<?xml version="1.0" encoding="UTF-8"?>
<pointing_correction mission="MSL:MSL">
  <origination id="mslopgs" institution="mipl" program="marsnav">
    <purpose>A pointing correction file for one mosaic might look for MSL:MSL</purpose>
  </origination>
  <static_parameters file="MSL:MSL_mast.point" instrument="NAV_RIGHT_B" solution_id="mslopgs"/>
  <calibration calibration_id="7" frame_id="RIGHT" instrument="NAV_RIGHT_B" solution_id="mslopgs"/>
  <priority>
    <entry solution_id="mslopgs"/>
  </priority>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721789988">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.26"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.282"/>
      <parameter id="Joint Elevation" value="38.4114"/>
      <parameter id="Twist" value="-0.123745"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975207" value2="0.71424" value3="-1.83544"/>
      <parameter id="A" type="float_3" value1="0.554837" value2="-0.235412" value3="0.797947"/>
      <parameter id="H" type="float_3" value1="765.219" value2="1000.92" value3="401.304"/>
      <parameter id="V" type="float_3" value1="-605.74" value2="266.031" value3="1148.2"/>
      <parameter id="O" type="float_3" value1="0.551852" value2="-0.234786" value3="0.800199"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790019">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.895"/>
        <parameter id="Joint Elevation" value="38.3959"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.037"/>
      <parameter id="Joint Elevation" value="38.3188"/>
      <parameter id="Twist" value="-0.178726"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875746" value2="0.778572" value3="-1.83538"/>
      <parameter id="A" type="float_3" value1="0.597132" value2="0.0712263" value3="0.798964"/>
      <parameter id="H" type="float_3" value1="167.821" value2="1248.95" value3="400.501"/>
      <parameter id="V" type="float_3" value1="-660.025" value2="-68.1476" value3="1147.08"/>
      <parameter id="O" type="float_3" value1="0.594223" value2="0.0702924" value3="0.801212"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790094">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="137.644"/>
        <parameter id="Joint Elevation" value="62.8059"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="137.641"/>
      <parameter id="Joint Elevation" value="62.9181"/>
      <parameter id="Twist" value="-0.0474531"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0337" value2="0.629962" value3="-1.88193"/>
      <parameter id="A" type="float_3" value1="0.636607" value2="-0.606836" value3="0.475884"/>
      <parameter id="H" type="float_3" value1="1168.3" value2="572.235" value3="236.752"/>
      <parameter id="V" type="float_3" value1="-86.3969" value2="91.1199" value3="1319.2"/>
      <parameter id="O" type="float_3" value1="0.634902" value2="-0.606033" value3="0.479173"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790118">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="170.245"/>
        <parameter id="Joint Elevation" value="59.0038"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="170.293"/>
      <parameter id="Joint Elevation" value="59.0658"/>
      <parameter id="Twist" value="-0.112268"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.957575" value2="0.742848" value3="-1.87418"/>
      <parameter id="A" type="float_3" value1="0.829976" value2="-0.160758" value3="0.534115"/>
      <parameter id="H" type="float_3" value1="659.043" value2="1115.32" value3="264.851"/>
      <parameter id="V" type="float_3" value1="-208.569" value2="48.9799" value3="1307.74"/>
      <parameter id="O" type="float_3" value1="0.827894" value2="-0.160954" value3="0.53728"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790143">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="204.317"/>
        <parameter id="Joint Elevation" value="59.614"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="204.439"/>
      <parameter id="Joint Elevation" value="59.5851"/>
      <parameter id="Twist" value="-0.0561321"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.828486" value2="0.79728" value3="-1.87535"/>
      <parameter id="A" type="float_3" value1="0.781459" value2="0.335007" value3="0.526379"/>
      <parameter id="H" type="float_3" value1="-79.0406" value2="1293.82" value3="261.171"/>
      <parameter id="V" type="float_3" value1="-188.956" value2="-72.2273" value3="1309.64"/>
      <parameter id="O" type="float_3" value1="0.779872" value2="0.333684" value3="0.529563"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790168">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="236.68"/>
