<?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="112" index2="2148" 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_791212621">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.278"/>
        <parameter id="Joint Elevation" value="38.3891"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.203"/>
      <parameter id="Joint Elevation" value="38.5238"/>
      <parameter id="Twist" value="0.136616"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975541" value2="0.713921" value3="-1.83563"/>
      <parameter id="A" type="float_3" value1="0.555954" value2="-0.2368" value3="0.796759"/>
      <parameter id="H" type="float_3" value1="763.372" value2="1001.26" value3="404.179"/>
      <parameter id="V" type="float_3" value1="-605.571" value2="260.93" value3="1149.39"/>
      <parameter id="O" type="float_3" value1="0.553" value2="-0.236206" value3="0.798988"/>
      <parameter id="R" type="float_3" value1="1.36089e-05" value2="0.00182969" value3="-0.00574839"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791212716">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="183.082"/>
        <parameter id="Joint Elevation" value="68.979"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="183.052"/>
      <parameter id="Joint Elevation" value="69.0323"/>
      <parameter id="Twist" value="-0.00181767"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.917058" value2="0.772224" value3="-1.89469"/>
      <parameter id="A" type="float_3" value1="0.924622" value2="0.0291194" value3="0.37975"/>
      <parameter id="H" type="float_3" value1="434.914" value2="1234.61" value3="187.582"/>
      <parameter id="V" type="float_3" value1="15.1153" value2="6.81867" value3="1325"/>
      <parameter id="O" type="float_3" value1="0.923228" value2="0.0284758" value3="0.383175"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791212741">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="213.734"/>
        <parameter id="Joint Elevation" value="71.92"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="213.734"/>
      <parameter id="Joint Elevation" value="71.92"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.79307" value2="0.800101" value3="-1.90084"/>
      <parameter id="A" type="float_3" value1="0.795431" value2="0.50666" value3="0.332517"/>
      <parameter id="H" type="float_3" value1="-248.527" value2="1288.53" value3="162.84"/>
      <parameter id="V" type="float_3" value1="65.66" value2="50.0526" value3="1322.54"/>
      <parameter id="O" type="float_3" value1="0.794707" value2="0.505491" value3="0.336011"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791212772">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="243.694"/>
        <parameter id="Joint Elevation" value="75.4012"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="243.682"/>
      <parameter id="Joint Elevation" value="75.3149"/>
      <parameter id="Twist" value="0.138986"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.674497" value2="0.762351" value3="-1.90806"/>
      <parameter id="A" type="float_3" value1="0.444628" value2="0.852214" value3="0.27572"/>
      <parameter id="H" type="float_3" value1="-854.906" value2="999.574" value3="136.23"/>
      <parameter id="V" type="float_3" value1="70.5507" value2="144.731" value3="1315.3"/>
      <parameter id="O" type="float_3" value1="0.444688" value2="0.851021" value3="0.279283"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791213746">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="301.995"/>
        <parameter id="Joint Elevation" value="80.3086"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="302.204"/>
      <parameter id="Joint Elevation" value="79.6343"/>
      <parameter id="Twist" value="0.0630621"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.563804" value2="0.554098" value3="-1.91719"/>
      <parameter id="A" type="float_3" value1="-0.503951" value2="0.839869" value3="0.201585"/>
      <parameter id="H" type="float_3" value1="-1303.65" value2="-199.123" value3="96.876"/>
      <parameter id="V" type="float_3" value1="-139.306" value2="220.62" value3="1299.18"/>
      <parameter id="O" type="float_3" value1="-0.503048" value2="0.839529" value3="0.205224"/>
      <parameter id="R" type="float_3" value1="1.382e-05" value2="0.0018223" value3="-0.00570068"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791213778">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.425"/>
        <parameter id="Joint Elevation" value="80.7034"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="331.615"/>
      <parameter id="Joint Elevation" value="80.0675"/>
      <parameter id="Twist" value="-0.225101"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.597517" value2="0.436537" value3="-1.91806"/>
      <parameter id="A" type="float_3" value1="-0.852758" value2="0.484993" value3="0.193827"/>
      <parameter id="H" type="float_3" value1="-1039.5" value2="-812.615" value3="87.3392"/>
      <parameter id="V" type="float_3" value1="-241.436" value2="123.946" value3="1297.04"/>
      <parameter id="O" type="float_3" value1="-0.851837" value2="0.485139" value3="0.197477"/>
      <parameter id="R" type="float_3" value1="1.38502e-05" value2="0.00182124" value3="-0.00569386"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791213813">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="360.555"/>
