<?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="1598" 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_745844551">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.265"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.308"/>
      <parameter id="Joint Elevation" value="38.4342"/>
      <parameter id="Twist" value="-0.160196"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975148" value2="0.714257" value3="-1.83547"/>
      <parameter id="A" type="float_3" value1="0.555244" value2="-0.235295" value3="0.797699"/>
      <parameter id="H" type="float_3" value1="765.656" value2="1000.87" value3="400.957"/>
      <parameter id="V" type="float_3" value1="-605.278" value2="266.357" value3="1148.24"/>
      <parameter id="O" type="float_3" value1="0.552315" value2="-0.2347" value3="0.799905"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745844583">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.888"/>
        <parameter id="Joint Elevation" value="38.3945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.968"/>
      <parameter id="Joint Elevation" value="38.3877"/>
      <parameter id="Twist" value="-0.0975807"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876103" value2="0.778448" value3="-1.83549"/>
      <parameter id="A" type="float_3" value1="0.598182" value2="0.070618" value3="0.798232"/>
      <parameter id="H" type="float_3" value1="168.605" value2="1248.67" value3="401.404"/>
      <parameter id="V" type="float_3" value1="-658.698" value2="-68.9307" value3="1147.67"/>
      <parameter id="O" type="float_3" value1="0.595337" value2="0.0696828" value3="0.800438"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745844685">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="18.7237"/>
        <parameter id="Joint Elevation" value="93.8115"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="18.6777"/>
      <parameter id="Joint Elevation" value="93.73"/>
      <parameter id="Twist" value="-0.210101"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.75936" value2="0.326046" value3="-1.94573"/>
      <parameter id="A" type="float_3" value1="-0.953178" value2="-0.29924" value3="-0.0434733"/>
      <parameter id="H" type="float_3" value1="-119.685" value2="-1316.57" value3="-32.3654"/>
      <parameter id="V" type="float_3" value1="-540.524" value2="-180.448" value3="1196.26"/>
      <parameter id="O" type="float_3" value1="-0.953501" value2="-0.298721" value3="-0.0398065"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745844716">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="46.4482"/>
        <parameter id="Joint Elevation" value="88.4022"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="46.4404"/>
      <parameter id="Joint Elevation" value="88.425"/>
      <parameter id="Twist" value="-0.25543"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.871021" value2="0.329611" value3="-1.93499"/>
      <parameter id="A" type="float_3" value1="-0.703907" value2="-0.708565" value3="0.0493316"/>
      <parameter id="H" type="float_3" value1="506.721" value2="-1221.37" value3="14.4322"/>
      <parameter id="V" type="float_3" value1="-314.04" value2="-331.37" value3="1243.92"/>
      <parameter id="O" type="float_3" value1="-0.704193" value2="-0.708016" value3="0.0529994"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745844747">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="74.0668"/>
        <parameter id="Joint Elevation" value="79.4945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="74.111"/>
      <parameter id="Joint Elevation" value="79.6045"/>
      <parameter id="Twist" value="-0.249857"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.969215" value2="0.38384" value3="-1.91672"/>
      <parameter id="A" type="float_3" value1="-0.28877" value2="-0.935772" value3="0.202301"/>
      <parameter id="H" type="float_3" value1="1018.29" value2="-838.551" value3="92.9703"/>
      <parameter id="V" type="float_3" value1="-66.7061" value2="-251.239" value3="1299.31"/>
      <parameter id="O" type="float_3" value1="-0.289113" value2="-0.934882" value3="0.205896"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745844778">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="102.046"/>
        <parameter id="Joint Elevation" value="69.1033"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="102.072"/>
      <parameter id="Joint Elevation" value="69.256"/>
      <parameter id="Twist" value="-0.152501"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03229" value2="0.481562" value3="-1.89504"/>
      <parameter id="A" type="float_3" value1="0.173686" value2="-0.910444" value3="0.375378"/>
      <parameter id="H" type="float_3" value1="1287.74" value2="-238.166" value3="183.658"/>
      <parameter id="V" type="float_3" value1="12.0901" value2="-19.5534" value3="1324.86"/>
      <parameter id="O" type="float_3" value1="0.172841" value2="-0.909195" value3="0.378781"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745844809">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="132.545"/>