        <parameter id="Joint Elevation" value="64.4239"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="236.923"/>
      <parameter id="Joint Elevation" value="64.3299"/>
      <parameter id="Twist" value="-0.175842"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.698201" value2="0.774733" value3="-1.88517"/>
      <parameter id="A" type="float_3" value1="0.502135" value2="0.736065" value3="0.453929"/>
      <parameter id="H" type="float_3" value1="-749.536" value2="1066.62" value3="221.201"/>
      <parameter id="V" type="float_3" value1="-61.4154" value2="-70.2289" value3="1321.88"/>
      <parameter id="O" type="float_3" value1="0.501651" value2="0.734326" value3="0.457268"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790193">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="266.959"/>
        <parameter id="Joint Elevation" value="71.8065"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="267.103"/>
      <parameter id="Joint Elevation" value="71.7085"/>
      <parameter id="Twist" value="-0.227505"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.604508" value2="0.693838" value3="-1.90059"/>
      <parameter id="A" type="float_3" value1="0.0677865" value2="0.939669" value3="0.335276"/>
      <parameter id="H" type="float_3" value1="-1182.28" value2="570.369" value3="159.064"/>
      <parameter id="V" type="float_3" value1="-6.69895" value2="79.2469" value3="1322.78"/>
      <parameter id="O" type="float_3" value1="0.0682707" value2="0.938366" value3="0.338808"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790560">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="295.595"/>
        <parameter id="Joint Elevation" value="79.5277"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="295.656"/>
      <parameter id="Joint Elevation" value="79.5455"/>
      <parameter id="Twist" value="-0.217749"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.564745" value2="0.581591" value3="-1.917"/>
      <parameter id="A" type="float_3" value1="-0.404751" value2="0.891553" value3="0.203206"/>
      <parameter id="H" type="float_3" value1="-1318.21" value2="-48.2642" value3="91.7571"/>
      <parameter id="V" type="float_3" value1="-117.899" value2="230.707" value3="1299.59"/>
      <parameter id="O" type="float_3" value1="-0.403907" value2="0.891093" value3="0.206873"/>
      <parameter id="R" type="float_3" value1="1.41518e-05" value2="0.00181069" value3="-0.0056257"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790583">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="323.648"/>
        <parameter id="Joint Elevation" value="85.8468"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="323.659"/>
      <parameter id="Joint Elevation" value="85.9413"/>
      <parameter id="Twist" value="-0.0214158"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.583953" value2="0.465237" value3="-1.93021"/>
      <parameter id="A" type="float_3" value1="-0.789028" value2="0.607342" value3="0.0924936"/>
      <parameter id="H" type="float_3" value1="-1146.61" value2="-657.358" value3="39.7604"/>
      <parameter id="V" type="float_3" value1="-323.43" value2="239.628" value3="1262.56"/>
      <parameter id="O" type="float_3" value1="-0.788386" value2="0.607595" value3="0.096226"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790614">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="352.394"/>
        <parameter id="Joint Elevation" value="89.1746"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="352.353"/>
      <parameter id="Joint Elevation" value="89.2195"/>
      <parameter id="Twist" value="0.104141"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.65781" value2="0.370657" value3="-1.93682"/>
      <parameter id="A" type="float_3" value1="-0.987351" value2="0.154537" value3="0.0352083"/>
      <parameter id="H" type="float_3" value1="-691.549" value2="-1126.93" value3="13.81"/>
      <parameter id="V" type="float_3" value1="-469.187" value2="69.2392" value3="1237.4"/>
      <parameter id="O" type="float_3" value1="-0.98712" value2="0.15511" value3="0.0389557"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790698">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="20.7372"/>
        <parameter id="Joint Elevation" value="82.6337"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="20.7372"/>
      <parameter id="Joint Elevation" value="82.6337"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.762581" value2="0.322691" value3="-1.92322"/>
      <parameter id="A" type="float_3" value1="-0.932106" value2="-0.329801" value3="0.14964"/>
