<?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="99" index2="1450" 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_726679334">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.232"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.213"/>
      <parameter id="Joint Elevation" value="38.5376"/>
      <parameter id="Twist" value="0.096095"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975539" value2="0.713979" value3="-1.83565"/>
      <parameter id="A" type="float_3" value1="0.556168" value2="-0.236769" value3="0.796619"/>
      <parameter id="H" type="float_3" value1="763.796" value2="1001.14" value3="403.412"/>
      <parameter id="V" type="float_3" value1="-604.922" value2="261.463" value3="1149.7"/>
      <parameter id="O" type="float_3" value1="0.553177" value2="-0.236152" value3="0.798881"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726679366">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.049"/>
        <parameter id="Joint Elevation" value="38.3945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.042"/>
      <parameter id="Joint Elevation" value="38.3951"/>
      <parameter id="Twist" value="0.096038"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875818" value2="0.778597" value3="-1.83551"/>
      <parameter id="A" type="float_3" value1="0.59818" value2="0.071406" value3="0.798164"/>
      <parameter id="H" type="float_3" value1="163.567" value2="1248.5" value3="403.569"/>
      <parameter id="V" type="float_3" value1="-657.813" value2="-73.8358" value3="1148.02"/>
      <parameter id="O" type="float_3" value1="0.595268" value2="0.0704546" value3="0.800422"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726679453">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="105.977"/>
        <parameter id="Joint Elevation" value="65.6455"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="106.277"/>
      <parameter id="Joint Elevation" value="65.8129"/>
      <parameter id="Twist" value="-0.0447793"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03721" value2="0.499328" value3="-1.88789"/>
      <parameter id="A" type="float_3" value1="0.233645" value2="-0.871844" value3="0.430443"/>
      <parameter id="H" type="float_3" value1="1298.33" value2="-130.447" value3="213.826"/>
      <parameter id="V" type="float_3" value1="-9.28476" value2="57.5303" value3="1323.9"/>
      <parameter id="O" type="float_3" value1="0.232649" value2="-0.870431" value3="0.43383"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726679485">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="137.872"/>
        <parameter id="Joint Elevation" value="61.177"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="138.031"/>
      <parameter id="Joint Elevation" value="61.3557"/>
      <parameter id="Twist" value="0.163507"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03271" value2="0.632002" value3="-1.87874"/>
      <parameter id="A" type="float_3" value1="0.631012" value2="-0.593392" value3="0.499693"/>
      <parameter id="H" type="float_3" value1="1157.91" value2="586.261" value3="252.821"/>
      <parameter id="V" type="float_3" value1="-116.236" value2="111.849" value3="1315.33"/>
      <parameter id="O" type="float_3" value1="0.629223" value2="-0.592545" value3="0.502943"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726679510">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="171.289"/>
        <parameter id="Joint Elevation" value="60.4293"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="171.347"/>
      <parameter id="Joint Elevation" value="60.5301"/>
      <parameter id="Twist" value="0.152727"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.95494" value2="0.745509" value3="-1.87714"/>
      <parameter id="A" type="float_3" value1="0.845966" value2="-0.147748" value3="0.512343"/>
      <parameter id="H" type="float_3" value1="642.048" value2="1126.66" value3="258.455"/>
      <parameter id="V" type="float_3" value1="-177.396" value2="33.8309" value3="1312.82"/>
      <parameter id="O" type="float_3" value1="0.84396" value2="-0.148012" value3="0.515566"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726679535">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="204.167"/>
        <parameter id="Joint Elevation" value="63.6373"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="204.167"/>
      <parameter id="Joint Elevation" value="63.6373"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.831352" value2="0.797901" value3="-1.88361"/>
      <parameter id="A" type="float_3" value1="0.815354" value2="0.344921" value3="0.464984"/>
      <parameter id="H" type="float_3" value1="-57.4153" value2="1300.71" value3="230.713"/>
      <parameter id="V" type="float_3" value1="-103.095" value2="-36.204" value3="1320.68"/>
