<?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="96" index2="2376" 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_712917658">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.134"/>
        <parameter id="Joint Elevation" value="38.3905"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.158"/>
      <parameter id="Joint Elevation" value="38.4421"/>
      <parameter id="Twist" value="-0.0162921"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.97559" value2="0.713891" value3="-1.83549"/>
      <parameter id="A" type="float_3" value1="0.554712" value2="-0.236779" value3="0.79763"/>
      <parameter id="H" type="float_3" value1="765.783" value2="999.956" value3="402.325"/>
      <parameter id="V" type="float_3" value1="-605.388" value2="264.951" value3="1148.74"/>
      <parameter id="O" type="float_3" value1="0.551685" value2="-0.236129" value3="0.799918"/>
      <parameter id="R" type="float_3" value1="1.49058e-05" value2="0.0017843" value3="-0.00545529"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712917689">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.027"/>
        <parameter id="Joint Elevation" value="38.3905"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.071"/>
      <parameter id="Joint Elevation" value="38.3937"/>
      <parameter id="Twist" value="-0.0312763"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875698" value2="0.778666" value3="-1.83551"/>
      <parameter id="A" type="float_3" value1="0.598117" value2="0.0717113" value3="0.798184"/>
      <parameter id="H" type="float_3" value1="164.95" value2="1248.82" value3="401.78"/>
      <parameter id="V" type="float_3" value1="-658.01" value2="-71.4692" value3="1148.15"/>
      <parameter id="O" type="float_3" value1="0.595162" value2="0.0707665" value3="0.800473"/>
      <parameter id="R" type="float_3" value1="1.49661e-05" value2="0.00178219" value3="-0.00544166"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712917793">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="91.5569"/>
        <parameter id="Joint Elevation" value="89.6003"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="91.653"/>
      <parameter id="Joint Elevation" value="89.5417"/>
      <parameter id="Twist" value="-0.295687"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01456" value2="0.445315" value3="-1.93711"/>
      <parameter id="A" type="float_3" value1="0.00701452" value2="-0.999499" value3="0.0305927"/>
      <parameter id="H" type="float_3" value1="1223.81" value2="-500.46" value3="4.34428"/>
      <parameter id="V" type="float_3" value1="14.6181" value2="-480.072" value3="1235.16"/>
      <parameter id="O" type="float_3" value1="0.00643891" value2="-0.999379" value3="0.0343979"/>
      <parameter id="R" type="float_3" value1="1.49058e-05" value2="0.0017843" value3="-0.00545529"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712917824">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="118.075"/>
        <parameter id="Joint Elevation" value="75.7192"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="118.252"/>
      <parameter id="Joint Elevation" value="75.7299"/>
      <parameter id="Twist" value="-0.181159"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04526" value2="0.547763" value3="-1.90856"/>
      <parameter id="A" type="float_3" value1="0.437109" value2="-0.858306" value3="0.268758"/>
      <parameter id="H" type="float_3" value1="1310.95" value2="114.824" value3="128.165"/>
      <parameter id="V" type="float_3" value1="85.5052" value2="-148.153" value3="1314.17"/>
      <parameter id="O" type="float_3" value1="0.436123" value2="-0.857651" value3="0.272424"/>
      <parameter id="R" type="float_3" value1="1.49359e-05" value2="0.00178324" value3="-0.00544848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712917849">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="148.64"/>
        <parameter id="Joint Elevation" value="72.0408"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="148.745"/>
      <parameter id="Joint Elevation" value="72.0922"/>
      <parameter id="Twist" value="0.0107616"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01781" value2="0.671587" value3="-1.90098"/>
      <parameter id="A" type="float_3" value1="0.796102" value2="-0.507449" value3="0.329698"/>
      <parameter id="H" type="float_3" value1="1062.55" value2="769.849" value3="162.78"/>
      <parameter id="V" type="float_3" value1="75.8726" value2="-42.0487" value3="1322.42"/>
      <parameter id="O" type="float_3" value1="0.794718" value2="-0.507271" value3="0.333292"/>
      <parameter id="R" type="float_3" value1="1.49661e-05" value2="0.00178219" value3="-0.00544166"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712917873">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="180.121"/>
        <parameter id="Joint Elevation" value="69.0431"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="180.121"/>
      <parameter id="Joint Elevation" value="69.0431"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.927789" value2="0.766257" value3="-1.89471"/>
      <parameter id="A" type="float_3" value1="0.924966" value2="-0.0182198" value3="0.379592"/>
      <parameter id="H" type="float_3" value1="497.122" value2="1210.75" value3="187.429"/>
      <parameter id="V" type="float_3" value1="16.0326" value2="5.92103" value3="1325.15"/>
