<?xml version="1.0" encoding="UTF-8"?>
<pointing_correction mission="MSL:MSL">
  <origination id="nar" 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_LEFT_B" solution_id="nar"/>
  <calibration calibration_id="7" frame_id="LEFT" instrument="NAV_LEFT_B" solution_id="nar"/>
  <priority>
    <entry solution_id="nar"/>
  </priority>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312163">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="18.8533"/>
        <parameter id="Joint Elevation" value="81.4941"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="18.7102"/>
      <parameter id="Joint Elevation" value="81.212"/>
      <parameter id="Twist" value="0.135928"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.627395" value2="0.728177" value3="-1.92025"/>
      <parameter id="A" type="float_3" value1="-0.941364" value2="-0.295271" value3="0.163194"/>
      <parameter id="H" type="float_3" value1="-110.386" value2="-1318.22" value3="85.5581"/>
      <parameter id="V" type="float_3" value1="-282.933" value2="-85.7189" value3="1290.42"/>
      <parameter id="O" type="float_3" value1="-0.941365" value2="-0.295268" value3="0.163195"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116956" value3="0.00639388"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312194">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="48.0222"/>
        <parameter id="Joint Elevation" value="78.7347"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="47.9489"/>
      <parameter id="Joint Elevation" value="78.4141"/>
      <parameter id="Twist" value="-0.0842675"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.567155" value2="0.61977" value3="-1.91451"/>
      <parameter id="A" type="float_3" value1="-0.670968" value2="-0.710694" value3="0.211421"/>
      <parameter id="H" type="float_3" value1="550.116" value2="-1201.4" value3="105.951"/>
      <parameter id="V" type="float_3" value1="-158.304" value2="-169.491" value3="1303.37"/>
      <parameter id="O" type="float_3" value1="-0.67097" value2="-0.710692" value3="0.211421"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116684" value3="0.0063942"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312225">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="78.3285"/>
        <parameter id="Joint Elevation" value="75.4838"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="78.3396"/>
      <parameter id="Joint Elevation" value="75.2085"/>
      <parameter id="Twist" value="-0.166596"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.569172" value2="0.491138" value3="-1.90784"/>
      <parameter id="A" type="float_3" value1="-0.216331" value2="-0.939323" value3="0.26619"/>
      <parameter id="H" type="float_3" value1="1083.65" value2="-751.924" value3="132.401"/>
      <parameter id="V" type="float_3" value1="-32.9043" value2="-154.625" value3="1314.37"/>
      <parameter id="O" type="float_3" value1="-0.216334" value2="-0.939322" value3="0.26619"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116684" value3="0.0063942"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312258">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="109.148"/>
        <parameter id="Joint Elevation" value="71.4289"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="109.151"/>
      <parameter id="Joint Elevation" value="71.2447"/>
      <parameter id="Twist" value="-0.203196"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.637299" value2="0.380407" value3="-1.89952"/>
      <parameter id="A" type="float_3" value1="0.288869" value2="-0.897697" value3="0.332684"/>
      <parameter id="H" type="float_3" value1="1312.72" value2="-81.1683" value3="165.492"/>
      <parameter id="V" type="float_3" value1="23.4621" value2="-61.9099" value3="1322.19"/>
      <parameter id="O" type="float_3" value1="0.288867" value2="-0.897697" value3="0.332685"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116412" value3="0.00639452"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312290">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="140.583"/>
        <parameter id="Joint Elevation" value="69.1044"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="140.682"/>
      <parameter id="Joint Elevation" value="69.0228"/>
      <parameter id="Twist" value="-0.222087"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.75533" value2="0.319631" value3="-1.89479"/>
      <parameter id="A" type="float_3" value1="0.705262" value2="-0.605078" value3="0.369416"/>
      <parameter id="H" type="float_3" value1="1156.32" value2="621.673" value3="183.468"/>
      <parameter id="V" type="float_3" value1="13.4696" value2="-6.12546" value3="1323.76"/>
      <parameter id="O" type="float_3" value1="0.705261" value2="-0.60508" value3="0.369417"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116412" value3="0.00639452"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312850">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="172.983"/>
        <parameter id="Joint Elevation" value="65.9853"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="173.048"/>
      <parameter id="Joint Elevation" value="65.9909"/>
      <parameter id="Twist" value="-0.0686325"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.890571" value2="0.330679" value3="-1.88839"/>
      <parameter id="A" type="float_3" value1="0.898915" value2="-0.130359" value3="0.418259"/>
      <parameter id="H" type="float_3" value1="632.263" value2="1145.88" value3="210.736"/>
      <parameter id="V" type="float_3" value1="-55.3339" value2="9.50245" value3="1322.65"/>
      <parameter id="O" type="float_3" value1="0.898915" value2="-0.130362" value3="0.41826"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116684" value3="0.0063942"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312875">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="204.629"/>
        <parameter id="Joint Elevation" value="67.1426"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="204.629"/>
