<?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="117" index2="1122" 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="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805064307">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.123"/>
        <parameter id="Joint Elevation" value="38.3945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.045"/>
      <parameter id="Joint Elevation" value="38.4502"/>
      <parameter id="Twist" value="0.171427"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975874" value2="0.713469" value3="-1.8355"/>
      <parameter id="A" type="float_3" value1="0.554365" value2="-0.237925" value3="0.79753"/>
      <parameter id="H" type="float_3" value1="765.158" value2="999.568" value3="405.119"/>
      <parameter id="V" type="float_3" value1="-606.557" value2="262.512" value3="1148.46"/>
      <parameter id="O" type="float_3" value1="0.551429" value2="-0.237336" value3="0.799738"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" 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_805064336">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.048"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.044"/>
      <parameter id="Joint Elevation" value="38.2612"/>
      <parameter id="Twist" value="-0.109948"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.875655" value2="0.778527" value3="-1.83528"/>
      <parameter id="A" type="float_3" value1="0.596335" value2="0.0712094" value3="0.79956"/>
      <parameter id="H" type="float_3" value1="166.261" value2="1248.81" value3="401.928"/>
      <parameter id="V" type="float_3" value1="-661.145" value2="-69.8455" value3="1146.21"/>
      <parameter id="O" type="float_3" value1="0.593484" value2="0.0702706" value3="0.801761"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" 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_805064457">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="31.5285"/>
        <parameter id="Joint Elevation" value="82.4847"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="31.9675"/>
      <parameter id="Joint Elevation" value="82.4022"/>
      <parameter id="Twist" value="-0.872887"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.8094" value2="0.319061" value3="-1.92269"/>
      <parameter id="A" type="float_3" value1="-0.849509" value2="-0.504672" value3="0.153702"/>
      <parameter id="H" type="float_3" value1="187.174" value2="-1307.95" value3="54.4682"/>
      <parameter id="V" type="float_3" value1="-265.874" value2="-186.045" value3="1284.71"/>
      <parameter id="O" type="float_3" value1="-0.849297" value2="-0.503907" value3="0.157336"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" 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_805064488">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="59.9383"/>
        <parameter id="Joint Elevation" value="76.0367"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="60.4375"/>
      <parameter id="Joint Elevation" value="76.3095"/>
      <parameter id="Twist" value="-0.738434"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.922819" value2="0.349516" value3="-1.90989"/>
      <parameter id="A" type="float_3" value1="-0.495059" value2="-0.829646" value3="0.258045"/>
      <parameter id="H" type="float_3" value1="792.825" value2="-1052.49" value3="111.332"/>
      <parameter id="V" type="float_3" value1="-76.8623" value2="-169.527" value3="1311.93"/>
      <parameter id="O" type="float_3" value1="-0.495048" value2="-0.828538" value3="0.261601"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" 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_805064519">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="89.4364"/>
        <parameter id="Joint Elevation" value="68.9411"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="89.8155"/>
      <parameter id="Joint Elevation" value="69.4924"/>
      <parameter id="Twist" value="-0.200868"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01057" value2="0.434931" value3="-1.89556"/>
      <parameter id="A" type="float_3" value1="-0.023599" value2="-0.928183" value3="0.371353"/>
      <parameter id="H" type="float_3" value1="1207.78" value2="-507.277" value3="180.654"/>
      <parameter id="V" type="float_3" value1="8.52477" value2="-27.458" value3="1324.75"/>
      <parameter id="O" type="float_3" value1="-0.0241573" value2="-0.926797" value3="0.374764"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" 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_805064551">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="120.417"/>
        <parameter id="Joint Elevation" value="63.0517"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="120.556"/>
      <parameter id="Joint Elevation" value="63.6435"/>
      <parameter id="Twist" value="0.380193"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04442" value2="0.559222" value3="-1.88341"/>
