<?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="2442" 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_746740812">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.183"/>
        <parameter id="Joint Elevation" value="38.3877"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.259"/>
      <parameter id="Joint Elevation" value="38.4085"/>
      <parameter id="Twist" value="-0.186863"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975254" value2="0.714133" value3="-1.83543"/>
      <parameter id="A" type="float_3" value1="0.554711" value2="-0.235628" value3="0.797971"/>
      <parameter id="H" type="float_3" value1="766.727" value2="1000.12" value3="400.711"/>
      <parameter id="V" type="float_3" value1="-605.273" value2="267.584" value3="1147.98"/>
      <parameter id="O" type="float_3" value1="0.551772" value2="-0.235022" value3="0.800185"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746740836">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.032"/>
        <parameter id="Joint Elevation" value="38.3932"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.102"/>
      <parameter id="Joint Elevation" value="38.415"/>
      <parameter id="Twist" value="-0.102874"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875622" value2="0.778627" value3="-1.83554"/>
      <parameter id="A" type="float_3" value1="0.598391" value2="0.0720634" value3="0.797946"/>
      <parameter id="H" type="float_3" value1="165.937" value2="1249.09" value3="401.146"/>
      <parameter id="V" type="float_3" value1="-657.98" value2="-70.2871" value3="1148.02"/>
      <parameter id="O" type="float_3" value1="0.59554" value2="0.071122" value3="0.800161"/>
      <parameter id="R" type="float_3" value1="1.33978e-05" value2="0.00183708" value3="-0.0057961"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746740930">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="72.5279"/>
        <parameter id="Joint Elevation" value="85.2785"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="72.4495"/>
      <parameter id="Joint Elevation" value="85.0834"/>
      <parameter id="Twist" value="-0.437634"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.964581" value2="0.38063" value3="-1.92807"/>
      <parameter id="A" type="float_3" value1="-0.320479" value2="-0.941087" value3="0.107848"/>
      <parameter id="H" type="float_3" value1="991.341" value2="-874.227" value3="40.7099"/>
      <parameter id="V" type="float_3" value1="-109.781" value2="-366.876" value3="1268.53"/>
      <parameter id="O" type="float_3" value1="-0.320895" value2="-0.940519" value3="0.11151"/>
      <parameter id="R" type="float_3" value1="1.33676e-05" value2="0.00183813" value3="-0.00580292"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746740954">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="100.681"/>
        <parameter id="Joint Elevation" value="80.2628"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="100.707"/>
      <parameter id="Joint Elevation" value="80.2188"/>
      <parameter id="Twist" value="-0.285918"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03038" value2="0.47628" value3="-1.91794"/>
      <parameter id="A" type="float_3" value1="0.161064" value2="-0.968031" value3="0.192243"/>
      <parameter id="H" type="float_3" value1="1286.12" value2="-294.938" value3="87.0986"/>
      <parameter id="V" type="float_3" value1="55.745" value2="-267.579" value3="1296.58"/>
      <parameter id="O" type="float_3" value1="0.160368" value2="-0.967422" value3="0.195858"/>
      <parameter id="R" type="float_3" value1="1.33978e-05" value2="0.00183708" value3="-0.0057961"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746740978">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="129.692"/>
        <parameter id="Joint Elevation" value="73.6199"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="129.709"/>
      <parameter id="Joint Elevation" value="73.615"/>
      <parameter id="Twist" value="-0.147092"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04273" value2="0.595747" value3="-1.90414"/>
      <parameter id="A" type="float_3" value1="0.59228" value2="-0.746065" value3="0.30426"/>
      <parameter id="H" type="float_3" value1="1259.03" value2="376.695" value3="147.055"/>
      <parameter id="V" type="float_3" value1="82.1405" value2="-90.0105" value3="1319.46"/>
      <parameter id="O" type="float_3" value1="0.591113" value2="-0.745553" value3="0.307767"/>
      <parameter id="R" type="float_3" value1="1.33978e-05" value2="0.00183708" value3="-0.0057961"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746741009">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="159.516"/>
        <parameter id="Joint Elevation" value="66.918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="159.547"/>
      <parameter id="Joint Elevation" value="66.9295"/>
      <parameter id="Twist" value="-0.0853993"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.992122" value2="0.70984" value3="-1.89025"/>
      <parameter id="A" type="float_3" value1="0.845956" value2="-0.336848" value3="0.41337"/>
      <parameter id="H" type="float_3" value1="885.266" value2="960.979" value3="203.69"/>
      <parameter id="V" type="float_3" value1="-28.102" value2="19.361" value3="1324.64"/>
      <parameter id="O" type="float_3" value1="0.844314" value2="-0.336837" value3="0.416723"/>
      <parameter id="R" type="float_3" value1="1.34279e-05" value2="0.00183602" value3="-0.00578928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746741042">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="191.147"/>
        <parameter id="Joint Elevation" value="62.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="191.195"/>
      <parameter id="Joint Elevation" value="62.1009"/>
      <parameter id="Twist" value="-0.0400796"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.883571" value2="0.785626" value3="-1.88041"/>
