<?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="101" index2="1492" 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_739547985">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.119"/>
        <parameter id="Joint Elevation" value="38.3863"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.184"/>
      <parameter id="Joint Elevation" value="38.4096"/>
      <parameter id="Twist" value="-0.138099"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975458" value2="0.713916" value3="-1.83543"/>
      <parameter id="A" type="float_3" value1="0.554419" value2="-0.236354" value3="0.79796"/>
      <parameter id="H" type="float_3" value1="767.253" value2="999.465" value3="401.3"/>
      <parameter id="V" type="float_3" value1="-605.298" value2="267.398" value3="1148.03"/>
      <parameter id="O" type="float_3" value1="0.551473" value2="-0.235744" value3="0.800179"/>
      <parameter id="R" type="float_3" value1="1.34883e-05" value2="0.00183391" value3="-0.00577565"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548017">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.025"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.125"/>
      <parameter id="Joint Elevation" value="38.3751"/>
      <parameter id="Twist" value="-0.0940778"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875483" value2="0.778656" value3="-1.83547"/>
      <parameter id="A" type="float_3" value1="0.597808" value2="0.0722406" value3="0.798367"/>
      <parameter id="H" type="float_3" value1="164.98" value2="1249.1" value3="401.446"/>
      <parameter id="V" type="float_3" value1="-658.705" value2="-70.8333" value3="1147.59"/>
      <parameter id="O" type="float_3" value1="0.594947" value2="0.0712973" value3="0.800586"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548099">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="134.56"/>
        <parameter id="Joint Elevation" value="70.0258"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="134.575"/>
      <parameter id="Joint Elevation" value="69.999"/>
      <parameter id="Twist" value="-0.182005"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03855" value2="0.616081" value3="-1.89659"/>
      <parameter id="A" type="float_3" value1="0.638935" value2="-0.67779" value3="0.363794"/>
      <parameter id="H" type="float_3" value1="1215.69" value2="489.372" value3="176.793"/>
      <parameter id="V" type="float_3" value1="32.7772" value2="-21.3917" value3="1324.51"/>
      <parameter id="O" type="float_3" value1="0.637578" value2="-0.677214" value3="0.36723"/>
      <parameter id="R" type="float_3" value1="1.34883e-05" value2="0.00183391" value3="-0.00577565"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548131">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="165.804"/>
        <parameter id="Joint Elevation" value="63.195"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="165.868"/>
      <parameter id="Joint Elevation" value="63.2312"/>
      <parameter id="Twist" value="-0.116077"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.973201" value2="0.729925" value3="-1.88263"/>
      <parameter id="A" type="float_3" value1="0.850358" value2="-0.23404" value3="0.471275"/>
      <parameter id="H" type="float_3" value1="760.761" value2="1056.29" value3="232.683"/>
      <parameter id="V" type="float_3" value1="-112.185" value2="39.5794" value3="1319.74"/>
      <parameter id="O" type="float_3" value1="0.848516" value2="-0.23415" value3="0.474529"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548163">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="199.859"/>
        <parameter id="Joint Elevation" value="61.2263"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="199.859"/>
      <parameter id="Joint Elevation" value="61.2263"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.848209" value2="0.794835" value3="-1.87866"/>
      <parameter id="A" type="float_3" value1="0.819679" value2="0.276184" value3="0.501828"/>
      <parameter id="H" type="float_3" value1="31.0669" value2="1298.18" value3="249.811"/>
      <parameter id="V" type="float_3" value1="-158.278" value2="-46.2111" value3="1314.79"/>
      <parameter id="O" type="float_3" value1="0.818109" value2="0.275023" value3="0.505019"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548195">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="232.954"/>
        <parameter id="Joint Elevation" value="65.1035"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="233.007"/>
      <parameter id="Joint Elevation" value="65.0155"/>
      <parameter id="Twist" value="0.0932685"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.713334" value2="0.781659" value3="-1.88657"/>
      <parameter id="A" type="float_3" value1="0.554561" value2="0.70424" value3="0.443274"/>
      <parameter id="H" type="float_3" value1="-674.8" value2="1115.54" value3="221.017"/>
      <parameter id="V" type="float_3" value1="-51.8897" value2="-57.2299" value3="1322.84"/>
      <parameter id="O" type="float_3" value1="0.554018" value2="0.702576" value3="0.44658"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548220">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="263.646"/>
