<?xml version="1.0" encoding="UTF-8"?>
<pointing_correction mission="MSL:MSL">
  <origination id="mslopgs" institution="mipl" program="marsnav">
    <purpose>A pointing correction file for one mosaic might look for MSL:MSL</purpose>
  </origination>
  <static_parameters file="MSL:MSL_mast.point" instrument="NAV_RIGHT_B" solution_id="mslopgs"/>
  <calibration calibration_id="7" frame_id="RIGHT" instrument="NAV_RIGHT_B" solution_id="mslopgs"/>
  <priority>
    <entry solution_id="mslopgs"/>
  </priority>
  <solution index1="103" index2="112" index3="4" 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_744253399">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.275"/>
        <parameter id="Joint Elevation" value="38.3863"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.48"/>
      <parameter id="Joint Elevation" value="38.335"/>
      <parameter id="Twist" value="-0.340755"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.974575" value2="0.714832" value3="-1.83531"/>
      <parameter id="A" type="float_3" value1="0.554669" value2="-0.233088" value3="0.798746"/>
      <parameter id="H" type="float_3" value1="764.77" value2="1002.24" value3="399.1"/>
      <parameter id="V" type="float_3" value1="-606.342" value2="268.826" value3="1147.15"/>
      <parameter id="O" type="float_3" value1="0.551719" value2="-0.232478" value3="0.800964"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253431">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.889"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.086"/>
      <parameter id="Joint Elevation" value="38.4306"/>
      <parameter id="Twist" value="-0.287127"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875699" value2="0.778617" value3="-1.83557"/>
      <parameter id="A" type="float_3" value1="0.598625" value2="0.071928" value3="0.797783"/>
      <parameter id="H" type="float_3" value1="169.466" value2="1249.39" value3="398.656"/>
      <parameter id="V" type="float_3" value1="-658.104" value2="-66.1715" value3="1148.21"/>
      <parameter id="O" type="float_3" value1="0.595761" value2="0.070999" value3="0.800007"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253521">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="89.4559"/>
        <parameter id="Joint Elevation" value="77.3785"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="89.4341"/>
      <parameter id="Joint Elevation" value="77.271"/>
      <parameter id="Twist" value="-0.125058"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00976" value2="0.433267" value3="-1.91181"/>
      <parameter id="A" type="float_3" value1="-0.0309736" value2="-0.969706" value3="0.242267"/>
      <parameter id="H" type="float_3" value1="1203.84" value2="-534.738" value3="116.035"/>
      <parameter id="V" type="float_3" value1="1.03761" value2="-206.482" value3="1308.9"/>
      <parameter id="O" type="float_3" value1="-0.0315411" value2="-0.968786" value3="0.245849"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253552">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="118.526"/>
        <parameter id="Joint Elevation" value="73.3713"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="118.58"/>
      <parameter id="Joint Elevation" value="73.2855"/>
      <parameter id="Twist" value="-0.183415"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04526" value2="0.549095" value3="-1.90344"/>
      <parameter id="A" type="float_3" value1="0.43632" value2="-0.844848" value3="0.309581"/>
      <parameter id="H" type="float_3" value1="1307.75" value2="127.147" value3="149.157"/>
      <parameter id="V" type="float_3" value1="60.4199" value2="-97.3655" value3="1320.13"/>
      <parameter id="O" type="float_3" value1="0.435266" value2="-0.844097" value3="0.313093"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253576">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="148.935"/>
        <parameter id="Joint Elevation" value="69.4866"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="149.008"/>
      <parameter id="Joint Elevation" value="69.4399"/>
      <parameter id="Twist" value="-0.192764"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01696" value2="0.672684" value3="-1.89544"/>
      <parameter id="A" type="float_3" value1="0.78465" value2="-0.495144" value3="0.373016"/>
      <parameter id="H" type="float_3" value1="1053.93" value2="777.864" value3="181.068"/>
      <parameter id="V" type="float_3" value1="26.2365" value2="-5.13364" value3="1324.82"/>
      <parameter id="O" type="float_3" value1="0.783163" value2="-0.494903" value3="0.376443"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253608">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="180.346"/>
        <parameter id="Joint Elevation" value="71.8197"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="180.38"/>
      <parameter id="Joint Elevation" value="71.814"/>
      <parameter id="Twist" value="-0.176863"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.927267" value2="0.766735" value3="-1.90049"/>
      <parameter id="A" type="float_3" value1="0.942312" value2="-0.0142942" value3="0.334406"/>
      <parameter id="H" type="float_3" value1="501.809" value2="1212.81" value3="160.944"/>
      <parameter id="V" type="float_3" value1="79.7348" value2="8.78435" value3="1322.67"/>
      <parameter id="O" type="float_3" value1="0.941059" value2="-0.0148643" value3="0.33789"/>
      <parameter id="R" type="float_3" value1="1.35787e-05" value2="0.00183074" value3="-0.0057552"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253640">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.348"/>
