<?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="456" 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_782953695">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.121"/>
        <parameter id="Joint Elevation" value="38.3905"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.209"/>
      <parameter id="Joint Elevation" value="38.4312"/>
      <parameter id="Twist" value="-0.127107"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975424" value2="0.714006" value3="-1.83547"/>
      <parameter id="A" type="float_3" value1="0.554794" value2="-0.236225" value3="0.797737"/>
      <parameter id="H" type="float_3" value1="766.695" value2="999.855" value3="401.192"/>
      <parameter id="V" type="float_3" value1="-605.032" value2="266.717" value3="1148.4"/>
      <parameter id="O" type="float_3" value1="0.551819" value2="-0.235601" value3="0.799982"/>
      <parameter id="R" type="float_3" value1="1.4001e-05" value2="0.00181597" value3="-0.00565978"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782953719">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.884"/>
        <parameter id="Joint Elevation" value="38.3945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.948"/>
      <parameter id="Joint Elevation" value="38.4147"/>
      <parameter id="Twist" value="-0.0364347"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876204" value2="0.778469" value3="-1.83554"/>
      <parameter id="A" type="float_3" value1="0.598571" value2="0.0704544" value3="0.797955"/>
      <parameter id="H" type="float_3" value1="168.042" value2="1248.5" value3="401.834"/>
      <parameter id="V" type="float_3" value1="-657.905" value2="-69.9154" value3="1148.18"/>
      <parameter id="O" type="float_3" value1="0.595674" value2="0.0695164" value3="0.800202"/>
      <parameter id="R" type="float_3" value1="1.40613e-05" value2="0.00181385" value3="-0.00564615"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782953820">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="320.361"/>
        <parameter id="Joint Elevation" value="75.6482"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="320.42"/>
      <parameter id="Joint Elevation" value="75.4294"/>
      <parameter id="Twist" value="-0.0170986"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.577157" value2="0.479423" value3="-1.9084"/>
      <parameter id="A" type="float_3" value1="-0.728111" value2="0.628896" value3="0.27263"/>
      <parameter id="H" type="float_3" value1="-1169.95" value2="-601.947" value3="131.71"/>
      <parameter id="V" type="float_3" value1="-129.925" value2="102.41" value3="1314.78"/>
      <parameter id="O" type="float_3" value1="-0.726948" value2="0.628675" value3="0.276221"/>
      <parameter id="R" type="float_3" value1="1.40311e-05" value2="0.00181491" value3="-0.00565296"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782953852">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="349.756"/>
        <parameter id="Joint Elevation" value="78.3858"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="349.823"/>
      <parameter id="Joint Elevation" value="78.1972"/>
      <parameter id="Twist" value="-0.0628927"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.645958" value2="0.378064" value3="-1.91411"/>
      <parameter id="A" type="float_3" value1="-0.954903" value2="0.192956" value3="0.225636"/>
      <parameter id="H" type="float_3" value1="-729.648" value2="-1097.52" value3="107.313"/>
      <parameter id="V" type="float_3" value1="-225.885" value2="37.6793" value3="1305.22"/>
      <parameter id="O" type="float_3" value1="-0.953952" value2="0.193367" value3="0.229278"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782953935">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="19.27"/>
        <parameter id="Joint Elevation" value="80.0451"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="19.259"/>
      <parameter id="Joint Elevation" value="79.9027"/>
      <parameter id="Twist" value="-0.0984821"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.755833" value2="0.323647" value3="-1.91756"/>
      <parameter id="A" type="float_3" value1="-0.93246" value2="-0.303086" value3="0.19657"/>
      <parameter id="H" type="float_3" value1="-99.0681" value2="-1315.34" value3="92.3511"/>
      <parameter id="V" type="float_3" value1="-252.016" value2="-90.2482" value3="1297.84"/>
      <parameter id="O" type="float_3" value1="-0.931938" value2="-0.302295" value3="0.200233"/>
      <parameter id="R" type="float_3" value1="1.40613e-05" value2="0.00181385" value3="-0.00564615"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782953965">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="48.0399"/>
        <parameter id="Joint Elevation" value="80.1259"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="48.0573"/>
      <parameter id="Joint Elevation" value="80.0211"/>
      <parameter id="Twist" value="-0.0821296"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875452" value2="0.329374" value3="-1.91768"/>
      <parameter id="A" type="float_3" value1="-0.67143" value2="-0.714994" value3="0.194806"/>