      <parameter id="O" type="float_3" value1="0.81397" value2="0.343691" value3="0.468308"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726679560">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="234.806"/>
        <parameter id="Joint Elevation" value="69.7393"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="234.905"/>
      <parameter id="Joint Elevation" value="69.5953"/>
      <parameter id="Twist" value="-0.0305031"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.7067" value2="0.779496" value3="-1.89608"/>
      <parameter id="A" type="float_3" value1="0.550259" value2="0.748397" value3="0.370271"/>
      <parameter id="H" type="float_3" value1="-701.267" value2="1106.25" value3="181.135"/>
      <parameter id="V" type="float_3" value1="10.7971" value2="28.1312" value3="1324.85"/>
      <parameter id="O" type="float_3" value1="0.549905" value2="0.746921" value3="0.373761"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680055">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="4.93837"/>
        <parameter id="Joint Elevation" value="93.6826"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="5.1851"/>
      <parameter id="Joint Elevation" value="93.3874"/>
      <parameter id="Twist" value="-0.0384482"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.70593" value2="0.342961" value3="-1.94511"/>
      <parameter id="A" type="float_3" value1="-0.99693" value2="-0.0685946" value3="-0.0375286"/>
      <parameter id="H" type="float_3" value1="-423.568" value2="-1252.33" value3="-25.9684"/>
      <parameter id="V" type="float_3" value1="-561.131" value2="-45.5175" value3="1199.64"/>
      <parameter id="O" type="float_3" value1="-0.997104" value2="-0.0680116" value3="-0.0337821"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680092">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="34.0672"/>
        <parameter id="Joint Elevation" value="89.209"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="34.3786"/>
      <parameter id="Joint Elevation" value="88.9986"/>
      <parameter id="Twist" value="-0.363321"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.821813" value2="0.320911" value3="-1.9362"/>
      <parameter id="A" type="float_3" value1="-0.8368" value2="-0.546088" value3="0.0392131"/>
      <parameter id="H" type="float_3" value1="240.404" value2="-1300.22" value3="6.75528"/>
      <parameter id="V" type="float_3" value1="-385.777" value2="-267.569" value3="1239.23"/>
      <parameter id="O" type="float_3" value1="-0.836984" value2="-0.545523" value3="0.0429667"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680130">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="62.9354"/>
        <parameter id="Joint Elevation" value="82.6474"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="63.271"/>
      <parameter id="Joint Elevation" value="82.6391"/>
      <parameter id="Twist" value="-0.510097"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.933659" value2="0.35663" value3="-1.92306"/>
      <parameter id="A" type="float_3" value1="-0.463942" value2="-0.873062" value3="0.150016"/>
      <parameter id="H" type="float_3" value1="840.201" value2="-1019.21" value3="60.6078"/>
      <parameter id="V" type="float_3" value1="-140.134" value2="-297.748" value3="1283.68"/>
      <parameter id="O" type="float_3" value1="-0.464172" value2="-0.872292" value3="0.153733"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680155">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="93.4781"/>
        <parameter id="Joint Elevation" value="80.6404"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="93.8015"/>
      <parameter id="Joint Elevation" value="80.8101"/>
      <parameter id="Twist" value="-0.172257"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01879" value2="0.449864" value3="-1.91918"/>
      <parameter id="A" type="float_3" value1="0.0436037" value2="-0.982323" value3="0.181999"/>
      <parameter id="H" type="float_3" value1="1241.36" value2="-447.587" value3="84.194"/>
      <parameter id="V" type="float_3" value1="21.3498" value2="-286.199" value3="1293.73"/>
      <parameter id="O" type="float_3" value1="0.0429859" value2="-0.981659" value3="0.18569"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680179">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="124.414"/>
        <parameter id="Joint Elevation" value="79.8422"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="124.72"/>
      <parameter id="Joint Elevation" value="80.0129"/>
      <parameter id="Twist" value="0.118004"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04473" value2="0.575385" value3="-1.9175"/>
      <parameter id="A" type="float_3" value1="0.540649" value2="-0.818049" value3="0.196159"/>
