<?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_LEFT_B" solution_id="mslopgs"/>
  <calibration calibration_id="7" frame_id="LEFT" instrument="NAV_LEFT_B" solution_id="mslopgs"/>
  <priority>
    <entry solution_id="mslopgs"/>
  </priority>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="11" instrument="NAV_LEFT_B" unique_id="MSLNL_644831603">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.154"/>
        <parameter id="Joint Elevation" value="44.116"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.238"/>
      <parameter id="Joint Elevation" value="43.9672"/>
      <parameter id="Twist" value="-0.230599"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.815188" value2="0.322201" value3="-1.84549"/>
      <parameter id="A" type="float_3" value1="0.630335" value2="-0.268778" value3="0.728299"/>
      <parameter id="H" type="float_3" value1="802.844" value2="989.112" value3="366.664"/>
      <parameter id="V" type="float_3" value1="-502.522" value2="218.626" value3="1205.04"/>
      <parameter id="O" type="float_3" value1="0.630333" value2="-0.268779" value3="0.7283"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112875" value3="0.00639865"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644831704">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="310.197"/>
        <parameter id="Joint Elevation" value="71.7286"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="310.147"/>
      <parameter id="Joint Elevation" value="71.6849"/>
      <parameter id="Twist" value="0.0356381"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.896429" value2="0.786513" value3="-1.90018"/>
      <parameter id="A" type="float_3" value1="-0.593555" value2="0.736442" value3="0.324544"/>
      <parameter id="H" type="float_3" value1="-1254.79" value2="-394.864" value3="164.098"/>
      <parameter id="V" type="float_3" value1="-48.9738" value2="59.9434" value3="1321.53"/>
      <parameter id="O" type="float_3" value1="-0.593553" value2="0.736443" value3="0.324545"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112875" value3="0.00639865"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644831744">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="340.813"/>
        <parameter id="Joint Elevation" value="70.7253"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="340.691"/>
      <parameter id="Joint Elevation" value="70.6251"/>
      <parameter id="Twist" value="-0.0521763"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.768385" value2="0.80168" value3="-1.8981"/>
      <parameter id="A" type="float_3" value1="-0.879731" value2="0.33061" value3="0.341693"/>
      <parameter id="H" type="float_3" value1="-877.712" value2="-978.539" value3="171.57"/>
      <parameter id="V" type="float_3" value1="-50.5815" value2="17.0565" value3="1322.72"/>
      <parameter id="O" type="float_3" value1="-0.87973" value2="0.330612" value3="0.341694"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112603" value3="0.00639896"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644831834">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="11.6182"/>
        <parameter id="Joint Elevation" value="70.6514"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="11.4484"/>
      <parameter id="Joint Elevation" value="70.544"/>
      <parameter id="Twist" value="-0.0432624"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.649583" value2="0.749139" value3="-1.89805"/>
      <parameter id="A" type="float_3" value1="-0.924633" value2="-0.165537" value3="0.342978"/>
      <parameter id="H" type="float_3" value1="-253.527" value2="-1289.62" value3="173.046"/>
      <parameter id="V" type="float_3" value1="-50.5737" value2="-10.0167" value3="1322.79"/>
      <parameter id="O" type="float_3" value1="-0.924633" value2="-0.165535" value3="0.342979"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112875" value3="0.00639865"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644831866">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="42.039"/>
        <parameter id="Joint Elevation" value="71.5068"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="41.7758"/>
      <parameter id="Joint Elevation" value="71.3754"/>
      <parameter id="Twist" value="0.0684579"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.574908" value2="0.644889" value3="-1.89986"/>
      <parameter id="A" type="float_3" value1="-0.718266" value2="-0.612774" value3="0.329524"/>
      <parameter id="H" type="float_3" value1="431.058" value2="-1242.16" value3="169.039"/>
      <parameter id="V" type="float_3" value1="-54.9132" value2="-44.1639" value3="1321.92"/>
      <parameter id="O" type="float_3" value1="-0.718267" value2="-0.612772" value3="0.329525"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112875" value3="0.00639865"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644831897">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="72.2104"/>
        <parameter id="Joint Elevation" value="73.0452"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="72.025"/>
      <parameter id="Joint Elevation" value="72.8597"/>
      <parameter id="Twist" value="0.114595"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.563075" value2="0.517476" value3="-1.90296"/>
      <parameter id="A" type="float_3" value1="-0.31451" value2="-0.898787" value3="0.305366"/>
      <parameter id="H" type="float_3" value1="996.82" value2="-859.48" value3="158.075"/>