      <parameter id="A" type="float_3" value1="0.433126" value2="-0.772419" value3="0.464493"/>
      <parameter id="H" type="float_3" value1="1284.36" value2="204.587" value3="239.333"/>
      <parameter id="V" type="float_3" value1="-55.7447" value2="93.2539" value3="1320.6"/>
      <parameter id="O" type="float_3" value1="0.43174" value2="-0.771235" value3="0.46774"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" 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_805064577">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="153.382"/>
        <parameter id="Joint Elevation" value="60.2883"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="153.352"/>
      <parameter id="Joint Elevation" value="60.5308"/>
      <parameter id="Twist" value="0.377776"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00505" value2="0.689869" value3="-1.87709"/>
      <parameter id="A" type="float_3" value1="0.758921" value2="-0.402045" value3="0.512233"/>
      <parameter id="H" type="float_3" value1="956.78" value2="874.118" value3="263.053"/>
      <parameter id="V" type="float_3" value1="-160.779" value2="82.4483" value3="1312.69"/>
      <parameter id="O" type="float_3" value1="0.75696" value2="-0.401717" value3="0.515382"/>
      <parameter id="R" type="float_3" value1="1.33073e-05" value2="0.00184024" value3="-0.00581655"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065324">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="289.037"/>
        <parameter id="Joint Elevation" value="94.8721"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="288.916"/>
      <parameter id="Joint Elevation" value="94.7772"/>
      <parameter id="Twist" value="-0.0355533"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571205" value2="0.602924" value3="-1.94798"/>
      <parameter id="A" type="float_3" value1="-0.302862" value2="0.951066" value3="-0.0610763"/>
      <parameter id="H" type="float_3" value1="-1316.92" value2="113.812" value3="-39.1377"/>
      <parameter id="V" type="float_3" value1="-186.94" value2="560.436" value3="1186.05"/>
      <parameter id="O" type="float_3" value1="-0.302358" value2="0.951455" value3="-0.0574188"/>
      <parameter id="R" type="float_3" value1="1.31565e-05" value2="0.00184552" value3="-0.00585063"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="82" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065354">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="318.865"/>
        <parameter id="Joint Elevation" value="98.9286"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="318.807"/>
      <parameter id="Joint Elevation" value="98.8104"/>
      <parameter id="Twist" value="0.0843893"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.582941" value2="0.478688" value3="-1.95577"/>
      <parameter id="A" type="float_3" value1="-0.731479" value2="0.66904" value3="-0.131558"/>
      <parameter id="H" type="float_3" value1="-1195.77" value2="-560.061" value3="-72.111"/>
      <parameter id="V" type="float_3" value1="-500.241" value2="450.537" value3="1141.28"/>
      <parameter id="O" type="float_3" value1="-0.731421" value2="0.669808" value3="-0.127924"/>
      <parameter id="R" type="float_3" value1="1.31867e-05" value2="0.00184447" value3="-0.00584381"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="84" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065386">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="349.139"/>
        <parameter id="Joint Elevation" value="101.843"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="349.23"/>
      <parameter id="Joint Elevation" value="101.64"/>
      <parameter id="Twist" value="0.290579"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.65686" value2="0.377048" value3="-1.96102"/>
      <parameter id="A" type="float_3" value1="-0.961983" value2="0.204852" value3="-0.180574"/>
      <parameter id="H" type="float_3" value1="-744.237" value2="-1089.2" value3="-92.1483"/>
      <parameter id="V" type="float_3" value1="-713.054" value2="151.645" value3="1106.49"/>
      <parameter id="O" type="float_3" value1="-0.962495" value2="0.205596" value3="-0.176968"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="86" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065462">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="20.1105"/>
        <parameter id="Joint Elevation" value="101.811"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="20.2002"/>
      <parameter id="Joint Elevation" value="101.631"/>
      <parameter id="Twist" value="-0.67258"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.771757" value2="0.327047" value3="-1.96089"/>
      <parameter id="A" type="float_3" value1="-0.930254" value2="-0.319488" value3="-0.180383"/>
      <parameter id="H" type="float_3" value1="-74.2086" value2="-1315.6" value3="-111.58"/>
      <parameter id="V" type="float_3" value1="-682.715" value2="-255.661" value3="1106.47"/>
