<?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="1234" 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_745230703">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.27"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.336"/>
      <parameter id="Joint Elevation" value="38.3874"/>
      <parameter id="Twist" value="-0.210814"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.97502" value2="0.714374" value3="-1.83539"/>
      <parameter id="A" type="float_3" value1="0.55476" value2="-0.234761" value3="0.798193"/>
      <parameter id="H" type="float_3" value1="765.61" value2="1001.06" value3="400.518"/>
      <parameter id="V" type="float_3" value1="-605.821" value2="267.398" value3="1147.73"/>
      <parameter id="O" type="float_3" value1="0.55182" value2="-0.234158" value3="0.800405"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" 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_745230735">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.891"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.95"/>
      <parameter id="Joint Elevation" value="38.41"/>
      <parameter id="Twist" value="-0.129232"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876196" value2="0.778437" value3="-1.83553"/>
      <parameter id="A" type="float_3" value1="0.598511" value2="0.0704693" value3="0.797999"/>
      <parameter id="H" type="float_3" value1="169.653" value2="1248.69" value3="400.838"/>
      <parameter id="V" type="float_3" value1="-658.325" value2="-68.0024" value3="1147.96"/>
      <parameter id="O" type="float_3" value1="0.595656" value2="0.0695371" value3="0.800213"/>
      <parameter id="R" type="float_3" value1="1.33978e-05" value2="0.00183708" value3="-0.0057961"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" 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_745230885">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="176.931"/>
        <parameter id="Joint Elevation" value="60.5026"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="176.897"/>
      <parameter id="Joint Elevation" value="60.5316"/>
      <parameter id="Twist" value="-0.0904497"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.936241" value2="0.75914" value3="-1.87716"/>
      <parameter id="A" type="float_3" value1="0.856306" value2="-0.0652014" value3="0.51232"/>
      <parameter id="H" type="float_3" value1="532.98" value2="1183.24" value3="254.034"/>
      <parameter id="V" type="float_3" value1="-179.622" value2="21.8185" value3="1312.67"/>
      <parameter id="O" type="float_3" value1="0.854372" value2="-0.0656516" value3="0.515482"/>
      <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="1234" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" 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_745230917">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="209.759"/>
        <parameter id="Joint Elevation" value="62.6369"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="209.759"/>
      <parameter id="Joint Elevation" value="62.6369"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.807648" value2="0.79915" value3="-1.88158"/>
      <parameter id="A" type="float_3" value1="0.770607" value2="0.418854" value3="0.480322"/>
      <parameter id="H" type="float_3" value1="-187.292" value2="1287.11" value3="238.608"/>
      <parameter id="V" type="float_3" value1="-119.527" value2="-57.0532" value3="1318.44"/>
      <parameter id="O" type="float_3" value1="0.769333" value2="0.417479" value3="0.483551"/>
      <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="1234" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745230942">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.24"/>
        <parameter id="Joint Elevation" value="68.0112"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.194"/>
      <parameter id="Joint Elevation" value="67.9237"/>
      <parameter id="Twist" value="0.044211"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.683051" value2="0.767143" value3="-1.89262"/>
      <parameter id="A" type="float_3" value1="0.459349" value2="0.794532" value3="0.397116"/>
      <parameter id="H" type="float_3" value1="-821.181" value2="1017.72" value3="196.382"/>
      <parameter id="V" type="float_3" value1="-10.4672" value2="-5.17196" value3="1325.03"/>
      <parameter id="O" type="float_3" value1="0.459134" value2="0.792959" value3="0.400495"/>
      <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="1234" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745231667">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="51.8862"/>
        <parameter id="Joint Elevation" value="95.586"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="51.9519"/>
      <parameter id="Joint Elevation" value="95.7076"/>
      <parameter id="Twist" value="0.204099"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.895725" value2="0.340627" value3="-1.94947"/>
      <parameter id="A" type="float_3" value1="-0.631384" value2="-0.771567" value3="-0.0776014"/>
      <parameter id="H" type="float_3" value1="622.804" value2="-1165.84" value3="-40.3473"/>
      <parameter id="V" type="float_3" value1="-385.872" value2="-472.895" value3="1176.12"/>
      <parameter id="O" type="float_3" value1="-0.632038" value2="-0.771391" value3="-0.0739393"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745231692">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="81.7038"/>
