Twist" value="0.0288292"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675887" value2="0.754057" value3="-1.84555"/>
      <parameter id="A" type="float_3" value1="0.341371" value2="0.586007" value3="0.734877"/>
      <parameter id="H" type="float_3" value1="-877.853" value2="917.37" value3="369.345"/>
      <parameter id="V" type="float_3" value1="-281.004" value2="-467.785" value3="1207.52"/>
      <parameter id="O" type="float_3" value1="0.340516" value2="0.583353" value3="0.737381"/>
      <parameter id="R" type="float_3" value1="1.36089e-05" value2="0.00182969" value3="-0.00574839"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="94" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="96" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747096150">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.121"/>
        <parameter id="Joint Elevation" value="44.0504"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.019"/>
      <parameter id="Joint Elevation" value="43.9493"/>
      <parameter id="Twist" value="0.0614189"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595702" value2="0.663444" value3="-1.8455"/>
      <parameter id="A" type="float_3" value1="0.00193964" value2="0.677583" value3="0.735432"/>
      <parameter id="H" type="float_3" value1="-1219.29" value2="353.666" value3="369.935"/>
      <parameter id="V" type="float_3" value1="-8.46427" value2="-546.617" value3="1207.07"/>
      <parameter id="O" type="float_3" value1="0.00252995" value2="0.674855" value3="0.737934"/>
      <parameter id="R" type="float_3" value1="1.36089e-05" value2="0.00182969" value3="-0.00574839"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="96" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="98" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747096174">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.937"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.964"/>
      <parameter id="Joint Elevation" value="43.8762"/>
      <parameter id="Twist" value="-0.0582511"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571682" value2="0.545299" value3="-1.84539"/>
      <parameter id="A" type="float_3" value1="-0.336174" value2="0.587653" value3="0.735958"/>
      <parameter id="H" type="float_3" value1="-1233.8" value2="-300.756" value3="368.64"/>
      <parameter id="V" type="float_3" value1="263.898" value2="-479.864" value3="1206.64"/>
      <parameter id="O" type="float_3" value1="-0.334306" value2="0.585578" value3="0.738459"/>
      <parameter id="R" type="float_3" value1="1.36089e-05" value2="0.00182969" value3="-0.00574839"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="98" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.0157758"/>
      <parameter id="Y" value="-0.410149"/>
      <parameter id="Z" value="0.0741115"/>
      <parameter id="Normal_X" value="0.172702"/>
      <parameter id="Normal_Y" value="0.057939"/>
      <parameter id="Normal_Z" value="-0.830628"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="2682" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