      <parameter id="O" type="float_3" value1="-0.931056" value2="-0.319169" value3="-0.176773"/>
      <parameter id="R" type="float_3" value1="1.31565e-05" value2="0.00184552" value3="-0.00585063"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="88" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="90" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065486">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="49.5375"/>
        <parameter id="Joint Elevation" value="96.026"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="49.7812"/>
      <parameter id="Joint Elevation" value="96.1808"/>
      <parameter id="Twist" value="-0.759936"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.88761" value2="0.337605" value3="-1.9504"/>
      <parameter id="A" type="float_3" value1="-0.659702" value2="-0.746595" value3="-0.0858627"/>
      <parameter id="H" type="float_3" value1="579.448" value2="-1186.91" value3="-65.0398"/>
      <parameter id="V" type="float_3" value1="-394.515" value2="-478.809" value3="1170.84"/>
      <parameter id="O" type="float_3" value1="-0.660324" value2="-0.746457" value3="-0.0822005"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="90" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="92" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065510">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="78.7404"/>
        <parameter id="Joint Elevation" value="88.919"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="79.1271"/>
      <parameter id="Joint Elevation" value="89.4056"/>
      <parameter id="Twist" value="-0.575391"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.984707" value2="0.402416" value3="-1.93686"/>
      <parameter id="A" type="float_3" value1="-0.209917" value2="-0.977163" value3="0.0327248"/>
      <parameter id="H" type="float_3" value1="1085.92" value2="-754.671" value3="-0.514192"/>
      <parameter id="V" type="float_3" value1="-83.3403" value2="-469.986" value3="1236.09"/>
      <parameter id="O" type="float_3" value1="-0.210448" value2="-0.976919" value3="0.0363934"/>
      <parameter id="R" type="float_3" value1="1.31867e-05" value2="0.00184447" value3="-0.00584381"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="92" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="94" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065541">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="108.121"/>
        <parameter id="Joint Elevation" value="82.3913"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="108.396"/>
      <parameter id="Joint Elevation" value="82.9741"/>
      <parameter id="Twist" value="0.294536"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03926" value2="0.507933" value3="-1.92365"/>
      <parameter id="A" type="float_3" value1="0.291571" value2="-0.94549" value3="0.144974"/>
      <parameter id="H" type="float_3" value1="1314.62" value2="-121.905" value3="75.1361"/>
      <parameter id="V" type="float_3" value1="97.4916" value2="-320.383" value3="1282.04"/>
      <parameter id="O" type="float_3" value1="0.290815" value2="-0.945161" value3="0.148599"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="94" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="96" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065572">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="138.419"/>
        <parameter id="Joint Elevation" value="78.1543"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="138.575"/>
      <parameter id="Joint Elevation" value="78.4541"/>
      <parameter id="Twist" value="0.618115"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03408" value2="0.632217" value3="-1.91426"/>
      <parameter id="A" type="float_3" value1="0.716606" value2="-0.660881" value3="0.222927"/>
      <parameter id="H" type="float_3" value1="1191.09" value2="561.545" value3="121.207"/>
      <parameter id="V" type="float_3" value1="165.448" value2="-163.181" value3="1304.52"/>
      <parameter id="O" type="float_3" value1="0.715563" value2="-0.660797" value3="0.226496"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="96" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="98" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065603">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="169.259"/>
        <parameter id="Joint Elevation" value="77.3745"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="169.323"/>
      <parameter id="Joint Elevation" value="77.3694"/>
      <parameter id="Twist" value="0.556788"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.964724" value2="0.73933" value3="-1.91206"/>
      <parameter id="A" type="float_3" value1="0.949418" value2="-0.200575" value3="0.241576"/>
      <parameter id="H" type="float_3" value1="734.521" value2="1092.07" value3="128.831"/>
      <parameter id="V" type="float_3" value1="201.501" value2="-48.5919" value3="1308.74"/>
