<?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="97" index2="2762" 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_720018399">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="147.598"/>
        <parameter id="Joint Elevation" value="62.7114"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="147.638"/>
      <parameter id="Joint Elevation" value="62.8378"/>
      <parameter id="Twist" value="-0.0278225"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01796" value2="0.668715" value3="-1.88179"/>
      <parameter id="A" type="float_3" value1="0.731719" value2="-0.486658" value3="0.477216"/>
      <parameter id="H" type="float_3" value1="1050.72" value2="766.736" value3="237.593"/>
      <parameter id="V" type="float_3" value1="-102.639" value2="75.6077" value3="1319.05"/>
      <parameter id="O" type="float_3" value1="0.729888" value2="-0.486154" value3="0.480521"/>
      <parameter id="R" type="float_3" value1="1.44232e-05" value2="0.00180119" value3="-0.00556435"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018423">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="180.532"/>
        <parameter id="Joint Elevation" value="60.0517"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="180.482"/>
      <parameter id="Joint Elevation" value="60.1167"/>
      <parameter id="Twist" value="0.0399116"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.923276" value2="0.767047" value3="-1.87633"/>
      <parameter id="A" type="float_3" value1="0.854967" value2="-0.0114346" value3="0.51854"/>
      <parameter id="H" type="float_3" value1="454.37" value2="1214.34" value3="259.35"/>
      <parameter id="V" type="float_3" value1="-189.935" value2="7.97654" value3="1311.5"/>
      <parameter id="O" type="float_3" value1="0.853" value2="-0.0120046" value3="0.521757"/>
      <parameter id="R" type="float_3" value1="1.44534e-05" value2="0.00180013" value3="-0.00555754"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018449">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="213.852"/>
        <parameter id="Joint Elevation" value="61.4755"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="213.852"/>
      <parameter id="Joint Elevation" value="61.4755"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790055" value2="0.798528" value3="-1.87923"/>
      <parameter id="A" type="float_3" value1="0.730381" value2="0.467483" value3="0.497981"/>
      <parameter id="H" type="float_3" value1="-283.084" value2="1267.67" value3="247.409"/>
      <parameter id="V" type="float_3" value1="-137.428" value2="-79.5844" value3="1315.66"/>
      <parameter id="O" type="float_3" value1="0.729113" value2="0.46597" value3="0.501248"/>
      <parameter id="R" type="float_3" value1="1.44835e-05" value2="0.00179908" value3="-0.00555072"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018473">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="245.877"/>
        <parameter id="Joint Elevation" value="66.5164"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="245.805"/>
      <parameter id="Joint Elevation" value="66.44"/>
      <parameter id="Twist" value="0.0181512"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.66652" value2="0.756374" value3="-1.88956"/>
      <parameter id="A" type="float_3" value1="0.389411" value2="0.819365" value3="0.420695"/>
      <parameter id="H" type="float_3" value1="-902.65" value2="943.606" value3="207.738"/>
      <parameter id="V" type="float_3" value1="-25.1488" value2="-36.3736" value3="1324.47"/>
      <parameter id="O" type="float_3" value1="0.38926" value2="0.817671" value3="0.424115"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018505">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="275.409"/>
        <parameter id="Joint Elevation" value="73.471"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="275.35"/>
      <parameter id="Joint Elevation" value="73.3423"/>
      <parameter id="Twist" value="0.129849"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.587274" value2="0.66387" value3="-1.90402"/>
      <parameter id="A" type="float_3" value1="-0.0683456" value2="0.948872" value3="0.308146"/>
      <parameter id="H" type="float_3" value1="-1252.06" value2="396.816" value3="152.363"/>
      <parameter id="V" type="float_3" value1="-13.1128" value2="115.854" value3="1320.07"/>
      <parameter id="O" type="float_3" value1="-0.0676652" value2="0.947749" value3="0.311733"/>
      <parameter id="R" type="float_3" value1="1.45137e-05" value2="0.00179802" value3="-0.0055439"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018789">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="46.3025"/>
        <parameter id="Joint Elevation" value="96.8196"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="46.2779"/>
      <parameter id="Joint Elevation" value="96.5031"/>
      <parameter id="Twist" value="-0.421771"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.874131" value2="0.333081" value3="-1.95104"/>
