<?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="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641113">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="112.647"/>
        <parameter id="Joint Elevation" value="77.237"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="112.574"/>
      <parameter id="Joint Elevation" value="76.909"/>
      <parameter id="Twist" value="-0.287026"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04291" value2="0.524083" value3="-1.91103"/>
      <parameter id="A" type="float_3" value1="0.351999" value2="-0.902319" value3="0.248798"/>
      <parameter id="H" type="float_3" value1="1316.95" value2="-18.2375" value3="115.799"/>
      <parameter id="V" type="float_3" value1="82.3695" value2="-180.427" value3="1310.37"/>
      <parameter id="O" type="float_3" value1="0.351116" value2="-0.901633" value3="0.252506"/>
      <parameter id="R" type="float_3" value1="1.51037e-05" value2="0.00177364" value3="-0.00538724"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" 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_648641138">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="142.584"/>
        <parameter id="Joint Elevation" value="74.1465"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="142.575"/>
      <parameter id="Joint Elevation" value="73.9653"/>
      <parameter id="Twist" value="-0.279776"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02872" value2="0.64796" value3="-1.90488"/>
      <parameter id="A" type="float_3" value1="0.744971" value2="-0.596519" value3="0.298606"/>
      <parameter id="H" type="float_3" value1="1144.44" value2="646.881" value3="141.076"/>
      <parameter id="V" type="float_3" value1="108.546" value2="-72.3147" value3="1318.86"/>
      <parameter id="O" type="float_3" value1="0.743715" value2="-0.596246" value3="0.302262"/>
      <parameter id="R" type="float_3" value1="1.51188e-05" value2="0.00177257" value3="-0.00538044"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" 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_648641169">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="173.503"/>
        <parameter id="Joint Elevation" value="72.101"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="173.452"/>
      <parameter id="Joint Elevation" value="72.0419"/>
      <parameter id="Twist" value="-0.18655"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.9514" value2="0.750496" value3="-1.90094"/>
      <parameter id="A" type="float_3" value1="0.935008" value2="-0.128067" value3="0.330669"/>
      <parameter id="H" type="float_3" value1="644.642" value2="1143.38" value3="158.789"/>
      <parameter id="V" type="float_3" value1="85.8822" value2="-1.6245" value3="1322.51"/>
      <parameter id="O" type="float_3" value1="0.933667" value2="-0.128465" value3="0.334283"/>
      <parameter id="R" type="float_3" value1="1.51188e-05" value2="0.00177257" value3="-0.00538044"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" 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_648641200">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="204.427"/>
        <parameter id="Joint Elevation" value="71.6782"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="204.397"/>
      <parameter id="Joint Elevation" value="71.6515"/>
      <parameter id="Twist" value="-0.0360788"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.832203" value2="0.798827" value3="-1.90024"/>
      <parameter id="A" type="float_3" value1="0.865636" value2="0.370234" value3="0.337024"/>
      <parameter id="H" type="float_3" value1="-37.0937" value2="1311.37" value3="164.412"/>
      <parameter id="V" type="float_3" value1="67.2782" value2="36.9623" value3="1323.08"/>
      <parameter id="O" type="float_3" value1="0.864671" value2="0.369186" value3="0.34063"/>
      <parameter id="R" type="float_3" value1="1.51338e-05" value2="0.0017715" value3="-0.00537364"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" 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_648641231">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="235.228"/>
        <parameter id="Joint Elevation" value="73.0097"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="235.266"/>
      <parameter id="Joint Elevation" value="72.938"/>
      <parameter id="Twist" value="0.0516277"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.705509" value2="0.779213" value3="-1.90306"/>
      <parameter id="A" type="float_3" value1="0.557331" value2="0.768006" value3="0.315487"/>
      <parameter id="H" type="float_3" value1="-702.928" value2="1109.08" value3="154.672"/>