      <parameter id="O" type="float_3" value1="0.948413" value2="-0.201016" value3="0.24513"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="98" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="100" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065634">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="200.718"/>
        <parameter id="Joint Elevation" value="75.3818"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="200.643"/>
      <parameter id="Joint Elevation" value="75.2335"/>
      <parameter id="Twist" value="0.0732756"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.847994" value2="0.796446" value3="-1.90771"/>
      <parameter id="A" type="float_3" value1="0.906164" value2="0.319094" value3="0.277541"/>
      <parameter id="H" type="float_3" value1="57.6549" value2="1314.06" value3="136.539"/>
      <parameter id="V" type="float_3" value1="147.637" value2="57.3879" value3="1315.56"/>
      <parameter id="O" type="float_3" value1="0.905398" value2="0.318182" value3="0.281065"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="100" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="102" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065665">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="231.407"/>
        <parameter id="Joint Elevation" value="78.2391"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="231.342"/>
      <parameter id="Joint Elevation" value="78.1034"/>
      <parameter id="Twist" value="-0.079252"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.720747" value2="0.785255" value3="-1.91384"/>
      <parameter id="A" type="float_3" value1="0.624391" value2="0.74684" value3="0.228798"/>
      <parameter id="H" type="float_3" value1="-616.805" value2="1164.74" value3="107.966"/>
      <parameter id="V" type="float_3" value1="137.12" value2="177.836" value3="1305.89"/>
      <parameter id="O" type="float_3" value1="0.624305" value2="0.745809" value3="0.232371"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="102" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="104" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065695">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="259.912"/>
        <parameter id="Joint Elevation" value="88.2195"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="259.88"/>
      <parameter id="Joint Elevation" value="88.1399"/>
      <parameter id="Twist" value="-0.0890106"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.622431" value2="0.714695" value3="-1.93466"/>
      <parameter id="A" type="float_3" value1="0.196783" value2="0.978883" value3="0.0552026"/>
      <parameter id="H" type="float_3" value1="-1096" value2="739.699" value3="18.9025"/>
      <parameter id="V" type="float_3" value1="79.4196" value2="442.109" value3="1246.6"/>
      <parameter id="O" type="float_3" value1="0.197324" value2="0.978561" value3="0.0588685"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="104" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="106" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065733">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="186.709"/>
        <parameter id="Joint Elevation" value="61.4744"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="186.709"/>
      <parameter id="Joint Elevation" value="61.4744"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.900736" value2="0.77871" value3="-1.87911"/>
      <parameter id="A" type="float_3" value1="0.863161" value2="0.0825642" value3="0.498117"/>
      <parameter id="H" type="float_3" value1="326.717" value2="1257.13" value3="248.227"/>
      <parameter id="V" type="float_3" value1="-159.073" value2="-8.75782" value3="1315.44"/>
      <parameter id="O" type="float_3" value1="0.861392" value2="0.08179" value3="0.501296"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="106" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="108" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065765">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="218.462"/>
        <parameter id="Joint Elevation" value="66.305"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="218.417"/>
      <parameter id="Joint Elevation" value="66.1947"/>
      <parameter id="Twist" value="-0.142194"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.772569" value2="0.797671" value3="-1.88894"/>
      <parameter id="A" type="float_3" value1="0.721194" value2="0.54711" value3="0.424892"/>
      <parameter id="H" type="float_3" value1="-366.688" value2="1253.5" value3="207.342"/>
      <parameter id="V" type="float_3" value1="-46.042" value2="-22.2341" value3="1324.07"/>
      <parameter id="O" type="float_3" value1="0.720303" value2="0.545692" value3="0.428213"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="108" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="110" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065797">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="248.404"/>