      <parameter id="A" type="float_3" value1="-0.703734" value2="-0.704536" value3="-0.0914923"/>
      <parameter id="H" type="float_3" value1="506.002" value2="-1220.08" value3="-60.7523"/>
      <parameter id="V" type="float_3" value1="-433.041" value2="-453.709" value3="1167.39"/>
      <parameter id="O" type="float_3" value1="-0.704376" value2="-0.704373" value3="-0.087733"/>
      <parameter id="R" type="float_3" value1="1.44835e-05" value2="0.00179908" value3="-0.00555072"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018813">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="75.5158"/>
        <parameter id="Joint Elevation" value="90.9949"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="75.5663"/>
      <parameter id="Joint Elevation" value="90.8755"/>
      <parameter id="Twist" value="-0.41123"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.974906" value2="0.392319" value3="-1.93983"/>
      <parameter id="A" type="float_3" value1="-0.27031" value2="-0.962739" value3="0.00703554"/>
      <parameter id="H" type="float_3" value1="1037.19" value2="-820.03" value3="-10.1461"/>
      <parameter id="V" type="float_3" value1="-124.361" value2="-493.786" value3="1223.48"/>
      <parameter id="O" type="float_3" value1="-0.27085" value2="-0.962552" value3="0.0108144"/>
      <parameter id="R" type="float_3" value1="1.45439e-05" value2="0.00179696" value3="-0.00553709"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018844">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="104.545"/>
        <parameter id="Joint Elevation" value="83.6604"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="104.576"/>
      <parameter id="Joint Elevation" value="83.7221"/>
      <parameter id="Twist" value="-0.233444"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03532" value2="0.492666" value3="-1.9252"/>
      <parameter id="A" type="float_3" value1="0.228355" value2="-0.964579" value3="0.132"/>
      <parameter id="H" type="float_3" value1="1304" value2="-211.167" value3="57.3318"/>
      <parameter id="V" type="float_3" value1="90.8088" value2="-340.3" value3="1277.56"/>
      <parameter id="O" type="float_3" value1="0.227673" value2="-0.964221" value3="0.135745"/>
      <parameter id="R" type="float_3" value1="1.4574e-05" value2="0.00179591" value3="-0.00553027"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018875">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="134.386"/>
        <parameter id="Joint Elevation" value="77.111"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="134.375"/>
      <parameter id="Joint Elevation" value="77.2209"/>
      <parameter id="Twist" value="-0.127217"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03894" value2="0.615153" value3="-1.91168"/>
      <parameter id="A" type="float_3" value1="0.662842" value2="-0.707936" value3="0.243823"/>
      <parameter id="H" type="float_3" value1="1229.52" value2="472.259" value3="116.361"/>
      <parameter id="V" type="float_3" value1="145.666" value2="-143.849" value3="1309.31"/>
      <parameter id="O" type="float_3" value1="0.661779" value2="-0.707659" value3="0.247488"/>
      <parameter id="R" type="float_3" value1="1.46042e-05" value2="0.00179485" value3="-0.00552346"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018906">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="165.118"/>
        <parameter id="Joint Elevation" value="72.8596"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="165.137"/>
      <parameter id="Joint Elevation" value="72.9302"/>
      <parameter id="Twist" value="0.0567141"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.977545" value2="0.727192" value3="-1.90277"/>
      <parameter id="A" type="float_3" value1="0.911474" value2="-0.263377" value3="0.31596"/>
      <parameter id="H" type="float_3" value1="804.14" value2="1037.88" value3="156.416"/>
      <parameter id="V" type="float_3" value1="102.808" value2="-24.8366" value3="1320.99"/>
      <parameter id="O" type="float_3" value1="0.910154" value2="-0.263617" value3="0.319544"/>
      <parameter id="R" type="float_3" value1="1.46042e-05" value2="0.00179485" value3="-0.00552346"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018937">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="196.779"/>
        <parameter id="Joint Elevation" value="72.2362"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="196.712"/>
      <parameter id="Joint Elevation" value="72.2426"/>
      <parameter id="Twist" value="0.0806998"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.864036" value2="0.792954" value3="-1.90145"/>
      <parameter id="A" type="float_3" value1="0.910678" value2="0.252006" value3="0.327327"/>
      <parameter id="H" type="float_3" value1="139.626" value2="1304.81" value3="162.034"/>
      <parameter id="V" type="float_3" value1="85.2532" value2="28.6471" value3="1322.17"/>