      <parameter id="H" type="float_3" value1="-68.3614" value2="-1318.63" value3="70.4934"/>
      <parameter id="V" type="float_3" value1="-308.346" value2="-115.242" value3="1283.63"/>
      <parameter id="O" type="float_3" value1="-0.93177" value2="-0.329049" value3="0.153342"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790698">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="20.7372"/>
        <parameter id="Joint Elevation" value="82.6337"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="18.9998"/>
      <parameter id="Joint Elevation" value="84.3363"/>
      <parameter id="Twist" value="-0.806484"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.755961" value2="0.324242" value3="-1.92674"/>
      <parameter id="A" type="float_3" value1="-0.945492" value2="-0.302626" value3="0.120187"/>
      <parameter id="H" type="float_3" value1="-112.104" value2="-1316.96" value3="38.3934"/>
      <parameter id="V" type="float_3" value1="-342.674" value2="-133.819" value3="1273.08"/>
      <parameter id="O" type="float_3" value1="-0.945222" value2="-0.301968" value3="0.123913"/>
      <parameter id="R" type="float_3" value1="1.41819e-05" value2="0.00180963" value3="-0.00561888"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790729">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="49.2894"/>
        <parameter id="Joint Elevation" value="84.407"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="49.4016"/>
      <parameter id="Joint Elevation" value="84.4379"/>
      <parameter id="Twist" value="-0.213899"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.881681" value2="0.332032" value3="-1.92683"/>
      <parameter id="A" type="float_3" value1="-0.662496" value2="-0.739588" value3="0.118711"/>
      <parameter id="H" type="float_3" value1="570.858" value2="-1191.62" value3="50.7028"/>
      <parameter id="V" type="float_3" value1="-238.911" value2="-281.449" value3="1272.71"/>
      <parameter id="O" type="float_3" value1="-0.662629" value2="-0.738861" value3="0.122436"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790760">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="77.7401"/>
        <parameter id="Joint Elevation" value="77.5613"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="77.8828"/>
      <parameter id="Joint Elevation" value="77.637"/>
      <parameter id="Twist" value="-0.146582"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.980386" value2="0.394756" value3="-1.91261"/>
      <parameter id="A" type="float_3" value1="-0.224876" value2="-0.945397" value3="0.235881"/>
      <parameter id="H" type="float_3" value1="1072.24" value2="-765.587" value3="112.23"/>
      <parameter id="V" type="float_3" value1="-41.8886" value2="-211.202" value3="1307.57"/>
      <parameter id="O" type="float_3" value1="-0.225243" value2="-0.944392" value3="0.239525"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790792">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="106.758"/>
        <parameter id="Joint Elevation" value="69.7032"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="106.777"/>
      <parameter id="Joint Elevation" value="69.7942"/>
      <parameter id="Twist" value="0.0192168"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03799" value2="0.500433" value3="-1.89616"/>
      <parameter id="A" type="float_3" value1="0.248707" value2="-0.896453" value3="0.366742"/>
      <parameter id="H" type="float_3" value1="1302.97" value2="-131.791" value3="182.481"/>
      <parameter id="V" type="float_3" value1="13.5248" value2="-31.6013" value3="1324.73"/>
      <parameter id="O" type="float_3" value1="0.247759" value2="-0.895281" value3="0.37023"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790829">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.983"/>
        <parameter id="Joint Elevation" value="44.0791"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.217"/>
      <parameter id="Joint Elevation" value="43.9631"/>
      <parameter id="Twist" value="-0.178456"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.789343" value2="0.792189" value3="-1.84533"/>
      <parameter id="A" type="float_3" value1="0.586386" value2="0.338594" value3="0.735859"/>
      <parameter id="H" type="float_3" value1="-304.577" value2="1233.22" value3="367.153"/>
      <parameter id="V" type="float_3" value1="-479.47" value2="-264.03" value3="1206.85"/>
      <parameter id="O" type="float_3" value1="0.58428" value2="0.336708" value3="0.738395"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790853">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.19"/>