        <parameter id="Joint Elevation" value="79.2406"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="360.755"/>
      <parameter id="Joint Elevation" value="78.7676"/>
      <parameter id="Twist" value="-0.417215"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.683313" value2="0.351299" value3="-1.91526"/>
      <parameter id="A" type="float_3" value1="-0.97637" value2="0.00842442" value3="0.215903"/>
      <parameter id="H" type="float_3" value1="-511.018" value2="-1215.86" value3="95.2253"/>
      <parameter id="V" type="float_3" value1="-241.951" value2="-13.0239" value3="1302.79"/>
      <parameter id="O" type="float_3" value1="-0.975554" value2="0.00898865" value3="0.219538"/>
      <parameter id="R" type="float_3" value1="1.38502e-05" value2="0.00182124" value3="-0.00569386"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="90" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791213897">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="29.9931"/>
        <parameter id="Joint Elevation" value="76.4228"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="30.2849"/>
      <parameter id="Joint Elevation" value="76.1706"/>
      <parameter id="Twist" value="-0.54949"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.801379" value2="0.318462" value3="-1.90972"/>
      <parameter id="A" type="float_3" value1="-0.844292" value2="-0.468542" value3="0.260045"/>
      <parameter id="H" type="float_3" value1="158.18" value2="-1307.72" value3="115.743"/>
      <parameter id="V" type="float_3" value1="-151.072" value2="-103.639" value3="1312.4"/>
      <parameter id="O" type="float_3" value1="-0.843714" value2="-0.467575" value3="0.263637"/>
      <parameter id="R" type="float_3" value1="1.382e-05" value2="0.0018223" value3="-0.00570068"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="90" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213928">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="59.41"/>
        <parameter id="Joint Elevation" value="72.9375"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="59.6785"/>
      <parameter id="Joint Elevation" value="72.9397"/>
      <parameter id="Twist" value="-0.502824"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.920034" value2="0.347935" value3="-1.90285"/>
      <parameter id="A" type="float_3" value1="-0.497227" value2="-0.808647" value3="0.314386"/>
      <parameter id="H" type="float_3" value1="783.613" value2="-1055.19" value3="145.084"/>
      <parameter id="V" type="float_3" value1="-42.8898" value2="-100.018" value3="1320.65"/>
      <parameter id="O" type="float_3" value1="-0.497095" value2="-0.807346" value3="0.317919"/>
      <parameter id="R" type="float_3" value1="1.38502e-05" value2="0.00182124" value3="-0.00569386"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="92" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213959">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="89.8879"/>
        <parameter id="Joint Elevation" value="69.7255"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="90.0922"/>
      <parameter id="Joint Elevation" value="69.9019"/>
      <parameter id="Twist" value="-0.292803"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0112" value2="0.43586" value3="-1.89641"/>
      <parameter id="A" type="float_3" value1="-0.0191616" value2="-0.930911" value3="0.364719"/>
      <parameter id="H" type="float_3" value1="1210.17" value2="-503.262" value3="175.357"/>
      <parameter id="V" type="float_3" value1="10.4194" value2="-37.0646" value3="1324.57"/>
      <parameter id="O" type="float_3" value1="-0.0197166" value2="-0.929536" value3="0.368182"/>
      <parameter id="R" type="float_3" value1="1.38502e-05" value2="0.00182124" value3="-0.00569386"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="94" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213990">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="120.762"/>
        <parameter id="Joint Elevation" value="67.6784"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="120.965"/>
      <parameter id="Joint Elevation" value="67.8782"/>
      <parameter id="Twist" value="0.102419"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04511" value2="0.559794" value3="-1.89216"/>
      <parameter id="A" type="float_3" value1="0.454482" value2="-0.796962" value3="0.397845"/>
      <parameter id="H" type="float_3" value1="1292.08" value2="197.658" value3="199.947"/>
      <parameter id="V" type="float_3" value1="-2.73085" value2="10.7024" value3="1325.09"/>
      <parameter id="O" type="float_3" value1="0.453217" value2="-0.795972" value3="0.401255"/>
      <parameter id="R" type="float_3" value1="1.38803e-05" value2="0.00182019" value3="-0.00568704"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="96" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.548078"/>
      <parameter id="Y" value="0.983514"/>
      <parameter id="Z" value="-0.146051"/>
      <parameter id="Normal_X" value="0.116271"/>
      <parameter id="Normal_Y" value="-0.0259755"/>
      <parameter id="Normal_Z" value="-0.983596"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
