/SLAM-Hive/slam_hive_results/mapping_results/2796/2008_VINS-Fusion-stereo+MH_01_easy_pinhole-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/e5e04396-3d40-11ef-b566-0242ac110005/roslaunch-165e320b26db-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[0m[ INFO] [1720453441.683868831]: init begins[0m
[31m[ERROR] [1720453441.686223215]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720453441.686247277]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://165e320b26db:42849/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1720453442.999926126]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720453443.000782102]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720453443.009638991]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720453443.009874291]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720453443.009898986]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720453443.012627052]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1720453443.015105349]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720453443.015313118]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://165e320b26db:11311/[0m
]2;roscore http://165e320b26db:11311/
[1msetting /run_id to e5e04396-3d40-11ef-b566-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720453451.421145461]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316816872.72 
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0708 15:44:12.996726   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1589     0.256166 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:12.996852   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:13.099390   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1589     0.256166 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.099460   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:13.209867   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1513     0.265343 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.209985   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:13.297065   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1513     0.265343 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.297129   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:13.395169   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1513     0.265343 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.395220   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:13.515185   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1513     0.265343 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.515285   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:13.600427   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1513     0.265343 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.600528   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:13.705550   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1513     0.265343 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.705638   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:13.774698   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1513     0.265343 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.774755   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
[0m[ INFO] [1720453453.842471535]: Initialization finish![0m
time: 1403636580.813555, t: 0.006218 -0.002131 0.002503 q: 0.995697 -0.013072 -0.083464 -0.038086 
W0708 15:44:13.850064   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1513     0.265343 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:13.850134   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636580.913555, t: 0.005405 -0.002065 0.000234 q: 0.997727 -0.019156 -0.054652 -0.034459 
W0708 15:44:13.904976   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 13 parameter blocks x 73 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:              nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 

Parameter Block 0, size: 7

   0.0054604 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
 -0.00190509 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
  0.00160901 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
  -0.0127533 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
  -0.0655786 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
  -0.0341081 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
    0.997183 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 1, size: 7

  0.00325669 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
-0.000990311 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
  0.00154276 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
 -0.00810328 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
  -0.0548488 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
  -0.0180822 |          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan          nan          nan          nan          nan          nan          nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
    0.998298 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 2, size: 7

  0.00179344 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
-0.000492652 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0010485 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00489335 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0367807 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00892248 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.999272 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not ComputW0708 15:44:13.995302   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 12 parameter blocks x 67 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 

Parameter Block 0, size: 7

  0.00879054 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00317841 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  0.00425354 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0174435 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
   -0.122376 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0550906 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
      0.9908 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 1, size: 7

  0.00753668 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00250213 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  0.00504732 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0124045 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
   -0.128477 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0450281 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    0.990612 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 2, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 3, size: 7

  0.00737962 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00273322 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  0.00197901 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0166191 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    -0.07969 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0477143 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    0.995538 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 4, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 5, size: 7

  0.00685769 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00225177 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  0.00422103 |         -nan         -nan      
E0708 15:44:13.995615   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636581.113555, t: 0.005378 -0.002388 -0.001818 q: 0.998938 -0.018924 -0.012105 -0.040232 
W0708 15:44:14.099586   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 11 parameter blocks x 61 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:              nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan         -nan 

Parameter Block 0, size: 7

  0.00621826 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00213138 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00250283 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0130722 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0834642 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
   -0.038086 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan         -nan 
    0.995697 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 1, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 2, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 3, size: 7

  0.00685769 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00225177 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00422103 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0109996 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    -0.11076 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0409824 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    0.992941 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 4, size: 7

  0.00737962 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00273322 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00197901 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0166191 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    -0.07969 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0477143 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    0.995538 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 5, size: 7

  0.00875726 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00329341 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00293534 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0179717 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan         W0708 15:44:14.198328   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  0.00619691 |  5.61501e+06      -466870 
 -0.00258401 |  3.93344e+06     -5441.93 
-0.000872557 |  6.13475e+07      -580688 
   -0.021406 |  -4.0022e+06      35880.2 
  -0.0372135 |  1.45506e+06     -17835.8 
  -0.0429306 |       604539     -32660.3 
    0.998155 |            0            0 

Parameter Block 1, size: 7

  0.00289117 | -5.61501e+06       466870 
 -0.00176716 | -3.93344e+06      5441.93 
 -0.00387754 | -6.13475e+07       580688 
   -0.017551 |  4.05228e+06     -40110.9 
   0.0350263 |  -1.3906e+06      18528.4 
   -0.028837 |     -29913.2      27508.1 
    0.998816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     601.243 |     -161.901      1.17633 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:14.198400   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636581.313555, t: 0.002891 -0.001767 -0.003878 q: 0.998816 -0.017551 0.035026 -0.028837 
W0708 15:44:14.307349   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 9 parameter blocks x 49 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:              nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan         -nan 

Parameter Block 0, size: 7

  0.00879054 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00317841 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00425354 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0174435 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
   -0.122376 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0550906 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan         -nan 
      0.9908 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 1, size: 7

  0.00621826 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00213138 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00250283 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0130722 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0834642 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
   -0.038086 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    0.995697 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 2, size: 7

  0.00540474 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00206523 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 0.000234305 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0191562 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0546524 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0344594 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    0.997727 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 4, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 5, size: 7

  0.00753668 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00250213 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00504732 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0124045 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
   -0.128477 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0450281 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    0.990612 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 6, size: 7

  0.00875726 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00329341 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00293534 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0179717 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0988413 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  NotW0708 15:44:14.398393   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 8 parameter blocks x 43 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 

Parameter Block 0, size: 7

  0.00540474 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00206523 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 0.000234305 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0191562 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0546524 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0344594 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 
    0.997727 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 1, size: 7

  0.00621826 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00213138 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  0.00250283 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0130722 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0834642 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
   -0.038086 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    0.995697 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 2, size: 7

  -0.0198436 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 4, size: 7

  0.00879054 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00317841 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00425354 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0174435 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.122376 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0550906 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
      0.9908 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 5, size: 7

  0.00753668 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00250213 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  0.00504732 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0124045 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
   -0.128477 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0450281 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    0.990612 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 6, size: 7

  0.00685769 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00225177 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  0.00422103 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0109996 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    -0.11076 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0409824 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    0.992941 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 7, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  N
E0708 15:44:14.398634   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636581.513556, t: 0.004295 -0.002481 -0.004532 q: 0.998461 -0.024027 0.030708 -0.039428 
W0708 15:44:14.499521   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 7 parameter blocks x 37 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:              nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan         -nan 

Parameter Block 0, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 1, size: 7

  0.00621826 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00213138 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00250283 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0130722 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0834642 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
   -0.038086 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    0.995697 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 3, size: 7

  0.00685769 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00225177 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  0.00422103 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0109996 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    -0.11076 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0409824 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    0.992941 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 4, size: 7

  0.00753668 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00250213 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00504732 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0124045 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.128477 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0450281 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.990612 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 5, size: 7

  -0.0198436 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 6, size: 7

  0.00540474 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nW0708 15:44:14.603691   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 31 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 1, size: 7

  0.00540474 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00206523 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 0.000234305 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0191562 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0546524 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0344594 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    0.997727 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 2, size: 7

  0.00621826 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
 -0.00213138 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  0.00250283 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0130722 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
  -0.0834642 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
   -0.038086 |         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan 
    0.995697 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 4, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 5, size: 7

  0.00685769 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00225177 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00422103 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0109996 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    -0.11076 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0409824 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.992941 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  


E0708 15:44:14.603819   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636581.713556, t: 0.005197 -0.002545 -0.003040 q: 0.998867 -0.024900 -0.002646 -0.040469 
W0708 15:44:14.704046   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 5 parameter blocks x 25 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:              nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan         -nan 

Parameter Block 0, size: 7

  -0.0198436 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 1, size: 7

  0.00621826 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00213138 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00250283 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0130722 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0834642 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.038086 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.995697 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 2, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 4, size: 7

  0.00540474 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 -0.00206523 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
 0.000234305 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0191562 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0546524 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
  -0.0344594 |          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan 
    0.997727 |            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0            0 


E0708 15:44:14.704151   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636581.813555, t: 0.006257 -0.002793 -0.001878 q: 0.998471 -0.022805 -0.020290 -0.046095 
W0708 15:44:14.803542   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 19 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan         -nan          nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 1, size: 7

  0.00540474 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00206523 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 0.000234305 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0191562 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0546524 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  -0.0344594 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.997727 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 2, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  


time: 1403636581.913555, t: 0.006688 -0.002834 -0.000984 q: 0.997919 -0.022795 -0.037871 -0.046943 
W0708 15:44:14.896704   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 3 parameter blocks x 13 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:              nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan          nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 1, size: 1

           0 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  

Parameter Block 2, size: 7

  -0.0198436 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  Not Computed  


unstable tracking...
time: 1403636582.013556, t: 0.007746 -0.003268 -0.000531 q: 0.996140 -0.030369 -0.064265 -0.051502 
unstable tracking...
time: 1403636582.113555, t: 0.010310 -0.002541 0.002582 q: 0.995727 -0.027983 -0.071798 -0.050895 
time: 1403636582.213556, t: 0.013917 -0.007191 -0.000952 q: 0.987464 -0.041347 -0.112895 -0.102272 
time: 1403636582.313555, t: 0.003752 0.008523 0.072991 q: 0.991714 -0.034074 -0.092987 -0.081828 
time: 1403636582.413555, t: 0.005470 0.006945 0.067925 q: 0.994615 -0.026269 -0.051563 -0.085979 
time: 1403636582.513556, t: 0.010840 0.029009 0.252024 q: 0.985472 -0.081012 -0.042185 -0.143186 
time: 1403636582.613555, t: -0.105247 0.224453 0.746701 q: 0.872357 -0.226119 -0.058603 -0.429453 
time: 1403636582.713556, t: -0.024980 0.174528 0.691885 q: 0.885742 -0.168986 -0.091910 -0.422443 
W0708 15:44:15.697862   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0522898 |     -1469.08      1418.86 
   0.0978143 |     -297.776     -1519.89 
    0.554125 |      2717.85      876.233 
   -0.163847 |     -141.232     -12.8351 
  -0.0552474 |      48.2772      30.2516 
   -0.296184 |      7.24462      154.169 
    0.939349 |            0            0 

Parameter Block 1, size: 7

  -0.0239929 |      1469.08     -1418.86 
    0.162624 |      297.776      1519.89 
    0.664352 |     -2717.85     -876.233 
   -0.207723 |      478.083      30.6789 
  -0.0492551 |     -4.34253      282.234 
   -0.427729 |     -6.71486     -204.681 
    0.878335 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     833.672 |  -0.00546232 -0.000553147 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:15.697906   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636582.813555, t: -0.023993 0.162624 0.664352 q: 0.878335 -0.207723 -0.049255 -0.427729 
unstable tracking...
time: 1403636582.913555, t: -0.023886 0.164302 0.665479 q: 0.883641 -0.201862 -0.058385 -0.418355 
unstable tracking...
time: 1403636583.013556, t: -0.039427 0.161171 0.671075 q: 0.881990 -0.178345 -0.022935 -0.435615 
unstable tracking...
time: 1403636583.113555, t: -0.033989 0.153108 0.656322 q: 0.878624 -0.179984 -0.023667 -0.441662 
W0708 15:44:16.099301   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0337682 |      61.9649     -42.7007 
    0.164773 |      53.7509      40.1775 
    0.675411 |      37.5869     -42.6979 
   -0.186422 |     -601.119      116.375 
  -0.0442541 |      171.686     -406.918 
   -0.435474 |      -123.17     -288.459 
    0.879574 |            0            0 

Parameter Block 1, size: 7

   -0.037725 |     -61.9649      42.7007 
    0.156452 |     -53.7509     -40.1775 
     0.66746 |     -37.5869      42.6979 
   -0.183377 |      598.444     -142.275 
  -0.0184192 |      -159.11       398.18 
   -0.452225 |      152.078      289.703 
    0.872655 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.8184    -0.602972 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:16.099342   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636583.213556, t: -0.037725 0.156452 0.667460 q: 0.872655 -0.183377 -0.018419 -0.452225 
W0708 15:44:16.200443   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0394272 |      55.6303     -40.4385 
    0.161171 |      46.8039      37.5804 
    0.671075 |      20.7875      -41.353 
   -0.178345 |     -454.244      89.1642 
  -0.0229347 |      124.785     -396.246 
   -0.435615 |     -157.606     -200.925 
     0.88199 |            0            0 

Parameter Block 1, size: 7

  -0.0375417 |     -55.6303      40.4385 
    0.156855 |     -46.8039     -37.5804 
    0.668415 |     -20.7875       41.353 
   -0.186253 |      460.765     -98.6911 
  -0.0304719 |     -111.786      391.311 
   -0.448556 |      149.254      206.742 
    0.873601 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.6773     0.249471 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:16.200513   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636583.313555, t: -0.037542 0.156855 0.668415 q: 0.873601 -0.186253 -0.030472 -0.448556 
unstable tracking...
time: 1403636583.413555, t: -0.037422 0.157263 0.669051 q: 0.874511 -0.189573 -0.040780 -0.444556 
unstable tracking...
time: 1403636583.513556, t: -0.032088 0.146951 0.661628 q: 0.874228 -0.188642 -0.053405 -0.444170 
unstable tracking...
time: 1403636583.613555, t: -0.056966 0.091217 0.594305 q: 0.864151 -0.200015 -0.074353 -0.455750 
W0708 15:44:16.594569   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1602     0.261107 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:16.594638   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636583.713556, t: -0.017244 0.094464 0.594874 q: 0.844409 -0.221160 -0.134862 -0.468907 
W0708 15:44:16.693564   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |      -34.155     0.262391 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:16.693614   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636583.813555, t: -0.016648 0.093474 0.597463 q: 0.834066 -0.231173 -0.164565 -0.473087 
unstable tracking...
time: 1403636583.913555, t: 0.000571 0.087439 0.589278 q: 0.831226 -0.233124 -0.175708 -0.473121 
unstable tracking...
time: 1403636584.013556, t: -0.001205 0.115161 0.633743 q: 0.826983 -0.240455 -0.159911 -0.482399 
unstable tracking...
time: 1403636584.113555, t: 0.032600 0.220711 0.788261 q: 0.807682 -0.245475 -0.141949 -0.516955 
unstable tracking...
time: 1403636584.213556, t: -0.070447 0.065765 0.654589 q: 0.848572 -0.221757 -0.132816 -0.461637 
unstable tracking...
time: 1403636584.313555, t: -0.151338 0.620540 1.558928 q: 0.875409 -0.210936 -0.159233 -0.404735 
unstable tracking...
time: 1403636584.413555, t: -0.259904 0.987760 1.657808 q: 0.802010 -0.121865 0.044597 -0.583044 
unstable tracking...
time: 1403636584.513556, t: -0.176764 0.806125 1.628534 q: 0.858869 -0.174178 -0.128097 -0.464325 
W0708 15:44:17.504004   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

   -0.213849 |       2031.6     -974.575 
    0.822518 |      1747.07      1869.41 
     1.74269 |      1987.93     -418.231 
   -0.210168 |     -183.398     -43.8124 
    -0.14491 |        62.49     -9.04768 
   -0.433751 |      9.00241     -140.056 
    0.864112 |            0            0 

Parameter Block 1, size: 7

   -0.172389 |      -2031.6      974.575 
     0.80275 |     -1747.07     -1869.41 
     1.59307 |     -1987.93      418.231 
   -0.152015 |      647.611      31.3883 
  -0.0791095 |     -30.1804      329.998 
   -0.508051 |      7.57447      261.322 
    0.844107 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     827.023 |  -0.00142696 -0.000939553 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:17.504065   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636584.613555, t: -0.172389 0.802750 1.593074 q: 0.844107 -0.152015 -0.079110 -0.508051 
unstable tracking...
time: 1403636584.713556, t: -0.174425 0.804876 1.591543 q: 0.852240 -0.139054 -0.039899 -0.502752 
W0708 15:44:17.697975   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

   -0.176764 |       66.742     -34.9446 
    0.806125 |      47.0368       51.991 
     1.62853 |      54.9464     -33.2798 
   -0.174178 |     -659.187      13.8245 
   -0.128097 |      154.708     -366.495 
   -0.464325 |      48.8064     -323.862 
    0.858869 |            0            0 

Parameter Block 1, size: 7

   -0.174707 |      -66.742      34.9446 
    0.805289 |     -47.0368      -51.991 
     1.59061 |     -54.9464      33.2798 
   -0.129085 |      662.525     -106.313 
  -0.0237797 |     -125.021       356.08 
   -0.502839 |      101.444      321.553 
    0.854356 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -29.994     -5.22372 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:17.698017   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636584.813555, t: -0.174707 0.805289 1.590613 q: 0.854356 -0.129085 -0.023780 -0.502839 
W0708 15:44:17.793606   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

   -0.172389 |      65.7298     -36.1135 
     0.80275 |      41.4768      51.1464 
     1.59307 |      39.8354     -38.0734 
   -0.152015 |     -549.508      86.0165 
  -0.0791095 |      107.688     -385.634 
   -0.508051 |     -58.9259     -258.992 
    0.844107 |            0            0 

Parameter Block 1, size: 7

    -0.17507 |     -65.7298      36.1135 
    0.805329 |     -41.4768     -51.1464 
     1.58936 |     -39.8354      38.0734 
   -0.123236 |      530.584     -112.418 
 -0.00620018 |     -127.646      383.426 
   -0.504933 |      138.932      252.189 
    0.854293 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -36.8609      0.25498 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:17.793653   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636584.913555, t: -0.175070 0.805329 1.589363 q: 0.854293 -0.123236 -0.006200 -0.504933 
unstable tracking...
time: 1403636585.013556, t: -0.175375 0.806163 1.588741 q: 0.857392 -0.122448 -0.000273 -0.499886 
unstable tracking...
time: 1403636585.113555, t: -0.175060 0.806385 1.589105 q: 0.858142 -0.125674 -0.005288 -0.497766 
W0708 15:44:18.101990   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

   -0.174855 |       61.036     -35.0847 
    0.805936 |      40.3545      46.1872 
     1.58967 |      34.2672     -37.7183 
   -0.120539 |     -515.105      122.554 
 -0.00605671 |      120.912     -393.413 
   -0.502388 |     -159.822      -232.86 
    0.856178 |            0            0 

Parameter Block 1, size: 7

   -0.175199 |      -61.036      35.0847 
    0.805958 |     -40.3545     -46.1872 
     1.58865 |     -34.2672      37.7183 
   -0.135956 |      517.619     -113.892 
 -0.00964068 |     -128.593      389.042 
   -0.497492 |      145.204        244.4 
    0.856694 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -34.4045     0.239044 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:18.102068   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636585.213556, t: -0.175199 0.805958 1.588653 q: 0.856694 -0.135956 -0.009641 -0.497492 
W0708 15:44:18.203974   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

   -0.175266 |      60.1307     -35.5736 
    0.806527 |      39.5807      44.2031 
     1.58886 |      32.6621     -43.0656 
    -0.12063 |      -501.25       141.23 
  0.00039902 |      147.167     -425.904 
   -0.498469 |     -195.007      -226.13 
    0.858474 |            0            0 

Parameter Block 1, size: 7

   -0.175199 |     -60.1307      35.5736 
    0.805958 |     -39.5807     -44.2031 
     1.58865 |     -32.6621      43.0656 
   -0.135956 |      507.714       -134.7 
 -0.00964068 |     -149.019       421.71 
   -0.497492 |      176.034      237.733 
    0.856694 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -34.0432     0.288427 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:18.204046   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636585.313555, t: -0.175062 0.804986 1.588668 q: 0.852689 -0.143558 -0.014660 -0.502093 
unstable tracking...
time: 1403636585.413555, t: -0.174761 0.804024 1.589343 q: 0.848867 -0.152716 -0.027484 -0.505318 
unstable tracking...
time: 1403636585.513556, t: -0.177994 0.803173 1.587689 q: 0.843984 -0.154870 -0.040996 -0.511884 
unstable tracking...
time: 1403636585.613555, t: -0.172640 0.799326 1.584792 q: 0.843435 -0.156423 -0.068106 -0.509422 
W0708 15:44:18.596424   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

   -0.176791 |  7.03445e+07       380907 
    0.802692 |  1.72746e+08  3.49635e+06 
      1.5872 |  5.46006e+08  7.34327e+06 
   -0.152181 | -3.75334e+07      -522499 
  -0.0253157 |  1.25117e+07       161285 
   -0.508194 |      -581223     -90944.3 
    0.847313 |            0            0 

Parameter Block 1, size: 7

   -0.177994 | -7.03445e+07      -380907 
    0.803173 | -1.72746e+08 -3.49635e+06 
     1.58769 | -5.46006e+08 -7.34327e+06 
    -0.15487 |  3.71522e+07       519318 
  -0.0409958 | -1.14679e+07      -146503 
   -0.511884 |      -364505      76398.8 
    0.843984 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     3598.32 |     -45.1918     -0.67993 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:18.596493   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636585.713556, t: -0.173263 0.801712 1.589330 q: 0.847977 -0.151098 -0.092514 -0.499546 
W0708 15:44:18.696125   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1769     0.261359 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:18.696185   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:44:18.803689   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2445     0.279562 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:18.803725   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636585.913555, t: -0.171867 0.802150 1.591265 q: 0.844710 -0.166954 -0.140851 -0.488623 
time: 1403636586.013556, t: -0.169860 0.801752 1.587893 q: 0.843284 -0.179123 -0.155772 -0.482205 
time: 1403636586.113555, t: -0.169420 0.779726 1.592338 q: 0.740580 -0.280643 -0.134117 -0.595646 
time: 1403636586.213556, t: -0.193621 0.825441 1.666188 q: 0.838934 -0.179052 -0.156935 -0.489388 
time: 1403636586.313555, t: -0.178214 0.810255 1.630113 q: 0.817036 -0.228330 -0.109389 -0.518026 
time: 1403636586.413555, t: -0.125769 0.765448 1.454866 q: 0.778398 -0.227866 -0.152398 -0.564755 
time: 1403636586.513556, t: -0.138611 0.784655 1.549599 q: 0.776637 -0.239047 -0.183900 -0.553058 
unstable tracking...
time: 1403636586.613555, t: -0.110948 0.746821 1.488779 q: 0.774907 -0.248471 -0.192541 -0.548370 
unstable tracking...
time: 1403636586.713556, t: -0.131020 0.767999 1.534721 q: 0.772347 -0.245955 -0.189765 -0.554054 
time: 1403636586.813555, t: -0.131955 0.773714 1.545186 q: 0.777249 -0.241348 -0.178454 -0.552982 
unstable tracking...
time: 1403636587.013556, t: -0.123606 0.770857 1.549885 q: 0.774349 -0.230275 -0.176979 -0.562170 
unstable tracking...
time: 1403636587.113555, t: -0.118351 0.772779 1.555628 q: 0.773034 -0.228759 -0.181568 -0.563135 
time: 1403636587.213556, t: -0.119022 0.770830 1.557193 q: 0.769860 -0.231948 -0.181794 -0.566098 
time: 1403636587.313555, t: -0.101528 0.775679 1.563325 q: 0.771319 -0.232730 -0.184074 -0.563047 
unstable tracking...
unstable tracking...
time: 1403636587.613555, t: -0.069464 0.776295 1.553913 q: 0.755123 -0.254721 -0.153047 -0.584366 
time: 1403636587.713556, t: -0.096157 0.775139 1.562721 q: 0.763490 -0.270920 -0.131267 -0.571361 
time: 1403636587.813555, t: -0.269035 0.856513 1.703558 q: 0.735266 -0.285129 -0.045001 -0.613238 
time: 1403636587.913555, t: -0.585523 1.024889 1.653284 q: 0.889564 -0.204477 0.037344 -0.406782 
W0708 15:44:20.894733   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

   -0.606255 |     -1268.77      1151.48 
     1.04335 |     -933.382     -1735.38 
     1.49745 |       1419.7     -400.276 
   -0.137215 |     -45.5298      47.0872 
  -0.0185063 |      24.2896      5.28868 
   -0.446968 |      53.3139      128.446 
     0.88377 |            0            0 

Parameter Block 1, size: 7

   -0.585523 |      1268.77     -1151.48 
     1.02489 |      933.382      1735.38 
     1.65328 |      -1419.7      400.276 
   -0.204477 |      288.016      2.10356 
   0.0373438 |      -51.133      332.871 
   -0.406782 |     -142.746     -14.6287 
    0.889564 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1081.16 |  -0.00110039   0.00133114 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:20.894781   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636588.013556, t: -0.595931 1.056664 1.611270 q: 0.893363 -0.169116 0.096345 -0.404994 
time: 1403636588.113555, t: -0.566502 1.067640 1.617371 q: 0.890044 -0.194813 0.036616 -0.410522 
time: 1403636588.213556, t: -0.575262 1.059064 1.616951 q: 0.887198 -0.218224 0.044014 -0.404131 
time: 1403636588.313555, t: -0.565018 1.069018 1.624922 q: 0.856458 -0.227415 0.024535 -0.462775 
W0708 15:44:21.296361   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

   -0.583423 |      65.0892     -42.5811 
     1.05506 |      45.4303      42.8159 
     1.61862 |      15.2649      -33.594 
   -0.221507 |     -493.911      83.2569 
   0.0206105 |      108.584     -379.167 
   -0.463003 |     -123.075      -217.44 
    0.857985 |            0            0 

Parameter Block 1, size: 7

   -0.585321 |     -65.0892      42.5811 
     1.05508 |     -45.4303     -42.8159 
     1.62404 |     -15.2649       33.594 
   -0.234415 |      493.754     -91.2511 
   0.0317505 |     -105.459      369.595 
   -0.470254 |      124.544      229.598 
    0.850237 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -35.8549     0.782025 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:21.296423   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636588.413555, t: -0.585321 1.055083 1.624036 q: 0.850237 -0.234415 0.031751 -0.470254 
time: 1403636588.513556, t: -0.584407 1.055830 1.623619 q: 0.853172 -0.232976 0.028922 -0.465814 
time: 1403636588.613555, t: -0.583396 1.047091 1.622024 q: 0.858456 -0.227310 0.024498 -0.459111 
time: 1403636588.713556, t: -0.583657 1.049154 1.624502 q: 0.865175 -0.213082 0.016143 -0.453661 
time: 1403636588.813555, t: -0.583938 1.051279 1.627942 q: 0.872384 -0.199174 0.005083 -0.446375 
W0708 15:44:21.797449   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1593     0.232921 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:21.797492   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636588.913555, t: -0.583730 1.054339 1.630023 q: 0.883232 -0.179079 -0.004452 -0.433374 
unstable tracking...
time: 1403636589.013556, t: -0.585208 1.052509 1.632530 q: 0.878404 -0.166313 -0.007907 -0.447978 
unstable tracking...
unstable tracking...
time: 1403636589.213556, t: -0.604881 1.032882 1.619091 q: 0.891093 -0.109247 -0.017872 -0.440113 
unstable tracking...
time: 1403636589.313555, t: -0.637183 0.987724 1.545313 q: 0.895072 -0.101168 -0.030282 -0.433237 
unstable tracking...
time: 1403636589.413555, t: -0.627397 0.993646 1.526933 q: 0.892765 -0.107170 -0.064252 -0.432847 
unstable tracking...
time: 1403636589.513556, t: -0.623519 0.996379 1.518833 q: 0.897097 -0.077624 -0.079117 -0.427705 
unstable tracking...
unstable tracking...
time: 1403636589.713556, t: -0.563158 0.999955 1.372940 q: 0.907007 -0.003652 -0.109065 -0.406731 
unstable tracking...
time: 1403636589.813555, t: -0.544600 1.011378 1.351770 q: 0.897222 0.027362 -0.144651 -0.416318 
unstable tracking...
time: 1403636589.913555, t: -0.544032 1.008212 1.341528 q: 0.894013 0.053938 -0.163376 -0.413689 
unstable tracking...
time: 1403636590.013556, t: -0.545098 1.009152 1.345211 q: 0.898121 0.079174 -0.173560 -0.396216 
unstable tracking...
unstable tracking...
time: 1403636590.213556, t: -0.543407 1.010090 1.344180 q: 0.894575 0.111750 -0.179563 -0.393706 
unstable tracking...
time: 1403636590.313555, t: -0.544051 1.008279 1.343464 q: 0.894625 0.106432 -0.175748 -0.396776 
unstable tracking...
time: 1403636590.413555, t: -0.543602 1.008010 1.342861 q: 0.894902 0.096963 -0.172047 -0.400186 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636590.713556, t: -0.538074 1.009465 1.333702 q: 0.899603 0.047010 -0.128276 -0.414789 
unstable tracking...
time: 1403636590.813555, t: -0.533615 1.010241 1.329254 q: 0.896802 0.034736 -0.137486 -0.419091 
unstable tracking...
time: 1403636590.913555, t: -0.527608 1.015725 1.329323 q: 0.899324 0.029307 -0.134555 -0.415033 
unstable tracking...
time: 1403636591.013556, t: -0.527261 1.014095 1.326107 q: 0.895549 0.008811 -0.123700 -0.427332 
unstable tracking...
time: 1403636591.113555, t: -0.518919 1.016703 1.313512 q: 0.894565 0.009463 -0.131404 -0.427080 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636591.413555, t: -0.482375 1.042421 1.318729 q: 0.891188 -0.018790 -0.110963 -0.439452 
unstable tracking...
unstable tracking...
time: 1403636591.613555, t: -0.477955 1.049505 1.324247 q: 0.893992 -0.024716 -0.094692 -0.437265 
unstable tracking...
time: 1403636591.713556, t: -0.482409 1.044206 1.321122 q: 0.893936 -0.032180 -0.067033 -0.441983 
unstable tracking...
time: 1403636591.813555, t: -0.483428 1.043885 1.314736 q: 0.894738 -0.032651 -0.040074 -0.443591 
unstable tracking...
time: 1403636591.913555, t: -0.483847 1.044148 1.312537 q: 0.895996 -0.035521 -0.020061 -0.442185 
unstable tracking...
time: 1403636592.013556, t: -0.483163 1.053093 1.300023 q: 0.901609 -0.044170 -0.020580 -0.429798 
unstable tracking...
time: 1403636592.113555, t: -0.482961 1.053777 1.300019 q: 0.901562 -0.043985 -0.020361 -0.429927 
unstable tracking...
time: 1403636592.213556, t: -0.482835 1.058200 1.304478 q: 0.901716 -0.062511 -0.002107 -0.427781 
unstable tracking...
time: 1403636592.313555, t: -0.481373 1.062955 1.321360 q: 0.903909 -0.078324 -0.027896 -0.419567 
unstable tracking...
time: 1403636592.413555, t: -0.453951 1.071852 1.393050 q: 0.912103 -0.084251 -0.047011 -0.398446 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636592.713556, t: -0.020292 1.283421 2.047018 q: 0.924027 -0.149751 0.054005 -0.347609 
unstable tracking...
time: 1403636592.813555, t: 0.050146 1.703258 2.556857 q: 0.967880 -0.182619 0.157956 -0.070064 
unstable tracking...
time: 1403636592.913555, t: 5.970134 4.886389 8.378453 q: 0.926251 -0.204438 0.179779 -0.260660 
unstable tracking...
time: 1403636593.013556, t: -0.081021 9.985399 10.146451 q: 0.796474 0.159603 0.574954 -0.097896 
unstable tracking...
time: 1403636593.113555, t: -51.549210 -50.692225 7.489659 q: 0.629537 -0.457779 0.522696 0.347722 
unstable tracking...
time: 1403636593.213556, t: -51.667024 -50.796089 7.434958 q: 0.660420 -0.167264 0.598527 0.421467 
W0708 15:44:26.197656   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

     1.13207 |     -2.90997    -0.948575 
     27.3637 |      2.39712    -0.253078 
     29.6992 |    -0.802418       3.5187 
    0.565607 |      21.1145     -12.4686 
    0.408371 |     -10.1469     -13.0795 
    0.115529 |      2.09288     -18.0314 
    0.707089 |            0            0 

