<?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="2442" 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_746740812">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.183"/>
        <parameter id="Joint Elevation" value="38.3877"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.287"/>
      <parameter id="Joint Elevation" value="38.3922"/>
      <parameter id="Twist" value="-0.152318"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975159" value2="0.714225" value3="-1.8354"/>
      <parameter id="A" type="float_3" value1="0.55462" value2="-0.235263" value3="0.798143"/>
      <parameter id="H" type="float_3" value1="765.587" value2="1000.78" value3="401.243"/>
      <parameter id="V" type="float_3" value1="-605.997" value2="266.735" value3="1147.8"/>
      <parameter id="O" type="float_3" value1="0.551679" value2="-0.234661" value3="0.800355"/>
      <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="2442" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746740836">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.032"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.094"/>
      <parameter id="Joint Elevation" value="38.4146"/>
      <parameter id="Twist" value="-0.0401943"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875651" value2="0.778617" value3="-1.83554"/>
      <parameter id="A" type="float_3" value1="0.598395" value2="0.0719821" value3="0.797951"/>
      <parameter id="H" type="float_3" value1="165.044" value2="1248.95" value3="401.953"/>
      <parameter id="V" type="float_3" value1="-657.845" value2="-71.5256" value3="1148.02"/>
      <parameter id="O" type="float_3" value1="0.595544" value2="0.0710372" value3="0.800165"/>
      <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="2442" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746740930">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="72.5279"/>
        <parameter id="Joint Elevation" value="85.2785"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="72.5872"/>
      <parameter id="Joint Elevation" value="85.14"/>
      <parameter id="Twist" value="-0.222796"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.965017" value2="0.381036" value3="-1.92819"/>
      <parameter id="A" type="float_3" value1="-0.31825" value2="-0.941955" value3="0.106868"/>
      <parameter id="H" type="float_3" value1="993.626" value2="-871.431" value3="44.7597"/>
      <parameter id="V" type="float_3" value1="-113.631" value2="-366.854" value3="1268.2"/>
      <parameter id="O" type="float_3" value1="-0.318682" value2="-0.941387" value3="0.110528"/>
      <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="2442" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746740954">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="100.681"/>
        <parameter id="Joint Elevation" value="80.2628"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="100.804"/>
      <parameter id="Joint Elevation" value="80.1917"/>
      <parameter id="Twist" value="-0.214991"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03052" value2="0.476657" value3="-1.91788"/>
      <parameter id="A" type="float_3" value1="0.162685" value2="-0.967667" value3="0.192708"/>
      <parameter id="H" type="float_3" value1="1286.57" value2="-292.434" value3="88.8182"/>
      <parameter id="V" type="float_3" value1="54.6061" value2="-267.127" value3="1296.72"/>
      <parameter id="O" type="float_3" value1="0.161983" value2="-0.967059" value3="0.196322"/>
      <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="2442" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746740978">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="129.692"/>
        <parameter id="Joint Elevation" value="73.6199"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="129.777"/>
      <parameter id="Joint Elevation" value="73.5742"/>
      <parameter id="Twist" value="-0.112063"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04269" value2="0.596033" value3="-1.90405"/>
      <parameter id="A" type="float_3" value1="0.593038" value2="-0.745185" value3="0.30494"/>
      <parameter id="H" type="float_3" value1="1258.37" value2="378.466" value3="148.113"/>
      <parameter id="V" type="float_3" value1="81.0778" value2="-89.6377" value3="1319.55"/>
      <parameter id="O" type="float_3" value1="0.591867" value2="-0.744673" value3="0.308445"/>
      <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="2442" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746741009">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="159.516"/>
        <parameter id="Joint Elevation" value="66.918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="159.59"/>
      <parameter id="Joint Elevation" value="66.8968"/>
      <parameter id="Twist" value="-0.0602121"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.992" value2="0.709986" value3="-1.89018"/>
      <parameter id="A" type="float_3" value1="0.845993" value2="-0.336117" value3="0.41389"/>
      <parameter id="H" type="float_3" value1="884.222" value2="961.78" value3="204.444"/>