      <parameter id="O" type="float_3" value1="0.923501" value2="-0.018781" value3="0.383114"/>
      <parameter id="R" type="float_3" value1="1.49661e-05" value2="0.00178219" value3="-0.00544166"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712917905">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="212.256"/>
        <parameter id="Joint Elevation" value="71.2582"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="212.246"/>
      <parameter id="Joint Elevation" value="71.2125"/>
      <parameter id="Twist" value="-0.083508"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.799217" value2="0.800331" value3="-1.89936"/>
      <parameter id="A" type="float_3" value1="0.804726" value2="0.483684" value3="0.344165"/>
      <parameter id="H" type="float_3" value1="-216.547" value2="1293.6" value3="167.001"/>
      <parameter id="V" type="float_3" value1="52.3085" value2="41.5894" value3="1323.58"/>
      <parameter id="O" type="float_3" value1="0.803896" value2="0.482505" value3="0.347741"/>
      <parameter id="R" type="float_3" value1="1.49661e-05" value2="0.00178219" value3="-0.00544166"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712917955">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="345.994"/>
        <parameter id="Joint Elevation" value="103.618"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="346.427"/>
      <parameter id="Joint Elevation" value="103.035"/>
      <parameter id="Twist" value="0.324698"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.649427" value2="0.384049" value3="-1.9636"/>
      <parameter id="A" type="float_3" value1="-0.94629" value2="0.250463" value3="-0.204421"/>
      <parameter id="H" type="float_3" value1="-793.923" value2="-1052.21" value3="-103.544"/>
      <parameter id="V" type="float_3" value1="-730.9" value2="193.948" value3="1088.34"/>
      <parameter id="O" type="float_3" value1="-0.946878" value2="0.25125" value3="-0.200693"/>
      <parameter id="R" type="float_3" value1="1.49661e-05" value2="0.00178219" value3="-0.00544166"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712918039">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="16.9214"/>
        <parameter id="Joint Elevation" value="108.038"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="17.1434"/>
      <parameter id="Joint Elevation" value="107.402"/>
      <parameter id="Twist" value="-0.176277"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.765276" value2="0.330693" value3="-1.97133"/>
      <parameter id="A" type="float_3" value1="-0.923725" value2="-0.263124" value3="-0.278356"/>
      <parameter id="H" type="float_3" value1="-133.258" value2="-1306.79" value3="-150.769"/>
      <parameter id="V" type="float_3" value1="-802.234" value2="-238.397" value3="1027.58"/>
      <parameter id="O" type="float_3" value1="-0.924897" value2="-0.262855" value3="-0.274693"/>
      <parameter id="R" type="float_3" value1="1.49661e-05" value2="0.00178219" value3="-0.00544166"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712918070">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="48.0603"/>
        <parameter id="Joint Elevation" value="108.629"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="48.041"/>
      <parameter id="Joint Elevation" value="108.227"/>
      <parameter id="Twist" value="-0.831688"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.888958" value2="0.343669" value3="-1.97265"/>
      <parameter id="A" type="float_3" value1="-0.654663" value2="-0.69728" value3="-0.291892"/>
      <parameter id="H" type="float_3" value1="560.906" value2="-1185.12" value3="-170.407"/>
      <parameter id="V" type="float_3" value1="-565.979" value2="-636.235" value3="1015.48"/>
      <parameter id="O" type="float_3" value1="-0.655813" value2="-0.69772" value3="-0.288236"/>
      <parameter id="R" type="float_3" value1="1.49963e-05" value2="0.00178113" value3="-0.00543485"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712918101">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="79.016"/>
        <parameter id="Joint Elevation" value="105.204"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="79.1153"/>
      <parameter id="Joint Elevation" value="105.154"/>
      <parameter id="Twist" value="-0.53885"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.987484" value2="0.414836" value3="-1.96712"/>
      <parameter id="A" type="float_3" value1="-0.203824" value2="-0.949192" value3="-0.239737"/>
      <parameter id="H" type="float_3" value1="1090.12" value2="-735.394" value3="-137.861"/>
      <parameter id="V" type="float_3" value1="-150.944" value2="-780.817" value3="1060.13"/>
      <parameter id="O" type="float_3" value1="-0.20456" value2="-0.949963" value3="-0.236027"/>
      <parameter id="R" type="float_3" value1="1.50132e-05" value2="0.00178006" value3="-0.00542804"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712918131">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="108.974"/>
        <parameter id="Joint Elevation" value="98.8301"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="109.015"/>
      <parameter id="Joint Elevation" value="98.9296"/>
      <parameter id="Twist" value="-0.184813"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03704" value2="0.519519" value3="-1.95554"/>
      <parameter id="A" type="float_3" value1="0.302551" value2="-0.943861" value3="-0.132561"/>
      <parameter id="H" type="float_3" value1="1315.66" value2="-106.717" value3="-76.261"/>