        <parameter id="Joint Elevation" value="73.5655"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="263.679"/>
      <parameter id="Joint Elevation" value="73.3804"/>
      <parameter id="Twist" value="0.127391"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.612944" value2="0.705653" value3="-1.90407"/>
      <parameter id="A" type="float_3" value1="0.125041" value2="0.943224" value3="0.307694"/>
      <parameter id="H" type="float_3" value1="-1145.84" value2="642.267" value3="152.195"/>
      <parameter id="V" type="float_3" value1="10.5989" value2="116.463" value3="1319.92"/>
      <parameter id="O" type="float_3" value1="0.12549" value2="0.942012" value3="0.311207"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548627">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="33.9543"/>
        <parameter id="Joint Elevation" value="99.6838"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="34.0697"/>
      <parameter id="Joint Elevation" value="99.3208"/>
      <parameter id="Twist" value="-0.181573"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.826636" value2="0.324802" value3="-1.95649"/>
      <parameter id="A" type="float_3" value1="-0.831989" value2="-0.536696" value3="-0.140482"/>
      <parameter id="H" type="float_3" value1="238.753" value2="-1298.14" value3="-80.7678"/>
      <parameter id="V" type="float_3" value1="-569.311" value2="-378.352" value3="1135.14"/>
      <parameter id="O" type="float_3" value1="-0.832739" value2="-0.536474" value3="-0.136836"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548651">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="65.8053"/>
        <parameter id="Joint Elevation" value="103.636"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="65.8121"/>
      <parameter id="Joint Elevation" value="103.409"/>
      <parameter id="Twist" value="-0.30257"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.948442" value2="0.375012" value3="-1.96399"/>
      <parameter id="A" type="float_3" value1="-0.419733" value2="-0.882938" value3="-0.210306"/>
      <parameter id="H" type="float_3" value1="889.294" value2="-971.512" value3="-118.272"/>
      <parameter id="V" type="float_3" value1="-316.944" value2="-693.337" value3="1083.82"/>
      <parameter id="O" type="float_3" value1="-0.420592" value2="-0.88338" value3="-0.2067"/>
      <parameter id="R" type="float_3" value1="1.34279e-05" value2="0.00183602" value3="-0.00578928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548682">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="94.3828"/>
        <parameter id="Joint Elevation" value="94.2258"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="94.4114"/>
      <parameter id="Joint Elevation" value="94.0862"/>
      <parameter id="Twist" value="-0.285292"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01959" value2="0.458377" value3="-1.94617"/>
      <parameter id="A" type="float_3" value1="0.0551444" value2="-0.997283" value3="-0.048672"/>
      <parameter id="H" type="float_3" value1="1246.47" value2="-440.102" value3="-35.7555"/>
      <parameter id="V" type="float_3" value1="42.7958" value2="-574.561" value3="1193.27"/>
      <parameter id="O" type="float_3" value1="0.054568" value2="-0.997488" value3="-0.0449862"/>
      <parameter id="R" type="float_3" value1="1.34581e-05" value2="0.00183497" value3="-0.00578247"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548706">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="122.843"/>
        <parameter id="Joint Elevation" value="84.0741"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="122.887"/>
      <parameter id="Joint Elevation" value="84.0834"/>
      <parameter id="Twist" value="-0.238687"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0445" value2="0.568632" value3="-1.92593"/>
      <parameter id="A" type="float_3" value1="0.520273" value2="-0.844641" value3="0.126023"/>
      <parameter id="H" type="float_3" value1="1304.69" value2="208.639" value3="54.0799"/>
      <parameter id="V" type="float_3" value1="197.213" value2="-300.662" value3="1275.36"/>
      <parameter id="O" type="float_3" value1="0.519524" value2="-0.844548" value3="0.129682"/>
      <parameter id="R" type="float_3" value1="1.34581e-05" value2="0.00183497" value3="-0.00578247"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548737">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="152.341"/>
        <parameter id="Joint Elevation" value="75.7811"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="152.336"/>
      <parameter id="Joint Elevation" value="75.8285"/>
      <parameter id="Twist" value="-0.160478"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0104" value2="0.684621" value3="-1.9088"/>
      <parameter id="A" type="float_3" value1="0.843384" value2="-0.465981" value3="0.267486"/>
      <parameter id="H" type="float_3" value1="1021.86" value2="829.57" value3="127.583"/>
      <parameter id="V" type="float_3" value1="155.027" value2="-75.3334" value3="1313.82"/>
      <parameter id="O" type="float_3" value1="0.842228" value2="-0.466019" value3="0.271039"/>
      <parameter id="R" type="float_3" value1="1.34581e-05" value2="0.00183497" value3="-0.00578247"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548768">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="183.422"/>
