<?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="112" index2="2148" 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="11" instrument="NAV_RIGHT_B" unique_id="MSLNR_791212621">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.278"/>
        <parameter id="Joint Elevation" value="38.3891"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.473"/>
      <parameter id="Joint Elevation" value="38.4193"/>
      <parameter id="Twist" value="-0.250159"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.97469" value2="0.714778" value3="-1.83545"/>
      <parameter id="A" type="float_3" value1="0.555725" value2="-0.233604" value3="0.797861"/>
      <parameter id="H" type="float_3" value1="763.995" value2="1002.55" value3="399.773"/>
      <parameter id="V" type="float_3" value1="-605.503" value2="266.461" value3="1148.15"/>
      <parameter id="O" type="float_3" value1="0.552772" value2="-0.232998" value3="0.800087"/>
      <parameter id="R" type="float_3" value1="1.36089e-05" value2="0.00182969" value3="-0.00574839"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791212691">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="152.139"/>
        <parameter id="Joint Elevation" value="67.4308"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="152.221"/>
      <parameter id="Joint Elevation" value="67.4107"/>
      <parameter id="Twist" value="-0.189745"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00989" value2="0.684637" value3="-1.89123"/>
      <parameter id="A" type="float_3" value1="0.799107" value2="-0.443678" value3="0.405661"/>
      <parameter id="H" type="float_3" value1="1002.77" value2="838.997" value3="197.818"/>
      <parameter id="V" type="float_3" value1="-14.556" value2="19.1297" value3="1324.89"/>
      <parameter id="O" type="float_3" value1="0.797502" value2="-0.443461" value3="0.409044"/>
      <parameter id="R" type="float_3" value1="1.36391e-05" value2="0.00182863" value3="-0.00574157"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791212716">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="183.082"/>
        <parameter id="Joint Elevation" value="68.979"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="183.149"/>
      <parameter id="Joint Elevation" value="69.0023"/>
      <parameter id="Twist" value="-0.0722922"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.916691" value2="0.772415" value3="-1.89463"/>
      <parameter id="A" type="float_3" value1="0.924372" value2="0.0306813" value3="0.380234"/>
      <parameter id="H" type="float_3" value1="433.293" value2="1235.35" value3="186.439"/>
      <parameter id="V" type="float_3" value1="14.3647" value2="8.32351" value3="1325"/>
      <parameter id="O" type="float_3" value1="0.922977" value2="0.0300398" value3="0.383658"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791212741">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="213.734"/>
        <parameter id="Joint Elevation" value="71.92"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="213.804"/>
      <parameter id="Joint Elevation" value="71.9336"/>
      <parameter id="Twist" value="-0.0888895"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.792776" value2="0.800087" value3="-1.90087"/>
      <parameter id="A" type="float_3" value1="0.794877" value2="0.507677" value3="0.332292"/>
      <parameter id="H" type="float_3" value1="-249.535" value2="1288.57" value3="160.938"/>
      <parameter id="V" type="float_3" value1="64.8495" value2="51.9017" value3="1322.51"/>
      <parameter id="O" type="float_3" value1="0.794151" value2="0.506512" value3="0.335787"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791212772">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="243.694"/>
        <parameter id="Joint Elevation" value="75.4012"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="243.694"/>
      <parameter id="Joint Elevation" value="75.4012"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.674452" value2="0.762321" value3="-1.90824"/>
      <parameter id="A" type="float_3" value1="0.444638" value2="0.852676" value3="0.274271"/>
      <parameter id="H" type="float_3" value1="-854.637" value2="1000.29" value3="132.644"/>
      <parameter id="V" type="float_3" value1="68.8146" value2="147.874" value3="1315.04"/>
      <parameter id="O" type="float_3" value1="0.444692" value2="0.851492" value3="0.277837"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791212803">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="272.976"/>
        <parameter id="Joint Elevation" value="78.4958"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="272.972"/>
      <parameter id="Joint Elevation" value="78.4717"/>
      <parameter id="Twist" value="-0.00962666"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.591853" value2="0.672522" value3="-1.91474"/>
      <parameter id="A" type="float_3" value1="-0.0295367" value2="0.974616" value3="0.221888"/>
      <parameter id="H" type="float_3" value1="-1234.83" value2="461.098" value3="105.555"/>