        <parameter id="Joint Elevation" value="73.1174"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="248.334"/>
      <parameter id="Joint Elevation" value="72.996"/>
      <parameter id="Twist" value="-0.141683"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.658476" value2="0.75111" value3="-1.90322"/>
      <parameter id="A" type="float_3" value1="0.369358" value2="0.87451" value3="0.314311"/>
      <parameter id="H" type="float_3" value1="-934.679" value2="923.323" value3="150.25"/>
      <parameter id="V" type="float_3" value1="32.2377" value2="103.163" value3="1320.64"/>
      <parameter id="O" type="float_3" value1="0.36945" value2="0.87321" value3="0.317795"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="110" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="112" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065827">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="277.014"/>
        <parameter id="Joint Elevation" value="80.0004"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="276.952"/>
      <parameter id="Joint Elevation" value="79.95"/>
      <parameter id="Twist" value="-0.00274789"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.584571" value2="0.657239" value3="-1.91783"/>
      <parameter id="A" type="float_3" value1="-0.0976161" value2="0.975607" value3="0.196583"/>
      <parameter id="H" type="float_3" value1="-1264.11" value2="376.999" value3="92.8253"/>
      <parameter id="V" type="float_3" value1="-34.0841" value2="265.235" value3="1297.79"/>
      <parameter id="O" type="float_3" value1="-0.0969475" value2="0.974942" value3="0.200181"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="112" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="114" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065858">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="306.018"/>
        <parameter id="Joint Elevation" value="82.4022"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="305.924"/>
      <parameter id="Joint Elevation" value="82.3343"/>
      <parameter id="Twist" value="0.0711413"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.56505" value2="0.537983" value3="-1.9228"/>
      <parameter id="A" type="float_3" value1="-0.562122" value2="0.812359" value3="0.155162"/>
      <parameter id="H" type="float_3" value1="-1290.36" value2="-279.799" value3="73.4497"/>
      <parameter id="V" type="float_3" value1="-187.73" value2="261.279" value3="1285.41"/>
      <parameter id="O" type="float_3" value1="-0.561297" value2="0.812229" value3="0.158789"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="114" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="116" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065889">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="334.492"/>
        <parameter id="Joint Elevation" value="81.8287"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="334.362"/>
      <parameter id="Joint Elevation" value="81.6747"/>
      <parameter id="Twist" value="0.197835"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.603994" value2="0.426615" value3="-1.92139"/>
      <parameter id="A" type="float_3" value1="-0.879522" value2="0.44587" value3="0.166205"/>
      <parameter id="H" type="float_3" value1="-1000.23" value2="-861.108" value3="82.194"/>
      <parameter id="V" type="float_3" value1="-275.222" value2="136.662" value3="1288.94"/>
      <parameter id="O" type="float_3" value1="-0.878694" value2="0.446139" value3="0.169824"/>
      <parameter id="R" type="float_3" value1="1.32771e-05" value2="0.0018413" value3="-0.00582336"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="116" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="118" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805065981">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="2.85438"/>
        <parameter id="Joint Elevation" value="83.7916"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="2.83144"/>
      <parameter id="Joint Elevation" value="83.5161"/>
      <parameter id="Twist" value="0.289392"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.692101" value2="0.347107" value3="-1.92511"/>
      <parameter id="A" type="float_3" value1="-0.990551" value2="-0.0273536" value3="0.134327"/>
      <parameter id="H" type="float_3" value1="-470.953" value2="-1233.79" value3="68.4712"/>
      <parameter id="V" type="float_3" value1="-348.528" value2="-9.62564" value3="1278.36"/>
      <parameter id="O" type="float_3" value1="-0.990069" value2="-0.0267184" value3="0.13796"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="118" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="120" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805066042">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.962"/>
        <parameter id="Joint Elevation" value="44.1201"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.001"/>
      <parameter id="Joint Elevation" value="43.9715"/>