Parameter Block 1, size: 7

    -51.5492 |      2.90997     0.948575 
    -50.6922 |     -2.39712     0.253078 
     7.48966 |     0.802418      -3.5187 
   -0.457779 |      348.523     -9.68848 
    0.522696 |     -19.1636      315.566 
    0.347722 |      36.9338      104.785 
    0.629537 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      79.1358      41.0967 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:26.197705   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636593.313555, t: -51.669227 -50.797715 7.434830 q: 0.669225 -0.155213 0.597288 0.413878 
unstable tracking...
time: 1403636593.413555, t: -51.668822 -50.797516 7.435088 q: 0.670017 -0.152201 0.597943 0.412766 
unstable tracking...
time: 1403636593.513556, t: -51.668800 -50.797553 7.435327 q: 0.670011 -0.150711 0.598288 0.412824 
unstable tracking...
time: 1403636593.613555, t: -51.665186 -50.803741 7.441842 q: 0.591780 -0.269589 0.668245 0.361341 
unstable tracking...
time: 1403636593.713556, t: -51.677465 -50.819327 7.443036 q: 0.586883 -0.272733 0.664209 0.374181 
unstable tracking...
time: 1403636593.813555, t: -51.664532 -50.802256 7.439054 q: 0.544087 -0.320229 0.677191 0.377935 
unstable tracking...
time: 1403636593.913555, t: -51.712587 -50.824736 7.490510 q: 0.519579 -0.318065 0.681236 0.405943 
unstable tracking...
time: 1403636594.013556, t: -51.704601 -50.868450 7.484988 q: 0.484447 -0.338789 0.650397 0.476987 
unstable tracking...
time: 1403636594.113555, t: -51.795564 -50.824985 7.522929 q: 0.458303 -0.334033 0.668059 0.481745 
unstable tracking...
time: 1403636594.213556, t: -51.790413 -50.930278 7.516158 q: 0.410563 -0.320322 0.669255 0.530028 
unstable tracking...
time: 1403636594.313555, t: -51.847981 -50.803976 7.520374 q: 0.405330 -0.356263 0.623035 0.566226 
unstable tracking...
time: 1403636594.413555, t: -51.884055 -50.767968 7.506128 q: 0.395350 -0.366669 0.612057 0.578479 
unstable tracking...
unstable tracking...
time: 1403636594.613555, t: -51.896363 -50.753274 7.492347 q: 0.382020 -0.394152 0.611872 0.569489 
unstable tracking...
time: 1403636594.713556, t: -51.892768 -50.720907 7.463541 q: 0.379912 -0.392234 0.619120 0.564366 
unstable tracking...
unstable tracking...
time: 1403636594.913555, t: -51.895709 -50.695560 7.457629 q: 0.390781 -0.374469 0.657288 0.524439 
time: 1403636595.013556, t: -51.914447 -50.742266 7.500486 q: 0.396740 -0.490292 0.693306 0.348624 
time: 1403636595.113555, t: -51.889952 -50.776141 7.479910 q: 0.440053 -0.459955 0.699447 0.324913 
time: 1403636595.213556, t: -51.885394 -50.771842 7.469486 q: 0.458987 -0.456598 0.703585 0.292947 
time: 1403636595.313555, t: -51.857195 -50.889353 7.486798 q: 0.482344 -0.434778 0.708013 0.277543 
time: 1403636595.413555, t: -51.870277 -50.955200 7.541303 q: 0.499154 -0.423976 0.709221 0.260952 
time: 1403636595.513556, t: -52.029522 -50.996977 7.556751 q: 0.560733 -0.383445 0.699097 0.223186 
unstable tracking...
time: 1403636595.613555, t: -51.977693 -51.000786 7.569525 q: 0.559388 -0.392926 0.689870 0.238274 
unstable tracking...
time: 1403636595.713556, t: -51.988333 -51.019373 7.571313 q: 0.560653 -0.413352 0.664730 0.270079 
unstable tracking...
time: 1403636595.813555, t: -52.045478 -51.002735 7.593012 q: 0.543304 -0.436417 0.663559 0.272123 
unstable tracking...
time: 1403636595.913555, t: -52.104046 -51.028177 7.624094 q: 0.517656 -0.420853 0.671625 0.322234 
unstable tracking...
time: 1403636596.013556, t: -52.182933 -51.071078 7.648580 q: 0.522261 -0.431180 0.652761 0.339455 
unstable tracking...
time: 1403636596.113555, t: -52.169770 -51.139334 7.667617 q: 0.487854 -0.471403 0.624794 0.386536 
unstable tracking...
time: 1403636596.213556, t: -52.139290 -51.164739 7.660782 q: 0.484255 -0.443219 0.608963 0.445217 
unstable tracking...
time: 1403636596.313555, t: -52.168809 -51.180551 7.673240 q: 0.497181 -0.438411 0.607510 0.437651 
unstable tracking...
time: 1403636596.413555, t: -52.166543 -51.236067 7.688122 q: 0.490814 -0.423495 0.631620 0.425216 
unstable tracking...
time: 1403636596.513556, t: -52.163863 -51.208479 7.679157 q: 0.500213 -0.416252 0.629689 0.424279 
unstable tracking...
time: 1403636596.613555, t: -52.106306 -51.310794 7.687150 q: 0.494080 -0.425448 0.620399 0.435871 
unstable tracking...
time: 1403636596.713556, t: -52.138118 -51.303087 7.710429 q: 0.500031 -0.412324 0.640545 0.411898 
unstable tracking...
time: 1403636596.813555, t: -52.119814 -51.312994 7.710832 q: 0.501067 -0.413762 0.637630 0.413717 
unstable tracking...
time: 1403636596.913555, t: -52.118025 -51.292041 7.707882 q: 0.497201 -0.428158 0.636930 0.404713 
unstable tracking...
time: 1403636597.013556, t: -52.115313 -51.268040 7.690244 q: 0.497104 -0.433864 0.634045 0.403282 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636597.313555, t: -52.060729 -51.428000 7.649282 q: 0.476005 -0.477222 0.628809 0.387656 
unstable tracking...
time: 1403636597.413555, t: -52.107583 -51.200067 7.526870 q: 0.505929 -0.461849 0.628040 0.369184 
time: 1403636597.513556, t: -52.030575 -50.765264 7.324359 q: 0.467217 -0.473117 0.655111 0.358746 
time: 1403636597.613555, t: -52.016807 -50.753207 7.329101 q: 0.447496 -0.500527 0.653156 0.350152 
time: 1403636597.713556, t: -52.003533 -50.716216 7.310191 q: 0.458186 -0.441089 0.675757 0.372637 
time: 1403636597.813555, t: -52.002773 -50.716646 7.312668 q: 0.458157 -0.441081 0.675753 0.372690 
time: 1403636597.913555, t: -52.001724 -50.715682 7.314057 q: 0.460140 -0.424346 0.701957 0.339791 
time: 1403636598.013556, t: -51.924576 -50.655094 7.286334 q: 0.439380 -0.447915 0.697913 0.345304 
time: 1403636598.113555, t: -51.675437 -50.478908 7.143121 q: 0.438799 -0.426023 0.720237 0.327443 
time: 1403636598.213556, t: -51.269351 -49.577368 6.416496 q: 0.456681 -0.286526 0.778473 0.321443 
unstable tracking...
time: 1403636598.313555, t: -50.973251 -49.250100 6.152514 q: 0.471954 -0.269731 0.760704 0.354732 
unstable tracking...
time: 1403636598.413555, t: -50.908288 -49.242835 6.087988 q: 0.537354 -0.273772 0.720289 0.342759 
unstable tracking...
time: 1403636598.513556, t: -50.902927 -49.195435 6.092441 q: 0.524134 -0.294349 0.710714 0.365414 
unstable tracking...
time: 1403636598.613555, t: -50.905988 -49.180876 6.096056 q: 0.515885 -0.313195 0.717619 0.347555 
unstable tracking...
time: 1403636598.713556, t: -50.898134 -49.121177 6.075113 q: 0.506155 -0.307047 0.733075 0.334858 
unstable tracking...
unstable tracking...
time: 1403636598.913555, t: -50.881605 -49.075356 6.061595 q: 0.476012 -0.318250 0.758086 0.312147 
unstable tracking...
time: 1403636599.013556, t: -50.174831 -48.517068 5.312408 q: 0.468327 -0.340544 0.732937 0.357076 
unstable tracking...
unstable tracking...
time: 1403636599.213556, t: -49.814750 -44.302421 5.598856 q: 0.632962 -0.600255 0.488817 0.010540 
unstable tracking...
time: 1403636599.313555, t: 1.051499 -52.997885 -159.474660 q: 0.246626 0.036389 0.014786 0.968314 
unstable tracking...
time: 1403636599.413555, t: -426.662591 -343.116152 -520.952734 q: 0.681324 0.435229 0.455515 0.372665 
unstable tracking...
time: 1403636599.513556, t: -756.681234 -300.338891 -320.843566 q: 0.735389 0.249049 0.487922 0.398886 
unstable tracking...
time: 1403636599.613555, t: -615.235634 -474.351159 -394.202875 q: 0.648700 0.452601 0.551428 0.265081 
unstable tracking...
time: 1403636599.713556, t: -7132.708550 10041.890610 -8404.483124 q: 0.327457 0.691828 -0.270709 0.583834 
unstable tracking...
time: 1403636599.813555, t: 8860.171802 51773.223805 -19341.835994 q: -0.190872 -0.178915 -0.651439 0.712169 
unstable tracking...
time: 1403636599.913555, t: -15227.171392 -75448.712108 20887.352096 q: -0.133283 -0.144904 -0.459032 0.866330 
time: 1403636600.013556, t: 502.086555 -155339.099097 31001.780386 q: -0.076479 -0.080191 -0.547171 0.829653 
unstable tracking...
unstable tracking...
time: 1403636600.213556, t: -93355.340843 20081.181183 -29808.466281 q: 0.505140 0.129108 0.457129 -0.720554 
time: 1403636600.313555, t: -83669.238583 -21999.958312 -84581.911268 q: 0.785926 0.066626 0.411862 -0.456345 
unstable tracking...
time: 1403636600.413555, t: -83669.241899 -21999.957114 -84581.913113 q: 0.785926 0.066626 0.411862 -0.456345 
time: 1403636600.513556, t: 39518.939694 -244946.814244 116346.064537 q: -0.279899 0.141017 -0.556654 0.769355 
unstable tracking...
time: 1403636600.613555, t: 39518.936601 -244946.809876 116346.057691 q: -0.279686 0.141131 -0.556715 0.769367 
unstable tracking...
time: 1403636600.713556, t: -330412.183089 -3213524.730242 -7744380.737811 q: 0.848538 -0.027047 -0.438857 -0.294373 
time: 1403636600.813555, t: 126974.542211 -3754268.111713 -7767400.239149 q: 0.785649 -0.025451 0.043860 -0.616590 
unstable tracking...
time: 1403636600.913555, t: 126974.444549 -3754268.076252 -7767400.378016 q: 0.785649 -0.025451 0.043860 -0.616590 
time: 1403636601.013556, t: 40002.328088 -3812788.771910 -7913561.021740 q: 0.974532 -0.113630 -0.045913 -0.187796 
unstable tracking...
time: 1403636601.113555, t: 40002.341015 -3812788.778522 -7913561.032272 q: 0.974532 -0.113630 -0.045913 -0.187796 
unstable tracking...
time: 1403636601.213556, t: 3221473.189318 -3980529.956580 -7712781.292105 q: -0.112667 -0.551722 0.540405 0.625197 
time: 1403636601.313555, t: 3676788.120271 -3879897.609487 -7074601.986579 q: 0.161687 0.703709 -0.316301 -0.615309 
unstable tracking...
time: 1403636601.413555, t: 3676788.155175 -3879897.626268 -7074601.953166 q: 0.161687 0.703709 -0.316301 -0.615309 
time: 1403636601.513556, t: 3903385.838173 -4054249.197562 -7209997.940383 q: 0.639084 -0.500999 -0.308207 0.495560 
unstable tracking...
time: 1403636601.613555, t: 3903385.886100 -4054249.210853 -7209997.935704 q: 0.639084 -0.500999 -0.308207 0.495560 
unstable tracking...
time: 1403636601.713556, t: 5494813.039814 -3297825.129032 -6691495.506084 q: 0.506845 0.615499 -0.432506 -0.420960 
time: 1403636601.813555, t: 5750476.689339 -3360647.599617 -6293082.752575 q: -0.000019 0.790912 -0.346713 -0.504231 
unstable tracking...
time: 1403636601.913555, t: 5750476.885487 -3360647.524573 -6293082.637146 q: -0.000019 0.790912 -0.346713 -0.504231 
time: 1403636602.013556, t: 6055130.432867 -3501333.743391 -5693635.546778 q: -0.108355 0.879446 -0.351427 -0.302215 
unstable tracking...
time: 1403636602.113555, t: 6055130.429646 -3501333.767987 -5693635.535083 q: -0.108355 0.879446 -0.351427 -0.302215 
unstable tracking...
time: 1403636602.213556, t: 6067345.058691 -3510913.097169 -5686851.534135 q: -0.133811 0.863712 -0.353451 -0.333420 
time: 1403636602.313555, t: 6067276.420346 -3511408.808547 -5680673.309754 q: -0.240976 0.957831 -0.125861 -0.092999 
unstable tracking...
time: 1403636602.413555, t: 6067276.449123 -3511408.789405 -5680673.290854 q: -0.240976 0.957831 -0.125861 -0.092999 
time: 1403636602.513556, t: 6067135.183672 -3511545.027875 -5680997.803967 q: -0.221672 0.953122 -0.169786 -0.116590 
unstable tracking...
time: 1403636602.613555, t: 6067135.138594 -3511545.010096 -5680997.620920 q: -0.221672 0.953122 -0.169786 -0.116590 
unstable tracking...
time: 1403636602.713556, t: 6067135.228764 -3511544.988113 -5680997.725595 q: -0.221708 0.953373 -0.169830 -0.114382 
time: 1403636602.813555, t: 6067135.228634 -3511544.988541 -5680997.728011 q: -0.221409 0.953566 -0.170421 -0.112457 
unstable tracking...
time: 1403636603.013556, t: 6067135.240134 -3511544.988692 -5680997.715887 q: -0.221082 0.953735 -0.170826 -0.111039 
unstable tracking...
time: 1403636603.113555, t: 6067135.234346 -3511544.991217 -5680997.522714 q: -0.221083 0.953735 -0.170826 -0.111039 
unstable tracking...
time: 1403636603.213556, t: 6067135.291398 -3511545.001986 -5680997.701169 q: -0.221056 0.953937 -0.170405 -0.110000 
time: 1403636603.313555, t: 6067135.314507 -3511545.001146 -5680997.711259 q: -0.220176 0.953996 -0.174224 -0.105170 
unstable tracking...
time: 1403636603.413555, t: 6067135.489972 -3511545.027452 -5680997.779249 q: -0.220176 0.953996 -0.174224 -0.105170 
time: 1403636603.513556, t: 6067135.369469 -3511545.014348 -5680997.734060 q: -0.220392 0.954083 -0.172836 -0.106208 
unstable tracking...
time: 1403636603.713556, t: 6067135.425137 -3511545.028031 -5680997.727629 q: -0.220184 0.954478 -0.173333 -0.102205 
time: 1403636603.813555, t: 6067135.433184 -3511545.030466 -5680997.737617 q: -0.219601 0.954571 -0.174692 -0.100260 
unstable tracking...
time: 1403636603.913555, t: 6067135.452463 -3511545.034578 -5680997.714489 q: -0.219601 0.954571 -0.174692 -0.100260 
time: 1403636604.013556, t: 6067135.455274 -3511545.035693 -5680997.740987 q: -0.219492 0.954579 -0.175053 -0.099797 
unstable tracking...
time: 1403636604.113555, t: 6067135.459608 -3511545.021812 -5680997.750129 q: -0.219492 0.954579 -0.175053 -0.099797 
unstable tracking...
time: 1403636604.213556, t: 6067135.456360 -3511545.031356 -5680997.740222 q: -0.219572 0.954588 -0.175097 -0.099457 
time: 1403636604.313555, t: 6067135.457233 -3511545.031681 -5680997.742189 q: -0.219412 0.954646 -0.175364 -0.098774 
unstable tracking...
time: 1403636604.413555, t: 6067135.457619 -3511545.037030 -5680997.738475 q: -0.219412 0.954646 -0.175364 -0.098774 
time: 1403636604.513556, t: 6067135.458903 -3511545.032378 -5680997.740924 q: -0.219305 0.954708 -0.175692 -0.097822 
unstable tracking...
time: 1403636604.613555, t: 6067135.448424 -3511545.022967 -5680997.712373 q: -0.219305 0.954708 -0.175692 -0.097822 
unstable tracking...
time: 1403636604.713556, t: 6067135.457979 -3511545.031621 -5680997.736460 q: -0.219343 0.954745 -0.175563 -0.097611 
time: 1403636604.813555, t: 6067135.457575 -3511545.031756 -5680997.735823 q: -0.219281 0.954723 -0.175963 -0.097244 
unstable tracking...
time: 1403636604.913555, t: 6067135.456365 -3511545.036380 -5680997.734260 q: -0.219281 0.954723 -0.175963 -0.097244 
time: 1403636605.013556, t: 6067135.459982 -3511545.033033 -5680997.738462 q: -0.219176 0.954734 -0.176078 -0.097165 
unstable tracking...
time: 1403636605.113555, t: 6067135.459756 -3511545.024347 -5680997.756688 q: -0.219176 0.954734 -0.176078 -0.097165 
time: 1403636605.213556, t: 6067135.459068 -3511545.031303 -5680997.740958 q: -0.219118 0.954754 -0.176141 -0.096990 
unstable tracking...
time: 1403636605.313555, t: 6067135.455935 -3511545.031512 -5680997.748021 q: -0.219176 0.954763 -0.175914 -0.097180 
time: 1403636605.413555, t: 6067135.459730 -3511545.031279 -5680997.743387 q: -0.219099 0.954722 -0.176289 -0.097077 
unstable tracking...
time: 1403636605.513556, t: 6067135.457791 -3511545.034864 -5680997.742446 q: -0.219259 0.954712 -0.176152 -0.097063 
time: 1403636605.613555, t: 6067135.458399 -3511545.032450 -5680997.743128 q: -0.219167 0.954743 -0.176099 -0.097062 
unstable tracking...
time: 1403636605.713556, t: 6067135.454476 -3511545.026075 -5680997.755175 q: -0.219167 0.954743 -0.176099 -0.097062 
unstable tracking...
time: 1403636605.813555, t: 6067135.458257 -3511545.032145 -5680997.744421 q: -0.219258 0.954651 -0.176833 -0.096425 
time: 1403636605.913555, t: 6067135.458461 -3511545.032071 -5680997.745333 q: -0.219104 0.954786 -0.176748 -0.095593 
unstable tracking...
time: 1403636606.013556, t: 6067135.458841 -3511545.028940 -5680997.744352 q: -0.218843 0.954852 -0.176540 -0.095908 
time: 1403636606.113555, t: 6067135.460714 -3511545.030816 -5680997.745213 q: -0.218792 0.954899 -0.176584 -0.095473 
time: 1403636606.213556, t: 6067135.458639 -3511545.024329 -5680997.737840 q: -0.219067 0.954773 -0.176718 -0.095859 
time: 1403636606.313555, t: 6067135.457506 -3511545.024679 -5680997.730478 q: -0.219054 0.954780 -0.176682 -0.095885 
time: 1403636606.413555, t: 6067135.458103 -3511545.025782 -5680997.732077 q: -0.219066 0.954769 -0.176719 -0.095903 
unstable tracking...
time: 1403636606.513556, t: 6067135.458770 -3511545.023122 -5680997.726562 q: -0.219039 0.954777 -0.176706 -0.095903 
time: 1403636606.613555, t: 6067135.458797 -3511545.025281 -5680997.730614 q: -0.219046 0.954786 -0.176712 -0.095794 
time: 1403636606.713556, t: 6067135.456610 -3511545.025172 -5680997.727846 q: -0.219058 0.954789 -0.176644 -0.095855 
unstable tracking...
time: 1403636606.813555, t: 6067135.456445 -3511545.025125 -5680997.727579 q: -0.219063 0.954787 -0.176649 -0.095861 
time: 1403636606.913555, t: 6067135.457271 -3511545.024844 -5680997.727265 q: -0.218961 0.954787 -0.176845 -0.095724 
time: 1403636607.013556, t: 6067135.456637 -3511545.023306 -5680997.723066 q: -0.219045 0.954808 -0.176597 -0.095784 
time: 1403636607.113555, t: 6067135.454726 -3511545.022152 -5680997.722288 q: -0.219022 0.954814 -0.176642 -0.095697 
time: 1403636607.213556, t: 6067135.449986 -3511545.023641 -5680997.719863 q: -0.219125 0.954815 -0.176582 -0.095562 
time: 1403636607.313555, t: 6067135.454136 -3511545.022802 -5680997.720595 q: -0.219064 0.954816 -0.176575 -0.095701 
time: 1403636607.413555, t: 6067135.454948 -3511545.023590 -5680997.720951 q: -0.219085 0.954806 -0.176592 -0.095721 
time: 1403636607.513556, t: 6067135.455349 -3511545.022653 -5680997.720072 q: -0.219062 0.954813 -0.176581 -0.095724 
time: 1403636607.613555, t: 6067135.455465 -3511545.022428 -5680997.719390 q: -0.219065 0.954809 -0.176601 -0.095720 
time: 1403636607.713556, t: 6067135.455369 -3511545.022467 -5680997.718882 q: -0.219069 0.954811 -0.176573 -0.095739 
time: 1403636607.813555, t: 6067135.455877 -3511545.021912 -5680997.719061 q: -0.219047 0.954813 -0.176589 -0.095743 
time: 1403636607.913555, t: 6067135.455695 -3511545.022317 -5680997.718731 q: -0.219064 0.954810 -0.176586 -0.095742 
time: 1403636608.013556, t: 6067135.455735 -3511545.021923 -5680997.716858 q: -0.219076 0.954808 -0.176582 -0.095744 
unstable tracking...
time: 1403636608.113555, t: 6067135.455580 -3511545.021732 -5680997.717530 q: -0.219053 0.954814 -0.176575 -0.095750 
time: 1403636608.213556, t: 6067135.455666 -3511545.021247 -5680997.715897 q: -0.219029 0.954805 -0.176696 -0.095666 
time: 1403636608.313555, t: 6067135.454610 -3511545.022956 -5680997.713405 q: -0.219052 0.954775 -0.176740 -0.095836 
time: 1403636608.413555, t: 6067135.455336 -3511545.021605 -5680997.714122 q: -0.219054 0.954768 -0.176767 -0.095844 
unstable tracking...
time: 1403636608.513556, t: 6067135.455469 -3511545.021428 -5680997.713928 q: -0.219054 0.954774 -0.176735 -0.095850 
time: 1403636608.613555, t: 6067135.455750 -3511545.021465 -5680997.715720 q: -0.218971 0.954825 -0.176669 -0.095653 
unstable tracking...
time: 1403636608.713556, t: 6067135.462207 -3511545.009815 -5680997.715737 q: -0.219020 0.954784 -0.176743 -0.095811 
time: 1403636608.813555, t: 6067135.456238 -3511545.020450 -5680997.715957 q: -0.218864 0.954780 -0.176905 -0.095909 
unstable tracking...
time: 1403636608.913555, t: 6067135.451011 -3511545.027084 -5680997.708398 q: -0.218864 0.954780 -0.176905 -0.095909 
unstable tracking...
time: 1403636609.013556, t: 6067135.455500 -3511545.020166 -5680997.713461 q: -0.218828 0.954792 -0.176886 -0.095901 
time: 1403636609.113555, t: 6067135.455954 -3511545.021043 -5680997.714288 q: -0.218779 0.954825 -0.176880 -0.095702 
time: 1403636609.213556, t: 6067135.456793 -3511545.018429 -5680997.712585 q: -0.218859 0.954780 -0.176899 -0.095928 
time: 1403636609.313555, t: 6067135.456339 -3511545.018982 -5680997.713111 q: -0.218857 0.954782 -0.176890 -0.095935 
time: 1403636609.413555, t: 6067135.456362 -3511545.019454 -5680997.712968 q: -0.218888 0.954768 -0.176921 -0.095941 
time: 1403636609.513556, t: 6067135.456506 -3511545.019295 -5680997.713105 q: -0.218870 0.954772 -0.176912 -0.095964 
time: 1403636609.613555, t: 6067135.456273 -3511545.019389 -5680997.713491 q: -0.218874 0.954764 -0.176956 -0.095951 
time: 1403636609.713556, t: 6067135.456182 -3511545.019303 -5680997.713990 q: -0.218811 0.954787 -0.176922 -0.095929 
time: 1403636609.813555, t: 6067135.454955 -3511545.019129 -5680997.709842 q: -0.218811 0.954787 -0.176922 -0.095929 
time: 1403636609.913555, t: 6067135.455531 -3511545.019216 -5680997.712370 q: -0.218837 0.954782 -0.176939 -0.095889 
time: 1403636610.013556, t: 6067135.455741 -3511545.019688 -5680997.713264 q: -0.218842 0.954780 -0.176942 -0.095892 
time: 1403636610.113555, t: 6067135.455099 -3511545.019878 -5680997.712768 q: -0.218873 0.954770 -0.176955 -0.095895 
time: 1403636610.213556, t: 6067135.455161 -3511545.019605 -5680997.711746 q: -0.218873 0.954770 -0.176955 -0.095895 
time: 1403636610.313555, t: 6067135.455840 -3511545.020294 -5680997.712302 q: -0.218885 0.954771 -0.176890 -0.095975 
time: 1403636610.413555, t: 6067135.455644 -3511545.019096 -5680997.712444 q: -0.218802 0.954800 -0.176873 -0.095906 
unstable tracking...
time: 1403636610.513556, t: 6067135.455043 -3511545.019453 -5680997.711081 q: -0.218802 0.954800 -0.176873 -0.095906 
time: 1403636610.613555, t: 6067135.455797 -3511545.019743 -5680997.713125 q: -0.218865 0.954772 -0.176922 -0.095958 
time: 1403636610.713556, t: 6067135.454827 -3511545.021066 -5680997.712684 q: -0.218895 0.954772 -0.176859 -0.096000 
time: 1403636610.813555, t: 6067135.454989 -3511545.019886 -5680997.713447 q: -0.218895 0.954772 -0.176859 -0.096000 
time: 1403636610.913555, t: 6067135.454992 -3511545.019830 -5680997.713236 q: -0.218895 0.954772 -0.176859 -0.096000 
time: 1403636611.013556, t: 6067135.454280 -3511545.020000 -5680997.712924 q: -0.218855 0.954831 -0.176705 -0.095785 
time: 1403636611.113555, t: 6067135.455030 -3511545.019176 -5680997.711805 q: -0.218812 0.954822 -0.176755 -0.095882 
time: 1403636611.213556, t: 6067135.455556 -3511545.019563 -5680997.711750 q: -0.218812 0.954822 -0.176755 -0.095882 
time: 1403636611.313555, t: 6067135.458932 -3511545.020113 -5680997.709216 q: -0.218979 0.954770 -0.176905 -0.095748 
time: 1403636611.413555, t: 6067135.458416 -3511545.021068 -5680997.707893 q: -0.219329 0.954590 -0.177454 -0.095726 
unstable tracking...
time: 1403636611.513556, t: 6067135.463018 -3511545.014309 -5680997.709252 q: -0.217670 0.955028 -0.176661 -0.096608 
time: 1403636611.613555, t: 6067135.461508 -3511545.021478 -5680997.710790 q: -0.218582 0.955015 -0.176748 -0.094489 
unstable tracking...
time: 1403636611.713556, t: 6067135.497048 -3511545.000109 -5680997.703955 q: -0.218582 0.955015 -0.176748 -0.094489 
unstable tracking...
time: 1403636611.813555, t: 6067135.471213 -3511545.020764 -5680997.710533 q: -0.218509 0.954987 -0.177135 -0.094221 
unstable tracking...
time: 1403636611.913555, t: 6067135.449483 -3511545.032678 -5680997.716269 q: -0.219062 0.954831 -0.177025 -0.094719 
time: 1403636612.013556, t: 6067135.469531 -3511545.029861 -5680997.717106 q: -0.218799 0.954681 -0.178327 -0.094393 
unstable tracking...
time: 1403636612.113555, t: 6067135.464214 -3511545.028853 -5680997.725004 q: -0.219533 0.954429 -0.178678 -0.094578 
unstable tracking...
time: 1403636612.213556, t: 6067135.457047 -3511545.024997 -5680997.696193 q: -0.219533 0.954429 -0.178678 -0.094578 
time: 1403636612.313555, t: 6067135.460323 -3511545.030535 -5680997.720390 q: -0.224880 0.953441 -0.178102 -0.093058 
unstable tracking...
time: 1403636612.413555, t: 6067135.461291 -3511545.043202 -5680997.743134 q: -0.224579 0.953603 -0.177555 -0.093165 
time: 1403636612.513556, t: 6067135.476066 -3511545.034174 -5680997.718273 q: -0.223773 0.954038 -0.177117 -0.091469 
unstable tracking...
time: 1403636612.613555, t: 6067135.457160 -3511545.016747 -5680997.823110 q: -0.223773 0.954038 -0.177117 -0.091469 
unstable tracking...
time: 1403636612.713556, t: 6067135.441944 -3511545.036940 -5680997.796775 q: -0.224157 0.954046 -0.176297 -0.092030 
unstable tracking...
time: 1403636612.813555, t: 6067135.457658 -3511545.033126 -5680997.770076 q: -0.223800 0.954064 -0.176586 -0.092158 
time: 1403636612.913555, t: 6067135.460487 -3511545.035488 -5680997.777868 q: -0.223437 0.954179 -0.176808 -0.091421 
unstable tracking...
time: 1403636613.013556, t: 6067135.473225 -3511545.033266 -5680997.850428 q: -0.223407 0.953838 -0.178517 -0.091733 
unstable tracking...
time: 1403636613.113555, t: 6067135.472815 -3511545.039764 -5680997.848594 q: -0.223403 0.953760 -0.178932 -0.091740 
unstable tracking...
time: 1403636613.213556, t: 6067135.470937 -3511545.037349 -5680997.815711 q: -0.223229 0.954040 -0.178283 -0.090512 
time: 1403636613.313555, t: 6067135.472647 -3511545.044619 -5680997.853041 q: -0.222944 0.954053 -0.178445 -0.090752 
unstable tracking...
time: 1403636613.413555, t: 6067135.459846 -3511545.039352 -5680997.847553 q: -0.223224 0.954019 -0.178270 -0.090765 
unstable tracking...
time: 1403636613.513556, t: 6067135.462750 -3511545.041403 -5680997.841990 q: -0.223166 0.954020 -0.178413 -0.090620 
time: 1403636613.613555, t: 6067135.465362 -3511545.041842 -5680997.844350 q: -0.222828 0.954046 -0.179020 -0.089972 
unstable tracking...
time: 1403636613.713556, t: 6067135.460121 -3511545.039785 -5680997.805097 q: -0.223057 0.953956 -0.178863 -0.090668 
time: 1403636613.813555, t: 6067135.456640 -3511545.035164 -5680997.799949 q: -0.223057 0.953956 -0.178863 -0.090668 
unstable tracking...
time: 1403636613.913555, t: 6067135.463458 -3511545.029537 -5680997.823750 q: -0.223012 0.953927 -0.179099 -0.090626 
time: 1403636614.013556, t: 6067135.462726 -3511545.036300 -5680997.812419 q: -0.223049 0.953918 -0.179086 -0.090655 
time: 1403636614.113555, t: 6067135.468552 -3511545.031897 -5680997.817358 q: -0.223101 0.953925 -0.179005 -0.090607 
time: 1403636614.213556, t: 6067135.470141 -3511545.032665 -5680997.806320 q: -0.223172 0.953897 -0.179046 -0.090651 
unstable tracking...
time: 1403636614.313555, t: 6067135.468711 -3511545.030646 -5680997.782427 q: -0.223186 0.953893 -0.179069 -0.090617 
time: 1403636614.413555, t: 6067135.470538 -3511545.033504 -5680997.796997 q: -0.223153 0.953846 -0.179481 -0.090377 
unstable tracking...
time: 1403636614.513556, t: 6067135.459682 -3511545.039468 -5680997.764325 q: -0.223153 0.953846 -0.179481 -0.090377 
time: 1403636614.613555, t: 6067135.422885 -3511545.008654 -5680997.720743 q: -0.218882 0.955316 -0.179707 -0.084664 
unstable tracking...
time: 1403636614.713556, t: 6067135.461917 -3511544.992706 -5680997.694393 q: -0.218882 0.955316 -0.179707 -0.084664 
unstable tracking...
time: 1403636614.813555, t: 6067135.481583 -3511545.005886 -5680997.811806 q: -0.218970 0.953317 -0.185054 -0.094837 
time: 1403636614.913555, t: 6067135.469993 -3511545.010835 -5680997.764633 q: -0.219121 0.953216 -0.185249 -0.095119 
unstable tracking...
time: 1403636615.013556, t: 6067135.470256 -3511545.029708 -5680997.756518 q: -0.219135 0.953221 -0.185237 -0.095067 
time: 1403636615.113555, t: 6067135.464270 -3511545.016695 -5680997.734798 q: -0.219135 0.953221 -0.185237 -0.095067 
time: 1403636615.213556, t: 6067135.473402 -3511545.004242 -5680997.711963 q: -0.219056 0.953255 -0.185173 -0.095032 
time: 1403636615.313555, t: 6067135.462525 -3511545.014730 -5680997.708275 q: -0.219101 0.953246 -0.185154 -0.095047 
unstable tracking...
time: 1403636615.413555, t: 6067135.463795 -3511545.014424 -5680997.711800 q: -0.219104 0.953243 -0.185165 -0.095052 
unstable tracking...
time: 1403636615.513556, t: 6067135.465065 -3511545.013405 -5680997.708040 q: -0.219107 0.953243 -0.185166 -0.095042 
time: 1403636615.613555, t: 6067135.459544 -3511545.012270 -5680997.692290 q: -0.217458 0.950010 -0.201188 -0.098571 
unstable tracking...
time: 1403636615.713556, t: 6067135.456658 -3511545.025505 -5680997.688293 q: -0.217459 0.949972 -0.201267 -0.098770 
time: 1403636615.813555, t: 6067135.468672 -3511545.011103 -5680997.745125 q: -0.217457 0.949976 -0.201256 -0.098758 
time: 1403636615.913555, t: 6067135.458246 -3511545.015718 -5680997.712892 q: -0.217454 0.949977 -0.201255 -0.098760 
time: 1403636616.013556, t: 6067135.454929 -3511545.015328 -5680997.704129 q: -0.217464 0.949972 -0.201266 -0.098767 
time: 1403636616.113555, t: 6067135.457567 -3511545.018076 -5680997.707651 q: -0.217482 0.949968 -0.201256 -0.098785 
time: 1403636616.213556, t: 6067135.456879 -3511545.020375 -5680997.702516 q: -0.217459 0.949963 -0.201316 -0.098765 
time: 1403636616.313555, t: 6067135.458451 -3511545.014175 -5680997.714670 q: -0.217460 0.949969 -0.201283 -0.098770 
time: 1403636616.413555, t: 6067135.453569 -3511545.019353 -5680997.709302 q: -0.217463 0.949969 -0.201274 -0.098777 
time: 1403636616.513556, t: 6067135.466220 -3511545.010550 -5680997.708023 q: -0.217460 0.949964 -0.201302 -0.098777 
time: 1403636616.613555, t: 6067135.451390 -3511545.014308 -5680997.688099 q: -0.217460 0.949964 -0.201302 -0.098777 
time: 1403636616.713556, t: 6067135.459852 -3511545.017948 -5680997.721003 q: -0.217496 0.949961 -0.201278 -0.098777 
optimize pose graph 
unstable tracking...
time: 1403636616.813555, t: 6067135.452330 -3511545.016989 -5680997.701874 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636616.913555, t: 6067135.451217 -3511545.015780 -5680997.693549 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.013556, t: 6067135.450865 -3511545.015160 -5680997.689312 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.113555, t: 6067135.450658 -3511545.014831 -5680997.686984 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.213556, t: 6067135.450561 -3511545.014655 -5680997.685690 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.313555, t: 6067135.450504 -3511545.014546 -5680997.684985 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.413555, t: 6067135.450463 -3511545.014490 -5680997.684556 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.513556, t: 6067135.450450 -3511545.014459 -5680997.684317 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.613555, t: 6067135.450444 -3511545.014437 -5680997.684196 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.713556, t: 6067135.450428 -3511545.014423 -5680997.684113 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.813555, t: 6067135.450435 -3511545.014422 -5680997.684053 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636617.913555, t: 6067135.450423 -3511545.014407 -5680997.684037 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.013556, t: 6067135.450422 -3511545.014413 -5680997.684011 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.113555, t: 6067135.450427 -3511545.014412 -5680997.684010 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.213556, t: 6067135.450417 -3511545.014403 -5680997.684018 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.313555, t: 6067135.450420 -3511545.014412 -5680997.683998 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.413555, t: 6067135.450423 -3511545.014413 -5680997.683999 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.513556, t: 6067135.450515 -3511545.014244 -5680997.684125 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.613555, t: 6067135.450465 -3511545.014376 -5680997.684247 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.713556, t: 6067135.458326 -3511545.018827 -5680997.693292 q: -0.217496 0.949961 -0.201278 -0.098777 
optimize pose graph 
time: 1403636618.813555, t: 6067135.458674 -3511545.019073 -5680997.698741 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636618.913555, t: 6067135.458922 -3511545.019113 -5680997.700295 q: -0.217496 0.949961 -0.201278 -0.098777 
time: 1403636619.013556, t: 6067135.459718 -3511545.015603 -5680997.676664 q: -0.217798 0.949863 -0.201468 -0.098671 
unstable tracking...
time: 1403636619.113555, t: 6067135.451746 -3511545.017478 -5680997.643874 q: -0.217798 0.949863 -0.201468 -0.098671 
time: 1403636619.213556, t: 6067135.460489 -3511545.013415 -5680997.645498 q: -0.217430 0.950096 -0.201138 -0.097899 
unstable tracking...
time: 1403636619.313555, t: 6067135.498493 -3511545.091395 -5680997.555466 q: -0.217430 0.950096 -0.201138 -0.097899 
time: 1403636619.413555, t: 6067135.473576 -3511545.037157 -5680997.629347 q: -0.217836 0.949856 -0.201559 -0.098466 
unstable tracking...
time: 1403636619.513556, t: 6067135.474139 -3511545.033434 -5680997.631050 q: -0.217836 0.949856 -0.201559 -0.098466 
time: 1403636619.613555, t: 6067135.477326 -3511545.023859 -5680997.633569 q: -0.217836 0.949856 -0.201559 -0.098466 
time: 1403636619.713556, t: 6067135.484255 -3511545.004473 -5680997.638155 q: -0.217836 0.949856 -0.201559 -0.098466 
time: 1403636619.813555, t: 6067135.494167 -3511544.970964 -5680997.648285 q: -0.217836 0.949856 -0.201559 -0.098466 
time: 1403636619.913555, t: 6067135.512877 -3511544.999800 -5680997.739682 q: -0.217836 0.949856 -0.201559 -0.098466 
time: 1403636620.013556, t: 6067135.507452 -3511545.029098 -5680997.950113 q: -0.217836 0.949856 -0.201559 -0.098466 
time: 1403636620.213556, t: 6067133.825668 -3511545.826964 -5681001.398150 q: -0.217362 0.950199 -0.200070 -0.099236 
time: 1403636620.313555, t: 6067134.835632 -3511544.584867 -5680998.118687 q: -0.217269 0.950149 -0.200408 -0.099235 
time: 1403636620.413555, t: 6067134.359641 -3511545.488204 -5681000.033552 q: -0.217443 0.950103 -0.200439 -0.099228 
time: 1403636620.513556, t: 6067134.337748 -3511545.413748 -5681000.019129 q: -0.217381 0.950119 -0.200427 -0.099236 
time: 1403636620.613555, t: 6067134.775910 -3511544.755166 -5680998.304031 q: -0.216966 0.950165 -0.200633 -0.099293 
time: 1403636620.713556, t: 6067134.132915 -3511545.902925 -5681001.064475 q: -0.217413 0.950112 -0.200424 -0.099243 
time: 1403636620.813555, t: 6067134.132505 -3511545.888560 -5681001.057087 q: -0.217455 0.950086 -0.200499 -0.099246 
time: 1403636620.913555, t: 6067134.135053 -3511545.901781 -5681001.046198 q: -0.217455 0.950086 -0.200499 -0.099246 
time: 1403636621.013556, t: 6067134.145602 -3511545.878889 -5681001.081494 q: -0.217385 0.950112 -0.200450 -0.099249 
time: 1403636621.113555, t: 6067134.128168 -3511545.894283 -5681001.058914 q: -0.217372 0.950099 -0.200569 -0.099160 
time: 1403636621.213556, t: 6067134.130445 -3511545.908147 -5681001.047917 q: -0.217372 0.950099 -0.200569 -0.099160 
time: 1403636621.313555, t: 6067134.137883 -3511545.902174 -5681001.038670 q: -0.217385 0.950110 -0.200501 -0.099172 
time: 1403636621.413555, t: 6067134.145253 -3511545.938768 -5681001.008183 q: -0.217385 0.950110 -0.200501 -0.099172 
time: 1403636621.513556, t: 6067134.168533 -3511545.888052 -5681001.072539 q: -0.217384 0.950177 -0.200201 -0.099129 
time: 1403636621.613555, t: 6067134.157169 -3511545.867451 -5681001.025775 q: -0.217335 0.950171 -0.200242 -0.099212 
time: 1403636621.713556, t: 6067134.155220 -3511545.895618 -5681001.085825 q: -0.217348 0.950144 -0.200354 -0.099220 
time: 1403636621.813555, t: 6067134.154395 -3511545.891034 -5681001.089543 q: -0.217348 0.950144 -0.200354 -0.099220 
time: 1403636621.913555, t: 6067134.153734 -3511545.881058 -5681001.096419 q: -0.217348 0.950144 -0.200354 -0.099220 
time: 1403636622.013556, t: 6067134.153283 -3511545.860931 -5681001.109344 q: -0.217348 0.950144 -0.200354 -0.099220 
time: 1403636622.113555, t: 6067134.161978 -3511545.849712 -5681001.034798 q: -0.217247 0.950212 -0.200151 -0.099199 
time: 1403636622.213556, t: 6067134.126906 -3511545.943127 -5681001.162239 q: -0.217359 0.950159 -0.200295 -0.099167 
time: 1403636622.313555, t: 6067134.125641 -3511545.844334 -5681001.127635 q: -0.217261 0.950188 -0.200272 -0.099156 
time: 1403636622.413555, t: 6067134.050015 -3511545.957166 -5681001.422076 q: -0.217323 0.950151 -0.200376 -0.099164 
time: 1403636622.513556, t: 6067134.003667 -3511545.967355 -5681001.560342 q: -0.217274 0.950179 -0.200300 -0.099153 
time: 1403636622.613555, t: 6067134.034678 -3511546.251351 -5681000.959875 q: -0.218342 0.950156 -0.199357 -0.098925 
time: 1403636622.713556, t: 6067134.031834 -3511545.984835 -5681001.456111 q: -0.217016 0.950228 -0.200337 -0.099173 
optimize pose graph 
time: 1403636622.813555, t: 6067134.005288 -3511546.025555 -5681001.459294 q: -0.217016 0.950228 -0.200337 -0.099173 
time: 1403636622.913555, t: 6067133.997540 -3511546.014168 -5681001.405536 q: -0.217016 0.950228 -0.200337 -0.099173 
time: 1403636623.013556, t: 6067133.980999 -3511546.022648 -5681001.364734 q: -0.217016 0.950228 -0.200337 -0.099173 
time: 1403636623.113555, t: 6067134.019491 -3511546.002708 -5681001.521607 q: -0.216258 0.950538 -0.200194 -0.098149 
time: 1403636623.213556, t: 6067133.995990 -3511546.005192 -5681001.548153 q: -0.216121 0.950569 -0.200087 -0.098363 
time: 1403636623.313555, t: 6067133.993342 -3511546.018546 -5681001.543711 q: -0.216122 0.950569 -0.200087 -0.098363 
time: 1403636623.413555, t: 6067134.038969 -3511546.049657 -5681001.412722 q: -0.216582 0.950513 -0.200059 -0.097951 
time: 1403636623.513556, t: 6067133.988643 -3511546.213341 -5681001.147694 q: -0.216582 0.950513 -0.200059 -0.097951 
time: 1403636623.613555, t: 6067133.995312 -3511546.162510 -5681001.171995 q: -0.216582 0.950513 -0.200059 -0.097951 
time: 1403636623.713556, t: 6067134.003919 -3511546.175195 -5681001.286742 q: -0.216582 0.950513 -0.200059 -0.097951 
time: 1403636623.813555, t: 6067133.828005 -3511546.221653 -5681002.258660 q: -0.217666 0.950997 -0.195783 -0.099480 
time: 1403636623.913555, t: 6067133.185130 -3511545.976432 -5681002.423575 q: -0.215887 0.951879 -0.193399 -0.099575 
time: 1403636624.013556, t: 6067133.441744 -3511545.702995 -5681001.573133 q: -0.215454 0.951382 -0.196366 -0.099464 
time: 1403636624.113555, t: 6067133.436948 -3511545.714973 -5681001.570855 q: -0.215454 0.951382 -0.196366 -0.099464 
time: 1403636624.213556, t: 6067133.821694 -3511545.841293 -5681001.608140 q: -0.214476 0.950829 -0.199799 -0.100020 
time: 1403636624.313555, t: 6067132.552750 -3511545.517415 -5681001.707320 q: -0.212933 0.951195 -0.203676 -0.091669 
time: 1403636624.413555, t: 6067132.457664 -3511545.505930 -5681001.702184 q: -0.212933 0.951195 -0.203676 -0.091669 
time: 1403636624.513556, t: 6067132.451230 -3511545.510933 -5681001.731463 q: -0.212933 0.951195 -0.203676 -0.091669 
time: 1403636624.613555, t: 6067132.509324 -3511545.529179 -5681001.722816 q: -0.203501 0.975348 -0.069391 -0.049682 
time: 1403636624.713556, t: 6067132.525476 -3511545.526298 -5681001.715035 q: -0.200082 0.977971 -0.037862 -0.045904 
time: 1403636624.813555, t: 6067132.471617 -3511545.536943 -5681001.706685 q: -0.163496 0.983890 0.017654 -0.070132 
time: 1403636624.913555, t: 6067132.504978 -3511545.523465 -5681001.722198 q: -0.118516 0.984770 0.122143 -0.035538 
time: 1403636625.013556, t: 6067132.500257 -3511545.535294 -5681001.580390 q: -0.158295 0.984010 0.057333 -0.058129 
time: 1403636625.113555, t: 6067132.501211 -3511545.529105 -5681001.583199 q: -0.158295 0.984010 0.057333 -0.058129 
unstable tracking...
time: 1403636625.213556, t: 6067132.502993 -3511545.517032 -5681001.588761 q: -0.158295 0.984010 0.057333 -0.058129 
unstable tracking...
time: 1403636625.313555, t: 6067132.463605 -3511545.507906 -5681001.660858 q: -0.144410 0.980208 0.134921 -0.011567 
unstable tracking...
time: 1403636625.413555, t: 6067131.946765 -3511545.113265 -5681002.968767 q: -0.072214 0.974519 0.119949 -0.175242 
unstable tracking...
time: 1403636625.513556, t: 6067129.145234 -3511542.554082 -5681013.419826 q: -0.112123 0.978801 0.031265 -0.168520 
unstable tracking...
time: 1403636625.613555, t: 6067117.832524 -3511532.512939 -5681060.579480 q: 0.014669 0.999474 -0.028731 -0.003193 
unstable tracking...
time: 1403636625.713556, t: 6066446.235467 -3510684.434487 -5682397.244161 q: -0.274836 0.893919 0.353983 -0.008347 
unstable tracking...
time: 1403636625.813555, t: 6066574.787047 -3510557.629765 -5682298.687704 q: 0.843646 -0.462915 0.159883 0.220018 
unstable tracking...
time: 1403636625.913555, t: 6185456.969851 -3570554.915794 -5104025.333933 q: -0.177081 0.333859 0.913886 0.148299 
unstable tracking...
time: 1403636626.013556, t: 3221879.514054 -3946589.365605 -5821774.993817 q: -0.490260 -0.511079 0.336499 0.620654 
unstable tracking...
time: 1403636626.113555, t: 3221879.505898 -3946589.368705 -5821774.996230 q: -0.490260 -0.511079 0.336499 0.620654 
unstable tracking...
time: 1403636626.213556, t: 3221879.488533 -3946589.380436 -5821774.997890 q: -0.490260 -0.511079 0.336499 0.620654 
W0708 15:44:59.196264   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -74296.8      31453.9 
-3.94659e+06 |        -4006     -8862.55 
-5.82177e+06 |      7903.01     -12961.6 
   -0.511079 |     -6796.81      3363.52 
    0.336499 |      2748.75      -469.47 
    0.620654 |      525.417      1292.68 
    -0.49026 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      74296.8     -31453.9 
-3.94659e+06 |         4006      8862.55 
-5.82178e+06 |     -7903.01      12961.6 
   -0.511079 |      6514.75     -2826.42 
    0.336499 |     -5931.35      2779.37 
    0.620654 |     -1003.91     -1158.22 
    -0.49026 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     21.3068 |     -184.554      80.7838 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:59.196331   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636626.313555, t: 3221879.443958 -3946589.409205 -5821775.003057 q: -0.490260 -0.511079 0.336499 0.620654 
W0708 15:44:59.294600   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -12830.9      1356.79 
-3.94659e+06 |     -3040.36      4657.57 
-5.82177e+06 |      8296.72      1119.73 
   -0.511079 |     -3257.16      229.823 
    0.336499 |      1041.06     -867.946 
    0.620654 |     -289.147     -789.529 
    -0.49026 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      12830.9     -1356.79 
-3.94659e+06 |      3040.36     -4657.57 
-5.82177e+06 |     -8296.72     -1119.73 
   -0.511079 |      2673.18     -217.014 
    0.336499 |      -638.14      430.897 
    0.620654 |      162.061      738.937 
    -0.49026 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     6.69816 |     -255.124    0.0917647 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:59.294643   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636626.413555, t: 3221879.422043 -3946589.348352 -5821774.976991 q: -0.490260 -0.511079 0.336499 0.620654 
unstable tracking...
time: 1403636626.513556, t: 3221879.461975 -3946589.321193 -5821774.989130 q: -0.490260 -0.511079 0.336499 0.620654 
W0708 15:44:59.494302   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -0.000625063   0.00167668 
-3.94659e+06 |   -0.0013084   0.00369344 
-5.82178e+06 |   0.00382886  0.000696767 
   -0.511079 |      -378.72      64.7725 
    0.336499 |      73.3286     -385.396 
    0.620654 |     -145.909     -138.383 
    -0.49026 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  0.000625063  -0.00167668 
-3.94659e+06 |    0.0013084  -0.00369344 
-5.82177e+06 |  -0.00382886 -0.000696767 
   -0.511079 |       378.72     -64.7725 
    0.336499 |     -73.3284      385.396 
    0.620654 |      145.909      138.383 
    -0.49026 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.19621e-05 |     -30.2911     -34.5991 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:59.494386   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636626.613555, t: 3221879.448454 -3946589.303099 -5821774.977986 q: -0.490260 -0.511079 0.336499 0.620654 
unstable tracking...
time: 1403636626.713556, t: 3221879.454474 -3946589.280108 -5821774.939861 q: -0.490260 -0.511079 0.336499 0.620654 
W0708 15:44:59.696807   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 2.32485e-07 |     -34.2561     0.280492 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:59.696843   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636626.813555, t: 3221879.545133 -3946589.277381 -5821774.956939 q: -0.490260 -0.511079 0.336499 0.620654 
W0708 15:44:59.798038   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |   -3.164e-05  3.79099e-05 
-3.94659e+06 | -2.76539e-05  7.24499e-05 
-5.82177e+06 |  7.99529e-05  1.20701e-05 
   -0.511079 |     -486.166      123.593 
    0.336499 |      134.846     -413.402 
    0.620654 |     -169.109     -225.669 
    -0.49026 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |    3.164e-05 -3.79099e-05 
-3.94659e+06 |  2.76539e-05 -7.24499e-05 
-5.82177e+06 | -7.99529e-05 -1.20701e-05 
   -0.511079 |      486.166     -123.593 
    0.336499 |     -134.846      413.402 
    0.620654 |      169.109      225.669 
    -0.49026 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.32485e-07 |      1.15124     -46.8048 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:59.798113   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636626.913555, t: 3221879.627081 -3946589.243573 -5821774.989545 q: -0.490260 -0.511079 0.336499 0.620654 
unstable tracking...
time: 1403636627.013556, t: 3221879.674942 -3946589.244829 -5821775.006615 q: -0.490260 -0.511079 0.336499 0.620654 
W0708 15:44:59.996652   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -1.96903e-05  3.85906e-05 
-3.94659e+06 |  -2.6309e-05  7.25405e-05 
-5.82177e+06 |  7.66141e-05  1.18837e-05 
   -0.511079 |     -414.609      95.9596 
    0.336499 |      105.276     -415.133 
    0.620654 |     -172.672     -171.785 
    -0.49026 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  1.96903e-05 -3.85906e-05 
-3.94659e+06 |   2.6309e-05 -7.25405e-05 
-5.82177e+06 | -7.66141e-05 -1.18837e-05 
   -0.511079 |      414.609     -95.9596 
    0.336499 |     -105.276      415.133 
    0.620654 |      172.672      171.785 
    -0.49026 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.32485e-07 |     0.950705     -37.2352 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:44:59.996695   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636627.113555, t: 3221879.691890 -3946589.274210 -5821774.964938 q: -0.490260 -0.511079 0.336499 0.620654 
W0708 15:45:00.093036   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -2.95631e-05  3.89268e-05 
-3.94659e+06 | -2.74245e-05  7.25795e-05 
-5.82177e+06 |  7.93855e-05  1.17897e-05 
   -0.511079 |     -472.397      121.703 
    0.336499 |      132.558     -418.325 
    0.620654 |     -173.803     -216.215 
    -0.49026 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  2.95631e-05 -3.89268e-05 
-3.94659e+06 |  2.74245e-05 -7.25795e-05 
-5.82177e+06 | -7.93855e-05 -1.17897e-05 
   -0.511079 |      472.397     -121.703 
    0.336499 |     -132.558      418.325 
    0.620654 |      173.803      216.215 
    -0.49026 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.32485e-07 |     -38.3795     -10.7294 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:00.093116   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636627.213556, t: 3221879.741754 -3946589.276869 -5821774.946145 q: -0.490260 -0.511079 0.336499 0.620654 
W0708 15:45:00.196318   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -1.32066e-05  3.77174e-05 
-3.94659e+06 | -2.55733e-05  7.24323e-05 
-5.82178e+06 |  7.47848e-05  1.21255e-05 
   -0.511079 |     -383.501      77.9068 
    0.336499 |      86.3347     -409.734 
    0.620654 |     -168.891     -142.676 
    -0.49026 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  1.32066e-05 -3.77174e-05 
-3.94659e+06 |  2.55733e-05 -7.24323e-05 
-5.82177e+06 | -7.47848e-05 -1.21255e-05 
   -0.511079 |      383.501     -77.9068 
    0.336499 |     -86.3347      409.734 
    0.620654 |      168.891      142.676 
    -0.49026 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.32485e-07 |     -49.2608     -6.50368 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:00.196367   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636627.313555, t: 3221879.807608 -3946589.300749 -5821774.955323 q: -0.490260 -0.511079 0.336499 0.620654 
unstable tracking...
time: 1403636627.413555, t: 3221879.847901 -3946589.311191 -5821774.969777 q: -0.490260 -0.511079 0.336499 0.620654 
unstable tracking...
time: 1403636627.513556, t: 3221880.028778 -3946589.258995 -5821775.011121 q: -0.472973 -0.529176 0.316251 0.629488 
W0708 15:45:00.501433   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -0.000153676  0.000152912 
-3.94659e+06 |  -0.00020424  0.000446208 
-5.82177e+06 |   0.00048396  0.000132579 
   -0.515538 |     -429.721      39.4142 
    0.333988 |      107.369      -357.12 
    0.613806 |     -105.649     -192.573 
   -0.495898 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  0.000153676 -0.000152912 
-3.94659e+06 |   0.00020424 -0.000446208 
-5.82177e+06 |  -0.00048396 -0.000132579 
   -0.529176 |      435.942     -65.2675 
    0.316251 |      -76.054      354.339 
    0.629488 |      107.335      190.674 
   -0.472973 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.49363e-06 |     -2.26933     -21.4625 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:00.501482   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636627.613555, t: 3221880.049560 -3946589.273767 -5821774.989608 q: -0.472973 -0.529176 0.316251 0.629488 
unstable tracking...
time: 1403636627.713556, t: 3221880.082547 -3946589.279259 -5821774.982492 q: -0.472973 -0.529176 0.316251 0.629488 
W0708 15:45:00.701203   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -3.51398e-05  2.52298e-05 
-3.94659e+06 |  -3.3272e-05  6.95993e-05 
-5.82177e+06 |  7.82767e-05  2.02366e-05 
   -0.522219 |     -504.442      73.6149 
    0.325801 |      121.575     -363.403 
    0.619997 |     -113.196      -242.25 
   -0.486564 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  3.51398e-05 -2.52298e-05 
-3.94659e+06 |   3.3272e-05 -6.95993e-05 
-5.82177e+06 | -7.82767e-05 -2.02366e-05 
   -0.529176 |       509.05     -88.1137 
    0.316251 |     -100.666       360.83 
    0.629488 |      113.093      241.254 
   -0.472973 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.32485e-07 |     -9.18536     -15.9481 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:00.701292   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636627.813555, t: 3221880.141275 -3946589.281324 -5821775.010439 q: -0.472973 -0.529176 0.316251 0.629488 
W0708 15:45:00.795234   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -2.61253e-05  4.12284e-05 
-3.94659e+06 | -3.22284e-05   7.2116e-05 
-5.82177e+06 |  7.62626e-05  1.61203e-05 
   -0.529176 |     -448.934      119.714 
    0.316251 |      129.841     -431.564 
    0.629488 |     -185.538     -199.012 
   -0.472973 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  2.61253e-05 -4.12284e-05 
-3.94659e+06 |  3.22284e-05  -7.2116e-05 
-5.82178e+06 | -7.62626e-05 -1.61203e-05 
   -0.529176 |      448.934     -119.714 
    0.316251 |     -129.841      431.564 
    0.629488 |      185.538      199.012 
   -0.472973 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.32485e-07 |     -18.1258     -12.1882 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:00.795300   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636627.913555, t: 3221880.218024 -3946589.271428 -5821775.054947 q: -0.472973 -0.529176 0.316251 0.629488 
W0708 15:45:00.897805   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 5.06448e-06 |     -34.1392     0.244403 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:00.897850   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:45:00.993857   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -2.14299e-05  3.68936e-05 
-3.94659e+06 | -3.25834e-05  7.38151e-05 
-5.82178e+06 |  7.73806e-05  1.82052e-05 
   -0.529176 |      -418.18      90.7855 
    0.316251 |      100.341     -401.875 
    0.629488 |     -160.614     -175.162 
   -0.472973 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  2.14299e-05 -3.68936e-05 
-3.94659e+06 |  3.25834e-05 -7.38151e-05 
-5.82177e+06 | -7.73806e-05 -1.82052e-05 
   -0.529176 |       418.18     -90.7855 
    0.316251 |     -100.341      401.875 
    0.629488 |      160.614      175.162 
   -0.472973 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.40704e-07 |     -48.7325      -16.559 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:00.993918   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636628.113555, t: 3221880.223430 -3946589.284033 -5821774.943498 q: -0.472973 -0.529176 0.316251 0.629488 
W0708 15:45:01.098335   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -21.2637      16.9865 
-3.94659e+06 |     -27.1126      58.5226 
-5.82178e+06 |      64.1968      18.3746 
   -0.529176 |     -431.708      52.9419 
    0.316251 |       68.496     -339.306 
    0.629488 |      -92.516     -185.582 
   -0.472973 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      21.2637     -16.9865 
-3.94659e+06 |      27.1126     -58.5226 
-5.82177e+06 |     -64.1968     -18.3746 
   -0.529176 |      441.106     -55.1329 
    0.316251 |     -67.9784      343.596 
    0.629488 |      91.3275      193.095 
   -0.472973 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -56.9339     -11.7049 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:01.098413   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636628.213556, t: 3221880.322463 -3946589.292013 -5821774.956324 q: -0.472973 -0.529176 0.316251 0.629488 
unstable tracking...
time: 1403636628.313555, t: 3221880.358476 -3946589.301502 -5821775.000179 q: -0.472973 -0.529176 0.316251 0.629488 
unstable tracking...
time: 1403636628.413555, t: 3221880.452438 -3946589.301215 -5821775.017221 q: -0.472973 -0.529176 0.316251 0.629488 
unstable tracking...
time: 1403636628.513556, t: 3221880.338456 -3946589.291838 -5821774.973812 q: -0.483303 -0.536863 0.307671 0.619302 
W0708 15:45:01.492238   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -30.4783      23.9037 
-3.94659e+06 |     -30.4051      62.5054 
-5.82177e+06 |      68.5494      16.8329 
   -0.534378 |     -514.065      103.105 
    0.312197 |      114.614     -381.997 
    0.624607 |     -128.261     -238.747 
   -0.476276 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      30.4783     -23.9037 
-3.94659e+06 |      30.4051     -62.5054 
-5.82177e+06 |     -68.5494     -16.8329 
   -0.536863 |      510.366     -104.556 
    0.307671 |     -119.124      380.123 
    0.619302 |      135.979      240.037 
   -0.483303 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -38.878     0.352812 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:01.492317   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636628.613555, t: 3221880.398763 -3946589.298341 -5821774.984063 q: -0.483303 -0.536863 0.307671 0.619302 
unstable tracking...
time: 1403636628.713556, t: 3221880.457135 -3946589.316076 -5821775.025630 q: -0.483303 -0.536863 0.307671 0.619302 
unstable tracking...
time: 1403636628.813555, t: 3221880.426149 -3946589.321420 -5821775.005268 q: -0.483303 -0.536863 0.307671 0.619302 
W0708 15:45:01.796850   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 2.40704e-07 |     -34.1994      0.27238 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:01.796914   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636628.913555, t: 3221880.442958 -3946589.308298 -5821774.977185 q: -0.483303 -0.536863 0.307671 0.619302 
unstable tracking...
time: 1403636629.013556, t: 3221880.507207 -3946589.406143 -5821775.022355 q: -0.006980 -0.535696 -0.027127 0.843946 
unstable tracking...
time: 1403636629.113555, t: 3221880.366778 -3946589.385207 -5821774.988799 q: -0.006111 -0.544813 -0.047076 0.837213 
unstable tracking...
time: 1403636629.213556, t: 3221880.406206 -3946589.373707 -5821775.031776 q: -0.006111 -0.544813 -0.047076 0.837213 
W0708 15:45:02.192162   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -4.26392e-05  6.62963e-05 
-3.94659e+06 |  -8.3724e-05 -9.31608e-08 
-5.82178e+06 |  1.30684e-05  5.72078e-05 
   -0.543756 |     -448.488      88.3682 
  -0.0382161 |       109.73     -391.973 
    0.838326 |      -146.18         -196 
 -0.00885344 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  4.26392e-05 -6.62963e-05 
-3.94659e+06 |   8.3724e-05  9.31608e-08 
-5.82178e+06 | -1.30684e-05 -5.72078e-05 
   -0.544813 |      449.517     -94.5459 
  -0.0470756 |     -105.131      388.314 
    0.837213 |      146.401      200.351 
 -0.00611097 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.51768e-07 |     -44.5065      6.29062 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:02.192214   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636629.313555, t: 3221880.427117 -3946589.357018 -5821775.060574 q: -0.006111 -0.544813 -0.047076 0.837213 
W0708 15:45:02.297252   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -31.2937      43.6395 
-3.94659e+06 |     -64.9909     -1.03049 
-5.82177e+06 |      9.37687      47.9106 
   -0.544813 |     -431.209      60.7217 
  -0.0470756 |      71.5744     -347.922 
    0.837213 |     -100.484     -187.027 
 -0.00611097 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      31.2937     -43.6395 
-3.94659e+06 |      64.9909      1.03049 
-5.82178e+06 |     -9.37687     -47.9106 
   -0.544813 |      433.989     -60.8311 
  -0.0470756 |     -73.3762      351.396 
    0.837213 |       103.33      187.399 
 -0.00611097 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.1768      10.1375 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:02.297297   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636629.413555, t: 3221880.386012 -3946589.385634 -5821775.047753 q: -0.006111 -0.544813 -0.047076 0.837213 
unstable tracking...
time: 1403636629.513556, t: 3221880.421069 -3946589.337258 -5821775.039013 q: -0.041616 -0.571473 -0.058187 0.817497 
W0708 15:45:02.501760   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |  -3.8686e-05  5.66269e-05 
-3.94659e+06 | -7.17076e-05  2.04111e-06 
-5.82178e+06 |    1.199e-05  4.83256e-05 
   -0.547882 |     -488.545      114.462 
  -0.0497398 |      122.116     -405.303 
    0.834963 |     -152.264     -221.256 
  -0.0137139 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |   3.8686e-05 -5.66269e-05 
-3.94659e+06 |  7.17076e-05 -2.04111e-06 
-5.82178e+06 |   -1.199e-05 -4.83256e-05 
   -0.555608 |      484.892     -116.076 
  -0.0542441 |     -127.407      402.768 
    0.829436 |      159.438      225.012 
  -0.0198349 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.08102e-07 |     -39.8309     0.122356 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:02.501801   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
unstable tracking...
time: 1403636629.713556, t: 3221880.524204 -3946589.291253 -5821775.062038 q: -0.065518 -0.560429 -0.082722 0.821452 
unstable tracking...
time: 1403636629.813555, t: 3221880.535940 -3946589.307336 -5821775.044773 q: -0.065518 -0.560429 -0.082722 0.821452 
unstable tracking...
time: 1403636629.913555, t: 3221880.556426 -3946589.306825 -5821775.083726 q: -0.072530 -0.555434 -0.088625 0.823637 
unstable tracking...
time: 1403636630.013556, t: 3221880.552347 -3946589.303024 -5821775.039824 q: -0.046161 -0.570512 -0.149688 0.806212 
unstable tracking...
time: 1403636630.113555, t: 3221880.604129 -3946589.300160 -5821775.052316 q: -0.046161 -0.570512 -0.149688 0.806212 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636630.413555, t: 3221880.541379 -3946589.319678 -5821775.030772 q: -0.053076 -0.602551 -0.184395 0.774670 
time: 1403636630.513556, t: 3221880.543197 -3946589.311719 -5821775.034600 q: -0.052983 -0.601727 -0.187564 0.774556 
unstable tracking...
time: 1403636630.613555, t: 3221880.146136 -3946589.397271 -5821775.015656 q: -0.041929 -0.588340 -0.206517 0.780672 
unstable tracking...
time: 1403636630.713556, t: 3221880.183683 -3946589.427977 -5821775.029472 q: -0.041929 -0.588340 -0.206517 0.780672 
time: 1403636630.813555, t: 3221880.035157 -3946589.439827 -5821775.137054 q: 0.513537 -0.327677 -0.639944 0.468379 
unstable tracking...
time: 1403636630.913555, t: 3221880.059714 -3946589.427639 -5821775.131728 q: 0.513537 -0.327677 -0.639944 0.468379 
W0708 15:45:03.897316   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -2562.97      573.742 
-3.94659e+06 |     -47.1933     -1347.95 
-5.82178e+06 |     -1575.21     -552.767 
   -0.325027 |      -814.64      29.8829 
    -0.63517 |       211.33     -302.138 
    0.477614 |     -109.245     -316.389 
    0.512642 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      2562.97     -573.742 
-3.94659e+06 |      47.1933      1347.95 
-5.82178e+06 |      1575.21      552.767 
   -0.327677 |      1049.85     -46.7594 
   -0.639944 |     -133.068      341.556 
    0.468379 |      57.2682      432.127 
    0.513536 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     5.81554 |     -35.6098     -9.01046 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:03.897382   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636631.013556, t: 3221880.082873 -3946589.411799 -5821775.097853 q: 0.513536 -0.327677 -0.639944 0.468379 
unstable tracking...
unstable tracking...
time: 1403636631.213556, t: 3221880.160186 -3946589.396234 -5821775.060377 q: 0.513536 -0.327677 -0.639944 0.468380 
time: 1403636631.313555, t: 3221880.136866 -3946589.419550 -5821775.055704 q: 0.513536 -0.327677 -0.639944 0.468380 
unstable tracking...
time: 1403636631.413555, t: 3221880.214897 -3946589.455905 -5821775.065092 q: 0.513536 -0.327677 -0.639944 0.468380 
time: 1403636631.513556, t: 3221880.018208 -3946589.331824 -5821775.045238 q: 0.548090 -0.252793 -0.676763 0.421527 
unstable tracking...
unstable tracking...
time: 1403636631.713556, t: 3221880.037714 -3946589.442146 -5821775.060329 q: 0.551762 -0.261367 -0.684575 0.398250 
time: 1403636631.813555, t: 3221879.992954 -3946589.435862 -5821775.055873 q: 0.555076 -0.266914 -0.683090 0.392473 
unstable tracking...
time: 1403636631.913555, t: 3221879.985502 -3946589.436374 -5821775.059653 q: 0.555076 -0.266914 -0.683090 0.392473 
time: 1403636632.013556, t: 3221879.720765 -3946589.659885 -5821775.123374 q: 0.724140 0.001047 -0.681134 0.108056 
unstable tracking...
time: 1403636632.113555, t: 3221879.703206 -3946589.665276 -5821775.129439 q: 0.724140 0.001047 -0.681134 0.108056 
W0708 15:45:05.097471   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -128.616      69.5315 
-3.94659e+06 |      130.082     -11.4326 
-5.82178e+06 |     -10.1869     -151.175 
  0.00300088 |     -500.787      114.167 
   -0.683007 |      138.668     -429.858 
    0.117381 |     -169.081     -222.908 
    0.720912 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      128.616     -69.5315 
-3.94659e+06 |     -130.082      11.4326 
-5.82178e+06 |      10.1869      151.175 
  0.00104735 |      479.827      -114.89 
   -0.681134 |     -131.817      409.628 
    0.108056 |      166.464      217.309 
     0.72414 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.447478 |     -32.1694      5.43221 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:05.097538   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636632.213556, t: 3221879.668111 -3946589.680528 -5821775.138524 q: 0.724140 0.001047 -0.681134 0.108056 
time: 1403636632.313555, t: 3221879.680975 -3946589.686787 -5821775.008477 q: 0.724140 0.001047 -0.681134 0.108056 
unstable tracking...
time: 1403636632.413555, t: 3221879.714903 -3946589.693793 -5821774.999247 q: 0.724140 0.001047 -0.681134 0.108056 
time: 1403636632.513556, t: 3221879.737037 -3946589.717592 -5821775.014395 q: 0.685433 0.185919 -0.700328 -0.071807 
unstable tracking...
time: 1403636632.613555, t: 3221879.719678 -3946589.719988 -5821775.022379 q: 0.685433 0.185919 -0.700328 -0.071807 
W0708 15:45:05.600629   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