      <parameter id="H" type="float_3" value1="546.741" value2="-1200.42" value3="92.2998"/>
      <parameter id="V" type="float_3" value1="-179.633" value2="-201.593" value3="1297.36"/>
      <parameter id="O" type="float_3" value1="-0.671359" value2="-0.714051" value3="0.198475"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782953997">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="77.4266"/>
        <parameter id="Joint Elevation" value="78.6195"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="77.4912"/>
      <parameter id="Joint Elevation" value="78.5319"/>
      <parameter id="Twist" value="-0.143706"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.979282" value2="0.393674" value3="-1.91448"/>
      <parameter id="A" type="float_3" value1="-0.232166" value2="-0.947306" value3="0.220665"/>
      <parameter id="H" type="float_3" value1="1066.59" value2="-774.539" value3="104.518"/>
      <parameter id="V" type="float_3" value1="-48.2361" value2="-230.693" value3="1304.04"/>
      <parameter id="O" type="float_3" value1="-0.232541" value2="-0.946356" value3="0.224316"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782954430">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="93.8585"/>
        <parameter id="Joint Elevation" value="94.4784"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="93.8666"/>
      <parameter id="Joint Elevation" value="94.4141"/>
      <parameter id="Twist" value="-0.154636"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01864" value2="0.456575" value3="-1.94682"/>
      <parameter id="A" type="float_3" value1="0.0456526" value2="-0.997467" value3="-0.0543871"/>
      <parameter id="H" type="float_3" value1="1242.24" value2="-451.664" value3="-35.8787"/>
      <parameter id="V" type="float_3" value1="34.8742" value2="-582.074" value3="1189.97"/>
      <parameter id="O" type="float_3" value1="0.0450718" value2="-0.99769" value3="-0.0506525"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782954461">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="123.416"/>
        <parameter id="Joint Elevation" value="91.2006"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="123.477"/>
      <parameter id="Joint Elevation" value="91.1845"/>
      <parameter id="Twist" value="-0.142447"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04263" value2="0.573991" value3="-1.94039"/>
      <parameter id="A" type="float_3" value1="0.533271" value2="-0.845931" value3="0.00244111"/>
      <parameter id="H" type="float_3" value1="1303.83" value2="220.014" value3="-6.89735"/>
      <parameter id="V" type="float_3" value1="281.289" value2="-430.895" value3="1221.18"/>
      <parameter id="O" type="float_3" value1="0.532764" value2="-0.846232" value3="0.0061857"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782954492">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="153.512"/>
        <parameter id="Joint Elevation" value="88.0407"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="153.507"/>
      <parameter id="Joint Elevation" value="88.0926"/>
      <parameter id="Twist" value="-0.112855"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00487" value2="0.690402" value3="-1.93418"/>
      <parameter id="A" type="float_3" value1="0.883604" value2="-0.464768" value3="0.0567262"/>
      <parameter id="H" type="float_3" value1="1018.37" value2="843.153" value3="20.9093"/>
      <parameter id="V" type="float_3" value1="399.758" value2="-201.215" value3="1247.31"/>
      <parameter id="O" type="float_3" value1="0.883135" value2="-0.465188" value3="0.0604668"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782954516">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="183.404"/>
        <parameter id="Joint Elevation" value="85.7116"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="183.438"/>
      <parameter id="Joint Elevation" value="85.7753"/>
      <parameter id="Twist" value="0.00164038"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.913841" value2="0.772936" value3="-1.92954"/>
      <parameter id="A" type="float_3" value1="0.994534" value2="0.0380133" value3="0.0971615"/>
      <parameter id="H" type="float_3" value1="460.371" value2="1238.79" value3="43.3271"/>
      <parameter id="V" type="float_3" value1="396" value2="21.3409" value3="1264.44"/>
      <parameter id="O" type="float_3" value1="0.994186" value2="0.0374036" value3="0.100889"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782954540">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="213.546"/>
        <parameter id="Joint Elevation" value="84.8098"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="213.625"/>
      <parameter id="Joint Elevation" value="84.8173"/>
      <parameter id="Twist" value="0.0906394"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.791972" value2="0.799153" value3="-1.9277"/>
      <parameter id="A" type="float_3" value1="0.839041" value2="0.532054" value3="0.113635"/>
      <parameter id="H" type="float_3" value1="-225.84" value2="1301.77" value3="52.9964"/>
