<?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="110" index2="168" 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_782691534">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="157.971"/>
        <parameter id="Joint Elevation" value="38.3891"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.08"/>
      <parameter id="Joint Elevation" value="38.4047"/>
      <parameter id="Twist" value="-0.13321"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975749" value2="0.713651" value3="-1.83543"/>
      <parameter id="A" type="float_3" value1="0.553915" value2="-0.237333" value3="0.798019"/>
      <parameter id="H" type="float_3" value1="768.811" value2="998.18" value3="401.161"/>
      <parameter id="V" type="float_3" value1="-604.803" value2="268.386" value3="1148.18"/>
      <parameter id="O" type="float_3" value1="0.550918" value2="-0.236688" value3="0.800282"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782691559">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.034"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.122"/>
      <parameter id="Joint Elevation" value="38.4152"/>
      <parameter id="Twist" value="-0.0658462"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875537" value2="0.778704" value3="-1.83555"/>
      <parameter id="A" type="float_3" value1="0.598358" value2="0.0722723" value3="0.797953"/>
      <parameter id="H" type="float_3" value1="164.689" value2="1249.06" value3="401.357"/>
      <parameter id="V" type="float_3" value1="-657.692" value2="-71.2748" value3="1148.26"/>
      <parameter id="O" type="float_3" value1="0.59544" value2="0.0713274" value3="0.800217"/>
      <parameter id="R" type="float_3" value1="1.44232e-05" value2="0.00180119" value3="-0.00556435"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782691669">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="325.871"/>
        <parameter id="Joint Elevation" value="76.2154"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="325.888"/>
      <parameter id="Joint Elevation" value="75.9901"/>
      <parameter id="Twist" value="0.10057"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.585828" value2="0.45809" value3="-1.90956"/>
      <parameter id="A" type="float_3" value1="-0.786863" value2="0.558194" value3="0.263151"/>
      <parameter id="H" type="float_3" value1="-1107.67" value2="-710.408" value3="129.341"/>
      <parameter id="V" type="float_3" value1="-148.219" value2="99.2354" value3="1313.14"/>
      <parameter id="O" type="float_3" value1="-0.785703" value2="0.558105" value3="0.266781"/>
      <parameter id="R" type="float_3" value1="1.44232e-05" value2="0.00180119" value3="-0.00556435"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782691700">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="355.139"/>
        <parameter id="Joint Elevation" value="79.7586"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="355.105"/>
      <parameter id="Joint Elevation" value="79.5157"/>
      <parameter id="Twist" value="0.014788"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.663541" value2="0.364197" value3="-1.91684"/>
      <parameter id="A" type="float_3" value1="-0.973516" value2="0.104783" value3="0.203151"/>
      <parameter id="H" type="float_3" value1="-627.401" value2="-1159.83" value3="97.536"/>
      <parameter id="V" type="float_3" value1="-258.121" value2="21.7144" value3="1299.64"/>
      <parameter id="O" type="float_3" value1="-0.972684" value2="0.105291" value3="0.206839"/>
      <parameter id="R" type="float_3" value1="1.44534e-05" value2="0.00180013" value3="-0.00555754"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782691791">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="24.3036"/>
        <parameter id="Joint Elevation" value="81.8768"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="24.2712"/>
      <parameter id="Joint Elevation" value="81.6273"/>
      <parameter id="Twist" value="-0.0563037"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.776998" value2="0.320434" value3="-1.92112"/>
      <parameter id="A" type="float_3" value1="-0.907447" value2="-0.385528" value3="0.167009"/>
      <parameter id="H" type="float_3" value1="14.1456" value2="-1319.86" value3="78.2205"/>
      <parameter id="V" type="float_3" value1="-279.463" value2="-126.249" value3="1289.23"/>
      <parameter id="O" type="float_3" value1="-0.907092" value2="-0.384735" value3="0.170723"/>
      <parameter id="R" type="float_3" value1="1.44534e-05" value2="0.00180013" value3="-0.00555754"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782691821">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="53.1285"/>
        <parameter id="Joint Elevation" value="81.9427"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="53.1364"/>
      <parameter id="Joint Elevation" value="81.7182"/>
      <parameter id="Twist" value="-0.134255"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.895806" value2="0.336861" value3="-1.92119"/>
      <parameter id="A" type="float_3" value1="-0.608773" value2="-0.775827" value3="0.165744"/>
      <parameter id="H" type="float_3" value1="649.292" value2="-1149.31" value3="76.4193"/>
      <parameter id="V" type="float_3" value1="-183.918" value2="-247.493" value3="1288.83"/>
      <parameter id="O" type="float_3" value1="-0.608845" value2="-0.774967" value3="0.169462"/>
      <parameter id="R" type="float_3" value1="1.44835e-05" value2="0.00179908" value3="-0.00555072"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782691852">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="82.1037"/>
