<?xml version="1.0" encoding="UTF-8"?>
<pointing_correction mission="MSL:MSL">
  <origination id="hgmslopgs" 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_LEFT_B" solution_id="hgmslopgs"/>
  <calibration calibration_id="6" frame_id="LEFT" instrument="NAV_LEFT_B" solution_id="hgmslopgs"/>
  <priority>
    <entry solution_id="hgmslopgs"/>
  </priority>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="2" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844395">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.332"/>
        <parameter id="Joint Elevation" value="38.3987"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.479"/>
      <parameter id="Joint Elevation" value="38.2823"/>
      <parameter id="Twist" value="-0.427646"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.81021" value2="0.324865" value3="-1.83562"/>
      <parameter id="A" type="float_3" value1="0.561822" value2="-0.236898" value3="0.792602"/>
      <parameter id="H" type="float_3" value1="766.361" value2="1006.02" value3="396.663"/>
      <parameter id="V" type="float_3" value1="-609.036" value2="265.459" value3="1145.27"/>
      <parameter id="O" type="float_3" value1="0.561821" value2="-0.2369" value3="0.792602"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000130702" value3="0.00637702"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="4" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844426">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.849"/>
        <parameter id="Joint Elevation" value="38.3945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.952"/>
      <parameter id="Joint Elevation" value="38.4111"/>
      <parameter id="Twist" value="-0.19324"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.925026" value2="0.35808" value3="-1.83572"/>
      <parameter id="A" type="float_3" value1="0.607338" value2="0.070782" value3="0.791274"/>
      <parameter id="H" type="float_3" value1="169.109" value2="1252.76" value3="398.434"/>
      <parameter id="V" type="float_3" value1="-657.87" value2="-72.6667" value3="1146.71"/>
      <parameter id="O" type="float_3" value1="0.607338" value2="0.070779" value3="0.791274"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000130128" value3="0.00637786"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="6" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844477">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="185.974"/>
        <parameter id="Joint Elevation" value="69.7782"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="185.961"/>
      <parameter id="Joint Elevation" value="69.7099"/>
      <parameter id="Twist" value="-0.163428"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.940395" value2="0.355854" value3="-1.89603"/>
      <parameter id="A" type="float_3" value1="0.930434" value2="0.0759822" value3="0.358474"/>
      <parameter id="H" type="float_3" value1="373.113" value2="1259.31" value3="177.973"/>
      <parameter id="V" type="float_3" value1="29.7693" value2="6.28737" value3="1323.67"/>
      <parameter id="O" type="float_3" value1="0.930434" value2="0.0759792" value3="0.358474"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000130415" value3="0.00637744"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="8" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844501">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="216.145"/>
        <parameter id="Joint Elevation" value="71.4794"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="216.132"/>
      <parameter id="Joint Elevation" value="71.4266"/>
      <parameter id="Twist" value="0.018948"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0245" value2="0.451871" value3="-1.89952"/>
      <parameter id="A" type="float_3" value1="0.774629" value2="0.539363" value3="0.330182"/>
      <parameter id="H" type="float_3" value1="-307.197" value2="1278.52" value3="166.661"/>
      <parameter id="V" type="float_3" value1="57.1373" value2="40.5179" value3="1322.16"/>
      <parameter id="O" type="float_3" value1="0.774631" value2="0.539361" value3="0.330182"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000130128" value3="0.00637786"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="10" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844533">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="246.526"/>
        <parameter id="Joint Elevation" value="73.8955"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="246.437"/>
      <parameter id="Joint Elevation" value="73.8139"/>
      <parameter id="Twist" value="0.0766657"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04878" value2="0.57773" value3="-1.90446"/>
      <parameter id="A" type="float_3" value1="0.40202" value2="0.868419" value3="0.290193"/>
      <parameter id="H" type="float_3" value1="-907.772" value2="954.494" value3="147.143"/>
      <parameter id="V" type="float_3" value1="52.9184" value2="113.883" value3="1318.04"/>
      <parameter id="O" type="float_3" value1="0.402022" value2="0.868418" value3="0.290193"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129841" value3="0.00637829"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="12" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844564">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="276.159"/>
        <parameter id="Joint Elevation" value="76.3466"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="276.074"/>
      <parameter id="Joint Elevation" value="76.1934"/>
      <parameter id="Twist" value="0.107736"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00778" value2="0.696088" value3="-1.90946"/>
      <parameter id="A" type="float_3" value1="-0.0809544" value2="0.964918" value3="0.249725"/>
      <parameter id="H" type="float_3" value1="-1261.48" value2="386.335" value3="127.158"/>
      <parameter id="V" type="float_3" value1="-14.4078" value2="180.277" value3="1311.6"/>
      <parameter id="O" type="float_3" value1="-0.0809514" value2="0.964919" value3="0.249725"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129841" value3="0.00637829"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="14" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844595">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="305.667"/>
