<?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="862" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783673172">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="157.993"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.113"/>
      <parameter id="Joint Elevation" value="38.3875"/>
      <parameter id="Twist" value="-0.25508"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975647" value2="0.713782" value3="-1.8354"/>
      <parameter id="A" type="float_3" value1="0.55383" value2="-0.236912" value3="0.798203"/>
      <parameter id="H" type="float_3" value1="769.935" value2="997.878" value3="399.575"/>
      <parameter id="V" type="float_3" value1="-604.171" value2="270.518" value3="1148.08"/>
      <parameter id="O" type="float_3" value1="0.550809" value2="-0.236246" value3="0.800488"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783673203">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.034"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.126"/>
      <parameter id="Joint Elevation" value="38.429"/>
      <parameter id="Twist" value="-0.181943"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.87553" value2="0.778736" value3="-1.83557"/>
      <parameter id="A" type="float_3" value1="0.598536" value2="0.0723455" value3="0.797812"/>
      <parameter id="H" type="float_3" value1="166.551" value2="1249.29" value3="399.668"/>
      <parameter id="V" type="float_3" value1="-657.616" value2="-68.8302" value3="1148.52"/>
      <parameter id="O" type="float_3" value1="0.595585" value2="0.0714079" value3="0.800101"/>
      <parameter id="R" type="float_3" value1="1.49058e-05" value2="0.0017843" value3="-0.00545529"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783673315">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="263.158"/>
        <parameter id="Joint Elevation" value="70.6967"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="263.091"/>
      <parameter id="Joint Elevation" value="70.6321"/>
      <parameter id="Twist" value="0.0737568"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.614348" value2="0.707375" value3="-1.89833"/>
      <parameter id="A" type="float_3" value1="0.132423" value2="0.9262" value3="0.352989"/>
      <parameter id="H" type="float_3" value1="-1140.33" value2="646.191" value3="174.085"/>
      <parameter id="V" type="float_3" value1="1.69405" value2="54.0594" value3="1324.15"/>
      <parameter id="O" type="float_3" value1="0.132818" value2="0.924781" value3="0.356542"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783673346">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="293.031"/>
        <parameter id="Joint Elevation" value="73.742"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="292.907"/>
      <parameter id="Joint Elevation" value="73.633"/>
      <parameter id="Twist" value="0.0930849"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.565865" value2="0.59348" value3="-1.90465"/>
      <parameter id="A" type="float_3" value1="-0.351967" value2="0.885591" value3="0.303037"/>
      <parameter id="H" type="float_3" value1="-1313.77" value2="1.53066" value3="149.053"/>
      <parameter id="V" type="float_3" value1="-50.7477" value2="112.935" value3="1319.46"/>
      <parameter id="O" type="float_3" value1="-0.350988" value2="0.884732" value3="0.30666"/>
      <parameter id="R" type="float_3" value1="1.49058e-05" value2="0.0017843" value3="-0.00545529"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783673377">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="322.701"/>
        <parameter id="Joint Elevation" value="76.8927"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="322.628"/>
      <parameter id="Joint Elevation" value="76.7251"/>
      <parameter id="Twist" value="0.0753757"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.580446" value2="0.470636" value3="-1.9111"/>
      <parameter id="A" type="float_3" value1="-0.756413" value2="0.604091" value3="0.250792"/>
      <parameter id="H" type="float_3" value1="-1147.54" value2="-645.26" value3="122.418"/>
      <parameter id="V" type="float_3" value1="-155.931" value2="117.608" value3="1310.79"/>
      <parameter id="O" type="float_3" value1="-0.755291" value2="0.603954" value3="0.254476"/>
      <parameter id="R" type="float_3" value1="1.49359e-05" value2="0.00178324" value3="-0.00544848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783673408">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="352.103"/>
        <parameter id="Joint Elevation" value="79.275"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="352.005"/>
      <parameter id="Joint Elevation" value="79.0778"/>
      <parameter id="Twist" value="0.0318337"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.653111" value2="0.372093" value3="-1.91594"/>
      <parameter id="A" type="float_3" value1="-0.964864" value2="0.157007" value3="0.210642"/>
      <parameter id="H" type="float_3" value1="-688.23" value2="-1124.37" value3="101.609"/>
      <parameter id="V" type="float_3" value1="-246.834" value2="34.3505" value3="1301.62"/>
      <parameter id="O" type="float_3" value1="-0.96397" value2="0.157461" value3="0.214362"/>
      <parameter id="R" type="float_3" value1="1.49359e-05" value2="0.00178324" value3="-0.00544848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783673492">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="21.5259"/>
