<?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_RIGHT_B" solution_id="nar"/>
  <calibration calibration_id="7" frame_id="RIGHT" instrument="NAV_RIGHT_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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="43.5264"/>
      <parameter id="Joint Elevation" value="70.9803"/>
      <parameter id="Twist" value="-0.0618261"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.856803" value2="0.324227" value3="-1.89882"/>
      <parameter id="A" type="float_3" value1="-0.694217" value2="-0.630877" value3="0.346469"/>
      <parameter id="H" type="float_3" value1="465.66" value2="-1225.75" value3="170.08"/>
      <parameter id="V" type="float_3" value1="-42.0939" value2="-47.2984" value3="1323.73"/>
      <parameter id="O" type="float_3" value1="-0.693635" value2="-0.629551" value3="0.350029"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="73.7361"/>
      <parameter id="Joint Elevation" value="64.988"/>
      <parameter id="Twist" value="0.548939"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.968453" value2="0.383831" value3="-1.88626"/>
      <parameter id="A" type="float_3" value1="-0.270189" value2="-0.854882" value3="0.442897"/>
      <parameter id="H" type="float_3" value1="1026.95" value2="-800.014" value3="231.452"/>
      <parameter id="V" type="float_3" value1="16.5564" value2="74.6336" value3="1323.04"/>
      <parameter id="O" type="float_3" value1="-0.270283" value2="-0.853085" value3="0.446293"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="106.273"/>
      <parameter id="Joint Elevation" value="61.5155"/>
      <parameter id="Twist" value="0.207135"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03679" value2="0.500941" value3="-1.87907"/>
      <parameter id="A" type="float_3" value1="0.224505" value2="-0.83827" value3="0.496875"/>
      <parameter id="H" type="float_3" value1="1293.11" value2="-111.193" value3="252.451"/>
      <parameter id="V" type="float_3" value1="-40.0772" value2="151.692" value3="1315.93"/>
      <parameter id="O" type="float_3" value1="0.223428" value2="-0.8366" value3="0.500164"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="139.092"/>
      <parameter id="Joint Elevation" value="61.818"/>
      <parameter id="Twist" value="-0.0310992"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03151" value2="0.636096" value3="-1.87969"/>
      <parameter id="A" type="float_3" value1="0.644867" value2="-0.58427" value3="0.492706"/>
      <parameter id="H" type="float_3" value1="1149.75" value2="604.98" value3="245.546"/>
      <parameter id="V" type="float_3" value1="-107.539" value2="105.555" value3="1316.65"/>
      <parameter id="O" type="float_3" value1="0.643077" value2="-0.583447" value3="0.496009"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="171.079"/>
      <parameter id="Joint Elevation" value="65.674"/>
      <parameter id="Twist" value="-0.0452979"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.9579" value2="0.744457" value3="-1.88769"/>
      <parameter id="A" type="float_3" value1="0.887074" value2="-0.159196" value3="0.433289"/>
      <parameter id="H" type="float_3" value1="670.012" value2="1119.56" value3="214.231"/>
      <parameter id="V" type="float_3" value1="-59.7874" value2="17.8442" value3="1323.78"/>
      <parameter id="O" type="float_3" value1="0.885343" value2="-0.159483" value3="0.436711"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="201.573"/>
      <parameter id="Joint Elevation" value="71.7243"/>
      <parameter id="Twist" value="-0.0346787"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.843981" value2="0.797151" value3="-1.90038"/>
      <parameter id="A" type="float_3" value1="0.883227" value2="0.32727" value3="0.335839"/>
      <parameter id="H" type="float_3" value1="27.8765" value2="1311.71" value3="163.947"/>
      <parameter id="V" type="float_3" value1="70.4813" value2="34.0475" value3="1322.93"/>
      <parameter id="O" type="float_3" value1="0.882229" value2="0.326274" value3="0.339411"/>
      <parameter id="R" type="float_3" value1="1.47851e-05" value2="0.00178852" value3="-0.00548256"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="230.598"/>
      <parameter id="Joint Elevation" value="76.2921"/>
      <parameter id="Twist" value="-0.014737"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.723735" value2="0.786509" value3="-1.91005"/>
