<?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="103" index2="2216" 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="11" instrument="NAV_RIGHT_B" unique_id="MSLNR_746471948">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.152"/>
        <parameter id="Joint Elevation" value="44.1187"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.383"/>
      <parameter id="Joint Elevation" value="43.9913"/>
      <parameter id="Twist" value="-0.257306"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.980827" value2="0.712033" value3="-1.84519"/>
      <parameter id="A" type="float_3" value1="0.624117" value2="-0.263466" value3="0.735559"/>
      <parameter id="H" type="float_3" value1="800.007" value2="986.827" value3="367.074"/>
      <parameter id="V" type="float_3" value1="-499.424" value2="222.97" value3="1206.97"/>
      <parameter id="O" type="float_3" value1="0.621372" value2="-0.262942" value3="0.738067"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472027">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="119.63"/>
        <parameter id="Joint Elevation" value="82.6257"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="119.756"/>
      <parameter id="Joint Elevation" value="82.3806"/>
      <parameter id="Twist" value="-0.243337"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04491" value2="0.555038" value3="-1.92241"/>
      <parameter id="A" type="float_3" value1="0.471341" value2="-0.868142" value3="0.155402"/>
      <parameter id="H" type="float_3" value1="1313.23" value2="138.686" value3="69.0064"/>
      <parameter id="V" type="float_3" value1="162.45" value2="-277.627" value3="1285.48"/>
      <parameter id="O" type="float_3" value1="0.470547" value2="-0.86791" value3="0.159065"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472058">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="148.186"/>
        <parameter id="Joint Elevation" value="78.2133"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="148.338"/>
      <parameter id="Joint Elevation" value="78.0622"/>
      <parameter id="Twist" value="-0.21778"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01847" value2="0.670086" value3="-1.91346"/>
      <parameter id="A" type="float_3" value1="0.816991" value2="-0.528912" value3="0.229698"/>
      <parameter id="H" type="float_3" value1="1081.21" value2="753.71" value3="107.112"/>
      <parameter id="V" type="float_3" value1="192.998" value2="-112.823" value3="1306.12"/>
      <parameter id="O" type="float_3" value1="0.81595" value2="-0.528938" value3="0.233308"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472082">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="177.619"/>
        <parameter id="Joint Elevation" value="72.6585"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="177.733"/>
      <parameter id="Joint Elevation" value="72.5634"/>
      <parameter id="Twist" value="-0.134051"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.936773" value2="0.760847" value3="-1.90204"/>
      <parameter id="A" type="float_3" value1="0.94493" value2="-0.0580788" value3="0.322052"/>
      <parameter id="H" type="float_3" value1="559.009" value2="1188.23" value3="155.514"/>
      <parameter id="V" type="float_3" value1="97.2957" value2="3.0556" value3="1321.53"/>
      <parameter id="O" type="float_3" value1="0.943694" value2="-0.0585947" value3="0.325563"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472113">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="207.765"/>
        <parameter id="Joint Elevation" value="67.3529"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="207.901"/>
      <parameter id="Joint Elevation" value="67.3105"/>
      <parameter id="Twist" value="-0.143942"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.816853" value2="0.799654" value3="-1.89121"/>
      <parameter id="A" type="float_3" value1="0.816168" value2="0.40985" value3="0.407278"/>
      <parameter id="H" type="float_3" value1="-128.33" value2="1301.06" value3="198.387"/>
      <parameter id="V" type="float_3" value1="-26.2" value2="-2.04351" value3="1324.85"/>
      <parameter id="O" type="float_3" value1="0.815076" value2="0.408643" value3="0.410665"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472144">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="239.407"/>
        <parameter id="Joint Elevation" value="63.8361"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="239.492"/>
      <parameter id="Joint Elevation" value="63.8513"/>
      <parameter id="Twist" value="-0.0787038"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.688583" value2="0.769589" value3="-1.88419"/>
      <parameter id="A" type="float_3" value1="0.46662" value2="0.75461" value3="0.461317"/>
      <parameter id="H" type="float_3" value1="-798.028" value2="1029.68" value3="226.879"/>
      <parameter id="V" type="float_3" value1="-62.3258" value2="-83.4349" value3="1321.02"/>