        <parameter id="Joint Elevation" value="80.3018"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="21.4125"/>
      <parameter id="Joint Elevation" value="80.1099"/>
      <parameter id="Twist" value="-0.0670368"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.764786" value2="0.321961" value3="-1.91798"/>
      <parameter id="A" type="float_3" value1="-0.921071" value2="-0.338148" value3="0.193045"/>
      <parameter id="H" type="float_3" value1="-49.5208" value2="-1318.12" value3="91.1928"/>
      <parameter id="V" type="float_3" value1="-253.297" value2="-100.674" value3="1296.92"/>
      <parameter id="O" type="float_3" value1="-0.920578" value2="-0.337341" value3="0.196775"/>
      <parameter id="R" type="float_3" value1="1.48756e-05" value2="0.00178535" value3="-0.00546211"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" 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_783673922">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="156.05"/>
        <parameter id="Joint Elevation" value="87.0609"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="155.985"/>
      <parameter id="Joint Elevation" value="87.1202"/>
      <parameter id="Twist" value="-0.299202"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.999448" value2="0.698774" value3="-1.93221"/>
      <parameter id="A" type="float_3" value1="0.901869" value2="-0.425659" value3="0.0736888"/>
      <parameter id="H" type="float_3" value1="980.664" value2="886.501" value3="25.5255"/>
      <parameter id="V" type="float_3" value1="390.734" value2="-171.112" value3="1254.72"/>
      <parameter id="O" type="float_3" value1="0.901365" value2="-0.426055" value3="0.0774756"/>
      <parameter id="R" type="float_3" value1="1.47851e-05" value2="0.00178852" value3="-0.00548256"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" 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_783673946">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="185.904"/>
        <parameter id="Joint Elevation" value="85.118"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="185.907"/>
      <parameter id="Joint Elevation" value="85.1902"/>
      <parameter id="Twist" value="-0.102964"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.904767" value2="0.777499" value3="-1.92835"/>
      <parameter id="A" type="float_3" value1="0.990931" value2="0.0807508" value3="0.107326"/>
      <parameter id="H" type="float_3" value1="406.14" value2="1257.44" value3="46.2103"/>
      <parameter id="V" type="float_3" value1="381.821" value2="39.626" value3="1268.43"/>
      <parameter id="O" type="float_3" value1="0.990565" value2="0.0801349" value3="0.111102"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" 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_783673977">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="216.274"/>
        <parameter id="Joint Elevation" value="84.9032"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="216.263"/>
      <parameter id="Joint Elevation" value="84.9791"/>
      <parameter id="Twist" value="0.0409876"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.780883" value2="0.798311" value3="-1.92804"/>
      <parameter id="A" type="float_3" value1="0.813931" value2="0.570281" value3="0.110812"/>
      <parameter id="H" type="float_3" value1="-285.438" value2="1290.04" value3="50.4315"/>
      <parameter id="V" type="float_3" value1="307.212" value2="222.603" value3="1269.79"/>
      <parameter id="O" type="float_3" value1="0.81392" value2="0.56955" value3="0.114587"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" 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_783674008">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="246.431"/>
        <parameter id="Joint Elevation" value="86.3459"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="246.373"/>
      <parameter id="Joint Elevation" value="86.3766"/>
      <parameter id="Twist" value="0.0613764"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.663993" value2="0.753701" value3="-1.93103"/>
      <parameter id="A" type="float_3" value1="0.419025" value2="0.90387" value3="0.0861446"/>
      <parameter id="H" type="float_3" value1="-893.648" value2="973.739" value3="37.8943"/>
      <parameter id="V" type="float_3" value1="167.302" value2="375.128" value3="1259.99"/>
      <parameter id="O" type="float_3" value1="0.41942" value2="0.903317" value3="0.089932"/>
      <parameter id="R" type="float_3" value1="1.48756e-05" value2="0.00178535" value3="-0.00546211"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" 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_783674039">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="276.252"/>
        <parameter id="Joint Elevation" value="89.0651"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="276.231"/>
      <parameter id="Joint Elevation" value="89.0146"/>
      <parameter id="Twist" value="0.106741"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.58604" value2="0.656686" value3="-1.93647"/>
      <parameter id="A" type="float_3" value1="-0.0868157" value2="0.995425" value3="0.0396924"/>
      <parameter id="H" type="float_3" value1="-1259.9" value2="400.791" value3="15.1062"/>
      <parameter id="V" type="float_3" value1="-45.839" value2="466.668" value3="1239.52"/>
      <parameter id="O" type="float_3" value1="-0.08621" value2="0.995319" value3="0.0434908"/>