      <parameter id="V" type="float_3" value1="314.511" value2="205.264" value3="1270.84"/>
      <parameter id="O" type="float_3" value1="0.838996" value2="0.531316" value3="0.117358"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782954564">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="243.812"/>
        <parameter id="Joint Elevation" value="85.5684"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="243.824"/>
      <parameter id="Joint Elevation" value="85.5042"/>
      <parameter id="Twist" value="0.102512"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.67297" value2="0.760069" value3="-1.92923"/>
      <parameter id="A" type="float_3" value1="0.458136" value2="0.883078" value3="0.101334"/>
      <parameter id="H" type="float_3" value1="-849.717" value2="1012.04" value3="46.5523"/>
      <parameter id="V" type="float_3" value1="175.642" value2="349.623" value3="1266.1"/>
      <parameter id="O" type="float_3" value1="0.458489" value2="0.882458" value3="0.105062"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782954595">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="273.692"/>
        <parameter id="Joint Elevation" value="87.8138"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="90" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782955015">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="240.893"/>
        <parameter id="Joint Elevation" value="44.0791"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.846"/>
      <parameter id="Joint Elevation" value="43.9995"/>
      <parameter id="Twist" value="0.0991961"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.676262" value2="0.754328" value3="-1.84551"/>
      <parameter id="A" type="float_3" value1="0.342468" value2="0.58498" value3="0.735185"/>
      <parameter id="H" type="float_3" value1="-876.59" value2="918.051" value3="370.354"/>
      <parameter id="V" type="float_3" value1="-280.931" value2="-468.289" value3="1207.43"/>
      <parameter id="O" type="float_3" value1="0.341585" value2="0.582292" value3="0.737726"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="92" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782955039">
      <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="270.947"/>
      <parameter id="Joint Elevation" value="43.9044"/>
      <parameter id="Twist" value="0.0557117"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595797" value2="0.663657" value3="-1.84542"/>
      <parameter id="A" type="float_3" value1="0.00278978" value2="0.676995" value3="0.735971"/>
      <parameter id="H" type="float_3" value1="-1218.85" value2="354.856" value3="369.962"/>
      <parameter id="V" type="float_3" value1="-9.28151" value2="-547.423" value3="1206.8"/>
      <parameter id="O" type="float_3" value1="0.00337086" value2="0.674223" value3="0.738508"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="94" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782955063">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.933"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.981"/>
      <parameter id="Joint Elevation" value="43.8556"/>
      <parameter id="Twist" value="-0.0371237"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571667" value2="0.545188" value3="-1.84536"/>
      <parameter id="A" type="float_3" value1="-0.336221" value2="0.587314" value3="0.736207"/>
      <parameter id="H" type="float_3" value1="-1233.41" value2="-301.665" value3="368.906"/>
      <parameter id="V" type="float_3" value1="264.586" value2="-479.825" value3="1206.6"/>
      <parameter id="O" type="float_3" value1="-0.334335" value2="0.585201" value3="0.738744"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="96" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="456" 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_782955094">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.044"/>
        <parameter id="Joint Elevation" value="44.0011"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="331.037"/>
      <parameter id="Joint Elevation" value="43.837"/>
      <parameter id="Twist" value="0.00329343"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.610112" value2="0.430509" value3="-1.84528"/>
      <parameter id="A" type="float_3" value1="-0.585057" value2="0.340197" value3="0.736178"/>
      <parameter id="H" type="float_3" value1="-915.87" value2="-879.05" value3="369.912"/>
      <parameter id="V" type="float_3" value1="469.934" value2="-281.639" value3="1206.63"/>
      <parameter id="O" type="float_3" value1="-0.582363" value2="0.339315" value3="0.738717"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="456" 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="0.710714"/>
      <parameter id="Y" value="0.16845"/>
      <parameter id="Z" value="0.106936"/>
      <parameter id="Normal_X" value="0.073394"/>
      <parameter id="Normal_Y" value="-0.0100469"/>
      <parameter id="Normal_Z" value="-0.645977"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="110" index2="456" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
