<?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="99" index2="1450" 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_726680055">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="4.93837"/>
        <parameter id="Joint Elevation" value="93.6826"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="4.8686"/>
      <parameter id="Joint Elevation" value="93.5021"/>
      <parameter id="Twist" value="0.258097"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.704814" value2="0.343514" value3="-1.94534"/>
      <parameter id="A" type="float_3" value1="-0.997217" value2="-0.0630815" value3="-0.0395282"/>
      <parameter id="H" type="float_3" value1="-430.674" value2="-1250" value3="-20.6812"/>
      <parameter id="V" type="float_3" value1="-564.168" value2="-36.2734" value3="1198.53"/>
      <parameter id="O" type="float_3" value1="-0.997396" value2="-0.0624787" value3="-0.0357851"/>
      <parameter id="R" type="float_3" value1="1.42121e-05" value2="0.00180858" value3="-0.00561207"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680092">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="34.0672"/>
        <parameter id="Joint Elevation" value="89.209"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="33.9285"/>
      <parameter id="Joint Elevation" value="88.9126"/>
      <parameter id="Twist" value="0.225807"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.819901" value2="0.320758" value3="-1.93603"/>
      <parameter id="A" type="float_3" value1="-0.841014" value2="-0.539464" value3="0.0407085"/>
      <parameter id="H" type="float_3" value1="230.659" value2="-1301.84" value3="20.046"/>
      <parameter id="V" type="float_3" value1="-393.072" value2="-252.976" value3="1240"/>
      <parameter id="O" type="float_3" value1="-0.84121" value2="-0.538863" value3="0.0444558"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680130">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="62.9354"/>
        <parameter id="Joint Elevation" value="82.6474"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="62.7617"/>
      <parameter id="Joint Elevation" value="82.2898"/>
      <parameter id="Twist" value="-0.0656453"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.931802" value2="0.355401" value3="-1.92234"/>
      <parameter id="A" type="float_3" value1="-0.471243" value2="-0.868082" value3="0.156033"/>
      <parameter id="H" type="float_3" value1="832.065" value2="-1025.05" value3="73.0306"/>
      <parameter id="V" type="float_3" value1="-147.35" value2="-285.091" value3="1285.74"/>
      <parameter id="O" type="float_3" value1="-0.471482" value2="-0.867278" value3="0.159742"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680155">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="93.4781"/>
        <parameter id="Joint Elevation" value="80.6404"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="93.4184"/>
      <parameter id="Joint Elevation" value="80.3943"/>
      <parameter id="Twist" value="-0.534908"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01805" value2="0.448341" value3="-1.91832"/>
      <parameter id="A" type="float_3" value1="0.0369774" value2="-0.981248" value3="0.189125"/>
      <parameter id="H" type="float_3" value1="1238.29" value2="-456.725" value3="80.2496"/>
      <parameter id="V" type="float_3" value1="26.7961" value2="-276.677" value3="1295.7"/>
      <parameter id="O" type="float_3" value1="0.0363867" value2="-0.980552" value3="0.192814"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680179">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="124.414"/>
        <parameter id="Joint Elevation" value="79.8422"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="124.379"/>
      <parameter id="Joint Elevation" value="79.8625"/>
      <parameter id="Twist" value="-0.461392"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04484" value2="0.573931" value3="-1.91718"/>
      <parameter id="A" type="float_3" value1="0.53549" value2="-0.820817" value3="0.198728"/>
      <parameter id="H" type="float_3" value1="1296.24" value2="246.327" value3="86.5073"/>
      <parameter id="V" type="float_3" value1="157.237" value2="-213.576" value3="1298.37"/>
      <parameter id="O" type="float_3" value1="0.534602" value2="-0.820496" value3="0.202409"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680209">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="155.038"/>
        <parameter id="Joint Elevation" value="72.3256"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="154.842"/>
      <parameter id="Joint Elevation" value="72.3922"/>
      <parameter id="Twist" value="0.16656"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.0047" value2="0.693562" value3="-1.90162"/>
      <parameter id="A" type="float_3" value1="0.847027" value2="-0.420762" value3="0.32479"/>
      <parameter id="H" type="float_3" value1="974.763" value2="878.377" value3="163.378"/>
      <parameter id="V" type="float_3" value1="84.4563" value2="-39.5808" value3="1321.89"/>
      <parameter id="O" type="float_3" value1="0.845659" value2="-0.420761" value3="0.328335"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680234">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="186.373"/>
        <parameter id="Joint Elevation" value="73.5042"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="186.177"/>
      <parameter id="Joint Elevation" value="73.4405"/>
      <parameter id="Twist" value="0.310758"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.905802" value2="0.77812" value3="-1.90391"/>