        <parameter id="Joint Elevation" value="79.9586"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="82.0977"/>
      <parameter id="Joint Elevation" value="79.7945"/>
      <parameter id="Twist" value="-0.125387"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.992084" value2="0.40846" value3="-1.9171"/>
      <parameter id="A" type="float_3" value1="-0.156052" value2="-0.967445" value3="0.199203"/>
      <parameter id="H" type="float_3" value1="1125.04" value2="-688.322" value3="93.93"/>
      <parameter id="V" type="float_3" value1="-34.5174" value2="-262.057" value3="1298.58"/>
      <parameter id="O" type="float_3" value1="-0.156513" value2="-0.966602" value3="0.202897"/>
      <parameter id="R" type="float_3" value1="1.44835e-05" value2="0.00179908" value3="-0.00555072"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782692253">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="218.603"/>
        <parameter id="Joint Elevation" value="83.0697"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="218.627"/>
      <parameter id="Joint Elevation" value="83.0558"/>
      <parameter id="Twist" value="0.0664952"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.771592" value2="0.797523" value3="-1.92408"/>
      <parameter id="A" type="float_3" value1="0.786299" value2="0.600799" value3="0.144075"/>
      <parameter id="H" type="float_3" value1="-339.971" value2="1275.99" value3="67.8965"/>
      <parameter id="V" type="float_3" value1="263.956" value2="208.647" value3="1281.77"/>
      <parameter id="O" type="float_3" value1="0.786225" value2="0.599991" value3="0.1478"/>
      <parameter id="R" type="float_3" value1="1.44232e-05" value2="0.00180119" value3="-0.00556435"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782692278">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="248.745"/>
        <parameter id="Joint Elevation" value="83.9578"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="248.766"/>
      <parameter id="Joint Elevation" value="83.8888"/>
      <parameter id="Twist" value="0.0748459"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.656388" value2="0.748549" value3="-1.92592"/>
      <parameter id="A" type="float_3" value1="0.379086" value2="0.916279" value3="0.129265"/>
      <parameter id="H" type="float_3" value1="-934.347" value2="933.661" value3="60.1385"/>
      <parameter id="V" type="float_3" value1="130.622" value2="330.737" value3="1276.6"/>
      <parameter id="O" type="float_3" value1="0.379447" value2="0.915595" value3="0.133"/>
      <parameter id="R" type="float_3" value1="1.44534e-05" value2="0.00180013" value3="-0.00555754"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782692308">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="278.824"/>
        <parameter id="Joint Elevation" value="86.8913"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="278.887"/>
      <parameter id="Joint Elevation" value="86.7667"/>
      <parameter id="Twist" value="0.0872591"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.581636" value2="0.647547" value3="-1.93191"/>
      <parameter id="A" type="float_3" value1="-0.132573" value2="0.988027" value3="0.0788018"/>
      <parameter id="H" type="float_3" value1="-1277.02" value2="341.109" value3="34.6161"/>
      <parameter id="V" type="float_3" value1="-61.3269" value2="415.397" value3="1256.93"/>
      <parameter id="O" type="float_3" value1="-0.131942" value2="0.987805" value3="0.0825621"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_782692340">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="309.686"/>
        <parameter id="Joint Elevation" value="83.9715"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="309.668"/>
      <parameter id="Joint Elevation" value="83.7867"/>
      <parameter id="Twist" value="0.075929"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.567201" value2="0.521987" value3="-1.9258"/>
      <parameter id="A" type="float_3" value1="-0.616202" value2="0.776769" value3="0.130036"/>
      <parameter id="H" type="float_3" value1="-1270.15" value2="-362.427" value3="60.7211"/>
      <parameter id="V" type="float_3" value1="-224.711" value2="274.345" value3="1276.88"/>
      <parameter id="O" type="float_3" value1="-0.615426" value2="0.776748" value3="0.133779"/>
      <parameter id="R" type="float_3" value1="1.45439e-05" value2="0.00179696" value3="-0.00553709"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782692368">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="339.24"/>
        <parameter id="Joint Elevation" value="87.9135"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="339.221"/>
      <parameter id="Joint Elevation" value="87.6937"/>
      <parameter id="Twist" value="0.0984471"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.618034" value2="0.409205" value3="-1.93376"/>
      <parameter id="A" type="float_3" value1="-0.925222" value2="0.374326" value3="0.0618716"/>
      <parameter id="H" type="float_3" value1="-928.919" value2="-940.582" value3="26.985"/>
      <parameter id="V" type="float_3" value1="-410.647" value2="161.239" value3="1249.62"/>
      <parameter id="O" type="float_3" value1="-0.924774" value2="0.374791" value3="0.0656385"/>
      <parameter id="R" type="float_3" value1="1.45439e-05" value2="0.00179696" value3="-0.00553709"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782692452">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="9.0285"/>
