<?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="158.178"/>
      <parameter id="Joint Elevation" value="38.4676"/>
      <parameter id="Twist" value="-0.10753"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975552" value2="0.713902" value3="-1.83553"/>
      <parameter id="A" type="float_3" value1="0.555129" value2="-0.236727" value3="0.797355"/>
      <parameter id="H" type="float_3" value1="767.145" value2="999.48" value3="401.206"/>
      <parameter id="V" type="float_3" value1="-604.357" value2="266.369" value3="1148.85"/>
      <parameter id="O" type="float_3" value1="0.552147" value2="-0.236098" value3="0.799609"/>
      <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="187.904"/>
      <parameter id="Joint Elevation" value="38.3566"/>
      <parameter id="Twist" value="-0.130638"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876299" value2="0.778411" value3="-1.83544"/>
      <parameter id="A" type="float_3" value1="0.597819" value2="0.0699022" value3="0.798567"/>
      <parameter id="H" type="float_3" value1="170.163" value2="1248.5" value3="400.913"/>
      <parameter id="V" type="float_3" value1="-659.317" value2="-67.5515" value3="1147.52"/>
      <parameter id="O" type="float_3" value1="0.59491" value2="0.0689722" value3="0.800817"/>
      <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="137.553"/>
      <parameter id="Joint Elevation" value="62.9993"/>
      <parameter id="Twist" value="-0.0172102"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03384" value2="0.629586" value3="-1.8821"/>
      <parameter id="A" type="float_3" value1="0.636159" value2="-0.608281" value3="0.474635"/>
      <parameter id="H" type="float_3" value1="1169.21" value2="570.418" value3="236.68"/>
      <parameter id="V" type="float_3" value1="-85.3504" value2="89.4939" value3="1319.38"/>
      <parameter id="O" type="float_3" value1="0.634457" value2="-0.607481" value3="0.477927"/>
      <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="170.19"/>
      <parameter id="Joint Elevation" value="59.1189"/>
      <parameter id="Twist" value="-0.0706285"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.957933" value2="0.742568" value3="-1.87428"/>
      <parameter id="A" type="float_3" value1="0.830172" value2="-0.162343" value3="0.533331"/>
      <parameter id="H" type="float_3" value1="660.821" value2="1114.19" value3="265.2"/>
      <parameter id="V" type="float_3" value1="-207.464" value2="48.2496" value3="1307.94"/>
      <parameter id="O" type="float_3" value1="0.828092" value2="-0.162539" value3="0.536497"/>
      <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="204.317"/>
      <parameter id="Joint Elevation" value="59.614"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.829004" value2="0.797235" value3="-1.87541"/>
      <parameter id="A" type="float_3" value1="0.782411" value2="0.333454" value3="0.525951"/>
      <parameter id="H" type="float_3" value1="-76.7618" value2="1293.79" value3="261.971"/>
      <parameter id="V" type="float_3" value1="-188.036" value2="-72.6722" value3="1309.75"/>
      <parameter id="O" type="float_3" value1="0.780824" value2="0.332133" value3="0.529136"/>
      <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="236.792"/>
      <parameter id="Joint Elevation" value="64.3337"/>
      <parameter id="Twist" value="-0.12373"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.698694" value2="0.774976" value3="-1.88518"/>
      <parameter id="A" type="float_3" value1="0.503835" value2="0.734939" value3="0.453871"/>
      <parameter id="H" type="float_3" value1="-747.379" value2="1067.94" value3="222.161"/>
      <parameter id="V" type="float_3" value1="-60.6129" value2="-70.6487" value3="1321.9"/>
      <parameter id="O" type="float_3" value1="0.50335" value2="0.733199" value3="0.457209"/>
      <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="266.962"/>
      <parameter id="Joint Elevation" value="71.6941"/>
      <parameter id="Twist" value="-0.199033"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.604837" value2="0.694326" value3="-1.90056"/>
      <parameter id="A" type="float_3" value1="0.0700795" value2="0.939416" value3="0.335515"/>
      <parameter id="H" type="float_3" value1="-1180.91" value2="573.018" value3="159.758"/>
      <parameter id="V" type="float_3" value1="-5.92552" value2="78.8815" value3="1322.81"/>