        <parameter id="Joint Elevation" value="78.1721"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="305.57"/>
      <parameter id="Joint Elevation" value="77.9229"/>
      <parameter id="Twist" value="0.141118"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.91424" value2="0.778326" value3="-1.91315"/>
      <parameter id="A" type="float_3" value1="-0.549549" value2="0.805987" value3="0.219917"/>
      <parameter id="H" type="float_3" value1="-1290.18" value2="-281.876" value3="112.955"/>
      <parameter id="V" type="float_3" value1="-123.138" value2="183.49" value3="1305.43"/>
      <parameter id="O" type="float_3" value1="-0.549547" value2="0.805989" value3="0.219917"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="26" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844777">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="335.064"/>
        <parameter id="Joint Elevation" value="78.8636"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="334.871"/>
      <parameter id="Joint Elevation" value="78.5111"/>
      <parameter id="Twist" value="0.126157"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.793141" value2="0.803983" value3="-1.91449"/>
      <parameter id="A" type="float_3" value1="-0.87569" value2="0.435008" value3="0.209567"/>
      <parameter id="H" type="float_3" value1="-988.232" value2="-876.645" value3="107.857"/>
      <parameter id="V" type="float_3" value1="-209.509" value2="106.066" value3="1303.03"/>
      <parameter id="O" type="float_3" value1="-0.875688" value2="0.435011" value3="0.209567"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000130415" value3="0.00637744"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="28" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844860">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="4.55815"/>
        <parameter id="Joint Elevation" value="78.3967"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="4.37601"/>
      <parameter id="Joint Elevation" value="77.9231"/>
      <parameter id="Twist" value="0.163572"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.674089" value2="0.766665" value3="-1.91339"/>
      <parameter id="A" type="float_3" value1="-0.974195" value2="-0.0524601" value3="0.21949"/>
      <parameter id="H" type="float_3" value1="-427.026" value2="-1249.53" value3="114.278"/>
      <parameter id="V" type="float_3" value1="-221.423" value2="-8.70448" value3="1305.34"/>
      <parameter id="O" type="float_3" value1="-0.974195" value2="-0.0524571" value3="0.21949"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000130415" value3="0.00637744"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="30" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844892">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="33.6088"/>
        <parameter id="Joint Elevation" value="76.7265"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="33.4783"/>
      <parameter id="Joint Elevation" value="76.2225"/>
      <parameter id="Twist" value="-0.110317"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.589617" value2="0.676987" value3="-1.90993"/>
      <parameter id="A" type="float_3" value1="-0.819848" value2="-0.515832" value3="0.248494"/>
      <parameter id="H" type="float_3" value1="236.41" value2="-1298.28" value3="123.892"/>
      <parameter id="V" type="float_3" value1="-153.411" value2="-98.9022" value3="1311.37"/>
      <parameter id="O" type="float_3" value1="-0.81985" value2="-0.51583" value3="0.248494"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129841" value3="0.00637829"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="32" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844923">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="63.5811"/>
        <parameter id="Joint Elevation" value="74.335"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="63.3504"/>
      <parameter id="Joint Elevation" value="73.8456"/>
      <parameter id="Twist" value="-0.0197406"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.559584" value2="0.554298" value3="-1.90502"/>
      <parameter id="A" type="float_3" value1="-0.44885" value2="-0.845638" value3="0.288813"/>
      <parameter id="H" type="float_3" value1="854.445" value2="-1002.59" value3="146.667"/>
      <parameter id="V" type="float_3" value1="-60.1238" value2="-112.399" value3="1317.86"/>
      <parameter id="O" type="float_3" value1="-0.448852" value2="-0.845637" value3="0.288813"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="34" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844954">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="93.5147"/>
        <parameter id="Joint Elevation" value="71.8552"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="93.346"/>
      <parameter id="Joint Elevation" value="71.4029"/>
      <parameter id="Twist" value="-0.215101"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.594938" value2="0.432707" value3="-1.8999"/>
      <parameter id="A" type="float_3" value1="0.0334711" value2="-0.943438" value3="0.32983"/>
      <parameter id="H" type="float_3" value1="1240.99" value2="-435.79" value3="163.69"/>
      <parameter id="V" type="float_3" value1="6.0657" value2="-70.3499" value3="1322.12"/>
      <parameter id="O" type="float_3" value1="0.0334681" value2="-0.943438" value3="0.32983"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="34" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="36" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439844985">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="124.02"/>
        <parameter id="Joint Elevation" value="69.9513"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="123.948"/>
      <parameter id="Joint Elevation" value="69.6217"/>
      <parameter id="Twist" value="-0.281683"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.688491" value2="0.343893" value3="-1.8961"/>
      <parameter id="A" type="float_3" value1="0.503233" value2="-0.785819" value3="0.359484"/>
      <parameter id="H" type="float_3" value1="1287.38" value2="260.759" value3="177.27"/>