      <parameter id="O" type="float_3" value1="0.466218" value2="0.752838" value3="0.464606"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472168">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.98"/>
        <parameter id="Joint Elevation" value="44.116"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.165"/>
      <parameter id="Joint Elevation" value="44.1236"/>
      <parameter id="Twist" value="-0.182717"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.78972" value2="0.792265" value3="-1.84562"/>
      <parameter id="A" type="float_3" value1="0.588488" value2="0.339079" value3="0.733955"/>
      <parameter id="H" type="float_3" value1="-302.395" value2="1234.1" value3="366.227"/>
      <parameter id="V" type="float_3" value1="-476.909" value2="-261.872" value3="1208.27"/>
      <parameter id="O" type="float_3" value1="0.586415" value2="0.337211" value3="0.736471"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472200">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.037"/>
        <parameter id="Joint Elevation" value="44.0763"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.104"/>
      <parameter id="Joint Elevation" value="44.1001"/>
      <parameter id="Twist" value="-0.0759491"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675464" value2="0.753826" value3="-1.84569"/>
      <parameter id="A" type="float_3" value1="0.340477" value2="0.587643" value3="0.733985"/>
      <parameter id="H" type="float_3" value1="-878.941" value2="917.113" value3="367.34"/>
      <parameter id="V" type="float_3" value1="-281.02" value2="-465.921" value3="1208.25"/>
      <parameter id="O" type="float_3" value1="0.339619" value2="0.584986" value3="0.736501"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_746472232">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.985"/>
        <parameter id="Joint Elevation" value="44.0476"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.985"/>
      <parameter id="Joint Elevation" value="44.0476"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.59576" value2="0.663673" value3="-1.84568"/>
      <parameter id="A" type="float_3" value1="0.00235196" value2="0.678842" value3="0.73427"/>
      <parameter id="H" type="float_3" value1="-1219.07" value2="355.972" value3="368.427"/>
      <parameter id="V" type="float_3" value1="-10.09" value2="-544.513" value3="1208.02"/>
      <parameter id="O" type="float_3" value1="0.00293598" value2="0.676112" value3="0.736782"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_746472256">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.936"/>
        <parameter id="Joint Elevation" value="44.023"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.944"/>
      <parameter id="Joint Elevation" value="43.9687"/>
      <parameter id="Twist" value="0.0649106"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571625" value2="0.54546" value3="-1.84556"/>
      <parameter id="A" type="float_3" value1="-0.336563" value2="0.588798" value3="0.734864"/>
      <parameter id="H" type="float_3" value1="-1233.24" value2="-301.52" value3="369.832"/>
      <parameter id="V" type="float_3" value1="265.045" value2="-476.955" value3="1207.55"/>
      <parameter id="O" type="float_3" value1="-0.334689" value2="0.586725" value3="0.737374"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_746472281">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.61"/>
        <parameter id="Joint Elevation" value="74.2616"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.637"/>
      <parameter id="Joint Elevation" value="74.2504"/>
      <parameter id="Twist" value="-0.0412172"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.594539" value2="0.677746" value3="-1.90591"/>
      <parameter id="A" type="float_3" value1="-0.00675746" value2="0.956055" value3="0.293081"/>
      <parameter id="H" type="float_3" value1="-1223.72" value2="480.758" value3="141.28"/>
      <parameter id="V" type="float_3" value1="-9.35852" value2="137.04" value3="1317.97"/>
      <parameter id="O" type="float_3" value1="-0.00615684" value2="0.954966" value3="0.296625"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472313">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="302.506"/>
        <parameter id="Joint Elevation" value="73.7213"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="302.571"/>
      <parameter id="Joint Elevation" value="73.6616"/>
      <parameter id="Twist" value="0.0493852"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.563583" value2="0.552973" value3="-1.90471"/>
      <parameter id="A" type="float_3" value1="-0.495726" value2="0.81412" value3="0.302402"/>
      <parameter id="H" type="float_3" value1="-1295.74" value2="-218.408" value3="148.059"/>
      <parameter id="V" type="float_3" value1="-69.9758" value2="102.843" value3="1319.26"/>