  3.1995e-07 |     -34.2262     0.280178 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:05.600684   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636632.713556, t: 3221879.701020 -3946589.718004 -5821774.999066 q: 0.685433 0.185919 -0.700328 -0.071807 
unstable tracking...
time: 1403636632.813555, t: 3221879.665426 -3946589.729278 -5821775.001729 q: 0.685433 0.185919 -0.700328 -0.071807 
unstable tracking...
time: 1403636632.913555, t: 3221879.620043 -3946589.775485 -5821775.010744 q: 0.702363 0.124009 -0.700465 0.025630 
unstable tracking...
time: 1403636633.013556, t: 3221879.700034 -3946589.767868 -5821775.009716 q: 0.750974 0.167268 -0.636801 0.050434 
unstable tracking...
time: 1403636633.113555, t: 3221879.661280 -3946589.776706 -5821774.999729 q: 0.750974 0.167268 -0.636801 0.050434 
W0708 15:45:06.093223   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -85.0243      27.7162 
-3.94659e+06 |      75.4326      29.2599 
-5.82178e+06 |      29.1541      -104.06 
    0.128035 |     -396.223      80.3006 
   -0.635667 |      116.308     -353.003 
   0.0290423 |     -141.752     -203.227 
    0.760718 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      85.0243     -27.7162 
-3.94659e+06 |     -75.4326     -29.2599 
-5.82177e+06 |     -29.1541       104.06 
    0.167268 |      427.819     -88.3652 
   -0.636801 |     -101.784      395.043 
    0.050434 |      154.121      180.378 
    0.750974 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.370813 |     -14.8081     -11.5267 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:06.093290   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636633.213556, t: 3221879.662857 -3946589.744857 -5821774.994982 q: 0.750974 0.167268 -0.636801 0.050434 
unstable tracking...
time: 1403636633.313555, t: 3221879.635562 -3946589.763503 -5821774.971741 q: 0.807375 0.441319 -0.253451 -0.298573 
unstable tracking...
time: 1403636633.413555, t: 3221879.475837 -3946589.847934 -5821774.960263 q: 0.839966 0.427793 -0.231549 -0.240491 
unstable tracking...
W0708 15:45:06.497695   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -13.7688     -23.4596 
-3.94659e+06 |      4.62691      71.3246 
-5.82177e+06 |      83.2939     -39.2155 
    0.435198 |     -517.256      183.219 
   -0.255101 |      137.823      -492.81 
   -0.290742 |     -196.264     -223.205 
    0.813016 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      13.7688      23.4596 
-3.94659e+06 |     -4.62691     -71.3246 
-5.82177e+06 |     -83.2939      39.2155 
    0.427793 |      482.187     -163.582 
   -0.231549 |     -177.519      493.216 
   -0.240491 |      230.216      219.508 
    0.839966 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -47.4649     -28.2807 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:06.497764   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636633.613555, t: 3221879.537107 -3946589.732092 -5821774.934132 q: 0.839966 0.427793 -0.231549 -0.240491 
unstable tracking...
time: 1403636633.713556, t: 3221879.519567 -3946589.678641 -5821775.022882 q: 0.839966 0.427793 -0.231549 -0.240491 
time: 1403636633.813555, t: 3221879.485389 -3946589.837726 -5821774.951534 q: 0.862285 0.404262 -0.257462 -0.163556 
unstable tracking...
time: 1403636633.913555, t: 3221879.496462 -3946589.736003 -5821774.960163 q: 0.862285 0.404262 -0.257462 -0.163556 
time: 1403636634.013556, t: 3221879.511016 -3946589.731493 -5821774.945782 q: 0.862285 0.404262 -0.257462 -0.163556 
unstable tracking...
time: 1403636634.113555, t: 3221879.591866 -3946589.644097 -5821774.950722 q: 0.862285 0.404262 -0.257462 -0.163556 
time: 1403636634.213556, t: 3221879.632806 -3946589.628640 -5821774.985654 q: 0.862285 0.404262 -0.257462 -0.163556 
time: 1403636634.313555, t: 3221879.647607 -3946589.603350 -5821775.020510 q: 0.862285 0.404262 -0.257462 -0.163556 
unstable tracking...
time: 1403636634.413555, t: 3221879.662422 -3946589.591976 -5821775.045509 q: 0.862285 0.404262 -0.257462 -0.163556 
unstable tracking...
time: 1403636634.513556, t: 3221879.689279 -3946589.572523 -5821775.084217 q: 0.862285 0.404262 -0.257462 -0.163556 
unstable tracking...
time: 1403636634.613555, t: 3221879.700324 -3946589.560248 -5821775.022267 q: 0.862285 0.404262 -0.257462 -0.163556 
unstable tracking...
time: 1403636634.713556, t: 3221879.681218 -3946589.610526 -5821775.038014 q: 0.875732 0.382515 -0.265840 -0.126907 
time: 1403636634.813555, t: 3221879.723936 -3946589.586217 -5821775.021881 q: 0.856062 0.422409 -0.245704 -0.168397 
unstable tracking...
time: 1403636634.913555, t: 3221879.753184 -3946589.583842 -5821774.964519 q: 0.856062 0.422409 -0.245704 -0.168397 
W0708 15:45:07.895588   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -37.3671     -62.6955 
-3.94659e+06 |       13.222      101.577 
-5.82178e+06 |      145.338     -67.7979 
    0.401652 |     -484.939      92.9264 
   -0.275464 |      145.928     -403.766 
   -0.174936 |      -127.56     -234.262 
    0.855683 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      37.3671      62.6955 
-3.94659e+06 |      -13.222     -101.577 
-5.82177e+06 |     -145.338      67.7979 
    0.422409 |      484.701     -119.853 
   -0.245704 |     -135.903      413.604 
   -0.168397 |      169.804       221.28 
    0.856062 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.384326 |     -45.2536      17.3764 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:07.895673   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636635.013556, t: 3221879.758501 -3946589.580297 -5821774.965811 q: 0.856062 0.422409 -0.245704 -0.168397 
unstable tracking...
time: 1403636635.213556, t: 3221879.759133 -3946589.471236 -5821774.937694 q: 0.856062 0.422409 -0.245704 -0.168397 
unstable tracking...
time: 1403636635.313555, t: 3221879.845849 -3946589.458616 -5821774.980304 q: 0.856062 0.422409 -0.245704 -0.168397 
time: 1403636635.413555, t: 3221879.901334 -3946589.422674 -5821775.017398 q: 0.856062 0.422409 -0.245704 -0.168397 
unstable tracking...
time: 1403636635.513556, t: 3221879.897071 -3946589.426884 -5821775.016906 q: 0.856062 0.422409 -0.245704 -0.168397 
W0708 15:45:08.502616   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -0.000329872 -0.000553131 
-3.94659e+06 |  6.36616e-05  0.000733735 
-5.82177e+06 |   0.00118205 -0.000476467 
    0.422409 |     -520.641      105.642 
   -0.245704 |      118.203     -376.478 
   -0.168397 |     -131.475      -248.17 
    0.856062 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  0.000329872  0.000553131 
-3.94659e+06 | -6.36616e-05 -0.000733735 
-5.82178e+06 |  -0.00118205  0.000476467 
    0.422409 |      520.641     -105.642 
   -0.245704 |     -118.203      376.479 
   -0.168397 |      131.475       248.17 
    0.856062 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 3.06005e-06 |      9.66699      1.78325 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:08.502666   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636635.613555, t: 3221879.884644 -3946589.435264 -5821775.018104 q: 0.856062 0.422409 -0.245704 -0.168397 
unstable tracking...
time: 1403636635.713556, t: 3221879.839875 -3946589.428856 -5821775.003715 q: 0.856062 0.422409 -0.245704 -0.168397 
unstable tracking...
time: 1403636635.813555, t: 3221879.802935 -3946589.442239 -5821774.952311 q: 0.856062 0.422409 -0.245704 -0.168397 
unstable tracking...
time: 1403636635.913555, t: 3221879.899343 -3946590.619702 -5821777.519098 q: -0.168876 -0.607067 -0.432687 0.644773 
W0708 15:45:08.891595   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |   0.00219603   0.00319624 
-3.94659e+06 |   -0.0120175  -0.00181431 
-5.82177e+06 |  -0.00476765   0.00942014 
    0.644682 |      -481.26      208.862 
    0.504382 |     -107.445     -310.493 
    -0.57369 |     -219.273     -182.005 
  -0.0293825 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  -0.00219603  -0.00319624 
-3.94659e+06 |    0.0120175   0.00181431 
-5.82178e+06 |   0.00476765  -0.00942014 
   -0.607067 |      534.558      -41.169 
   -0.432687 |      -55.456      324.814 
    0.644773 |      49.6986      256.889 
   -0.168876 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 3.22073e-05 |     -2131.21      1945.92 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:08.891654   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636636.013556, t: 3221879.827650 -3946590.542353 -5821777.611212 q: -0.168876 -0.607067 -0.432687 0.644773 
W0708 15:45:08.994490   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |  0.000958677  0.000603873 
-3.94659e+06 |   -0.0064085  -0.00223015 
-5.82176e+06 |   -0.0024954   0.00462454 
    0.734698 |     -450.426      197.399 
    0.486033 |     -193.106     -335.709 
   -0.458213 |     -284.785     -162.511 
   -0.118453 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 | -0.000958677 -0.000603873 
-3.94659e+06 |    0.0064085   0.00223015 
-5.82178e+06 |    0.0024954  -0.00462454 
   -0.607067 |      563.488      47.9891 
   -0.432687 |      30.5324          319 
    0.644773 |     -53.5963      272.102 
   -0.168876 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.57133e-05 |     -838.105      4529.68 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:08.994531   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636636.113555, t: 3221879.822941 -3946590.547413 -5821777.610390 q: -0.168876 -0.607067 -0.432687 0.644773 
W0708 15:45:09.094084   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      19.9578      26.4991 
-3.94659e+06 |     -66.9864     -3.09186 
-5.82178e+06 |     -28.2834      60.0876 
   -0.607067 |     -459.467      69.4812 
   -0.432687 |      76.2219     -352.341 
    0.644773 |     -98.0828     -207.859 
   -0.168876 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -19.9578     -26.4991 
-3.94659e+06 |      66.9864      3.09186 
-5.82178e+06 |      28.2834     -60.0876 
   -0.607067 |      455.532     -68.0403 
   -0.432687 |     -81.2286      353.818 
    0.644773 |      105.808      203.649 
   -0.168876 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -17.3846      39.8525 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:09.094214   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636636.213556, t: 3221879.812603 -3946590.557102 -5821777.609544 q: -0.168876 -0.607067 -0.432687 0.644773 
unstable tracking...
W0708 15:45:09.297165   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |       -21727     -5152.57 
-3.94659e+06 |     -5128.97      4030.43 
-5.82178e+06 |      3608.15     -16717.9 
   -0.602075 |     -980.136     -125.836 
   -0.434871 |      378.907       234.78 
    0.648682 |      307.314       1167.1 
   -0.166146 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |        21727      5152.57 
-3.94659e+06 |      5128.97     -4030.43 
-5.82178e+06 |     -3608.15      16717.9 
   -0.581456 |     -294.316     -58.2437 
   -0.496857 |     -261.065      126.801 
    0.606069 |     -316.396      558.225 
   -0.218454 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1039.45 |   -0.0262692   0.00250628 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:09.297206   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636636.413555, t: 3221879.749504 -3946590.523412 -5821777.573367 q: -0.218454 -0.581456 -0.496857 0.606069 
W0708 15:45:09.395743   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      773.633      829.333 
-3.94659e+06 |     -3379.55     -346.874 
-5.82178e+06 |     -1428.51       2363.8 
   -0.600957 |     -819.912      96.5765 
   -0.452217 |      148.374     -419.087 
    0.637369 |     -176.824     -377.756 
   -0.167664 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -773.633     -829.333 
-3.94659e+06 |      3379.55      346.874 
-5.82178e+06 |      1428.51      -2363.8 
   -0.581456 |      602.971     -45.0098 
   -0.496857 |     -141.562      361.398 
    0.606069 |      112.178      231.909 
   -0.218454 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     6.95647 |     -11.0998     -3.58511 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:09.395795   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636636.513556, t: 3221879.802237 -3946590.516616 -5821777.535912 q: -0.218454 -0.581456 -0.496857 0.606069 
unstable tracking...
unstable tracking...
time: 1403636636.713556, t: 3221879.866437 -3946590.424538 -5821777.568498 q: -0.212855 -0.586545 -0.503021 0.598020 
unstable tracking...
W0708 15:45:09.794422   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      31.6736      27.7599 
-3.94659e+06 |      -62.085    -0.307115 
-5.82178e+06 |     -34.4191       62.296 
    -0.59062 |     -473.656      83.3225 
   -0.506258 |      111.737     -381.078 
     0.59419 |     -138.142      -211.78 
   -0.204474 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -31.6736     -27.7599 
-3.94659e+06 |       62.085     0.307115 
-5.82178e+06 |      34.4191      -62.296 
   -0.581988 |      472.248     -87.5796 
   -0.513112 |     -101.135      371.688 
    0.596857 |      127.746      215.177 
   -0.204374 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -44.5587     -13.7242 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:09.794467   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636636.913555, t: 3221879.768929 -3946590.558398 -5821777.516721 q: -0.204374 -0.581988 -0.513112 0.596857 
W0708 15:45:09.904039   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      27.9095      26.1542 
-3.94659e+06 |     -67.2623     -2.51853 
-5.82178e+06 |     -35.5641      60.8226 
   -0.586664 |      -528.01      96.0388 
   -0.514223 |      108.064       -365.3 
    0.593057 |       -125.5     -248.996 
   -0.199208 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -27.9095     -26.1542 
-3.94659e+06 |      67.2623      2.51853 
-5.82178e+06 |      35.5641     -60.8226 
   -0.581988 |      527.533     -91.4464 
   -0.513112 |     -106.557      361.968 
    0.596857 |      113.951      250.777 
   -0.204374 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -37.2621      -11.175 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:09.904105   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636637.113555, t: 3221879.816673 -3946590.494666 -5821777.542359 q: -0.204374 -0.581988 -0.513112 0.596857 
unstable tracking...
time: 1403636637.213556, t: 3221879.715487 -3946590.688724 -5821777.746405 q: -0.213324 -0.570528 -0.496318 0.618594 
W0708 15:45:10.193753   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      24.0366      33.4118 
-3.94659e+06 |     -74.9301      11.1057 
-5.82178e+06 |      -33.469      62.6462 
   -0.565666 |      -586.19      156.152 
   -0.498924 |      181.362     -425.453 
     0.61953 |     -175.365     -286.633 
   -0.217442 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -24.0366     -33.4118 
-3.94659e+06 |      74.9301     -11.1057 
-5.82178e+06 |       33.469     -62.6462 
   -0.570528 |      580.356     -156.956 
   -0.496318 |     -173.187      421.169 
    0.618594 |      173.708      279.904 
   -0.213324 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -36.6876     -38.9289 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:10.193809   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636637.313555, t: 3221879.713466 -3946590.699714 -5821777.740075 q: -0.213324 -0.570528 -0.496318 0.618594 
unstable tracking...
time: 1403636637.413555, t: 3221879.726108 -3946590.729586 -5821777.712829 q: -0.213324 -0.570528 -0.496318 0.618594 
time: 1403636637.513556, t: 3221879.690659 -3946591.328924 -5821777.891296 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
unstable tracking...
time: 1403636637.713556, t: 3221879.700664 -3946591.336691 -5821778.007632 q: 0.090286 0.508120 0.646969 -0.561332 
time: 1403636637.813555, t: 3221879.745039 -3946591.355722 -5821777.989154 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
time: 1403636637.913555, t: 3221879.742695 -3946591.338572 -5821777.996156 q: 0.090286 0.508120 0.646969 -0.561332 
W0708 15:45:10.892555   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -448789       -20993 
-3.94659e+06 |      -762458      17820.5 
-5.82178e+06 |      -336145     -28642.4 
     0.50812 |     -61529.4     -326.573 
    0.646969 |      21018.7      545.122 
   -0.561332 |      1432.97      2577.75 
   0.0902859 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       448789        20993 
-3.94659e+06 |       762458     -17820.5 
-5.82178e+06 |       336145      28642.4 
     0.50812 |       134685      720.307 
    0.646969 |     -20135.2     -296.954 
   -0.561332 |     -2712.74     -5620.23 
   0.0902859 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     851.711 |       -1.324    0.0102632 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:10.892598   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636638.013556, t: 3221879.742167 -3946591.363495 -5821778.008566 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
time: 1403636638.113555, t: 3221879.774926 -3946591.345951 -5821778.016655 q: 0.090286 0.508120 0.646969 -0.561332 
W0708 15:45:11.083842   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      19.4881      40.4524 
-3.94659e+06 |     -58.0284     -14.2512 
-5.82178e+06 |     -62.9905      51.4299 
     0.50812 |      -616.32      118.105 
    0.646969 |      136.746     -371.498 
   -0.561332 |      -122.69     -297.465 
   0.0902859 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -19.4881     -40.4524 
-3.94659e+06 |      58.0284      14.2512 
-5.82178e+06 |      62.9905     -51.4299 
     0.50812 |      619.419     -119.417 
    0.646969 |     -136.775      371.401 
   -0.561332 |      122.622      300.744 
   0.0902859 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -51.4625     0.580682 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:11.083901   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636638.213556, t: 3221879.781657 -3946591.347462 -5821778.030613 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
unstable tracking...
time: 1403636638.413555, t: 3221879.780672 -3946591.262292 -5821778.054427 q: 0.090286 0.508120 0.646969 -0.561332 
W0708 15:45:11.397950   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      21.5946      40.2866 
-3.94659e+06 |     -53.0101     -13.4619 
-5.82178e+06 |     -60.1872      51.0823 
     0.50812 |     -564.275      112.092 
    0.646969 |      124.546      -368.52 
   -0.561332 |     -123.129     -273.776 
   0.0902859 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -21.5946     -40.2866 
-3.94659e+06 |      53.0101      13.4619 
-5.82178e+06 |      60.1872     -51.0823 
     0.50812 |      568.169     -112.132 
    0.646969 |     -128.176       373.88 
   -0.561332 |      127.128      273.899 
   0.0902859 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -18.2737       12.248 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:11.398007   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636638.513556, t: 3221879.822885 -3946591.188781 -5821778.046967 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
time: 1403636638.613555, t: 3221879.850277 -3946591.143366 -5821778.039614 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
time: 1403636638.713556, t: 3221879.899853 -3946591.057931 -5821778.025329 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
time: 1403636638.813555, t: 3221879.900041 -3946591.057495 -5821778.025521 q: 0.090286 0.508120 0.646969 -0.561332 
W0708 15:45:11.792490   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      32.5215       38.555 
-3.94659e+06 |      -32.257     -15.9406 
-5.82178e+06 |     -50.1392      49.4593 
     0.50812 |     -380.713      51.0741 
    0.646969 |      61.7788     -350.293 
   -0.561332 |     -111.671     -145.068 
   0.0902859 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -32.5215      -38.555 
-3.94659e+06 |       32.257      15.9406 
-5.82178e+06 |      50.1392     -49.4593 
     0.50812 |      387.236     -51.4185 
    0.646969 |     -62.3594      356.629 
   -0.561332 |      112.588      146.084 
   0.0902859 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -24.1389     -5.93806 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:11.792541   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636638.913555, t: 3221879.900441 -3946591.056651 -5821778.025873 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
time: 1403636639.013556, t: 3221879.901369 -3946591.055105 -5821778.026409 q: 0.090286 0.508120 0.646969 -0.561332 
unstable tracking...
unstable tracking...
time: 1403636639.213556, t: 3221879.909648 -3946591.048562 -5821778.026264 q: 0.090286 0.508120 0.646969 -0.561332 
W0708 15:45:12.205430   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |   0.00256422   0.00442934 
-3.94659e+06 |  -0.00588638    -0.001863 
-5.82178e+06 |  -0.00679931   0.00568799 
     0.50812 |     -552.873      93.8163 
    0.646969 |      107.479      -358.18 
   -0.561332 |     -108.057     -267.231 
   0.0902859 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  -0.00256422  -0.00442934 
-3.94659e+06 |   0.00588638     0.001863 
-5.82178e+06 |   0.00679931  -0.00568799 
     0.50812 |      552.873     -93.8163 
    0.646969 |     -107.479      358.181 
   -0.561332 |      108.057      267.231 
   0.0902859 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.26153e-05 |     -32.2111     -4.47817 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:12.205477   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
unstable tracking...
time: 1403636639.513556, t: 3221880.043375 -3946590.993121 -5821778.060033 q: 0.090286 0.508120 0.646969 -0.561332 
W0708 15:45:12.491302   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      1.14741      1.30046 
-3.94659e+06 |    -0.800227    -0.353515 
-5.82178e+06 |     -1.48137      1.63377 
     0.50812 |     -350.279      47.2358 
    0.646969 |      55.0181     -379.948 
   -0.561332 |     -141.616      -104.47 
   0.0902859 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -1.14741     -1.30046 
-3.94659e+06 |     0.800227     0.353515 
-5.82178e+06 |      1.48137     -1.63377 
     0.50812 |      350.495     -47.3275 
    0.646969 |     -55.0181      380.091 
   -0.561332 |      141.604      104.672 
    0.090286 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  0.00619414 |     -58.4541     -11.9164 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:12.491343   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636639.613555, t: 3221880.040744 -3946590.997763 -5821778.058342 q: 0.090286 0.508120 0.646969 -0.561332 
W0708 15:45:12.604755   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |       33.411      40.1788 
-3.94659e+06 |     -31.8071     -14.0781 
-5.82178e+06 |     -50.3764      51.0676 
     0.50812 |     -377.352      53.5033 
    0.646969 |      65.6518      -364.03 
   -0.561332 |     -124.545     -135.469 
   0.0902859 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      -33.411     -40.1788 
-3.94659e+06 |      31.8071      14.0781 
-5.82178e+06 |      50.3764     -51.0676 
     0.50812 |      382.092     -55.5274 
    0.646969 |     -66.2225      366.857 
   -0.561332 |      125.561      140.529 
    0.090286 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -53.8338     0.993111 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:12.604822   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636639.813555, t: 3221880.010002 -3946591.027648 -5821778.118570 q: 0.093063 0.524332 0.646348 -0.546489 
W0708 15:45:12.794399   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -17967.8     -7123.03 
-3.94659e+06 |     -18427.6     -292.547 
-5.82178e+06 |     -4572.59     -9149.42 
    0.510152 |     -1526.54     -437.961 
    0.645121 |      562.722      251.776 
   -0.560799 |      264.704      610.533 
   0.0952289 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      17967.8      7123.03 
-3.94659e+06 |      18427.6      292.547 
-5.82178e+06 |      4572.59      9149.42 
    0.524332 |      1337.34       319.11 
    0.646348 |      124.586      254.186 
   -0.546489 |      24.9514     -425.122 
   0.0930634 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