        <parameter id="Joint Elevation" value="44.0804"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.477"/>
      <parameter id="Joint Elevation" value="43.9573"/>
      <parameter id="Twist" value="-0.319317"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.674102" value2="0.752864" value3="-1.84544"/>
      <parameter id="A" type="float_3" value1="0.335734" value2="0.588255" value3="0.735678"/>
      <parameter id="H" type="float_3" value1="-883.466" value2="913.77" value3="364.57"/>
      <parameter id="V" type="float_3" value1="-283.912" value2="-467.654" value3="1206.98"/>
      <parameter id="O" type="float_3" value1="0.334856" value2="0.585568" value3="0.738218"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790877">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.985"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.287"/>
      <parameter id="Joint Elevation" value="44.0043"/>
      <parameter id="Twist" value="-0.390529"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595185" value2="0.662525" value3="-1.8456"/>
      <parameter id="A" type="float_3" value1="-0.00122246" value2="0.678287" value3="0.734784"/>
      <parameter id="H" type="float_3" value1="-1220.85" value2="355.264" value3="362.913"/>
      <parameter id="V" type="float_3" value1="-15.5394" value2="-545.311" value3="1207.68"/>
      <parameter id="O" type="float_3" value1="-0.000653995" value2="0.675522" value3="0.737328"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790901">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.939"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="301.216"/>
      <parameter id="Joint Elevation" value="44.128"/>
      <parameter id="Twist" value="-0.446368"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571584" value2="0.544486" value3="-1.84585"/>
      <parameter id="A" type="float_3" value1="-0.340363" value2="0.588963" value3="0.73298"/>
      <parameter id="H" type="float_3" value1="-1236.15" value2="-299.611" value3="361.313"/>
      <parameter id="V" type="float_3" value1="256.1" value2="-478.06" value3="1209.13"/>
      <parameter id="O" type="float_3" value1="-0.338496" value2="0.586852" value3="0.735533"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721790932">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.934"/>
        <parameter id="Joint Elevation" value="44.0011"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.943"/>
      <parameter id="Joint Elevation" value="44.2559"/>
      <parameter id="Twist" value="-0.254759"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.60952" value2="0.431053" value3="-1.84604"/>
      <parameter id="A" type="float_3" value1="-0.589126" value2="0.343865" value3="0.731212"/>
      <parameter id="H" type="float_3" value1="-923.095" value2="-874.115" value3="363.609"/>
      <parameter id="V" type="float_3" value1="459.05" value2="-282.685" value3="1210.57"/>
      <parameter id="O" type="float_3" value1="-0.586458" value2="0.342973" value3="0.73377"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791009">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="36.4555"/>
        <parameter id="Joint Elevation" value="93.8809"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="36.5366"/>
      <parameter id="Joint Elevation" value="93.8577"/>
      <parameter id="Twist" value="-0.150228"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.833217" value2="0.323446" value3="-1.94591"/>
      <parameter id="A" type="float_3" value1="-0.815395" value2="-0.577096" value3="-0.0455466"/>
      <parameter id="H" type="float_3" value1="290.138" value2="-1289.65" value3="-31.8034"/>
      <parameter id="V" type="float_3" value1="-462.354" value2="-337.827" value3="1195.08"/>
      <parameter id="O" type="float_3" value1="-0.815868" value2="-0.576711" value3="-0.0417956"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791039">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="65.1992"/>
        <parameter id="Joint Elevation" value="87.9834"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="65.2633"/>
      <parameter id="Joint Elevation" value="88.0638"/>
      <parameter id="Twist" value="-0.179545"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.941585" value2="0.363175" value3="-1.93419"/>
      <parameter id="A" type="float_3" value1="-0.437507" value2="-0.897466" value3="0.0559093"/>
      <parameter id="H" type="float_3" value1="873.931" value2="-992.095" value3="19.6001"/>
      <parameter id="V" type="float_3" value1="-188.539" value2="-407.074" value3="1246.94"/>