      <parameter id="H" type="float_3" value1="1293.62" value2="255.914" value3="97.2879"/>
      <parameter id="V" type="float_3" value1="150.082" value2="-222.259" value3="1297.76"/>
      <parameter id="O" type="float_3" value1="0.539734" value2="-0.817763" value3="0.199837"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680209">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="155.038"/>
        <parameter id="Joint Elevation" value="72.3256"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="155.136"/>
      <parameter id="Joint Elevation" value="72.3871"/>
      <parameter id="Twist" value="0.117351"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00401" value2="0.694587" value3="-1.90161"/>
      <parameter id="A" type="float_3" value1="0.849147" value2="-0.4164" value3="0.324876"/>
      <parameter id="H" type="float_3" value1="970.539" value2="883.217" value3="162.425"/>
      <parameter id="V" type="float_3" value1="85.0145" value2="-38.1484" value3="1321.9"/>
      <parameter id="O" type="float_3" value1="0.84778" value2="-0.416403" value3="0.328422"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680234">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="186.373"/>
        <parameter id="Joint Elevation" value="73.5042"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680733">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.041"/>
        <parameter id="Joint Elevation" value="44.0791"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.112"/>
      <parameter id="Joint Elevation" value="43.935"/>
      <parameter id="Twist" value="-0.0367707"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675324" value2="0.753668" value3="-1.8454"/>
      <parameter id="A" type="float_3" value1="0.339323" value2="0.585858" value3="0.735944"/>
      <parameter id="H" type="float_3" value1="-879.979" value2="915.444" value3="368.795"/>
      <parameter id="V" type="float_3" value1="-281.932" value2="-469.31" value3="1206.8"/>
      <parameter id="O" type="float_3" value1="0.338445" value2="0.58317" value3="0.738479"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680758">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.985"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.071"/>
      <parameter id="Joint Elevation" value="43.9141"/>
      <parameter id="Twist" value="-0.0234302"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595575" value2="0.663216" value3="-1.84544"/>
      <parameter id="A" type="float_3" value1="0.0013234" value2="0.677127" value3="0.735854"/>
      <parameter id="H" type="float_3" value1="-1219.6" value2="353.531" value3="368.775"/>
      <parameter id="V" type="float_3" value1="-9.77958" value2="-547.234" value3="1206.87"/>
      <parameter id="O" type="float_3" value1="0.00190576" value2="0.67436" value3="0.738389"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680790">
      <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="301.01"/>
      <parameter id="Joint Elevation" value="43.9026"/>
      <parameter id="Twist" value="0.0929031"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571652" value2="0.545114" value3="-1.84544"/>
      <parameter id="A" type="float_3" value1="-0.336822" value2="0.587666" value3="0.735651"/>
      <parameter id="H" type="float_3" value1="-1232.41" value2="-303.8" value3="370.51"/>
      <parameter id="V" type="float_3" value1="266.755" value2="-477.473" value3="1207.04"/>
      <parameter id="O" type="float_3" value1="-0.33493" value2="0.585565" value3="0.738187"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680822">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.905"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.853"/>
      <parameter id="Joint Elevation" value="43.8363"/>
      <parameter id="Twist" value="0.232577"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609702" value2="0.431135" value3="-1.84528"/>
      <parameter id="A" type="float_3" value1="-0.583956" value2="0.342063" value3="0.736187"/>
      <parameter id="H" type="float_3" value1="-915.596" value2="-877.941" value3="373.233"/>
      <parameter id="V" type="float_3" value1="471.531" value2="-278.955" value3="1206.63"/>
      <parameter id="O" type="float_3" value1="-0.581262" value2="0.341188" value3="0.73872"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" 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="0.0927537"/>
      <parameter id="Y" value="-0.816213"/>
      <parameter id="Z" value="0.00836413"/>
      <parameter id="Normal_X" value="0.128172"/>
      <parameter id="Normal_Y" value="-0.0114453"/>
      <parameter id="Normal_Z" value="-0.751687"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