      <parameter id="Joint Elevation" value="67.1426"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.997922" value2="0.409771" value3="-1.89066"/>
      <parameter id="A" type="float_3" value1="0.841546" value2="0.363185" value3="0.399851"/>
      <parameter id="H" type="float_3" value1="-58.2377" value2="1308.82" value3="202.06"/>
      <parameter id="V" type="float_3" value1="-27.3222" value2="-10.9911" value3="1323.51"/>
      <parameter id="O" type="float_3" value1="0.841546" value2="0.363182" value3="0.399852"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116412" value3="0.00639452"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312907">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="234.827"/>
        <parameter id="Joint Elevation" value="73.0819"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="234.789"/>
      <parameter id="Joint Elevation" value="73.0471"/>
      <parameter id="Twist" value="-0.0569364"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04749" value2="0.527973" value3="-1.90286"/>
      <parameter id="A" type="float_3" value1="0.566695" value2="0.766127" value3="0.303135"/>
      <parameter id="H" type="float_3" value1="-696.802" value2="1117.5" value3="151.266"/>
      <parameter id="V" type="float_3" value1="61.7652" value2="87.7673" value3="1319.48"/>
      <parameter id="O" type="float_3" value1="0.566696" value2="0.766125" value3="0.303135"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116412" value3="0.00639452"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312938">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="263.935"/>
        <parameter id="Joint Elevation" value="79.1564"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="263.822"/>
      <parameter id="Joint Elevation" value="79.1728"/>
      <parameter id="Twist" value="0.00304609"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03219" value2="0.649495" value3="-1.91562"/>
      <parameter id="A" type="float_3" value1="0.127211" value2="0.971646" value3="0.19926"/>
      <parameter id="H" type="float_3" value1="-1149.84" value2="652.071" value3="99.4978"/>
      <parameter id="V" type="float_3" value1="30.6786" value2="246.178" value3="1300.39"/>
      <parameter id="O" type="float_3" value1="0.127213" value2="0.971646" value3="0.199261"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011614" value3="0.00639484"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312961">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="292.549"/>
        <parameter id="Joint Elevation" value="83.916"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="292.461"/>
      <parameter id="Joint Elevation" value="83.9218"/>
      <parameter id="Twist" value="0.123076"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.961614" value2="0.746465" value3="-1.92551"/>
      <parameter id="A" type="float_3" value1="-0.35874" value2="0.926072" value3="0.116958"/>
      <parameter id="H" type="float_3" value1="-1323.95" value2="27.1312" value3="60.317"/>
      <parameter id="V" type="float_3" value1="-127.432" value2="331.891" value3="1275.21"/>
      <parameter id="O" type="float_3" value1="-0.358738" value2="0.926073" value3="0.116959"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011614" value3="0.00639484"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312992">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="321.26"/>
        <parameter id="Joint Elevation" value="86.1121"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="321.233"/>
      <parameter id="Joint Elevation" value="86.0565"/>
      <parameter id="Twist" value="0.198294"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.852818" value2="0.798465" value3="-1.92999"/>
      <parameter id="A" type="float_3" value1="-0.762988" value2="0.641494" value3="0.0794813"/>
      <parameter id="H" type="float_3" value1="-1174.94" value2="-612.27" value3="43.2501"/>
      <parameter id="V" type="float_3" value1="-306.743" value2="261.819" value3="1260.92"/>
      <parameter id="O" type="float_3" value1="-0.762987" value2="0.641496" value3="0.079482"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011614" value3="0.00639484"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575313023">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="350.055"/>
        <parameter id="Joint Elevation" value="85.2361"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="350.014"/>
      <parameter id="Joint Elevation" value="85.0621"/>
      <parameter id="Twist" value="0.198127"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.731373" value2="0.792268" value3="-1.92808"/>
      <parameter id="A" type="float_3" value1="-0.976101" value2="0.194648" value3="0.0965547"/>
      <parameter id="H" type="float_3" value1="-734.218" value2="-1102.46" value3="52.4614"/>
      <parameter id="V" type="float_3" value1="-373.532" value2="78.1161" value3="1267.64"/>
      <parameter id="O" type="float_3" value1="-0.9761" value2="0.19465" value3="0.0965554"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115868" value3="0.00639515"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="62" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312022">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.303"/>
        <parameter id="Joint Elevation" value="38.3905"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.483"/>
      <parameter id="Joint Elevation" value="38.4063"/>
      <parameter id="Twist" value="-0.220279"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.810341" value2="0.324736" value3="-1.83582"/>
      <parameter id="A" type="float_3" value1="0.56342" value2="-0.237531" value3="0.791277"/>
      <parameter id="H" type="float_3" value1="764.112" value2="1007.01" value3="399.049"/>
      <parameter id="V" type="float_3" value1="-608.729" value2="260.478" value3="1146.39"/>