      <parameter id="A" type="float_3" value1="0.94801" value2="0.0817731" value3="0.307527"/>
      <parameter id="H" type="float_3" value1="377.702" value2="1257.43" value3="156.853"/>
      <parameter id="V" type="float_3" value1="116.872" value2="9.81421" value3="1319.98"/>
      <parameter id="O" type="float_3" value1="0.946907" value2="0.0810605" value3="0.311094"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680265">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="217.074"/>
        <parameter id="Joint Elevation" value="78.1423"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="216.921"/>
      <parameter id="Joint Elevation" value="77.9583"/>
      <parameter id="Twist" value="0.174397"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.779605" value2="0.79905" value3="-1.91348"/>
      <parameter id="A" type="float_3" value1="0.790223" value2="0.56742" value3="0.231442"/>
      <parameter id="H" type="float_3" value1="-308.83" value2="1280.57" value3="114.71"/>
      <parameter id="V" type="float_3" value1="177.734" value2="131.609" value3="1306.6"/>
      <parameter id="O" type="float_3" value1="0.789865" value2="0.566418" value3="0.235091"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680296">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="246.654"/>
        <parameter id="Joint Elevation" value="84.7376"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="246.538"/>
      <parameter id="Joint Elevation" value="84.5359"/>
      <parameter id="Twist" value="-0.0785124"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.663768" value2="0.753954" value3="-1.92725"/>
      <parameter id="A" type="float_3" value1="0.415021" value2="0.902106" value3="0.11809"/>
      <parameter id="H" type="float_3" value1="-896.854" value2="970.273" value3="51.2306"/>
      <parameter id="V" type="float_3" value1="146.419" value2="339.752" value3="1272.49"/>
      <parameter id="O" type="float_3" value1="0.415365" value2="0.901452" value3="0.121818"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680327">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="274.571"/>
        <parameter id="Joint Elevation" value="96.89"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="274.519"/>
      <parameter id="Joint Elevation" value="96.7789"/>
      <parameter id="Twist" value="-0.127507"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.589381" value2="0.658042" value3="-1.95186"/>
      <parameter id="A" type="float_3" value1="-0.0566909" value2="0.993792" value3="-0.0956411"/>
      <parameter id="H" type="float_3" value1="-1247.11" value2="435.516" value3="-58.7045"/>
      <parameter id="V" type="float_3" value1="-46.0496" value2="630.234" value3="1164.81"/>
      <parameter id="O" type="float_3" value1="-0.0561285" value2="0.994176" value3="-0.0919023"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680357">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="305.149"/>
        <parameter id="Joint Elevation" value="97.2006"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="305.165"/>
      <parameter id="Joint Elevation" value="97.1586"/>
      <parameter id="Twist" value="-0.0784083"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.569334" value2="0.534343" value3="-1.95261"/>
      <parameter id="A" type="float_3" value1="-0.554943" value2="0.82551" value3="-0.102735"/>
      <parameter id="H" type="float_3" value1="-1294.77" value2="-261.254" value3="-61.0624"/>
      <parameter id="V" type="float_3" value1="-364.451" value2="526.318" value3="1160.29"/>
      <parameter id="O" type="float_3" value1="-0.554667" value2="0.826152" value3="-0.098999"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680388">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="335.393"/>
        <parameter id="Joint Elevation" value="94.7758"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="335.344"/>
      <parameter id="Joint Elevation" value="94.7206"/>
      <parameter id="Twist" value="0.0319904"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.612137" value2="0.420315" value3="-1.94783"/>
      <parameter id="A" type="float_3" value1="-0.897843" value2="0.436097" value3="-0.0606678"/>
      <parameter id="H" type="float_3" value1="-989.947" value2="-875.807" value3="-36.8551"/>
      <parameter id="V" type="float_3" value1="-533.872" value2="252.635" value3="1186.28"/>
      <parameter id="O" type="float_3" value1="-0.897781" value2="0.436729" value3="-0.0569185"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680426">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="264.223"/>
        <parameter id="Joint Elevation" value="76.7809"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="264.229"/>
      <parameter id="Joint Elevation" value="76.5566"/>
      <parameter id="Twist" value="-0.322226"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.61151" value2="0.703746" value3="-1.91072"/>
      <parameter id="A" type="float_3" value1="0.11794" value2="0.959845" value3="0.254503"/>
      <parameter id="H" type="float_3" value1="-1150.64" value2="641.123" value3="115.732"/>
      <parameter id="V" type="float_3" value1="8.94281" value2="190.361" value3="1311.41"/>
      <parameter id="O" type="float_3" value1="0.118388" value2="0.958819" value3="0.258135"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680450">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="292.451"/>