      <parameter id="O" type="float_3" value1="-0.437939" value2="-0.897014" value3="0.0596602"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791064">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="95.366"/>
        <parameter id="Joint Elevation" value="85.2853"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="95.4534"/>
      <parameter id="Joint Elevation" value="85.4291"/>
      <parameter id="Twist" value="-0.0361365"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02176" value2="0.457543" value3="-1.92873"/>
      <parameter id="A" type="float_3" value1="0.0728237" value2="-0.992081" value3="0.102255"/>
      <parameter id="H" type="float_3" value1="1254.15" value2="-416.339" value3="46.38"/>
      <parameter id="V" type="float_3" value1="34.2783" value2="-388.618" value3="1266.46"/>
      <parameter id="O" type="float_3" value1="0.0722001" value2="-0.991734" value3="0.10599"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791094">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="125.908"/>
        <parameter id="Joint Elevation" value="82.5735"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="125.982"/>
      <parameter id="Joint Elevation" value="82.6908"/>
      <parameter id="Twist" value="0.00835008"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04394" value2="0.58123" value3="-1.92306"/>
      <parameter id="A" type="float_3" value1="0.563179" value2="-0.812568" value3="0.150151"/>
      <parameter id="H" type="float_3" value1="1290.12" value2="280.835" value3="71.5173"/>
      <parameter id="V" type="float_3" value1="191.249" value2="-267.144" value3="1283.81"/>
      <parameter id="O" type="float_3" value1="0.562362" value2="-0.812439" value3="0.153865"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791125">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="156.121"/>
        <parameter id="Joint Elevation" value="77.2834"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="156.123"/>
      <parameter id="Joint Elevation" value="77.3942"/>
      <parameter id="Twist" value="-0.049151"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00159" value2="0.698043" value3="-1.91208"/>
      <parameter id="A" type="float_3" value1="0.878612" value2="-0.412182" value3="0.241101"/>
      <parameter id="H" type="float_3" value1="967.061" value2="894.239" value3="116.235"/>
      <parameter id="V" type="float_3" value1="191.31" value2="-82.3082" value3="1308.72"/>
      <parameter id="O" type="float_3" value1="0.877534" value2="-0.412331" value3="0.244747"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791157">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="186.97"/>
        <parameter id="Joint Elevation" value="75.7301"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.029"/>
      <parameter id="Joint Elevation" value="75.7995"/>
      <parameter id="Twist" value="0.316331"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.902527" value2="0.779605" value3="-1.90885"/>
      <parameter id="A" type="float_3" value1="0.958481" value2="0.0970526" value3="0.268101"/>
      <parameter id="H" type="float_3" value1="364.924" value2="1263.51" value3="136.882"/>
      <parameter id="V" type="float_3" value1="170.707" value2="16.906" value3="1314.04"/>
      <parameter id="O" type="float_3" value1="0.957534" value2="0.0963387" value3="0.271719"/>
      <parameter id="R" type="float_3" value1="1.43629e-05" value2="0.0018033" value3="-0.00557798"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791188">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="217.9"/>
        <parameter id="Joint Elevation" value="78.3445"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="217.986"/>
      <parameter id="Joint Elevation" value="78.2243"/>
      <parameter id="Twist" value="0.231951"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.775126" value2="0.798528" value3="-1.91404"/>
      <parameter id="A" type="float_3" value1="0.780397" value2="0.582644" value3="0.226914"/>
      <parameter id="H" type="float_3" value1="-332.393" value2="1274.75" value3="113.571"/>
      <parameter id="V" type="float_3" value1="180.871" value2="137.572" value3="1305.56"/>
      <parameter id="O" type="float_3" value1="0.780072" value2="0.581642" value3="0.230573"/>
      <parameter id="R" type="float_3" value1="1.43629e-05" value2="0.0018033" value3="-0.00557798"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791212">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="248.94"/>
        <parameter id="Joint Elevation" value="79.5151"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="249.055"/>