        <parameter id="Joint Elevation" value="91.938"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="81.7325"/>
      <parameter id="Joint Elevation" value="91.9211"/>
      <parameter id="Twist" value="0.203475"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.991916" value2="0.412219" value3="-1.94191"/>
      <parameter id="A" type="float_3" value1="-0.165314" value2="-0.98617" value3="-0.011125"/>
      <parameter id="H" type="float_3" value1="1119.31" value2="-704.118" value3="-6.25697"/>
      <parameter id="V" type="float_3" value1="-87.1359" value2="-523.597" value3="1214.11"/>
      <parameter id="O" type="float_3" value1="-0.16593" value2="-0.986101" value3="-0.00744781"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745231722">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="110.503"/>
        <parameter id="Joint Elevation" value="82.1375"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="110.443"/>
      <parameter id="Joint Elevation" value="82.0448"/>
      <parameter id="Twist" value="0.0997762"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04105" value2="0.516096" value3="-1.92172"/>
      <parameter id="A" type="float_3" value1="0.324326" value2="-0.932128" value3="0.161037"/>
      <parameter id="H" type="float_3" value1="1317.91" value2="-74.264" value3="79.1986"/>
      <parameter id="V" type="float_3" value1="105.952" value2="-295.651" value3="1287.31"/>
      <parameter id="O" type="float_3" value1="0.323551" value2="-0.931763" value3="0.164667"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745231754">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="140.536"/>
        <parameter id="Joint Elevation" value="76.856"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="140.503"/>
      <parameter id="Joint Elevation" value="76.7105"/>
      <parameter id="Twist" value="-0.075952"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03166" value2="0.639774" value3="-1.91062"/>
      <parameter id="A" type="float_3" value1="0.732941" value2="-0.631681" value3="0.252508"/>
      <parameter id="H" type="float_3" value1="1171.37" value2="601.429" value3="121.875"/>
      <parameter id="V" type="float_3" value1="150.365" value2="-120.324" value3="1311"/>
      <parameter id="O" type="float_3" value1="0.73184" value2="-0.631524" value3="0.256067"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" 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_745231785">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="171.648"/>
        <parameter id="Joint Elevation" value="77.5195"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="171.656"/>
      <parameter id="Joint Elevation" value="77.4532"/>
      <parameter id="Twist" value="-0.350042"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.95726" value2="0.745712" value3="-1.91225"/>
      <parameter id="A" type="float_3" value1="0.957142" value2="-0.161811" value3="0.240166"/>
      <parameter id="H" type="float_3" value1="694.163" value2="1120.21" value3="109.304"/>
      <parameter id="V" type="float_3" value1="208.473" value2="-21.587" value3="1308.39"/>
      <parameter id="O" type="float_3" value1="0.956166" value2="-0.162234" value3="0.243742"/>
      <parameter id="R" type="float_3" value1="1.33978e-05" value2="0.00183708" value3="-0.0057961"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" 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_745231816">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="202.432"/>
        <parameter id="Joint Elevation" value="78.9118"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="202.374"/>
      <parameter id="Joint Elevation" value="78.9437"/>
      <parameter id="Twist" value="0.0157358"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.840482" value2="0.797529" value3="-1.91547"/>
      <parameter id="A" type="float_3" value1="0.910994" value2="0.352052" value3="0.214783"/>
      <parameter id="H" type="float_3" value1="25.45" value2="1318.09" value3="103.264"/>
      <parameter id="V" type="float_3" value1="224.542" value2="93.5614" value3="1302.56"/>
      <parameter id="O" type="float_3" value1="0.910467" value2="0.351204" value3="0.218378"/>
      <parameter id="R" type="float_3" value1="1.33978e-05" value2="0.00183708" value3="-0.0057961"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" 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_745231854">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="233.045"/>
        <parameter id="Joint Elevation" value="80.6295"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="233.051"/>
      <parameter id="Joint Elevation" value="80.6231"/>
      <parameter id="Twist" value="0.0891212"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.713766" value2="0.782305" value3="-1.9191"/>
      <parameter id="A" type="float_3" value1="0.607505" value2="0.772278" value3="0.185761"/>
      <parameter id="H" type="float_3" value1="-649.053" value2="1148.65" value3="89.4664"/>
      <parameter id="V" type="float_3" value1="169.984" value2="224.64" value3="1294.79"/>
      <parameter id="O" type="float_3" value1="0.607553" value2="0.771361" value3="0.18938"/>
      <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="1234" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" 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_745231885">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="264.268"/>
        <parameter id="Joint Elevation" value="80.331"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="264.223"/>