      <parameter id="O" type="float_3" value1="-0.494628" value2="0.813468" value3="0.305935"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472345">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="334.638"/>
        <parameter id="Joint Elevation" value="70.3764"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="334.669"/>
      <parameter id="Joint Elevation" value="70.2122"/>
      <parameter id="Twist" value="0.201216"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.60411" value2="0.425804" value3="-1.89746"/>
      <parameter id="A" type="float_3" value1="-0.834811" value2="0.41749" value3="0.358854"/>
      <parameter id="H" type="float_3" value1="-971.815" value2="-878.407" value3="180.413"/>
      <parameter id="V" type="float_3" value1="-41.4997" value2="17.8979" value3="1324.34"/>
      <parameter id="O" type="float_3" value1="-0.833342" value2="0.417438" value3="0.362313"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472429">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="4.2976"/>
        <parameter id="Joint Elevation" value="76.0722"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="4.36817"/>
      <parameter id="Joint Elevation" value="75.7889"/>
      <parameter id="Twist" value="0.286053"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.696354" value2="0.344066" value3="-1.90903"/>
      <parameter id="A" type="float_3" value1="-0.962441" value2="-0.0524284" value3="0.26635"/>
      <parameter id="H" type="float_3" value1="-423.817" value2="-1245.22" value3="135.622"/>
      <parameter id="V" type="float_3" value1="-173.473" value2="-9.52006" value3="1313.67"/>
      <parameter id="O" type="float_3" value1="-0.961482" value2="-0.0517571" value3="0.269919"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472460">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="33.0243"/>
        <parameter id="Joint Elevation" value="81.0959"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="33.1749"/>
      <parameter id="Joint Elevation" value="80.7267"/>
      <parameter id="Twist" value="0.0886071"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.814105" value2="0.318969" value3="-1.91921"/>
      <parameter id="A" type="float_3" value1="-0.834519" value2="-0.519845" value3="0.182545"/>
      <parameter id="H" type="float_3" value1="219.625" value2="-1300.9" value3="89.4012"/>
      <parameter id="V" type="float_3" value1="-240.789" value2="-154.313" value3="1293.88"/>
      <parameter id="O" type="float_3" value1="-0.83426" value2="-0.518968" value3="0.186188"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472491">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="61.7666"/>
        <parameter id="Joint Elevation" value="84.3102"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="61.8284"/>
      <parameter id="Joint Elevation" value="83.9322"/>
      <parameter id="Twist" value="-0.123416"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.928692" value2="0.353818" value3="-1.92574"/>
      <parameter id="A" type="float_3" value1="-0.487298" value2="-0.863848" value3="0.127636"/>
      <parameter id="H" type="float_3" value1="814.185" value2="-1040.38" value3="57.3484"/>
      <parameter id="V" type="float_3" value1="-168.86" value2="-315.122" value3="1275.98"/>
      <parameter id="O" type="float_3" value1="-0.48758" value2="-0.863137" value3="0.131315"/>
      <parameter id="R" type="float_3" value1="1.37295e-05" value2="0.00182547" value3="-0.00572112"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2216" 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_746472515">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="90.7044"/>
        <parameter id="Joint Elevation" value="84.8659"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="90.7722"/>
      <parameter id="Joint Elevation" value="84.556"/>
      <parameter id="Twist" value="-0.189629"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01269" value2="0.439815" value3="-1.92694"/>
      <parameter id="A" type="float_3" value1="-0.00838857" value2="-0.993051" value3="0.117311"/>
      <parameter id="H" type="float_3" value1="1215.96" value2="-517.136" value3="50.8393"/>
      <parameter id="V" type="float_3" value1="5.87082" value2="-370.739" value3="1272.18"/>
      <parameter id="O" type="float_3" value1="-0.00897586" value2="-0.992604" value3="0.120993"/>
      <parameter id="R" type="float_3" value1="1.36994e-05" value2="0.00182652" value3="-0.00572794"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="-0.00359703"/>
      <parameter id="Y" value="-0.113359"/>
      <parameter id="Z" value="0.0115807"/>
      <parameter id="Normal_X" value="0.140531"/>
      <parameter id="Normal_Y" value="0.0943226"/>
      <parameter id="Normal_Z" value="-0.874536"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="2216" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