      <parameter id="V" type="float_3" value1="57.5525" value2="89.8392" value3="1321"/>
      <parameter id="O" type="float_3" value1="0.557093" value2="0.766676" value3="0.319122"/>
      <parameter id="R" type="float_3" value1="1.51338e-05" value2="0.0017715" value3="-0.00537364"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641487">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="266.312"/>
        <parameter id="Joint Elevation" value="71.7584"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="266.242"/>
      <parameter id="Joint Elevation" value="71.6438"/>
      <parameter id="Twist" value="0.109175"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.606495" value2="0.696819" value3="-1.90045"/>
      <parameter id="A" type="float_3" value1="0.0818559" value2="0.938158" value3="0.336367"/>
      <parameter id="H" type="float_3" value1="-1173.89" value2="585.178" value3="166.257"/>
      <parameter id="V" type="float_3" value1="1.52306" value2="77.4647" value3="1323.03"/>
      <parameter id="O" type="float_3" value1="0.0823328" value2="0.936816" value3="0.339971"/>
      <parameter id="R" type="float_3" value1="1.51188e-05" value2="0.00177257" value3="-0.00538044"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641518">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="295.858"/>
        <parameter id="Joint Elevation" value="75.0598"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="295.723"/>
      <parameter id="Joint Elevation" value="74.9248"/>
      <parameter id="Twist" value="0.0704626"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.564462" value2="0.58171" value3="-1.90736"/>
      <parameter id="A" type="float_3" value1="-0.397763" value2="0.873247" value3="0.281438"/>
      <parameter id="H" type="float_3" value1="-1313.6" value2="-60.0206" value3="137.56"/>
      <parameter id="V" type="float_3" value1="-69.0222" value2="137.316" value3="1316.36"/>
      <parameter id="O" type="float_3" value1="-0.396776" value2="0.872503" value3="0.285116"/>
      <parameter id="R" type="float_3" value1="1.51489e-05" value2="0.00177043" value3="-0.00536683"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641549">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="325.452"/>
        <parameter id="Joint Elevation" value="78.0724"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="325.297"/>
      <parameter id="Joint Elevation" value="77.9288"/>
      <parameter id="Twist" value="0.107363"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.58492" value2="0.460204" value3="-1.91361"/>
      <parameter id="A" type="float_3" value1="-0.787811" value2="0.571194" value3="0.23038"/>
      <parameter id="H" type="float_3" value1="-1118.02" value2="-696.707" value3="112.686"/>
      <parameter id="V" type="float_3" value1="-183.179" value2="127.04" value3="1306.43"/>
      <parameter id="O" type="float_3" value1="-0.786741" value2="0.571151" value3="0.234112"/>
      <parameter id="R" type="float_3" value1="1.5164e-05" value2="0.00176936" value3="-0.00536003"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641580">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="354.802"/>
        <parameter id="Joint Elevation" value="80.0267"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="354.568"/>
      <parameter id="Joint Elevation" value="79.8249"/>
      <parameter id="Twist" value="0.285403"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.661778" value2="0.365471" value3="-1.91749"/>
      <parameter id="A" type="float_3" value1="-0.973565" value2="0.114019" value3="0.197877"/>
      <parameter id="H" type="float_3" value1="-637.344" value2="-1154.02" value3="100.418"/>
      <parameter id="V" type="float_3" value1="-264.448" value2="30.6864" value3="1298.3"/>
      <parameter id="O" type="float_3" value1="-0.972733" value2="0.114532" value3="0.201636"/>
      <parameter id="R" type="float_3" value1="1.51791e-05" value2="0.00176828" value3="-0.00535323"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641664">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="24.0952"/>
        <parameter id="Joint Elevation" value="80.4272"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="23.8496"/>
      <parameter id="Joint Elevation" value="80.0898"/>
      <parameter id="Twist" value="0.192426"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.774926" value2="0.320466" value3="-1.91793"/>
      <parameter id="A" type="float_3" value1="-0.905796" value2="-0.376974" value3="0.193411"/>
      <parameter id="H" type="float_3" value1="7.71847" value2="-1318.58" value3="96.8189"/>
