<?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="286" 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_744427672">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.123"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.289"/>
      <parameter id="Joint Elevation" value="38.3496"/>
      <parameter id="Twist" value="-0.27478"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975107" value2="0.714257" value3="-1.83533"/>
      <parameter id="A" type="float_3" value1="0.554079" value2="-0.235014" value3="0.798591"/>
      <parameter id="H" type="float_3" value1="767.17" value2="1000.1" value3="399.876"/>
      <parameter id="V" type="float_3" value1="-605.738" value2="269.436" value3="1147.32"/>
      <parameter id="O" type="float_3" value1="0.551132" value2="-0.234399" value3="0.800808"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744427704">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.027"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.182"/>
      <parameter id="Joint Elevation" value="38.4115"/>
      <parameter id="Twist" value="-0.205857"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.87531" value2="0.778732" value3="-1.83554"/>
      <parameter id="A" type="float_3" value1="0.598239" value2="0.0728953" value3="0.797984"/>
      <parameter id="H" type="float_3" value1="165.883" value2="1249.51" value3="399.811"/>
      <parameter id="V" type="float_3" value1="-658.183" value2="-69.033" value3="1147.99"/>
      <parameter id="O" type="float_3" value1="0.595379" value2="0.0719563" value3="0.800206"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744427778">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="137.818"/>
        <parameter id="Joint Elevation" value="76.0149"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="137.87"/>
      <parameter id="Joint Elevation" value="75.8361"/>
      <parameter id="Twist" value="-0.2322"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03515" value2="0.629218" value3="-1.90879"/>
      <parameter id="A" type="float_3" value1="0.700257" value2="-0.661981" value3="0.267217"/>
      <parameter id="H" type="float_3" value1="1196.98" value2="547.675" value3="126.218"/>
      <parameter id="V" type="float_3" value1="132.434" value2="-111.017" value3="1313.77"/>
      <parameter id="O" type="float_3" value1="0.699131" value2="-0.661726" value3="0.270772"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744427802">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="167.009"/>
        <parameter id="Joint Elevation" value="70.5374"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="167.087"/>
      <parameter id="Joint Elevation" value="70.4581"/>
      <parameter id="Twist" value="-0.199537"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.971484" value2="0.732987" value3="-1.89761"/>
      <parameter id="A" type="float_3" value1="0.90584" value2="-0.22866" value3="0.356584"/>
      <parameter id="H" type="float_3" value1="763.583" value2="1065.81" value3="172.153"/>
      <parameter id="V" type="float_3" value1="49.3191" value2="-1.94862" value3="1324.17"/>
      <parameter id="O" type="float_3" value1="0.904412" value2="-0.228907" value3="0.360033"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744427833">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="198.018"/>
        <parameter id="Joint Elevation" value="65.905"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="198.018"/>
      <parameter id="Joint Elevation" value="65.9108"/>
      <parameter id="Twist" value="-0.103547"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.857525" value2="0.793842" value3="-1.88827"/>
      <parameter id="A" type="float_3" value1="0.864612" value2="0.260657" value3="0.42952"/>
      <parameter id="H" type="float_3" value1="91.8078" value2="1302.21" value3="210.803"/>
      <parameter id="V" type="float_3" value1="-56.9601" value2="-7.90967" value3="1323.84"/>
      <parameter id="O" type="float_3" value1="0.863257" value2="0.25963" value3="0.432855"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744427865">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="229.98"/>
        <parameter id="Joint Elevation" value="66.5657"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="229.98"/>
      <parameter id="Joint Elevation" value="66.5657"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.725523" value2="0.78653" value3="-1.88976"/>
      <parameter id="A" type="float_3" value1="0.598694" value2="0.682694" value3="0.418901"/>
      <parameter id="H" type="float_3" value1="-610.524" value2="1154.61" value3="206.792"/>
      <parameter id="V" type="float_3" value1="-32.7007" value2="-26.247" value3="1324.43"/>
      <parameter id="O" type="float_3" value1="0.598118" value2="0.681131" value3="0.422253"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744427890">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="261.981"/>
        <parameter id="Joint Elevation" value="67.1759"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="261.949"/>
      <parameter id="Joint Elevation" value="67.1161"/>
      <parameter id="Twist" value="0.118906"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.617279" value2="0.710427" value3="-1.89101"/>
      <parameter id="A" type="float_3" value1="0.147009" value2="0.900286" value3="0.409704"/>
      <parameter id="H" type="float_3" value1="-1129.15" value2="657.264" value3="204.107"/>
      <parameter id="V" type="float_3" value1="-9.48828" value2="-26.7335" value3="1324.79"/>
      <parameter id="O" type="float_3" value1="0.147361" value2="0.898688" value3="0.413071"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" index3="6" 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_744428260">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="235.748"/>