      <parameter id="O" type="float_3" value1="0.563419" value2="-0.237533" value3="0.791278"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000117772" value3="0.00639293"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="2" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312054">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="188.025"/>
        <parameter id="Joint Elevation" value="38.3945"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="188.142"/>
      <parameter id="Joint Elevation" value="38.4485"/>
      <parameter id="Twist" value="-0.0553278"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.925751" value2="0.358412" value3="-1.83578"/>
      <parameter id="A" type="float_3" value1="0.607619" value2="0.0728503" value3="0.79087"/>
      <parameter id="H" type="float_3" value1="163.18" value2="1253.1" value3="400.392"/>
      <parameter id="V" type="float_3" value1="-656.779" value2="-77.7038" value3="1146.82"/>
      <parameter id="O" type="float_3" value1="0.607619" value2="0.0728479" value3="0.79087"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000117228" value3="0.00639357"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312686">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.172"/>
        <parameter id="Joint Elevation" value="44.0886"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.214"/>
      <parameter id="Joint Elevation" value="44.1062"/>
      <parameter id="Twist" value="-0.0219544"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00042" value2="0.425256" value3="-1.84556"/>
      <parameter id="A" type="float_3" value1="0.595382" value2="0.342866" value3="0.726599"/>
      <parameter id="H" type="float_3" value1="-308.539" value2="1235.65" value3="367.65"/>
      <parameter id="V" type="float_3" value1="-472.786" value2="-270.958" value3="1206.5"/>
      <parameter id="O" type="float_3" value1="0.595383" value2="0.342864" value3="0.7266"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000117228" value3="0.00639357"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312710">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.025"/>
        <parameter id="Joint Elevation" value="44.0791"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.955"/>
      <parameter id="Joint Elevation" value="44.0903"/>
      <parameter id="Twist" value="-0.00178553"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04116" value2="0.540134" value3="-1.84549"/>
      <parameter id="A" type="float_3" value1="0.346673" value2="0.593244" value3="0.726541"/>
      <parameter id="H" type="float_3" value1="-881.126" value2="919.665" value3="367.485"/>
      <parameter id="V" type="float_3" value1="-276.057" value2="-469.724" value3="1206.53"/>
      <parameter id="O" type="float_3" value1="0.346675" value2="0.593243" value3="0.726542"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116684" value3="0.0063942"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312734">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.977"/>
        <parameter id="Joint Elevation" value="44.0476"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.852"/>
      <parameter id="Joint Elevation" value="44.0505"/>
      <parameter id="Twist" value="0.0322707"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01927" value2="0.660651" value3="-1.84544"/>
      <parameter id="A" type="float_3" value1="0.00473304" value2="0.68695" value3="0.726677"/>
      <parameter id="H" type="float_3" value1="-1222.33" value2="357.474" value3="367.887"/>
      <parameter id="V" type="float_3" value1="-4.62251" value2="-545.056" value3="1206.42"/>
      <parameter id="O" type="float_3" value1="0.00473541" value2="0.68695" value3="0.726678"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116684" value3="0.0063942"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312758">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.79"/>
        <parameter id="Joint Elevation" value="44.0216"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.672"/>
      <parameter id="Joint Elevation" value="44.0117"/>
      <parameter id="Twist" value="0.0990759"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.940507" value2="0.754042" value3="-1.84545"/>
      <parameter id="A" type="float_3" value1="-0.337351" value2="0.598281" value3="0.7268"/>
      <parameter id="H" type="float_3" value1="-1237.67" value2="-298.621" value3="369.095"/>
      <parameter id="V" type="float_3" value1="268.519" value2="-474.6" value3="1206.32"/>
      <parameter id="O" type="float_3" value1="-0.337349" value2="0.598282" value3="0.7268"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116412" value3="0.00639452"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_575312797">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="331.04"/>
        <parameter id="Joint Elevation" value="43.9998"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="330.832"/>
      <parameter id="Joint Elevation" value="43.9414"/>
      <parameter id="Twist" value="0.134679"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.824373" value2="0.796021" value3="-1.84544"/>
      <parameter id="A" type="float_3" value1="-0.591595" value2="0.347715" value3="0.727388"/>
      <parameter id="H" type="float_3" value1="-919.272" value2="-880.337" value3="370.361"/>
      <parameter id="V" type="float_3" value1="472.112" value2="-274.933" value3="1205.85"/>
      <parameter id="O" type="float_3" value1="-0.591593" value2="0.347717" value3="0.727388"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000116412" value3="0.00639452"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="nar">
      <parameter id="X" value="0.172149"/>
      <parameter id="Y" value="0.384102"/>
      <parameter id="Z" value="0.00972421"/>
      <parameter id="Normal_X" value="0.194824"/>
      <parameter id="Normal_Y" value="-0.033873"/>
      <parameter id="Normal_Z" value="-0.926008"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="69" index2="0" index3="0" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
