<?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="1384" index3="6" 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_576112503">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="43.2208"/>
        <parameter id="Joint Elevation" value="70.6113"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="43.4741"/>
      <parameter id="Joint Elevation" value="70.8179"/>
      <parameter id="Twist" value="-0.0516676"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.572537" value2="0.638083" value3="-1.8987"/>
      <parameter id="A" type="float_3" value1="-0.697386" value2="-0.631593" value3="0.338714"/>
      <parameter id="H" type="float_3" value1="468.333" value2="-1228.24" value3="171.28"/>
      <parameter id="V" type="float_3" value1="-42.3886" value2="-39.0465" value3="1322.58"/>
      <parameter id="O" type="float_3" value1="-0.697387" value2="-0.631591" value3="0.338715"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115596" value3="0.00639547"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112534">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="73.4165"/>
        <parameter id="Joint Elevation" value="64.7706"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="73.6237"/>
      <parameter id="Joint Elevation" value="64.9645"/>
      <parameter id="Twist" value="0.317054"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.564819" value2="0.512272" value3="-1.8866"/>
      <parameter id="A" type="float_3" value1="-0.273987" value2="-0.858585" value3="0.433296"/>
      <parameter id="H" type="float_3" value1="1028.84" value2="-804.542" value3="226.831"/>
      <parameter id="V" type="float_3" value1="16.2259" value2="76.8303" value3="1321.5"/>
      <parameter id="O" type="float_3" value1="-0.273989" value2="-0.858584" value3="0.433297"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115324" value3="0.00639579"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112566">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="105.981"/>
        <parameter id="Joint Elevation" value="61.5592"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="106.105"/>
      <parameter id="Joint Elevation" value="61.5939"/>
      <parameter id="Twist" value="0.153064"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.627275" value2="0.39226" value3="-1.87965"/>
      <parameter id="A" type="float_3" value1="0.22291" value2="-0.84503" value3="0.486023"/>
      <parameter id="H" type="float_3" value1="1296.75" value2="-114.099" value3="250.397"/>
      <parameter id="V" type="float_3" value1="-44.2581" value2="150.116" value3="1314.54"/>
      <parameter id="O" type="float_3" value1="0.222908" value2="-0.84503" value3="0.486024"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115052" value3="0.00639611"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112598">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="138.92"/>
        <parameter id="Joint Elevation" value="61.9098"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="139.051"/>
      <parameter id="Joint Elevation" value="61.8862"/>
      <parameter id="Twist" value="-0.0837872"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.746783" value2="0.322684" value3="-1.88013"/>
      <parameter id="A" type="float_3" value1="0.648384" value2="-0.5893" value3="0.481983"/>
      <parameter id="H" type="float_3" value1="1152.97" value2="607.132" value3="243.554"/>
      <parameter id="V" type="float_3" value1="-110.62" value2="101.862" value3="1315.26"/>
      <parameter id="O" type="float_3" value1="0.648382" value2="-0.589301" value3="0.481984"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115052" value3="0.00639611"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="14" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576112623">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="170.963"/>
        <parameter id="Joint Elevation" value="65.7572"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="171.046"/>
      <parameter id="Joint Elevation" value="65.7417"/>
      <parameter id="Twist" value="-0.0497151"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.882451" value2="0.327814" value3="-1.88788"/>
      <parameter id="A" type="float_3" value1="0.892015" value2="-0.161371" value3="0.422199"/>
      <parameter id="H" type="float_3" value1="670.888" value2="1123.27" value3="213.18"/>
      <parameter id="V" type="float_3" value1="-60.7545" value2="12.0146" value3="1322.37"/>
      <parameter id="O" type="float_3" value1="0.892014" value2="-0.161373" value3="0.4222"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011478" value3="0.00639642"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576113025">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="201.592"/>
        <parameter id="Joint Elevation" value="71.8145"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="201.592"/>
      <parameter id="Joint Elevation" value="71.8145"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.990529" value2="0.400018" value3="-1.90035"/>
      <parameter id="A" type="float_3" value1="0.8873" value2="0.328298" value3="0.323886"/>
      <parameter id="H" type="float_3" value1="25.2642" value2="1315.25" value3="163.547"/>
      <parameter id="V" type="float_3" value1="73.2618" value2="27.8732" value3="1321.5"/>
      <parameter id="O" type="float_3" value1="0.8873" value2="0.328296" value3="0.323887"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011478" value3="0.00639642"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="48" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576113057">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="230.642"/>
        <parameter id="Joint Elevation" value="76.3506"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="230.652"/>