        <parameter id="Joint Elevation" value="74.1711"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.436"/>
      <parameter id="Joint Elevation" value="74.1966"/>
      <parameter id="Twist" value="-0.0578891"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.802836" value2="0.800416" value3="-1.90559"/>
      <parameter id="A" type="float_3" value1="0.82589" value2="0.480599" value3="0.29481"/>
      <parameter id="H" type="float_3" value1="-191.02" value2="1300.71" value3="142.447"/>
      <parameter id="V" type="float_3" value1="112.322" value2="74.7458" value3="1318.21"/>
      <parameter id="O" type="float_3" value1="0.825242" value2="0.479534" value3="0.298339"/>
      <parameter id="R" type="float_3" value1="1.35486e-05" value2="0.0018318" value3="-0.00576202"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744253916">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.942"/>
        <parameter id="Joint Elevation" value="43.9397"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.028"/>
      <parameter id="Joint Elevation" value="43.9995"/>
      <parameter id="Twist" value="-0.0266931"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790171" value2="0.792223" value3="-1.84539"/>
      <parameter id="A" type="float_3" value1="0.587918" value2="0.336881" value3="0.735423"/>
      <parameter id="H" type="float_3" value1="-302.216" value2="1233.26" value3="369.309"/>
      <parameter id="V" type="float_3" value1="-478.213" value2="-264.951" value3="1207.04"/>
      <parameter id="O" type="float_3" value1="0.585857" value2="0.335013" value3="0.737917"/>
      <parameter id="R" type="float_3" value1="1.34581e-05" value2="0.00183497" value3="-0.00578247"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744253948">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.055"/>
        <parameter id="Joint Elevation" value="44.0818"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.055"/>
      <parameter id="Joint Elevation" value="44.0818"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675633" value2="0.753915" value3="-1.84566"/>
      <parameter id="A" type="float_3" value1="0.340867" value2="0.587148" value3="0.734201"/>
      <parameter id="H" type="float_3" value1="-878.791" value2="916.79" value3="368.608"/>
      <parameter id="V" type="float_3" value1="-280.244" value2="-466.873" value3="1208.03"/>
      <parameter id="O" type="float_3" value1="0.340019" value2="0.584501" value3="0.736701"/>
      <parameter id="R" type="float_3" value1="1.34883e-05" value2="0.00183391" value3="-0.00577565"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744253979">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.121"/>
        <parameter id="Joint Elevation" value="44.0476"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.068"/>
      <parameter id="Joint Elevation" value="43.9851"/>
      <parameter id="Twist" value="0.079996"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595619" value2="0.663305" value3="-1.84556"/>
      <parameter id="A" type="float_3" value1="0.00136564" value2="0.678046" value3="0.735007"/>
      <parameter id="H" type="float_3" value1="-1219.6" value2="352.59" value3="370.006"/>
      <parameter id="V" type="float_3" value1="-7.60157" value2="-545.887" value3="1207.4"/>
      <parameter id="O" type="float_3" value1="0.00196016" value2="0.675326" value3="0.737505"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744254011">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.932"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.914"/>
      <parameter id="Joint Elevation" value="43.9017"/>
      <parameter id="Twist" value="0.0883288"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.57166" value2="0.545528" value3="-1.84544"/>
      <parameter id="A" type="float_3" value1="-0.335823" value2="0.588231" value3="0.735657"/>
      <parameter id="H" type="float_3" value1="-1233.03" value2="-301.524" value3="370.62"/>
      <parameter id="V" type="float_3" value1="265.94" value2="-478.109" value3="1206.88"/>
      <parameter id="O" type="float_3" value1="-0.333952" value2="0.586166" value3="0.738152"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" 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_744254043">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.909"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.87"/>
      <parameter id="Joint Elevation" value="43.8425"/>
      <parameter id="Twist" value="0.0153556"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609751" value2="0.431117" value3="-1.84529"/>
      <parameter id="A" type="float_3" value1="-0.58413" value2="0.341939" value3="0.736107"/>
      <parameter id="H" type="float_3" value1="-918.443" value2="-876.368" value3="370.243"/>
      <parameter id="V" type="float_3" value1="469.275" value2="-282.807" value3="1206.51"/>
      <parameter id="O" type="float_3" value1="-0.581477" value2="0.34108" value3="0.738601"/>
      <parameter id="R" type="float_3" value1="1.35184e-05" value2="0.00183285" value3="-0.00576883"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744257388">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="242.094"/>
        <parameter id="Joint Elevation" value="75.729"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="242.11"/>
      <parameter id="Joint Elevation" value="75.7626"/>
      <parameter id="Twist" value="-0.0122737"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.680132" value2="0.765814" value3="-1.90899"/>
      <parameter id="A" type="float_3" value1="0.46888" value2="0.841543" value3="0.268217"/>