      846.77 |   -0.0386702  -0.00407509 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:12.794456   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636639.913555, t: 3221880.026785 -3946591.030988 -5821778.053632 q: 0.093063 0.524332 0.646348 -0.546489 
unstable tracking...
time: 1403636640.013556, t: 3221880.035055 -3946591.014713 -5821778.057171 q: 0.093063 0.524332 0.646348 -0.546489 
unstable tracking...
W0708 15:45:13.094146   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |  -2.8454e+06     -96710.7 
-3.94659e+06 |  -5.3678e+06      -387089 
-5.82178e+06 | -2.87669e+06     -67460.8 
    0.499736 |      -440079     -25105.5 
    0.662189 |       150785      7084.11 
   -0.551948 |      9071.87     -8635.39 
   0.0844004 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |   2.8454e+06      96710.7 
-3.94659e+06 |   5.3678e+06       387089 
-5.82178e+06 |  2.87669e+06      67460.8 
    0.499231 |       387517      21933.5 
    0.666187 |      -104346     -4150.14 
   -0.549048 |     -2341.37      7878.91 
   0.0742223 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1029.53 |     -6.19249    -0.416601 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:13.094193   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636640.213556, t: 3221880.072804 -3946590.944669 -5821778.043361 q: 0.074222 0.499231 0.666187 -0.549048 
unstable tracking...
time: 1403636640.313555, t: 3221880.122072 -3946590.871220 -5821778.024715 q: 0.074222 0.499231 0.666187 -0.549048 
time: 1403636640.413555, t: 3221879.944222 -3946591.152544 -5821778.103550 q: 0.062769 0.519030 0.668924 -0.528402 
unstable tracking...
time: 1403636640.513556, t: 3221879.936238 -3946591.150896 -5821778.109086 q: 0.062769 0.519030 0.668924 -0.528402 
W0708 15:45:13.493079   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      22.0466      50.3791 
-3.94659e+06 |     -56.2209     -11.9279 
-5.82178e+06 |     -74.9343      61.7876 
    0.519914 |     -626.076      153.558 
    0.653354 |      205.749     -468.693 
   -0.545366 |     -173.169     -287.505 
   0.0734425 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -22.0466     -50.3791 
-3.94659e+06 |      56.2209      11.9279 
-5.82178e+06 |      74.9343     -61.7876 
     0.51903 |        601.1      -172.63 
    0.668924 |      -189.67      433.926 
   -0.528402 |      183.992      290.519 
   0.0627689 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -108.341      37.3511 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:13.493146   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636640.613555, t: 3221879.959008 -3946591.192716 -5821778.068136 q: 0.062769 0.519030 0.668924 -0.528402 
W0708 15:45:13.594715   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      23.3628      43.3872 
-3.94659e+06 |     -44.8125     -14.1627 
-5.82178e+06 |     -64.0019      53.6369 
     0.51903 |     -532.623      131.826 
    0.668924 |      149.399     -408.856 
   -0.528402 |      -165.29     -253.094 
   0.0627689 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -23.3628     -43.3872 
-3.94659e+06 |      44.8125      14.1627 
-5.82178e+06 |      64.0019     -53.6369 
     0.51903 |      531.678      -131.58 
    0.668924 |     -146.585      406.542 
   -0.528402 |       161.87      252.623 
   0.0627689 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.6853     -15.2829 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:13.594774   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636640.713556, t: 3221879.939454 -3946591.196886 -5821778.076132 q: 0.062769 0.519030 0.668924 -0.528402 
unstable tracking...
time: 1403636640.813555, t: 3221879.895636 -3946591.210598 -5821778.092473 q: 0.062769 0.519030 0.668924 -0.528402 
time: 1403636640.913555, t: 3221879.913562 -3946591.220975 -5821778.059971 q: 0.062769 0.519030 0.668924 -0.528402 
unstable tracking...
time: 1403636641.013556, t: 3221879.858980 -3946591.320946 -5821778.143615 q: 0.073676 0.534274 0.658112 -0.525367 
unstable tracking...
time: 1403636641.113555, t: 3221879.435882 -3946592.315852 -5821778.105793 q: 0.072633 0.585798 0.646481 -0.483350 
time: 1403636641.213556, t: 3221879.427213 -3946592.253014 -5821778.153190 q: 0.072633 0.585798 0.646481 -0.483350 
unstable tracking...
time: 1403636641.413555, t: 3221879.400574 -3946592.266244 -5821778.126410 q: 0.072633 0.585798 0.646481 -0.483350 
unstable tracking...
unstable tracking...
W0708 15:45:14.597946   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      32.7641      8.61641 
-3.94659e+06 |     -80.5523      13.8845 
-5.82178e+06 |      -21.146      81.7186 
    0.710264 |     -532.629      123.753 
    0.371685 |      177.354      -482.13 
   -0.528203 |     -176.102     -229.544 
    0.279957 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -32.7641     -8.61641 
-3.94659e+06 |      80.5523     -13.8845 
-5.82178e+06 |       21.146     -81.7186 
    0.722777 |      505.161     -149.795 
    0.394867 |     -164.403      447.955 
   -0.497701 |      197.434      235.413 
    0.271969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -115.778     -10.9383 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:14.598031   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636641.713556, t: 3221879.315985 -3946592.500024 -5821778.067480 q: 0.271969 0.722777 0.394867 -0.497701 
unstable tracking...
time: 1403636641.813555, t: 3221879.315642 -3946592.500650 -5821778.067247 q: 0.271969 0.722777 0.394867 -0.497701 
W0708 15:45:14.796574   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      25.1034      3.13079 
-3.94659e+06 |     -79.3543      4.84481 
-5.82178e+06 |     -22.3068      69.7249 
    0.725194 |     -581.215       129.82 
    0.388813 |      156.277     -399.311 
   -0.498958 |     -149.234     -277.832 
    0.271953 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -25.1034     -3.13079 
-3.94659e+06 |      79.3543     -4.84481 
-5.82178e+06 |      22.3068     -69.7249 
    0.722777 |      581.142     -134.468 
    0.394867 |     -150.803      394.122 
   -0.497701 |      148.523      280.665 
    0.271969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -38.9939     -2.18163 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:14.796679   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636641.913555, t: 3221879.314963 -3946592.501889 -5821778.066785 q: 0.271969 0.722777 0.394867 -0.497701 
unstable tracking...
time: 1403636642.013556, t: 3221879.273682 -3946592.528995 -5821778.063138 q: 0.474878 0.778565 0.157934 -0.378660 
W0708 15:45:14.993161   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |  0.000187199  -0.00252716 
-3.94659e+06 |  -0.00852688   0.00205635 
-5.82178e+06 |   0.00122105   0.00415418 
    0.836879 |     -885.111      64.1289 
   0.0350735 |       313.31      -472.45 
    -0.35524 |     -142.725     -333.666 
     0.41498 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 | -0.000187199   0.00252716 
-3.94659e+06 |   0.00852688  -0.00205635 
-5.82178e+06 |  -0.00122105  -0.00415418 
    0.778565 |      928.706     -149.477 
    0.157934 |     -171.019      361.725 
    -0.37866 |      101.055      430.657 
    0.474878 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.23445e-05 |     -91.5815     -8.37724 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:14.993232   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636642.113555, t: 3221879.259182 -3946592.560884 -5821778.049547 q: 0.474878 0.778565 0.157934 -0.378660 
unstable tracking...
time: 1403636642.213556, t: 3221878.949252 -3946592.784732 -5821777.243803 q: 0.397507 0.752905 0.318714 -0.416585 
W0708 15:45:15.194272   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |       33.082     -35.4807 
-3.94659e+06 |     -80.5281     -28.0153 
-5.82178e+06 |      1.16519      49.9609 
    0.649193 |      -104.42      -412.98 
   -0.285909 |      491.955      92.8997 
   -0.248378 |      285.622     -133.079 
    0.659631 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      -33.082      35.4807 
-3.94659e+06 |      80.5281      28.0153 
-5.82178e+06 |     -1.16519     -49.9609 
    0.752905 |      556.043      92.4036 
    0.318714 |      73.2993       340.56 
   -0.416585 |     -103.415      265.087 
    0.397507 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      34.8061     -308.513 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:15.194331   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636642.313555, t: 3221878.674202 -3946592.549497 -5821777.555489 q: 0.397507 0.752905 0.318714 -0.416585 
unstable tracking...
time: 1403636642.413555, t: 3221878.685525 -3946592.578510 -5821777.529556 q: 0.397507 0.752905 0.318714 -0.416585 
W0708 15:45:15.391979   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      40.6226     -15.4443 
-3.94659e+06 |     -54.8636      20.1934 
-5.82178e+06 |      9.96751      66.5293 
    0.752905 |     -395.265       90.721 
    0.318714 |      82.0609     -407.132 
   -0.416585 |     -159.885     -165.468 
    0.397507 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -40.6226      15.4443 
-3.94659e+06 |      54.8636     -20.1934 
-5.82178e+06 |     -9.96751     -66.5293 
    0.752905 |      382.038      -76.378 
    0.318714 |     -86.9053      411.799 
   -0.416585 |      171.012      139.145 
    0.397507 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      93.9682      55.7859 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:15.392046   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636642.513556, t: 3221878.677376 -3946592.572304 -5821777.538275 q: 0.397507 0.752905 0.318714 -0.416585 
unstable tracking...
time: 1403636642.613555, t: 3221878.647433 -3946592.631237 -5821777.520089 q: 0.413160 0.743756 0.329258 -0.409529 
W0708 15:45:15.597476   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |       35.518     -16.8988 
-3.94659e+06 |     -75.3912      20.3329 
-5.82178e+06 |      3.06312      66.4315 
    0.750407 |     -549.515      149.137 
    0.328585 |      152.907     -419.542 
   -0.410221 |     -182.431     -255.581 
    0.400799 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      -35.518      16.8988 
-3.94659e+06 |      75.3912     -20.3329 
-5.82178e+06 |     -3.06312     -66.4315 
    0.743756 |      546.698     -140.348 
    0.329258 |     -155.753      412.301 
   -0.409529 |      166.736      261.301 
     0.41316 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      3.93036     -29.6104 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:15.597523   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636642.713556, t: 3221878.545756 -3946592.549777 -5821777.484053 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
W0708 15:45:15.795938   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1861     0.269531 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:15.796010   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636642.913555, t: 3221878.616650 -3946592.425406 -5821777.517200 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
time: 1403636643.013556, t: 3221878.644335 -3946592.359522 -5821777.491218 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
time: 1403636643.113555, t: 3221878.592823 -3946592.358513 -5821777.491544 q: 0.413160 0.743756 0.329258 -0.409529 
W0708 15:45:16.093899   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |       34.036     -16.9633 
-3.94659e+06 |      -73.555      17.7637 
-5.82178e+06 |       2.6779       63.455 
    0.743756 |     -552.269      136.533 
    0.329258 |      150.275      -394.17 
   -0.409529 |     -157.371     -272.188 
     0.41316 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      -34.036      16.9633 
-3.94659e+06 |       73.555     -17.7637 
-5.82178e+06 |      -2.6779      -63.455 
    0.743756 |      554.322      -133.37 
    0.329258 |     -148.911      400.685 
   -0.409529 |      155.709      265.875 
     0.41316 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      31.0055      -27.469 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:16.093989   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636643.213556, t: 3221878.558461 -3946592.276117 -5821777.487166 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
W0708 15:45:16.299821   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      35.5267     -18.8585 
-3.94659e+06 |      -69.586      12.4091 
-5.82178e+06 |       4.2085      61.5877 
    0.743756 |     -512.204      99.2533 
    0.329258 |      110.447     -363.555 
   -0.409529 |     -123.506     -248.379 
     0.41316 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -35.5267      18.8585 
-3.94659e+06 |       69.586     -12.4091 
-5.82178e+06 |      -4.2085     -61.5877 
    0.743756 |      514.029     -96.8733 
    0.329258 |     -111.514      370.402 
   -0.409529 |      124.806      242.513 
     0.41316 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      21.4374     -6.95786 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:16.299893   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636643.413555, t: 3221878.608152 -3946592.221191 -5821777.506828 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
time: 1403636643.513556, t: 3221878.641495 -3946592.163283 -5821777.501698 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
time: 1403636643.613555, t: 3221878.637341 -3946592.133491 -5821777.479479 q: 0.413160 0.743756 0.329258 -0.409529 
W0708 15:45:16.592180   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      32.7666     -15.9185 
-3.94659e+06 |     -76.6498      20.5644 
-5.82178e+06 |      1.43056      64.2996 
    0.743756 |     -580.984      158.535 
    0.329258 |      174.878     -410.933 
   -0.409529 |      -172.44     -285.204 
     0.41316 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -32.7666      15.9185 
-3.94659e+06 |      76.6498     -20.5644 
-5.82178e+06 |     -1.43056     -64.2996 
    0.743756 |      589.777     -158.441 
    0.329258 |     -174.816      419.593 
   -0.409529 |       172.09      285.011 
     0.41316 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      8.78675     -26.0014 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:16.592264   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636643.713556, t: 3221878.652111 -3946592.091621 -5821777.455675 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
time: 1403636643.813555, t: 3221878.663431 -3946592.140213 -5821777.444792 q: 0.413160 0.743756 0.329258 -0.409529 
W0708 15:45:16.803714   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |      -34.196     0.242364 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:16.803769   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636643.913555, t: 3221878.631363 -3946592.157896 -5821777.456904 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
time: 1403636644.013556, t: 3221878.633232 -3946592.127906 -5821777.449210 q: 0.413160 0.743756 0.329258 -0.409529 
unstable tracking...
time: 1403636644.113555, t: 3221878.600183 -3946592.142408 -5821777.502759 q: 0.413244 0.742355 0.330348 -0.411106 
W0708 15:45:17.094719   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      32.9872     -16.6635 
-3.94659e+06 |     -82.8049      20.2553 
-5.82178e+06 |     0.243461      66.3561 
    0.743845 |     -629.453      162.846 
    0.328394 |        178.7     -415.195 
   -0.411275 |     -164.334     -304.557 
    0.411952 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -32.9872      16.6635 
-3.94659e+06 |      82.8049     -20.2553 
-5.82178e+06 |    -0.243461     -66.3561 
    0.742355 |      625.311     -162.113 
    0.330348 |     -179.471      412.846 
   -0.411106 |       165.19      303.271 
    0.413244 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -24.6752      12.4817 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:17.094763   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636644.213556, t: 3221878.589920 -3946592.104518 -5821777.479315 q: 0.413244 0.742355 0.330348 -0.411106 
unstable tracking...
time: 1403636644.313555, t: 3221878.570645 -3946592.053264 -5821777.495231 q: 0.413244 0.742355 0.330348 -0.411106 
W0708 15:45:17.291941   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      39.3137      -19.304 
-3.94659e+06 |     -58.5995      10.3474 
-5.82178e+06 |      8.11893      60.7796 
     0.74243 |     -424.906       68.762 
     0.32949 |      74.9735     -351.296 
   -0.413088 |      -111.53     -190.501 
    0.411816 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -39.3137       19.304 
-3.94659e+06 |      58.5995     -10.3474 
-5.82178e+06 |     -8.11893     -60.7796 
    0.742355 |      425.626     -64.6239 
    0.330348 |     -76.8137      358.667 
   -0.411106 |      113.547      180.557 
    0.413244 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      46.0749     -8.93414 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:17.292002   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636644.413555, t: 3221878.537977 -3946591.931549 -5821777.488601 q: 0.413244 0.742355 0.330348 -0.411106 
unstable tracking...
time: 1403636644.513556, t: 3221878.556067 -3946592.088375 -5821777.497928 q: 0.413179 0.753881 0.342669 -0.378848 
W0708 15:45:17.501048   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      37.7186     -21.8421 
-3.94659e+06 |     -84.2837      15.7389 
-5.82178e+06 |     -1.33285      68.1961 
    0.740786 |     -634.985      149.009 
    0.339412 |      142.001     -403.756 
   -0.412795 |     -121.919     -301.669 
    0.406984 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -37.7186      21.8421 
-3.94659e+06 |      84.2837     -15.7389 
-5.82178e+06 |      1.33285     -68.1961 
    0.753881 |      619.314     -151.087 
    0.342669 |     -168.438      402.349 
   -0.378848 |      155.563      300.318 
    0.413179 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -23.769     0.266344 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:17.501111   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636644.713556, t: 3221878.562933 -3946591.946816 -5821777.489753 q: 0.413179 0.753881 0.342669 -0.378848 
W0708 15:45:17.700244   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      38.3974     -21.3297 
-3.94659e+06 |     -66.2373      10.8316 
-5.82178e+06 |      3.80486      61.5981 
    0.753881 |     -492.127      101.491 
    0.342669 |      112.902     -370.134 
   -0.378848 |     -133.162     -235.239 
    0.413179 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -38.3974      21.3297 
-3.94659e+06 |      66.2373     -10.8316 
-5.82178e+06 |     -3.80486     -61.5981 
    0.753881 |      497.735     -100.129 
    0.342669 |     -114.268      378.673 
   -0.378848 |      134.785      232.131 
    0.413179 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      12.1085     -9.21545 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:17.700313   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636644.813555, t: 3221878.582926 -3946591.863042 -5821777.474232 q: 0.413179 0.753881 0.342669 -0.378848 
W0708 15:45:17.794353   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      37.5455     -18.4619 
-3.94659e+06 |     -68.7544      20.5264 
-5.82178e+06 |      2.66853      65.5978 
    0.753881 |     -514.419      153.234 
    0.342669 |       166.03     -431.002 
   -0.378848 |     -190.474     -248.101 
    0.413179 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     -37.5455      18.4619 
-3.94659e+06 |      68.7544     -20.5264 
-5.82178e+06 |     -2.66853     -65.5978 
    0.753881 |       522.83     -152.462 
    0.342669 |     -167.105      440.998 
   -0.378848 |      191.533      246.793 
    0.413179 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      10.9563     -23.3772 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:17.794395   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636644.913555, t: 3221878.598362 -3946591.897712 -5821777.456866 q: 0.413179 0.753881 0.342669 -0.378848 
unstable tracking...
time: 1403636645.013556, t: 3221878.606111 -3946591.884286 -5821777.448330 q: 0.413179 0.753881 0.342669 -0.378848 
unstable tracking...
time: 1403636645.113555, t: 3221888.497827 -3946670.731872 -5821757.163624 q: -0.332718 -0.462056 -0.556086 0.605451 
W0708 15:45:18.094297   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -8.50333     -3.50711 
-3.94663e+06 |     -2.80267     -1.38878 
-5.82176e+06 |      2.91815     -8.05159 
   -0.503736 |      24.3835     -10.3672 
    -0.55152 |       7.5976      51.5581 
    0.577896 |      20.1369      38.0294 
   -0.328804 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      8.50333      3.50711 
-3.94667e+06 |      2.80267      1.38878 
-5.82176e+06 |     -2.91815      8.05159 
   -0.462056 |      376.582      44.6226 
   -0.556086 |      40.5098       329.62 
    0.605451 |      83.6472      -153.26 
   -0.332718 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -301.339       28.666 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:18.094362   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636645.213556, t: 3221888.497719 -3946670.732041 -5821757.163570 q: -0.332718 -0.462056 -0.556086 0.605451 
unstable tracking...
time: 1403636645.313555, t: 3221888.497504 -3946670.732379 -5821757.163462 q: -0.332718 -0.462056 -0.556086 0.605451 
time: 1403636645.413555, t: 3221888.497084 -3946670.733057 -5821757.163236 q: -0.332718 -0.462056 -0.556086 0.605451 
unstable tracking...
time: 1403636645.513556, t: 3221888.496321 -3946670.734430 -5821757.162729 q: -0.332718 -0.462056 -0.556086 0.605451 
unstable tracking...
time: 1403636645.613555, t: 3221888.508835 -3946670.747467 -5821757.172856 q: -0.315582 -0.476815 -0.566810 0.593112 
W0708 15:45:18.591639   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    0.0612262    0.0354277 
-3.94667e+06 |   -0.0558038    0.0279014 
-5.82176e+06 |   -0.0349623    0.0756215 
   -0.461923 |     -431.102      87.8458 
   -0.559049 |      107.902     -410.013 
    0.604062 |      -146.58     -184.758 
   -0.330455 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   -0.0612262   -0.0354277 
-3.94667e+06 |    0.0558038   -0.0279014 
-5.82176e+06 |    0.0349623   -0.0756215 
   -0.476815 |      423.386       -97.44 
    -0.56681 |     -107.058      410.251 
    0.593112 |      168.102      179.333 
   -0.315582 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  0.00024206 |     -47.3108      1.40092 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:18.591709   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636645.713556, t: 3221888.509035 -3946670.770585 -5821757.157075 q: -0.315582 -0.476815 -0.566810 0.593112 
unstable tracking...
time: 1403636645.813555, t: 3221888.514995 -3946670.810825 -5821757.126498 q: -0.315582 -0.476815 -0.566810 0.593112 
W0708 15:45:18.794601   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    0.0122703   0.00696102 
-3.94667e+06 |   -0.0140611   0.00368892 
-5.82176e+06 |  -0.00758951     0.015478 
   -0.472163 |     -490.923      87.1571 
   -0.564321 |      105.705     -369.499 
    0.595823 |     -116.436     -230.998 
   -0.321867 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   -0.0122703  -0.00696102 
-3.94667e+06 |    0.0140611  -0.00368892 
-5.82176e+06 |   0.00758951    -0.015478 
   -0.476815 |      489.192     -92.0679 
    -0.56681 |     -103.959       369.91 
    0.593112 |      124.971      228.419 
   -0.315582 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 5.15307e-05 |     -35.6325     -54.2146 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:18.794677   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636645.913555, t: 3221888.554196 -3946670.784375 -5821756.998772 q: -0.315582 -0.476815 -0.566810 0.593112 
unstable tracking...
time: 1403636646.013556, t: 3221888.543738 -3946670.776008 -5821757.037703 q: -0.315582 -0.476815 -0.566810 0.593112 
W0708 15:45:18.994577   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      2189.53      434.563 
-3.94667e+06 |     -4473.74     -4273.38 
-5.82176e+06 |     -1752.16      2522.07 
   -0.476815 |     -300.738     -250.747 
    -0.56681 |      90.1942      50.0062 
    0.593112 |     -65.8925     -210.939 
   -0.315582 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -2189.53     -434.563 
-3.94667e+06 |      4473.74      4273.38 
-5.82176e+06 |      1752.16     -2522.07 
   -0.476815 |      645.872      295.554 
    -0.56681 |      350.695      669.358 
    0.593112 |     -308.223      222.503 
   -0.315582 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1418.66 | -0.000808908  -0.00238519 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:18.994629   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636646.113555, t: 3221888.574358 -3946670.700336 -5821757.048719 q: -0.315582 -0.476815 -0.566810 0.593112 
unstable tracking...
time: 1403636646.213556, t: 3221888.591601 -3946670.632440 -5821757.059668 q: -0.315582 -0.476815 -0.566810 0.593112 
W0708 15:45:19.194772   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      47.0911      25.0828 
-3.94667e+06 |     -42.9442      10.4109 
-5.82176e+06 |     -26.8955      56.7677 
   -0.476815 |     -407.616      60.7719 
    -0.56681 |      71.4753     -341.187 
    0.593112 |     -107.112     -176.422 
   -0.315582 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -47.0911     -25.0828 
-3.94667e+06 |      42.9442     -10.4109 
-5.82176e+06 |      26.8955     -56.7677 
   -0.476815 |      421.797     -61.1027 
    -0.56681 |     -73.1647      355.452 
    0.593112 |       109.46      177.511 
   -0.315582 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     0.848648     -11.6582 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:19.194823   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636646.313555, t: 3221888.593709 -3946670.551987 -5821757.059049 q: -0.315582 -0.476815 -0.566810 0.593112 
unstable tracking...
time: 1403636646.413555, t: 3221888.378126 -3946670.587317 -5821756.552487 q: 0.280025 0.424778 0.636029 -0.580187 
W0708 15:45:19.391369   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      3.16951      2.25236 
-3.94667e+06 |     -3.66735     0.466251 
-5.82176e+06 |     -2.87328      3.83034 
   -0.463481 |     -539.297      36.0003 
   -0.575318 |       154.34      -385.66 
    0.602273 |     -95.4123     -231.351 
   -0.302426 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -3.16951     -2.25236 
-3.94667e+06 |      3.66735    -0.466251 
-5.82176e+06 |      2.87328     -3.83034 
    0.424778 |       549.31     -87.0054 
    0.636029 |     -100.838      353.071 
   -0.580187 |      101.139      265.143 
    0.280025 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

   0.0124738 |      91.5614     -98.4364 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:19.391418   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636646.513556, t: 3221888.379588 -3946670.616484 -5821756.531906 q: 0.280025 0.424778 0.636029 -0.580187 
W0708 15:45:19.493911   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |       2625.9      982.529 
-3.94667e+06 |       497.06     -4429.45 
-5.82176e+06 |     -1397.93      1731.35 
    0.440999 |      18.0664     -263.117 
    0.605914 |     -15.1352        56.21 
   -0.594935 |     -53.7623     -192.901 
    0.290585 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      -2625.9     -982.529 
-3.94667e+06 |      -497.06      4429.45 
-5.82176e+06 |      1397.93     -1731.35 
    0.424778 |      359.028     -237.342 
    0.636029 |     -73.3039      765.223 
   -0.580187 |     -340.752     -203.219 
    0.280025 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     860.235 |   0.00329889  -0.00625896 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:19.493974   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636646.613555, t: 3221888.396483 -3946670.554824 -5821756.546045 q: 0.280025 0.424778 0.636029 -0.580187 
unstable tracking...
time: 1403636646.713556, t: 3221888.376208 -3946670.595214 -5821756.531871 q: 0.280025 0.424778 0.636029 -0.580187 
unstable tracking...
time: 1403636646.813555, t: 3221888.322214 -3946670.540945 -5821756.509813 q: 0.281186 0.437556 0.653335 -0.550120 
unstable tracking...
time: 1403636646.913555, t: 3221888.312441 -3946670.557828 -5821756.523441 q: 0.281186 0.437556 0.653335 -0.550120 
W0708 15:45:19.891489   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      49.2655       33.243 
-3.94667e+06 |     -57.5432      17.0168 
-5.82176e+06 |     -46.7031      62.5669 
    0.429108 |     -610.595      157.581 
    0.645807 |      165.747     -416.525 
   -0.564007 |     -151.498     -292.278 
    0.284071 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -49.2655      -33.243 
-3.94667e+06 |      57.5432     -17.0168 
-5.82176e+06 |      46.7031     -62.5669 
    0.437556 |      605.538     -161.202 
    0.653335 |     -178.113      417.813 
    -0.55012 |      170.141      293.173 
    0.281186 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -8.54122      11.1285 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:19.891534   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636647.013556, t: 3221888.297855 -3946670.510013 -5821756.544447 q: 0.281186 0.437556 0.653335 -0.550120 
W0708 15:45:19.992447   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      47.9531      30.7399 
-3.94667e+06 |     -45.8134      6.87252 
-5.82176e+06 |     -42.0599        57.12 
    0.437556 |     -511.498      94.3893 
    0.653335 |      105.057     -358.208 
    -0.55012 |      -115.32     -245.082 
    0.281186 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -47.9531     -30.7399 
-3.94667e+06 |      45.8134     -6.87252 
-5.82176e+06 |      42.0599       -57.12 
    0.437556 |      518.343     -94.4157 
    0.653335 |     -109.196      366.795 
    -0.55012 |      120.321      245.209 
    0.281186 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -7.99129      11.9518 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:19.992545   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636647.113555, t: 3221888.299075 -3946670.413800 -5821756.553715 q: 0.281186 0.437556 0.653335 -0.550120 
unstable tracking...
time: 1403636647.213556, t: 3221888.288177 -3946670.525079 -5821756.578205 q: 0.290528 0.440993 0.651122 -0.545123 
unstable tracking...
time: 1403636647.313555, t: 3221888.294822 -3946670.532439 -5821756.555332 q: 0.290528 0.440993 0.651122 -0.545123 
W0708 15:45:20.300608   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |       49.971      30.0876 
-3.94667e+06 |     -40.0264      12.3149 
-5.82176e+06 |     -39.5516      59.4833 
    0.440861 |     -465.607      103.804 
     0.65211 |      113.339     -385.992 
   -0.545595 |      -151.59      -212.54 
    0.287613 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      -49.971     -30.0876 
-3.94667e+06 |      40.0264     -12.3149 
-5.82176e+06 |      39.5516     -59.4833 
    0.440993 |      471.134     -101.448 
    0.651122 |     -114.809      390.436 
   -0.545123 |      148.044      214.122 
    0.290528 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -17.4599     -19.4268 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:20.300689   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636647.413555, t: 3221888.311356 -3946670.436373 -5821756.524275 q: 0.290528 0.440993 0.651122 -0.545123 
unstable tracking...
time: 1403636647.513556, t: 3221888.311354 -3946670.406041 -5821756.524610 q: 0.290528 0.440993 0.651122 -0.545123 
W0708 15:45:20.493646   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      47.9779      29.1538 
-3.94667e+06 |     -50.3004      8.31913 
-5.82176e+06 |     -41.8138      57.2863 
    0.440993 |     -557.565      111.727 
    0.651122 |      127.828     -362.557 
   -0.545123 |     -126.994      -274.32 
    0.290528 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -47.9779     -29.1538 
-3.94667e+06 |      50.3004     -8.31913 
-5.82176e+06 |      41.8138     -57.2863 
    0.440993 |      568.534     -111.632 
    0.651122 |     -127.636       373.28 
   -0.545123 |      126.417      274.146 
    0.290528 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      16.9356     -25.1109 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:20.493718   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636647.613555, t: 3221888.308554 -3946670.351044 -5821756.525383 q: 0.290528 0.440993 0.651122 -0.545123 
unstable tracking...
time: 1403636647.713556, t: 3221888.300735 -3946670.267643 -5821756.518846 q: 0.290528 0.440993 0.651122 -0.545123 
W0708 15:45:20.691831   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    0.0309362     0.018587 
-3.94667e+06 |   -0.0263634   0.00633585 
-5.82176e+06 |    -0.024998    0.0366232 
    0.440993 |     -491.209      100.232 
    0.651122 |      112.028     -378.955 
   -0.545123 |     -135.175       -229.6 
    0.290528 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   -0.0309362    -0.018587 
-3.94667e+06 |    0.0263634  -0.00633585 
-5.82176e+06 |     0.024998   -0.0366232 
    0.440993 |      491.214     -100.232 
    0.651122 |     -112.029      378.962 
   -0.545123 |      135.177        229.6 
    0.290528 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000122336 |     -3.19956     0.808559 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:20.691876   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636647.813555, t: 3221888.298062 -3946670.258325 -5821756.545303 q: 0.290528 0.440993 0.651122 -0.545123 
unstable tracking...
time: 1403636647.913555, t: 3221888.323088 -3946670.364487 -5821756.413749 q: 0.291231 0.448004 0.668625 -0.517124 
W0708 15:45:20.896983   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      55.9648      32.1309 
-3.94667e+06 |      -61.023      21.3909 
-5.82176e+06 |     -51.9729      70.9475 
    0.441828 |     -662.234      197.351 
    0.652316 |      208.399     -474.199 
   -0.543234 |     -188.758     -299.215 
    0.290118 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -55.9648     -32.1309 
-3.94667e+06 |       61.023     -21.3909 
-5.82176e+06 |      51.9729     -70.9475 
    0.448004 |      648.965     -203.974 
    0.668625 |     -222.111      456.396 
   -0.517124 |      200.587      314.194 
    0.291231 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -52.3577   0.00804028 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:20.897045   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636648.013556, t: 3221888.315245 -3946670.323737 -5821756.518801 q: 0.291231 0.448004 0.668625 -0.517124 
W0708 15:45:20.991765   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   0.00181583  0.000999186 
-3.94667e+06 |   -0.0015245  0.000235002 
-5.82176e+06 |  -0.00151638   0.00211535 
    0.445184 |     -532.482      99.5155 
    0.654225 |      115.405     -385.418 
   -0.536449 |     -118.638     -241.999 
    0.293298 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  -0.00181583 -0.000999186 
-3.94667e+06 |    0.0015245 -0.000235002 
-5.82176e+06 |   0.00151638  -0.00211535 
    0.448004 |      528.567     -107.289 
    0.668625 |     -120.046      376.198 
   -0.517124 |      130.907      252.939 
    0.291231 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 6.66283e-06 |     -39.6258      15.6622 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:20.991837   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636648.113555, t: 3221888.318702 -3946670.281041 -5821756.515070 q: 0.291231 0.448004 0.668625 -0.517124 
W0708 15:45:21.090334   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      52.2052      28.8927 
-3.94667e+06 |     -37.9556      12.4411 
-5.82176e+06 |     -41.4045      62.3613 
    0.448004 |     -475.709      114.332 
    0.668625 |      123.075     -399.814 
   -0.517124 |     -155.294     -217.652 
    0.291231 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -52.2052     -28.8927 
-3.94667e+06 |      37.9556     -12.4411 
-5.82176e+06 |      41.4045     -62.3613 
    0.448004 |      480.144     -115.562 
    0.668625 |     -129.146      406.905 
   -0.517124 |      163.642       219.99 
    0.291231 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -37.0262      34.8183 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:21.090378   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636648.213556, t: 3221888.302663 -3946670.280001 -5821756.531956 q: 0.291231 0.448004 0.668625 -0.517124 
unstable tracking...
time: 1403636648.313555, t: 3221888.312602 -3946670.250785 -5821756.515560 q: 0.311510 0.451762 0.693369 -0.467024 
W0708 15:45:21.295722   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      63.0012      26.8311 
-3.94667e+06 |      -35.105      7.61956 
-5.82176e+06 |     -45.2344      70.3981 
    0.451823 |     -493.687      105.565 
    0.663885 |      99.1148     -414.433 
   -0.516304 |     -143.786       -184.5 
    0.297561 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -63.0012     -26.8311 
-3.94667e+06 |       35.105     -7.61956 
-5.82176e+06 |      45.2344     -70.3981 
    0.451762 |      485.463     -107.495 
    0.693369 |      -121.51      392.941 
   -0.467024 |       150.14       223.64 
     0.31151 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -37.4188     -12.7821 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:21.295776   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636648.413555, t: 3221888.330428 -3946670.305298 -5821756.485656 q: 0.311510 0.451762 0.693369 -0.467024 
unstable tracking...
time: 1403636648.513556, t: 3221888.324032 -3946670.314311 -5821756.520477 q: 0.311510 0.451762 0.693369 -0.467024 
W0708 15:45:21.492511   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      57.4386      24.6167 
-3.94667e+06 |      -23.279      5.25521 
-5.82176e+06 |     -37.6143      63.7221 
    0.451762 |     -421.684      79.0423 
    0.693369 |      90.7095     -382.949 
   -0.467024 |     -140.775     -175.987 
     0.31151 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -57.4386     -24.6167 
-3.94667e+06 |       23.279     -5.25521 
-5.82176e+06 |      37.6143     -63.7221 
    0.451762 |      420.622     -78.9729 
    0.693369 |     -90.8992      382.148 
   -0.467024 |      141.148      175.831 
     0.31151 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -36.2942      4.26662 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:21.492578   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636648.613555, t: 3221888.308127 -3946670.263578 -5821756.525387 q: 0.311510 0.451762 0.693369 -0.467024 
W0708 15:45:21.604269   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      57.0507      24.4459 
-3.94667e+06 |     -21.4137      6.12551 
-5.82176e+06 |     -36.6505      63.7325 
    0.451762 |     -408.679      77.4003 
    0.693369 |      86.8819     -383.866 
   -0.467024 |     -142.373     -166.246 
     0.31151 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -57.0507     -24.4459 
-3.94667e+06 |      21.4137     -6.12551 
-5.82176e+06 |      36.6505     -63.7325 
    0.451762 |      409.703     -77.4387 
    0.693369 |     -88.9807      386.609 
   -0.467024 |      146.182      166.333 
     0.31151 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -32.2243      16.9328 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:21.604372   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:45:21.695549   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      56.7652      24.3335 
-3.94667e+06 |       -29.88      2.00498 
-5.82176e+06 |     -40.0297      61.3971 
    0.451762 |     -467.492      83.9918 
    0.693369 |      95.2286     -362.945 
   -0.467024 |      -119.96     -214.495 
     0.31151 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -56.7652     -24.3335 
-3.94667e+06 |        29.88     -2.00498 
-5.82176e+06 |      40.0297     -61.3971 
    0.451762 |      470.969     -83.9456 
    0.693369 |     -97.4368      367.645 
   -0.467024 |      123.011      214.408 
     0.31151 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -21.3606      8.37737 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:21.695636   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636648.813555, t: 3221888.302517 -3946670.245053 -5821756.540751 q: 0.311510 0.451762 0.693369 -0.467024 
unstable tracking...
time: 1403636648.913555, t: 3221888.301276 -3946670.221447 -5821756.578850 q: 0.436485 0.573183 0.579942 -0.380274 
W0708 15:45:21.897642   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      65.1535     -4.44675 
-3.94667e+06 |     -46.6707      8.27046 
-5.82176e+06 |      -15.722       67.161 
    0.588018 |     -549.667       166.27 
    0.597821 |      126.742     -398.241 
   -0.371964 |     -199.133     -245.908 
    0.398105 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -65.1535      4.44675 
-3.94667e+06 |      46.6707     -8.27046 
-5.82176e+06 |       15.722      -67.161 
    0.573183 |      564.551     -135.384 
    0.579942 |     -151.183      399.849 
   -0.380274 |      154.619      271.615 
    0.436485 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -16.9148      15.5214 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:21.897874   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636649.013556, t: 3221888.306679 -3946670.235699 -5821756.566199 q: 0.436485 0.573183 0.579942 -0.380274 
unstable tracking...
time: 1403636649.113555, t: 3221888.338405 -3946670.297650 -5821756.572011 q: 0.377741 0.460110 0.670917 -0.442132 
W0708 15:45:22.091477   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      67.8999      16.0254 
-3.94667e+06 |      -46.424      8.04825 
-5.82176e+06 |     -38.2006      67.7427 
    0.454011 |     -625.433      122.522 
    0.664065 |      146.761     -388.288 
    -0.45331 |     -121.179     -299.011 
    0.383928 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -67.8999     -16.0254 
-3.94667e+06 |       46.424     -8.04825 
-5.82176e+06 |      38.2006     -67.7427 
     0.46011 |      618.514     -129.664 
    0.670917 |     -147.027      380.859 
   -0.442132 |      133.507      300.158 
    0.377741 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -53.2823     -13.5916 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:22.091542   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636649.213556, t: 3221888.317818 -3946670.277986 -5821756.531572 q: 0.377741 0.460110 0.670917 -0.442132 
unstable tracking...
time: 1403636649.313555, t: 3221887.873672 -3946669.703204 -5821756.318375 q: 0.147244 -0.049085 0.778048 -0.608730 
W0708 15:45:22.293749   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2001     0.271288 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:22.293792   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636649.513556, t: 3221887.844781 -3946669.728885 -5821756.316955 q: 0.147244 -0.049085 0.778048 -0.608730 
W0708 15:45:22.490566   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      19.2261      50.5253 
-3.94667e+06 |     -30.7051      45.0741 
-5.82176e+06 |      -71.813      17.3203 
  -0.0490853 |     -517.575       121.66 
    0.778048 |      134.218     -399.025 
    -0.60873 |     -153.028     -243.956 
    0.147244 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -19.2261     -50.5253 
-3.94667e+06 |      30.7051     -45.0741 
-5.82176e+06 |       71.813     -17.3203 
  -0.0490853 |      515.934      -121.29 
    0.778048 |     -135.903      399.061 
    -0.60873 |       155.23      243.215 
    0.147244 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -35.0077      13.6451 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:22.490620   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636649.613555, t: 3221887.844420 -3946669.730555 -5821756.316407 q: 0.147244 -0.049085 0.778048 -0.608730 
unstable tracking...
time: 1403636649.713556, t: 3221887.844972 -3946669.724105 -5821756.319058 q: 0.147244 -0.049085 0.778048 -0.608730 
unstable tracking...
time: 1403636649.813555, t: 3221887.753125 -3946669.747607 -5821756.353956 q: 0.147244 -0.049085 0.778048 -0.608730 
W0708 15:45:22.789763   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    0.0428685     0.125559 
-3.94667e+06 |   -0.0639255    0.0851011 
-5.82176e+06 |    -0.167307    0.0353322 
  -0.0490853 |     -486.686      76.8428 
    0.778048 |      88.9691     -354.337 
    -0.60873 |     -105.265     -226.987 
    0.147244 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   -0.0428685    -0.125559 
-3.94667e+06 |    0.0639255   -0.0851011 
-5.82176e+06 |     0.167307   -0.0353322 
  -0.0490853 |      486.701     -76.8498 
    0.778048 |     -88.9831      354.343 
    -0.60873 |      105.284      227.007 
    0.147244 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000474846 |     -79.1858      40.6717 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:22.789810   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636649.913555, t: 3221887.736025 -3946669.731927 -5821756.471568 q: 0.147244 -0.049085 0.778048 -0.608730 
W0708 15:45:22.892045   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      20.0575      49.0529 
-3.94667e+06 |     -33.5134      50.1727 
-5.82176e+06 |     -72.5742      18.6526 
  -0.0490853 |     -534.702      146.871 
    0.778048 |      160.065      -426.18 
    -0.60873 |     -174.461     -249.492 
    0.147244 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -20.0575     -49.0529 
-3.94667e+06 |      33.5134     -50.1727 
-5.82176e+06 |      72.5742     -18.6526 
  -0.0490853 |      541.185     -151.762 
    0.778048 |     -166.981      430.456 
    -0.60873 |      182.557      257.839 
    0.147244 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -80.0816      43.1915 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:22.892138   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636650.013556, t: 3221887.724628 -3946669.717958 -5821756.588727 q: 0.147244 -0.049085 0.778048 -0.608730 
unstable tracking...
time: 1403636650.113555, t: 3221887.694608 -3946669.691779 -5821756.460381 q: 0.151384 -0.052990 0.769949 -0.617619 
unstable tracking...
time: 1403636650.213556, t: 3221887.679000 -3946669.645696 -5821756.500259 q: 0.151384 -0.052990 0.769949 -0.617619 
unstable tracking...
time: 1403636650.313555, t: 3221887.674572 -3946669.607651 -5821756.528502 q: 0.151384 -0.052990 0.769949 -0.617619 
W0708 15:45:23.291543   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      15.5259      48.4182 
-3.94667e+06 |     -19.3351      42.5395 
-5.82176e+06 |     -65.3057      15.4224 
  -0.0529899 |     -409.655      81.9984 
    0.769949 |      95.2857     -376.104 
   -0.617619 |     -146.789     -174.324 
    0.151384 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -15.5259     -48.4182 
-3.94667e+06 |      19.3351     -42.5395 
-5.82176e+06 |      65.3057     -15.4224 
  -0.0529899 |      424.215     -84.0808 
    0.769949 |     -96.0075      388.341 
   -0.617619 |      147.441      178.755 
    0.151384 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.3411     -24.0345 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:23.291607   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636650.413555, t: 3221887.631319 -3946669.492671 -5821756.496041 q: 0.151384 -0.052990 0.769949 -0.617619 
unstable tracking...
time: 1403636650.513556, t: 3221887.607859 -3946669.531249 -5821756.524437 q: 0.169094 -0.160122 0.748125 -0.621351 
W0708 15:45:23.489756   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   0.00627055    0.0277077 
-3.94667e+06 |   -0.0095974    0.0230371 
-5.82176e+06 |   -0.0380243   0.00306616 
  -0.0505998 |     -365.496      10.4529 
    0.768044 |      99.9724     -334.512 
   -0.620352 |      -136.25     -149.792 
    0.150704 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  -0.00627055   -0.0277077 
-3.94667e+06 |    0.0095974   -0.0230371 
-5.82176e+06 |    0.0380243  -0.00306616 
   -0.160122 |      393.931      -33.792 
    0.748125 |     -44.0262      330.475 
   -0.621351 |      70.9162      155.219 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000121082 |     -24.9598     -12.3479 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:23.489820   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636650.613555, t: 3221887.620753 -3946669.501625 -5821756.537385 q: 0.169094 -0.160122 0.748125 -0.621351 
W0708 15:45:23.590391   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  0.000169287  0.000537304 
-3.94667e+06 | -0.000278373   0.00055298 
-5.82176e+06 |   -0.0008062  8.03958e-05 
    -0.12077 |     -427.551      61.9684 
    0.748464 |      93.2754     -361.993 
   -0.631951 |     -137.396     -179.797 
    0.160793 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 | -0.000169287 -0.000537304 
-3.94667e+06 |  0.000278373  -0.00055298 
-5.82176e+06 |    0.0008062 -8.03958e-05 
   -0.160122 |      439.322     -66.0245 
    0.748125 |     -76.9066      354.234 
   -0.621351 |      107.049        193.3 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.38355e-06 |     -41.4202     -10.8263 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:23.590444   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636650.713556, t: 3221887.604294 -3946669.466168 -5821756.544905 q: 0.169094 -0.160122 0.748125 -0.621351 
unstable tracking...
time: 1403636650.913555, t: 3221887.572931 -3946669.345437 -5821756.534620 q: 0.169094 -0.160122 0.748125 -0.621351 
W0708 15:45:23.891129   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      16.3766      39.5847 
-3.94667e+06 |      -27.898      53.6743 
-5.82176e+06 |      -66.917      8.47192 
   -0.160122 |      -467.46      111.973 
    0.748125 |      126.883     -390.326 
   -0.621351 |     -160.415     -219.209 
    0.169094 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -16.3766     -39.5847 
-3.94667e+06 |       27.898     -53.6743 
-5.82176e+06 |       66.917     -8.47192 
   -0.160122 |      481.185     -112.808 
    0.748125 |     -126.358      402.163 
   -0.621351 |      159.187      220.838 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      4.00055     -37.3378 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:23.891171   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636651.013556, t: 3221887.527123 -3946669.270721 -5821756.535160 q: 0.169094 -0.160122 0.748125 -0.621351 
W0708 15:45:23.998056   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      19.2875      40.9692 
-3.94667e+06 |     -33.7409      51.9379 
-5.82176e+06 |     -68.7043       8.0561 
   -0.160122 |     -520.818       117.54 
    0.748125 |      133.114     -379.787 
   -0.621351 |     -145.027     -250.757 
    0.169094 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -19.2875     -40.9692 
-3.94667e+06 |      33.7409     -51.9379 
-5.82176e+06 |      68.7043      -8.0561 
   -0.160122 |      533.581     -119.082 
    0.748125 |     -134.108      390.102 
   -0.621351 |      145.809      254.052 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -8.87408     -18.7172 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:23.998140   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636651.113555, t: 3221887.479773 -3946669.255510 -5821756.571319 q: 0.169094 -0.160122 0.748125 -0.621351 
W0708 15:45:24.096675   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      17.0936      41.5261 
-3.94667e+06 |     -29.2508      52.2277 
-5.82176e+06 |     -68.3439       8.0836 
   -0.160122 |     -479.332      103.337 
    0.748125 |      116.648     -379.946 
   -0.621351 |     -142.487     -222.861 
    0.169094 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -17.0936     -41.5261 
-3.94667e+06 |      29.2508     -52.2277 
-5.82176e+06 |      68.3439      -8.0836 
   -0.160122 |      488.321     -104.713 
    0.748125 |     -118.557      387.764 
   -0.621351 |      144.778      225.832 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -23.9309     -3.67876 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:24.096717   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636651.213556, t: 3221887.487303 -3946669.257497 -5821756.565805 q: 0.169094 -0.160122 0.748125 -0.621351 
unstable tracking...
time: 1403636651.313555, t: 3221887.488959 -3946669.257009 -5821756.565219 q: 0.169094 -0.160122 0.748125 -0.621351 
W0708 15:45:24.285835   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      283.283      414.931 
-3.94667e+06 |     -514.501      654.095 
-5.82176e+06 |     -792.557       106.83 
   -0.160122 |     -662.407      185.304 
    0.748125 |      235.937     -458.122 
   -0.621351 |     -204.882     -305.638 
    0.169094 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -283.283     -414.931 
-3.94667e+06 |      514.501     -654.095 
-5.82176e+06 |      792.557      -106.83 
   -0.160122 |       653.67     -182.334 
    0.748125 |     -230.462      451.648 
   -0.621351 |      199.927      300.735 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

