<?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="98" index2="1448" 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_721789988">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.26"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.331"/>
      <parameter id="Joint Elevation" value="38.3932"/>
      <parameter id="Twist" value="-0.187496"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975054" value2="0.714395" value3="-1.83541"/>
      <parameter id="A" type="float_3" value1="0.554806" value2="-0.234837" value3="0.798138"/>
      <parameter id="H" type="float_3" value1="765.239" value2="1001.19" value3="400.584"/>
      <parameter id="V" type="float_3" value1="-605.766" value2="266.901" value3="1147.99"/>
      <parameter id="O" type="float_3" value1="0.551821" value2="-0.23421" value3="0.800389"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790019">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.895"/>
        <parameter id="Joint Elevation" value="38.3959"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.936"/>
      <parameter id="Joint Elevation" value="38.4094"/>
      <parameter id="Twist" value="-0.132586"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876242" value2="0.778459" value3="-1.83553"/>
      <parameter id="A" type="float_3" value1="0.598511" value2="0.0703201" value3="0.798012"/>
      <parameter id="H" type="float_3" value1="169.869" value2="1248.64" value3="400.598"/>
      <parameter id="V" type="float_3" value1="-658.233" value2="-67.7529" value3="1148.13"/>
      <parameter id="O" type="float_3" value1="0.595604" value2="0.0693889" value3="0.800265"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790094">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="137.644"/>
        <parameter id="Joint Elevation" value="62.8059"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="137.686"/>
      <parameter id="Joint Elevation" value="62.7247"/>
      <parameter id="Twist" value="-0.159949"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03359" value2="0.630199" value3="-1.88154"/>
      <parameter id="A" type="float_3" value1="0.635915" value2="-0.605225" value3="0.47885"/>
      <parameter id="H" type="float_3" value1="1168.09" value2="572.902" value3="236.169"/>
      <parameter id="V" type="float_3" value1="-88.0372" value2="95.8519" value3="1318.76"/>
      <parameter id="O" type="float_3" value1="0.634206" value2="-0.604411" value3="0.482134"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790118">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="170.245"/>
        <parameter id="Joint Elevation" value="59.0038"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="170.261"/>
      <parameter id="Joint Elevation" value="59.0139"/>
      <parameter id="Twist" value="-0.204704"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.957648" value2="0.742769" value3="-1.87407"/>
      <parameter id="A" type="float_3" value1="0.829412" value2="-0.161126" value3="0.534881"/>
      <parameter id="H" type="float_3" value1="660.457" value2="1114.79" value3="263.582"/>
      <parameter id="V" type="float_3" value1="-209.322" value2="51.2514" value3="1307.53"/>
      <parameter id="O" type="float_3" value1="0.827327" value2="-0.161315" value3="0.538044"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790143">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="204.317"/>
        <parameter id="Joint Elevation" value="59.614"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="204.274"/>
      <parameter id="Joint Elevation" value="59.6485"/>
      <parameter id="Twist" value="0.0142976"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.829201" value2="0.797224" value3="-1.87548"/>
      <parameter id="A" type="float_3" value1="0.782954" value2="0.332986" value3="0.525439"/>
      <parameter id="H" type="float_3" value1="-75.7858" value2="1293.85" value3="261.968"/>
      <parameter id="V" type="float_3" value1="-187.246" value2="-72.5028" value3="1309.87"/>
      <parameter id="O" type="float_3" value1="0.781369" value2="0.331665" value3="0.528625"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790168">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="236.68"/>
        <parameter id="Joint Elevation" value="64.4239"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="236.699"/>
      <parameter id="Joint Elevation" value="64.3792"/>
      <parameter id="Twist" value="0.0669284"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.699054" value2="0.775162" value3="-1.88527"/>
      <parameter id="A" type="float_3" value1="0.505232" value2="0.734415" value3="0.453165"/>
      <parameter id="H" type="float_3" value1="-746.608" value2="1067.79" value3="225.42"/>
      <parameter id="V" type="float_3" value1="-56.7947" value2="-71.999" value3="1322"/>
      <parameter id="O" type="float_3" value1="0.504757" value2="0.732672" value3="0.456503"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790193">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="266.959"/>
        <parameter id="Joint Elevation" value="71.8065"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="266.886"/>
      <parameter id="Joint Elevation" value="71.665"/>
      <parameter id="Twist" value="0.0423793"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.605016" value2="0.694588" value3="-1.9005"/>
      <parameter id="A" type="float_3" value1="0.0713115" value2="0.939152" value3="0.335995"/>
      <parameter id="H" type="float_3" value1="-1180.32" value2="572.781" value3="164.847"/>
      <parameter id="V" type="float_3" value1="-0.747911" value2="77.8158" value3="1322.89"/>
      <parameter id="O" type="float_3" value1="0.0718083" value2="0.937844" value3="0.339523"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790698">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="20.7372"/>
        <parameter id="Joint Elevation" value="82.6337"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="20.7195"/>
      <parameter id="Joint Elevation" value="82.8571"/>
      <parameter id="Twist" value="0.554631"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.762572" value2="0.322727" value3="-1.92368"/>
      <parameter id="A" type="float_3" value1="-0.932751" value2="-0.329707" value3="0.145783"/>
      <parameter id="H" type="float_3" value1="-67.3982" value2="-1318.12" value3="80.2133"/>
      <parameter id="V" type="float_3" value1="-317.035" value2="-105.68" value3="1282.34"/>
      <parameter id="O" type="float_3" value1="-0.932441" value2="-0.328926" value3="0.149482"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790729">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="49.2894"/>