      <parameter id="O" type="float_3" value1="0.0705624" value2="0.938111" value3="0.339047"/>
      <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="42" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790560">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="295.595"/>
        <parameter id="Joint Elevation" value="79.5277"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="295.459"/>
      <parameter id="Joint Elevation" value="79.4657"/>
      <parameter id="Twist" value="0.0598839"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.564817" value2="0.582428" value3="-1.91684"/>
      <parameter id="A" type="float_3" value1="-0.40157" value2="0.892678" value3="0.204573"/>
      <parameter id="H" type="float_3" value1="-1317.86" value2="-44.9742" value3="98.2423"/>
      <parameter id="V" type="float_3" value1="-110.969" value2="231.87" value3="1299.99"/>
      <parameter id="O" type="float_3" value1="-0.400709" value2="0.892218" value3="0.208236"/>
      <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="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790583">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="323.648"/>
        <parameter id="Joint Elevation" value="85.8468"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="323.587"/>
      <parameter id="Joint Elevation" value="85.758"/>
      <parameter id="Twist" value="0.0666909"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.583773" value2="0.465563" value3="-1.92984"/>
      <parameter id="A" type="float_3" value1="-0.78802" value2="0.608156" value3="0.0956797"/>
      <parameter id="H" type="float_3" value1="-1147.2" value2="-656.103" value3="43.2505"/>
      <parameter id="V" type="float_3" value1="-318.781" value2="239.05" value3="1263.85"/>
      <parameter id="O" type="float_3" value1="-0.787365" value2="0.608405" value3="0.09941"/>
      <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="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721790614">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="352.394"/>
        <parameter id="Joint Elevation" value="89.1746"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="352.296"/>
      <parameter id="Joint Elevation" value="89.0515"/>
      <parameter id="Twist" value="-0.0847563"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.657532" value2="0.370819" value3="-1.93648"/>
      <parameter id="A" type="float_3" value1="-0.987089" value2="0.155514" value3="0.0381393"/>
      <parameter id="H" type="float_3" value1="-692.79" value2="-1126.2" value3="11.2806"/>
      <parameter id="V" type="float_3" value1="-466.157" value2="65.1717" value3="1238.77"/>
      <parameter id="O" type="float_3" value1="-0.986848" value2="0.156073" value3="0.0418882"/>
      <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="46" 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="20.675"/>
      <parameter id="Joint Elevation" value="82.5867"/>
      <parameter id="Twist" value="-0.240235"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.762311" value2="0.322732" value3="-1.92312"/>
      <parameter id="A" type="float_3" value1="-0.932348" value2="-0.328749" value3="0.150451"/>
      <parameter id="H" type="float_3" value1="-70.4755" value2="-1318.76" value3="65.8475"/>
      <parameter id="V" type="float_3" value1="-305.781" value2="-119.384" value3="1283.87"/>
      <parameter id="O" type="float_3" value1="-0.932002" value2="-0.32801" value3="0.154156"/>
      <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="49.3122"/>
      <parameter id="Joint Elevation" value="84.4886"/>
      <parameter id="Twist" value="-0.329881"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.881339" value2="0.331925" value3="-1.92693"/>
      <parameter id="A" type="float_3" value1="-0.663718" value2="-0.738632" value3="0.117831"/>
      <parameter id="H" type="float_3" value1="568.759" value2="-1192.74" value3="47.7994"/>
      <parameter id="V" type="float_3" value1="-238.268" value2="-283.569" value3="1272.36"/>
      <parameter id="O" type="float_3" value1="-0.663847" value2="-0.737912" value3="0.121558"/>
      <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="77.8064"/>
      <parameter id="Joint Elevation" value="77.7255"/>
      <parameter id="Twist" value="-0.216253"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.980169" value2="0.394532" value3="-1.91279"/>