      <parameter id="Joint Elevation" value="76.3556"/>
      <parameter id="Twist" value="0.0352284"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04459" value2="0.510497" value3="-1.90975"/>
      <parameter id="A" type="float_3" value1="0.630877" value2="0.735275" value3="0.247687"/>
      <parameter id="H" type="float_3" value1="-609.431" value2="1170.57" value3="125.063"/>
      <parameter id="V" type="float_3" value1="118.843" value2="139.331" value3="1311.09"/>
      <parameter id="O" type="float_3" value1="0.630878" value2="0.735273" value3="0.247688"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000114507" value3="0.00639674"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="50" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576113081">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="259.629"/>
        <parameter id="Joint Elevation" value="79.7156"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="259.645"/>
      <parameter id="Joint Elevation" value="79.7331"/>
      <parameter id="Twist" value="0.0737163"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03814" value2="0.632569" value3="-1.91678"/>
      <parameter id="A" type="float_3" value1="0.198051" value2="0.961644" value3="0.189737"/>
      <parameter id="H" type="float_3" value1="-1099.13" value2="734.814" value3="96.1717"/>
      <parameter id="V" type="float_3" value1="52.5582" value2="255.283" value3="1297.91"/>
      <parameter id="O" type="float_3" value1="0.198053" value2="0.961643" value3="0.189738"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000114507" value3="0.00639674"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="52" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576113112">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="287.95"/>
        <parameter id="Joint Elevation" value="82.5724"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="287.881"/>
      <parameter id="Joint Elevation" value="82.5519"/>
      <parameter id="Twist" value="0.108294"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975931" value2="0.733742" value3="-1.92267"/>
      <parameter id="A" type="float_3" value1="-0.282778" value2="0.948795" value3="0.140741"/>
      <parameter id="H" type="float_3" value1="-1317.14" value2="131.319" value3="72.0536"/>
      <parameter id="V" type="float_3" value1="-92.0702" value2="311.453" value3="1283.36"/>
      <parameter id="O" type="float_3" value1="-0.282776" value2="0.948795" value3="0.140742"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000114507" value3="0.00639674"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="54" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576113143">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="316.17"/>
        <parameter id="Joint Elevation" value="82.2802"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="316.099"/>
      <parameter id="Joint Elevation" value="82.198"/>
      <parameter id="Twist" value="0.0653783"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.873066" value2="0.794148" value3="-1.92205"/>
      <parameter id="A" type="float_3" value1="-0.697183" value2="0.701766" value3="0.14644"/>
      <parameter id="H" type="float_3" value1="-1222.48" value2="-507.259" value3="74.3456"/>
      <parameter id="V" type="float_3" value1="-223.596" value2="225.233" value3="1285.21"/>
      <parameter id="O" type="float_3" value1="-0.697181" value2="0.701767" value3="0.14644"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000114235" value3="0.00639706"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="56" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576113174">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="344.706"/>
        <parameter id="Joint Elevation" value="80.8673"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="344.7"/>
      <parameter id="Joint Elevation" value="80.8108"/>
      <parameter id="Twist" value="-0.337659"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.751994" value2="0.798422" value3="-1.9193"/>
      <parameter id="A" type="float_3" value1="-0.944401" value2="0.281353" value3="0.170093"/>
      <parameter id="H" type="float_3" value1="-829.996" value2="-1030.66" value3="78.3854"/>
      <parameter id="V" type="float_3" value1="-276.846" value2="74.1736" value3="1292.42"/>
      <parameter id="O" type="float_3" value1="-0.9444" value2="0.281355" value3="0.170094"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000114235" value3="0.00639706"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="58" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576113264">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="13.9405"/>
        <parameter id="Joint Elevation" value="77.1602"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="14.1596"/>
      <parameter id="Joint Elevation" value="77.2839"/>
      <parameter id="Twist" value="-0.728636"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.640665" value2="0.741561" value3="-1.91209"/>
      <parameter id="A" type="float_3" value1="-0.948672" value2="-0.216638" value3="0.230375"/>
      <parameter id="H" type="float_3" value1="-212.056" value2="-1304.61" value3="101.588"/>
      <parameter id="V" type="float_3" value1="-197.826" value2="-61.2148" value3="1307.52"/>
      <parameter id="O" type="float_3" value1="-0.948672" value2="-0.216635" value3="0.230376"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000114235" value3="0.00639706"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="60" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112359">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.135"/>
        <parameter id="Joint Elevation" value="38.3918"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.263"/>
      <parameter id="Joint Elevation" value="38.3908"/>