      <parameter id="A" type="float_3" value1="0.628984" value2="0.732824" value3="0.259484"/>
      <parameter id="H" type="float_3" value1="-604.596" value2="1169.23" value3="124.843"/>
      <parameter id="V" type="float_3" value1="113.764" value2="144.063" value3="1312.47"/>
      <parameter id="O" type="float_3" value1="0.628783" value2="0.731688" value3="0.26315"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="259.563"/>
      <parameter id="Joint Elevation" value="79.6639"/>
      <parameter id="Twist" value="0.00960359"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.623785" value2="0.718562" value3="-1.91719"/>
      <parameter id="A" type="float_3" value1="0.198192" value2="0.959157" value3="0.201794"/>
      <parameter id="H" type="float_3" value1="-1093.89" value2="736.537" value3="95.6448"/>
      <parameter id="V" type="float_3" value1="45.7088" value2="256.938" value3="1299.3"/>
      <parameter id="O" type="float_3" value1="0.198611" value2="0.95828" value3="0.205513"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="287.807"/>
      <parameter id="Joint Elevation" value="82.4853"/>
      <parameter id="Twist" value="0.0233374"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.570192" value2="0.613433" value3="-1.92311"/>
      <parameter id="A" type="float_3" value1="-0.281776" value2="0.947217" value3="0.152859"/>
      <parameter id="H" type="float_3" value1="-1313.36" value2="135.152" value3="71.0101"/>
      <parameter id="V" type="float_3" value1="-99.3113" value2="309.683" value3="1284.73"/>
      <parameter id="O" type="float_3" value1="-0.281044" value2="0.946821" value3="0.156614"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="316.059"/>
      <parameter id="Joint Elevation" value="82.1575"/>
      <parameter id="Twist" value="-0.0175669"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.572472" value2="0.496149" value3="-1.92242"/>
      <parameter id="A" type="float_3" value1="-0.695966" value2="0.700442" value3="0.158097"/>
      <parameter id="H" type="float_3" value1="-1220.68" value2="-502.792" value3="73.1209"/>
      <parameter id="V" type="float_3" value1="-229.664" value2="220.565" value3="1286.43"/>
      <parameter id="O" type="float_3" value1="-0.695121" value2="0.700424" value3="0.161851"/>
      <parameter id="R" type="float_3" value1="1.48756e-05" value2="0.00178535" value3="-0.00546211"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="344.726"/>
      <parameter id="Joint Elevation" value="80.8193"/>
      <parameter id="Twist" value="-0.650923"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.630938" value2="0.392686" value3="-1.91959"/>
      <parameter id="A" type="float_3" value1="-0.942902" value2="0.279654" value3="0.180864"/>
      <parameter id="H" type="float_3" value1="-830.369" value2="-1026.41" value3="71.9809"/>
      <parameter id="V" type="float_3" value1="-282.458" value2="62.4735" value3="1293.29"/>
      <parameter id="O" type="float_3" value1="-0.94208" value2="0.27998" value3="0.184609"/>
      <parameter id="R" type="float_3" value1="1.48756e-05" value2="0.00178535" value3="-0.00546211"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="14.2975"/>
      <parameter id="Joint Elevation" value="77.417"/>
      <parameter id="Twist" value="-0.975048"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.735258" value2="0.328615" value3="-1.91239"/>
      <parameter id="A" type="float_3" value1="-0.945976" value2="-0.219183" value3="0.238897"/>
      <parameter id="H" type="float_3" value1="-212.283" value2="-1301.54" value3="95.6752"/>
      <parameter id="V" type="float_3" value1="-199.861" value2="-73.7144" value3="1308.02"/>
      <parameter id="O" type="float_3" value1="-0.945201" value2="-0.218462" value3="0.242595"/>
      <parameter id="R" type="float_3" value1="1.48455e-05" value2="0.00178641" value3="-0.00546893"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="158.232"/>
      <parameter id="Joint Elevation" value="38.359"/>
      <parameter id="Twist" value="-0.0769136"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975293" value2="0.714146" value3="-1.83535"/>
      <parameter id="A" type="float_3" value1="0.553956" value2="-0.235606" value3="0.798502"/>
