<?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="2898" 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_747268634">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.119"/>
        <parameter id="Joint Elevation" value="38.3891"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.255"/>
      <parameter id="Joint Elevation" value="38.3396"/>
      <parameter id="Twist" value="-0.169398"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975192" value2="0.714171" value3="-1.83531"/>
      <parameter id="A" type="float_3" value1="0.55381" value2="-0.235287" value3="0.798698"/>
      <parameter id="H" type="float_3" value1="766.02" value2="1000.41" value3="401.228"/>
      <parameter id="V" type="float_3" value1="-606.621" value2="267.8" value3="1147.26"/>
      <parameter id="O" type="float_3" value1="0.550849" value2="-0.23467" value3="0.800924"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747268719">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="84.611"/>
        <parameter id="Joint Elevation" value="81.2139"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="84.6747"/>
      <parameter id="Joint Elevation" value="81.0474"/>
      <parameter id="Twist" value="-0.125222"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.998677" value2="0.417319" value3="-1.91969"/>
      <parameter id="A" type="float_3" value1="-0.112848" value2="-0.977573" value3="0.177761"/>
      <parameter id="H" type="float_3" value1="1154.62" value2="-639.165" value3="83.0453"/>
      <parameter id="V" type="float_3" value1="-25.9244" value2="-291.22" value3="1292.46"/>
      <parameter id="O" type="float_3" value1="-0.113362" value2="-0.976843" value3="0.181411"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747268743">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="113.075"/>
        <parameter id="Joint Elevation" value="75.3995"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="113.144"/>
      <parameter id="Joint Elevation" value="75.2561"/>
      <parameter id="Twist" value="-0.100662"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04322" value2="0.526329" value3="-1.90757"/>
      <parameter id="A" type="float_3" value1="0.358113" value2="-0.891751" value3="0.27662"/>
      <parameter id="H" type="float_3" value1="1315.53" value2="-1.25846" value3="133.998"/>
      <parameter id="V" type="float_3" value1="66.2004" value2="-145.534" value3="1315.43"/>
      <parameter id="O" type="float_3" value1="0.357175" value2="-0.891014" value3="0.280183"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747268767">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="142.779"/>
        <parameter id="Joint Elevation" value="69.1073"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="142.91"/>
      <parameter id="Joint Elevation" value="68.9898"/>
      <parameter id="Twist" value="-0.102219"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02773" value2="0.649536" value3="-1.89449"/>
      <parameter id="A" type="float_3" value1="0.725287" value2="-0.5739" value3="0.380237"/>
      <parameter id="H" type="float_3" value1="1128.86" value2="662.878" value3="186.637"/>
      <parameter id="V" type="float_3" value1="16.2175" value2="-3.11821" value3="1325.02"/>
      <parameter id="O" type="float_3" value1="0.723806" value2="-0.573486" value3="0.383669"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747268791">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="174.978"/>
        <parameter id="Joint Elevation" value="71.0055"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="175.034"/>
      <parameter id="Joint Elevation" value="70.9159"/>
      <parameter id="Twist" value="-0.0707645"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.945947" value2="0.754414" value3="-1.89859"/>
      <parameter id="A" type="float_3" value1="0.931553" value2="-0.101479" value3="0.349134"/>
      <parameter id="H" type="float_3" value1="609.221" value2="1161.15" value3="170.704"/>
      <parameter id="V" type="float_3" value1="59.3792" value2="1.19325" value3="1323.79"/>
      <parameter id="O" type="float_3" value1="0.930193" value2="-0.10193" value3="0.35261"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747268823">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="206.516"/>
        <parameter id="Joint Elevation" value="68.9509"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="206.592"/>
      <parameter id="Joint Elevation" value="68.878"/>
      <parameter id="Twist" value="-0.136359"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.822668" value2="0.799465" value3="-1.89447"/>
      <parameter id="A" type="float_3" value1="0.835084" value2="0.395699" value3="0.382152"/>
      <parameter id="H" type="float_3" value1="-93.8748" value2="1305.86" value3="185.667"/>
      <parameter id="V" type="float_3" value1="6.60092" value2="13.8932" value3="1325.03"/>
      <parameter id="O" type="float_3" value1="0.834048" value2="0.394556" value3="0.385581"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269086">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="239.156"/>
        <parameter id="Joint Elevation" value="63.0397"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="239.208"/>
      <parameter id="Joint Elevation" value="63.0532"/>
      <parameter id="Twist" value="-0.108413"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.689461" value2="0.769891" value3="-1.88255"/>