      <parameter id="Twist" value="-0.123226"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.80942" value2="0.324712" value3="-1.83579"/>
      <parameter id="A" type="float_3" value1="0.562309" value2="-0.23961" value3="0.791441"/>
      <parameter id="H" type="float_3" value1="766.396" value2="1004.74" value3="400.46"/>
      <parameter id="V" type="float_3" value1="-608.861" value2="261.033" value3="1146.16"/>
      <parameter id="O" type="float_3" value1="0.562308" value2="-0.239612" value3="0.791441"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115868" value3="0.00639515"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112390">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="187.869"/>
        <parameter id="Joint Elevation" value="38.3891"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="187.987"/>
      <parameter id="Joint Elevation" value="38.4173"/>
      <parameter id="Twist" value="-0.0737627"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.925171" value2="0.358069" value3="-1.83572"/>
      <parameter id="A" type="float_3" value1="0.607387" value2="0.0711541" value3="0.791203"/>
      <parameter id="H" type="float_3" value1="166.701" value2="1252.66" value3="400.378"/>
      <parameter id="V" type="float_3" value1="-657.688" value2="-75.6166" value3="1146.41"/>
      <parameter id="O" type="float_3" value1="0.607387" value2="0.0711518" value3="0.791203"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115324" value3="0.00639579"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112903">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="210.963"/>
        <parameter id="Joint Elevation" value="43.9369"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.024"/>
      <parameter id="Joint Elevation" value="43.9542"/>
      <parameter id="Twist" value="-0.015943"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.999839" value2="0.42452" value3="-1.84528"/>
      <parameter id="A" type="float_3" value1="0.59484" value2="0.33993" value3="0.728421"/>
      <parameter id="H" type="float_3" value1="-305.338" value2="1236.15" value3="368.711"/>
      <parameter id="V" type="float_3" value1="-476.426" value2="-271.111" value3="1205.01"/>
      <parameter id="O" type="float_3" value1="0.59484" value2="0.339928" value3="0.728421"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115596" value3="0.00639547"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="40" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112934">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="241.022"/>
        <parameter id="Joint Elevation" value="44.0791"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.973"/>
      <parameter id="Joint Elevation" value="44.0999"/>
      <parameter id="Twist" value="0.0449102"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04118" value2="0.540216" value3="-1.8455"/>
      <parameter id="A" type="float_3" value1="0.346541" value2="0.593462" value3="0.726426"/>
      <parameter id="H" type="float_3" value1="-881.74" value2="918.839" value3="368.155"/>
      <parameter id="V" type="float_3" value1="-274.958" value2="-470.174" value3="1206.59"/>
      <parameter id="O" type="float_3" value1="0.346543" value2="0.593461" value3="0.726427"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115052" value3="0.00639611"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112958">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.957"/>
        <parameter id="Joint Elevation" value="44.0449"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.859"/>
      <parameter id="Joint Elevation" value="44.0428"/>
      <parameter id="Twist" value="0.0676363"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01927" value2="0.660668" value3="-1.84542"/>
      <parameter id="A" type="float_3" value1="0.00465749" value2="0.686855" value3="0.726768"/>
      <parameter id="H" type="float_3" value1="-1222.37" value2="356.787" value3="368.502"/>
      <parameter id="V" type="float_3" value1="-3.80801" value2="-545.264" value3="1206.31"/>
      <parameter id="O" type="float_3" value1="0.00465976" value2="0.686854" value3="0.726769"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011478" value3="0.00639642"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="44" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1384" index3="6" 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_576112982">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.929"/>
        <parameter id="Joint Elevation" value="44.0189"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.836"/>
      <parameter id="Joint Elevation" value="43.9707"/>
      <parameter id="Twist" value="0.140196"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.939979" value2="0.754398" value3="-1.84537"/>
      <parameter id="A" type="float_3" value1="-0.338803" value2="0.596863" value3="0.727289"/>
      <parameter id="H" type="float_3" value1="-1236.38" value2="-302.91" value3="369.991"/>
      <parameter id="V" type="float_3" value1="271.084" value2="-474.175" value3="1205.89"/>
      <parameter id="O" type="float_3" value1="-0.338801" value2="0.596864" value3="0.72729"/>
      <parameter id="R" type="float_3" value1="0" value2="0.00011478" value3="0.00639642"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="46" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="nar">
      <parameter id="X" value="-0.0918323"/>
      <parameter id="Y" value="0.0200102"/>
      <parameter id="Z" value="-0.0423301"/>
      <parameter id="Normal_X" value="0.164175"/>
      <parameter id="Normal_Y" value="-0.135104"/>
      <parameter id="Normal_Z" value="-0.958265"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="69" index2="1384" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
