<?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="1648" 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_576555346">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="200.214"/>
        <parameter id="Joint Elevation" value="77.9532"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="200.222"/>
      <parameter id="Joint Elevation" value="77.9635"/>
      <parameter id="Twist" value="-0.0800204"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.986597" value2="0.395578" value3="-1.91316"/>
      <parameter id="A" type="float_3" value1="0.922565" value2="0.316469" value3="0.220691"/>
      <parameter id="H" type="float_3" value1="71.1042" value2="1319.2" value3="109.497"/>
      <parameter id="V" type="float_3" value1="206.741" value2="73.5269" value3="1305.49"/>
      <parameter id="O" type="float_3" value1="0.922566" value2="0.316467" value3="0.220692"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112875" value3="0.00639865"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" 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_576555377">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="229.121"/>
        <parameter id="Joint Elevation" value="79.6646"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="229.159"/>
      <parameter id="Joint Elevation" value="79.7095"/>
      <parameter id="Twist" value="0.038431"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04296" value2="0.50393" value3="-1.91673"/>
      <parameter id="A" type="float_3" value1="0.658453" value2="0.728076" value3="0.190601"/>
      <parameter id="H" type="float_3" value1="-574.293" value2="1190.92" value3="96.1775"/>
      <parameter id="V" type="float_3" value1="173.66" value2="192.73" value3="1298.12"/>
      <parameter id="O" type="float_3" value1="0.658455" value2="0.728074" value3="0.190602"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112331" value3="0.00639928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="6" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" 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_576555408">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="258.523"/>
        <parameter id="Joint Elevation" value="79.9047"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="258.523"/>
      <parameter id="Joint Elevation" value="79.9047"/>
      <parameter id="Twist" value="0"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.03953" value2="0.627946" value3="-1.91713"/>
      <parameter id="A" type="float_3" value1="0.216971" value2="0.958127" value3="0.186813"/>
      <parameter id="H" type="float_3" value1="-1084.38" value2="756.845" value3="93.1629"/>
      <parameter id="V" type="float_3" value1="56.8509" value2="258.244" value3="1297.11"/>
      <parameter id="O" type="float_3" value1="0.216973" value2="0.958126" value3="0.186814"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112059" value3="0.0063996"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="8" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" 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_576555439">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="287.874"/>
        <parameter id="Joint Elevation" value="78.6058"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="287.783"/>
      <parameter id="Joint Elevation" value="78.5895"/>
      <parameter id="Twist" value="0.00509225"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.975985" value2="0.734296" value3="-1.91447"/>
      <parameter id="A" type="float_3" value1="-0.277783" value2="0.937664" value3="0.208819"/>
      <parameter id="H" type="float_3" value1="-1315.32" value2="128.084" value3="104.473"/>
      <parameter id="V" type="float_3" value1="-68.2059" value2="225.13" value3="1302.72"/>
      <parameter id="O" type="float_3" value1="-0.277781" value2="0.937665" value3="0.208819"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111787" value3="0.00639992"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="10" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" 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_576555470">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="317.211"/>
        <parameter id="Joint Elevation" value="76.1243"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="317.208"/>
      <parameter id="Joint Elevation" value="76.0855"/>
      <parameter id="Twist" value="0.189768"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.867763" value2="0.796163" value3="-1.90937"/>
      <parameter id="A" type="float_3" value1="-0.695435" value2="0.673342" value3="0.250924"/>
      <parameter id="H" type="float_3" value1="-1204.24" value2="-538.796" value3="130.012"/>
      <parameter id="V" type="float_3" value1="-126.366" value2="126.321" value3="1311.67"/>
      <parameter id="O" type="float_3" value1="-0.695434" value2="0.673344" value3="0.250925"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111515" value3="0.00640023"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="12" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555751">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="346.976"/>
        <parameter id="Joint Elevation" value="73.0601"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="347.086"/>
      <parameter id="Joint Elevation" value="72.9277"/>
      <parameter id="Twist" value="0.312191"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.741413" value2="0.796213" value3="-1.90292"/>
      <parameter id="A" type="float_3" value1="-0.923655" value2="0.233786" value3="0.303626"/>
      <parameter id="H" type="float_3" value1="-767.32" value2="-1069.15" value3="159.776"/>
      <parameter id="V" type="float_3" value1="-101.718" value2="32.0117" value3="1319.48"/>