      <parameter id="A" type="float_3" value1="0.85937" value2="0.150794" value3="0.488598"/>
      <parameter id="H" type="float_3" value1="230.397" value2="1279.37" value3="242.478"/>
      <parameter id="V" type="float_3" value1="-143.828" value2="-17.7378" value3="1317.13"/>
      <parameter id="O" type="float_3" value1="0.857693" value2="0.149893" value3="0.491811"/>
      <parameter id="R" type="float_3" value1="1.34279e-05" value2="0.00183602" value3="-0.00578928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745535">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="224.456"/>
        <parameter id="Joint Elevation" value="60.6613"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="224.413"/>
      <parameter id="Joint Elevation" value="60.6287"/>
      <parameter id="Twist" value="0.0679244"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.746251" value2="0.791488" value3="-1.87754"/>
      <parameter id="A" type="float_3" value1="0.626887" value2="0.588439" value3="0.510623"/>
      <parameter id="H" type="float_3" value1="-513.51" value2="1191.67" value3="255.285"/>
      <parameter id="V" type="float_3" value1="-134.059" value2="-117.852" value3="1312.89"/>
      <parameter id="O" type="float_3" value1="0.625956" value2="0.586728" value3="0.513725"/>
      <parameter id="R" type="float_3" value1="1.27767e-05" value2="0.00186663" value3="-0.00598695"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745569">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="256.867"/>
        <parameter id="Joint Elevation" value="63.1273"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="256.86"/>
      <parameter id="Joint Elevation" value="63.0138"/>
      <parameter id="Twist" value="0.0869164"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.631105" value2="0.72508" value3="-1.88253"/>
      <parameter id="A" type="float_3" value1="0.218366" value2="0.853022" value3="0.473977"/>
      <parameter id="H" type="float_3" value1="-1070.22" value2="740.009" value3="236.517"/>
      <parameter id="V" type="float_3" value1="-36.0898" value2="-117.686" value3="1319.25"/>
      <parameter id="O" type="float_3" value1="0.218529" value2="0.851204" value3="0.477158"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745610">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="288.303"/>
        <parameter id="Joint Elevation" value="68.6587"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="288.244"/>
      <parameter id="Joint Elevation" value="68.426"/>
      <parameter id="Twist" value="0.0741737"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.569711" value2="0.612197" value3="-1.89378"/>
      <parameter id="A" type="float_3" value1="-0.269697" value2="0.881169" value3="0.388315"/>
      <parameter id="H" type="float_3" value1="-1304.99" value2="94.1352" value3="192.463"/>
      <parameter id="V" type="float_3" value1="-6.48966" value2="0.883583" value3="1324.97"/>
      <parameter id="O" type="float_3" value1="-0.268702" value2="0.879997" value3="0.391647"/>
      <parameter id="R" type="float_3" value1="1.28219e-05" value2="0.00186347" value3="-0.0059665"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745655">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="317.71"/>
        <parameter id="Joint Elevation" value="75.4574"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="317.654"/>
      <parameter id="Joint Elevation" value="75.1876"/>
      <parameter id="Twist" value="0.0160755"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.573597" value2="0.490552" value3="-1.90789"/>
      <parameter id="A" type="float_3" value1="-0.696073" value2="0.662498" value3="0.2767"/>
      <parameter id="H" type="float_3" value1="-1197.39" value2="-545.022" value3="134.558"/>
      <parameter id="V" type="float_3" value1="-120.057" value2="104.928" value3="1315.36"/>
      <parameter id="O" type="float_3" value1="-0.694924" value2="0.662241" value3="0.280178"/>
      <parameter id="R" type="float_3" value1="1.2837e-05" value2="0.00186241" value3="-0.00595969"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="64" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745693">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="346.343"/>
        <parameter id="Joint Elevation" value="81.8109"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="346.292"/>
      <parameter id="Joint Elevation" value="81.5486"/>
      <parameter id="Twist" value="-0.0891341"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.635751" value2="0.388073" value3="-1.9211"/>
      <parameter id="A" type="float_3" value1="-0.952342" value2="0.254373" value3="0.168293"/>
      <parameter id="H" type="float_3" value1="-801.615" value2="-1048.96" value3="77.5089"/>
      <parameter id="V" type="float_3" value1="-296.232" value2="70.4076" value3="1289.53"/>
      <parameter id="O" type="float_3" value1="-0.951591" value2="0.254795" value3="0.171863"/>
      <parameter id="R" type="float_3" value1="1.2837e-05" value2="0.00186241" value3="-0.00595969"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="66" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745777">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="15.1593"/>
        <parameter id="Joint Elevation" value="86.1826"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="15.0207"/>
      <parameter id="Joint Elevation" value="85.9672"/>
      <parameter id="Twist" value="-0.147529"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.740348" value2="0.328408" value3="-1.93011"/>
      <parameter id="A" type="float_3" value1="-0.967146" value2="-0.237015" value3="0.0918436"/>
      <parameter id="H" type="float_3" value1="-203.267" value2="-1306.21" value3="37.8549"/>
      <parameter id="V" type="float_3" value1="-389.065" value2="-104.65" value3="1262.24"/>
      <parameter id="O" type="float_3" value1="-0.96696" value2="-0.236352" value3="0.0954429"/>