      <parameter id="R" type="float_3" value1="1.48756e-05" value2="0.00178535" value3="-0.00546211"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" 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_783674062">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="306.14"/>
        <parameter id="Joint Elevation" value="92.2932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="306.094"/>
      <parameter id="Joint Elevation" value="92.1712"/>
      <parameter id="Twist" value="0.0521602"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.567676" value2="0.533472" value3="-1.94283"/>
      <parameter id="A" type="float_3" value1="-0.571264" value2="0.820603" value3="-0.0158735"/>
      <parameter id="H" type="float_3" value1="-1292.2" value2="-279.656" value3="-14.1116"/>
      <parameter id="V" type="float_3" value1="-311.792" value2="437.285" value3="1211.56"/>
      <parameter id="O" type="float_3" value1="-0.570809" value2="0.820984" value3="-0.0120692"/>
      <parameter id="R" type="float_3" value1="1.49058e-05" value2="0.0017843" value3="-0.00545529"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783674093">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="336.099"/>
        <parameter id="Joint Elevation" value="95.1792"/>
        <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="862" index3="6" index4="0" index5="0" index6="0" index7="112" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" 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_783674572">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.039"/>
        <parameter id="Joint Elevation" value="44.0831"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.946"/>
      <parameter id="Joint Elevation" value="44.1009"/>
      <parameter id="Twist" value="0.0294258"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675948" value2="0.754206" value3="-1.8457"/>
      <parameter id="A" type="float_3" value1="0.34209" value2="0.586702" value3="0.733989"/>
      <parameter id="H" type="float_3" value1="-877.378" value2="917.912" value3="368.599"/>
      <parameter id="V" type="float_3" value1="-280.257" value2="-466.093" value3="1208.51"/>
      <parameter id="O" type="float_3" value1="0.34119" value2="0.583992" value3="0.736564"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="114" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" 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_783674596">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.991"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.803"/>
      <parameter id="Joint Elevation" value="44.0341"/>
      <parameter id="Twist" value="0.136941"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.596033" value2="0.664317" value3="-1.84566"/>
      <parameter id="A" type="float_3" value1="0.00450439" value2="0.678644" value3="0.734442"/>
      <parameter id="H" type="float_3" value1="-1217.97" value2="357.37" value3="370.22"/>
      <parameter id="V" type="float_3" value1="-8.90738" value2="-544.581" value3="1208.15"/>
      <parameter id="O" type="float_3" value1="0.00507962" value2="0.675845" value3="0.737015"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="116" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="118" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783674620">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.929"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.74"/>
      <parameter id="Joint Elevation" value="43.9327"/>
      <parameter id="Twist" value="0.225641"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571546" value2="0.546223" value3="-1.8455"/>
      <parameter id="A" type="float_3" value1="-0.334231" value2="0.589577" value3="0.735304"/>
      <parameter id="H" type="float_3" value1="-1232.85" value2="-299.735" value3="372.099"/>
      <parameter id="V" type="float_3" value1="266.59" value2="-476.697" value3="1207.47"/>
      <parameter id="O" type="float_3" value1="-0.332329" value2="0.587439" value3="0.737873"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="118" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="120" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_783674652">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.052"/>
        <parameter id="Joint Elevation" value="44.0011"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.847"/>
      <parameter id="Joint Elevation" value="43.8488"/>
      <parameter id="Twist" value="0.0815255"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609664" value2="0.431135" value3="-1.84531"/>
      <parameter id="A" type="float_3" value1="-0.584054" value2="0.342202" value3="0.736045"/>
      <parameter id="H" type="float_3" value1="-917.693" value2="-876.66" value3="370.844"/>
      <parameter id="V" type="float_3" value1="469.549" value2="-281.59" value3="1206.86"/>
      <parameter id="O" type="float_3" value1="-0.581337" value2="0.341297" value3="0.738612"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="120" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.691903"/>
      <parameter id="Y" value="4.65115"/>
      <parameter id="Z" value="0.0739746"/>
      <parameter id="Normal_X" value="0.0967236"/>
      <parameter id="Normal_Y" value="-7.95598e-05"/>
      <parameter id="Normal_Z" value="-1.16942"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="110" index2="862" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