      <parameter id="Twist" value="-0.125286"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790262" value2="0.792205" value3="-1.84534"/>
      <parameter id="A" type="float_3" value1="0.587767" value2="0.336426" value3="0.735752"/>
      <parameter id="H" type="float_3" value1="-300.398" value2="1234.09" value3="368.116"/>
      <parameter id="V" type="float_3" value1="-479.923" value2="-263.214" value3="1206.71"/>
      <parameter id="O" type="float_3" value1="0.585714" value2="0.334568" value3="0.738232"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="120" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="122" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805066067">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.034"/>
        <parameter id="Joint Elevation" value="44.0818"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="241.055"/>
      <parameter id="Joint Elevation" value="43.9925"/>
      <parameter id="Twist" value="-0.217462"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.675599" value2="0.753827" value3="-1.84549"/>
      <parameter id="A" type="float_3" value1="0.340292" value2="0.58616" value3="0.735256"/>
      <parameter id="H" type="float_3" value1="-877.307" value2="919.268" value3="366.079"/>
      <parameter id="V" type="float_3" value1="-285.206" value2="-466.195" value3="1207.1"/>
      <parameter id="O" type="float_3" value1="0.33944" value2="0.583528" value3="0.737739"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="122" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="124" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805066092">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.987"/>
        <parameter id="Joint Elevation" value="44.049"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.845"/>
      <parameter id="Joint Elevation" value="44.0659"/>
      <parameter id="Twist" value="0.0434837"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.596041" value2="0.664204" value3="-1.84571"/>
      <parameter id="A" type="float_3" value1="0.00401455" value2="0.679072" value3="0.73405"/>
      <parameter id="H" type="float_3" value1="-1218.2" value2="358.491" value3="369.059"/>
      <parameter id="V" type="float_3" value1="-10.4923" value2="-544.204" value3="1208.1"/>
      <parameter id="O" type="float_3" value1="0.00459854" value2="0.676371" value3="0.736536"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="124" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="126" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805066117">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.928"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.718"/>
      <parameter id="Joint Elevation" value="44.0139"/>
      <parameter id="Twist" value="0.197616"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571569" value2="0.546436" value3="-1.84564"/>
      <parameter id="A" type="float_3" value1="-0.334519" value2="0.590629" value3="0.734328"/>
      <parameter id="H" type="float_3" value1="-1233.61" value2="-298.112" value3="371.588"/>
      <parameter id="V" type="float_3" value1="265.198" value2="-475.869" value3="1207.88"/>
      <parameter id="O" type="float_3" value1="-0.332658" value2="0.588583" value3="0.736812"/>
      <parameter id="R" type="float_3" value1="1.32168e-05" value2="0.00184341" value3="-0.005837"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="126" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="130" index8="0" index9="0" index10="0" solution_id="mslopgs">
    <image frame_id="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_805066162">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="330.908"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.589"/>
      <parameter id="Joint Elevation" value="43.8943"/>
      <parameter id="Twist" value="0.266796"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.609083" value2="0.432115" value3="-1.84538"/>
      <parameter id="A" type="float_3" value1="-0.583018" value2="0.34514" value3="0.735494"/>
      <parameter id="H" type="float_3" value1="-919.691" value2="-873.673" value3="373.616"/>
      <parameter id="V" type="float_3" value1="469.727" value2="-279.983" value3="1206.96"/>
      <parameter id="O" type="float_3" value1="-0.580378" value2="0.344294" value3="0.737974"/>
      <parameter id="R" type="float_3" value1="1.3247e-05" value2="0.00184236" value3="-0.00583018"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="130" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="mslopgs">
      <parameter id="X" value="0.49523"/>
      <parameter id="Y" value="-0.111326"/>
      <parameter id="Z" value="-0.0426179"/>
      <parameter id="Normal_X" value="0.171225"/>
      <parameter id="Normal_Y" value="0.112395"/>
      <parameter id="Normal_Z" value="-0.926851"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="117" index2="1122" index3="6" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