      <parameter id="O" type="float_3" value1="-0.923654" value2="0.233788" value3="0.303627"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111515" value3="0.00640023"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="24" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555834">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="17.4947"/>
        <parameter id="Joint Elevation" value="70.2429"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="17.6507"/>
      <parameter id="Joint Elevation" value="69.9756"/>
      <parameter id="Twist" value="0.143353"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.630074" value2="0.731321" value3="-1.89689"/>
      <parameter id="A" type="float_3" value1="-0.898031" value2="-0.263452" value3="0.352303"/>
      <parameter id="H" type="float_3" value1="-109.724" value2="-1308.56" value3="181.661"/>
      <parameter id="V" type="float_3" value1="-37.7124" value2="-7.74064" value3="1323.23"/>
      <parameter id="O" type="float_3" value1="-0.898031" value2="-0.26345" value3="0.352304"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112059" value3="0.0063996"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="26" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555865">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="47.9049"/>
        <parameter id="Joint Elevation" value="68.445"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="48.0785"/>
      <parameter id="Joint Elevation" value="68.1321"/>
      <parameter id="Twist" value="-0.0251014"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.567282" value2="0.619578" value3="-1.89313"/>
      <parameter id="A" type="float_3" value1="-0.63289" value2="-0.673158" value3="0.382481"/>
      <parameter id="H" type="float_3" value1="571.294" value2="-1180.38" value3="194.185"/>
      <parameter id="V" type="float_3" value1="2.99356" value2="3.49136" value3="1323.78"/>
      <parameter id="O" type="float_3" value1="-0.632891" value2="-0.673157" value3="0.382482"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111787" value3="0.00639992"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="28" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555896">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="79.1799"/>
        <parameter id="Joint Elevation" value="68.2101"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="79.2918"/>
      <parameter id="Joint Elevation" value="67.8487"/>
      <parameter id="Twist" value="-0.00105341"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.570457" value2="0.48801" value3="-1.89254"/>
      <parameter id="A" type="float_3" value1="-0.192092" value2="-0.901631" value3="0.387486"/>
      <parameter id="H" type="float_3" value1="1100.51" value2="-712.225" value3="197.513"/>
      <parameter id="V" type="float_3" value1="1.41613" value2="11.7444" value3="1323.73"/>
      <parameter id="O" type="float_3" value1="-0.192094" value2="-0.90163" value3="0.387487"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111515" value3="0.00640023"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="30" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555927">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="110.249"/>
        <parameter id="Joint Elevation" value="69.584"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="110.28"/>
      <parameter id="Joint Elevation" value="69.2256"/>
      <parameter id="Twist" value="-0.276451"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.640728" value2="0.377429" value3="-1.89532"/>
      <parameter id="A" type="float_3" value1="0.30246" value2="-0.880199" value3="0.365719"/>
      <parameter id="H" type="float_3" value1="1312.3" value2="-50.2264" value3="180.931"/>
      <parameter id="V" type="float_3" value1="10.9148" value2="-16.6861" value3="1323.63"/>
      <parameter id="O" type="float_3" value1="0.302458" value2="-0.8802" value3="0.36572"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111515" value3="0.00640023"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="32" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555951">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="140.62"/>
        <parameter id="Joint Elevation" value="72.1732"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="140.679"/>
      <parameter id="Joint Elevation" value="71.9574"/>
      <parameter id="Twist" value="-0.33212"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.75563" value2="0.319332" value3="-1.90088"/>
      <parameter id="A" type="float_3" value1="0.718691" value2="-0.616601" value3="0.321355"/>
      <parameter id="H" type="float_3" value1="1163.69" value2="615.336" value3="156.805"/>
      <parameter id="V" type="float_3" value1="66.3431" value2="-48.3158" value3="1321.23"/>
      <parameter id="O" type="float_3" value1="0.71869" value2="-0.616602" value3="0.321356"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111242" value3="0.00640055"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="34" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555983">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="170.533"/>
        <parameter id="Joint Elevation" value="75.2305"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="170.593"/>
      <parameter id="Joint Elevation" value="75.1709"/>
      <parameter id="Twist" value="-0.195955"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.881987" value2="0.326931" value3="-1.90745"/>
      <parameter id="A" type="float_3" value1="0.946654" value2="-0.178925" value3="0.267983"/>
      <parameter id="H" type="float_3" value1="708.849" value2="1112.46" value3="131.8"/>
      <parameter id="V" type="float_3" value1="153.538" value2="-24.6778" value3="1314.61"/>
      <parameter id="O" type="float_3" value1="0.946654" value2="-0.178927" value3="0.267984"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111242" value3="0.00640055"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="36" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="8" index4="10" 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_576559412">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="158.294"/>