      <parameter id="H" type="float_3" value1="-826.126" value2="1024.47" value3="129.371"/>
      <parameter id="V" type="float_3" value1="76.611" value2="153.108" value3="1313.94"/>
      <parameter id="O" type="float_3" value1="0.468923" value2="0.840387" value3="0.271745"/>
      <parameter id="R" type="float_3" value1="1.31565e-05" value2="0.00184552" value3="-0.00585063"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744257428">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="272.947"/>
        <parameter id="Joint Elevation" value="75.9696"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="272.991"/>
      <parameter id="Joint Elevation" value="75.9381"/>
      <parameter id="Twist" value="0.119933"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.591832" value2="0.672714" value3="-1.90944"/>
      <parameter id="A" type="float_3" value1="-0.0295659" value2="0.963851" value3="0.264766"/>
      <parameter id="H" type="float_3" value1="-1234.84" value2="454.932" value3="130.163"/>
      <parameter id="V" type="float_3" value1="-10.3256" value2="175.521" value3="1313.34"/>
      <parameter id="O" type="float_3" value1="-0.0289292" value2="0.962892" value3="0.2683"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744257459">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="303.493"/>
        <parameter id="Joint Elevation" value="75.0821"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="303.541"/>
      <parameter id="Joint Elevation" value="74.9566"/>
      <parameter id="Twist" value="0.0422115"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.563746" value2="0.548917" value3="-1.90742"/>
      <parameter id="A" type="float_3" value1="-0.512941" value2="0.811201" value3="0.280763"/>
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      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744257490">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="332.913"/>
        <parameter id="Joint Elevation" value="78.8058"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="332.886"/>
      <parameter id="Joint Elevation" value="78.6559"/>
      <parameter id="Twist" value="0.0195941"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.600079" value2="0.432126" value3="-1.91511"/>
      <parameter id="A" type="float_3" value1="-0.858849" value2="0.463545" value3="0.217916"/>
      <parameter id="H" type="float_3" value1="-1018.37" value2="-837.059" value3="104.815"/>
      <parameter id="V" type="float_3" value1="-213.311" value2="107.865" value3="1303.32"/>
      <parameter id="O" type="float_3" value1="-0.857853" value2="0.463692" value3="0.221497"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744257574">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="2.12242"/>
        <parameter id="Joint Elevation" value="81.3216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="2.10062"/>
      <parameter id="Joint Elevation" value="81.1475"/>
      <parameter id="Twist" value="-0.0101079"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.688715" value2="0.348551" value3="-1.92021"/>
      <parameter id="A" type="float_3" value1="-0.984422" value2="-0.0146233" value3="0.175163"/>
      <parameter id="H" type="float_3" value1="-484.53" value2="-1227.64" value3="82.9744"/>
      <parameter id="V" type="float_3" value1="-295.39" value2="-10.792" value3="1291.66"/>
      <parameter id="O" type="float_3" value1="-0.983782" value2="-0.014011" value3="0.178771"/>
      <parameter id="R" type="float_3" value1="1.31867e-05" value2="0.00184447" value3="-0.00584381"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744257605">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="30.9565"/>
        <parameter id="Joint Elevation" value="81.9232"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="30.9903"/>
      <parameter id="Joint Elevation" value="81.749"/>
      <parameter id="Twist" value="-0.0562775"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.805139" value2="0.318924" value3="-1.92134"/>
      <parameter id="A" type="float_3" value1="-0.856418" value2="-0.489207" value3="0.164948"/>
      <parameter id="H" type="float_3" value1="167.992" value2="-1309.4" value3="77.3766"/>
      <parameter id="V" type="float_3" value1="-264.858" value2="-159.111" value3="1288.53"/>
      <parameter id="O" type="float_3" value1="-0.856185" value2="-0.488381" value3="0.168565"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_744257636">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="59.9543"/>
        <parameter id="Joint Elevation" value="80.4828"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="59.965"/>
      <parameter id="Joint Elevation" value="80.339"/>
      <parameter id="Twist" value="-0.210027"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.921387" value2="0.349038" value3="-1.9183"/>
      <parameter id="A" type="float_3" value1="-0.510011" value2="-0.839022" value3="0.18951"/>
      <parameter id="H" type="float_3" value1="781.977" value2="-1062.85" value3="87.1373"/>
      <parameter id="V" type="float_3" value1="-135.485" value2="-241.408" value3="1295.82"/>
      <parameter id="O" type="float_3" value1="-0.510152" value2="-0.838114" value3="0.193115"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.0343219"/>
      <parameter id="Y" value="0.204334"/>
      <parameter id="Z" value="0.0591758"/>
      <parameter id="Normal_X" value="0.109337"/>
      <parameter id="Normal_Y" value="0.0648633"/>
      <parameter id="Normal_Z" value="-0.843584"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="112" index3="4" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