      <parameter id="A" type="float_3" value1="0.466898" value2="0.746767" value3="0.473633"/>
      <parameter id="H" type="float_3" value1="-794.444" value2="1031.17" value3="232.656"/>
      <parameter id="V" type="float_3" value1="-73.0411" value2="-98.394" value3="1319.43"/>
      <parameter id="O" type="float_3" value1="0.466464" value2="0.744961" value3="0.476894"/>
      <parameter id="R" type="float_3" value1="1.36692e-05" value2="0.00182758" value3="-0.00573476"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269111">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.564"/>
        <parameter id="Joint Elevation" value="67.4681"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.58"/>
      <parameter id="Joint Elevation" value="67.4288"/>
      <parameter id="Twist" value="0.0032584"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.596732" value2="0.680706" value3="-1.89168"/>
      <parameter id="A" type="float_3" value1="0.0102724" value2="0.914434" value3="0.404584"/>
      <parameter id="H" type="float_3" value1="-1214.96" value2="482.477" value3="199.202"/>
      <parameter id="V" type="float_3" value1="-7.76039" value2="-20.3537" value3="1324.93"/>
      <parameter id="O" type="float_3" value1="0.0108509" value2="0.912921" value3="0.407972"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269142">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.61"/>
        <parameter id="Joint Elevation" value="73.534"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.662"/>
      <parameter id="Joint Elevation" value="73.4516"/>
      <parameter id="Twist" value="0.0902328"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.563505" value2="0.560996" value3="-1.90427"/>
      <parameter id="A" type="float_3" value1="-0.46779" value2="0.829198" value3="0.305921"/>
      <parameter id="H" type="float_3" value1="-1301.9" value2="-175.845" value3="150.664"/>
      <parameter id="V" type="float_3" value1="-63.38" value2="101.286" value3="1319.72"/>
      <parameter id="O" type="float_3" value1="-0.466705" value2="0.828499" value3="0.30945"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269173">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="329.632"/>
        <parameter id="Joint Elevation" value="79.6245"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="329.68"/>
      <parameter id="Joint Elevation" value="79.4922"/>
      <parameter id="Twist" value="0.155982"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.59339" value2="0.443663" value3="-1.91686"/>
      <parameter id="A" type="float_3" value1="-0.834193" value2="0.512463" value3="0.203682"/>
      <parameter id="H" type="float_3" value1="-1064.23" value2="-778.411" value3="100.298"/>
      <parameter id="V" type="float_3" value1="-221.722" value2="132.048" value3="1299.74"/>
      <parameter id="O" type="float_3" value1="-0.833226" value2="0.512582" value3="0.207311"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269204">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="358.312"/>
        <parameter id="Joint Elevation" value="84.2924"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="358.323"/>
      <parameter id="Joint Elevation" value="84.0572"/>
      <parameter id="Twist" value="0.19887"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675946" value2="0.356566" value3="-1.92625"/>
      <parameter id="A" type="float_3" value1="-0.990859" value2="0.0506453" value3="0.124969"/>
      <parameter id="H" type="float_3" value1="-567.191" value2="-1192.92" value3="61.6727"/>
      <parameter id="V" type="float_3" value1="-360.489" value2="16.3992" value3="1275.03"/>
      <parameter id="O" type="float_3" value1="-0.990358" value2="0.0512325" value3="0.128646"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269288">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="27.1584"/>
        <parameter id="Joint Elevation" value="86.3041"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="27.235"/>
      <parameter id="Joint Elevation" value="86.0047"/>
      <parameter id="Twist" value="-0.0309488"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790723" value2="0.320018" value3="-1.93014"/>
      <parameter id="A" type="float_3" value1="-0.895161" value2="-0.436277" value3="0.0912786"/>
      <parameter id="H" type="float_3" value1="78.1931" value2="-1319.41" value3="40.2387"/>
      <parameter id="V" type="float_3" value1="-360.26" value2="-182.6" value3="1262.06"/>
      <parameter id="O" type="float_3" value1="-0.895113" value2="-0.435587" value3="0.0949695"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="38" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_747269319">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="55.5967"/>
        <parameter id="Joint Elevation" value="85.1879"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="55.6893"/>
      <parameter id="Joint Elevation" value="84.9491"/>
      <parameter id="Twist" value="-0.339009"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.906209" value2="0.342018" value3="-1.92785"/>
      <parameter id="A" type="float_3" value1="-0.5781" value2="-0.808517" value3="0.109925"/>
      <parameter id="H" type="float_3" value1="697.402" value2="-1122.63" value3="43.6793"/>
      <parameter id="V" type="float_3" value1="-211.003" value2="-316.442" value3="1269.36"/>
      <parameter id="O" type="float_3" value1="-0.578331" value2="-0.807842" value3="0.113614"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269356">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="116.966"/>