      <parameter id="Joint Elevation" value="80.2548"/>
      <parameter id="Twist" value="0.109812"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.611512" value2="0.703232" value3="-1.91843"/>
      <parameter id="A" type="float_3" value1="0.119862" value2="0.974121" value3="0.191585"/>
      <parameter id="H" type="float_3" value1="-1150" value2="646.222" value3="92.619"/>
      <parameter id="V" type="float_3" value1="28.3901" value2="272.536" value3="1296.43"/>
      <parameter id="O" type="float_3" value1="0.120376" value2="0.97334" value3="0.195197"/>
      <parameter id="R" type="float_3" value1="1.33978e-05" value2="0.00183708" value3="-0.0057961"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="104" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745232205">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.142"/>
        <parameter id="Joint Elevation" value="44.0886"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.123"/>
      <parameter id="Joint Elevation" value="44.0766"/>
      <parameter id="Twist" value="0.0153333"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.789859" value2="0.792236" value3="-1.84553"/>
      <parameter id="A" type="float_3" value1="0.588218" value2="0.338348" value3="0.734509"/>
      <parameter id="H" type="float_3" value1="-304.383" value2="1232.69" value3="369.465"/>
      <parameter id="V" type="float_3" value1="-475.937" value2="-265.718" value3="1207.76"/>
      <parameter id="O" type="float_3" value1="0.58617" value2="0.336478" value3="0.737001"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="104" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="106" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745232230">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.041"/>
        <parameter id="Joint Elevation" value="44.0763"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.937"/>
      <parameter id="Joint Elevation" value="43.9967"/>
      <parameter id="Twist" value="0.0839961"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675994" value2="0.754099" value3="-1.8455"/>
      <parameter id="A" type="float_3" value1="0.341523" value2="0.585504" value3="0.735208"/>
      <parameter id="H" type="float_3" value1="-877.84" value2="917.011" value3="370.371"/>
      <parameter id="V" type="float_3" value1="-280.578" value2="-468.774" value3="1207.2"/>
      <parameter id="O" type="float_3" value1="0.340677" value2="0.582859" value3="0.737698"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="106" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="108" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745232255">
      <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="270.886"/>
      <parameter id="Joint Elevation" value="43.8978"/>
      <parameter id="Twist" value="0.108554"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595956" value2="0.663875" value3="-1.8454"/>
      <parameter id="A" type="float_3" value1="0.00350919" value2="0.676916" value3="0.736041"/>
      <parameter id="H" type="float_3" value1="-1218.48" value2="355.474" value3="370.986"/>
      <parameter id="V" type="float_3" value1="-8.73672" value2="-547.738" value3="1206.53"/>
      <parameter id="O" type="float_3" value1="0.00409808" value2="0.6742" value3="0.738527"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="108" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="110" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745232287">
      <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="300.933"/>
      <parameter id="Joint Elevation" value="43.8087"/>
      <parameter id="Twist" value="0.060282"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.57172" value2="0.545367" value3="-1.84527"/>
      <parameter id="A" type="float_3" value1="-0.335433" value2="0.58708" value3="0.736753"/>
      <parameter id="H" type="float_3" value1="-1232.86" value2="-302.056" value3="370.816"/>
      <parameter id="V" type="float_3" value1="266.567" value2="-480.037" value3="1205.95"/>
      <parameter id="O" type="float_3" value1="-0.333564" value2="0.58502" value3="0.739236"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="110" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="112" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745232319">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.908"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.875"/>
      <parameter id="Joint Elevation" value="43.7342"/>
      <parameter id="Twist" value="0.112664"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609866" value2="0.431048" value3="-1.8451"/>
      <parameter id="A" type="float_3" value1="-0.582962" value2="0.341182" value3="0.737383"/>
      <parameter id="H" type="float_3" value1="-916.47" value2="-877.573" value3="372.337"/>
      <parameter id="V" type="float_3" value1="472.345" value2="-282.145" value3="1205.45"/>
      <parameter id="O" type="float_3" value1="-0.58031" value2="0.340332" value3="0.739863"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="112" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.0360889"/>
      <parameter id="Y" value="-0.00967932"/>
      <parameter id="Z" value="0.0785443"/>
      <parameter id="Normal_X" value="0.224363"/>
      <parameter id="Normal_Y" value="0.160963"/>
      <parameter id="Normal_Z" value="-1.02671"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="1234" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