        <parameter id="Joint Elevation" value="84.407"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="49.4736"/>
      <parameter id="Joint Elevation" value="84.411"/>
      <parameter id="Twist" value="0.0635605"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.88196" value2="0.332122" value3="-1.92677"/>
      <parameter id="A" type="float_3" value1="-0.661529" value2="-0.740378" value3="0.119177"/>
      <parameter id="H" type="float_3" value1="572.865" value2="-1190.38" value3="56.8087"/>
      <parameter id="V" type="float_3" value1="-242.563" value2="-277.364" value3="1272.92"/>
      <parameter id="O" type="float_3" value1="-0.661676" value2="-0.739638" value3="0.122899"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790760">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="77.7401"/>
        <parameter id="Joint Elevation" value="77.5613"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="77.9647"/>
      <parameter id="Joint Elevation" value="77.4664"/>
      <parameter id="Twist" value="0.00891893"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.980617" value2="0.394989" value3="-1.91225"/>
      <parameter id="A" type="float_3" value1="-0.223363" value2="-0.945029" value3="0.238774"/>
      <parameter id="H" type="float_3" value1="1073.6" value2="-762.962" value3="116.925"/>
      <parameter id="V" type="float_3" value1="-43.9128" value2="-206.705" value3="1308.22"/>
      <parameter id="O" type="float_3" value1="-0.223739" value2="-0.944012" value3="0.242414"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790792">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="106.758"/>
        <parameter id="Joint Elevation" value="69.7032"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="106.815"/>
      <parameter id="Joint Elevation" value="69.5703"/>
      <parameter id="Twist" value="0.168219"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03802" value2="0.500628" value3="-1.89569"/>
      <parameter id="A" type="float_3" value1="0.248921" value2="-0.894899" value3="0.370376"/>
      <parameter id="H" type="float_3" value1="1302.56" value2="-129.094" value3="187.286"/>
      <parameter id="V" type="float_3" value1="9.1001" value2="-27.4504" value3="1324.86"/>
      <parameter id="O" type="float_3" value1="0.247959" value2="-0.893717" value3="0.373857"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790829">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.983"/>
        <parameter id="Joint Elevation" value="44.0791"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.983"/>
      <parameter id="Joint Elevation" value="44.0791"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790404" value2="0.79231" value3="-1.84554"/>
      <parameter id="A" type="float_3" value1="0.589062" value2="0.336921" value3="0.734489"/>
      <parameter id="H" type="float_3" value1="-301.31" value2="1233.47" value3="369.025"/>
      <parameter id="V" type="float_3" value1="-476.558" value2="-264.164" value3="1207.97"/>
      <parameter id="O" type="float_3" value1="0.58696" value2="0.335037" value3="0.737029"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790853">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.19"/>
        <parameter id="Joint Elevation" value="44.0804"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.1"/>
      <parameter id="Joint Elevation" value="44.0303"/>
      <parameter id="Twist" value="0.0635034"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675417" value2="0.753784" value3="-1.84557"/>
      <parameter id="A" type="float_3" value1="0.340068" value2="0.586838" value3="0.734818"/>
      <parameter id="H" type="float_3" value1="-880.267" value2="914.814" value3="369.655"/>
      <parameter id="V" type="float_3" value1="-279.184" value2="-468.586" value3="1207.72"/>
      <parameter id="O" type="float_3" value1="0.339197" value2="0.58415" value3="0.737359"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790877">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.985"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.882"/>
      <parameter id="Joint Elevation" value="43.941"/>
      <parameter id="Twist" value="0.0463573"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595917" value2="0.663932" value3="-1.84549"/>
      <parameter id="A" type="float_3" value1="0.00355673" value2="0.677462" value3="0.735538"/>
      <parameter id="H" type="float_3" value1="-1218.45" value2="356.62" value3="369.612"/>
      <parameter id="V" type="float_3" value1="-10.0931" value2="-546.645" value3="1207.14"/>
      <parameter id="O" type="float_3" value1="0.00413431" value2="0.674693" value3="0.738076"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790901">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.939"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.921"/>
      <parameter id="Joint Elevation" value="43.897"/>
      <parameter id="Twist" value="-0.126613"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571631" value2="0.545472" value3="-1.84543"/>
      <parameter id="A" type="float_3" value1="-0.335865" value2="0.588129" value3="0.735719"/>
      <parameter id="H" type="float_3" value1="-1234.54" value2="-298.909" value3="367.363"/>
      <parameter id="V" type="float_3" value1="261.988" value2="-480.282" value3="1206.98"/>
      <parameter id="O" type="float_3" value1="-0.333986" value2="0.586012" value3="0.738259"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790932">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.934"/>
        <parameter id="Joint Elevation" value="44.0011"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.932"/>
      <parameter id="Joint Elevation" value="43.9231"/>
      <parameter id="Twist" value="-0.295952"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609799" value2="0.430913" value3="-1.84544"/>
      <parameter id="A" type="float_3" value1="-0.585386" value2="0.341825" value3="0.735162"/>
      <parameter id="H" type="float_3" value1="-921.982" value2="-874.678" value3="365.073"/>
      <parameter id="V" type="float_3" value1="464.61" value2="-287.071" value3="1207.41"/>
      <parameter id="O" type="float_3" value1="-0.582707" value2="0.340923" value3="0.737705"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.0684892"/>
      <parameter id="Y" value="-0.195275"/>
      <parameter id="Z" value="0.0433533"/>
      <parameter id="Normal_X" value="0.281814"/>
      <parameter id="Normal_Y" value="0.172024"/>
      <parameter id="Normal_Z" value="-0.99842"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