      <parameter id="V" type="float_3" value1="214.486" value2="-639.98" value3="1140.51"/>
      <parameter id="O" type="float_3" value1="0.302149" value2="-0.944513" value3="-0.128778"/>
      <parameter id="R" type="float_3" value1="1.50132e-05" value2="0.00178006" value3="-0.00542804"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712918162">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="137.931"/>
        <parameter id="Joint Elevation" value="91.224"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="138.022"/>
      <parameter id="Joint Elevation" value="91.3314"/>
      <parameter id="Twist" value="0.00796168"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0313" value2="0.63342" value3="-1.94069"/>
      <parameter id="A" type="float_3" value1="0.728645" value2="-0.68488" value3="8.388e-05"/>
      <parameter id="H" type="float_3" value1="1206.58" value2="540.648" value3="-5.09984"/>
      <parameter id="V" type="float_3" value1="380.728" value2="-350.777" value3="1219.98"/>
      <parameter id="O" type="float_3" value1="0.728233" value2="-0.685307" value3="0.00389774"/>
      <parameter id="R" type="float_3" value1="1.50132e-05" value2="0.00178006" value3="-0.00542804"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712918186">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="167.035"/>
        <parameter id="Joint Elevation" value="84.3239"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712919080">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.198"/>
        <parameter id="Joint Elevation" value="44.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.035"/>
      <parameter id="Joint Elevation" value="44.0497"/>
      <parameter id="Twist" value="0.282016"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.67561" value2="0.753964" value3="-1.84561"/>
      <parameter id="A" type="float_3" value1="0.340848" value2="0.586664" value3="0.734596"/>
      <parameter id="H" type="float_3" value1="-880.988" value2="912.827" value3="372.517"/>
      <parameter id="V" type="float_3" value1="-275.418" value2="-470.143" value3="1208.08"/>
      <parameter id="O" type="float_3" value1="0.33996" value2="0.583935" value3="0.737177"/>
      <parameter id="R" type="float_3" value1="1.50132e-05" value2="0.00178006" value3="-0.00542804"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712919112">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.989"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.713"/>
      <parameter id="Joint Elevation" value="43.935"/>
      <parameter id="Twist" value="0.50092"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.596188" value2="0.66454" value3="-1.84548"/>
      <parameter id="A" type="float_3" value1="0.00556101" value2="0.677361" value3="0.735618"/>
      <parameter id="H" type="float_3" value1="-1217.46" value2="352.906" value3="376.03"/>
      <parameter id="V" type="float_3" value1="-2.03591" value2="-546.695" value3="1207.26"/>
      <parameter id="O" type="float_3" value1="0.00615464" value2="0.674548" value3="0.738194"/>
      <parameter id="R" type="float_3" value1="1.50132e-05" value2="0.00178006" value3="-0.00542804"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_712919144">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.928"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.706"/>
      <parameter id="Joint Elevation" value="43.7185"/>
      <parameter id="Twist" value="0.588349"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571642" value2="0.546158" value3="-1.84511"/>
      <parameter id="A" type="float_3" value1="-0.332528" value2="0.587375" value3="0.737834"/>
      <parameter id="H" type="float_3" value1="-1229.51" value2="-305.211" value3="378.561"/>
      <parameter id="V" type="float_3" value1="275.228" value2="-476.946" value3="1205.45"/>
      <parameter id="O" type="float_3" value1="-0.330599" value2="0.585231" value3="0.7404"/>
      <parameter id="R" type="float_3" value1="1.50132e-05" value2="0.00178006" value3="-0.00542804"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="96" index2="2376" 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_712919176">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.059"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.828"/>
      <parameter id="Joint Elevation" value="43.5203"/>
      <parameter id="Twist" value="0.543097"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.60992" value2="0.431013" value3="-1.84472"/>
      <parameter id="A" type="float_3" value1="-0.580293" value2="0.340247" value3="0.739915"/>
      <parameter id="H" type="float_3" value1="-909.836" value2="-881.145" value3="379.401"/>
      <parameter id="V" type="float_3" value1="480.36" value2="-276.75" value3="1203.75"/>
      <parameter id="O" type="float_3" value1="-0.577543" value2="0.339356" value3="0.742472"/>
      <parameter id="R" type="float_3" value1="1.50132e-05" value2="0.00178006" value3="-0.00542804"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.646031"/>
      <parameter id="Y" value="2.02954"/>
      <parameter id="Z" value="-0.0144497"/>
      <parameter id="Normal_X" value="0.174797"/>
      <parameter id="Normal_Y" value="-0.0217195"/>
      <parameter id="Normal_Z" value="-0.886424"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="96" index2="2376" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