        <parameter id="Joint Elevation" value="91.0573"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="9.04324"/>
      <parameter id="Joint Elevation" value="90.7798"/>
      <parameter id="Twist" value="-0.027361"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.719078" value2="0.336577" value3="-1.9399"/>
      <parameter id="A" type="float_3" value1="-0.990722" value2="-0.135606" value3="0.00798533"/>
      <parameter id="H" type="float_3" value1="-338.9" value2="-1278.07" value3="-2.49649"/>
      <parameter id="V" type="float_3" value1="-502.264" value2="-75.3945" value3="1224.02"/>
      <parameter id="O" type="float_3" value1="-0.990765" value2="-0.135014" value3="0.0117583"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" 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_782692482">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="38.6747"/>
        <parameter id="Joint Elevation" value="92.1752"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="90" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="92" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_782692859">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="240.91"/>
        <parameter id="Joint Elevation" value="44.0804"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.863"/>
      <parameter id="Joint Elevation" value="44.0343"/>
      <parameter id="Twist" value="0.015391"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.676209" value2="0.754327" value3="-1.84558"/>
      <parameter id="A" type="float_3" value1="0.342515" value2="0.585468" value3="0.734775"/>
      <parameter id="H" type="float_3" value1="-876.113" value2="919.058" value3="368.867"/>
      <parameter id="V" type="float_3" value1="-281.928" value2="-466.789" value3="1207.82"/>
      <parameter id="O" type="float_3" value1="0.341618" value2="0.58277" value3="0.737333"/>
      <parameter id="R" type="float_3" value1="1.4574e-05" value2="0.00179591" value3="-0.00553027"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="92" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="94" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_782692890">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.123"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.024"/>
      <parameter id="Joint Elevation" value="43.9768"/>
      <parameter id="Twist" value="0.0956089"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595643" value2="0.663454" value3="-1.84555"/>
      <parameter id="A" type="float_3" value1="0.00188851" value2="0.677926" value3="0.735117"/>
      <parameter id="H" type="float_3" value1="-1219.33" value2="353.006" value3="370.026"/>
      <parameter id="V" type="float_3" value1="-7.69488" value2="-545.856" value3="1207.56"/>
      <parameter id="O" type="float_3" value1="0.00247361" value2="0.67514" value3="0.737674"/>
      <parameter id="R" type="float_3" value1="1.46042e-05" value2="0.00179485" value3="-0.00552346"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="94" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="96" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_782692921">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.931"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.844"/>
      <parameter id="Joint Elevation" value="43.8981"/>
      <parameter id="Twist" value="0.162746"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571599" value2="0.545776" value3="-1.84543"/>
      <parameter id="A" type="float_3" value1="-0.335082" value2="0.588587" value3="0.735709"/>
      <parameter id="H" type="float_3" value1="-1232.7" value2="-301.263" value3="371.458"/>
      <parameter id="V" type="float_3" value1="266.672" value2="-477.542" value3="1207.08"/>
      <parameter id="O" type="float_3" value1="-0.333184" value2="0.586463" value3="0.738264"/>
      <parameter id="R" type="float_3" value1="1.46042e-05" value2="0.00179485" value3="-0.00552346"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="96" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="98" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_782692952">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.055"/>
        <parameter id="Joint Elevation" value="44.0011"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.894"/>
      <parameter id="Joint Elevation" value="43.7995"/>
      <parameter id="Twist" value="0.23431"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.60982" value2="0.43096" value3="-1.84522"/>
      <parameter id="A" type="float_3" value1="-0.583789" value2="0.341404" value3="0.736625"/>
      <parameter id="H" type="float_3" value1="-914.678" value2="-878.766" value3="373.402"/>
      <parameter id="V" type="float_3" value1="472.365" value2="-278.947" value3="1206.35"/>
      <parameter id="O" type="float_3" value1="-0.581077" value2="0.340519" value3="0.739175"/>
      <parameter id="R" type="float_3" value1="1.46042e-05" value2="0.00179485" value3="-0.00552346"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="98" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.797083"/>
      <parameter id="Y" value="1.64794"/>
      <parameter id="Z" value="0.12286"/>
      <parameter id="Normal_X" value="0.0994386"/>
      <parameter id="Normal_Y" value="0.00521405"/>
      <parameter id="Normal_Z" value="-0.913932"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="110" index2="168" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