      <parameter id="R" type="float_3" value1="1.27917e-05" value2="0.00186558" value3="-0.00598014"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="68" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745809">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="43.6737"/>
        <parameter id="Joint Elevation" value="87.4465"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="43.364"/>
      <parameter id="Joint Elevation" value="87.209"/>
      <parameter id="Twist" value="0.254418"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.858127" value2="0.326001" value3="-1.93253"/>
      <parameter id="A" type="float_3" value1="-0.739987" value2="-0.668906" value3="0.0704711"/>
      <parameter id="H" type="float_3" value1="441.187" value2="-1246.19" value3="36.0172"/>
      <parameter id="V" type="float_3" value1="-318.858" value2="-288.155" value3="1253.34"/>
      <parameter id="O" type="float_3" value1="-0.740214" value2="-0.668266" value3="0.0740748"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="70" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745865">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.785"/>
        <parameter id="Joint Elevation" value="44.1187"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="210.785"/>
      <parameter id="Joint Elevation" value="44.1187"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.791293" value2="0.792305" value3="-1.8456"/>
      <parameter id="A" type="float_3" value1="0.59068" value2="0.335139" value3="0.734004"/>
      <parameter id="H" type="float_3" value1="-296.521" value2="1234.79" value3="369.178"/>
      <parameter id="V" type="float_3" value1="-477.009" value2="-262.267" value3="1207.99"/>
      <parameter id="O" type="float_3" value1="0.588667" value2="0.333302" value3="0.736454"/>
      <parameter id="R" type="float_3" value1="1.27917e-05" value2="0.00186558" value3="-0.00598014"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="72" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745898">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.051"/>
        <parameter id="Joint Elevation" value="44.0777"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.937"/>
      <parameter id="Joint Elevation" value="44.0094"/>
      <parameter id="Twist" value="0.147957"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.676036" value2="0.754092" value3="-1.84552"/>
      <parameter id="A" type="float_3" value1="0.341608" value2="0.585651" value3="0.735052"/>
      <parameter id="H" type="float_3" value1="-878.226" value2="916.358" value3="371.403"/>
      <parameter id="V" type="float_3" value1="-279.341" value2="-469.364" value3="1207.16"/>
      <parameter id="O" type="float_3" value1="0.340796" value2="0.583044" value3="0.737496"/>
      <parameter id="R" type="float_3" value1="1.27917e-05" value2="0.00186558" value3="-0.00598014"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="74" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745924">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.129"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.002"/>
      <parameter id="Joint Elevation" value="43.9041"/>
      <parameter id="Twist" value="0.14176"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.595786" value2="0.663464" value3="-1.84541"/>
      <parameter id="A" type="float_3" value1="0.00214602" value2="0.677012" value3="0.735958"/>
      <parameter id="H" type="float_3" value1="-1219.2" value2="352.696" value3="371.604"/>
      <parameter id="V" type="float_3" value1="-6.92313" value2="-547.766" value3="1206.43"/>
      <parameter id="O" type="float_3" value1="0.00274866" value2="0.674344" value3="0.738401"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="76" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745949">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.94"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.865"/>
      <parameter id="Joint Elevation" value="43.823"/>
      <parameter id="Twist" value="0.099243"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571729" value2="0.545678" value3="-1.84529"/>
      <parameter id="A" type="float_3" value1="-0.334831" value2="0.587644" value3="0.736577"/>
      <parameter id="H" type="float_3" value1="-1233.04" value2="-300.91" value3="371.469"/>
      <parameter id="V" type="float_3" value1="266.643" value2="-479.805" value3="1205.93"/>
      <parameter id="O" type="float_3" value1="-0.332981" value2="0.585627" value3="0.739018"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="78" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2442" 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_746745983">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.049"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.924"/>
      <parameter id="Joint Elevation" value="43.7696"/>
      <parameter id="Twist" value="0.0937958"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.60996" value2="0.430936" value3="-1.84516"/>
      <parameter id="A" type="float_3" value1="-0.583652" value2="0.34092" value3="0.736958"/>
      <parameter id="H" type="float_3" value1="-916.31" value2="-878.005" value3="372.03"/>
      <parameter id="V" type="float_3" value1="471.862" value2="-281.78" value3="1205.62"/>
      <parameter id="O" type="float_3" value1="-0.581039" value2="0.340101" value3="0.739397"/>
      <parameter id="R" type="float_3" value1="1.28068e-05" value2="0.00186452" value3="-0.00597332"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="80" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.297107"/>
      <parameter id="Y" value="0.04752"/>
      <parameter id="Z" value="0.0199461"/>
      <parameter id="Normal_X" value="0.125274"/>
      <parameter id="Normal_Y" value="0.127655"/>
      <parameter id="Normal_Z" value="-0.933951"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="2442" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