        <parameter id="Joint Elevation" value="83.06"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="292.431"/>
      <parameter id="Joint Elevation" value="82.9935"/>
      <parameter id="Twist" value="-0.171678"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.566684" value2="0.59424" value3="-1.92416"/>
      <parameter id="A" type="float_3" value1="-0.357681" value2="0.922665" value3="0.144004"/>
      <parameter id="H" type="float_3" value1="-1320.45" value2="30.1656" value3="62.4519"/>
      <parameter id="V" type="float_3" value1="-131.877" value2="309.741" value3="1281.71"/>
      <parameter id="O" type="float_3" value1="-0.356942" value2="0.922364" value3="0.14772"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680482">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="321.084"/>
        <parameter id="Joint Elevation" value="87.0472"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="321.084"/>
      <parameter id="Joint Elevation" value="87.0472"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.580313" value2="0.474925" value3="-1.93248"/>
      <parameter id="A" type="float_3" value1="-0.762161" value2="0.643213" value3="0.0732889"/>
      <parameter id="H" type="float_3" value1="-1175.46" value2="-604.778" value3="30.3853"/>
      <parameter id="V" type="float_3" value1="-330.623" value2="269.9" value3="1254.57"/>
      <parameter id="O" type="float_3" value1="-0.761563" value2="0.643484" value3="0.0770345"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680513">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="349.835"/>
        <parameter id="Joint Elevation" value="87.7072"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="349.784"/>
      <parameter id="Joint Elevation" value="87.6756"/>
      <parameter id="Twist" value="0.204661"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.648725" value2="0.377577" value3="-1.93369"/>
      <parameter id="A" type="float_3" value1="-0.978146" value2="0.198377" value3="0.0621307"/>
      <parameter id="H" type="float_3" value1="-740.677" value2="-1094.95" value3="29.5973"/>
      <parameter id="V" type="float_3" value1="-432.362" value2="85.5788" value3="1249.74"/>
      <parameter id="O" type="float_3" value1="-0.97779" value2="0.198925" value3="0.0658768"/>
      <parameter id="R" type="float_3" value1="1.43026e-05" value2="0.00180541" value3="-0.00559162"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680597">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="18.7334"/>
        <parameter id="Joint Elevation" value="84.8768"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="18.5031"/>
      <parameter id="Joint Elevation" value="84.698"/>
      <parameter id="Twist" value="0.371594"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.754052" value2="0.324708" value3="-1.92749"/>
      <parameter id="A" type="float_3" value1="-0.948786" value2="-0.294639" value3="0.113916"/>
      <parameter id="H" type="float_3" value1="-120.926" value2="-1315.36" value3="60.0983"/>
      <parameter id="V" type="float_3" value1="-358.921" value2="-109.279" value3="1270.96"/>
      <parameter id="O" type="float_3" value1="-0.948555" value2="-0.293917" value3="0.117638"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680627">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="46.772"/>
        <parameter id="Joint Elevation" value="79.2985"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="46.5778"/>
      <parameter id="Joint Elevation" value="78.9613"/>
      <parameter id="Twist" value="0.104865"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.869354" value2="0.327476" value3="-1.91548"/>
      <parameter id="A" type="float_3" value1="-0.687024" value2="-0.694734" value3="0.212898"/>
      <parameter id="H" type="float_3" value1="517.443" value2="-1212.25" value3="105.397"/>
      <parameter id="V" type="float_3" value1="-170.727" value2="-177.046" value3="1302.15"/>
      <parameter id="O" type="float_3" value1="-0.686888" value2="-0.693736" value3="0.21656"/>
      <parameter id="R" type="float_3" value1="1.42423e-05" value2="0.00180752" value3="-0.00560525"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="99" index2="1450" 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_726680659">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="75.7467"/>
        <parameter id="Joint Elevation" value="72.3354"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="75.7386"/>
      <parameter id="Joint Elevation" value="71.9202"/>
      <parameter id="Twist" value="-0.335558"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.974072" value2="0.38822" value3="-1.90066"/>
      <parameter id="A" type="float_3" value1="-0.2526" value2="-0.909011" value3="0.331473"/>
      <parameter id="H" type="float_3" value1="1046.03" value2="-793.393" value3="157.328"/>
      <parameter id="V" type="float_3" value1="-10.764" value2="-84.1" value3="1322.47"/>
      <parameter id="O" type="float_3" value1="-0.252821" value2="-0.907651" value3="0.335015"/>
      <parameter id="R" type="float_3" value1="1.42724e-05" value2="0.00180647" value3="-0.00559843"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="2.77398"/>
      <parameter id="Y" value="-4.25925"/>
      <parameter id="Z" value="0.31342"/>
      <parameter id="Normal_X" value="0.0944175"/>
      <parameter id="Normal_Y" value="0.00553157"/>
      <parameter id="Normal_Z" value="-1.40684"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="99" index2="1450" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