       2.116 |     -34.0512      -1.1131 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:24.285880   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636651.413555, t: 3221887.489012 -3946669.257926 -5821756.564568 q: 0.169094 -0.160122 0.748125 -0.621351 
W0708 15:45:24.392657   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      22.3872        40.61 
-3.94667e+06 |     -39.8306       57.179 
-5.82176e+06 |     -72.1139      9.10802 
   -0.160122 |     -584.066       150.71 
    0.748125 |      167.099     -412.122 
   -0.621351 |     -165.623     -282.034 
    0.169094 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -22.3872       -40.61 
-3.94667e+06 |      39.8306      -57.179 
-5.82176e+06 |      72.1139     -9.10802 
   -0.160122 |      584.019     -150.692 
    0.748125 |     -167.017      412.058 
   -0.621351 |      165.535          282 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -34.1563    -0.126766 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:24.392729   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636651.513556, t: 3221887.488698 -3946669.257189 -5821756.565242 q: 0.169094 -0.160122 0.748125 -0.621351 
unstable tracking...
W0708 15:45:24.597785   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      18.3213      42.0942 
-3.94667e+06 |      -31.614      54.1227 
-5.82176e+06 |     -70.2532      8.42682 
   -0.160122 |     -503.578      112.483 
    0.748125 |      126.678     -392.308 
   -0.621351 |     -148.803     -235.597 
    0.169094 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -18.3213     -42.0942 
-3.94667e+06 |       31.614     -54.1227 
-5.82176e+06 |      70.2532     -8.42682 
   -0.160122 |      503.352     -112.418 
    0.748125 |     -126.707      392.209 
   -0.621351 |      148.849       235.46 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.9879     0.752315 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:24.597826   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636651.713556, t: 3221887.489285 -3946669.259377 -5821756.563434 q: 0.169094 -0.160122 0.748125 -0.621351 
unstable tracking...
time: 1403636651.813555, t: 3221887.488846 -3946669.254377 -5821756.567067 q: 0.169094 -0.160122 0.748125 -0.621351 
W0708 15:45:24.793702   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  0.000427983  0.000984444 
-3.94667e+06 | -0.000744526   0.00110727 
-5.82176e+06 |  -0.00157221  0.000165846 
   -0.160122 |     -521.893      98.5385 
    0.748125 |      111.261     -368.555 
   -0.621351 |     -122.247     -249.035 
    0.169094 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 | -0.000427983 -0.000984444 
-3.94667e+06 |  0.000744526  -0.00110727 
-5.82176e+06 |   0.00157221 -0.000165846 
   -0.160122 |      521.893     -98.5385 
    0.748125 |     -111.261      368.555 
   -0.621351 |      122.247      249.035 
    0.169094 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 4.45717e-06 |     -33.8966    -0.102656 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:24.793747   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636651.913555, t: 3221887.490811 -3946669.257968 -5821756.563546 q: 0.169094 -0.160122 0.748125 -0.621351 
unstable tracking...
unstable tracking...
time: 1403636652.113555, t: 3221887.437048 -3946669.196468 -5821756.571175 q: 0.169094 -0.160122 0.748125 -0.621351 
unstable tracking...
time: 1403636652.213556, t: 3221887.397662 -3946669.151238 -5821756.575086 q: 0.169094 -0.160122 0.748125 -0.621351 
unstable tracking...
time: 1403636652.313555, t: 3221887.407798 -3946669.181317 -5821756.532525 q: 0.178104 -0.173070 0.795581 -0.552609 
unstable tracking...
time: 1403636652.413555, t: 3221887.351835 -3946669.103236 -5821756.500672 q: 0.178104 -0.173070 0.795581 -0.552609 
W0708 15:45:25.391180   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      9.66371      39.5226 
-3.94667e+06 |     -7.16941      57.0755 
-5.82176e+06 |     -70.6805      16.7359 
   -0.166665 |     -396.062      95.5884 
    0.772373 |      76.0016     -412.661 
   -0.588485 |     -184.151     -124.608 
    0.171313 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -9.66371     -39.5226 
-3.94667e+06 |      7.16941     -57.0755 
-5.82176e+06 |      70.6805     -16.7359 
    -0.17307 |      403.971     -85.2256 
    0.795581 |     -96.5469      406.562 
   -0.552609 |      165.615       160.65 
    0.178104 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -22.4419     -25.7179 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:25.391252   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636652.513556, t: 3221887.391645 -3946669.095967 -5821756.516526 q: 0.178104 -0.173070 0.795581 -0.552609 
W0708 15:45:25.489727   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  0.000136045  0.000427494 
-3.94667e+06 | -0.000140959  0.000529536 
-5.82176e+06 | -0.000745304  0.000148656 
    -0.17307 |     -455.175      88.7388 
    0.795581 |      99.6285     -377.401 
   -0.552609 |     -134.667     -204.746 
    0.178104 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 | -0.000136045 -0.000427494 
-3.94667e+06 |  0.000140959 -0.000529536 
-5.82176e+06 |  0.000745304 -0.000148656 
    -0.17307 |      455.175     -88.7388 
    0.795581 |     -99.6285      377.401 
   -0.552609 |      134.667      204.746 
    0.178104 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.05289e-06 |     -26.6586     -14.5707 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:25.489780   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636652.613555, t: 3221887.415876 -3946669.134101 -5821756.519362 q: 0.178104 -0.173070 0.795581 -0.552609 
W0708 15:45:25.596863   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      528.393      647.912 
-3.94667e+06 |     -761.143      1175.29 
-5.82176e+06 |     -1561.71      362.677 
    -0.17307 |     -853.048      206.996 
    0.795581 |      366.241     -672.669 
   -0.552609 |     -287.269     -305.811 
    0.178104 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -528.393     -647.912 
-3.94667e+06 |      761.143     -1175.29 
-5.82176e+06 |      1561.71     -362.677 
    -0.17307 |      721.998     -215.282 
    0.795581 |     -295.288      491.431 
   -0.552609 |      230.623      319.422 
    0.178104 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     2.52028 |     -123.487      16.8094 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:25.596904   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636652.713556, t: 3221887.452042 -3946669.179004 -5821756.547842 q: 0.178104 -0.173070 0.795581 -0.552609 
unstable tracking...
time: 1403636652.813555, t: 3221887.425678 -3946669.125887 -5821756.560330 q: 0.172787 -0.176413 0.810702 -0.530835 
W0708 15:45:25.790267   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      15.3246      39.7816 
-3.94667e+06 |     -16.9286      56.6455 
-5.82176e+06 |     -77.9203      18.6368 
   -0.171604 |     -507.585      129.267 
    0.801202 |       138.08     -415.824 
   -0.546287 |     -174.867     -223.335 
    0.173778 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -15.3246     -39.7816 
-3.94667e+06 |      16.9286     -56.6455 
-5.82176e+06 |      77.9203     -18.6368 
   -0.176413 |      514.819     -129.603 
    0.810702 |     -144.182      410.886 
   -0.530835 |      166.314      242.317 
    0.172787 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -35.0021     -11.3445 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:25.790340   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636652.913555, t: 3221887.371307 -3946669.042208 -5821756.528666 q: 0.172787 -0.176413 0.810702 -0.530835 
W0708 15:45:25.895090   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      19.9123      40.7286 
-3.94667e+06 |      -25.221      53.3924 
-5.82176e+06 |     -81.2353      17.1224 
   -0.190702 |     -609.013      150.635 
    0.803279 |       139.12     -390.081 
   -0.538037 |     -145.418     -289.869 
    0.169977 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -19.9123     -40.7286 
-3.94667e+06 |       25.221     -53.3924 
-5.82176e+06 |      81.2353     -17.1224 
   -0.176413 |      610.029     -142.564 
    0.810702 |     -159.578      395.472 
   -0.530835 |      149.071      295.773 
    0.172787 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.5543     -14.6784 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:25.895156   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636653.013556, t: 3221887.384392 -3946669.026379 -5821756.532155 q: 0.172787 -0.176413 0.810702 -0.530835 
unstable tracking...
unstable tracking...
time: 1403636653.213556, t: 3221887.357103 -3946668.998919 -5821756.526917 q: 0.172787 -0.176413 0.810702 -0.530835 
W0708 15:45:26.193126   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      12.7311      39.7626 
-3.94667e+06 |     -12.6362      52.6939 
-5.82176e+06 |      -73.592      16.9579 
   -0.176413 |     -471.789      106.592 
    0.810702 |      118.826     -388.698 
   -0.530835 |       -150.6     -218.071 
    0.172787 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -12.7311     -39.7626 
-3.94667e+06 |      12.6362     -52.6939 
-5.82176e+06 |       73.592     -16.9579 
   -0.176413 |      477.693     -106.828 
    0.810702 |     -120.355      395.152 
   -0.530835 |      152.544      218.556 
    0.172787 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -16.5963     -3.51814 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:26.193214   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636653.313555, t: 3221887.313740 -3946668.966360 -5821756.508506 q: 0.172787 -0.176413 0.810702 -0.530835 
W0708 15:45:26.290103   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      20.8836      40.2576 
-3.94667e+06 |     -27.0906      52.4963 
-5.82176e+06 |     -81.2307      16.8058 
   -0.176413 |     -636.519      149.269 
    0.810702 |       165.38     -390.959 
   -0.530835 |     -147.116     -311.826 
    0.172787 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -20.8836     -40.2576 
-3.94667e+06 |      27.0906     -52.4963 
-5.82176e+06 |      81.2307     -16.8058 
   -0.176413 |      638.299     -148.342 
    0.810702 |     -166.004      394.866 
   -0.530835 |       147.69      309.895 
    0.172787 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -5.64934     -5.99712 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:26.290148   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636653.413555, t: 3221887.368758 -3946668.971248 -5821756.488292 q: 0.172787 -0.176413 0.810702 -0.530835 
unstable tracking...
time: 1403636653.513556, t: 3221887.286872 -3946669.036246 -5821756.563776 q: 0.178001 -0.178949 0.793575 -0.553653 
unstable tracking...
time: 1403636653.613555, t: 3221887.250698 -3946669.005555 -5821756.559106 q: 0.178001 -0.178949 0.793575 -0.553653 
W0708 15:45:26.592422   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      16.1162      39.7747 
-3.94667e+06 |     -20.1433      46.5746 
-5.82176e+06 |     -70.9039      12.1276 
   -0.180124 |     -507.083      139.872 
    0.794361 |      70.1598     -347.171 
   -0.566485 |     -156.385     -236.826 
    0.125062 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -16.1162     -39.7747 
-3.94667e+06 |      20.1433     -46.5746 
-5.82176e+06 |      70.9039     -12.1276 
   -0.178949 |      523.214     -96.2389 
    0.793575 |     -111.051      367.499 
   -0.553653 |      121.011      248.229 
    0.178001 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |    -0.625111       29.598 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:26.592519   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636653.713556, t: 3221887.172350 -3946668.939040 -5821756.560579 q: 0.178001 -0.178949 0.793575 -0.553653 
unstable tracking...
time: 1403636653.813555, t: 3221887.153033 -3946668.906712 -5821756.543727 q: 0.178001 -0.178949 0.793575 -0.553653 
W0708 15:45:26.790484   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      22.4657      37.7255 
-3.94667e+06 |     -31.0575      54.1653 
-5.82176e+06 |     -77.6942      15.1083 
   -0.178949 |     -631.586      159.555 
    0.793575 |      174.776     -393.774 
   -0.553653 |     -155.221     -310.754 
    0.178001 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -22.4657     -37.7255 
-3.94667e+06 |      31.0575     -54.1653 
-5.82176e+06 |      77.6942     -15.1083 
   -0.178949 |      644.505     -160.628 
    0.793575 |     -178.342      406.033 
   -0.553653 |      158.388      312.835 
    0.178001 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      9.82042     -11.0943 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:26.790536   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636653.913555, t: 3221887.104771 -3946668.845361 -5821756.518673 q: 0.178001 -0.178949 0.793575 -0.553653 
unstable tracking...
time: 1403636654.013556, t: 3221887.135106 -3946668.848796 -5821756.527088 q: 0.178001 -0.178949 0.793575 -0.553653 
time: 1403636654.113555, t: 3221887.163961 -3946668.882615 -5821756.536682 q: 0.178001 -0.178949 0.793575 -0.553653 
unstable tracking...
time: 1403636654.213556, t: 3221887.202003 -3946668.959539 -5821756.554978 q: 0.178001 -0.178949 0.793575 -0.553653 
W0708 15:45:27.192581   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      20.6074      41.5777 
-3.94667e+06 |     -27.3364      53.6398 
-5.82176e+06 |     -79.4478      14.4652 
   -0.178949 |      -586.39      125.533 
    0.793575 |      142.959     -390.422 
   -0.553653 |     -139.706     -280.711 
    0.178001 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -20.6074     -41.5777 
-3.94667e+06 |      27.3364     -53.6398 
-5.82176e+06 |      79.4478     -14.4652 
   -0.178949 |       580.87       -125.5 
    0.793575 |     -141.877      384.611 
   -0.553653 |      138.684      280.622 
    0.178001 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -58.7164      7.23174 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:27.192651   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636654.313555, t: 3221887.159485 -3946668.907126 -5821756.543414 q: 0.178001 -0.178949 0.793575 -0.553653 
unstable tracking...
time: 1403636654.413555, t: 3221887.106718 -3946668.842249 -5821756.523080 q: 0.178001 -0.178949 0.793575 -0.553653 
W0708 15:45:27.392401   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   0.00365188    0.0092033 
-3.94667e+06 |  -0.00454266    0.0105243 
-5.82176e+06 |   -0.0162209   0.00271503 
   -0.178949 |     -521.306      92.8794 
    0.793575 |       105.69     -362.981 
   -0.553653 |     -115.407     -248.751 
    0.178001 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  -0.00365188   -0.0092033 
-3.94667e+06 |   0.00454266   -0.0105243 
-5.82176e+06 |    0.0162209  -0.00271503 
   -0.178949 |      521.308     -92.8794 
    0.793575 |      -105.69      362.983 
   -0.553653 |      115.408      248.751 
    0.178001 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 4.29194e-05 |     -2.83269       8.8618 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:27.392444   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636654.513556, t: 3221887.080306 -3946668.898205 -5821756.516686 q: 0.178001 -0.178949 0.793575 -0.553653 
unstable tracking...
time: 1403636654.613555, t: 3221887.068785 -3946668.881240 -5821756.530409 q: 0.178001 -0.178949 0.793575 -0.553653 
W0708 15:45:27.591140   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      15.9449      37.1067 
-3.94667e+06 |     -19.1944      60.4011 
-5.82176e+06 |     -75.3666      17.4317 
   -0.178949 |     -501.891      138.366 
    0.793575 |      149.352     -431.235 
   -0.553653 |     -180.998     -233.298 
    0.178001 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -15.9449     -37.1067 
-3.94667e+06 |      19.1944     -60.4011 
-5.82176e+06 |      75.3666     -17.4317 
   -0.178949 |      498.894     -137.554 
    0.793575 |     -151.658      431.125 
   -0.553653 |      184.171      231.919 
    0.178001 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -35.315      21.5293 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:27.591192   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636654.713556, t: 3221887.005401 -3946668.942956 -5821756.537751 q: 0.178001 -0.178949 0.793575 -0.553653 
W0708 15:45:27.693681   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      19.2061      40.6019 
-3.94667e+06 |     -25.1079       51.941 
-5.82176e+06 |     -76.6696       13.967 
   -0.178949 |     -561.204       120.22 
    0.793575 |      135.483     -379.515 
   -0.553653 |      -136.89      -271.99 
    0.178001 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -19.2061     -40.6019 
-3.94667e+06 |      25.1079      -51.941 
-5.82176e+06 |      76.6696      -13.967 
   -0.178949 |      563.917     -119.976 
    0.793575 |     -135.868      382.806 
   -0.553653 |      137.242      271.451 
    0.178001 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -17.2686     -5.07227 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:27.693732   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636654.813555, t: 3221887.051838 -3946668.862020 -5821756.492379 q: 0.178001 -0.178949 0.793575 -0.553653 
W0708 15:45:27.791736   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      16.8842      39.3422 
-3.94667e+06 |     -21.1447      52.3131 
-5.82176e+06 |     -73.9879      14.2495 
   -0.178949 |     -518.729      116.942 
    0.793575 |      131.642     -381.902 
   -0.553653 |     -146.375     -251.079 
    0.178001 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -16.8842     -39.3422 
-3.94667e+06 |      21.1447     -52.3131 
-5.82176e+06 |      73.9879     -14.2495 
   -0.178949 |      524.812     -115.886 
    0.793575 |     -130.701      389.054 
   -0.553653 |      144.995      248.826 
    0.178001 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      9.99173     -25.1181 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:27.791780   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636654.913555, t: 3221887.030594 -3946668.776961 -5821756.451800 q: 0.178001 -0.178949 0.793575 -0.553653 
unstable tracking...
time: 1403636655.013556, t: 3221887.024062 -3946668.916038 -5821756.523873 q: 0.162364 -0.169412 0.811816 -0.534689 
unstable tracking...
time: 1403636655.113555, t: 3221887.034971 -3946668.844589 -5821756.495940 q: 0.162364 -0.169412 0.811816 -0.534689 
unstable tracking...
time: 1403636655.213556, t: 3221886.979776 -3946668.785737 -5821756.484492 q: 0.162364 -0.169412 0.811816 -0.534689 
W0708 15:45:28.192745   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      18.2535       40.104 
-3.94667e+06 |     -25.7641      53.1266 
-5.82176e+06 |     -79.3396      16.9778 
   -0.169412 |     -604.418      154.514 
    0.811816 |      173.341     -401.846 
   -0.534689 |     -163.024      -296.11 
    0.162364 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -18.2535      -40.104 
-3.94667e+06 |      25.7641     -53.1266 
-5.82176e+06 |      79.3396     -16.9778 
   -0.169412 |       612.75     -155.012 
    0.811816 |     -171.987      408.304 
   -0.534689 |      161.338      297.057 
    0.162364 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -2.71722      -26.933 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:28.192834   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636655.313555, t: 3221886.992972 -3946668.800715 -5821756.490959 q: 0.162364 -0.169412 0.811816 -0.534689 
unstable tracking...
time: 1403636655.413555, t: 3221887.046751 -3946668.837487 -5821756.518024 q: 0.139666 -0.168471 0.827248 -0.517467 
unstable tracking...
W0708 15:45:28.533761   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      8.38048      44.0329 
-3.94667e+06 |     -11.4908      52.2989 
-5.82176e+06 |     -76.7302       17.082 
   -0.173459 |     -478.723      115.049 
    0.821308 |      113.978     -400.202 
    -0.52565 |     -157.231     -210.371 
    0.138051 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -8.38048     -44.0329 
-3.94667e+06 |      11.4908     -52.2989 
-5.82176e+06 |      76.7302      -17.082 
   -0.168471 |      480.322     -111.141 
    0.827248 |     -124.789      400.245 
   -0.517467 |      157.402      220.203 
    0.139666 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -44.5784      5.59502 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:28.533835   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636655.613555, t: 3221887.009919 -3946668.808197 -5821756.550202 q: 0.139666 -0.168471 0.827248 -0.517467 
unstable tracking...
time: 1403636655.713556, t: 3221886.982837 -3946668.742162 -5821756.558487 q: 0.139666 -0.168471 0.827248 -0.517467 
unstable tracking...
time: 1403636655.813555, t: 3221886.879182 -3946668.726744 -5821756.483425 q: 0.184574 -0.155909 0.839819 -0.486137 
W0708 15:45:28.794793   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      14.8095      41.0001 
-3.94667e+06 |     -7.19067       42.399 
-5.82176e+06 |     -72.5082      19.1636 
   -0.169206 |     -487.816      155.453 
    0.834875 |      45.8862     -344.885 
   -0.512767 |     -178.179     -214.419 
    0.106873 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -14.8095     -41.0001 
-3.94667e+06 |      7.19067      -42.399 
-5.82176e+06 |      72.5082     -19.1636 
   -0.155909 |      511.062     -90.5834 
    0.839819 |     -105.092      364.419 
   -0.486137 |      117.631      240.838 
    0.184574 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -12.9449     -5.03845 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:28.794847   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636655.913555, t: 3221886.970711 -3946668.675939 -5821756.569436 q: 0.184574 -0.155909 0.839819 -0.486137 
W0708 15:45:28.895527   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |       17.948      42.0361 
-3.94667e+06 |     -11.0913      49.6182 
-5.82176e+06 |     -80.4452      23.1503 
   -0.154955 |     -537.578      126.171 
    0.833047 |      129.097     -392.811 
   -0.500739 |     -161.311     -241.372 
    0.176865 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      -17.948     -42.0361 
-3.94667e+06 |      11.0913     -49.6182 
-5.82176e+06 |      80.4452     -23.1503 
   -0.155909 |      547.891      -120.54 
    0.839819 |     -136.041       387.64 
   -0.486137 |      142.851       262.34 
    0.184574 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -60.1296      -34.666 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:28.895572   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636656.013556, t: 3221886.951050 -3946668.618754 -5821756.575103 q: 0.184574 -0.155909 0.839819 -0.486137 
unstable tracking...
unstable tracking...
time: 1403636656.213556, t: 3221886.948564 -3946668.629873 -5821756.560046 q: 0.181702 -0.161571 0.857426 -0.453542 
W0708 15:45:29.194259   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  0.000451076   0.00106666 
-3.94667e+06 | -0.000219928      0.00119 
-5.82176e+06 |  -0.00210577  0.000617336 
   -0.153743 |     -593.897      128.645 
    0.840467 |      130.175     -401.362 
   -0.485545 |     -147.688      -259.89 
       0.185 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 | -0.000451076  -0.00106666 
-3.94667e+06 |  0.000219928     -0.00119 
-5.82176e+06 |   0.00210577 -0.000617336 
   -0.161571 |      594.597     -126.828 
    0.857426 |     -141.052      381.056 
   -0.453542 |      134.278      289.646 
    0.181702 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 4.73176e-06 |     -24.9503     -9.38237 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:29.194309   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636656.313555, t: 3221886.919068 -3946668.578381 -5821756.547608 q: 0.181702 -0.161571 0.857426 -0.453542 
W0708 15:45:29.294890   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      17.3868      39.2669 
-3.94667e+06 |      -7.3366      55.3704 
-5.82176e+06 |     -84.6016      30.4195 
   -0.156442 |     -570.953      163.786 
    0.850328 |      173.904     -441.338 
   -0.468038 |     -192.129     -260.603 
    0.182781 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -17.3868     -39.2669 
-3.94667e+06 |       7.3366     -55.3704 
-5.82176e+06 |      84.6016     -30.4195 
   -0.161571 |      571.886     -162.889 
    0.857426 |     -178.956      432.442 
   -0.453542 |      183.451      275.108 
    0.181702 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -29.1203    -0.657145 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:29.294955   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636656.413555, t: 3221886.945207 -3946668.636780 -5821756.546681 q: 0.181702 -0.161571 0.857426 -0.453542 
unstable tracking...
time: 1403636656.513556, t: 3221886.921318 -3946668.593791 -5821756.547592 q: 0.181702 -0.161571 0.857426 -0.453542 
unstable tracking...
time: 1403636656.613555, t: 3221887.057638 -3946668.693107 -5821756.615821 q: 0.139195 -0.186011 0.876029 -0.422608 
W0708 15:45:29.596597   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      11.6826      46.1697 
-3.94667e+06 |     -9.92707      48.4333 
-5.82176e+06 |     -93.3725      22.8241 
   -0.173503 |     -666.227      130.207 
     0.87036 |      168.681     -395.711 
   -0.434779 |     -128.098     -315.073 
    0.152767 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -11.6826     -46.1697 
-3.94667e+06 |      9.92707     -48.4333 
-5.82176e+06 |      93.3725     -22.8241 
   -0.186011 |      665.782     -142.513 
    0.876029 |     -161.004      384.149 
   -0.422608 |      135.753      323.022 
    0.139195 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -13.2564      29.3796 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:29.596668   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636656.713556, t: 3221886.968552 -3946668.760620 -5821756.550872 q: 0.139195 -0.186011 0.876029 -0.422608 
unstable tracking...
time: 1403636656.813555, t: 3221886.974673 -3946668.746871 -5821756.554810 q: 0.139195 -0.186011 0.876029 -0.422608 
W0708 15:45:29.792586   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      19.8033      47.9944 
-3.94667e+06 |     -22.8157      65.4264 
-5.82176e+06 |     -118.189      35.0752 
   -0.147754 |     -835.895      183.014 
    0.859605 |      337.575     -523.512 
   -0.449653 |      -174.48     -367.694 
    0.192511 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -19.8033     -47.9944 
-3.94667e+06 |      22.8157     -65.4264 
-5.82176e+06 |      118.189     -35.0752 
   -0.186011 |        829.6     -247.445 
    0.876029 |     -270.058      452.369 
   -0.422608 |      193.597      391.812 
    0.139195 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -86.9909      41.7818 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:29.792652   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636656.913555, t: 3221886.942193 -3946668.640587 -5821756.529874 q: 0.139195 -0.186011 0.876029 -0.422608 
W0708 15:45:29.899379   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   0.00226963    0.0252437 
-3.94667e+06 |   0.00190919    0.0257104 
-5.82176e+06 |   -0.0438309    0.0118991 
   -0.186011 |      -493.08      96.8687 
    0.876029 |      108.786     -374.328 
   -0.422608 |     -129.954     -230.894 
    0.139195 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  -0.00226963   -0.0252437 
-3.94667e+06 |  -0.00190919   -0.0257104 
-5.82176e+06 |    0.0438309   -0.0118991 
   -0.186011 |      493.087     -96.8694 
    0.876029 |     -108.786      374.333 
   -0.422608 |      129.954      230.896 
    0.139195 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000112435 |     -14.0284     -26.3058 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:29.899434   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636657.013556, t: 3221886.913727 -3946668.616198 -5821756.495784 q: 0.139195 -0.186011 0.876029 -0.422608 
unstable tracking...
time: 1403636657.113555, t: 3221886.905789 -3946668.615547 -5821756.488998 q: 0.139195 -0.186011 0.876029 -0.422608 
W0708 15:45:30.099731   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      9.44056      42.4515 
-3.94667e+06 |     -6.68718      45.7377 
-5.82176e+06 |     -84.3879      21.8929 
   -0.186011 |     -612.938      139.015 
    0.876029 |       157.46     -378.232 
   -0.422608 |     -142.751     -302.134 
    0.139195 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -9.44056     -42.4515 
-3.94667e+06 |      6.68718     -45.7377 
-5.82176e+06 |      84.3879     -21.8929 
   -0.186011 |      625.981     -139.833 
    0.876029 |     -157.162      389.018 
   -0.422608 |      142.037      303.929 
    0.139195 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      12.7307     -28.5627 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:30.099817   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636657.213556, t: 3221886.904038 -3946668.597835 -5821756.466068 q: 0.139195 -0.186011 0.876029 -0.422608 
unstable tracking...
time: 1403636657.313555, t: 3221886.895924 -3946668.562740 -5821756.432596 q: 0.139195 -0.186011 0.876029 -0.422608 
W0708 15:45:30.293203   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      4.86172      43.3187 
-3.94667e+06 |      1.76515      46.8144 
-5.82176e+06 |     -78.3283      22.4473 
   -0.186011 |     -506.053      111.138 
    0.876029 |       126.05     -383.678 
   -0.422608 |     -145.221     -240.551 
    0.139195 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -4.86172     -43.3187 
-3.94667e+06 |     -1.76515     -46.8144 
-5.82176e+06 |      78.3283     -22.4473 
   -0.186011 |      510.076     -110.783 
    0.876029 |     -125.237      387.688 
   -0.422608 |      144.031      239.793 
    0.139195 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -11.8271     -16.3069 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:30.293284   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636657.413555, t: 3221886.890726 -3946668.510574 -5821756.453881 q: 0.139195 -0.186011 0.876029 -0.422608 
unstable tracking...
time: 1403636657.513556, t: 3221886.937726 -3946668.425777 -5821756.562437 q: 0.139195 -0.186011 0.876029 -0.422608 
W0708 15:45:30.494199   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      10.9826      43.8936 
-3.94667e+06 |     -9.09778      47.4321 
-5.82176e+06 |     -89.3468      22.7425 
   -0.186011 |     -648.074      143.326 
    0.876029 |      172.045     -392.147 
   -0.422608 |     -148.553     -310.081 
    0.139195 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -10.9826     -43.8936 
-3.94667e+06 |      9.09778     -47.4321 
-5.82176e+06 |      89.3468     -22.7425 
   -0.186011 |      658.955     -147.845 
    0.876029 |     -166.043      390.186 
   -0.422608 |      142.344      319.833 
    0.139195 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -79.1814     -30.4322 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:30.494243   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636657.613555, t: 3221886.941724 -3946668.423369 -5821756.541837 q: 0.139195 -0.186011 0.876029 -0.422608 
W0708 15:45:30.595454   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      9.71067      40.6872 
-3.94667e+06 |     -6.88179      52.3617 
-5.82176e+06 |     -86.7805      27.3992 
   -0.186011 |     -614.825      174.176 
    0.876029 |      201.237      -432.26 
   -0.422608 |     -187.687     -295.347 
    0.139195 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -9.71067     -40.6872 
-3.94667e+06 |      6.88179     -52.3617 
-5.82176e+06 |      86.7805     -27.3992 
   -0.186011 |       626.21     -178.963 
    0.876029 |     -196.263      432.539 
   -0.422608 |      182.216      303.511 
    0.139195 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -58.2608      -35.013 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:30.595499   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636657.713556, t: 3221886.916099 -3946668.361478 -5821756.518859 q: 0.139195 -0.186011 0.876029 -0.422608 
unstable tracking...
time: 1403636657.813555, t: 3221886.904824 -3946668.328044 -5821756.487467 q: 0.139195 -0.186011 0.876029 -0.422608 
unstable tracking...
time: 1403636657.913555, t: 3221886.931480 -3946668.382891 -5821756.523543 q: 0.138098 -0.183520 0.885681 -0.403508 
unstable tracking...
time: 1403636658.013556, t: 3221886.929652 -3946668.399894 -5821756.533800 q: 0.138098 -0.183520 0.885681 -0.403508 
W0708 15:45:30.997299   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      10.3808      43.0739 
-3.94667e+06 |     -5.53317      51.9532 
-5.82176e+06 |      -92.283      29.3293 
   -0.179739 |     -659.212      183.272 
    0.881469 |      196.133      -434.24 
     -0.4145 |     -184.203     -308.284 
    0.137465 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -10.3808     -43.0739 
-3.94667e+06 |      5.53317     -51.9532 
-5.82176e+06 |       92.283     -29.3293 
    -0.18352 |      659.031     -181.589 
    0.885681 |      -199.78      425.333 
   -0.403508 |      175.369      319.482 
    0.138098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -41.8877       6.9936 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:30.997344   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636658.113555, t: 3221886.892520 -3946668.328525 -5821756.498463 q: 0.138098 -0.183520 0.885681 -0.403508 
W0708 15:45:31.092778   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      5.79965      40.8052 
-3.94667e+06 |      2.15344      51.7539 
-5.82176e+06 |     -81.7385      29.8751 
    -0.18352 |     -545.248      159.061 
    0.885681 |      172.421     -433.491 
   -0.403508 |     -186.165     -261.956 
    0.138098 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -5.79965     -40.8052 
-3.94667e+06 |     -2.15344     -51.7539 
-5.82176e+06 |      81.7385     -29.8751 
    -0.18352 |      547.883     -158.871 
    0.885681 |     -174.226      437.593 
   -0.403508 |      188.217      261.622 
    0.138098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.2946      1.69405 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:31.092859   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636658.213556, t: 3221886.885166 -3946668.369430 -5821756.493027 q: 0.138098 -0.183520 0.885681 -0.403508 
unstable tracking...
time: 1403636658.313555, t: 3221886.931795 -3946668.282135 -5821756.533459 q: 0.138098 -0.183520 0.885681 -0.403508 
unstable tracking...
time: 1403636658.413555, t: 3221886.963091 -3946668.240168 -5821756.545575 q: 0.138098 -0.183520 0.885681 -0.403508 
W0708 15:45:31.388348   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      5.84818      44.5983 
-3.94667e+06 |      2.09867      45.3506 
-5.82176e+06 |     -82.0035      23.4121 
    -0.18352 |     -540.723      112.968 
    0.885681 |      138.632     -384.676 
   -0.403508 |     -146.009     -255.632 
    0.138098 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -5.84818     -44.5983 
-3.94667e+06 |     -2.09867     -45.3506 
-5.82176e+06 |      82.0035     -23.4121 
    -0.18352 |      548.333     -116.098 
    0.885681 |     -131.606      382.556 
   -0.403508 |      137.443      262.678 
    0.138098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -62.0287     -44.4865 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:31.388408   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636658.513556, t: 3221886.970203 -3946668.225591 -5821756.551520 q: 0.138098 -0.183520 0.885681 -0.403508 
W0708 15:45:31.490839   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      3.53219      44.0468 
-3.94667e+06 |      6.23485      46.6943 
-5.82176e+06 |     -78.1128      24.6917 
    -0.18352 |     -493.847      107.957 
    0.885681 |      125.838     -391.506 
   -0.403508 |     -150.955     -228.572 
    0.138098 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -3.53219     -44.0468 
-3.94667e+06 |     -6.23485     -46.6943 
-5.82176e+06 |      78.1128     -24.6917 
    -0.18352 |      496.374     -109.116 
    0.885681 |     -123.215      390.523 
   -0.403508 |      147.357      231.019 
    0.138098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -43.4977     -18.8232 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:31.490911   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636658.613555, t: 3221886.969450 -3946668.226504 -5821756.551318 q: 0.138098 -0.183520 0.885681 -0.403508 
unstable tracking...
time: 1403636658.713556, t: 3221886.968389 -3946668.222871 -5821756.554367 q: 0.138098 -0.183520 0.885681 -0.403508 
unstable tracking...
time: 1403636658.813555, t: 3221886.971057 -3946668.226447 -5821756.550466 q: 0.138098 -0.183520 0.885681 -0.403508 
unstable tracking...
time: 1403636658.913555, t: 3221886.975263 -3946668.222327 -5821756.564619 q: 0.121482 -0.191943 0.893294 -0.387847 
W0708 15:45:31.889542   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      4.65983      47.4004 
-3.94667e+06 |     0.087061      47.9003 
-5.82176e+06 |     -90.9458      24.4963 
   -0.182562 |     -608.009      122.629 
    0.886894 |      160.796     -403.288 
   -0.401965 |     -139.032     -282.012 
    0.136064 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -4.65983     -47.4004 
-3.94667e+06 |    -0.087061     -47.9003 
-5.82176e+06 |      90.9458     -24.4963 
   -0.191943 |      608.438     -135.628 
    0.893294 |     -152.742      388.762 
   -0.387847 |      142.279      294.957 
    0.121482 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -39.339      2.57265 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:31.889586   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636659.013556, t: 3221886.975232 -3946668.233125 -5821756.557315 q: 0.121482 -0.191943 0.893294 -0.387847 
unstable tracking...
time: 1403636659.113555, t: 3221886.933420 -3946668.176882 -5821756.515309 q: 0.121482 -0.191943 0.893294 -0.387847 
unstable tracking...
time: 1403636659.213556, t: 3221886.911340 -3946668.131699 -5821756.483925 q: 0.121482 -0.191943 0.893294 -0.387847 
time: 1403636659.313555, t: 3221886.931428 -3946668.165663 -5821756.522783 q: 0.121545 -0.186109 0.896848 -0.382432 
unstable tracking...
time: 1403636659.413555, t: 3221886.954500 -3946668.202659 -5821756.534974 q: 0.121545 -0.186109 0.896848 -0.382432 
W0708 15:45:32.400450   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      5.00021      45.6919 
-3.94667e+06 |      0.76423      48.4571 
-5.82176e+06 |     -89.7288      27.2953 
   -0.187723 |     -620.826      155.487 
    0.893309 |       168.44     -414.126 
   -0.389003 |     -161.157     -293.985 
    0.124239 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -5.00021     -45.6919 
-3.94667e+06 |     -0.76423     -48.4571 
-5.82176e+06 |      89.7288     -27.2953 
   -0.186109 |      616.341     -154.903 
    0.896848 |       -172.1      407.282 
   -0.382432 |      160.304      298.808 
    0.121545 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -43.3756       1.4592 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:32.400527   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636659.513556, t: 3221886.955140 -3946668.203154 -5821756.534285 q: 0.121545 -0.186109 0.896848 -0.382432 
unstable tracking...
time: 1403636659.613555, t: 3221886.957238 -3946668.202107 -5821756.533832 q: 0.121545 -0.186109 0.896848 -0.382432 
unstable tracking...
time: 1403636659.713556, t: 3221886.954996 -3946668.200545 -5821756.532587 q: 0.118825 -0.187704 0.901469 -0.371486 
unstable tracking...
time: 1403636659.813555, t: 3221886.956704 -3946668.202409 -5821756.530061 q: 0.117758 -0.190227 0.901856 -0.369598 
W0708 15:45:32.794420   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      4.41768      47.0057 
-3.94667e+06 |      1.33002       45.106 
-5.82176e+06 |     -91.1259      24.4713 
   -0.188154 |     -642.766      137.288 
    0.898675 |      158.191     -391.954 
   -0.376943 |     -138.673     -305.954 
    0.122042 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -4.41768     -47.0057 
-3.94667e+06 |     -1.33002      -45.106 
-5.82176e+06 |      91.1259     -24.4713 
   -0.190227 |      642.763     -140.031 
    0.901856 |     -157.918      385.971 
   -0.369598 |      138.359       312.09 
    0.117758 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.8168    -0.827479 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:32.794467   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636659.913555, t: 3221886.957817 -3946668.201523 -5821756.530045 q: 0.117758 -0.190227 0.901856 -0.369598 
unstable tracking...
unstable tracking...
time: 1403636660.113555, t: 3221886.955924 -3946668.199288 -5821756.532606 q: 0.117758 -0.190227 0.901856 -0.369598 
unstable tracking...
time: 1403636660.213556, t: 3221886.950228 -3946668.195377 -5821756.526459 q: 0.134847 -0.196260 0.902350 -0.359252 
W0708 15:45:33.192677   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      6.12061      45.4663 
-3.94667e+06 |      3.63895      41.4987 
-5.82176e+06 |     -87.8861      22.3968 
    -0.19232 |     -635.684      131.537 
    0.902612 |       126.83     -365.484 
   -0.367326 |     -141.215     -303.365 
    0.115653 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -6.12061     -45.4663 
-3.94667e+06 |     -3.63895     -41.4987 
-5.82176e+06 |      87.8861     -22.3968 
    -0.19626 |      641.055     -115.889 
     0.90235 |     -133.779      365.371 
   -0.359252 |      114.535      311.458 
    0.134847 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.8761    -0.294826 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:33.192720   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636660.313555, t: 3221886.949084 -3946668.199514 -5821756.524287 q: 0.134847 -0.196260 0.902350 -0.359252 
unstable tracking...
time: 1403636660.413555, t: 3221886.948830 -3946668.194570 -5821756.521169 q: 0.145154 -0.176631 0.905466 -0.357580 
time: 1403636660.513556, t: 3221886.950021 -3946668.189759 -5821756.523772 q: 0.145154 -0.176631 0.905466 -0.357580 
W0708 15:45:33.491004   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      12385.2      7242.75 
-3.94667e+06 |       -16706      6707.01 
-5.82176e+06 |     -35639.6      4279.01 
   -0.183604 |     -3515.66       349.23 
    0.904942 |       1387.7     -457.934 
    -0.35911 |      -362.71     -780.705 
    0.135681 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -12385.2     -7242.75 
-3.94667e+06 |        16706     -6707.01 
-5.82176e+06 |      35639.6     -4279.01 
   -0.176631 |      3672.33     -336.882 
    0.905466 |      -1417.6      566.502 
    -0.35758 |      307.234       800.33 
    0.145154 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     47.5837 |     -14.5118    -0.821249 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:33.491104   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636660.613555, t: 3221886.951175 -3946668.190084 -5821756.522912 q: 0.145154 -0.176631 0.905466 -0.357580 
W0708 15:45:33.591851   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    0.0417505     0.276368 
-3.94667e+06 |    0.0479055     0.239477 
-5.82176e+06 |     -0.50288     0.146613 
   -0.176631 |     -587.472      106.022 
    0.905466 |      120.398      -363.31 
    -0.35758 |     -113.583     -286.052 
    0.145154 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   -0.0417505    -0.276368 
-3.94667e+06 |   -0.0479055    -0.239477 
-5.82176e+06 |      0.50288    -0.146613 
   -0.176631 |      587.473     -106.022 
    0.905466 |     -120.398      363.311 
    -0.35758 |      113.582      286.052 
    0.145154 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  0.00118873 |     -34.6818     0.185745 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:33.591897   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636660.713556, t: 3221886.948454 -3946668.193263 -5821756.522262 q: 0.145154 -0.176631 0.905466 -0.357580 
time: 1403636660.813555, t: 3221888.115975 -3946668.496918 -5821750.159364 q: 0.094105 -0.213307 0.944813 -0.230158 
unstable tracking...
time: 1403636660.913555, t: 3221888.213580 -3946668.531469 -5821750.188071 q: 0.094105 -0.213307 0.944813 -0.230158 
unstable tracking...
time: 1403636661.013556, t: 3221884.166324 -3946666.386309 -5821768.617921 q: -0.052227 -0.332974 0.917311 -0.211993 
unstable tracking...
W0708 15:45:34.093062   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -33.488      40.3465 
-3.94667e+06 |      17.1391      40.1561 
-5.82177e+06 |     -60.1894        5.482 
   -0.340309 |     -507.279      101.688 
    0.917755 |      97.6297     -316.029 
   -0.194994 |      -104.49     -265.085 
  -0.0623921 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       33.488     -40.3465 
-3.94667e+06 |     -17.1391     -40.1561 
-5.82177e+06 |      60.1894       -5.482 
   -0.332974 |      545.985     -97.4333 
    0.917311 |     -112.706       363.93 
   -0.211993 |      115.808      261.783 
  -0.0522271 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      67.1563     -12.4646 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:34.093134   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636661.213556, t: 3221884.196029 -3946666.467002 -5821768.532936 q: -0.052227 -0.332974 0.917311 -0.211993 
unstable tracking...
time: 1403636661.313555, t: 3221884.205163 -3946666.484968 -5821768.555747 q: -0.052227 -0.332974 0.917311 -0.211993 
unstable tracking...
time: 1403636661.413555, t: 3221884.192951 -3946666.500648 -5821768.514655 q: -0.039598 -0.326421 0.918644 -0.219031 
unstable tracking...
time: 1403636661.513556, t: 3221884.200492 -3946666.543662 -5821768.533230 q: -0.039598 -0.326421 0.918644 -0.219031 
W0708 15:45:34.491183   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -36.0161      46.4752 
-3.94667e+06 |      16.8033      47.0922 
-5.82177e+06 |     -76.7636      9.93493 
   -0.326753 |     -609.879       124.62 
    0.919138 |      138.683     -373.622 
   -0.215953 |     -127.703     -298.328 
  -0.0422043 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      36.0161     -46.4752 
-3.94667e+06 |     -16.8033     -47.0922 
-5.82177e+06 |      76.7636     -9.93493 
   -0.326421 |      609.592     -123.193 
    0.918644 |     -140.261      376.424 
   -0.219031 |      128.784      295.753 
  -0.0395983 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -35.153      8.78374 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:34.491257   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636661.613555, t: 3221884.181753 -3946666.517680 -5821768.535479 q: -0.039598 -0.326421 0.918644 -0.219031 
unstable tracking...
time: 1403636661.713556, t: 3221884.179695 -3946666.521054 -5821768.546616 q: -0.039598 -0.326421 0.918644 -0.219031 
unstable tracking...
time: 1403636661.813555, t: 3221884.327473 -3946666.599526 -5821768.328730 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:34.799988   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -52.1181     -29.4982 
-3.94667e+06 |     -48.3802      60.3544 
-5.82177e+06 |     -43.5284      15.4286 
    0.857941 |     -602.662      173.356 
   -0.486595 |      172.486      -406.45 
   0.0683809 |     -165.934     -303.457 
    0.149957 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      52.1181      29.4982 
-3.94667e+06 |      48.3802     -60.3544 
-5.82177e+06 |      43.5284     -15.4286 
    0.852965 |      604.278     -166.616 
   -0.495586 |     -183.306      424.714 
   0.0805539 |      176.154      292.542 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      5.70198     -25.4373 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:34.800060   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636661.913555, t: 3221884.317090 -3946666.566490 -5821768.245560 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636662.013556, t: 3221884.307365 -3946666.496360 -5821768.167698 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:34.994361   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -46.6809     -26.6815 
-3.94667e+06 |     -38.9343      51.4933 
-5.82177e+06 |     -26.8455      6.33265 
    0.883264 |      -450.97      170.543 
   -0.416111 |      23.8078     -319.136 
    0.105244 |     -164.602     -217.535 
    0.188732 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      46.6809      26.6815 
-3.94667e+06 |      38.9343     -51.4933 
-5.82177e+06 |      26.8455     -6.33265 
    0.852965 |      474.682     -90.1671 
   -0.495586 |     -103.462      373.787 
   0.0805539 |       130.06      217.083 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      62.2914      15.6915 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:34.994412   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636662.113555, t: 3221884.271211 -3946666.503155 -5821768.177482 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:35.094991   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -131.924      -74.902 
-3.94667e+06 |      -126.49      145.266 
-5.82177e+06 |       -121.3      19.5255 
    0.852965 |     -635.106      133.366 
   -0.495586 |      162.948     -372.289 
   0.0805539 |     -141.066     -310.927 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      131.924       74.902 
-3.94667e+06 |       126.49     -145.266 
-5.82177e+06 |        121.3     -19.5255 
    0.852965 |      650.744      -134.51 
   -0.495586 |     -156.232      381.936 
   0.0805539 |      133.967      313.618 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.506419 |     -12.1301      -24.107 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:35.095060   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636662.213556, t: 3221884.279312 -3946666.510417 -5821768.176374 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636662.313555, t: 3221884.246714 -3946666.517633 -5821768.137589 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:35.293821   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |       -54.43     -30.7646 
-3.94667e+06 |      -51.093      63.5402 
-5.82177e+06 |     -47.0235      17.5547 
    0.852965 |     -616.368      176.011 
   -0.495586 |      196.725     -435.092 
   0.0805539 |     -184.637      -295.84 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |        54.43      30.7646 
-3.94667e+06 |       51.093     -63.5402 
-5.82177e+06 |      47.0235     -17.5547 
    0.852965 |      620.887     -178.945 
   -0.495586 |     -196.149      434.421 
   0.0805539 |      183.898      300.805 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -61.0344     -1.57481 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:35.293877   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636662.413555, t: 3221884.233936 -3946666.527551 -5821768.162281 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636662.513556, t: 3221884.227679 -3946666.505798 -5821768.123692 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:35.494087   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 4.41307e-05 |     -34.1859     0.239068 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:35.494141   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636662.613555, t: 3221884.224325 -3946666.522122 -5821768.161463 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:35.599995   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -54.238     -30.8217 
-3.94667e+06 |     -52.1121      59.0866 
-5.82177e+06 |     -50.1683      6.33805 
    0.852965 |     -656.701      127.236 
   -0.495586 |      146.433     -372.609 
   0.0805539 |     -123.463     -318.618 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       54.238      30.8217 
-3.94667e+06 |      52.1121     -59.0866 
-5.82177e+06 |      50.1683     -6.33805 
    0.852965 |      657.583     -127.513 
   -0.495586 |     -145.773      372.514 
   0.0805539 |      122.789      319.306 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -36.7744     -3.29918 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:35.600073   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636662.713556, t: 3221884.219208 -3946666.523425 -5821768.160857 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:35.691224   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.9579     -31.1643 
-3.94667e+06 |     -51.5656      62.0619 
-5.82177e+06 |     -47.4163      12.1137 
    0.852965 |     -622.313      148.819 
   -0.495586 |      167.112      -404.45 
   0.0805539 |     -153.923     -299.082 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.9579      31.1643 
-3.94667e+06 |      51.5656     -62.0619 
-5.82177e+06 |      47.4163     -12.1137 
    0.852965 |      620.027     -149.653 
   -0.495586 |     -166.923      400.547 
   0.0805539 |      153.798      300.759 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -62.1143      9.52159 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:35.691289   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636662.813555, t: 3221884.203791 -3946666.537099 -5821768.177638 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636662.913555, t: 3221884.212302 -3946666.525582 -5821768.156609 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:35.889899   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.1757      -30.814 
-3.94667e+06 |      -46.346      62.1553 
-5.82177e+06 |     -34.3593      13.9238 
    0.852965 |     -500.971      123.928 
   -0.495586 |      138.308      -410.01 
   0.0805539 |     -165.382     -233.048 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.1757       30.814 
-3.94667e+06 |       46.346     -62.1553 
-5.82177e+06 |      34.3593     -13.9238 
    0.852965 |      500.819     -124.193 
   -0.495586 |     -138.367      409.531 
   0.0805539 |      165.466      233.549 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -38.8448      2.15897 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:35.889942   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636663.013556, t: 3221884.212980 -3946666.531186 -5821768.167132 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:35.995546   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.9025     -30.6833 
-3.94667e+06 |     -49.5002      59.1235 
-5.82177e+06 |     -43.5379      7.05342 
    0.852965 |     -587.482      117.604 
   -0.495586 |      133.845      -373.44 
   0.0805539 |     -127.645     -285.363 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.9025      30.6833 
-3.94667e+06 |      49.5002     -59.1235 
-5.82177e+06 |      43.5379     -7.05342 
    0.852965 |      588.432     -117.361 
   -0.495586 |     -133.924      374.919 
   0.0805539 |      127.701      284.785 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -24.3224     -2.60344 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:35.995644   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:45:36.103395   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.5907     -31.0216 
-3.94667e+06 |     -48.8438      61.8304 
-5.82177e+06 |     -40.5375      12.1881 
    0.852965 |     -555.769      132.489 
   -0.495586 |       150.13     -403.639 
   0.0805539 |     -157.319     -265.056 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.5907      31.0216 
-3.94667e+06 |      48.8438     -61.8304 
-5.82177e+06 |      40.5375     -12.1881 
    0.852965 |      553.573     -132.662 
   -0.495586 |     -148.268      400.141 
