<?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="92" index2="1962" 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_694805242">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.113"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.224"/>
      <parameter id="Joint Elevation" value="38.4433"/>
      <parameter id="Twist" value="-0.157157"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975398" value2="0.714049" value3="-1.83549"/>
      <parameter id="A" type="float_3" value1="0.55501" value2="-0.236146" value3="0.797611"/>
      <parameter id="H" type="float_3" value1="766.963" value2="999.826" value3="400.716"/>
      <parameter id="V" type="float_3" value1="-604.61" value2="267.046" value3="1148.55"/>
      <parameter id="O" type="float_3" value1="0.55203" value2="-0.235517" value3="0.799861"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694805267">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.036"/>
        <parameter id="Joint Elevation" value="38.3959"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.117"/>
      <parameter id="Joint Elevation" value="38.434"/>
      <parameter id="Twist" value="-0.056451"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875578" value2="0.778686" value3="-1.83558"/>
      <parameter id="A" type="float_3" value1="0.598625" value2="0.0722594" value3="0.797753"/>
      <parameter id="H" type="float_3" value1="164.808" value2="1249.05" value3="401.453"/>
      <parameter id="V" type="float_3" value1="-657.352" value2="-71.3874" value3="1148.41"/>
      <parameter id="O" type="float_3" value1="0.595728" value2="0.0713142" value3="0.800004"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694805352">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="171.077"/>
        <parameter id="Joint Elevation" value="61.6038"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="171.167"/>
      <parameter id="Joint Elevation" value="61.671"/>
      <parameter id="Twist" value="-0.0588563"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.956068" value2="0.744925" value3="-1.87946"/>
      <parameter id="A" type="float_3" value1="0.855375" value2="-0.152168" value3="0.495138"/>
      <parameter id="H" type="float_3" value1="652.828" value2="1123.32" value3="245.8"/>
      <parameter id="V" type="float_3" value1="-150.778" value2="34.2405" value3="1316.11"/>
      <parameter id="O" type="float_3" value1="0.853442" value2="-0.152427" value3="0.498384"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694805377">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="203.94"/>
        <parameter id="Joint Elevation" value="60.9352"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="203.958"/>
      <parameter id="Joint Elevation" value="60.967"/>
      <parameter id="Twist" value="0.0258608"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.831138" value2="0.797339" value3="-1.87815"/>
      <parameter id="A" type="float_3" value1="0.79573" value2="0.333229" value3="0.505723"/>
      <parameter id="H" type="float_3" value1="-63.2717" value2="1296.49" value3="252.099"/>
      <parameter id="V" type="float_3" value1="-159.715" value2="-60.0597" value3="1314.13"/>
      <parameter id="O" type="float_3" value1="0.794209" value2="0.331946" value3="0.508947"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694805402">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="236.562"/>
        <parameter id="Joint Elevation" value="64.0578"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="236.562"/>
      <parameter id="Joint Elevation" value="64.0578"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.699506" value2="0.775314" value3="-1.88461"/>
      <parameter id="A" type="float_3" value1="0.505533" value2="0.731102" value3="0.458158"/>
      <parameter id="H" type="float_3" value1="-744.388" value2="1069.08" value3="226.717"/>
      <parameter id="V" type="float_3" value1="-62.3655" value2="-77.1601" value3="1321.45"/>
      <parameter id="O" type="float_3" value1="0.505041" value2="0.729349" value3="0.461483"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694805426">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="267.48"/>
        <parameter id="Joint Elevation" value="69.9622"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="267.381"/>
      <parameter id="Joint Elevation" value="69.8705"/>
      <parameter id="Twist" value="-0.033676"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.603841" value2="0.69262" value3="-1.89675"/>
      <parameter id="A" type="float_3" value1="0.0624232" value2="0.92878" value3="0.365315"/>
      <parameter id="H" type="float_3" value1="-1185.56" value2="557.758" value3="178.329"/>
      <parameter id="V" type="float_3" value1="-5.84389" value2="36.5365" value3="1324.65"/>
      <parameter id="O" type="float_3" value1="0.0629197" value2="0.927369" value3="0.368796"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694805451">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="296.636"/>
        <parameter id="Joint Elevation" value="76.7466"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="296.615"/>
      <parameter id="Joint Elevation" value="76.6452"/>
      <parameter id="Twist" value="0.0188328"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.564236" value2="0.577923" value3="-1.91095"/>
      <parameter id="A" type="float_3" value1="-0.414725" value2="0.87421" value3="0.252473"/>
      <parameter id="H" type="float_3" value1="-1314.45" value2="-76.3325" value3="121.839"/>
      <parameter id="V" type="float_3" value1="-88.8999" value2="171.145" value3="1311.06"/>
      <parameter id="O" type="float_3" value1="-0.413781" value2="0.873605" value3="0.256094"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_694805736">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="325.262"/>
        <parameter id="Joint Elevation" value="82.656"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="325.278"/>
      <parameter id="Joint Elevation" value="82.5287"/>
      <parameter id="Twist" value="0.0235888"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.585714" value2="0.459765" value3="-1.92318"/>
      <parameter id="A" type="float_3" value1="-0.800002" value2="0.580519" value3="0.151582"/>
      <parameter id="H" type="float_3" value1="-1124.84" value2="-691.503" value3="70.8617"/>
      <parameter id="V" type="float_3" value1="-268.093" value2="186.603" value3="1284.27"/>
      <parameter id="O" type="float_3" value1="-0.799188" value2="0.580664" value3="0.155276"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_694805767">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="353.918"/>