      <parameter id="H" type="float_3" value1="764.919" value2="1000.76" value3="402.037"/>
      <parameter id="V" type="float_3" value1="-606.776" value2="266.013" value3="1147.74"/>
      <parameter id="O" type="float_3" value1="0.550934" value2="-0.23496" value3="0.80078"/>
      <parameter id="R" type="float_3" value1="1.4755e-05" value2="0.00178958" value3="-0.00548938"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="187.94"/>
      <parameter id="Joint Elevation" value="38.3827"/>
      <parameter id="Twist" value="-0.0242833"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.876188" value2="0.778493" value3="-1.83549"/>
      <parameter id="A" type="float_3" value1="0.598129" value2="0.0703203" value3="0.798298"/>
      <parameter id="H" type="float_3" value1="167.646" value2="1248.42" value3="401.971"/>
      <parameter id="V" type="float_3" value1="-658.399" value2="-70.1401" value3="1147.98"/>
      <parameter id="O" type="float_3" value1="0.595182" value2="0.0693817" value3="0.80058"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="210.963"/>
      <parameter id="Joint Elevation" value="43.9369"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.790338" value2="0.792262" value3="-1.84529"/>
      <parameter id="A" type="float_3" value1="0.587586" value2="0.335816" value3="0.736175"/>
      <parameter id="H" type="float_3" value1="-301.783" value2="1233.06" value3="369.771"/>
      <parameter id="V" type="float_3" value1="-479.166" value2="-265.438" value3="1206.73"/>
      <parameter id="O" type="float_3" value1="0.585449" value2="0.333917" value3="0.738737"/>
      <parameter id="R" type="float_3" value1="1.4755e-05" value2="0.00178958" value3="-0.00548938"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="240.886"/>
      <parameter id="Joint Elevation" value="44.062"/>
      <parameter id="Twist" value="0.0676447"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.676136" value2="0.754305" value3="-1.84563"/>
      <parameter id="A" type="float_3" value1="0.342457" value2="0.585909" value3="0.73445"/>
      <parameter id="H" type="float_3" value1="-876.834" value2="918.119" value3="369.404"/>
      <parameter id="V" type="float_3" value1="-280.469" value2="-466.93" value3="1208.13"/>
      <parameter id="O" type="float_3" value1="0.341558" value2="0.583201" value3="0.73702"/>
      <parameter id="R" type="float_3" value1="1.47851e-05" value2="0.00178852" value3="-0.00548256"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="270.76"/>
      <parameter id="Joint Elevation" value="43.9795"/>
      <parameter id="Twist" value="0.11559"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.596113" value2="0.664416" value3="-1.84556"/>
      <parameter id="A" type="float_3" value1="0.00500971" value2="0.677939" value3="0.735089"/>
      <parameter id="H" type="float_3" value1="-1217.7" value2="358.275" value3="370.25"/>
      <parameter id="V" type="float_3" value1="-9.78236" value2="-545.728" value3="1207.63"/>
      <parameter id="O" type="float_3" value1="0.00558162" value2="0.675139" value3="0.737658"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <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="RIGHT" image_id="111" instrument="NAV_RIGHT_B" unique_id="MSLNR_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="300.749"/>
      <parameter id="Joint Elevation" value="43.8956"/>
      <parameter id="Twist" value="0.184141"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.571568" value2="0.546152" value3="-1.84543"/>
      <parameter id="A" type="float_3" value1="-0.334094" value2="0.589108" value3="0.735743"/>
      <parameter id="H" type="float_3" value1="-1233" value2="-299.575" value3="371.732"/>
      <parameter id="V" type="float_3" value1="266.287" value2="-477.773" value3="1207.1"/>
      <parameter id="O" type="float_3" value1="-0.332193" value2="0.586968" value3="0.738308"/>
      <parameter id="R" type="float_3" value1="1.48153e-05" value2="0.00178746" value3="-0.00547574"/>
      <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="-0.291558"/>
      <parameter id="Y" value="0.276765"/>
      <parameter id="Z" value="-0.0576932"/>
      <parameter id="Normal_X" value="0.152899"/>
      <parameter id="Normal_Y" value="-0.0892506"/>
      <parameter id="Normal_Z" value="-0.788567"/>
      <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>