      <parameter id="V" type="float_3" value1="-14.7523" value2="233.452" value3="1304.31"/>
      <parameter id="O" type="float_3" value1="-0.0289172" value2="0.973804" value3="0.225507"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213311">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="46.62"/>
        <parameter id="Joint Elevation" value="89.7498"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="46.5385"/>
      <parameter id="Joint Elevation" value="89.5961"/>
      <parameter id="Twist" value="-0.0960359"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.87187" value2="0.330148" value3="-1.93736"/>
      <parameter id="A" type="float_3" value1="-0.703244" value2="-0.710348" value3="0.0289162"/>
      <parameter id="H" type="float_3" value1="508.893" value2="-1220.47" value3="7.4119"/>
      <parameter id="V" type="float_3" value1="-333.797" value2="-347.617" value3="1234.37"/>
      <parameter id="O" type="float_3" value1="-0.703587" value2="-0.709848" value3="0.0326245"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213336">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="76.758"/>
        <parameter id="Joint Elevation" value="92.1184"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="76.725"/>
      <parameter id="Joint Elevation" value="92.0004"/>
      <parameter id="Twist" value="-0.113583"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.978384" value2="0.396471" value3="-1.94208"/>
      <parameter id="A" type="float_3" value1="-0.250757" value2="-0.96796" value3="-0.0125882"/>
      <parameter id="H" type="float_3" value1="1053.62" value2="-798.913" value3="-13.7793"/>
      <parameter id="V" type="float_3" value1="-126.424" value2="-517.526" value3="1213.31"/>
      <parameter id="O" type="float_3" value1="-0.251343" value2="-0.967849" value3="-0.00887596"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213360">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="107"/>
        <parameter id="Joint Elevation" value="92.4553"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="106.96"/>
      <parameter id="Joint Elevation" value="92.378"/>
      <parameter id="Twist" value="-0.175812"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03673" value2="0.50641" value3="-1.94277"/>
      <parameter id="A" type="float_3" value1="0.270741" value2="-0.962463" value3="-0.0186567"/>
      <parameter id="H" type="float_3" value1="1312.54" value2="-159.57" value3="-18.1995"/>
      <parameter id="V" type="float_3" value1="154.646" value2="-517.514" value3="1210.05"/>
      <parameter id="O" type="float_3" value1="0.270189" value2="-0.962683" value3="-0.0149417"/>
      <parameter id="R" type="float_3" value1="1.37899e-05" value2="0.00182335" value3="-0.00570749"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213385">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="136.702"/>
        <parameter id="Joint Elevation" value="91.302"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="136.709"/>
      <parameter id="Joint Elevation" value="91.3129"/>
      <parameter id="Twist" value="-0.27702"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0329" value2="0.628145" value3="-1.94065"/>
      <parameter id="A" type="float_3" value1="0.712755" value2="-0.701401" value3="0.000374946"/>
      <parameter id="H" type="float_3" value1="1218.91" value2="512.544" value3="-10.9873"/>
      <parameter id="V" type="float_3" value1="376.308" value2="-354.589" value3="1220.09"/>
      <parameter id="O" type="float_3" value1="0.71234" value2="-0.701811" value3="0.00409172"/>
      <parameter id="R" type="float_3" value1="1.37899e-05" value2="0.00182335" value3="-0.00570749"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213409">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="166.585"/>
        <parameter id="Joint Elevation" value="88.9259"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="166.66"/>
      <parameter id="Joint Elevation" value="89.007"/>
      <parameter id="Twist" value="-0.01297"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.969358" value2="0.732652" value3="-1.93607"/>
      <parameter id="A" type="float_3" value1="0.966936" value2="-0.251691" value3="0.040863"/>
      <parameter id="H" type="float_3" value1="800.088" value2="1052.71" value3="14.7039"/>
      <parameter id="V" type="float_3" value1="453.588" value2="-111.719" value3="1240.05"/>
      <parameter id="O" type="float_3" value1="0.966631" value2="-0.252231" value3="0.0445739"/>
      <parameter id="R" type="float_3" value1="1.37899e-05" value2="0.00182335" value3="-0.00570749"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791213433">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="197.107"/>
        <parameter id="Joint Elevation" value="85.2246"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="197.12"/>
      <parameter id="Joint Elevation" value="85.2999"/>
      <parameter id="Twist" value="-0.0207681"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.860428" value2="0.792769" value3="-1.92862"/>