        <parameter id="Joint Elevation" value="86.6072"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="353.852"/>
      <parameter id="Joint Elevation" value="86.4549"/>
      <parameter id="Twist" value="0.0500541"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.661461" value2="0.367064" value3="-1.93119"/>
      <parameter id="A" type="float_3" value1="-0.988218" value2="0.128292" value3="0.0833651"/>
      <parameter id="H" type="float_3" value1="-660.722" value2="-1144.78" value3="37.2169"/>
      <parameter id="V" type="float_3" value1="-411.219" value2="48.0634" value3="1258.83"/>
      <parameter id="O" type="float_3" value1="-0.987824" value2="0.128845" value3="0.0870923"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_694805851">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="22.791"/>
        <parameter id="Joint Elevation" value="87.2076"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="22.6876"/>
      <parameter id="Joint Elevation" value="87.0374"/>
      <parameter id="Twist" value="-0.0455872"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.772218" value2="0.322013" value3="-1.93227"/>
      <parameter id="A" type="float_3" value1="-0.92831" value2="-0.364488" value3="0.0732899"/>
      <parameter id="H" type="float_3" value1="-27.1538" value2="-1321.66" value3="30.6578"/>
      <parameter id="V" type="float_3" value1="-394.709" value2="-162.182" value3="1254.57"/>
      <parameter id="O" type="float_3" value1="-0.928266" value2="-0.363832" value3="0.0770183"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_694805882">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="51.0457"/>
        <parameter id="Joint Elevation" value="84.4334"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="51.0344"/>
      <parameter id="Joint Elevation" value="84.2874"/>
      <parameter id="Twist" value="-0.137406"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.888087" value2="0.334285" value3="-1.92651"/>
      <parameter id="A" type="float_3" value1="-0.640952" value2="-0.757919" value3="0.121338"/>
      <parameter id="H" type="float_3" value1="604.771" value2="-1174.66" value3="53.6906"/>
      <parameter id="V" type="float_3" value1="-229.851" value2="-284.467" value3="1273.69"/>
      <parameter id="O" type="float_3" value1="-0.641105" value2="-0.757186" value3="0.125049"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_694805913">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="79.7683"/>
        <parameter id="Joint Elevation" value="79.0229"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="79.8148"/>
      <parameter id="Joint Elevation" value="78.91"/>
      <parameter id="Twist" value="-0.204504"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.98587" value2="0.400955" value3="-1.91526"/>
      <parameter id="A" type="float_3" value1="-0.193846" value2="-0.957339" value3="0.214264"/>
      <parameter id="H" type="float_3" value1="1096.91" value2="-731.592" value3="99.9957"/>
      <parameter id="V" type="float_3" value1="-39.2792" value2="-241.084" value3="1302.46"/>
      <parameter id="O" type="float_3" value1="-0.194261" value2="-0.95643" value3="0.217918"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_694805937">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="108.769"/>
        <parameter id="Joint Elevation" value="72.2889"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="108.821"/>
      <parameter id="Joint Elevation" value="72.2112"/>
      <parameter id="Twist" value="-0.276224"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04003" value2="0.508511" value3="-1.9012"/>
      <parameter id="A" type="float_3" value1="0.284987" value2="-0.900943" value3="0.327213"/>
      <parameter id="H" type="float_3" value1="1309.64" value2="-94.1105" value3="156.34"/>
      <parameter id="V" type="float_3" value1="37.481" value2="-82.3614" value3="1322.07"/>
      <parameter id="O" type="float_3" value1="0.28406" value2="-0.899944" value3="0.330748"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694805961">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="138.882"/>
        <parameter id="Joint Elevation" value="65.8191"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694806412">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="290.914"/>
        <parameter id="Joint Elevation" value="101.007"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="290.864"/>
      <parameter id="Joint Elevation" value="100.986"/>
      <parameter id="Twist" value="0.106357"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571562" value2="0.59008" value3="-1.95989"/>
      <parameter id="A" type="float_3" value1="-0.33074" value2="0.928516" value3="-0.168678"/>
      <parameter id="H" type="float_3" value1="-1317.69" value2="62.5211" value3="-90.8159"/>
      <parameter id="V" type="float_3" value1="-244.936" value2="672.651" value3="1115.16"/>
      <parameter id="O" type="float_3" value1="-0.330384" value2="0.929305" value3="-0.164992"/>
      <parameter id="R" type="float_3" value1="1.40915e-05" value2="0.0018128" value3="-0.00563933"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="92" index2="1962" 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_694806448">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="320.688"/>
        <parameter id="Joint Elevation" value="107.329"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="320.844"/>
      <parameter id="Joint Elevation" value="108.037"/>
      <parameter id="Twist" value="2.18255"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.593055" value2="0.464761" value3="-1.97262"/>
      <parameter id="A" type="float_3" value1="-0.728914" value2="0.620688" value3="-0.288816"/>
      <parameter id="H" type="float_3" value1="-1170.6" value2="-605.167" value3="-109.161"/>
      <parameter id="V" type="float_3" value1="-619.689" value2="579.619" value3="1017.88"/>
      <parameter id="O" type="float_3" value1="-0.729248" value2="0.62194" value3="-0.285256"/>
      <parameter id="R" type="float_3" value1="1.41216e-05" value2="0.00181174" value3="-0.00563251"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.193892"/>
      <parameter id="Y" value="-0.120432"/>
      <parameter id="Z" value="0.0229821"/>
      <parameter id="Normal_X" value="0.169701"/>
      <parameter id="Normal_Y" value="0.0883164"/>
      <parameter id="Normal_Z" value="-0.953068"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="92" index2="1962" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
