<?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="7" frame_id="LEFT" instrument="NAV_LEFT_B" solution_id="hgmslopgs"/>
  <priority>
    <entry solution_id="hgmslopgs"/>
  </priority>
  <solution index1="31" index2="1330" index3="306" index4="512" index5="8" index6="170" index7="2752" index8="1620" index9="12" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="11" instrument="NAV_LEFT_B" unique_id="MSLNL_452627091">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="171.038"/>
        <parameter id="Joint Elevation" value="47.6892"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="171.363"/>
      <parameter id="Joint Elevation" value="47.8211"/>
      <parameter id="Twist" value="-0.0437902"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.872569" value2="0.330236" value3="-1.85248"/>
      <parameter id="A" type="float_3" value1="0.72158" value2="-0.126592" value3="0.680646"/>
      <parameter id="H" type="float_3" value1="577.799" value2="1142.1" value3="344.613"/>
      <parameter id="V" type="float_3" value1="-458.538" value2="80.9663" value3="1239.34"/>
      <parameter id="O" type="float_3" value1="0.72158" value2="-0.126595" value3="0.680647"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00012267" value3="0.00638722"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="306" index4="512" index5="8" index6="170" index7="2752" index8="1620" index9="12" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="284" index4="454" index5="6" index6="90" index7="1282" index8="1068" index9="12" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_452271417">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.321"/>
        <parameter id="Joint Elevation" value="38.3823"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.731"/>
      <parameter id="Joint Elevation" value="38.5353"/>
      <parameter id="Twist" value="-0.267148"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.811518" value2="0.324742" value3="-1.83604"/>
      <parameter id="A" type="float_3" value1="0.566088" value2="-0.235761" value3="0.789901"/>
      <parameter id="H" type="float_3" value1="761.159" value2="1009.72" value3="397.52"/>
      <parameter id="V" type="float_3" value1="-606.953" value2="257.722" value3="1148.05"/>
      <parameter id="O" type="float_3" value1="0.566087" value2="-0.235764" value3="0.789901"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000124846" value3="0.00638468"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="284" index4="454" index5="6" index6="90" index7="1282" index8="1068" index9="12" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="284" index4="454" index5="6" index6="90" index7="1284" index8="1068" index9="12" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_452271441">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.852"/>
        <parameter id="Joint Elevation" value="38.3959"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.08"/>
      <parameter id="Joint Elevation" value="38.5318"/>
      <parameter id="Twist" value="0.0816305"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.925627" value2="0.358333" value3="-1.83592"/>
      <parameter id="A" type="float_3" value1="0.608835" value2="0.0723312" value3="0.789982"/>
      <parameter id="H" type="float_3" value1="162.665" value2="1252.7" value3="401.534"/>
      <parameter id="V" type="float_3" value1="-654.726" value2="-79.6891" value3="1147.96"/>
      <parameter id="O" type="float_3" value1="0.608835" value2="0.0723284" value3="0.789982"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000124302" value3="0.00638531"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="284" index4="454" index5="6" index6="90" index7="1284" index8="1068" index9="12" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="124" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451649224">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="83.7063"/>
        <parameter id="Joint Elevation" value="76.5678"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="83.982"/>
      <parameter id="Joint Elevation" value="76.3739"/>
      <parameter id="Twist" value="-0.271951"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.577075" value2="0.468387" value3="-1.91026"/>
      <parameter id="A" type="float_3" value1="-0.12357" value2="-0.961191" value3="0.246626"/>
      <parameter id="H" type="float_3" value1="1151.96" value2="-644.594" value3="120.218"/>
      <parameter id="V" type="float_3" value1="-18.7201" value2="-183.965" value3="1310.95"/>
      <parameter id="O" type="float_3" value1="-0.123573" value2="-0.961191" value3="0.246627"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123486" value3="0.00638627"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="124" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="122" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451649193">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="54.3724"/>
        <parameter id="Joint Elevation" value="80.6278"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="54.446"/>
      <parameter id="Joint Elevation" value="80.4661"/>
      <parameter id="Twist" value="0.161466"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.562112" value2="0.592802" value3="-1.91878"/>
      <parameter id="A" type="float_3" value1="-0.590382" value2="-0.787606" value3="0.176377"/>
      <parameter id="H" type="float_3" value1="681.166" value2="-1133.26" value3="93.3496"/>
      <parameter id="V" type="float_3" value1="-170.32" value2="-220.437" value3="1294.29"/>
      <parameter id="O" type="float_3" value1="-0.590384" value2="-0.787604" value3="0.176377"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123486" value3="0.00638627"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="122" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="120" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451649163">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="25.8075"/>
        <parameter id="Joint Elevation" value="82.978"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="25.7161"/>
      <parameter id="Joint Elevation" value="83.0006"/>
      <parameter id="Twist" value="0.374687"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.60861" value2="0.705485" value3="-1.92397"/>
      <parameter id="A" type="float_3" value1="-0.902516" value2="-0.409789" value3="0.132369"/>
      <parameter id="H" type="float_3" value1="49.8499" value2="-1322.44" value3="75.0754"/>