   0.0805539 |      155.212      265.404 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -46.6255     -3.93179 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:36.103446   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636663.313555, t: 3221884.217940 -3946666.506549 -5821768.207572 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:36.298943   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -264.27     -150.322 
-3.94667e+06 |     -221.085      306.213 
-5.82177e+06 |     -153.829      75.2994 
    0.852965 |     -480.975       119.06 
   -0.495586 |      142.086     -429.898 
   0.0805539 |     -183.102     -213.136 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       264.27      150.322 
-3.94667e+06 |      221.085     -306.213 
-5.82177e+06 |      153.829     -75.2994 
    0.852965 |      471.892     -115.732 
   -0.495586 |     -138.861      422.711 
   0.0805539 |      178.879      207.164 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.962997 |     -31.9167       -1.484 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:36.299005   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636663.413555, t: 3221884.215655 -3946666.497127 -5821768.182768 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:36.393901   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.1637     -30.7742 
-3.94667e+06 |     -46.8896      62.4675 
-5.82177e+06 |     -35.8808      14.8718 
    0.852965 |     -515.562      133.524 
   -0.495586 |      147.175     -415.867 
   0.0805539 |     -170.501     -243.376 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.1637      30.7742 
-3.94667e+06 |      46.8896     -62.4675 
-5.82177e+06 |      35.8808     -14.8718 
    0.852965 |      513.985     -132.631 
   -0.495586 |     -147.147      415.567 
   0.0805539 |       170.52      241.744 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -27.1447     0.917675 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:36.393975   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636663.513556, t: 3221884.213479 -3946666.502663 -5821768.210725 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:36.492920   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1965     0.240435 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:36.493034   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636663.613555, t: 3221884.161877 -3946666.515780 -5821768.240754 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:36.590253   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -55.1977     -31.2782 
-3.94667e+06 |     -48.6504       64.835 
-5.82177e+06 |     -38.9552      18.4234 
    0.852965 |      -535.63      150.185 
   -0.495586 |       170.96     -443.555 
   0.0805539 |      -190.19     -247.991 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      55.1977      31.2782 
-3.94667e+06 |      48.6504      -64.835 
-5.82177e+06 |      38.9552     -18.4234 
    0.852965 |      535.074      -153.85 
   -0.495586 |     -168.951      436.634 
   0.0805539 |      187.762      254.124 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -88.6574      5.96296 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:36.590322   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636663.713556, t: 3221884.114383 -3946666.541608 -5821768.259708 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:36.697566   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -54.587     -31.0933 
-3.94667e+06 |     -44.3734       63.195 
-5.82177e+06 |      -28.204       15.222 
    0.852965 |     -450.789       106.97 
   -0.495586 |      123.724     -419.447 
   0.0805539 |      -173.53     -193.553 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       54.587      31.0933 
-3.94667e+06 |      44.3734      -63.195 
-5.82177e+06 |       28.204      -15.222 
    0.852965 |      451.041     -110.017 
   -0.495586 |     -122.793      415.381 
   0.0805539 |      172.086      199.107 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -73.318      3.04062 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:36.697634   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636663.813555, t: 3221884.126722 -3946666.544075 -5821768.252319 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:36.790105   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.1215     -30.8062 
-3.94667e+06 |     -49.3848      59.6057 
-5.82177e+06 |     -42.8413      7.68548 
    0.852965 |     -576.747      117.162 
   -0.495586 |      134.003     -377.084 
   0.0805539 |      -130.42      -277.23 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.1215      30.8062 
-3.94667e+06 |      49.3848     -59.6057 
-5.82177e+06 |      42.8413     -7.68548 
    0.852965 |      579.542     -118.344 
   -0.495586 |      -134.68      377.647 
   0.0805539 |      131.081      280.014 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -47.2769      3.34492 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:36.790148   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636663.913555, t: 3221884.128855 -3946666.545125 -5821768.226313 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636664.013556, t: 3221884.161371 -3946666.535208 -5821768.195487 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636664.113555, t: 3221884.192360 -3946666.521764 -5821768.197156 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:37.091413   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.4825     -30.5869 
-3.94667e+06 |     -42.8857      59.7467 
-5.82177e+06 |     -26.0052      9.02217 
    0.852965 |     -439.277      86.8681 
   -0.495586 |      96.8028     -379.024 
   0.0805539 |     -138.744     -194.557 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.4825      30.5869 
-3.94667e+06 |      42.8857     -59.7467 
-5.82177e+06 |      26.0052     -9.02217 
    0.852965 |      439.109     -85.1655 
   -0.495586 |     -97.6453      381.777 
   0.0805539 |      140.106       190.77 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -8.11495      1.66355 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:37.091466   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636664.213556, t: 3221884.207771 -3946666.503601 -5821768.167942 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:37.200899   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.2194     -30.7934 
-3.94667e+06 |     -51.1583      60.0445 
-5.82177e+06 |     -47.5676      8.82292 
    0.852965 |     -631.063       136.29 
   -0.495586 |      152.485     -383.851 
   0.0805539 |     -136.442     -307.818 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.2194      30.7934 
-3.94667e+06 |      51.1583     -60.0445 
-5.82177e+06 |      47.5676     -8.82292 
    0.852965 |      628.576     -135.127 
   -0.495586 |     -152.632      384.026 
   0.0805539 |       136.67      305.202 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.3898     0.740316 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:37.200981   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636664.313555, t: 3221884.199064 -3946666.516854 -5821768.200047 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:37.293180   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.8204     -30.6461 
-3.94667e+06 |     -50.6003      58.0693 
-5.82177e+06 |     -46.7164       4.6271 
    0.852965 |     -621.878      112.262 
   -0.495586 |      129.222     -362.464 
   0.0805539 |     -113.987     -303.619 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.8204      30.6461 
-3.94667e+06 |      50.6003     -58.0693 
-5.82177e+06 |      46.7164      -4.6271 
    0.852965 |      622.947     -111.862 
   -0.495586 |     -129.337      364.554 
   0.0805539 |      114.073      302.564 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -18.4038     -3.36283 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:37.293228   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636664.413555, t: 3221884.208005 -3946666.530441 -5821768.220648 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
W0708 15:45:37.489017   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.5044     -31.0048 
-3.94667e+06 |     -47.5565      61.8472 
-5.82177e+06 |     -37.1332      12.3049 
    0.852965 |     -528.718      126.327 
   -0.495586 |      139.498     -402.925 
   0.0805539 |     -156.588     -251.644 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.5044      31.0048 
-3.94667e+06 |      47.5565     -61.8472 
-5.82177e+06 |      37.1332     -12.3049 
    0.852965 |      522.874     -124.212 
   -0.495586 |     -139.016      400.255 
   0.0805539 |      156.183      247.429 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -22.8226      3.73517 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:37.489058   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636664.613555, t: 3221884.253137 -3946666.491104 -5821768.249652 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:37.600750   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.9563     -30.5456 
-3.94667e+06 |      -49.067      63.0012 
-5.82177e+06 |     -42.2492      17.2166 
    0.852965 |     -574.893      164.768 
   -0.495586 |      179.739     -430.406 
   0.0805539 |     -183.036     -278.602 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.9563      30.5456 
-3.94667e+06 |       49.067     -63.0012 
-5.82177e+06 |      42.2492     -17.2166 
    0.852965 |      575.221     -163.822 
   -0.495586 |     -179.884      432.231 
   0.0805539 |      183.187      276.984 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -17.9593      -4.4112 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:37.600821   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636664.713556, t: 3221884.230069 -3946666.502909 -5821768.252883 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:37.689318   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.6478     -31.0433 
-3.94667e+06 |     -49.5791      61.6725 
-5.82177e+06 |     -42.4684      11.7015 
    0.852965 |     -576.603      136.505 
   -0.495586 |      152.652     -401.052 
   0.0805539 |     -153.564     -277.863 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.6478      31.0433 
-3.94667e+06 |      49.5791     -61.6725 
-5.82177e+06 |      42.4684     -11.7015 
    0.852965 |      571.815     -135.383 
   -0.495586 |     -151.461      397.743 
   0.0805539 |      152.375      275.579 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -34.8878     0.699619 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:37.689369   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636664.813555, t: 3221884.177978 -3946666.520860 -5821768.269750 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:37.791635   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.6163     -30.9724 
-3.94667e+06 |     -52.0321      61.1269 
-5.82177e+06 |     -49.2941       10.679 
    0.852965 |     -641.089      146.073 
   -0.495586 |      167.134     -395.755 
   0.0805539 |     -147.408     -308.146 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.6163      30.9724 
-3.94667e+06 |      52.0321     -61.1269 
-5.82177e+06 |      49.2941      -10.679 
    0.852965 |      643.838     -148.173 
   -0.495586 |     -166.019      393.544 
   0.0805539 |      146.208      312.567 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -65.4985    -0.901095 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:37.791680   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636664.913555, t: 3221884.183489 -3946666.519287 -5821768.268669 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636665.013556, t: 3221884.176787 -3946666.499510 -5821768.211721 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:37.995050   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -751.997      -427.96 
-3.94667e+06 |     -665.587      843.275 
-5.82177e+06 |     -538.411      144.249 
    0.852965 |     -442.826      109.524 
   -0.495586 |      143.084     -320.076 
   0.0805539 |      -157.49     -233.111 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      751.997       427.96 
-3.94667e+06 |      665.587     -843.275 
-5.82177e+06 |      538.411     -144.249 
    0.852965 |      515.694     -103.907 
   -0.495586 |     -149.908      404.373 
   0.0805539 |      163.263      221.286 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     3.76135 |     -3.85866     -8.61515 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:37.995146   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636665.113555, t: 3221884.193300 -3946666.489030 -5821768.180852 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:38.093288   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.4237     -30.4225 
-3.94667e+06 |      -46.086      60.2899 
-5.82177e+06 |     -34.9406      11.1003 
    0.852965 |     -505.858      115.948 
   -0.495586 |      130.629     -390.955 
   0.0805539 |     -151.235     -239.203 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.4237      30.4225 
-3.94667e+06 |       46.086     -60.2899 
-5.82177e+06 |      34.9406     -11.1003 
    0.852965 |      509.893     -116.123 
   -0.495586 |     -130.551      394.554 
   0.0805539 |      150.994      239.565 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -21.0824     -9.88794 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:38.093338   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636665.213556, t: 3221884.202358 -3946666.518345 -5821768.201215 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:38.197510   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.7271     -30.5633 
-3.94667e+06 |     -48.6773      59.7827 
-5.82177e+06 |     -41.5693      9.21717 
    0.852965 |     -567.595      123.907 
   -0.495586 |      137.098     -381.586 
   0.0805539 |      -136.81     -274.916 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.7271      30.5633 
-3.94667e+06 |      48.6773     -59.7827 
-5.82177e+06 |      41.5693     -9.21717 
    0.852965 |      569.934     -123.818 
   -0.495586 |     -139.855      385.414 
   0.0805539 |      139.857       274.73 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -22.3519      9.64843 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:38.197553   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636665.313555, t: 3221884.203693 -3946666.525061 -5821768.160795 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:38.296051   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.1181     -30.7946 
-3.94667e+06 |     -50.5969      59.0138 
-5.82177e+06 |     -46.1928      6.28154 
    0.852965 |     -614.123      118.824 
   -0.495586 |      132.895     -369.908 
   0.0805539 |     -119.795     -298.343 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.1181      30.7946 
-3.94667e+06 |      50.5969     -59.0138 
-5.82177e+06 |      46.1928     -6.28154 
    0.852965 |        614.5     -118.791 
   -0.495586 |     -136.023       371.64 
   0.0805539 |      123.059      298.272 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -32.0883      15.3678 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:38.296131   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636665.413555, t: 3221884.220043 -3946666.528598 -5821768.159857 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636665.513556, t: 3221884.222076 -3946666.525625 -5821768.136342 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:38.496094   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -54.014     -30.7361 
-3.94667e+06 |     -50.9109      58.6167 
-5.82177e+06 |     -47.2393      5.56795 
    0.852965 |     -628.628      118.638 
   -0.495586 |      134.361     -367.368 
   0.0805539 |     -118.288     -307.308 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       54.014      30.7361 
-3.94667e+06 |      50.9109     -58.6167 
-5.82177e+06 |      47.2393     -5.56795 
    0.852965 |      626.861     -117.532 
   -0.495586 |     -135.079      368.662 
   0.0805539 |       119.08      304.476 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -14.6928      1.73296 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:38.496166   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636665.613555, t: 3221884.249062 -3946666.507471 -5821768.149504 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:38.592751   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.1308     -30.8137 
-3.94667e+06 |     -47.1444      61.0347 
-5.82177e+06 |     -36.6407      11.1679 
    0.852965 |     -522.343      119.826 
   -0.495586 |      133.507     -394.497 
   0.0805539 |     -150.101     -247.871 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.1308      30.8137 
-3.94667e+06 |      47.1444     -61.0347 
-5.82177e+06 |      36.6407     -11.1679 
    0.852965 |      520.722     -119.029 
   -0.495586 |     -133.778      394.372 
   0.0805539 |      150.498      246.224 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -27.1337      2.71069 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:38.592823   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636665.713556, t: 3221884.245731 -3946666.522350 -5821768.167073 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:38.698313   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.8619     -31.2048 
-3.94667e+06 |      -50.354      60.7059 
-5.82177e+06 |     -44.2377      8.59419 
    0.852965 |      -593.71      125.066 
   -0.495586 |      141.218     -385.876 
   0.0805539 |     -135.716     -286.426 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.8619      31.2048 
-3.94667e+06 |       50.354     -60.7059 
-5.82177e+06 |      44.2377     -8.59419 
    0.852965 |      587.679     -124.135 
   -0.495586 |     -140.684      381.689 
   0.0805539 |      135.324      284.289 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -42.2164        6.769 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:38.698388   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636665.913555, t: 3221884.245492 -3946666.512459 -5821768.167582 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:38.894168   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -1149.73     -650.879 
-3.94667e+06 |     -1288.89      1184.25 
-5.82177e+06 |     -1571.96     -22.4321 
    0.852965 |     -910.832       106.19 
   -0.495586 |      228.702     -366.664 
   0.0805539 |     -136.453     -392.851 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      1149.73      650.879 
-3.94667e+06 |      1288.89     -1184.25 
-5.82177e+06 |      1571.96      22.4321 
    0.852965 |      919.038     -106.615 
   -0.495586 |     -184.456      363.906 
   0.0805539 |      105.061      394.336 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     4.27492 |     -31.9634     -7.26654 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:38.894218   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636666.013556, t: 3221884.233095 -3946666.502394 -5821768.169291 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:38.990708   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -53.692     -30.5422 
-3.94667e+06 |     -47.2476      60.6753 
-5.82177e+06 |     -37.6837      11.5082 
    0.852965 |     -530.043      124.285 
   -0.495586 |      140.306     -395.025 
   0.0805539 |     -153.737     -253.033 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       53.692      30.5422 
-3.94667e+06 |      47.2476     -60.6753 
-5.82177e+06 |      37.6837     -11.5082 
    0.852965 |      532.941      -124.53 
   -0.495586 |     -139.571      397.003 
   0.0805539 |       152.74      253.533 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -26.1879     -10.6322 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:38.990751   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636666.113555, t: 3221884.236680 -3946666.512602 -5821768.266147 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.102278   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.6011      -30.992 
-3.94667e+06 |     -49.8582      61.9257 
-5.82177e+06 |     -43.3197      12.5559 
    0.852965 |     -580.254       140.52 
   -0.495586 |      159.677     -405.636 
   0.0805539 |     -158.563     -277.475 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.6011       30.992 
-3.94667e+06 |      49.8582     -61.9257 
-5.82177e+06 |      43.3197     -12.5559 
    0.852965 |      580.674     -141.957 
   -0.495586 |     -158.239      402.729 
   0.0805539 |      156.952      280.317 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -58.4621     -1.83621 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.102355   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636666.213556, t: 3221884.194169 -3946666.524952 -5821768.199186 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.193239   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -54.894      -31.251 
-3.94667e+06 |     -50.8398      59.8632 
-5.82177e+06 |     -45.5231      6.31219 
    0.852965 |     -603.491      115.081 
   -0.495586 |      133.314     -375.563 
   0.0805539 |     -123.667      -289.83 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       54.894       31.251 
-3.94667e+06 |      50.8398     -59.8632 
-5.82177e+06 |      45.5231     -6.31219 
    0.852965 |      600.499     -115.598 
   -0.495586 |     -132.526      371.157 
   0.0805539 |      122.918      291.095 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -60.5686      4.98394 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.193285   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636666.313555, t: 3221884.209853 -3946666.523869 -5821768.231097 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.295933   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.3008     -30.2595 
-3.94667e+06 |     -49.0851      60.0664 
-5.82177e+06 |     -43.4313      11.2856 
    0.852965 |     -585.369       139.33 
   -0.495586 |      157.145      -392.31 
   0.0805539 |     -152.073     -284.851 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.3008      30.2595 
-3.94667e+06 |      49.0851     -60.0664 
-5.82177e+06 |      43.4313     -11.2856 
    0.852965 |       592.57     -140.256 
   -0.495586 |     -156.787      397.393 
   0.0805539 |      151.452      286.745 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -18.1986     -15.6274 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.295985   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636666.413555, t: 3221884.205676 -3946666.491359 -5821768.180898 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636666.513556, t: 3221884.235850 -3946666.506675 -5821768.223305 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.495837   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.8091     -30.5377 
-3.94667e+06 |     -47.3566      62.2842 
-5.82177e+06 |     -37.7822      15.4877 
    0.852965 |       -531.2      142.265 
   -0.495586 |      157.127     -418.334 
   0.0805539 |     -174.217     -253.412 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.8091      30.5377 
-3.94667e+06 |      47.3566     -62.2842 
-5.82177e+06 |      37.7822     -15.4877 
    0.852965 |      533.244     -142.232 
   -0.495586 |     -157.231      420.439 
   0.0805539 |      174.275      253.348 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -25.1372     -5.24226 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.495908   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636666.613555, t: 3221884.211325 -3946666.513319 -5821768.199372 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.592761   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1983     0.241167 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.592830   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636666.713556, t: 3221884.216295 -3946666.519015 -5821768.225457 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.696355   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.9087     -30.6109 
-3.94667e+06 |     -48.5592      61.3267 
-5.82177e+06 |     -40.9297      12.8013 
    0.852965 |     -559.126      137.881 
   -0.495586 |      154.876     -403.234 
   0.0805539 |     -159.757     -268.535 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.9087      30.6109 
-3.94667e+06 |      48.5592     -61.3267 
-5.82177e+06 |      40.9297     -12.8013 
    0.852965 |       562.35     -138.782 
   -0.495586 |     -154.566      404.681 
   0.0805539 |      159.294      270.291 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -35.6107     -6.01126 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.696424   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636666.813555, t: 3221884.208130 -3946666.505904 -5821768.195256 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.800527   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.3484     -30.7473 
-3.94667e+06 |     -48.4919       64.488 
-5.82177e+06 |     -39.9845      19.9651 
    0.852965 |     -551.291      167.891 
   -0.495586 |      182.443     -449.579 
   0.0805539 |       -196.8     -263.315 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.3484      30.7473 
-3.94667e+06 |      48.4919      -64.488 
-5.82177e+06 |      39.9845     -19.9651 
    0.852965 |      550.326     -167.574 
   -0.495586 |     -183.022      449.486 
   0.0805539 |      197.514      262.812 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -34.2031      5.43419 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.800601   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636666.913555, t: 3221884.223693 -3946666.521421 -5821768.205609 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.891047   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.7006     -30.5754 
-3.94667e+06 |     -45.6885      61.1143 
-5.82177e+06 |     -33.3653      12.4389 
    0.852965 |       -492.6      116.471 
   -0.495586 |      130.914     -399.576 
   0.0805539 |     -158.489     -229.536 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.7006      30.5754 
-3.94667e+06 |      45.6885     -61.1143 
-5.82177e+06 |      33.3653     -12.4389 
    0.852965 |      494.925     -116.657 
   -0.495586 |      -130.67      401.406 
   0.0805539 |      158.079      229.901 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.1445     -6.87154 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.891124   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636667.013556, t: 3221884.217455 -3946666.510086 -5821768.158248 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:39.989784   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2088     0.229974 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:39.989820   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636667.113555, t: 3221884.237083 -3946666.509540 -5821768.251658 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:40.096796   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.0489     -30.8387 
-3.94667e+06 |     -46.7255      59.6773 
-5.82177e+06 |     -35.6261      7.71518 
    0.852965 |     -513.217      102.441 
   -0.495586 |      116.755     -376.839 
   0.0805539 |     -132.201     -242.377 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.0489      30.8387 
-3.94667e+06 |      46.7255     -59.6773 
-5.82177e+06 |      35.6261     -7.71518 
    0.852965 |      512.128     -101.946 
   -0.495586 |     -116.545      376.559 
   0.0805539 |      131.969      241.212 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.9309    -0.691765 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:40.096859   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636667.213556, t: 3221884.237855 -3946666.510097 -5821768.212411 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:40.191305   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2259     0.276966 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:40.191362   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636667.313555, t: 3221884.222588 -3946666.521251 -5821768.204322 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:40.293957   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.2643     -30.4056 
-3.94667e+06 |      -43.145      60.3961 
-5.82177e+06 |     -27.0977      11.4379 
    0.852965 |      -441.87      95.2639 
   -0.495586 |      108.822     -390.785 
   0.0805539 |     -152.696     -194.098 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.2643      30.4056 
-3.94667e+06 |       43.145     -60.3961 
-5.82177e+06 |      27.0977     -11.4379 
    0.852965 |      447.809     -96.7628 
   -0.495586 |     -109.438      395.114 
   0.0805539 |      153.428      197.151 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -36.5095     -5.39798 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:40.294001   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636667.413555, t: 3221884.200720 -3946666.522805 -5821768.179423 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:40.392544   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.2055     -30.8332 
-3.94667e+06 |     -50.2145      59.6412 
-5.82177e+06 |     -44.9864      7.65108 
    0.852965 |     -598.987      122.034 
   -0.495586 |      140.385     -378.106 
   0.0805539 |     -131.302     -289.187 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.2055      30.8332 
-3.94667e+06 |      50.2145     -59.6412 
-5.82177e+06 |      44.9864     -7.65108 
    0.852965 |      600.932     -122.923 
   -0.495586 |      -139.79      377.797 
   0.0805539 |      130.604      291.282 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -44.9939      -2.8097 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:40.392587   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636667.513556, t: 3221884.203606 -3946666.517837 -5821768.210370 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636667.613555, t: 3221884.187846 -3946666.511350 -5821768.147046 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:40.595203   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.1564     -30.8169 
-3.94667e+06 |     -47.4145      61.1372 
-5.82177e+06 |     -37.3424      11.4056 
    0.852965 |     -526.447      121.425 
   -0.495586 |      137.471     -396.489 
   0.0805539 |     -152.609     -249.044 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.1564      30.8169 
-3.94667e+06 |      47.4145     -61.1372 
-5.82177e+06 |      37.3424     -11.4056 
    0.852965 |      526.858     -121.848 
   -0.495586 |     -136.756      395.773 
   0.0805539 |      151.707       249.91 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -39.7086     -3.36557 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:40.595280   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636667.713556, t: 3221884.203791 -3946666.514563 -5821768.237378 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:40.692346   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.3349     -30.3945 
-3.94667e+06 |     -43.9334        61.07 
-5.82177e+06 |     -29.1522       13.146 
    0.852965 |     -458.199      107.804 
   -0.495586 |      121.283     -401.258 
   0.0805539 |     -162.338     -206.746 
    0.142674 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.3349      30.3945 
-3.94667e+06 |      43.9334       -61.07 
-5.82177e+06 |      29.1522      -13.146 
    0.852965 |       462.93      -108.48 
   -0.495586 |     -121.569      405.221 
   0.0805539 |      162.585       208.04 
    0.142674 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -27.3291     -8.27443 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:40.692391   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636667.813555, t: 3221884.206395 -3946666.514448 -5821768.163231 q: 0.142674 0.852965 -0.495586 0.080554 
W0708 15:45:40.803841   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1968     0.232875 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:40.803890   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636667.913555, t: 3221884.247954 -3946666.518750 -5821768.229793 q: 0.142674 0.852965 -0.495586 0.080554 
unstable tracking...
time: 1403636668.013556, t: 3221884.234197 -3946666.506168 -5821768.121210 q: 0.134737 0.850369 -0.500364 0.091398 
unstable tracking...
time: 1403636668.113555, t: 3221884.249635 -3946666.508420 -5821768.203559 q: 0.134737 0.850369 -0.500364 0.091398 
W0708 15:45:41.091192   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.0945     -30.5926 
-3.94667e+06 |     -46.9823      61.6992 
-5.82177e+06 |     -39.4984       12.603 
    0.848903 |     -533.372      126.558 
   -0.503935 |      154.115     -405.283 
   0.0832372 |     -156.038     -259.274 
     0.13596 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.0945      30.5926 
-3.94667e+06 |      46.9823     -61.6992 
-5.82177e+06 |      39.4984      -12.603 
    0.850369 |      533.385     -132.412 
   -0.500364 |     -147.445      406.963 
   0.0913979 |      162.212       253.64 
    0.134737 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.7003     -14.9797 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:41.091234   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636668.213556, t: 3221884.222762 -3946666.513068 -5821768.205458 q: 0.134737 0.850369 -0.500364 0.091398 
unstable tracking...
time: 1403636668.313555, t: 3221884.210495 -3946666.525891 -5821768.183299 q: 0.136241 0.851504 -0.498197 0.090443 
W0708 15:45:41.289574   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.6121     -31.6985 
-3.94667e+06 |     -50.3856      61.2257 
-5.82177e+06 |     -44.9321      7.05827 
    0.850144 |     -581.813        114.2 
   -0.500781 |       137.84     -386.552 
   0.0916051 |     -132.345     -276.571 
    0.134471 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.6121      31.6985 
-3.94667e+06 |      50.3856     -61.2257 
-5.82177e+06 |      44.9321     -7.05827 
    0.851504 |      574.988     -116.617 
   -0.498197 |     -132.907      376.942 
   0.0904431 |      130.429      277.519 
    0.136241 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -66.3517      7.57909 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:41.289618   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636668.413555, t: 3221884.230803 -3946666.519198 -5821768.242801 q: 0.136241 0.851504 -0.498197 0.090443 
unstable tracking...
time: 1403636668.513556, t: 3221884.308060 -3946666.515479 -5821768.313687 q: 0.145660 0.852427 -0.494436 0.087660 
W0708 15:45:41.493415   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.0411     -31.3279 
-3.94667e+06 |     -46.9591      61.2965 
-5.82177e+06 |     -33.8124      9.59685 
    0.851656 |     -495.148      107.505 
   -0.496739 |      123.169     -393.513 
   0.0927866 |     -148.711     -226.388 
    0.139007 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.0411      31.3279 
-3.94667e+06 |      46.9591     -61.2965 
-5.82177e+06 |      33.8124     -9.59685 
    0.852427 |      495.309     -108.855 
   -0.494436 |     -122.949      390.611 
   0.0876601 |       147.48      230.309 
     0.14566 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -19.5227      5.39742 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:41.493471   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636668.613555, t: 3221884.265731 -3946666.496517 -5821768.199148 q: 0.145660 0.852427 -0.494436 0.087660 
W0708 15:45:41.590329   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -51.513      -29.876 
-3.94667e+06 |     -42.0722      59.4151 
-5.82177e+06 |     -25.2029       11.537 
    0.853043 |     -423.937       95.813 
   -0.494131 |      109.215     -389.902 
   0.0868586 |     -159.445     -185.034 
    0.143557 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       51.513       29.876 
-3.94667e+06 |      42.0722     -59.4151 
-5.82177e+06 |      25.2029      -11.537 
    0.852427 |       439.69     -98.6225 
   -0.494436 |      -110.97      403.109 
   0.0876601 |       161.31       190.82 
     0.14566 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -16.4382     -29.5795 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:41.590374   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636668.713556, t: 3221884.217878 -3946666.477006 -5821768.042995 q: 0.145660 0.852427 -0.494436 0.087660 
unstable tracking...
time: 1403636668.813555, t: 3221884.458502 -3946666.429393 -5821768.323671 q: 0.158802 0.835041 -0.519636 0.086414 
time: 1403636668.913555, t: 3221884.407803 -3946666.433993 -5821768.184142 q: 0.158802 0.835041 -0.519636 0.086414 
unstable tracking...
time: 1403636669.013556, t: 3221884.288464 -3946666.356288 -5821768.817121 q: 0.167480 0.829040 -0.519160 0.122948 
W0708 15:45:41.994984   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -62.6169     -31.9525 
-3.94667e+06 |      -57.602      74.6479 
-5.82177e+06 |     -47.9878      8.70069 
    0.818148 |      -616.71      109.436 
   -0.547058 |      219.293     -465.719 
   0.0974464 |      -142.37     -292.376 
    0.147872 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      62.6169      31.9525 
-3.94667e+06 |       57.602     -74.6479 
-5.82177e+06 |      47.9878     -8.70069 
     0.82904 |      580.036     -153.339 
    -0.51916 |     -169.961      417.035 
    0.122948 |      170.132      279.546 
     0.16748 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -185.566      14.3262 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:41.995030   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636669.113555, t: 3221884.282868 -3946666.396537 -5821768.831931 q: 0.167480 0.829040 -0.519160 0.122948 
unstable tracking...
time: 1403636669.213556, t: 3221884.301203 -3946666.393599 -5821768.796089 q: 0.167480 0.829040 -0.519160 0.122948 
W0708 15:45:42.191828   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.4054     -27.2259 
-3.94667e+06 |     -52.3256      61.4725 
-5.82177e+06 |     -47.5089      2.56188 
     0.82904 |     -645.632      144.512 
    -0.51916 |      161.422     -382.498 
    0.122948 |     -139.539     -315.478 
     0.16748 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.4054      27.2259 
-3.94667e+06 |      52.3256     -61.4725 
-5.82177e+06 |      47.5089     -2.56188 
     0.82904 |      652.909     -145.205 
    -0.51916 |     -163.223       388.83 
    0.122948 |      141.093      317.001 
     0.16748 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -12.7316     -4.76367 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:42.191880   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636669.313555, t: 3221884.274359 -3946666.350292 -5821768.719840 q: 0.167480 0.829040 -0.519160 0.122948 
W0708 15:45:42.294070   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -52.4211     -26.6784 
-3.94667e+06 |     -47.3413      60.8622 
-5.82177e+06 |       -38.36      3.93374 
     0.82904 |     -548.576      130.616 
    -0.51916 |      149.439     -385.172 
    0.122948 |     -154.162      -269.33 
     0.16748 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      52.4211      26.6784 
-3.94667e+06 |      47.3413     -60.8622 
-5.82177e+06 |        38.36     -3.93374 
     0.82904 |      561.396      -130.91 
    -0.51916 |     -146.612      395.539 
    0.122948 |      150.482       269.94 
     0.16748 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      17.8189     -47.2298 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:42.294127   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636669.413555, t: 3221884.241610 -3946666.269185 -5821768.668293 q: 0.167480 0.829040 -0.519160 0.122948 
time: 1403636669.513556, t: 3221884.238672 -3946666.270068 -5821768.664033 q: 0.167480 0.829040 -0.519160 0.122948 
time: 1403636669.613555, t: 3221884.250020 -3946666.286606 -5821768.650107 q: 0.167480 0.829040 -0.519160 0.122948 
time: 1403636669.713556, t: 3221884.236174 -3946666.285255 -5821768.611020 q: 0.167480 0.829040 -0.519160 0.122948 
W0708 15:45:42.690236   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -54.3055     -27.5202 
-3.94667e+06 |     -41.9118      62.9473 
-5.82177e+06 |     -25.0621      4.43252 
     0.82904 |     -433.138      92.1791 
    -0.51916 |      103.826     -391.345 
    0.122948 |     -151.846     -187.417 
     0.16748 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      54.3055      27.5202 
-3.94667e+06 |      41.9118     -62.9473 
-5.82177e+06 |      25.0621     -4.43252 
     0.82904 |      436.762     -92.7868 
    -0.51916 |     -105.137      395.171 
    0.122948 |      153.835      188.652 
     0.16748 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.5268      3.29725 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:42.690279   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636669.813555, t: 3221884.234657 -3946666.303130 -5821768.623358 q: 0.167480 0.829040 -0.519160 0.122948 
time: 1403636669.913555, t: 3221884.223721 -3946666.312406 -5821768.668015 q: 0.167480 0.829040 -0.519160 0.122948 
time: 1403636670.013556, t: 3221884.223717 -3946666.293987 -5821768.611642 q: 0.167480 0.829040 -0.519160 0.122948 
unstable tracking...
time: 1403636670.113555, t: 3221884.253068 -3946666.275318 -5821768.860783 q: 0.145217 0.808627 -0.554488 0.132580 
W0708 15:45:43.090003   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -229.271     -96.8501 
-3.94667e+06 |     -187.038      267.832 
-5.82177e+06 |     -193.456      15.9231 
    0.813582 |     -484.205      140.399 
   -0.534551 |      115.163     -306.491 
    0.135472 |     -147.187     -248.331 
    0.184353 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      229.271      96.8501 
-3.94667e+06 |      187.038     -267.832 
-5.82177e+06 |      193.456     -15.9231 
    0.808627 |      579.028     -129.737 
   -0.554488 |     -153.984      395.718 
     0.13258 |      150.798      274.247 
    0.145217 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.10807 |     -8.62241     -4.08955 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:43.090070   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636670.213556, t: 3221884.249160 -3946666.253014 -5821768.762749 q: 0.145217 0.808627 -0.554488 0.132580 
unstable tracking...
time: 1403636670.313555, t: 3221884.228697 -3946666.253697 -5821768.735353 q: 0.145217 0.808627 -0.554488 0.132580 
W0708 15:45:43.291874   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -53.0541     -22.3349 
-3.94667e+06 |     -44.2177      60.8404 
-5.82177e+06 |     -46.7956     0.927776 
    0.808627 |      -593.14      123.558 
   -0.554488 |      140.403         -365 
     0.13258 |      -130.04     -293.234 
    0.145217 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      53.0541      22.3349 
-3.94667e+06 |      44.2177     -60.8404 
-5.82177e+06 |      46.7956    -0.927776 
    0.808627 |      607.164     -124.095 
   -0.554488 |     -141.017       377.65 
     0.13258 |      130.246      294.557 
    0.145217 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      20.5567     -25.1485 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:43.291945   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636670.413555, t: 3221884.222529 -3946666.206111 -5821768.663332 q: 0.145217 0.808627 -0.554488 0.132580 
unstable tracking...
time: 1403636670.513556, t: 3221884.208144 -3946666.243183 -5821768.735419 q: 0.145217 0.808627 -0.554488 0.132580 
W0708 15:45:43.488004   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -55.1279     -23.4182 
-3.94667e+06 |     -42.5036      66.5986 
-5.82177e+06 |     -41.1649      9.29935 
    0.808627 |     -531.067      145.383 
   -0.554488 |      161.255     -422.004 
     0.13258 |     -178.693     -253.621 
    0.145217 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      55.1279      23.4182 
-3.94667e+06 |      42.5036     -66.5986 
-5.82177e+06 |      41.1649     -9.29935 
    0.808627 |      534.645     -145.669 
   -0.554488 |     -160.689      424.691 
     0.13258 |      177.883      254.115 
    0.145217 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -23.2923     -12.5971 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:43.488059   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636670.613555, t: 3221884.214096 -3946666.226130 -5821768.692652 q: 0.145217 0.808627 -0.554488 0.132580 
unstable tracking...
time: 1403636670.713556, t: 3221884.216128 -3946666.250864 -5821768.741479 q: 0.145217 0.808627 -0.554488 0.132580 
W0708 15:45:43.687693   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1839     0.248817 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:43.687742   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636670.813555, t: 3221884.233106 -3946666.226853 -5821768.686984 q: 0.145217 0.808627 -0.554488 0.132580 
W0708 15:45:43.796381   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -55.8561     -24.1653 
-3.94667e+06 |     -48.6918      70.7187 
-5.82177e+06 |     -53.9018      15.5144 
    0.808627 |     -658.606       215.21 
   -0.554488 |      233.503     -471.829 
     0.13258 |       -209.2     -316.653 
    0.145217 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      55.8561      24.1653 
-3.94667e+06 |      48.6918     -70.7187 
-5.82177e+06 |      53.9018     -15.5144 
    0.808627 |      656.658     -215.995 
   -0.554488 |     -234.089      469.146 
     0.13258 |      209.836      317.838 
    0.145217 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -56.9875      14.1905 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:43.796452   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636670.913555, t: 3221884.202856 -3946666.260442 -5821768.732678 q: 0.145217 0.808627 -0.554488 0.132580 
unstable tracking...
time: 1403636671.013556, t: 3221884.223824 -3946666.241301 -5821768.708648 q: 0.145217 0.808627 -0.554488 0.132580 
unstable tracking...
time: 1403636671.113555, t: 3221884.097279 -3946666.306845 -5821768.941931 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.093927   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -43.0164     -34.9396 
-3.94667e+06 |     -54.5046      56.3807 
-5.82177e+06 |     -33.9483     0.521664 
    0.836931 |     -532.506      107.887 
   -0.485304 |      185.401     -391.199 
    0.146968 |     -139.253     -289.568 
    0.205981 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      43.0164      34.9396 
-3.94667e+06 |      54.5046     -56.3807 
-5.82177e+06 |      33.9483    -0.521664 
     0.85633 |      535.803     -131.382 
   -0.456574 |     -146.358      404.581 
    0.167199 |      159.914      255.188 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -67.5956      18.2245 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.093969   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636671.213556, t: 3221884.165918 -3946666.301317 -5821768.926673 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.190323   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 4.51345e-05 |     -34.1702     0.260855 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.190368   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636671.313555, t: 3221884.134919 -3946666.292365 -5821768.860388 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.293020   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -4005.09     -4237.33 
-3.94667e+06 |     -7889.01      8237.75 
-5.82177e+06 |     -7505.47      4263.37 
     0.85633 |     -1219.63      732.977 
   -0.456574 |       467.32     -713.919 
    0.167199 |     -276.558     -564.493 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      4005.09      4237.33 
-3.94667e+06 |      7889.01     -8237.75 
-5.82177e+06 |      7505.47     -4263.37 
     0.85633 |      701.342     -266.026 
   -0.456574 |     -846.341      1072.01 
    0.167199 |       540.82      192.247 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     23.2133 |     -10.8737      8.17004 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.293089   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636671.413555, t: 3221884.141288 -3946666.260349 -5821768.792308 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.393478   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -538.023     -439.742 
-3.94667e+06 |     -734.573      696.489 
-5.82177e+06 |     -506.215     -32.7488 
     0.85633 |     -455.129      111.081 
   -0.456574 |      146.074     -287.024 
    0.167199 |     -142.366     -245.096 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      538.023      439.742 
-3.94667e+06 |      734.573     -696.489 
-5.82177e+06 |      506.215      32.7488 
     0.85633 |      575.445     -117.392 
   -0.456574 |     -161.453      398.195 
    0.167199 |      155.046      259.233 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     3.62563 |     0.639457     -9.47819 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.393527   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636671.513556, t: 3221884.150021 -3946666.207870 -5821768.715479 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.494249   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -45.0753     -36.8878 
-3.94667e+06 |     -55.9408      60.6574 
-5.82177e+06 |      -33.763      3.94947 
     0.85633 |     -515.955      142.796 
   -0.456574 |      156.349      -422.08 
    0.167199 |     -179.528     -245.997 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      45.0753      36.8878 
-3.94667e+06 |      55.9408     -60.6574 
-5.82177e+06 |       33.763     -3.94947 
     0.85633 |      519.942     -142.373 
   -0.456574 |     -156.991      426.996 
    0.167199 |      180.201      245.245 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -11.8715      -9.6016 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.494318   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636671.613555, t: 3221884.143391 -3946666.218846 -5821768.742601 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.590420   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1891     0.271041 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.590458   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636671.713556, t: 3221884.131189 -3946666.213517 -5821768.730788 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.695315   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |       -34.22     0.247136 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.695361   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636671.813555, t: 3221884.124609 -3946666.217457 -5821768.734942 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.793727   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -45.2376     -37.0683 
-3.94667e+06 |     -58.0349      60.3573 
-5.82177e+06 |     -36.8066      2.17832 
     0.85633 |     -544.285      141.964 
   -0.456574 |      157.857     -414.507 
    0.167199 |     -169.718     -260.118 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      45.2376      37.0683 
-3.94667e+06 |      58.0349     -60.3573 
-5.82177e+06 |      36.8066     -2.17832 
     0.85633 |      545.677     -142.276 
   -0.456574 |     -157.616      415.233 
    0.167199 |      169.385      260.691 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.1934     -3.72627 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.793769   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636671.913555, t: 3221884.097993 -3946666.190202 -5821768.674114 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:44.890719   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |      -45.195     -37.1864 
-3.94667e+06 |     -56.0168      61.6718 
-5.82177e+06 |     -33.7406      5.55121 
     0.85633 |      -513.82      148.535 
   -0.456574 |      164.375     -434.759 
    0.167199 |     -190.189     -243.012 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |       45.195      37.1864 
-3.94667e+06 |      56.0168     -61.6718 
-5.82177e+06 |      33.7406     -5.55121 
     0.85633 |       519.04     -149.443 
   -0.456574 |     -164.035       438.42 
    0.167199 |      189.578      244.493 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -25.2439     -14.6483 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:44.890786   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636672.013556, t: 3221884.121222 -3946666.223931 -5821768.762325 q: 0.174022 0.856330 -0.456574 0.167199 
unstable tracking...
time: 1403636672.113555, t: 3221884.103381 -3946666.240107 -5821768.722856 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:45.092314   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -46.1519     -37.7735 
-3.94667e+06 |     -59.6863      61.2158 
-5.82177e+06 |     -38.2891      1.35014 
     0.85633 |     -559.164      140.512 
   -0.456574 |      155.907     -416.027 
    0.167199 |     -164.487     -265.385 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      46.1519      37.7735 
-3.94667e+06 |      59.6863     -61.2158 
-5.82177e+06 |      38.2891     -1.35014 
     0.85633 |      552.169     -140.012 
   -0.456574 |     -155.589      409.826 
    0.167199 |      164.345      264.449 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -56.5077      15.5807 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:45.092373   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636672.213556, t: 3221884.100033 -3946666.270840 -5821768.772413 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:45.192009   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -2863.41     -3684.75 
-3.94667e+06 |     -12004.4      6183.76 
-5.82177e+06 |       -15191      768.436 
     0.85633 |     -1735.16      324.118 
   -0.456574 |      668.342     -344.229 
    0.167199 |     -195.171     -498.305 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      2863.41      3684.75 
-3.94667e+06 |      12004.4     -6183.76 
-5.82177e+06 |        15191     -768.436 
     0.85633 |      2467.16      -439.66 
   -0.456574 |      -1047.8      603.854 
    0.167199 |      311.668       675.12 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     42.7765 |     -7.53773     0.229331 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:45.192049   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636672.413555, t: 3221884.087991 -3946666.250115 -5821768.715503 q: 0.174022 0.856330 -0.456574 0.167199 
unstable tracking...
time: 1403636672.513556, t: 3221884.080236 -3946666.232004 -5821768.667083 q: 0.174022 0.856330 -0.456574 0.167199 
unstable tracking...
W0708 15:45:45.595934   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -45.8632     -36.1614 
-3.94667e+06 |      -58.646      55.4221 
-5.82177e+06 |       -37.02     -8.25011 
     0.85633 |     -548.792      91.6987 
   -0.456574 |      105.132     -362.221 
    0.167199 |     -107.466     -262.069 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      45.8632      36.1614 
-3.94667e+06 |       58.646     -55.4221 
-5.82177e+06 |        37.02      8.25011 
     0.85633 |      542.602     -90.8471 
   -0.456574 |     -106.405      358.742 
    0.167199 |      109.196      259.634 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -39.653      15.6494 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:45.595996   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636672.713556, t: 3221884.142575 -3946666.277773 -5821768.766620 q: 0.174022 0.856330 -0.456574 0.167199 
unstable tracking...
time: 1403636672.813555, t: 3221884.155957 -3946666.258527 -5821768.786097 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:45.796617   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2294     0.279837 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:45.796658   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636672.913555, t: 3221884.130150 -3946666.245441 -5821768.743128 q: 0.174022 0.856330 -0.456574 0.167199 
