<?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="2898" 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="11" instrument="NAV_RIGHT_B" unique_id="MSLNR_747268634">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.119"/>
        <parameter id="Joint Elevation" value="38.3891"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="157.998"/>
      <parameter id="Joint Elevation" value="38.4178"/>
      <parameter id="Twist" value="0.0290806"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975974" value2="0.713364" value3="-1.83545"/>
      <parameter id="A" type="float_3" value1="0.553747" value2="-0.238207" value3="0.797875"/>
      <parameter id="H" type="float_3" value1="767.921" value2="998.091" value3="403.352"/>
      <parameter id="V" type="float_3" value1="-605.662" value2="266.025" value3="1148.18"/>
      <parameter id="O" type="float_3" value1="0.550789" value2="-0.23759" value3="0.800104"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747268743">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="113.075"/>
        <parameter id="Joint Elevation" value="75.3995"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="113.066"/>
      <parameter id="Joint Elevation" value="75.405"/>
      <parameter id="Twist" value="-0.0699889"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04317" value2="0.526009" value3="-1.90788"/>
      <parameter id="A" type="float_3" value1="0.357167" value2="-0.892902" value3="0.27412"/>
      <parameter id="H" type="float_3" value1="1315.59" value2="-3.20066" value3="133.348"/>
      <parameter id="V" type="float_3" value1="66.6659" value2="-149.042" value3="1315.02"/>
      <parameter id="O" type="float_3" value1="0.356231" value2="-0.892173" value3="0.277685"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747268767">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="142.779"/>
        <parameter id="Joint Elevation" value="69.1073"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="142.779"/>
      <parameter id="Joint Elevation" value="69.1073"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02795" value2="0.649013" value3="-1.89474"/>
      <parameter id="A" type="float_3" value1="0.724587" value2="-0.576035" value3="0.378339"/>
      <parameter id="H" type="float_3" value1="1130.03" value2="660.589" value3="187.681"/>
      <parameter id="V" type="float_3" value1="16.9792" value2="-6.54957" value3="1324.99"/>
      <parameter id="O" type="float_3" value1="0.723109" value2="-0.575628" value3="0.381772"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747268791">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="174.978"/>
        <parameter id="Joint Elevation" value="71.0055"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="174.876"/>
      <parameter id="Joint Elevation" value="70.965"/>
      <parameter id="Twist" value="0.0951143"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.94649" value2="0.754023" value3="-1.89869"/>
      <parameter id="A" type="float_3" value1="0.931566" value2="-0.104084" value3="0.348331"/>
      <parameter id="H" type="float_3" value1="611.347" value2="1159.6" value3="173.609"/>
      <parameter id="V" type="float_3" value1="60.1104" value2="-2.60963" value3="1323.75"/>
      <parameter id="O" type="float_3" value1="0.930208" value2="-0.104542" value3="0.351807"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269356">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="116.966"/>
        <parameter id="Joint Elevation" value="92.1769"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="116.981"/>
      <parameter id="Joint Elevation" value="92.1905"/>
      <parameter id="Twist" value="-0.0636366"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04246" value2="0.547516" value3="-1.9424"/>
      <parameter id="A" type="float_3" value1="0.434124" value2="-0.900715" value3="-0.0152219"/>
      <parameter id="H" type="float_3" value1="1320.34" value2="71.1769" value3="-14.1377"/>
      <parameter id="V" type="float_3" value1="238.447" value2="-479.947" value3="1211.91"/>
      <parameter id="O" type="float_3" value1="0.433606" value2="-0.90102" value3="-0.0115126"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269386">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="146.296"/>
        <parameter id="Joint Elevation" value="85.7311"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="146.315"/>
      <parameter id="Joint Elevation" value="85.7851"/>
      <parameter id="Twist" value="-0.0351525"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02053" value2="0.663671" value3="-1.92946"/>