        <parameter id="Joint Elevation" value="38.3877"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="158.581"/>
      <parameter id="Joint Elevation" value="38.2563"/>
      <parameter id="Twist" value="-0.488133"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.810571" value2="0.324804" value3="-1.83557"/>
      <parameter id="A" type="float_3" value1="0.561916" value2="-0.23576" value3="0.792875"/>
      <parameter id="H" type="float_3" value1="765.632" value2="1006.92" value3="396.451"/>
      <parameter id="V" type="float_3" value1="-609.75" value2="265.876" value3="1144.57"/>
      <parameter id="O" type="float_3" value1="0.561914" value2="-0.235762" value3="0.792876"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000115324" value3="0.00639579"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="8" index4="10" index5="0" index6="0" index7="42" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" 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_576555622">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="211.034"/>
        <parameter id="Joint Elevation" value="44.0928"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="211.135"/>
      <parameter id="Joint Elevation" value="44.1213"/>
      <parameter id="Twist" value="-0.0679195"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.00026" value2="0.424972" value3="-1.84558"/>
      <parameter id="A" type="float_3" value1="0.59602" value2="0.342142" value3="0.726417"/>
      <parameter id="H" type="float_3" value1="-306.035" value2="1236.53" value3="367.012"/>
      <parameter id="V" type="float_3" value1="-473.462" value2="-269.352" value3="1206.53"/>
      <parameter id="O" type="float_3" value1="0.596021" value2="0.34214" value3="0.726418"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000112331" value3="0.00639928"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="16" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555654">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="240.87"/>
        <parameter id="Joint Elevation" value="44.0791"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="240.857"/>
      <parameter id="Joint Elevation" value="44.1292"/>
      <parameter id="Twist" value="-0.020761"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.04117" value2="0.539752" value3="-1.84555"/>
      <parameter id="A" type="float_3" value1="0.347938" value2="0.593075" value3="0.726075"/>
      <parameter id="H" type="float_3" value1="-879.215" value2="921.739" value3="367.099"/>
      <parameter id="V" type="float_3" value1="-276.849" value2="-468.433" value3="1206.79"/>
      <parameter id="O" type="float_3" value1="0.34794" value2="0.593073" value3="0.726075"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111787" value3="0.00639992"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="18" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555679">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="270.981"/>
        <parameter id="Joint Elevation" value="44.0531"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="270.866"/>
      <parameter id="Joint Elevation" value="44.0793"/>
      <parameter id="Twist" value="0.110198"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="1.01927" value2="0.660736" value3="-1.84549"/>
      <parameter id="A" type="float_3" value1="0.00457049" value2="0.687319" value3="0.72633"/>
      <parameter id="H" type="float_3" value1="-1222.42" value2="356.27" value3="368.984"/>
      <parameter id="V" type="float_3" value1="-2.82094" value2="-544.567" value3="1206.58"/>
      <parameter id="O" type="float_3" value1="0.00457259" value2="0.687318" value3="0.726331"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111787" value3="0.00639992"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="20" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <solution index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0" solution_id="nar">
    <image frame_id="LEFT" image_id="111" instrument="NAV_LEFT_B" unique_id="MSLNL_576555710">
      <original_parameters type="MSLmastCamera3dof">
        <parameter id="Joint Azimuth" value="300.925"/>
        <parameter id="Joint Elevation" value="44.0202"/>
        <parameter id="Twist" value="0"/>
      </original_parameters>
    </image>
    <pointing_parameters type="MSLmastCamera3dof">
      <parameter id="Joint Azimuth" value="300.813"/>
      <parameter id="Joint Elevation" value="44.0015"/>
      <parameter id="Twist" value="0.229434"/>
    </pointing_parameters>
    <camera_model type="CAHVOR">
      <parameter id="C" type="float_3" value1="0.940055" value2="0.754383" value3="-1.84543"/>
      <parameter id="A" type="float_3" value1="-0.338759" value2="0.59734" value3="0.726919"/>
      <parameter id="H" type="float_3" value1="-1235.94" value2="-303.386" value3="371.192"/>
      <parameter id="V" type="float_3" value1="272.265" value2="-472.83" value3="1206.11"/>
      <parameter id="O" type="float_3" value1="-0.338757" value2="0.59734" value3="0.72692"/>
      <parameter id="R" type="float_3" value1="0" value2="0.000111787" value3="0.00639992"/>
      <reference_frame name="ROVER_NAV_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="22" index8="0" index9="0" index10="0"/>
    </camera_model>
  </solution>
  <surface_model type="TiltedPlane" solution_id="nar">
      <parameter id="X" value="0.893206"/>
      <parameter id="Y" value="0.371866"/>
      <parameter id="Z" value="-0.0886661"/>
      <parameter id="Normal_X" value="0.112649"/>
      <parameter id="Normal_Y" value="-0.109263"/>
      <parameter id="Normal_Z" value="-0.865248"/>
      <reference_frame name="LOCAL_LEVEL_FRAME" index1="69" index2="1648" index3="6" index4="0" index5="0" index6="0" index7="4" index8="0" index9="0" index10="0"/>
  </surface_model>
</pointing_correction>