unstable tracking...
time: 1403636673.013556, t: 3221884.119587 -3946666.229174 -5821768.715662 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:45.989562   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -44.6151     -36.2246 
-3.94667e+06 |     -57.2939      58.1319 
-5.82177e+06 |     -36.3889    -0.425829 
     0.85633 |     -540.103      128.914 
   -0.456574 |      145.389     -394.179 
    0.167199 |     -154.734     -259.814 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      44.6151      36.2246 
-3.94667e+06 |      57.2939     -58.1319 
-5.82177e+06 |      36.3889     0.425829 
     0.85633 |       546.41     -129.689 
   -0.456574 |     -145.055      398.818 
    0.167199 |      154.127      261.376 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.5818     -14.7132 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:45.989620   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636673.213556, t: 3221884.157510 -3946666.233971 -5821768.769967 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:46.190048   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1823     0.264931 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:46.190091   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636673.313555, t: 3221884.159546 -3946666.234766 -5821768.770826 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:46.291651   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -310.473     -259.054 
-3.94667e+06 |     -431.364       420.89 
-5.82177e+06 |     -303.649      12.4621 
     0.85633 |     -545.076      146.932 
   -0.456574 |      190.068     -375.856 
    0.167199 |     -181.413     -273.114 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      310.473      259.054 
-3.94667e+06 |      431.364      -420.89 
-5.82177e+06 |      303.649     -12.4621 
     0.85633 |      602.633     -151.592 
   -0.456574 |     -185.066      420.768 
    0.167199 |      174.374      281.711 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.64941 |     -5.61377     -19.5879 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:46.291700   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636673.413555, t: 3221884.123845 -3946666.206278 -5821768.716839 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:46.392274   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -44.8262     -36.5413 
-3.94667e+06 |      -60.194      58.0125 
-5.82177e+06 |     -40.6197     -2.31257 
     0.85633 |      -584.54      130.167 
   -0.456574 |      146.461     -388.633 
    0.167199 |     -142.688     -282.566 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      44.8262      36.5413 
-3.94667e+06 |       60.194     -58.0125 
-5.82177e+06 |      40.6197      2.31257 
     0.85633 |      584.372     -130.126 
   -0.456574 |     -146.531      388.584 
    0.167199 |      142.771      282.478 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -34.1948     0.843433 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:46.392326   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636673.513556, t: 3221884.143118 -3946666.249532 -5821768.787749 q: 0.174022 0.856330 -0.456574 0.167199 
W0708 15:45:46.503931   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -104.296     -87.3753 
-3.94667e+06 |     -156.875      138.319 
-5.82177e+06 |      -120.48     -6.71917 
     0.85633 |      -696.03      149.626 
   -0.456574 |      171.952     -392.277 
    0.167199 |     -138.719     -331.358 
    0.174022 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      104.296      87.3753 
-3.94667e+06 |      156.875     -138.319 
-5.82177e+06 |       120.48      6.71917 
     0.85633 |      694.992     -150.894 
   -0.456574 |     -173.734       389.04 
    0.167199 |      140.404      334.151 
    0.174022 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.472956 |     -50.2176      7.78431 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:46.504015   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636673.613555, t: 3221884.153424 -3946666.265164 -5821768.786748 q: 0.174022 0.856330 -0.456574 0.167199 
unstable tracking...
time: 1403636673.713556, t: 3221884.154333 -3946666.249945 -5821768.743654 q: 0.174022 0.856330 -0.456574 0.167199 
unstable tracking...
time: 1403636673.813555, t: 3221884.063705 -3946666.209838 -5821768.652514 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636673.913555, t: 3221884.095042 -3946666.249904 -5821768.749807 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:46.891227   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -44.7716      25.9708 
-3.94667e+06 |     -10.5428       58.621 
-5.82177e+06 |     -71.7218     -5.23759 
   -0.504219 |     -611.865      99.4768 
    0.821835 |      125.683     -350.521 
   -0.256509 |     -90.5522     -307.129 
  -0.0674797 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      44.7716     -25.9708 
-3.94667e+06 |      10.5428      -58.621 
-5.82177e+06 |      71.7218      5.23759 
     -0.5003 |      616.909     -108.632 
    0.818484 |     -125.929      362.736 
   -0.272663 |      111.931      299.589 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -23.4461     -4.07512 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:46.891278   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636674.013556, t: 3221884.209189 -3946666.302245 -5821768.739994 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636674.113555, t: 3221884.218000 -3946666.230764 -5821768.593750 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:47.091266   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |       -64.05      34.9176 
-3.94667e+06 |     -10.0197      89.2892 
-5.82177e+06 |     -93.1269      3.67007 
     -0.5003 |     -564.132      144.839 
    0.818484 |      156.817     -407.495 
   -0.272663 |     -164.662     -278.427 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |        64.05     -34.9176 
-3.94667e+06 |      10.0197     -89.2892 
-5.82177e+06 |      93.1269     -3.67007 
     -0.5003 |      553.498     -137.685 
    0.818484 |     -154.202      407.185 
   -0.272663 |      161.957      264.652 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.274421 |      21.1261     -13.3447 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:47.091329   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636674.213556, t: 3221884.242194 -3946666.271463 -5821768.600788 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:47.192255   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -46.8617      25.4661 
-3.94667e+06 |     -1.12584       60.483 
-5.82177e+06 |     -56.5195     -2.06632 
     -0.5003 |     -455.843      90.6951 
    0.818484 |      99.7404     -366.431 
   -0.272663 |     -131.373     -213.202 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      46.8617     -25.4661 
-3.94667e+06 |      1.12584      -60.483 
-5.82177e+06 |      56.5195      2.06632 
     -0.5003 |      460.942      -88.111 
    0.818484 |      -101.22      376.303 
   -0.272663 |      133.384      207.207 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      27.7252     -9.95987 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:47.192297   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636674.313555, t: 3221884.256773 -3946666.282573 -5821768.564471 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636674.413555, t: 3221884.251001 -3946666.293914 -5821768.580575 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:47.388820   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -45.6512      26.3064 
-3.94667e+06 |     -12.4139      61.9209 
-5.82177e+06 |     -76.2459     -2.70493 
     -0.5003 |     -651.898      132.315 
    0.818484 |      146.137     -375.509 
   -0.272663 |     -125.291     -318.801 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      45.6512     -26.3064 
-3.94667e+06 |      12.4139     -61.9209 
-5.82177e+06 |      76.2459      2.70493 
     -0.5003 |      647.577     -130.524 
    0.818484 |     -148.523       376.55 
   -0.272663 |      127.798      314.515 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -12.3819      11.7817 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:47.388870   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636674.513556, t: 3221884.258844 -3946666.283591 -5821768.552338 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:47.489368   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -46.7726      26.2566 
-3.94667e+06 |     -7.30175      61.9143 
-5.82177e+06 |     -67.9777     -2.58685 
     -0.5003 |     -553.524      110.985 
    0.818484 |      126.239     -374.965 
   -0.272663 |     -129.333     -266.251 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      46.7726     -26.2566 
-3.94667e+06 |      7.30175     -61.9143 
-5.82177e+06 |      67.9777      2.58685 
     -0.5003 |      553.754      -110.81 
    0.818484 |     -126.501      375.664 
   -0.272663 |      129.631      265.839 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -29.5578     0.438864 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:47.489418   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636674.613555, t: 3221884.239293 -3946666.298420 -5821768.545595 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:47.594393   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -48.3761       25.336 
-3.94667e+06 |    0.0797274      65.5172 
-5.82177e+06 |     -56.0209      3.40902 
     -0.5003 |     -443.575      104.451 
    0.818484 |      115.919     -406.796 
   -0.272663 |     -165.435     -195.144 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      48.3761      -25.336 
-3.94667e+06 |   -0.0797274     -65.5172 
-5.82177e+06 |      56.0209     -3.40902 
     -0.5003 |      445.195     -104.302 
    0.818484 |     -116.875      409.346 
   -0.272663 |      166.878       194.86 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -27.028      2.63189 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:47.594456   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636674.713556, t: 3221884.245277 -3946666.308676 -5821768.531119 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:47.688599   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -45.1009      25.6173 
-3.94667e+06 |     -12.8356      63.2608 
-5.82177e+06 |     -76.3964     0.395161 
     -0.5003 |     -650.295      149.819 
    0.818484 |      169.432     -390.472 
   -0.272663 |     -146.026     -315.053 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      45.1009     -25.6173 
-3.94667e+06 |      12.8356     -63.2608 
-5.82177e+06 |      76.3964    -0.395161 
     -0.5003 |      658.559     -151.995 
    0.818484 |     -170.143      394.198 
   -0.272663 |      146.468      319.628 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -39.3382     -5.08431 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:47.688663   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636674.813555, t: 3221884.181962 -3946666.235732 -5821768.529232 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:47.791080   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -437.035      245.745 
-3.94667e+06 |     -125.924      625.067 
-5.82177e+06 |     -743.185      22.4159 
     -0.5003 |      -645.79      156.606 
    0.818484 |       187.34     -409.091 
   -0.272663 |     -162.948     -305.102 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      437.035     -245.745 
-3.94667e+06 |      125.924     -625.067 
-5.82177e+06 |      743.185     -22.4159 
     -0.5003 |      640.579     -152.276 
    0.818484 |     -194.163      415.931 
   -0.272663 |      169.763      296.648 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.93801 |      -27.692      2.64332 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:47.791143   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636674.913555, t: 3221884.189806 -3946666.257952 -5821768.445556 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636675.013556, t: 3221884.179411 -3946666.251291 -5821768.372303 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:47.990317   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -44.6899      23.8709 
-3.94667e+06 |      -8.2683      65.4982 
-5.82177e+06 |     -67.3689      7.06744 
     -0.5003 |     -564.856      171.063 
    0.818484 |      181.228     -423.747 
   -0.272663 |     -184.558     -279.619 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      44.6899     -23.8709 
-3.94667e+06 |       8.2683     -65.4982 
-5.82177e+06 |      67.3689     -7.06744 
     -0.5003 |      576.634     -169.944 
    0.818484 |     -185.929      439.986 
   -0.272663 |       189.44      277.701 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      36.3962     -16.4252 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:47.990358   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636675.113555, t: 3221884.136499 -3946666.193023 -5821768.298801 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:48.088586   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1827     0.250986 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:48.088635   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636675.213556, t: 3221884.085066 -3946666.128039 -5821768.256845 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636675.313555, t: 3221884.080084 -3946666.120224 -5821768.236431 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:48.291848   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |    -0.078062    0.0436512 
-3.94667e+06 |  -0.00223721    0.0957385 
-5.82177e+06 |   -0.0948271   -0.0116573 
     -0.5003 |     -465.032      69.0382 
    0.818484 |      80.6854     -351.103 
   -0.272663 |     -101.604      -212.28 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |     0.078062   -0.0436512 
-3.94667e+06 |   0.00223721   -0.0957385 
-5.82177e+06 |    0.0948271    0.0116573 
     -0.5003 |      465.031     -69.0396 
    0.818484 |     -80.6855      351.099 
   -0.272663 |      101.604      212.284 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000324115 |     -54.6953      4.82779 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:48.291913   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636675.413555, t: 3221884.105612 -3946666.200010 -5821768.343604 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636675.513556, t: 3221884.090886 -3946666.171581 -5821768.300320 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:48.493785   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -49.4126      27.5226 
-3.94667e+06 |     -1.04412      60.7579 
-5.82177e+06 |     -59.3283     -6.94748 
     -0.5003 |     -466.695      68.8054 
    0.818484 |      81.9731     -360.979 
   -0.272663 |     -105.241     -206.646 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      49.4126     -27.5226 
-3.94667e+06 |      1.04412     -60.7579 
-5.82177e+06 |      59.3283      6.94748 
     -0.5003 |      458.768     -68.6012 
    0.818484 |     -81.9239      353.666 
   -0.272663 |      105.464       205.96 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -56.4061       13.795 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:48.493839   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636675.613555, t: 3221884.105491 -3946666.186978 -5821768.328861 q: -0.073751 -0.500300 0.818484 -0.272663 
W0708 15:45:48.592000   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -47.1525      26.7009 
-3.94667e+06 |     -2.49973      57.3479 
-5.82177e+06 |     -59.4291     -8.37245 
     -0.5003 |      -474.52      66.0421 
    0.818484 |      80.0625     -342.225 
   -0.272663 |      -95.066     -220.377 
  -0.0737506 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      47.1525     -26.7009 
-3.94667e+06 |      2.49973     -57.3479 
-5.82177e+06 |      59.4291      8.37245 
     -0.5003 |      479.531     -66.0887 
    0.818484 |     -80.0102      346.937 
   -0.272663 |      94.8116      220.602 
  -0.0737506 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -17.3973      -8.3752 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:48.592046   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636675.713556, t: 3221884.092455 -3946666.154763 -5821768.280621 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636675.813555, t: 3221884.082978 -3946666.137787 -5821768.263958 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636675.913555, t: 3221884.084732 -3946666.132627 -5821768.256237 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636676.013556, t: 3221884.116662 -3946666.179115 -5821768.379852 q: -0.073751 -0.500300 0.818484 -0.272663 
unstable tracking...
time: 1403636676.113555, t: 3221884.173713 -3946666.185596 -5821768.366275 q: 0.014297 -0.424283 0.847393 -0.318913 
W0708 15:45:49.089005   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -28.7594      31.3672 
-3.94667e+06 |     -3.17062      57.1833 
-5.82177e+06 |     -76.8239      4.63295 
   -0.418092 |     -582.715      102.624 
    0.862049 |      150.436     -367.224 
   -0.286431 |     -114.434     -304.626 
  0.00532031 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      28.7594     -31.3672 
-3.94667e+06 |      3.17062     -57.1833 
-5.82177e+06 |      76.8239     -4.63295 
   -0.424283 |      570.794     -111.275 
    0.847393 |     -127.363      372.502 
   -0.318913 |      125.437      275.373 
   0.0142969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -79.2508      5.29495 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:49.089052   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636676.213556, t: 3221884.114166 -3946666.158189 -5821768.341718 q: 0.014297 -0.424283 0.847393 -0.318913 
W0708 15:45:49.189996   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -26.3467      27.3971 
-3.94667e+06 |     0.863324      47.6186 
-5.82177e+06 |     -60.1881      2.10844 
   -0.408523 |     -473.674      90.5955 
    0.866806 |      116.323     -315.252 
   -0.284669 |     -122.528     -263.655 
  -0.0268275 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      26.3467     -27.3971 
-3.94667e+06 |    -0.863324     -47.6186 
-5.82177e+06 |      60.1881     -2.10844 
   -0.424283 |      501.945     -84.2364 
    0.847393 |     -98.3346      359.809 
   -0.318913 |      112.062       235.35 
   0.0142969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      37.5542     -20.7842 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:49.190062   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636676.313555, t: 3221884.069018 -3946666.108336 -5821768.341476 q: 0.014297 -0.424283 0.847393 -0.318913 
unstable tracking...
time: 1403636676.413555, t: 3221884.041730 -3946666.063733 -5821768.325191 q: 0.014297 -0.424283 0.847393 -0.318913 
W0708 15:45:49.391310   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -27.4451      28.3768 
-3.94667e+06 |     -5.50439      62.5815 
-5.82177e+06 |     -80.0171      13.2274 
   -0.424283 |     -598.705      171.164 
    0.847393 |      192.026     -421.075 
   -0.318913 |     -182.255     -292.129 
   0.0142969 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      27.4451     -28.3768 
-3.94667e+06 |      5.50439     -62.5815 
-5.82177e+06 |      80.0171     -13.2274 
   -0.424283 |       614.71     -174.484 
    0.847393 |     -191.441      430.917 
   -0.318913 |      181.137      297.788 
   0.0142969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -11.4484     -34.5812 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:49.391353   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636676.513556, t: 3221884.006963 -3946666.015360 -5821768.260466 q: 0.014297 -0.424283 0.847393 -0.318913 
unstable tracking...
time: 1403636676.613555, t: 3221883.951069 -3946665.939583 -5821768.136384 q: 0.014297 -0.424283 0.847393 -0.318913 
unstable tracking...
time: 1403636676.713556, t: 3221883.984513 -3946665.962092 -5821768.208874 q: 0.014297 -0.424283 0.847393 -0.318913 
W0708 15:45:49.687691   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -27.2407      29.7666 
-3.94667e+06 |     -5.95195      59.8786 
-5.82177e+06 |     -80.7427      9.07146 
   -0.424283 |     -620.687       154.26 
    0.847393 |      163.933     -389.399 
   -0.318913 |     -149.891     -309.676 
   0.0142969 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      27.2407     -29.7666 
-3.94667e+06 |      5.95195     -59.8786 
-5.82177e+06 |      80.7427     -9.07146 
   -0.424283 |      623.168     -150.639 
    0.847393 |     -167.867      400.726 
   -0.318913 |      153.878      302.403 
   0.0142969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      49.7923     -4.84321 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:49.687733   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636676.813555, t: 3221884.006937 -3946666.029631 -5821768.053831 q: 0.014297 -0.424283 0.847393 -0.318913 
W0708 15:45:49.787976   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -31.1281      30.7843 
-3.94667e+06 |   -0.0555227      61.5548 
-5.82177e+06 |     -74.0198      9.07256 
   -0.424283 |     -524.599      124.343 
    0.847393 |      132.647     -395.443 
   -0.318913 |     -149.776     -252.527 
   0.0142969 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      31.1281     -30.7843 
-3.94667e+06 |    0.0555227     -61.5548 
-5.82177e+06 |      74.0198     -9.07256 
   -0.424283 |      518.546     -120.565 
    0.847393 |     -135.244      397.119 
   -0.318913 |      153.268      244.856 
   0.0142969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      4.47215      16.2944 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:49.788024   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636676.913555, t: 3221884.004818 -3946666.030638 -5821768.054472 q: 0.014297 -0.424283 0.847393 -0.318913 
W0708 15:45:49.895956   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -43.2842       49.424 
-3.94667e+06 |     -7.69765      87.4148 
-5.82177e+06 |     -123.537      5.06228 
   -0.424283 |     -606.127      113.966 
    0.847393 |      120.536     -355.931 
   -0.318913 |     -109.303     -303.354 
   0.0142969 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      43.2842      -49.424 
-3.94667e+06 |      7.69765     -87.4148 
-5.82177e+06 |      123.537     -5.06228 
   -0.424283 |      602.222     -109.322 
    0.847393 |     -127.488      366.193 
   -0.318913 |      116.842      291.184 
   0.0142969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.310662 |      29.1977      13.7639 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:49.896024   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636677.013556, t: 3221884.000502 -3946666.032463 -5821768.055922 q: 0.014297 -0.424283 0.847393 -0.318913 
time: 1403636677.113555, t: 3221883.991778 -3946666.036133 -5821768.058932 q: 0.014297 -0.424283 0.847393 -0.318913 
unstable tracking...
time: 1403636677.213556, t: 3221883.967167 -3946665.987767 -5821768.033502 q: 0.014297 -0.424283 0.847393 -0.318913 
unstable tracking...
time: 1403636677.313555, t: 3221883.935850 -3946665.987539 -5821768.031710 q: 0.014297 -0.424283 0.847393 -0.318913 
unstable tracking...
time: 1403636677.413555, t: 3221883.943918 -3946665.985829 -5821768.028404 q: 0.014297 -0.424283 0.847393 -0.318913 
W0708 15:45:50.389969   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |  -0.00499311   0.00492152 
-3.94667e+06 |  0.000291432   0.00931317 
-5.82177e+06 |   -0.0110608   0.00101099 
   -0.424283 |     -491.276      100.887 
    0.847393 |      112.673     -379.745 
   -0.318913 |     -136.031     -229.628 
   0.0142969 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |   0.00499311  -0.00492152 
-3.94667e+06 | -0.000291432  -0.00931317 
-5.82177e+06 |    0.0110608  -0.00101099 
   -0.424283 |      491.276     -100.887 
    0.847393 |     -112.674      379.746 
   -0.318913 |      136.031      229.628 
   0.0142969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 3.11183e-05 |     -36.8875      3.66903 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:50.390013   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636677.513556, t: 3221883.941538 -3946665.986093 -5821768.029542 q: 0.014297 -0.424283 0.847393 -0.318913 
unstable tracking...
time: 1403636677.613555, t: 3221883.946520 -3946665.971971 -5821767.951969 q: 0.003413 -0.411738 0.836988 -0.360431 
unstable tracking...
time: 1403636677.713556, t: 3221883.923667 -3946665.938435 -5821767.858466 q: 0.003413 -0.411738 0.836988 -0.360431 
unstable tracking...
time: 1403636677.813555, t: 3221883.862149 -3946665.871961 -5821767.782033 q: 0.003413 -0.411738 0.836988 -0.360431 
W0708 15:45:50.793664   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |       -27.33      30.4303 
-3.94667e+06 |     -7.44457      59.5089 
-5.82177e+06 |     -73.9024      4.92672 
   -0.411738 |     -530.955      130.539 
    0.836988 |      145.222      -388.03 
   -0.360431 |     -155.103     -258.651 
  0.00341313 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |        27.33     -30.4303 
-3.94667e+06 |      7.44457     -59.5089 
-5.82177e+06 |      73.9024     -4.92672 
   -0.411738 |      545.723     -131.719 
    0.836988 |     -146.996      401.496 
   -0.360431 |      156.721      260.984 
  0.00341313 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      8.80525     -23.2648 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:50.793713   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636677.913555, t: 3221883.837528 -3946665.848846 -5821767.811328 q: 0.003413 -0.411738 0.836988 -0.360431 
W0708 15:45:50.887708   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |        -25.6      29.6919 
-3.94667e+06 |     -11.4099      61.4127 
-5.82177e+06 |     -78.9744      7.14535 
   -0.411738 |      -591.88      161.074 
    0.836988 |      180.392      -407.51 
   -0.360431 |     -172.038     -290.228 
  0.00341313 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |         25.6     -29.6919 
-3.94667e+06 |      11.4099     -61.4127 
-5.82177e+06 |      78.9744     -7.14535 
   -0.411738 |       608.82     -163.697 
    0.836988 |     -180.509      419.611 
   -0.360431 |      171.625       294.94 
  0.00341313 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      1.92152     -34.8873 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:50.887751   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636678.013556, t: 3221883.810955 -3946665.781348 -5821767.756311 q: 0.003413 -0.411738 0.836988 -0.360431 
W0708 15:45:50.992098   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -25.3025      29.5087 
-3.94667e+06 |     -14.9128      67.1368 
-5.82177e+06 |      -86.046      11.3639 
   -0.411738 |     -657.072      202.979 
    0.836988 |      223.392     -453.333 
   -0.360431 |      -198.33     -316.855 
  0.00341313 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      25.3025     -29.5087 
-3.94667e+06 |      14.9128     -67.1368 
-5.82177e+06 |       86.046     -11.3639 
   -0.411738 |      659.905     -204.728 
    0.836988 |     -222.856      452.982 
   -0.360431 |      197.719      319.609 
  0.00341313 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -48.3486     -2.16389 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:50.992141   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636678.113555, t: 3221883.847161 -3946665.743995 -5821767.739841 q: 0.003413 -0.411738 0.836988 -0.360431 
unstable tracking...
time: 1403636678.213556, t: 3221883.866354 -3946665.754769 -5821767.743996 q: 0.003413 -0.411738 0.836988 -0.360431 
W0708 15:45:51.195068   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -100.832       101.75 
-3.94667e+06 |     -13.2387      216.184 
-5.82177e+06 |     -241.392      28.4888 
   -0.411738 |     -505.196      138.692 
    0.836988 |      158.104     -438.157 
   -0.360431 |     -195.041     -239.122 
  0.00341313 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      100.832      -101.75 
-3.94667e+06 |      13.2387     -216.184 
-5.82177e+06 |      241.392     -28.4888 
   -0.411738 |      490.466      -129.03 
    0.836988 |     -149.009       429.04 
   -0.360431 |      183.313      222.387 
  0.00341313 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.663318 |     -10.9165     -16.0866 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:51.195142   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636678.313555, t: 3221883.907561 -3946665.779778 -5821767.732112 q: 0.003413 -0.411738 0.836988 -0.360431 
unstable tracking...
time: 1403636678.413555, t: 3221883.989370 -3946665.780329 -5821767.553972 q: 0.003413 -0.411738 0.836988 -0.360431 
W0708 15:45:51.394891   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -29.3621      30.6947 
-3.94667e+06 |     -4.30108      61.4346 
-5.82177e+06 |     -71.2729      5.95332 
   -0.411738 |     -502.055      128.548 
    0.836988 |       136.56     -401.171 
   -0.360431 |     -163.553     -244.544 
  0.00341313 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      29.3621     -30.6947 
-3.94667e+06 |      4.30108     -61.4346 
-5.82177e+06 |      71.2729     -5.95332 
   -0.411738 |      499.696     -122.449 
    0.836988 |      -136.54      407.473 
   -0.360431 |      163.609      232.905 
  0.00341314 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      49.7947     -17.9176 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:51.394951   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636678.513556, t: 3221883.968134 -3946665.765080 -5821767.551626 q: 0.003413 -0.411738 0.836988 -0.360431 
unstable tracking...
time: 1403636678.613555, t: 3221883.915077 -3946665.706546 -5821767.507469 q: 0.003413 -0.411738 0.836988 -0.360431 
W0708 15:45:51.590737   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -31.0592      30.4777 
-3.94667e+06 |     -0.71655      62.2161 
-5.82177e+06 |     -66.9687      6.76038 
   -0.411738 |     -446.904      108.327 
    0.836988 |      122.278     -405.946 
   -0.360431 |       -168.8     -199.145 
  0.00341314 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      31.0592     -30.4777 
-3.94667e+06 |      0.71655     -62.2161 
-5.82177e+06 |      66.9687     -6.76038 
   -0.411738 |      455.271     -110.073 
    0.836988 |     -122.904      412.526 
   -0.360431 |      169.435      202.354 
  0.00341313 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -29.2349     -12.9359 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:51.590788   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636678.713556, t: 3221883.917380 -3946665.710258 -5821767.503677 q: 0.003413 -0.411738 0.836988 -0.360431 
W0708 15:45:51.695360   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -167.163      178.107 
-3.94667e+06 |     -40.4915      372.261 
-5.82177e+06 |      -440.94      45.5697 
   -0.411738 |     -488.026      131.006 
    0.836988 |      159.426     -394.831 
   -0.360431 |     -177.865     -231.909 
  0.00341314 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      167.163     -178.107 
-3.94667e+06 |      40.4915     -372.261 
-5.82177e+06 |       440.94     -45.5697 
   -0.411738 |       525.85     -135.948 
    0.836988 |     -163.626      427.386 
   -0.360431 |      181.707      240.602 
  0.00341313 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.28084 |     -18.3391     -9.86857 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:51.695410   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636678.813555, t: 3221883.918934 -3946665.712916 -5821767.501016 q: 0.003413 -0.411738 0.836988 -0.360431 
W0708 15:45:51.791496   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -30.8614      31.7888 
-3.94667e+06 |     -2.49242      61.8248 
-5.82177e+06 |     -70.4548      4.90857 
   -0.411738 |     -476.013      108.693 
    0.836988 |      121.934     -398.511 
   -0.360431 |     -155.786     -217.478 
  0.00341313 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      30.8614     -31.7888 
-3.94667e+06 |      2.49242     -61.8248 
-5.82177e+06 |      70.4548     -4.90857 
   -0.411738 |      475.767     -108.526 
    0.836988 |     -122.029       398.57 
   -0.360431 |       155.93      217.143 
  0.00341313 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -32.5485       0.9494 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:51.791540   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636678.913555, t: 3221883.918333 -3946665.727548 -5821767.513944 q: 0.003413 -0.411738 0.836988 -0.360431 
unstable tracking...
time: 1403636679.013556, t: 3221884.008865 -3946665.800597 -5821767.591191 q: -0.004746 -0.419227 0.824072 -0.380961 
W0708 15:45:51.990264   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -28.6863      32.4698 
-3.94667e+06 |     -14.8208      64.1465 
-5.82177e+06 |     -82.1411     0.633886 
   -0.387097 |      -575.17      89.1433 
     0.84241 |      202.057      -412.16 
   -0.374159 |     -133.286     -284.002 
   0.0224854 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      28.6863     -32.4698 
-3.94667e+06 |      14.8208     -64.1465 
-5.82177e+06 |      82.1411    -0.633886 
   -0.419227 |      575.234     -131.674 
    0.824072 |     -147.941      392.675 
   -0.380961 |      147.238      277.445 
 -0.00474564 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -65.8373      11.7306 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:51.990322   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636679.113555, t: 3221883.940113 -3946665.906353 -5821767.547950 q: -0.004746 -0.419227 0.824072 -0.380961 
W0708 15:45:52.093041   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -31.2646      30.1207 
-3.94667e+06 |     -4.53738      61.6892 
-5.82177e+06 |     -66.8086      1.91478 
   -0.407645 |     -452.195      88.9628 
    0.836441 |      133.811     -396.749 
   -0.366306 |     -151.501     -215.767 
  -0.0035279 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      31.2646     -30.1207 
-3.94667e+06 |      4.53738     -61.6892 
-5.82177e+06 |      66.8086     -1.91478 
   -0.419227 |      454.092      -101.96 
    0.824072 |     -114.796      399.832 
   -0.380961 |      157.787      201.741 
 -0.00474564 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.1815     -0.50829 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:52.093116   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636679.213556, t: 3221883.932359 -3946665.784141 -5821767.550337 q: -0.004746 -0.419227 0.824072 -0.380961 
unstable tracking...
time: 1403636679.313555, t: 3221883.969038 -3946665.599343 -5821767.469938 q: -0.004746 -0.419227 0.824072 -0.380961 
W0708 15:45:52.290943   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -26.2606      31.7087 
-3.94667e+06 |     -13.4315      54.0204 
-5.82177e+06 |     -74.9293     -4.62038 
   -0.419227 |     -556.819      96.0377 
    0.824072 |      123.574     -349.127 
   -0.380961 |      -120.92     -274.599 
 -0.00474565 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      26.2606     -31.7087 
-3.94667e+06 |      13.4315     -54.0204 
-5.82177e+06 |      74.9293      4.62038 
   -0.419227 |      573.487     -96.8515 
    0.824072 |     -113.069      359.072 
   -0.380961 |      108.558      276.996 
 -0.00474564 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      21.0376     -85.4963 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:52.291018   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636679.413555, t: 3221883.962014 -3946665.715326 -5821767.460720 q: -0.004746 -0.419227 0.824072 -0.380961 
W0708 15:45:52.395058   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -25.6242       29.513 
-3.94667e+06 |     -17.2735      63.1277 
-5.82177e+06 |     -81.2635      3.50648 
   -0.419227 |     -620.088      164.225 
    0.824072 |      183.423     -411.105 
   -0.380961 |     -169.191     -302.911 
 -0.00474564 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      25.6242      -29.513 
-3.94667e+06 |      17.2735     -63.1277 
-5.82177e+06 |      81.2635     -3.50648 
   -0.419227 |      626.194     -164.669 
    0.824072 |     -181.972       415.45 
   -0.380961 |      167.509      303.723 
 -0.00474564 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -11.7642     -22.0208 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:52.395125   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636679.513556, t: 3221883.913910 -3946665.707319 -5821767.506835 q: -0.004746 -0.419227 0.824072 -0.380961 
W0708 15:45:52.489889   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -31.6059      29.7619 
-3.94667e+06 |     -6.34838      66.9553 
-5.82177e+06 |     -70.9827      5.53833 
   -0.419227 |     -476.148      124.734 
    0.824072 |      134.714     -429.273 
   -0.380961 |     -176.043      -212.67 
 -0.00474564 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      31.6059     -29.7619 
-3.94667e+06 |      6.34838     -66.9553 
-5.82177e+06 |      70.9827     -5.53833 
   -0.419227 |      472.216      -125.56 
    0.824072 |     -138.948      427.987 
   -0.380961 |      182.268      214.093 
 -0.00474564 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |       -60.01      45.6612 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:52.489957   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636679.613555, t: 3221883.910253 -3946665.695024 -5821767.483838 q: -0.004746 -0.419227 0.824072 -0.380961 
W0708 15:45:52.594592   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -25.2377      28.1448 
-3.94667e+06 |     -19.7573      68.9968 
-5.82177e+06 |     -85.4044      8.68844 
   -0.419227 |     -657.095      207.833 
    0.824072 |      227.985     -460.582 
   -0.380961 |     -202.637     -315.724 
 -0.00474564 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      25.2377     -28.1448 
-3.94667e+06 |      19.7573     -68.9968 
-5.82177e+06 |      85.4044     -8.68844 
   -0.419227 |       660.53     -210.497 
    0.824072 |     -228.651       460.22 
   -0.380961 |      203.182      319.808 
 -0.00474564 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -59.4224      6.31379 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:52.594635   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636679.713556, t: 3221883.870729 -3946665.646460 -5821767.408898 q: -0.004746 -0.419227 0.824072 -0.380961 
W0708 15:45:52.693324   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -25.8866      30.7134 
-3.94667e+06 |     -14.8982      57.3409 
-5.82177e+06 |     -77.1045     -1.42736 
   -0.419227 |     -583.505      123.476 
    0.824072 |      136.702     -365.871 
   -0.380961 |     -129.438     -289.291 
 -0.00474564 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      25.8866     -30.7134 
-3.94667e+06 |      14.8982     -57.3409 
-5.82177e+06 |      77.1045      1.42736 
   -0.419227 |      594.418     -122.879 
    0.824072 |     -139.484      378.963 
   -0.380961 |      132.103       287.95 
 -0.00474564 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      29.7341     -12.5384 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:52.693367   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636679.813555, t: 3221883.839072 -3946665.618448 -5821767.336427 q: -0.004746 -0.419227 0.824072 -0.380961 
unstable tracking...
time: 1403636679.913555, t: 3221883.802292 -3946665.589424 -5821767.294040 q: -0.004746 -0.419227 0.824072 -0.380961 
unstable tracking...
W0708 15:45:53.002741   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -32.8324      29.2856 
-3.94667e+06 |     -13.5188      65.1951 
-5.82177e+06 |      -72.675     -0.99438 
   -0.424837 |     -506.263      99.8823 
    0.820224 |      163.427     -411.548 
   -0.383058 |     -146.509     -241.712 
 -0.00356008 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      32.8324     -29.2856 
-3.94667e+06 |      13.5188     -65.1951 
-5.82177e+06 |       72.675      0.99438 
   -0.435539 |      511.868     -127.523 
    0.810925 |     -142.025      409.263 
   -0.389836 |       164.92      240.513 
  -0.0270926 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -35.2067     -6.10194 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:53.002816   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:45:53.091291   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -30.7925      29.8051 
-3.94667e+06 |     -17.4212      62.2204 
-5.82177e+06 |     -76.1165     -3.30044 
   -0.425301 |     -557.309      115.961 
    0.816394 |       156.95     -393.927 
   -0.390182 |     -142.112     -268.429 
  -0.0194269 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      30.7925     -29.8051 
-3.94667e+06 |      17.4212     -62.2204 
-5.82177e+06 |      76.1165      3.30044 
   -0.435539 |      564.411     -129.189 
    0.810925 |     -145.078      392.781 
   -0.389836 |      147.644      271.583 
  -0.0270926 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -43.6075      14.0891 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:53.091356   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636680.213556, t: 3221883.692597 -3946665.549620 -5821767.271162 q: -0.027093 -0.435539 0.810925 -0.389836 
time: 1403636680.313555, t: 3221883.640348 -3946665.480957 -5821767.176467 q: -0.027093 -0.435539 0.810925 -0.389836 
unstable tracking...
time: 1403636680.413555, t: 3221883.711164 -3946665.530362 -5821767.066098 q: -0.027093 -0.435539 0.810925 -0.389836 
unstable tracking...
W0708 15:45:53.493465   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -156.316       94.424 
-3.94667e+06 |     -101.052      241.093 
-5.82177e+06 |     -270.547     -60.3926 
   -0.481946 |      -488.43       112.53 
    0.771716 |      114.732     -312.929 
   -0.403047 |     -131.312     -258.502 
  -0.0986697 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      156.316      -94.424 
-3.94667e+06 |      101.052     -241.093 
-5.82177e+06 |      270.547      60.3926 
    -0.49797 |      545.495     -102.607 
    0.769554 |     -124.845      374.289 
    -0.39082 |      128.671      256.107 
  -0.0840969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.986767 |      28.0894     -2.76481 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:53.493541   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636680.613555, t: 3221883.738887 -3946665.520539 -5821767.141598 q: -0.084097 -0.497970 0.769554 -0.390820 
unstable tracking...
time: 1403636680.713556, t: 3221883.708526 -3946665.539189 -5821767.076419 q: -0.084097 -0.497970 0.769554 -0.390820 
unstable tracking...
time: 1403636680.813555, t: 3221883.707232 -3946665.515748 -5821767.040691 q: -0.084097 -0.497970 0.769554 -0.390820 
unstable tracking...
time: 1403636680.913555, t: 3221883.659475 -3946665.480611 -5821767.002587 q: -0.084097 -0.497970 0.769554 -0.390820 
W0708 15:45:53.888053   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -41.9494      21.7483 
-3.94667e+06 |     -16.9237      66.1604 
-5.82177e+06 |     -59.5001     -9.45139 
    -0.49797 |      -453.98      109.849 
    0.769554 |      122.135     -408.382 
    -0.39082 |     -167.857     -203.685 
  -0.0840969 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      41.9494     -21.7483 
-3.94667e+06 |      16.9237     -66.1604 
-5.82177e+06 |      59.5001      9.45139 
    -0.49797 |      455.993     -109.428 
    0.769554 |     -122.311      410.993 
    -0.39082 |      168.047      202.894 
  -0.0840969 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -21.5809     -5.65615 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:53.888096   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636681.013556, t: 3221883.671573 -3946665.480702 -5821766.995830 q: -0.084097 -0.497970 0.769554 -0.390820 
unstable tracking...
time: 1403636681.113555, t: 3221883.685750 -3946665.474215 -5821766.993296 q: -0.053040 -0.426632 0.779646 -0.455329 
W0708 15:45:54.095429   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -27.4341      29.0412 
-3.94667e+06 |     -19.6542      45.0803 
-5.82177e+06 |     -59.3669     -16.5893 
   -0.347486 |     -460.931      74.8224 
    0.804162 |      131.366      -333.26 
   -0.468955 |     -166.199      -239.18 
   -0.112508 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      27.4341     -29.0412 
-3.94667e+06 |      19.6542     -45.0803 
-5.82177e+06 |      59.3669      16.5893 
   -0.426632 |      496.142       -65.02 
    0.779646 |     -79.2455      343.377 
   -0.455329 |      88.5141      231.783 
  -0.0530397 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -22.9556     -9.72146 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:54.095472   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636681.213556, t: 3221883.671636 -3946665.471390 -5821767.003022 q: -0.053040 -0.426632 0.779646 -0.455329 
unstable tracking...
time: 1403636681.313555, t: 3221883.693224 -3946665.364193 -5821767.075671 q: 0.180560 -0.310921 -0.586989 0.725376 
unstable tracking...
time: 1403636681.413555, t: 3221883.719922 -3946665.293868 -5821767.080872 q: 0.180560 -0.310921 -0.586989 0.725376 
W0708 15:45:54.398751   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -21.8658      64.3968 
-3.94667e+06 |     -43.7196     -14.2745 
-5.82177e+06 |     -53.1228      10.5671 
   -0.274162 |     -478.192      123.528 
   -0.636037 |      100.104     -372.259 
    0.699921 |     -122.498     -251.769 
    0.174363 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      21.8658     -64.3968 
-3.94667e+06 |      43.7196      14.2745 
-5.82177e+06 |      53.1228     -10.5671 
   -0.310921 |      464.594     -109.487 
   -0.586989 |      -122.53      405.775 
    0.725376 |       163.04      209.286 
     0.18056 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -21.5371     -2.56787 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:54.398806   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636681.513556, t: 3221883.734280 -3946665.285549 -5821767.062565 q: 0.180560 -0.310921 -0.586989 0.725376 
unstable tracking...
time: 1403636681.613555, t: 3221883.759102 -3946665.191218 -5821767.075494 q: 0.180560 -0.310921 -0.586989 0.725376 
W0708 15:45:54.590520   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2204     0.232225 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:54.590559   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636681.713556, t: 3221883.774495 -3946665.179814 -5821767.076085 q: 0.180560 -0.310921 -0.586989 0.725376 
unstable tracking...
time: 1403636681.813555, t: 3221883.816343 -3946665.102454 -5821767.084562 q: 0.180560 -0.310921 -0.586989 0.725376 
unstable tracking...
time: 1403636681.913555, t: 3221883.762236 -3946665.151739 -5821767.070609 q: 0.185933 -0.307353 -0.564785 0.742955 
unstable tracking...
time: 1403636682.013556, t: 3221883.790647 -3946665.135390 -5821767.099980 q: 0.187430 -0.313243 -0.551211 0.750277 
W0708 15:45:54.993111   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -33.1016      65.6587 
-3.94667e+06 |      -55.737     -14.0881 
-5.82177e+06 |     -46.9658      9.34406 
   -0.313775 |     -563.158      145.764 
   -0.568417 |      174.942      -401.38 
    0.739745 |     -157.948      -291.52 
    0.176705 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      33.1016     -65.6587 
-3.94667e+06 |       55.737      14.0881 
-5.82177e+06 |      46.9658     -9.34406 
   -0.313243 |      566.528     -149.997 
   -0.551211 |     -165.743      417.209 
    0.750277 |      170.582      272.506 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -16.4548     -16.7693 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:54.993175   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636682.113555, t: 3221883.831189 -3946665.095663 -5821767.114797 q: 0.187430 -0.313243 -0.551211 0.750277 
W0708 15:45:55.096182   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -1358.28         1524 
-3.94667e+06 |     -1982.17     -637.962 
-5.82177e+06 |     -1156.61      313.544 
   -0.321847 |     -522.675      84.1365 
   -0.579715 |      154.972      -226.34 
    0.724432 |     -107.259     -250.442 
    0.188531 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      1358.28        -1524 
-3.94667e+06 |      1982.17      637.962 
-5.82177e+06 |      1156.61     -313.544 
   -0.313243 |      779.616     -106.217 
   -0.551211 |     -192.215      377.692 
    0.750277 |      128.625      333.847 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     9.47135 |     -10.9236     -1.84095 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:55.096225   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636682.213556, t: 3221883.830245 -3946665.097227 -5821767.114261 q: 0.187430 -0.313243 -0.551211 0.750277 
W0708 15:45:55.192831   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |  -0.00145908   0.00257319 
-3.94667e+06 |  -0.00237239 -0.000634419 
-5.82177e+06 |  -0.00185683   0.00039178 
   -0.313243 |     -614.697      152.533 
   -0.551211 |      166.928     -402.936 
    0.750277 |      -156.02      -299.75 
     0.18743 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |   0.00145908  -0.00257319 
-3.94667e+06 |   0.00237239  0.000634419 
-5.82177e+06 |   0.00185683  -0.00039178 
   -0.313243 |      614.697     -152.533 
   -0.551211 |     -166.928      402.936 
    0.750277 |       156.02       299.75 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  7.6609e-06 |     -19.3552     -8.98306 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:55.192924   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636682.313555, t: 3221883.828700 -3946665.100630 -5821767.112812 q: 0.187430 -0.313243 -0.551211 0.750277 
W0708 15:45:55.293910   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -41.0301      65.8096 
-3.94667e+06 |     -65.0019     -18.1593 
-5.82177e+06 |      -47.891       10.621 
   -0.313243 |     -655.432      150.207 
   -0.551211 |      168.537     -394.209 
    0.750277 |     -145.882      -317.76 
     0.18743 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      41.0301     -65.8096 
-3.94667e+06 |      65.0019      18.1593 
-5.82177e+06 |       47.891      -10.621 
   -0.313243 |      654.556     -150.186 
   -0.551211 |     -168.279      393.288 
    0.750277 |      145.655      317.714 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -38.2941      1.05945 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:55.293978   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636682.413555, t: 3221883.824953 -3946665.106945 -5821767.110606 q: 0.187430 -0.313243 -0.551211 0.750277 
W0708 15:45:55.401079   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -0.000305733  0.000979667 
-3.94667e+06 |  -0.00063594 -0.000200406 
-5.82177e+06 | -0.000739926  0.000136374 
   -0.313243 |      -424.36      101.714 
   -0.551211 |      111.285     -417.729 
    0.750277 |     -174.635     -179.968 
     0.18743 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  0.000305733 -0.000979667 
-3.94667e+06 |   0.00063594  0.000200406 
-5.82177e+06 |  0.000739926 -0.000136374 
   -0.313243 |       424.36     -101.714 
   -0.551211 |     -111.285      417.729 
    0.750277 |      174.635      179.968 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.81791e-06 |     -34.7405     0.503038 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:55.401149   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636682.613555, t: 3221883.804219 -3946665.146832 -5821767.095045 q: 0.187430 -0.313243 -0.551211 0.750277 
unstable tracking...
time: 1403636682.713556, t: 3221883.772716 -3946665.201468 -5821767.077850 q: 0.187430 -0.313243 -0.551211 0.750277 
W0708 15:45:55.703817   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -0.000503847  0.000935213 
-3.94667e+06 | -0.000838856  -0.00024465 
-5.82177e+06 | -0.000690795  0.000146765 
   -0.313243 |     -582.144       138.65 
   -0.551211 |      152.385     -396.415 
    0.750277 |      -150.58     -282.892 
     0.18743 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  0.000503847 -0.000935213 
-3.94667e+06 |  0.000838856   0.00024465 
-5.82177e+06 |  0.000690795 -0.000146765 
   -0.313243 |      582.144      -138.65 
   -0.551211 |     -152.385      396.415 
    0.750277 |       150.58      282.892 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.81791e-06 |     -48.3429      3.10003 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:55.703860   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
W0708 15:45:55.796684   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 | -0.000516218  0.000875738 
-3.94667e+06 | -0.000851108 -0.000304025 
-5.82177e+06 |  -0.00068667  0.000160724 
   -0.313243 |     -594.743      113.418 
   -0.551211 |      127.849      -368.55 
    0.750277 |     -119.867     -289.837 
     0.18743 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |  0.000516218 -0.000875738 
-3.94667e+06 |  0.000851108  0.000304025 
-5.82177e+06 |   0.00068667 -0.000160724 
   -0.313243 |      594.743     -113.418 
   -0.551211 |     -127.849       368.55 
    0.750277 |      119.867      289.837 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.81791e-06 |     -16.6285     -7.75884 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:55.796754   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636682.913555, t: 3221883.853618 -3946665.094455 -5821767.125023 q: 0.187430 -0.313243 -0.551211 0.750277 
unstable tracking...
time: 1403636683.013556, t: 3221883.857621 -3946665.079013 -5821767.133278 q: 0.187430 -0.313243 -0.551211 0.750277 
time: 1403636683.113555, t: 3221883.870005 -3946665.051363 -5821767.145171 q: 0.187430 -0.313243 -0.551211 0.750277 
unstable tracking...
time: 1403636683.213556, t: 3221883.897110 -3946665.001663 -5821767.163865 q: 0.187430 -0.313243 -0.551211 0.750277 
W0708 15:45:56.192842   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |  -0.00047187  0.000958625 
-3.94667e+06 | -0.000806224 -0.000221295 
-5.82177e+06 | -0.000699027  0.000141276 
   -0.313243 |     -551.973      140.785 
   -0.551211 |      153.685     -408.492 
    0.750277 |      -162.89     -266.105 
     0.18743 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |   0.00047187 -0.000958625 
-3.94667e+06 |  0.000806224  0.000221295 
-5.82177e+06 |  0.000699027 -0.000141276 
   -0.313243 |      551.973     -140.785 
   -0.551211 |     -153.685      408.492 
    0.750277 |       162.89      266.105 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  2.8179e-06 |     -3.14065     0.283639 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:56.192891   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636683.313555, t: 3221883.873644 -3946665.003261 -5821767.118357 q: 0.187430 -0.313243 -0.551211 0.750277 
unstable tracking...
time: 1403636683.413555, t: 3221883.920888 -3946664.994072 -5821767.090439 q: 0.187430 -0.313243 -0.551211 0.750277 
W0708 15:45:56.395107   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22188e+06 |     -702.312      950.254 
-3.94667e+06 |     -1100.51     -446.263 
-5.82177e+06 |     -789.103      210.571 
   -0.313243 |     -707.089      98.1871 
   -0.551211 |      238.889     -373.139 
    0.750277 |     -207.279     -363.067 
     0.18743 |            0            0 