      <parameter id="O" type="float_3" value1="0.909637" value2="0.251099" value3="0.330898"/>
      <parameter id="R" type="float_3" value1="1.46343e-05" value2="0.0017938" value3="-0.00551664"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018962">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="227.86"/>
        <parameter id="Joint Elevation" value="75.4396"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="227.8"/>
      <parameter id="Joint Elevation" value="75.4065"/>
      <parameter id="Twist" value="0.046918"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.734952" value2="0.790208" value3="-1.90819"/>
      <parameter id="A" type="float_3" value1="0.661158" value2="0.698249" value3="0.274412"/>
      <parameter id="H" type="float_3" value1="-548.401" value2="1195.68" value3="133.785"/>
      <parameter id="V" type="float_3" value1="107.606" value2="122.595" value3="1315.15"/>
      <parameter id="O" type="float_3" value1="0.66087" value2="0.697083" value3="0.278048"/>
      <parameter id="R" type="float_3" value1="1.46343e-05" value2="0.0017938" value3="-0.00551664"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720018992">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="257.844"/>
        <parameter id="Joint Elevation" value="81.4517"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="257.83"/>
      <parameter id="Joint Elevation" value="81.4236"/>
      <parameter id="Twist" value="0.0791173"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.628601" value2="0.723573" value3="-1.92085"/>
      <parameter id="A" type="float_3" value1="0.228473" value2="0.95829" value3="0.171651"/>
      <parameter id="H" type="float_3" value1="-1070.52" value2="771.743" value3="81.7522"/>
      <parameter id="V" type="float_3" value1="64.1353" value2="293.698" value3="1290.68"/>
      <parameter id="O" type="float_3" value1="0.228898" value2="0.957513" value3="0.175378"/>
      <parameter id="R" type="float_3" value1="1.46645e-05" value2="0.00179274" value3="-0.00550982"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720019023">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="287.118"/>
        <parameter id="Joint Elevation" value="88.593"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
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    <pointing_parameters type="MSLmastCamera3dof">
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      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" 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_720019571">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.936"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.618"/>
      <parameter id="Joint Elevation" value="43.9851"/>
      <parameter id="Twist" value="0.335683"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571497" value2="0.546773" value3="-1.84559"/>
      <parameter id="A" type="float_3" value1="-0.333302" value2="0.590875" value3="0.734684"/>
      <parameter id="H" type="float_3" value1="-1232.83" value2="-298.28" value3="373.408"/>
      <parameter id="V" type="float_3" value1="267.087" value2="-475.181" value3="1207.93"/>
      <parameter id="O" type="float_3" value1="-0.331403" value2="0.588748" value3="0.737246"/>
      <parameter id="R" type="float_3" value1="1.46947e-05" value2="0.00179169" value3="-0.00550301"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="97" index2="2762" index3="16" index4="32" index5="40" index6="0" index7="106" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="11" instrument="NAV_RIGHT_B" unique_id="MSLNR_720026464">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.175"/>
        <parameter id="Joint Elevation" value="44.1119"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.125"/>
      <parameter id="Joint Elevation" value="44.1528"/>
      <parameter id="Twist" value="-0.0604884"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.981675" value2="0.711188" value3="-1.84548"/>
      <parameter id="A" type="float_3" value1="0.624827" value2="-0.267086" value3="0.733648"/>
      <parameter id="H" type="float_3" value1="802.502" value2="984.079" value3="368.844"/>
      <parameter id="V" type="float_3" value1="-496.89" value2="220" value3="1208.61"/>
      <parameter id="O" type="float_3" value1="0.622068" value2="-0.266553" value3="0.736182"/>
      <parameter id="R" type="float_3" value1="1.40613e-05" value2="0.00181385" value3="-0.00564615"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="97" index2="2762" index3="16" index4="32" index5="40" index6="0" index7="106" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.438276"/>
      <parameter id="Y" value="1.21787"/>
      <parameter id="Z" value="0.0613623"/>
      <parameter id="Normal_X" value="0.0502915"/>
      <parameter id="Normal_Y" value="0.109316"/>
      <parameter id="Normal_Z" value="-0.700135"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="97" index2="2762" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