        <parameter id="Joint Elevation" value="92.1769"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="117.052"/>
      <parameter id="Joint Elevation" value="92.0428"/>
      <parameter id="Twist" value="-0.0968532"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04251" value2="0.547726" value3="-1.9421"/>
      <parameter id="A" type="float_3" value1="0.435251" value2="-0.900211" value3="-0.0126429"/>
      <parameter id="H" type="float_3" value1="1320.26" value2="72.7827" value3="-13.5331"/>
      <parameter id="V" type="float_3" value1="238.316" value2="-476.527" value3="1213.28"/>
      <parameter id="O" type="float_3" value1="0.434732" value2="-0.900506" value3="-0.00893316"/>
      <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="2898" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269386">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="146.296"/>
        <parameter id="Joint Elevation" value="85.7311"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="146.412"/>
      <parameter id="Joint Elevation" value="85.675"/>
      <parameter id="Twist" value="-0.139986"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.02039" value2="0.664012" value3="-1.92923"/>
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      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269423">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.013"/>
        <parameter id="Joint Elevation" value="43.9506"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.18"/>
      <parameter id="Joint Elevation" value="43.9157"/>
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    </pointing_parameters>
    <camera_model type="CAHVOR">
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      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269454">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.046"/>
        <parameter id="Joint Elevation" value="44.0763"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.103"/>
      <parameter id="Joint Elevation" value="44.092"/>
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    <camera_model type="CAHVOR">
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      <parameter id="A" type="float_3" value1="0.340439" value2="0.587545" value3="0.734082"/>
      <parameter id="H" type="float_3" value1="-878.508" value2="917.824" value3="366.598"/>
      <parameter id="V" type="float_3" value1="-282.122" value2="-465.472" value3="1208.17"/>
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      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269478">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="271.128"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="271.128"/>
      <parameter id="Joint Elevation" value="44.049"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.5955" value2="0.663154" value3="-1.84568"/>
      <parameter id="A" type="float_3" value1="0.000661591" value2="0.678865" value3="0.734252"/>
      <parameter id="H" type="float_3" value1="-1219.95" value2="352.939" value3="368.411"/>
      <parameter id="V" type="float_3" value1="-8.73412" value2="-544.498" value3="1208.05"/>
      <parameter id="O" type="float_3" value1="0.00125217" value2="0.676135" value3="0.736766"/>
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      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269509">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.936"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.889"/>
      <parameter id="Joint Elevation" value="43.9824"/>
      <parameter id="Twist" value="0.163272"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571602" value2="0.545693" value3="-1.84558"/>
      <parameter id="A" type="float_3" value1="-0.336086" value2="0.58927" value3="0.734704"/>
      <parameter id="H" type="float_3" value1="-1232.82" value2="-301.618" value3="371.155"/>
      <parameter id="V" type="float_3" value1="266.264" value2="-475.918" value3="1207.7"/>
      <parameter id="O" type="float_3" value1="-0.334208" value2="0.587197" value3="0.737217"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="103" index2="2898" 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_747269548">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.044"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.917"/>
      <parameter id="Joint Elevation" value="43.8767"/>
      <parameter id="Twist" value="0.201778"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.60982" value2="0.430964" value3="-1.84535"/>
      <parameter id="A" type="float_3" value1="-0.584787" value2="0.341681" value3="0.735705"/>
      <parameter id="H" type="float_3" value1="-915.358" value2="-878.523" value3="372.667"/>
      <parameter id="V" type="float_3" value1="470.858" value2="-278.614" value3="1206.9"/>
      <parameter id="O" type="float_3" value1="-0.582119" value2="0.340827" value3="0.738212"/>
      <parameter id="R" type="float_3" value1="1.37597e-05" value2="0.00182441" value3="-0.00571431"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.250096"/>
      <parameter id="Y" value="0.291408"/>
      <parameter id="Z" value="0.091641"/>
      <parameter id="Normal_X" value="0.128029"/>
      <parameter id="Normal_Y" value="0.0769355"/>
      <parameter id="Normal_Z" value="-0.881363"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="103" index2="2898" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