      <parameter id="V" type="float_3" value1="-309.213" value2="-131.493" value3="1280.59"/>
      <parameter id="O" type="float_3" value1="-0.902517" value2="-0.409787" value3="0.132369"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123758" value3="0.00638595"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="120" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="118" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451649079">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="356.746"/>
        <parameter id="Joint Elevation" value="83.029"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="356.714"/>
      <parameter id="Joint Elevation" value="83.1111"/>
      <parameter id="Twist" value="-0.311359"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.704028" value2="0.782154" value3="-1.9241"/>
      <parameter id="A" type="float_3" value1="-0.988293" value2="0.0791359" value3="0.130372"/>
      <parameter id="H" type="float_3" value1="-599.657" value2="-1180.65" value3="58.9229"/>
      <parameter id="V" type="float_3" value1="-337.965" value2="19.8711" value3="1279.91"/>
      <parameter id="O" type="float_3" value1="-0.988293" value2="0.0791386" value3="0.130372"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123214" value3="0.00638658"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="118" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="116" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451649041">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="327.727"/>
        <parameter id="Joint Elevation" value="80.7424"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="327.636"/>
      <parameter id="Joint Elevation" value="80.7122"/>
      <parameter id="Twist" value="-0.038692"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.824397" value2="0.803277" value3="-1.91902"/>
      <parameter id="A" type="float_3" value1="-0.820025" value2="0.545882" value3="0.171917"/>
      <parameter id="H" type="float_3" value1="-1094.63" value2="-742.631" value3="85.2168"/>
      <parameter id="V" type="float_3" value1="-237.786" value2="156.009" value3="1293.02"/>
      <parameter id="O" type="float_3" value1="-0.820023" value2="0.545885" value3="0.171917"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123214" value3="0.00638658"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="116" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="114" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451649018">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="298.614"/>
        <parameter id="Joint Elevation" value="76.7265"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="298.457"/>
      <parameter id="Joint Elevation" value="76.607"/>
      <parameter id="Twist" value="-0.163491"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.940466" value2="0.763194" value3="-1.91038"/>
      <parameter id="A" type="float_3" value1="-0.443117" value2="0.86307" value3="0.242363"/>
      <parameter id="H" type="float_3" value1="-1314.71" value2="-120.825" value3="117.995"/>
      <parameter id="V" type="float_3" value1="-91.461" value2="167.3" value3="1310.13"/>
      <parameter id="O" type="float_3" value1="-0.443115" value2="0.863072" value3="0.242363"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123214" value3="0.00638658"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="114" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="112" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451648987">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="269.17"/>
        <parameter id="Joint Elevation" value="71.9853"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="269.048"/>
      <parameter id="Joint Elevation" value="71.823"/>
      <parameter id="Twist" value="-0.0870254"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02299" value2="0.670127" value3="-1.90034"/>
      <parameter id="A" type="float_3" value1="0.0367665" value2="0.94571" value3="0.3229"/>
      <parameter id="H" type="float_3" value1="-1205.15" value2="528.07" value3="160.379"/>
      <parameter id="V" type="float_3" value1="-0.312953" value2="80.1008" value3="1321.51"/>
      <parameter id="O" type="float_3" value1="0.0367692" value2="0.94571" value3="0.3229"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123486" value3="0.00638627"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="112" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="110" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451648955">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="238.648"/>
        <parameter id="Joint Elevation" value="67.7431"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="238.672"/>
      <parameter id="Joint Elevation" value="67.6137"/>
      <parameter id="Twist" value="0.126675"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04858" value2="0.543829" value3="-1.89158"/>
      <parameter id="A" type="float_3" value1="0.495691" value2="0.775012" value3="0.391957"/>
      <parameter id="H" type="float_3" value1="-780.798" value2="1052.32" value3="199.885"/>
      <parameter id="V" type="float_3" value1="-8.45615" value2="-15.7706" value3="1323.81"/>
      <parameter id="O" type="float_3" value1="0.495693" value2="0.775011" value3="0.391957"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123758" value3="0.00638595"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="110" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="108" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451648923">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="207.136"/>
        <parameter id="Joint Elevation" value="65.1579"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="207.271"/>
      <parameter id="Joint Elevation" value="65.1707"/>
      <parameter id="Twist" value="0.139365"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00405" value2="0.418621" value3="-1.88659"/>
      <parameter id="A" type="float_3" value1="0.811051" value2="0.395346" value3="0.431139"/>
      <parameter id="H" type="float_3" value1="-126.377" value2="1300.92" value3="220.474"/>
      <parameter id="V" type="float_3" value1="-66.2058" value2="-34.7271" value3="1321.82"/>
      <parameter id="O" type="float_3" value1="0.811052" value2="0.395343" value3="0.431139"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000123758" value3="0.00638595"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="108" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="106" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451648891">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="175.291"/>