      <parameter id="V" type="float_3" value1="-29.0187" value2="19.1219" value3="1324.62"/>
      <parameter id="O" type="float_3" value1="0.844348" value2="-0.336108" value3="0.417242"/>
      <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="2442" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_746741042">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="191.147"/>
        <parameter id="Joint Elevation" value="62.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="191.21"/>
      <parameter id="Joint Elevation" value="62.0815"/>
      <parameter id="Twist" value="-0.0289649"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.883503" value2="0.785645" value3="-1.88037"/>
      <parameter id="A" type="float_3" value1="0.859168" value2="0.150988" value3="0.488893"/>
      <parameter id="H" type="float_3" value1="229.871" value2="1279.4" value3="242.835"/>
      <parameter id="V" type="float_3" value1="-144.221" value2="-18.0848" value3="1317.08"/>
      <parameter id="O" type="float_3" value1="0.857491" value2="0.150086" value3="0.492104"/>
      <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="2442" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745535">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="224.456"/>
        <parameter id="Joint Elevation" value="60.6613"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="224.401"/>
      <parameter id="Joint Elevation" value="60.632"/>
      <parameter id="Twist" value="0.0449163"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.7463" value2="0.791502" value3="-1.87755"/>
      <parameter id="A" type="float_3" value1="0.627031" value2="0.588327" value3="0.510574"/>
      <parameter id="H" type="float_3" value1="-513.066" value2="1191.96" value3="254.839"/>
      <parameter id="V" type="float_3" value1="-134.363" value2="-117.415" value3="1312.9"/>
      <parameter id="O" type="float_3" value1="0.626099" value2="0.586618" value3="0.513676"/>
      <parameter id="R" type="float_3" value1="1.27767e-05" value2="0.00186663" value3="-0.00598695"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745569">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="256.867"/>
        <parameter id="Joint Elevation" value="63.1273"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="256.82"/>
      <parameter id="Joint Elevation" value="63.0429"/>
      <parameter id="Twist" value="0.0551539"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.631225" value2="0.725213" value3="-1.88259"/>
      <parameter id="A" type="float_3" value1="0.219025" value2="0.853101" value3="0.473529"/>
      <parameter id="H" type="float_3" value1="-1069.59" value2="741.186" value3="235.693"/>
      <parameter id="V" type="float_3" value1="-36.6598" value2="-116.842" value3="1319.31"/>
      <parameter id="O" type="float_3" value1="0.219186" value2="0.851286" value3="0.476712"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745610">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="288.303"/>
        <parameter id="Joint Elevation" value="68.6587"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="288.185"/>
      <parameter id="Joint Elevation" value="68.4676"/>
      <parameter id="Twist" value="0.0545927"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.569762" value2="0.612446" value3="-1.89386"/>
      <parameter id="A" type="float_3" value1="-0.268876" value2="0.881714" value3="0.387646"/>
      <parameter id="H" type="float_3" value1="-1304.98" value2="95.7606" value3="191.737"/>
      <parameter id="V" type="float_3" value1="-7.1679" value2="1.68862" value3="1324.96"/>
      <parameter id="O" type="float_3" value1="-0.267884" value2="0.880543" value3="0.39098"/>
      <parameter id="R" type="float_3" value1="1.28219e-05" value2="0.00186347" value3="-0.0059665"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745655">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="317.71"/>
        <parameter id="Joint Elevation" value="75.4574"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="317.588"/>
      <parameter id="Joint Elevation" value="75.2309"/>
      <parameter id="Twist" value="-0.0107676"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.57352" value2="0.490815" value3="-1.90798"/>
      <parameter id="A" type="float_3" value1="-0.695466" value2="0.663436" value3="0.275976"/>
      <parameter id="H" type="float_3" value1="-1198.2" value2="-543.472" value3="133.638"/>
      <parameter id="V" type="float_3" value1="-121.049" value2="105.336" value3="1315.24"/>
      <parameter id="O" type="float_3" value1="-0.694321" value2="0.663179" value3="0.279456"/>
      <parameter id="R" type="float_3" value1="1.2837e-05" value2="0.00186241" value3="-0.00595969"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745693">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="346.343"/>
        <parameter id="Joint Elevation" value="81.8109"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="346.226"/>