      <parameter id="V" type="float_3" value1="-250.596" value2="-106.068" value3="1297.07"/>
      <parameter id="O" type="float_3" value1="-0.905336" value2="-0.37613" value3="0.19717"/>
      <parameter id="R" type="float_3" value1="1.51489e-05" value2="0.00177043" value3="-0.00536683"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641695">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="52.9403"/>
        <parameter id="Joint Elevation" value="79.1576"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="52.7863"/>
      <parameter id="Joint Elevation" value="78.7579"/>
      <parameter id="Twist" value="-0.049159"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.894086" value2="0.335793" value3="-1.91503"/>
      <parameter id="A" type="float_3" value1="-0.607387" value2="-0.764336" value3="0.216459"/>
      <parameter id="H" type="float_3" value1="645.5" value2="-1149.16" value3="104.011"/>
      <parameter id="V" type="float_3" value1="-145.331" value2="-192.99" value3="1303.1"/>
      <parameter id="O" type="float_3" value1="-0.607326" value2="-0.763315" value3="0.220203"/>
      <parameter id="R" type="float_3" value1="1.5164e-05" value2="0.00176936" value3="-0.00536003"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641726">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="82.4887"/>
        <parameter id="Joint Elevation" value="76.5598"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="82.3547"/>
      <parameter id="Joint Elevation" value="76.1649"/>
      <parameter id="Twist" value="0.00310059"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.992723" value2="0.408837" value3="-1.90952"/>
      <parameter id="A" type="float_3" value1="-0.149513" value2="-0.953721" value3="0.260855"/>
      <parameter id="H" type="float_3" value1="1129.32" value2="-675.517" value3="127.993"/>
      <parameter id="V" type="float_3" value1="-23.2839" value2="-180.264" value3="1312.78"/>
      <parameter id="O" type="float_3" value1="-0.149942" value2="-0.952633" value3="0.264557"/>
      <parameter id="R" type="float_3" value1="1.5164e-05" value2="0.00176936" value3="-0.00536003"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641775">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.991"/>
        <parameter id="Joint Elevation" value="44.0982"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.991"/>
      <parameter id="Joint Elevation" value="44.0982"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790358" value2="0.792363" value3="-1.84558"/>
      <parameter id="A" type="float_3" value1="0.589217" value2="0.337123" value3="0.734272"/>
      <parameter id="H" type="float_3" value1="-301.572" value2="1233.38" value3="368.659"/>
      <parameter id="V" type="float_3" value1="-475.999" value2="-263.93" value3="1208.39"/>
      <parameter id="O" type="float_3" value1="0.587058" value2="0.335214" value3="0.73687"/>
      <parameter id="R" type="float_3" value1="1.51489e-05" value2="0.00177043" value3="-0.00536683"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_648641807">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.046"/>
        <parameter id="Joint Elevation" value="44.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.97"/>
      <parameter id="Joint Elevation" value="44.0415"/>
      <parameter id="Twist" value="0.018155"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675812" value2="0.754109" value3="-1.84559"/>
      <parameter id="A" type="float_3" value1="0.341456" value2="0.586184" value3="0.734696"/>
      <parameter id="H" type="float_3" value1="-877.918" value2="917.279" value3="368.684"/>
      <parameter id="V" type="float_3" value1="-280.855" value2="-467.091" value3="1208.05"/>
      <parameter id="O" type="float_3" value1="0.340539" value2="0.58345" value3="0.737294"/>
      <parameter id="R" type="float_3" value1="1.5164e-05" value2="0.00176936" value3="-0.00536003"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" 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_648641839">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.1"/>
        <parameter id="Joint Elevation" value="44.0517"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.94"/>
      <parameter id="Joint Elevation" value="44.0005"/>
      <parameter id="Twist" value="0.0879432"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595756" value2="0.66378" value3="-1.8456"/>
      <parameter id="A" type="float_3" value1="0.00287349" value2="0.678218" value3="0.734844"/>
      <parameter id="H" type="float_3" value1="-1218.82" value2="354.897" value3="369.601"/>