      <parameter id="V" type="float_3" value1="-37.5712" value2="-97.1336" value3="1319.69"/>
      <parameter id="O" type="float_3" value1="-0.314512" value2="-0.898786" value3="0.305367"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112875" value3="0.00639865"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644831971">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="343.207"/>
        <parameter id="Joint Elevation" value="100.829"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="343.048"/>
      <parameter id="Joint Elevation" value="100.641"/>
      <parameter id="Twist" value="-0.172498"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.769871" value2="0.796247" value3="-1.95873"/>
      <parameter id="A" type="float_3" value1="-0.935169" value2="0.308331" value3="-0.17428"/>
      <parameter id="H" type="float_3" value1="-857.07" value2="-1007.02" value3="-93.0733"/>
      <parameter id="V" type="float_3" value1="-673.789" value2="217.205" value3="1118.61"/>
      <parameter id="O" type="float_3" value1="-0.935169" value2="0.308333" value3="-0.174279"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000113419" value3="0.00639801"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832047">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="18.2138"/>
        <parameter id="Joint Elevation" value="100.768"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="17.9406"/>
      <parameter id="Joint Elevation" value="100.678"/>
      <parameter id="Twist" value="-0.150117"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.640666" value2="0.733839" value3="-1.95893"/>
      <parameter id="A" type="float_3" value1="-0.943289" value2="-0.282126" value3="-0.174912"/>
      <parameter id="H" type="float_3" value1="-126.917" value2="-1316.32" value3="-92.1857"/>
      <parameter id="V" type="float_3" value1="-677.942" value2="-206.391" value3="1118.16"/>
      <parameter id="O" type="float_3" value1="-0.94329" value2="-0.282124" value3="-0.174911"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000113963" value3="0.00639738"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832080">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="52.3796"/>
        <parameter id="Joint Elevation" value="102.018"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="52.246"/>
      <parameter id="Joint Elevation" value="101.957"/>
      <parameter id="Twist" value="0.0820264"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571632" value2="0.612068" value3="-1.96138"/>
      <parameter id="A" type="float_3" value1="-0.617541" value2="-0.761579" value3="-0.196532"/>
      <parameter id="H" type="float_3" value1="637.824" value2="-1158" value3="-97.687"/>
      <parameter id="V" type="float_3" value1="-463.333" value2="-568.091" value3="1102.3"/>
      <parameter id="O" type="float_3" value1="-0.617542" value2="-0.761577" value3="-0.196531"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000113691" value3="0.00639769"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832113">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="88.4509"/>
        <parameter id="Joint Elevation" value="104.077"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="88.3353"/>
      <parameter id="Joint Elevation" value="103.931"/>
      <parameter id="Twist" value="0.209175"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.585423" value2="0.46672" value3="-1.96498"/>
      <parameter id="A" type="float_3" value1="-0.049983" value2="-0.971986" value3="-0.229625"/>
      <parameter id="H" type="float_3" value1="1197.72" value2="-557.079" value3="-111.589"/>
      <parameter id="V" type="float_3" value1="-44.6029" value2="-768.699" value3="1076.83"/>
      <parameter id="O" type="float_3" value1="-0.0499852" value2="-0.971986" value3="-0.229624"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000113419" value3="0.00639801"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832146">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="123.419"/>
        <parameter id="Joint Elevation" value="106.073"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="123.344"/>
      <parameter id="Joint Elevation" value="105.882"/>
      <parameter id="Twist" value="-0.120989"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.677169" value2="0.35952" value3="-1.96839"/>
      <parameter id="A" type="float_3" value1="0.512318" value2="-0.817824" value3="-0.262066"/>
      <parameter id="H" type="float_3" value1="1297.47" value2="235.869" value3="-135.092"/>
      <parameter id="V" type="float_3" value1="429.531" value2="-681.531" value3="1050.47"/>
      <parameter id="O" type="float_3" value1="0.512316" value2="-0.817825" value3="-0.262065"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000113691" value3="0.00639769"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832197">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="154.905"/>
        <parameter id="Joint Elevation" value="107.253"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="154.777"/>
      <parameter id="Joint Elevation" value="107.109"/>
      <parameter id="Twist" value="-0.0697471"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.798903" value2="0.323023" value3="-1.97043"/>
      <parameter id="A" type="float_3" value1="0.85846" value2="-0.428162" value3="-0.282324"/>
      <parameter id="H" type="float_3" value1="981.661" value2="879.033" value3="-144.807"/>