      <parameter id="Joint Elevation" value="81.6064"/>
      <parameter id="Twist" value="-0.153056"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.635568" value2="0.388264" value3="-1.92122"/>
      <parameter id="A" type="float_3" value1="-0.952211" value2="0.255516" value3="0.167298"/>
      <parameter id="H" type="float_3" value1="-803.118" value2="-1047.94" value3="75.6571"/>
      <parameter id="V" type="float_3" value1="-297.762" value2="69.7715" value3="1289.21"/>
      <parameter id="O" type="float_3" value1="-0.951465" value2="0.255934" value3="0.170869"/>
      <parameter id="R" type="float_3" value1="1.2837e-05" value2="0.00186241" value3="-0.00595969"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_746745865">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.785"/>
        <parameter id="Joint Elevation" value="44.1187"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.785"/>
      <parameter id="Joint Elevation" value="44.1187"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.791293" value2="0.792305" value3="-1.8456"/>
      <parameter id="A" type="float_3" value1="0.59068" value2="0.335139" value3="0.734004"/>
      <parameter id="H" type="float_3" value1="-296.521" value2="1234.79" value3="369.178"/>
      <parameter id="V" type="float_3" value1="-477.009" value2="-262.267" value3="1207.99"/>
      <parameter id="O" type="float_3" value1="0.588667" value2="0.333302" value3="0.736454"/>
      <parameter id="R" type="float_3" value1="1.27917e-05" value2="0.00186558" value3="-0.00598014"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745898">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.051"/>
        <parameter id="Joint Elevation" value="44.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.929"/>
      <parameter id="Joint Elevation" value="44.0326"/>
      <parameter id="Twist" value="0.10314"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.676077" value2="0.754132" value3="-1.84556"/>
      <parameter id="A" type="float_3" value1="0.341843" value2="0.585859" value3="0.734776"/>
      <parameter id="H" type="float_3" value1="-877.661" value2="917.219" value3="370.614"/>
      <parameter id="V" type="float_3" value1="-279.984" value2="-468.417" value3="1207.38"/>
      <parameter id="O" type="float_3" value1="0.341029" value2="0.583255" value3="0.737222"/>
      <parameter id="R" type="float_3" value1="1.27917e-05" value2="0.00186558" value3="-0.00598014"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745924">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.129"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.964"/>
      <parameter id="Joint Elevation" value="43.9411"/>
      <parameter id="Twist" value="0.123166"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595854" value2="0.663639" value3="-1.84548"/>
      <parameter id="A" type="float_3" value1="0.00259102" value2="0.677486" value3="0.73552"/>
      <parameter id="H" type="float_3" value1="-1218.96" value2="354.025" value3="371.111"/>
      <parameter id="V" type="float_3" value1="-7.67303" value2="-546.979" value3="1206.78"/>
      <parameter id="O" type="float_3" value1="0.00319075" value2="0.674819" value3="0.737965"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745949">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.94"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.81"/>
      <parameter id="Joint Elevation" value="43.8603"/>
      <parameter id="Twist" value="0.106472"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571697" value2="0.545936" value3="-1.84536"/>
      <parameter id="A" type="float_3" value1="-0.334504" value2="0.588381" value3="0.736137"/>
      <parameter id="H" type="float_3" value1="-1233.39" value2="-299.616" value3="371.346"/>
      <parameter id="V" type="float_3" value1="265.93" value2="-479.303" value3="1206.28"/>
      <parameter id="O" type="float_3" value1="-0.332656" value2="0.586364" value3="0.73858"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745983">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.049"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.866"/>
      <parameter id="Joint Elevation" value="43.7931"/>
      <parameter id="Twist" value="0.117784"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609809" value2="0.431146" value3="-1.8452"/>
      <parameter id="A" type="float_3" value1="-0.583566" value2="0.341662" value3="0.736682"/>
      <parameter id="H" type="float_3" value1="-917.007" value2="-877.192" value3="372.233"/>
      <parameter id="V" type="float_3" value1="471.41" value2="-281.57" value3="1205.85"/>
      <parameter id="O" type="float_3" value1="-0.580954" value2="0.340843" value3="0.739122"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.380539"/>
      <parameter id="Y" value="0.0311901"/>
      <parameter id="Z" value="0.0360757"/>
      <parameter id="Normal_X" value="0.1397"/>
      <parameter id="Normal_Y" value="0.131775"/>
      <parameter id="Normal_Z" value="-0.954933"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