      <parameter id="A" type="float_3" value1="0.956511" value2="0.271966" value3="0.105374"/>
      <parameter id="H" type="float_3" value1="154.091" value2="1312.48" value3="46.7663"/>
      <parameter id="V" type="float_3" value1="369.344" value2="112.26" value3="1267.65"/>
      <parameter id="O" type="float_3" value1="0.956291" value2="0.271284" value3="0.10907"/>
      <parameter id="R" type="float_3" value1="1.382e-05" value2="0.0018223" value3="-0.00570068"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791213464">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="227.529"/>
        <parameter id="Joint Elevation" value="83.5756"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="227.543"/>
      <parameter id="Joint Elevation" value="83.639"/>
      <parameter id="Twist" value="-0.00249106"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.734985" value2="0.789388" value3="-1.92533"/>
      <parameter id="A" type="float_3" value1="0.684672" value2="0.716437" value3="0.133883"/>
      <parameter id="H" type="float_3" value1="-532.874" value2="1208.66" value3="61.1383"/>
      <parameter id="V" type="float_3" value1="236.244" value2="257.539" value3="1278.21"/>
      <parameter id="O" type="float_3" value1="0.684754" value2="0.715661" value3="0.137566"/>
      <parameter id="R" type="float_3" value1="1.382e-05" value2="0.0018223" value3="-0.00570068"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" 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_791213494">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="257.22"/>
        <parameter id="Joint Elevation" value="86.8598"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="100" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="102" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791214087">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.981"/>
        <parameter id="Joint Elevation" value="44.0517"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.929"/>
      <parameter id="Joint Elevation" value="44.02"/>
      <parameter id="Twist" value="0.0254673"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595853" value2="0.663848" value3="-1.84563"/>
      <parameter id="A" type="float_3" value1="0.00301547" value2="0.678483" value3="0.734599"/>
      <parameter id="H" type="float_3" value1="-1218.73" value2="356.554" value3="368.921"/>
      <parameter id="V" type="float_3" value1="-10.0856" value2="-545.057" value3="1207.8"/>
      <parameter id="O" type="float_3" value1="0.00359703" value2="0.675741" value3="0.737119"/>
      <parameter id="R" type="float_3" value1="1.38803e-05" value2="0.00182019" value3="-0.00568704"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="102" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="104" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791214119">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.787"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.729"/>
      <parameter id="Joint Elevation" value="43.9597"/>
      <parameter id="Twist" value="0.0713657"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571571" value2="0.546322" value3="-1.84554"/>
      <parameter id="A" type="float_3" value1="-0.334289" value2="0.589954" value3="0.734975"/>
      <parameter id="H" type="float_3" value1="-1234.27" value2="-297.054" value3="369.936"/>
      <parameter id="V" type="float_3" value1="263.446" value2="-478.021" value3="1207.51"/>
      <parameter id="O" type="float_3" value1="-0.332418" value2="0.587864" value3="0.737494"/>
      <parameter id="R" type="float_3" value1="1.38803e-05" value2="0.00182019" value3="-0.00568704"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="104" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="106" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_791214151">
      <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="330.894"/>
      <parameter id="Joint Elevation" value="43.8849"/>
      <parameter id="Twist" value="0.136899"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609759" value2="0.43104" value3="-1.84537"/>
      <parameter id="A" type="float_3" value1="-0.584742" value2="0.341963" value3="0.735609"/>
      <parameter id="H" type="float_3" value1="-916.602" value2="-877.632" value3="371.653"/>
      <parameter id="V" type="float_3" value1="469.881" value2="-279.892" value3="1207"/>
      <parameter id="O" type="float_3" value1="-0.582071" value2="0.3411" value3="0.738125"/>
      <parameter id="R" type="float_3" value1="1.38803e-05" value2="0.00182019" value3="-0.00568704"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="106" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.718162"/>
      <parameter id="Y" value="1.0431"/>
      <parameter id="Z" value="0.0232731"/>
      <parameter id="Normal_X" value="0.106272"/>
      <parameter id="Normal_Y" value="-0.00860563"/>
      <parameter id="Normal_Z" value="-0.930379"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="112" index2="2148" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