      <parameter id="V" type="float_3" value1="-8.64942" value2="-545.21" value3="1207.94"/>
      <parameter id="O" type="float_3" value1="0.00344924" value2="0.67539" value3="0.737441"/>
      <parameter id="R" type="float_3" value1="1.5164e-05" value2="0.00176936" value3="-0.00536003"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" 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_648641870">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.926"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.73"/>
      <parameter id="Joint Elevation" value="43.9643"/>
      <parameter id="Twist" value="0.10828"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571506" value2="0.54628" value3="-1.84556"/>
      <parameter id="A" type="float_3" value1="-0.334324" value2="0.589985" value3="0.734935"/>
      <parameter id="H" type="float_3" value1="-1233.85" value2="-297.823" value3="370.099"/>
      <parameter id="V" type="float_3" value1="263.955" value2="-477.313" value3="1207.87"/>
      <parameter id="O" type="float_3" value1="-0.332418" value2="0.587818" value3="0.737531"/>
      <parameter id="R" type="float_3" value1="1.5164e-05" value2="0.00176936" value3="-0.00536003"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" 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_648641902">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.913"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.55"/>
      <parameter id="Joint Elevation" value="43.9311"/>
      <parameter id="Twist" value="0.18721"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.608914" value2="0.432168" value3="-1.84546"/>
      <parameter id="A" type="float_3" value1="-0.583175" value2="0.34576" value3="0.735078"/>
      <parameter id="H" type="float_3" value1="-921.177" value2="-872.523" value3="371.745"/>
      <parameter id="V" type="float_3" value1="467.66" value2="-281.162" value3="1207.76"/>
      <parameter id="O" type="float_3" value1="-0.580439" value2="0.344832" value3="0.737675"/>
      <parameter id="R" type="float_3" value1="1.51791e-05" value2="0.00176828" value3="-0.00535323"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="8" index4="10" 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_648645082">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.116"/>
        <parameter id="Joint Elevation" value="38.3863"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.157"/>
      <parameter id="Joint Elevation" value="38.2838"/>
      <parameter id="Twist" value="-0.16939"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.97542" value2="0.71398" value3="-1.83523"/>
      <parameter id="A" type="float_3" value1="0.552675" value2="-0.235924" value3="0.799296"/>
      <parameter id="H" type="float_3" value1="767.115" value2="999.358" value3="401.141"/>
      <parameter id="V" type="float_3" value1="-606.953" value2="269.181" value3="1146.98"/>
      <parameter id="O" type="float_3" value1="0.549627" value2="-0.235252" value3="0.801592"/>
      <parameter id="R" type="float_3" value1="1.51188e-05" value2="0.00177257" value3="-0.00538044"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="8" index4="10" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="82" index2="2176" index3="8" index4="10" 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_648645114">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.887"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.953"/>
      <parameter id="Joint Elevation" value="38.3449"/>
      <parameter id="Twist" value="-0.137739"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876088" value2="0.778528" value3="-1.83543"/>
      <parameter id="A" type="float_3" value1="0.597585" value2="0.0703949" value3="0.798699"/>
      <parameter id="H" type="float_3" value1="168.929" value2="1248.62" value3="400.599"/>
      <parameter id="V" type="float_3" value1="-659.325" value2="-67.9658" value3="1147.65"/>
      <parameter id="O" type="float_3" value1="0.594605" value2="0.0694623" value3="0.801001"/>
      <parameter id="R" type="float_3" value1="1.51489e-05" value2="0.00177043" value3="-0.00536683"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="82" index2="2176" index3="8" index4="10" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="1.12108"/>
      <parameter id="Y" value="-0.560075"/>
      <parameter id="Z" value="0.02978"/>
      <parameter id="Normal_X" value="0.0998687"/>
      <parameter id="Normal_Y" value="0.00102692"/>
      <parameter id="Normal_Z" value="-1.04737"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="82" index2="2176" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