        <parameter id="Joint Elevation" value="59.5893"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="132.492"/>
      <parameter id="Joint Elevation" value="59.7643"/>
      <parameter id="Twist" value="-0.18362"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03809" value2="0.610194" value3="-1.8755"/>
      <parameter id="A" type="float_3" value1="0.561411" value2="-0.64091" value3="0.523484"/>
      <parameter id="H" type="float_3" value1="1207.07" value2="473.975" value3="258.929"/>
      <parameter id="V" type="float_3" value1="-123.528" value2="154.887" value3="1310.17"/>
      <parameter id="O" type="float_3" value1="0.559692" value2="-0.639849" value3="0.526613"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" index3="6" 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_745845429">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="338.474"/>
        <parameter id="Joint Elevation" value="105.048"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="338.444"/>
      <parameter id="Joint Elevation" value="104.893"/>
      <parameter id="Twist" value="-0.165748"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.628371" value2="0.406634" value3="-1.96701"/>
      <parameter id="A" type="float_3" value1="-0.895742" value2="0.376717" value3="-0.236038"/>
      <parameter id="H" type="float_3" value1="-927.218" value2="-933.851" value3="-130.054"/>
      <parameter id="V" type="float_3" value1="-617.997" value2="248.924" value3="1093.56"/>
      <parameter id="O" type="float_3" value1="-0.896306" value2="0.377595" value3="-0.232467"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" index3="6" 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_745845512">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="9.86908"/>
        <parameter id="Joint Elevation" value="111.664"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="9.83751"/>
      <parameter id="Joint Elevation" value="111.566"/>
      <parameter id="Twist" value="-0.178531"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.741438" value2="0.338378" value3="-1.97849"/>
      <parameter id="A" type="float_3" value1="-0.927179" value2="-0.140099" value3="-0.347411"/>
      <parameter id="H" type="float_3" value1="-286.717" value2="-1277.46" value3="-186.036"/>
      <parameter id="V" type="float_3" value1="-778.498" value2="-127.427" value3="1008.69"/>
      <parameter id="O" type="float_3" value1="-0.928523" value2="-0.139703" value3="-0.343963"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745845548">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="41.131"/>
        <parameter id="Joint Elevation" value="107.273"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="41.0318"/>
      <parameter id="Joint Elevation" value="107.289"/>
      <parameter id="Twist" value="-0.248757"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.861106" value2="0.334356" value3="-1.97104"/>
      <parameter id="A" type="float_3" value1="-0.738434" value2="-0.615104" value3="-0.276309"/>
      <parameter id="H" type="float_3" value1="407.06" value2="-1249.09" value3="-150.898"/>
      <parameter id="V" type="float_3" value1="-634.167" value2="-542.023" value3="1029.48"/>
      <parameter id="O" type="float_3" value1="-0.739586" value2="-0.615297" value3="-0.272773"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745845572">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="70.3856"/>
        <parameter id="Joint Elevation" value="98.8495"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="70.331"/>
      <parameter id="Joint Elevation" value="98.9326"/>
      <parameter id="Twist" value="-0.232756"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.961007" value2="0.382988" value3="-1.95562"/>
      <parameter id="A" type="float_3" value1="-0.353727" value2="-0.925794" value3="-0.133292"/>
      <parameter id="H" type="float_3" value1="960.181" value2="-905.929" value3="-77.7191"/>
      <parameter id="V" type="float_3" value1="-231.717" value2="-634.311" value3="1140.07"/>
      <parameter id="O" type="float_3" value1="-0.354452" value2="-0.926034" value3="-0.129644"/>
      <parameter id="R" type="float_3" value1="1.33375e-05" value2="0.00183919" value3="-0.00580973"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745845603">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="98.7074"/>
        <parameter id="Joint Elevation" value="88.4458"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="98.688"/>
      <parameter id="Joint Elevation" value="88.6129"/>
      <parameter id="Twist" value="-0.133227"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02694" value2="0.47139" value3="-1.93522"/>
      <parameter id="A" type="float_3" value1="0.129274" value2="-0.990491" value3="0.046891"/>
      <parameter id="H" type="float_3" value1="1275.94" value2="-347.019" value3="16.1299"/>
      <parameter id="V" type="float_3" value1="67.2003" value2="-454.602" value3="1242.83"/>
      <parameter id="O" type="float_3" value1="0.128658" value2="-0.990391" value3="0.0505651"/>