        <parameter id="Joint Elevation" value="71.418"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="183.447"/>
      <parameter id="Joint Elevation" value="71.453"/>
      <parameter id="Twist" value="0.00451514"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.915965" value2="0.772998" value3="-1.89974"/>
      <parameter id="A" type="float_3" value1="0.939603" value2="0.0360689" value3="0.340335"/>
      <parameter id="H" type="float_3" value1="433.913" value2="1237.86" value3="167.565"/>
      <parameter id="V" type="float_3" value1="70.9275" value2="8.92896" value3="1323.15"/>
      <parameter id="O" type="float_3" value1="0.938366" value2="0.0354196" value3="0.3438"/>
      <parameter id="R" type="float_3" value1="1.34581e-05" value2="0.00183497" value3="-0.00578247"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739548799">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="215.2"/>
        <parameter id="Joint Elevation" value="72.4763"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739549397">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.195"/>
        <parameter id="Joint Elevation" value="44.0763"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.135"/>
      <parameter id="Joint Elevation" value="43.9909"/>
      <parameter id="Twist" value="0.140768"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675317" value2="0.753651" value3="-1.84549"/>
      <parameter id="A" type="float_3" value1="0.339464" value2="0.586615" value3="0.735276"/>
      <parameter id="H" type="float_3" value1="-881.472" value2="913.17" value3="371.209"/>
      <parameter id="V" type="float_3" value1="-277.973" value2="-470.44" value3="1207.17"/>
      <parameter id="O" type="float_3" value1="0.338628" value2="0.583963" value3="0.737768"/>
      <parameter id="R" type="float_3" value1="1.34279e-05" value2="0.00183602" value3="-0.00578928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739549428">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.982"/>
        <parameter id="Joint Elevation" value="44.0476"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.884"/>
      <parameter id="Joint Elevation" value="43.9397"/>
      <parameter id="Twist" value="0.125552"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595958" value2="0.663928" value3="-1.84548"/>
      <parameter id="A" type="float_3" value1="0.00354204" value2="0.677454" value3="0.735545"/>
      <parameter id="H" type="float_3" value1="-1218.47" value2="355.52" value3="370.962"/>
      <parameter id="V" type="float_3" value1="-8.39291" value2="-546.846" value3="1206.95"/>
      <parameter id="O" type="float_3" value1="0.00413144" value2="0.674736" value3="0.738036"/>
      <parameter id="R" type="float_3" value1="1.34279e-05" value2="0.00183602" value3="-0.00578928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739549460">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.935"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.807"/>
      <parameter id="Joint Elevation" value="43.8293"/>
      <parameter id="Twist" value="0.360842"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571677" value2="0.545895" value3="-1.84531"/>
      <parameter id="A" type="float_3" value1="-0.334275" value2="0.588043" value3="0.736511"/>
      <parameter id="H" type="float_3" value1="-1231.27" value2="-303.355" value3="375.006"/>
      <parameter id="V" type="float_3" value1="270.864" value2="-477.085" value3="1206.17"/>
      <parameter id="O" type="float_3" value1="-0.332394" value2="0.585987" value3="0.738997"/>
      <parameter id="R" type="float_3" value1="1.34279e-05" value2="0.00183602" value3="-0.00578928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="101" index2="1492" 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_739549492">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.048"/>
        <parameter id="Joint Elevation" value="43.9984"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.988"/>
      <parameter id="Joint Elevation" value="43.7384"/>
      <parameter id="Twist" value="0.0569546"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.610114" value2="0.430661" value3="-1.8451"/>
      <parameter id="A" type="float_3" value1="-0.58368" value2="0.340057" value3="0.737335"/>
      <parameter id="H" type="float_3" value1="-915.495" value2="-878.932" value3="371.491"/>
      <parameter id="V" type="float_3" value1="472.211" value2="-282.18" value3="1205.5"/>
      <parameter id="O" type="float_3" value1="-0.581024" value2="0.339206" value3="0.73982"/>
      <parameter id="R" type="float_3" value1="1.34581e-05" value2="0.00183497" value3="-0.00578247"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="101" index2="1492" 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="0.520175"/>
      <parameter id="Y" value="0.270159"/>
      <parameter id="Z" value="0.18977"/>
      <parameter id="Normal_X" value="0.307315"/>
      <parameter id="Normal_Y" value="0.0546004"/>
      <parameter id="Normal_Z" value="-1.04122"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="101" index2="1492" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