      <parameter id="Joint Elevation" value="79.4015"/>
      <parameter id="Twist" value="-0.188728"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.655879" value2="0.748892" value3="-1.91661"/>
      <parameter id="A" type="float_3" value1="0.369435" value2="0.906025" value3="0.206444"/>
      <parameter id="H" type="float_3" value1="-940.978" value2="924.175" value3="93.9827"/>
      <parameter id="V" type="float_3" value1="85.5734" value2="240.026" value3="1300.46"/>
      <parameter id="O" type="float_3" value1="0.369675" value2="0.905081" value3="0.210125"/>
      <parameter id="R" type="float_3" value1="1.43629e-05" value2="0.0018033" value3="-0.00557798"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791242">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="279.351"/>
        <parameter id="Joint Elevation" value="82.3088"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="279.455"/>
      <parameter id="Joint Elevation" value="82.2767"/>
      <parameter id="Twist" value="-0.204301"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.580537" value2="0.646965" value3="-1.92266"/>
      <parameter id="A" type="float_3" value1="-0.141114" value2="0.977522" value3="0.15659"/>
      <parameter id="H" type="float_3" value1="-1279.85" value2="325.126" value3="68.112"/>
      <parameter id="V" type="float_3" value1="-57.3986" value2="315.194" value3="1285.88"/>
      <parameter id="O" type="float_3" value1="-0.140457" value2="0.977014" value3="0.160308"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791273">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="309.291"/>
        <parameter id="Joint Elevation" value="84.937"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="309.283"/>
      <parameter id="Joint Elevation" value="85.0137"/>
      <parameter id="Twist" value="-0.13818"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.567237" value2="0.523237" value3="-1.92833"/>
      <parameter id="A" type="float_3" value1="-0.612533" value2="0.782914" value3="0.108778"/>
      <parameter id="H" type="float_3" value1="-1273.6" value2="-352.488" value3="45.3618"/>
      <parameter id="V" type="float_3" value1="-243.217" value2="294.478" value3="1268.96"/>
      <parameter id="O" type="float_3" value1="-0.611817" value2="0.782944" value3="0.11252"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791297">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="337.83"/>
        <parameter id="Joint Elevation" value="89.9624"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="337.783"/>
      <parameter id="Joint Elevation" value="90.0309"/>
      <parameter id="Twist" value="0.0996157"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.615449" value2="0.413452" value3="-1.9385"/>
      <parameter id="A" type="float_3" value1="-0.917089" value2="0.398103" value3="0.0211257"/>
      <parameter id="H" type="float_3" value1="-952.897" value2="-916.685" value3="6.24546"/>
      <parameter id="V" type="float_3" value1="-452.826" value2="191.624" value3="1230.6"/>
      <parameter id="O" type="float_3" value1="-0.91677" value2="0.398618" value3="0.0248871"/>
      <parameter id="R" type="float_3" value1="1.43931e-05" value2="0.00180224" value3="-0.00557117"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_721791374">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="6.89308"/>
        <parameter id="Joint Elevation" value="91.3965"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="6.9272"/>
      <parameter id="Joint Elevation" value="91.3865"/>
      <parameter id="Twist" value="0.112279"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.711269" value2="0.33993" value3="-1.94112"/>
      <parameter id="A" type="float_3" value1="-0.995082" value2="-0.0989367" value3="-0.0026109"/>
      <parameter id="H" type="float_3" value1="-385.867" value2="-1264.7" value3="-4.95705"/>
      <parameter id="V" type="float_3" value1="-517.818" value2="-55.1567" value3="1218.58"/>
      <parameter id="O" type="float_3" value1="-0.995144" value2="-0.0983373" value3="0.00114618"/>
      <parameter id="R" type="float_3" value1="1.43327e-05" value2="0.00180435" value3="-0.0055848"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.0430452"/>
      <parameter id="Y" value="0.208132"/>
      <parameter id="Z" value="0.0251889"/>
      <parameter id="Normal_X" value="0.160322"/>
      <parameter id="Normal_Y" value="0.0919284"/>
      <parameter id="Normal_Z" value="-0.734342"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="98" index2="1448" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