      <parameter id="A" type="float_3" value1="-0.226219" value2="-0.94545" value3="0.234378"/>
      <parameter id="H" type="float_3" value1="1071.08" value2="-767.517" value3="110.019"/>
      <parameter id="V" type="float_3" value1="-41.1975" value2="-213.459" value3="1307.22"/>
      <parameter id="O" type="float_3" value1="-0.226581" value2="-0.944451" value3="0.238025"/>
      <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"/>
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      <parameter id="R" type="float_3" value1="1.43629e-05" value2="0.0018033" value3="-0.00557798"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" 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_721791242">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="279.351"/>
        <parameter id="Joint Elevation" value="82.3088"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="279.302"/>
      <parameter id="Joint Elevation" value="82.2595"/>
      <parameter id="Twist" value="-0.0956423"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.58077" value2="0.647566" value3="-1.92263"/>
      <parameter id="A" type="float_3" value1="-0.138505" value2="0.977847" value3="0.15689"/>
      <parameter id="H" type="float_3" value1="-1278.95" value2="328.149" value3="70.5504"/>
      <parameter id="V" type="float_3" value1="-54.214" value2="315.28" value3="1286"/>
      <parameter id="O" type="float_3" value1="-0.137842" value2="0.977337" value3="0.160607"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791273">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="309.291"/>
        <parameter id="Joint Elevation" value="84.937"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="309.108"/>
      <parameter id="Joint Elevation" value="84.8725"/>
      <parameter id="Twist" value="0.163882"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.567094" value2="0.524006" value3="-1.92804"/>
      <parameter id="A" type="float_3" value1="-0.609969" value2="0.784569" value3="0.111231"/>
      <parameter id="H" type="float_3" value1="-1274.19" value2="-349.268" value3="53.0036"/>
      <parameter id="V" type="float_3" value1="-235.315" value2="296.69" value3="1269.94"/>
      <parameter id="O" type="float_3" value1="-0.609233" value2="0.784602" value3="0.114969"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791297">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="337.83"/>
        <parameter id="Joint Elevation" value="89.9624"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="337.697"/>
      <parameter id="Joint Elevation" value="89.8239"/>
      <parameter id="Twist" value="-0.00744151"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.615123" value2="0.413783" value3="-1.93808"/>
      <parameter id="A" type="float_3" value1="-0.916412" value2="0.39945" value3="0.024739"/>
      <parameter id="H" type="float_3" value1="-954.3" value2="-915.227" value3="5.80332"/>
      <parameter id="V" type="float_3" value1="-449.369" value2="188.436" value3="1232.36"/>
      <parameter id="O" type="float_3" value1="-0.916083" value2="0.399953" value3="0.0285012"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791374">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="6.89308"/>
        <parameter id="Joint Elevation" value="91.3965"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="6.84589"/>
      <parameter id="Joint Elevation" value="91.2787"/>
      <parameter id="Twist" value="-0.176825"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.710892" value2="0.340056" value3="-1.94091"/>
      <parameter id="A" type="float_3" value1="-0.995224" value2="-0.0975244" value3="-0.000728756"/>
      <parameter id="H" type="float_3" value1="-387.669" value2="-1264.12" value3="-10.1584"/>
      <parameter id="V" type="float_3" value1="-515.012" value2="-60.3261" value3="1219.53"/>
      <parameter id="O" type="float_3" value1="-0.995277" value2="-0.0969431" value3="0.00303131"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.264158"/>
      <parameter id="Y" value="-0.0183724"/>
      <parameter id="Z" value="-0.0540031"/>
      <parameter id="Normal_X" value="0.219872"/>
      <parameter id="Normal_Y" value="0.136256"/>
      <parameter id="Normal_Z" value="-1.01563"/>
      <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>