        <parameter id="Joint Elevation" value="83.5854"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="235.789"/>
      <parameter id="Joint Elevation" value="83.6583"/>
      <parameter id="Twist" value="-0.0418401"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.702736" value2="0.777022" value3="-1.9254"/>
      <parameter id="A" type="float_3" value1="0.574864" value2="0.807285" value3="0.133434"/>
      <parameter id="H" type="float_3" value1="-700.563" value2="1119.95" value3="59.9882"/>
      <parameter id="V" type="float_3" value1="196.355" value2="289.689" value3="1278.03"/>
      <parameter id="O" type="float_3" value1="0.57506" value2="0.806533" value3="0.137086"/>
      <parameter id="R" type="float_3" value1="1.34279e-05" value2="0.00183602" value3="-0.00578928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="286" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744428288">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="293.637"/>
        <parameter id="Joint Elevation" value="67.4394"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="293.552"/>
      <parameter id="Joint Elevation" value="67.2912"/>
      <parameter id="Twist" value="0.201091"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.565897" value2="0.589979" value3="-1.89142"/>
      <parameter id="A" type="float_3" value1="-0.347092" value2="0.845183" value3="0.406419"/>
      <parameter id="H" type="float_3" value1="-1306.13" value2="-31.861" value3="204.112"/>
      <parameter id="V" type="float_3" value1="5.82104" value2="-22.6526" value3="1324.88"/>
      <parameter id="O" type="float_3" value1="-0.345955" value2="0.844022" value3="0.409786"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744428320">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="323.951"/>
        <parameter id="Joint Elevation" value="72.6969"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="323.936"/>
      <parameter id="Joint Elevation" value="72.4236"/>
      <parameter id="Twist" value="0.216743"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.582542" value2="0.465621" value3="-1.9021"/>
      <parameter id="A" type="float_3" value1="-0.752912" value2="0.573583" value3="0.322661"/>
      <parameter id="H" type="float_3" value1="-1123.64" value2="-678.089" value3="162.107"/>
      <parameter id="V" type="float_3" value1="-77.829" value2="56.2616" value3="1321.6"/>
      <parameter id="O" type="float_3" value1="-0.751588" value2="0.573344" value3="0.326152"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744428351">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="353.302"/>
        <parameter id="Joint Elevation" value="78.0764"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="353.263"/>
      <parameter id="Joint Elevation" value="77.7158"/>
      <parameter id="Twist" value="0.205944"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.657064" value2="0.368916" value3="-1.91309"/>
      <parameter id="A" type="float_3" value1="-0.962851" value2="0.135057" value3="0.233796"/>
      <parameter id="H" type="float_3" value1="-660.419" value2="-1139.63" value3="117.169"/>
      <parameter id="V" type="float_3" value1="-215.915" value2="28.2557" value3="1307.07"/>
      <parameter id="O" type="float_3" value1="-0.961905" value2="0.135544" value3="0.237382"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744428435">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="22.337"/>
        <parameter id="Joint Elevation" value="82.4022"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="22.3214"/>
      <parameter id="Joint Elevation" value="81.9783"/>
      <parameter id="Twist" value="0.0477816"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.768948" value2="0.321587" value3="-1.92186"/>
      <parameter id="A" type="float_3" value1="-0.920978" value2="-0.354797" value3="0.160939"/>
      <parameter id="H" type="float_3" value1="-31.151" value2="-1319.73" value3="77.3339"/>
      <parameter id="V" type="float_3" value1="-291.505" value2="-117.381" value3="1287.28"/>
      <parameter id="O" type="float_3" value1="-0.920636" value2="-0.354016" value3="0.164579"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744428466">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="50.7586"/>
        <parameter id="Joint Elevation" value="84.552"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="50.8294"/>
      <parameter id="Joint Elevation" value="84.1409"/>
      <parameter id="Twist" value="-0.157395"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.887223" value2="0.333964" value3="-1.92621"/>
      <parameter id="A" type="float_3" value1="-0.643459" value2="-0.755381" value3="0.123864"/>
      <parameter id="H" type="float_3" value1="600.504" value2="-1176.88" value3="54.581"/>
      <parameter id="V" type="float_3" value1="-228.333" value2="-281.326" value3="1274.59"/>
      <parameter id="O" type="float_3" value1="-0.64361" value2="-0.754643" value3="0.127531"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744428497">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="79.8251"/>
        <parameter id="Joint Elevation" value="84.0042"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="79.9071"/>
      <parameter id="Joint Elevation" value="83.6883"/>
      <parameter id="Twist" value="-0.149228"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.98634" value2="0.402422" value3="-1.92518"/>
      <parameter id="A" type="float_3" value1="-0.195071" value2="-0.971837" value3="0.132147"/>
      <parameter id="H" type="float_3" value1="1096.86" value2="-736.223" value3="59.2484"/>
      <parameter id="V" type="float_3" value1="-61.1801" value2="-346.298" value3="1277.58"/>