        <parameter id="Joint Elevation" value="65.08"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="175.521"/>
      <parameter id="Joint Elevation" value="65.1829"/>
      <parameter id="Twist" value="0.0258705"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.900098" value2="0.334675" value3="-1.88672"/>
      <parameter id="A" type="float_3" value1="0.897742" value2="-0.0908425" value3="0.431035"/>
      <parameter id="H" type="float_3" value1="578.146" value2="1172.52" value3="218.887"/>
      <parameter id="V" type="float_3" value1="-74.2413" value2="6.99824" value3="1321.84"/>
      <parameter id="O" type="float_3" value1="0.897741" value2="-0.0908453" value3="0.431035"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00012403" value3="0.00638563"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="106" index8="138" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="104" index8="138" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451648859">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="143.503"/>
        <parameter id="Joint Elevation" value="67.5586"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
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  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451559144">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.051"/>
        <parameter id="Joint Elevation" value="44.0011"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.979"/>
      <parameter id="Joint Elevation" value="43.9562"/>
      <parameter id="Twist" value="-0.0862699"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.823733" value2="0.796038" value3="-1.84547"/>
      <parameter id="A" type="float_3" value1="-0.592646" value2="0.346291" value3="0.727211"/>
      <parameter id="H" type="float_3" value1="-919.9" value2="-881.006" value3="366.825"/>
      <parameter id="V" type="float_3" value1="470.015" value2="-277.553" value3="1206.18"/>
      <parameter id="O" type="float_3" value1="-0.592645" value2="0.346293" value3="0.727212"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000124302" value3="0.00638531"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451559105">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.939"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.913"/>
      <parameter id="Joint Elevation" value="43.9404"/>
      <parameter id="Twist" value="-0.256668"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.939685" value2="0.754521" value3="-1.84532"/>
      <parameter id="A" type="float_3" value1="-0.339418" value2="0.596069" value3="0.727654"/>
      <parameter id="H" type="float_3" value1="-1238.8" value2="-299.576" value3="364.098"/>
      <parameter id="V" type="float_3" value1="264.554" value2="-478.364" value3="1205.82"/>
      <parameter id="O" type="float_3" value1="-0.339415" value2="0.59607" value3="0.727655"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000124574" value3="0.006385"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451559073">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.984"/>
        <parameter id="Joint Elevation" value="44.0517"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.938"/>
      <parameter id="Joint Elevation" value="43.9275"/>
      <parameter id="Twist" value="-0.097385"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01907" value2="0.660839" value3="-1.84522"/>
      <parameter id="A" type="float_3" value1="0.00369278" value2="0.685393" value3="0.728152"/>
      <parameter id="H" type="float_3" value1="-1222.85" value2="356.683" value3="366.527"/>
      <parameter id="V" type="float_3" value1="-6.59144" value2="-547.46" value3="1205.43"/>
      <parameter id="O" type="float_3" value1="0.00369559" value2="0.685393" value3="0.728152"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000124574" value3="0.006385"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451559042">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.032"/>
        <parameter id="Joint Elevation" value="44.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.951"/>
      <parameter id="Joint Elevation" value="43.9708"/>
      <parameter id="Twist" value="0.222791"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04105" value2="0.54003" value3="-1.84528"/>
      <parameter id="A" type="float_3" value1="0.345944" value2="0.591909" value3="0.727976"/>
      <parameter id="H" type="float_3" value1="-883.315" value2="915.873" value3="371.283"/>
      <parameter id="V" type="float_3" value1="-273.121" value2="-474.14" value3="1205.59"/>
      <parameter id="O" type="float_3" value1="0.345947" value2="0.591907" value3="0.727976"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000125119" value3="0.00638436"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0" solution_id="hgmslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_451559018">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.972"/>
        <parameter id="Joint Elevation" value="44.1119"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.053"/>
      <parameter id="Joint Elevation" value="44.1403"/>
      <parameter id="Twist" value="0.138831"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00004" value2="0.424761" value3="-1.84562"/>
      <parameter id="A" type="float_3" value1="0.596717" value2="0.341399" value3="0.726195"/>
      <parameter id="H" type="float_3" value1="-307.201" value2="1235.29" value3="369.594"/>
      <parameter id="V" type="float_3" value1="-471.065" value2="-272.166" value3="1207.01"/>
      <parameter id="O" type="float_3" value1="0.596719" value2="0.341396" value3="0.726195"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000125391" value3="0.00638404"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="hgmslopgs">
      <parameter id="X" value="0.318371"/>
      <parameter id="Y" value="-0.344767"/>
      <parameter id="Z" value="0.0109105"/>
      <parameter id="Normal_X" value="-0.102928"/>
      <parameter id="Normal_Y" value="-0.0515339"/>
      <parameter id="Normal_Z" value="-1.06395"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="31" index2="1330" index3="306" index4="512" index5="8" index6="170" index7="2752" index8="1620" index9="12" index10="0"/>
  </surface_model>
</pointing_correction>