      <parameter id="V" type="float_3" value1="741.248" value2="-367.888" value3="1033.28"/>
      <parameter id="O" type="float_3" value1="0.858459" value2="-0.428164" value3="-0.282323"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000113419" value3="0.00639801"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832238">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="102.314"/>
        <parameter id="Joint Elevation" value="74.7257"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="102.193"/>
      <parameter id="Joint Elevation" value="74.4785"/>
      <parameter id="Twist" value="0.128536"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.616871" value2="0.401789" value3="-1.90627"/>
      <parameter id="A" type="float_3" value1="0.181314" value2="-0.943056" value3="0.278844"/>
      <parameter id="H" type="float_3" value1="1294.5" value2="-246.109" value3="144.942"/>
      <parameter id="V" type="float_3" value1="22.9305" value2="-138.84" value3="1316.31"/>
      <parameter id="O" type="float_3" value1="0.181311" value2="-0.943056" value3="0.278845"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000113691" value3="0.00639769"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832270">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="131.95"/>
        <parameter id="Joint Elevation" value="76.4297"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="131.888"/>
      <parameter id="Joint Elevation" value="76.1765"/>
      <parameter id="Twist" value="-0.202011"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.719572" value2="0.329582" value3="-1.90971"/>
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    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832316">
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        <parameter id="Joint Azimuth" value="161.355"/>
        <parameter id="Joint Elevation" value="77.3774"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="161.354"/>
      <parameter id="Joint Elevation" value="77.2109"/>
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    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.843542" value2="0.317562" value3="-1.91173"/>
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    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832348">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="190.97"/>
        <parameter id="Joint Elevation" value="77.4605"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="191.014"/>
      <parameter id="Joint Elevation" value="77.3665"/>
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    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.958095" value2="0.368565" value3="-1.91194"/>
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      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832385">
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        <parameter id="Joint Azimuth" value="220.623"/>
        <parameter id="Joint Elevation" value="76.636"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="220.621"/>
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    </pointing_parameters>
    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832417">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="250.185"/>
        <parameter id="Joint Elevation" value="75.1222"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="250.239"/>
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    <camera_model type="CAHVOR">
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      <reference_frame name="ROVER_NAV_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0" solution_id="mslopgs">
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        <parameter id="Joint Elevation" value="73.3157"/>
        <parameter id="Twist" value="0"/>
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="280.127"/>
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832486">
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832511">
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        <parameter id="Joint Elevation" value="44.0804"/>
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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      <parameter id="Joint Elevation" value="44.0706"/>
      <parameter id="Twist" value="-0.0613715"/>
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
  <solution index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832536">
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
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    <camera_model type="CAHVOR">
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    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_644832561">
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    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.935"/>
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    <camera_model type="CAHVOR">
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    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.692756"/>
      <parameter id="Y" value="0.322122"/>
      <parameter id="Z" value="-0.0561024"/>
      <parameter id="Normal_X" value="-0.00107408"/>
      <parameter id="Normal_Y" value="-0.0393308"/>
      <parameter id="Normal_Z" value="-0.570714"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="80" index2="418" index3="4" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