      <parameter id="A" type="float_3" value1="0.81592" value2="-0.569988" value3="0.096806"/>
      <parameter id="H" type="float_3" value1="1114.89" value2="709.737" value3="43.1303"/>
      <parameter id="V" type="float_3" value1="328.891" value2="-222.153" value3="1264.28"/>
      <parameter id="O" type="float_3" value1="0.815277" value2="-0.57027" value3="0.100497"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269423">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.013"/>
        <parameter id="Joint Elevation" value="43.9506"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.973"/>
      <parameter id="Joint Elevation" value="43.8507"/>
      <parameter id="Twist" value="-0.239658"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790248" value2="0.79217" value3="-1.84513"/>
      <parameter id="A" type="float_3" value1="0.586575" value2="0.335372" value3="0.737183"/>
      <parameter id="H" type="float_3" value1="-299.005" value2="1234.67" value3="367.089"/>
      <parameter id="V" type="float_3" value1="-483.369" value2="-262.073" value3="1205.65"/>
      <parameter id="O" type="float_3" value1="0.584483" value2="0.333507" value3="0.739686"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269454">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.046"/>
        <parameter id="Joint Elevation" value="44.0763"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.984"/>
      <parameter id="Joint Elevation" value="44.0207"/>
      <parameter id="Twist" value="-0.25463"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.67583" value2="0.754024" value3="-1.84555"/>
      <parameter id="A" type="float_3" value1="0.341195" value2="0.586047" value3="0.734927"/>
      <parameter id="H" type="float_3" value1="-875.837" value2="920.911" value3="365.248"/>
      <parameter id="V" type="float_3" value1="-286.115" value2="-464.843" value3="1207.47"/>
      <parameter id="O" type="float_3" value1="0.340318" value2="0.583394" value3="0.73744"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269478">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.128"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.075"/>
      <parameter id="Joint Elevation" value="44.0128"/>
      <parameter id="Twist" value="-0.21031"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595594" value2="0.663306" value3="-1.84561"/>
      <parameter id="A" type="float_3" value1="0.00127848" value2="0.678399" value3="0.734681"/>
      <parameter id="H" type="float_3" value1="-1219.58" value2="357.108" value3="365.593"/>
      <parameter id="V" type="float_3" value1="-13.7103" value2="-545.218" value3="1207.68"/>
      <parameter id="O" type="float_3" value1="0.00185294" value2="0.675666" value3="0.737194"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269509">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.936"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.897"/>
      <parameter id="Joint Elevation" value="44.0071"/>
      <parameter id="Twist" value="-0.1476"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571591" value2="0.545684" value3="-1.84563"/>
      <parameter id="A" type="float_3" value1="-0.336325" value2="0.589499" value3="0.734411"/>
      <parameter id="H" type="float_3" value1="-1235.23" value2="-297.404" value3="366.512"/>
      <parameter id="V" type="float_3" value1="260.307" value2="-478.68" value3="1207.91"/>
      <parameter id="O" type="float_3" value1="-0.334463" value2="0.587415" value3="0.736927"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269548">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.044"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.925"/>
      <parameter id="Joint Elevation" value="43.992"/>
      <parameter id="Twist" value="-0.095129"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609732" value2="0.430999" value3="-1.84556"/>
      <parameter id="A" type="float_3" value1="-0.586112" value2="0.342347" value3="0.73434"/>
      <parameter id="H" type="float_3" value1="-919.875" value2="-875.902" value3="367.678"/>
      <parameter id="V" type="float_3" value1="465.591" value2="-282.767" value3="1207.98"/>
      <parameter id="O" type="float_3" value1="-0.583455" value2="0.341478" value3="0.736855"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.159502"/>
      <parameter id="Y" value="0.313077"/>
      <parameter id="Z" value="0.0825173"/>
      <parameter id="Normal_X" value="0.143811"/>
      <parameter id="Normal_Y" value="0.0751331"/>
      <parameter id="Normal_Z" value="-1.01854"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