      <parameter id="V" type="float_3" value1="19.8359" value2="-21.4095" value3="1323.68"/>
      <parameter id="O" type="float_3" value1="0.50323" value2="-0.785821" value3="0.359484"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="38" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439845009">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="154.968"/>
        <parameter id="Joint Elevation" value="69.1726"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="154.856"/>
      <parameter id="Joint Elevation" value="68.9917"/>
      <parameter id="Twist" value="-0.31733"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.815565" value2="0.314968" value3="-1.89467"/>
      <parameter id="A" type="float_3" value1="0.831765" value2="-0.413776" value3="0.370053"/>
      <parameter id="H" type="float_3" value1="969.089" value2="885.836" value3="181.466"/>
      <parameter id="V" type="float_3" value1="15.131" value2="-0.345666" value3="1323.92"/>
      <parameter id="O" type="float_3" value1="0.831764" value2="-0.413779" value3="0.370053"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="40" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439845045">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.945"/>
        <parameter id="Joint Elevation" value="44.0859"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.945"/>
      <parameter id="Joint Elevation" value="44.0859"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.999728" value2="0.424386" value3="-1.84553"/>
      <parameter id="A" type="float_3" value1="0.596755" value2="0.339938" value3="0.726849"/>
      <parameter id="H" type="float_3" value1="-303.403" value2="1236.71" value3="367.781"/>
      <parameter id="V" type="float_3" value1="-473.963" value2="-269.231" value3="1206.59"/>
      <parameter id="O" type="float_3" value1="0.596756" value2="0.339935" value3="0.726849"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129554" value3="0.00637871"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="42" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439845069">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.036"/>
        <parameter id="Joint Elevation" value="44.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.928"/>
      <parameter id="Joint Elevation" value="44.0715"/>
      <parameter id="Twist" value="0.0729475"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04107" value2="0.540038" value3="-1.84546"/>
      <parameter id="A" type="float_3" value1="0.346825" value2="0.592873" value3="0.726772"/>
      <parameter id="H" type="float_3" value1="-881.499" value2="918.717" value3="368.369"/>
      <parameter id="V" type="float_3" value1="-274.962" value2="-470.511" value3="1206.65"/>
      <parameter id="O" type="float_3" value1="0.346827" value2="0.592872" value3="0.726772"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129266" value3="0.00637913"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="44" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439845093">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.987"/>
        <parameter id="Joint Elevation" value="44.0504"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.818"/>
      <parameter id="Joint Elevation" value="43.9996"/>
      <parameter id="Twist" value="0.113126"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01925" value2="0.660464" value3="-1.84535"/>
      <parameter id="A" type="float_3" value1="0.00513238" value2="0.686297" value3="0.727292"/>
      <parameter id="H" type="float_3" value1="-1222.14" value2="356.318" value3="369.055"/>
      <parameter id="V" type="float_3" value1="-3.2242" value2="-545.868" value3="1206.23"/>
      <parameter id="O" type="float_3" value1="0.00513538" value2="0.686297" value3="0.727292"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129266" value3="0.00637913"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="46" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439845124">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.933"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.754"/>
      <parameter id="Joint Elevation" value="43.8809"/>
      <parameter id="Twist" value="0.122082"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.940236" value2="0.754074" value3="-1.84522"/>
      <parameter id="A" type="float_3" value1="-0.337388" value2="0.596347" value3="0.72837"/>
      <parameter id="H" type="float_3" value1="-1236.5" value2="-301.702" value3="369.889"/>
      <parameter id="V" type="float_3" value1="270.845" value2="-476.129" value3="1205.37"/>
      <parameter id="O" type="float_3" value1="-0.337385" value2="0.596349" value3="0.72837"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129266" value3="0.00637913"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="48" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_439845155">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.054"/>
        <parameter id="Joint Elevation" value="44.0011"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.817"/>
      <parameter id="Joint Elevation" value="43.7683"/>
      <parameter id="Twist" value="0.0281821"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.824559" value2="0.795856" value3="-1.84513"/>
      <parameter id="A" type="float_3" value1="-0.589607" value2="0.346745" value3="0.729462"/>
      <parameter id="H" type="float_3" value1="-919.704" value2="-879.99" value3="369.514"/>
      <parameter id="V" type="float_3" value1="473.792" value2="-278.723" value3="1204.5"/>
      <parameter id="O" type="float_3" value1="-0.589605" value2="0.346747" value3="0.729462"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000129266" value3="0.00637913"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="hgmslopgs">
      <parameter id="X" value="7.08203"/>
      <parameter id="Y" value="2.37029"/>
      <parameter id="Z" value="0.173548"/>
      <parameter id="Normal_X" value="0.00042242"/>
      <parameter id="Normal_Y" value="-0.000461621"/>
      <parameter id="Normal_Z" value="-0.00835773"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="24" index2="366" index3="10" index4="0" index5="0" index6="12" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