      <parameter id="R" type="float_3" value1="1.33375e-05" value2="0.00183919" value3="-0.00580973"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745845634">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="128.914"/>
        <parameter id="Joint Elevation" value="83.4817"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="128.816"/>
      <parameter id="Joint Elevation" value="83.7052"/>
      <parameter id="Twist" value="-0.196207"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04234" value2="0.593263" value3="-1.92516"/>
      <parameter id="A" type="float_3" value1="0.604209" value2="-0.785696" value3="0.132651"/>
      <parameter id="H" type="float_3" value1="1275.89" value2="342.645" value3="58.2961"/>
      <parameter id="V" type="float_3" value1="221.331" value2="-272.396" value3="1277.74"/>
      <parameter id="O" type="float_3" value1="0.603437" value2="-0.785665" value3="0.136297"/>
      <parameter id="R" type="float_3" value1="1.33375e-05" value2="0.00183919" value3="-0.00580973"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745845658">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.598"/>
        <parameter id="Joint Elevation" value="77.0525"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="108" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745846107">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.033"/>
        <parameter id="Joint Elevation" value="44.0791"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.988"/>
      <parameter id="Joint Elevation" value="44.0093"/>
      <parameter id="Twist" value="0.0976158"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675823" value2="0.753997" value3="-1.84553"/>
      <parameter id="A" type="float_3" value1="0.341079" value2="0.585949" value3="0.73506"/>
      <parameter id="H" type="float_3" value1="-878.735" value2="916.1" value3="370.476"/>
      <parameter id="V" type="float_3" value1="-279.769" value2="-468.932" value3="1207.34"/>
      <parameter id="O" type="float_3" value1="0.340234" value2="0.583301" value3="0.737553"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="110" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" 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_745846139">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.987"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.945"/>
      <parameter id="Joint Elevation" value="43.9028"/>
      <parameter id="Twist" value="0.104321"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595846" value2="0.663666" value3="-1.84541"/>
      <parameter id="A" type="float_3" value1="0.00281625" value2="0.676984" value3="0.735981"/>
      <parameter id="H" type="float_3" value1="-1218.84" value2="354.313" value3="370.88"/>
      <parameter id="V" type="float_3" value1="-8.26547" value2="-547.628" value3="1206.59"/>
      <parameter id="O" type="float_3" value1="0.00340718" value2="0.674265" value3="0.73847"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="112" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="114" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745846164">
      <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="301.001"/>
      <parameter id="Joint Elevation" value="43.8228"/>
      <parameter id="Twist" value="-0.0251332"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571728" value2="0.545104" value3="-1.84529"/>
      <parameter id="A" type="float_3" value1="-0.336217" value2="0.586841" value3="0.736586"/>
      <parameter id="H" type="float_3" value1="-1233.2" value2="-302.272" value3="369.494"/>
      <parameter id="V" type="float_3" value1="265.402" value2="-480.354" value3="1206.09"/>
      <parameter id="O" type="float_3" value1="-0.33435" value2="0.584778" value3="0.739072"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="114" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="116" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_745846195">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.905"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="331.056"/>
      <parameter id="Joint Elevation" value="43.799"/>
      <parameter id="Twist" value="-0.227094"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.610211" value2="0.430469" value3="-1.84521"/>
      <parameter id="A" type="float_3" value1="-0.584753" value2="0.339766" value3="0.736618"/>
      <parameter id="H" type="float_3" value1="-918.645" value2="-877.522" value3="367.047"/>
      <parameter id="V" type="float_3" value1="468.381" value2="-286.201" value3="1206.04"/>
      <parameter id="O" type="float_3" value1="-0.582108" value2="0.338905" value3="0.739106"/>
      <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="1598" index3="6" index4="0" index5="0" index6="0" index7="116" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.0798759"/>
      <parameter id="Y" value="0.125535"/>
      <parameter id="Z" value="0.0177833"/>
      <parameter id="Normal_X" value="0.349353"/>
      <parameter id="Normal_Y" value="0.2755"/>
      <parameter id="Normal_Z" value="-1.21124"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="1598" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