      <parameter id="O" type="float_3" value1="-0.195556" value2="-0.971235" value3="0.13581"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" 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_744428521">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="108.718"/>
        <parameter id="Joint Elevation" value="80.8908"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="108.727"/>
      <parameter id="Joint Elevation" value="80.6622"/>
      <parameter id="Twist" value="-0.166095"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03975" value2="0.508702" value3="-1.91885"/>
      <parameter id="A" type="float_3" value1="0.29499" value2="-0.937455" value3="0.184779"/>
      <parameter id="H" type="float_3" value1="1314.75" value2="-112.724" value3="85.7382"/>
      <parameter id="V" type="float_3" value1="93.1086" value2="-267.369" value3="1294.49"/>
      <parameter id="O" type="float_3" value1="0.294216" value2="-0.936975" value3="0.18841"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" index3="6" 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_744428570">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.93"/>
        <parameter id="Joint Elevation" value="44.1173"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.989"/>
      <parameter id="Joint Elevation" value="44.1585"/>
      <parameter id="Twist" value="-0.0946789"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790473" value2="0.79232" value3="-1.84568"/>
      <parameter id="A" type="float_3" value1="0.589917" value2="0.33749" value3="0.73354"/>
      <parameter id="H" type="float_3" value1="-299.576" value2="1234.48" value3="367.332"/>
      <parameter id="V" type="float_3" value1="-476.18" value2="-261.694" value3="1208.57"/>
      <parameter id="O" type="float_3" value1="0.587853" value2="0.335628" value3="0.736047"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" index3="6" 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_744428601">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.043"/>
        <parameter id="Joint Elevation" value="44.0763"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.964"/>
      <parameter id="Joint Elevation" value="44.1031"/>
      <parameter id="Twist" value="0.0475418"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675952" value2="0.75414" value3="-1.8457"/>
      <parameter id="A" type="float_3" value1="0.341938" value2="0.586838" value3="0.73395"/>
      <parameter id="H" type="float_3" value1="-877.647" value2="917.655" value3="369.153"/>
      <parameter id="V" type="float_3" value1="-279.882" value2="-466.544" value3="1208.25"/>
      <parameter id="O" type="float_3" value1="0.341088" value2="0.58419" value3="0.736454"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" index3="6" 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_744428632">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.991"/>
        <parameter id="Joint Elevation" value="44.0504"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.816"/>
      <parameter id="Joint Elevation" value="44.019"/>
      <parameter id="Twist" value="0.172578"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.596076" value2="0.66426" value3="-1.84562"/>
      <parameter id="A" type="float_3" value1="0.00435678" value2="0.678464" value3="0.73461"/>
      <parameter id="H" type="float_3" value1="-1218.05" value2="356.716" value3="371.126"/>
      <parameter id="V" type="float_3" value1="-8.03042" value2="-545.148" value3="1207.74"/>
      <parameter id="O" type="float_3" value1="0.00494482" value2="0.67574" value3="0.737112"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" index3="6" 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_744428656">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.944"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.763"/>
      <parameter id="Joint Elevation" value="43.8924"/>
      <parameter id="Twist" value="0.252446"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571628" value2="0.54613" value3="-1.84542"/>
      <parameter id="A" type="float_3" value1="-0.334217" value2="0.589005" value3="0.735768"/>
      <parameter id="H" type="float_3" value1="-1232.53" value2="-300.584" value3="373.036"/>
      <parameter id="V" type="float_3" value1="267.82" value2="-477.258" value3="1206.8"/>
      <parameter id="O" type="float_3" value1="-0.332342" value2="0.58694" value3="0.738264"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="286" index3="6" 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_744428687">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.176"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.966"/>
      <parameter id="Joint Elevation" value="43.7736"/>
      <parameter id="Twist" value="0.183351"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.610028" value2="0.430751" value3="-1.84517"/>
      <parameter id="A" type="float_3" value1="-0.583937" value2="0.340514" value3="0.73692"/>
      <parameter id="H" type="float_3" value1="-914.308" value2="-879.478" value3="373.068"/>
      <parameter id="V" type="float_3" value1="472.802" value2="-279.66" value3="1205.87"/>
      <parameter id="O" type="float_3" value1="-0.581273" value2="0.339666" value3="0.739413"/>
      <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="286" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.143125"/>
      <parameter id="Y" value="0.888804"/>
      <parameter id="Z" value="0.0769861"/>
      <parameter id="Normal_X" value="0.150069"/>
      <parameter id="Normal_Y" value="0.079185"/>
      <parameter id="Normal_Z" value="-1.03944"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="286" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