Parameter Block 1, size: 7

 3.22188e+06 |      702.312     -950.254 
-3.94667e+06 |      1100.51      446.263 
-5.82177e+06 |      789.103     -210.571 
   -0.313243 |      635.398     -76.2702 
   -0.551211 |     -128.204      356.872 
    0.750277 |      103.468      283.371 
     0.18743 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     3.49447 |     -4.70507      -30.455 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:56.395150   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636683.513556, t: 3221883.974351 -3946665.031585 -5821767.067263 q: 0.187430 -0.313243 -0.551211 0.750277 
unstable tracking...
time: 1403636683.613555, t: 3221892.914534 -3946665.099243 -5821758.117075 q: 0.635408 0.262558 -0.691225 0.222547 
W0708 15:45:56.589994   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1866     0.258034 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:56.590062   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636683.713556, t: 3221892.921349 -3946665.093478 -5821758.117214 q: 0.635408 0.262558 -0.691225 0.222547 
W0708 15:45:56.688537   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |   -0.0389938    0.0836632 
-3.94666e+06 |   -0.0208069    0.0674147 
-5.82175e+06 |  -0.00291655 -0.000112502 
    0.145379 |      14381.2     -42300.4 
    0.951347 |      9350.51     -14660.1 
    0.271538 |      16478.6       -36400 
 -0.00845378 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |    0.0389938   -0.0836632 
-3.94667e+06 |    0.0208069   -0.0674147 
-5.82176e+06 |   0.00291655  0.000112502 
    0.262558 |         8888     -20900.8 
   -0.691225 |     -21615.4      53775.2 
    0.222547 |      4421.89      669.304 
    0.635408 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  2.8179e-06 |       395134      -832721 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:56.688577   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636683.813555, t: 3221892.930559 -3946665.072227 -5821758.126525 q: 0.635408 0.262558 -0.691225 0.222547 
W0708 15:45:56.791421   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 | -0.000985644  0.000420086 
-3.94667e+06 |  0.000325538  0.000382071 
-5.82176e+06 | -6.56309e-06 -0.000830189 
    0.262558 |     -437.348      106.133 
   -0.691225 |      116.087      -415.38 
    0.222547 |     -172.223     -190.474 
    0.635408 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  0.000985644 -0.000420086 
-3.94667e+06 | -0.000325538 -0.000382071 
-5.82176e+06 |  6.56309e-06  0.000830189 
    0.262558 |      437.348     -106.133 
   -0.691225 |     -116.087       415.38 
    0.222547 |      172.223      190.474 
    0.635408 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  2.8179e-06 |     -32.4732     -1.56274 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:56.791484   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636683.913555, t: 3221892.951433 -3946665.023473 -5821758.148026 q: 0.635408 0.262558 -0.691225 0.222547 
unstable tracking...
time: 1403636684.013556, t: 3221892.977712 -3946665.044600 -5821757.983660 q: 0.635408 0.262558 -0.691225 0.222547 
unstable tracking...
time: 1403636684.113555, t: 3221892.949204 -3946665.021624 -5821757.985489 q: 0.635408 0.262558 -0.691225 0.222547 
W0708 15:45:57.091629   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -1449.67      622.293 
-3.94667e+06 |     -67.7637      543.082 
-5.82176e+06 |     -52.7616     -793.808 
    0.262558 |      -724.46      282.255 
   -0.691225 |      227.379     -429.267 
    0.222547 |     -154.047     -322.728 
    0.635408 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      1449.67     -622.293 
-3.94666e+06 |      67.7637     -543.082 
-5.82176e+06 |      52.7616      793.808 
    0.262558 |      841.698     -328.705 
   -0.691225 |     -404.898      588.918 
    0.222547 |      286.815      374.875 
    0.635408 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     3.18368 |     -29.4542      29.7223 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:57.091697   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636684.213556, t: 3221892.943316 -3946664.955106 -5821757.989661 q: 0.635408 0.262558 -0.691225 0.222547 
W0708 15:45:57.194770   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -72.4319       28.804 
-3.94667e+06 |      21.2385      26.3123 
-5.82176e+06 |    -0.694019     -59.1101 
    0.262558 |     -455.072      107.289 
   -0.691225 |      121.496     -409.871 
    0.222547 |     -166.758     -200.756 
    0.635408 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      72.4319      -28.804 
-3.94667e+06 |     -21.2385     -26.3123 
-5.82176e+06 |     0.694019      59.1101 
    0.262558 |      456.115     -108.484 
   -0.691225 |     -121.397      409.354 
    0.222547 |      166.569          203 
    0.635408 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -47.024      0.81271 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:57.194856   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636684.313555, t: 3221893.003969 -3946664.937562 -5821757.948363 q: 0.635408 0.262558 -0.691225 0.222547 
W0708 15:45:57.295414   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -85.5072      26.0273 
-3.94667e+06 |      8.31987      23.9886 
-5.82176e+06 |     -2.14062     -57.4635 
    0.262558 |     -617.219      149.441 
   -0.691225 |      164.498     -388.745 
    0.222547 |     -149.404     -303.256 
    0.635408 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      85.5072     -26.0273 
-3.94666e+06 |     -8.31987     -23.9886 
-5.82176e+06 |      2.14062      57.4635 
    0.262558 |      627.808     -150.164 
   -0.691225 |     -167.515      399.097 
    0.222547 |      152.167      304.725 
    0.635408 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      3.36546     -8.07908 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:57.295493   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636684.413555, t: 3221893.044124 -3946664.911544 -5821757.925538 q: 0.635408 0.262558 -0.691225 0.222547 
unstable tracking...
time: 1403636684.513556, t: 3221893.007312 -3946664.902265 -5821757.927137 q: 0.637580 0.271912 -0.681645 0.234342 
W0708 15:45:57.494187   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1759     0.260742 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:57.494225   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636684.613555, t: 3221893.003802 -3946664.903843 -5821757.960862 q: 0.637580 0.271912 -0.681645 0.234342 
unstable tracking...
time: 1403636684.713556, t: 3221892.992251 -3946664.932568 -5821757.962329 q: 0.640654 0.254894 -0.678438 0.253601 
W0708 15:45:57.691890   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 1.86988e-05 |     -34.1569     0.257245 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:57.691924   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636684.813555, t: 3221893.026600 -3946664.907290 -5821757.948377 q: 0.640654 0.254894 -0.678438 0.253601 
W0708 15:45:57.792866   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -82.0903      29.2474 
-3.94666e+06 |      11.1698      24.8792 
-5.82176e+06 |     -2.02635     -60.8014 
    0.253717 |     -547.211      139.875 
   -0.685369 |       168.47     -421.573 
    0.253429 |     -166.147     -265.203 
    0.633775 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      82.0903     -29.2474 
-3.94666e+06 |     -11.1698     -24.8792 
-5.82176e+06 |      2.02635      60.8014 
    0.254894 |      546.661     -147.646 
   -0.678438 |     -163.017      422.147 
    0.253601 |      175.406      261.141 
    0.640654 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -23.1145     -8.25614 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:57.792944   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636684.913555, t: 3221892.990313 -3946664.909173 -5821757.977878 q: 0.640654 0.254894 -0.678438 0.253601 
W0708 15:45:57.894189   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1746     0.263741 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:57.894227   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636685.013556, t: 3221892.997585 -3946664.912133 -5821757.967566 q: 0.640654 0.254894 -0.678438 0.253601 
unstable tracking...
time: 1403636685.113555, t: 3221893.009407 -3946664.902026 -5821757.965517 q: 0.640654 0.254894 -0.678438 0.253601 
unstable tracking...
time: 1403636685.213556, t: 3221893.023373 -3946664.896619 -5821757.961885 q: 0.640654 0.254894 -0.678438 0.253601 
W0708 15:45:58.189255   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -2412.51      526.691 
-3.94666e+06 |     -203.993      446.559 
-5.82176e+06 |     -69.4323     -1397.63 
    0.254894 |     -784.611      155.696 
   -0.678438 |      229.705     -361.289 
    0.253601 |     -153.317     -361.405 
    0.640654 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      2412.51     -526.691 
-3.94666e+06 |      203.993     -446.559 
-5.82176e+06 |      69.4323      1397.63 
    0.254894 |      816.978     -151.981 
   -0.678438 |     -239.156      406.419 
    0.253601 |      159.623      352.979 
    0.640654 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     5.31127 |     -17.3496     -2.15668 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:58.189296   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636685.313555, t: 3221893.052614 -3946664.882800 -5821757.952665 q: 0.640654 0.254894 -0.678438 0.253601 
unstable tracking...
unstable tracking...
time: 1403636685.513556, t: 3221893.063813 -3946664.871592 -5821757.952232 q: 0.640654 0.254894 -0.678438 0.253601 
W0708 15:45:58.491068   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -417.448      134.416 
-3.94666e+06 |      21.0788      114.325 
-5.82176e+06 |     -10.9676     -282.719 
    0.254894 |     -625.656      166.381 
   -0.678438 |      196.446     -420.256 
    0.253601 |     -177.429     -298.262 
    0.640654 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      417.448     -134.416 
-3.94666e+06 |     -21.0788     -114.325 
-5.82176e+06 |      10.9676      282.719 
    0.254894 |      634.515     -168.243 
   -0.678438 |     -196.418      425.542 
    0.253601 |      177.127      301.598 
    0.640654 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.948422 |     -31.5377     -3.08792 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:58.491120   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636685.613555, t: 3221893.058666 -3946664.861879 -5821757.952598 q: 0.640654 0.254894 -0.678438 0.253601 
unstable tracking...
time: 1403636685.713556, t: 3221893.075798 -3946664.871510 -5821757.951647 q: 0.641353 0.254598 -0.678008 0.253281 
unstable tracking...
time: 1403636685.813555, t: 3221893.046978 -3946664.878041 -5821757.962285 q: 0.641353 0.254598 -0.678008 0.253281 
W0708 15:45:58.795495   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -76.9007      30.0881 
-3.94666e+06 |      16.1646      25.5999 
-5.82176e+06 |     -1.68622     -61.1742 
    0.254389 |     -489.768      129.502 
   -0.678953 |      145.286     -429.396 
    0.254016 |     -179.894     -225.073 
    0.640144 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      76.9007     -30.0881 
-3.94666e+06 |     -16.1646     -25.5999 
-5.82176e+06 |      1.68622      61.1742 
    0.254598 |      486.766     -130.395 
   -0.678008 |     -144.175      426.748 
    0.253281 |      180.853      224.042 
    0.641353 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -36.7191       5.7774 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:58.795547   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636685.913555, t: 3221893.028416 -3946664.896003 -5821757.965417 q: 0.641353 0.254598 -0.678008 0.253281 
time: 1403636686.013556, t: 3221893.010268 -3946664.917874 -5821757.971360 q: 0.641353 0.254598 -0.678008 0.253281 
unstable tracking...
W0708 15:45:59.094568   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -89.5417      33.9293 
-3.94666e+06 |      5.69197      28.8993 
-5.82176e+06 |     -2.20002     -61.3115 
    0.254598 |      -631.74      200.726 
   -0.678008 |      218.291     -464.468 
    0.253281 |      -204.28     -304.027 
    0.641353 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      89.5417     -33.9293 
-3.94666e+06 |     -5.69197     -28.8993 
-5.82176e+06 |      2.20002      61.3115 
    0.254598 |      627.491     -200.522 
   -0.678008 |     -217.922       460.39 
    0.253281 |      204.033       303.74 
    0.641353 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -52.5851      11.8389 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:59.094636   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636686.213556, t: 3221893.004515 -3946664.922663 -5821757.969199 q: 0.641353 0.254598 -0.678008 0.253281 
time: 1403636686.313555, t: 3221892.995512 -3946664.924140 -5821757.970434 q: 0.641353 0.254598 -0.678008 0.253281 
unstable tracking...
time: 1403636686.413555, t: 3221892.976564 -3946664.934614 -5821757.972631 q: 0.641353 0.254598 -0.678008 0.253281 
W0708 15:45:59.390645   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -74.3058      31.0709 
-3.94666e+06 |      18.1853       26.445 
-5.82176e+06 |     -1.58308     -60.9751 
    0.254598 |     -465.417      125.729 
   -0.678008 |      139.289     -436.634 
    0.253281 |     -188.153     -207.621 
    0.641353 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      74.3058     -31.0709 
-3.94666e+06 |     -18.1853      -26.445 
-5.82176e+06 |      1.58308      60.9751 
    0.254598 |      463.976     -126.047 
   -0.678008 |     -139.169       434.77 
    0.253281 |      188.029       208.16 
    0.641353 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -43.2673      5.14097 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:59.390710   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636686.513556, t: 3221892.981542 -3946664.934717 -5821757.973506 q: 0.641353 0.254598 -0.678008 0.253281 
W0708 15:45:59.490887   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1898      0.23694 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:59.490924   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636686.613555, t: 3221893.030081 -3946664.908616 -5821757.959814 q: 0.641353 0.254598 -0.678008 0.253281 
time: 1403636686.713556, t: 3221893.049676 -3946664.911769 -5821757.958286 q: 0.641353 0.254598 -0.678008 0.253281 
unstable tracking...
time: 1403636686.813555, t: 3221893.053731 -3946664.898050 -5821757.951445 q: 0.641353 0.254598 -0.678008 0.253281 
unstable tracking...
time: 1403636686.913555, t: 3221893.037967 -3946664.903891 -5821757.961062 q: 0.641353 0.254598 -0.678008 0.253281 
W0708 15:45:59.888659   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -89.1001      32.2006 
-3.94666e+06 |      5.33393      27.4162 
-5.82176e+06 |     -2.19511      -60.823 
    0.254598 |     -632.458      192.141 
   -0.678008 |      210.346      -449.19 
    0.253281 |     -194.578     -305.309 
    0.641353 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      89.1001     -32.2006 
-3.94666e+06 |     -5.33393     -27.4162 
-5.82176e+06 |      2.19511       60.823 
    0.254598 |      632.212     -192.734 
   -0.678008 |     -210.215      447.949 
    0.253281 |      194.452      306.266 
    0.641353 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -45.1733      3.52828 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:45:59.888734   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636687.013556, t: 3221893.025617 -3946664.913049 -5821757.960973 q: 0.641353 0.254598 -0.678008 0.253281 
unstable tracking...
time: 1403636687.113555, t: 3221893.044947 -3946664.897634 -5821757.961649 q: 0.641353 0.254598 -0.678008 0.253281 
W0708 15:46:00.096426   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -90.0045      23.9962 
-3.94666e+06 |      4.06804      20.3678 
-5.82176e+06 |     -2.24118     -60.7901 
    0.254598 |     -651.494      144.056 
   -0.678008 |      162.383     -388.282 
    0.253281 |     -140.603     -316.208 
    0.641353 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      90.0045     -23.9962 
-3.94666e+06 |     -4.06804     -20.3678 
-5.82176e+06 |      2.24118      60.7901 
    0.254598 |      651.524     -144.106 
   -0.678008 |     -162.142      388.095 
    0.253281 |      140.363      316.316 
    0.641353 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -35.1943    -0.728695 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:00.096504   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636687.213556, t: 3221893.051778 -3946664.897545 -5821757.955264 q: 0.641353 0.254598 -0.678008 0.253281 
unstable tracking...
unstable tracking...
time: 1403636687.413555, t: 3221893.053153 -3946664.880223 -5821757.938559 q: 0.646376 0.254332 -0.671579 0.257865 
W0708 15:46:00.390112   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -76.7839      29.2246 
-3.94666e+06 |      15.5302      25.0854 
-5.82176e+06 |    -0.911992     -61.6026 
    0.250578 |     -487.985      124.557 
   -0.676314 |      152.369     -429.898 
    0.260216 |     -177.929     -227.263 
    0.641949 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      76.7839     -29.2246 
-3.94666e+06 |     -15.5302     -25.0854 
-5.82176e+06 |     0.911992      61.6026 
    0.254332 |      487.619     -131.643 
   -0.671579 |     -145.434      428.273 
    0.257865 |      182.101      224.589 
    0.646376 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.2709     -1.99136 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:00.390173   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636687.513556, t: 3221893.052560 -3946664.904711 -5821757.959242 q: 0.646376 0.254332 -0.671579 0.257865 
unstable tracking...
time: 1403636687.613555, t: 3221893.078360 -3946664.873924 -5821757.950427 q: 0.646376 0.254332 -0.671579 0.257865 
W0708 15:46:00.589078   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -92.4826      24.7546 
-3.94666e+06 |      2.99796      21.1906 
-5.82176e+06 |     -1.18897     -62.5354 
    0.252945 |     -660.663      144.202 
   -0.675743 |      183.248     -403.385 
    0.265483 |     -143.999     -318.562 
     0.63946 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      92.4826     -24.7546 
-3.94666e+06 |     -2.99796     -21.1906 
-5.82176e+06 |      1.18897      62.5354 
    0.254332 |      660.275     -154.099 
   -0.671579 |     -172.364      395.945 
    0.257865 |      148.187      320.373 
    0.646376 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -39.1612    -0.385348 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:00.589120   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636687.713556, t: 3221893.063614 -3946664.892118 -5821757.951285 q: 0.646376 0.254332 -0.671579 0.257865 
unstable tracking...
time: 1403636687.813555, t: 3221893.031637 -3946664.896549 -5821757.952710 q: 0.646376 0.254332 -0.671579 0.257865 
W0708 15:46:00.783059   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1855     0.244225 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:00.783097   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636687.913555, t: 3221892.994926 -3946664.927100 -5821757.972126 q: 0.646376 0.254332 -0.671579 0.257865 
W0708 15:46:00.885756   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -82.8206       28.757 
-3.94666e+06 |      10.9594      24.6755 
-5.82176e+06 |     -1.01707     -62.1261 
    0.254332 |     -547.943      147.624 
   -0.671579 |      164.446     -428.375 
    0.257865 |      -177.78     -258.866 
    0.646376 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      82.8206      -28.757 
-3.94666e+06 |     -10.9594     -24.6755 
-5.82176e+06 |      1.01707      62.1261 
    0.254332 |      544.843     -148.286 
   -0.671579 |     -163.635      423.853 
    0.257865 |      176.916      260.049 
    0.646376 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -57.7649      7.69321 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:00.885824   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636688.013556, t: 3221893.004237 -3946664.921510 -5821757.966589 q: 0.646376 0.254332 -0.671579 0.257865 
unstable tracking...
time: 1403636688.113555, t: 3221892.979632 -3946664.919938 -5821757.970779 q: 0.646376 0.254332 -0.671579 0.257865 
time: 1403636688.213556, t: 3221892.983357 -3946664.927033 -5821757.971049 q: 0.646376 0.254332 -0.671579 0.257865 
unstable tracking...
W0708 15:46:01.293776   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

     8.57832 |     -34.6917     0.225273 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:01.293830   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636688.413555, t: 3221893.018367 -3946664.897259 -5821757.963138 q: 0.646376 0.254332 -0.671579 0.257865 
W0708 15:46:01.389048   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -569.756      194.256 
-3.94666e+06 |      73.4595       166.65 
-5.82176e+06 |     -7.00798     -425.995 
    0.254332 |      -516.06       139.56 
   -0.671579 |      166.382     -403.159 
    0.257865 |     -179.868     -248.741 
    0.646376 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      569.756     -194.256 
-3.94666e+06 |     -73.4595      -166.65 
-5.82176e+06 |      7.00798      425.995 
    0.254332 |      536.617     -137.571 
   -0.671579 |     -168.754      427.664 
    0.257865 |      181.993      245.107 
    0.646376 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.50047 |     -16.0003     -7.11983 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:01.389125   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636688.513556, t: 3221893.028571 -3946664.896851 -5821757.964606 q: 0.646376 0.254332 -0.671579 0.257865 
unstable tracking...
time: 1403636688.613555, t: 3221893.066781 -3946664.870051 -5821757.925579 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636688.713556, t: 3221893.014011 -3946664.879686 -5821757.969607 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:01.689038   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -80.2764      28.1309 
-3.94666e+06 |        10.52      26.1275 
-5.82176e+06 |    -0.880842     -60.2021 
    0.259226 |     -529.388      142.468 
   -0.671969 |      169.483     -427.496 
    0.259639 |     -185.122     -252.769 
    0.643309 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      80.2764     -28.1309 
-3.94666e+06 |       -10.52     -26.1275 
-5.82176e+06 |     0.880842      60.2021 
    0.266162 |      533.554     -145.613 
   -0.673419 |      -160.61      425.126 
     0.25471 |       178.28      253.458 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -36.539     -5.66565 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:01.689080   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636688.813555, t: 3221893.023145 -3946664.886054 -5821757.963023 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:01.785843   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -87.1471      25.0109 
-3.94666e+06 |      5.68412       23.354 
-5.82176e+06 |     -1.12382     -61.3037 
    0.266162 |     -602.617      143.772 
   -0.673419 |      163.326     -403.637 
     0.25471 |     -155.811     -289.851 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      87.1471     -25.0109 
-3.94666e+06 |     -5.68412      -23.354 
-5.82176e+06 |      1.12382      61.3037 
    0.266162 |      600.865     -144.343 
   -0.673419 |     -161.139      399.735 
     0.25471 |      153.524      291.003 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -53.3314     -3.88941 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:01.785887   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636688.913555, t: 3221893.027439 -3946664.900792 -5821757.958241 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:01.892740   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -5236.72      1518.23 
-3.94666e+06 |     -1516.02      1394.91 
-5.82176e+06 |     -121.801     -2298.06 
    0.266162 |     -1524.13       437.48 
   -0.673419 |      646.897     -677.825 
     0.25471 |     -293.465     -531.474 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      5236.72     -1518.23 
-3.94666e+06 |      1516.02     -1394.91 
-5.82176e+06 |      121.801      2298.06 
    0.266162 |      1434.15     -432.223 
   -0.673419 |     -650.612      605.172 
     0.25471 |      297.575      525.729 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     6.10596 |     -67.3941      11.1007 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:01.892800   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636689.013556, t: 3221892.992610 -3946664.903081 -5821757.969600 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:01.992969   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      -466811      67288.7 
-3.94666e+06 |      -370363      60711.3 
-5.82176e+06 |     -17729.7     -32246.8 
    0.266162 |     -58898.2      8506.54 
   -0.673419 |      29656.5     -6361.58 
     0.25471 |     -1375.33     -3374.26 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |       466811     -67288.7 
-3.94666e+06 |       370363     -60711.3 
-5.82176e+06 |      17729.7      32246.8 
    0.266162 |      62252.3     -9202.98 
   -0.673419 |     -26358.5      4673.48 
     0.25471 |      1034.21      3695.19 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     22.5802 |     -1108.79      131.385 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:01.993010   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636689.113555, t: 3221892.993724 -3946664.921822 -5821757.963612 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:02.094453   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -86.6117      22.1664 
-3.94666e+06 |      5.81047      20.8069 
-5.82176e+06 |      -1.1122     -61.1574 
    0.266162 |     -599.032      125.807 
   -0.673419 |      143.862     -383.623 
     0.25471 |     -135.614     -288.639 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      86.6117     -22.1664 
-3.94666e+06 |     -5.81047     -20.8069 
-5.82176e+06 |       1.1122      61.1574 
    0.266162 |      598.599     -126.418 
   -0.673419 |      -143.22      381.631 
     0.25471 |      134.936      290.028 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -49.4944     0.870308 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:02.094575   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636689.213556, t: 3221892.995284 -3946664.915191 -5821757.966757 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:02.193058   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -75.1896      25.8982 
-3.94666e+06 |      15.8467      24.1409 
-5.82176e+06 |    -0.649928     -60.8746 
    0.266162 |     -473.411      111.834 
   -0.673419 |      124.483     -405.282 
     0.25471 |      -161.46     -215.349 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      75.1896     -25.8982 
-3.94666e+06 |     -15.8467     -24.1409 
-5.82176e+06 |     0.649928      60.8746 
    0.266162 |      472.039     -111.366 
   -0.673419 |     -124.751      404.761 
     0.25471 |      161.896      214.447 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -32.3553      4.20712 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:02.193100   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636689.313555, t: 3221893.007573 -3946664.909395 -5821757.964642 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:02.291625   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -76.9917      26.0693 
-3.94666e+06 |      13.9618      24.2905 
-5.82176e+06 |    -0.731669     -60.6634 
    0.266162 |     -492.003      119.688 
   -0.673419 |      133.906     -406.849 
     0.25471 |     -163.676     -227.991 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      76.9917     -26.0693 
-3.94666e+06 |     -13.9618     -24.2905 
-5.82176e+06 |     0.731669      60.6634 
    0.266162 |      492.526     -119.811 
   -0.673419 |     -133.757      407.082 
     0.25471 |      163.455      228.226 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -34.0513      -1.6954 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:02.291688   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636689.413555, t: 3221893.008047 -3946664.893052 -5821757.967826 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:02.398026   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -86.9266      19.9261 
-3.94666e+06 |      4.79433      18.7955 
-5.82176e+06 |     -1.14655     -60.7013 
    0.266162 |     -612.159      116.294 
   -0.673419 |      133.275     -368.817 
     0.25471 |     -120.634     -297.652 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      86.9266     -19.9261 
-3.94666e+06 |     -4.79433     -18.7955 
-5.82176e+06 |      1.14655      60.7013 
    0.266162 |      612.727     -116.189 
   -0.673419 |     -133.389      369.659 
     0.25471 |      120.735      297.392 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.9033    -0.895182 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:02.398075   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636689.513556, t: 3221893.014695 -3946664.893362 -5821757.961342 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:02.492866   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      -77.032      27.4336 
-3.94666e+06 |      14.2343      25.5138 
-5.82176e+06 |    -0.724307     -60.8375 
    0.266162 |      -490.49      125.047 
   -0.673419 |      139.279      -417.38 
     0.25471 |     -172.257     -226.053 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |       77.032     -27.4336 
-3.94666e+06 |     -14.2343     -25.5138 
-5.82176e+06 |     0.724307      60.8375 
    0.266162 |      490.075     -125.257 
   -0.673419 |     -139.124      416.586 
     0.25471 |      172.061      226.437 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -38.7822      1.26483 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:02.492923   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636689.613555, t: 3221892.995419 -3946664.912410 -5821757.968134 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:02.592702   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1881     0.253123 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:02.592801   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636689.713556, t: 3221893.003940 -3946664.909165 -5821757.963878 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:02.685633   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -79.9372      27.9806 
-3.94666e+06 |      12.0303      26.0075 
-5.82176e+06 |    -0.831699     -61.1083 
    0.266162 |     -518.583      136.597 
   -0.673419 |      151.728       -422.7 
     0.25471 |     -174.995     -242.961 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      79.9372     -27.9806 
-3.94666e+06 |     -12.0303     -26.0075 
-5.82176e+06 |     0.831699      61.1083 
    0.266162 |      516.724     -136.808 
   -0.673419 |     -151.406      420.372 
     0.25471 |       174.65      243.345 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -44.8786      4.61273 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:02.685674   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
W0708 15:46:02.889454   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -85.0545      24.6869 
-3.94666e+06 |      7.11173       23.059 
-5.82176e+06 |     -1.05114     -60.9865 
    0.266162 |     -581.224      137.693 
   -0.673419 |      154.116      -399.24 
     0.25471 |     -152.501     -279.972 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      85.0545     -24.6869 
-3.94666e+06 |     -7.11173      -23.059 
-5.82176e+06 |      1.05114      60.9865 
    0.266162 |      580.169      -137.76 
   -0.673419 |     -154.035      398.051 
     0.25471 |      152.444      280.109 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -40.3672      2.86577 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:02.889519   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636690.013556, t: 3221892.988929 -3946664.920270 -5821757.965607 q: 0.640927 0.266162 -0.673419 0.254710 
time: 1403636690.113555, t: 3221892.986329 -3946664.926578 -5821757.967733 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636690.213556, t: 3221892.992529 -3946664.911626 -5821757.964051 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636690.313555, t: 3221892.998716 -3946664.911137 -5821757.962223 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:03.297236   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -80.8037      26.3399 
-3.94666e+06 |      10.0003      24.5259 
-5.82176e+06 |    -0.903829     -60.2393 
    0.266162 |     -537.729      137.787 
   -0.673419 |      152.219     -408.507 
     0.25471 |     -165.306     -257.663 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      80.8037     -26.3399 
-3.94666e+06 |     -10.0003     -24.5259 
-5.82176e+06 |     0.903829      60.2393 
    0.266162 |      540.094     -137.713 
   -0.673419 |     -152.903      411.352 
     0.25471 |       166.05       257.52 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -23.0506     -2.61924 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:03.297307   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636690.413555, t: 3221893.016315 -3946664.901496 -5821757.953996 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
W0708 15:46:03.493849   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  -0.00531133   0.00145834 
-3.94666e+06 |  0.000865404   0.00137054 
-5.82176e+06 |  -5.3331e-05  -0.00412592 
    0.266162 |     -508.022      101.821 
   -0.673419 |      114.087     -375.677 
     0.25471 |     -130.982     -240.405 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   0.00531133  -0.00145834 
-3.94666e+06 | -0.000865404  -0.00137054 
-5.82176e+06 |   5.3331e-05   0.00412592 
    0.266162 |      508.022     -101.821 
   -0.673419 |     -114.087      375.677 
     0.25471 |      130.982      240.405 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.35676e-05 |     -25.8725    -0.264581 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:03.493935   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636690.613555, t: 3221893.013596 -3946664.912042 -5821757.958406 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636690.713556, t: 3221893.002520 -3946664.909805 -5821757.962633 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:03.689218   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   -0.0141858   0.00241574 
-3.94666e+06 |   0.00109009   0.00232357 
-5.82176e+06 |  -0.00017812   -0.0101696 
    0.266162 |     -589.322      77.4753 
   -0.673419 |      92.3907     -341.913 
     0.25471 |     -82.3588     -287.148 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |    0.0141858  -0.00241574 
-3.94666e+06 |  -0.00109009  -0.00232357 
-5.82176e+06 |   0.00017812    0.0101696 
    0.266162 |      589.322     -77.4753 
   -0.673419 |     -92.3908      341.913 
     0.25471 |      82.3589      287.147 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 3.33582e-05 |     -25.3472      1.32344 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:03.689272   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636690.813555, t: 3221893.008495 -3946664.920293 -5821757.959053 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636690.913555, t: 3221892.987028 -3946664.930636 -5821757.968744 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636691.013556, t: 3221892.982909 -3946664.926579 -5821757.967418 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:03.993171   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  -0.00630999   0.00138455 
-3.94666e+06 |   0.00107067   0.00131765 
-5.82176e+06 | -6.21153e-05  -0.00494767 
    0.266162 |     -502.482      77.1513 
   -0.673419 |      89.7378     -351.679 
     0.25471 |     -100.927     -237.246 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   0.00630999  -0.00138455 
-3.94666e+06 |  -0.00107067  -0.00131765 
-5.82176e+06 |  6.21153e-05   0.00494767 
    0.266162 |      502.482     -77.1514 
   -0.673419 |     -89.7378      351.679 
     0.25471 |      100.927      237.247 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.62433e-05 |     -42.5521       -1.022 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:03.993217   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636691.113555, t: 3221892.987199 -3946664.918419 -5821757.968575 q: 0.640927 0.266162 -0.673419 0.254710 
W0708 15:46:04.088068   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  -0.00529657   0.00159397 
-3.94666e+06 |   0.00135551   0.00149747 
-5.82176e+06 | -3.87939e-05  -0.00447598 
    0.266162 |     -445.826       84.387 
   -0.673419 |      95.0582     -375.333 
     0.25471 |     -132.701     -197.843 
    0.640927 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   0.00529657  -0.00159397 
-3.94666e+06 |  -0.00135551  -0.00149747 
-5.82176e+06 |  3.87939e-05   0.00447598 
    0.266162 |      445.826     -84.3871 
   -0.673419 |     -95.0582      375.333 
     0.25471 |      132.701      197.843 
    0.640927 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.47188e-05 |     -34.4202     -2.16961 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:04.088112   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636691.213556, t: 3221892.990226 -3946664.915093 -5821757.970335 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636691.313555, t: 3221892.995848 -3946664.908067 -5821757.975865 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636691.413555, t: 3221892.997805 -3946664.906110 -5821757.971939 q: 0.640927 0.266162 -0.673419 0.254710 
unstable tracking...
time: 1403636691.513556, t: 3221892.967344 -3946664.921662 -5821757.965479 q: 0.650824 0.258338 -0.674317 0.234493 
W0708 15:46:04.489174   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      -75.817      26.8247 
-3.94666e+06 |      18.7839      24.7254 
-5.82176e+06 |     0.979733     -61.7404 
    0.262182 |     -467.625      115.245 
   -0.658773 |       131.29      -422.91 
    0.262801 |     -190.329     -192.959 
    0.654381 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |       75.817     -26.8247 
-3.94666e+06 |     -18.7839     -24.7254 
-5.82176e+06 |    -0.979733      61.7404 
    0.258338 |      476.801     -116.615 
   -0.674317 |     -130.151      410.384 
    0.234493 |      166.912      217.607 
    0.650824 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -37.0137      5.33296 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:04.489238   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636691.613555, t: 3221892.979613 -3946664.915648 -5821757.962769 q: 0.650824 0.258338 -0.674317 0.234493 
unstable tracking...
time: 1403636691.713556, t: 3221892.981298 -3946664.940027 -5821757.971769 q: 0.650824 0.258338 -0.674317 0.234493 
W0708 15:46:04.690325   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -6884.69      1518.41 
-3.94666e+06 |     -1043.91      1400.23 
-5.82176e+06 |     -24.7705     -3509.84 
    0.258338 |     -1076.62       229.15 
   -0.674317 |      449.282     -501.023 
    0.234493 |      -254.83     -430.075 
    0.650824 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      6884.69     -1518.41 
-3.94666e+06 |      1043.91     -1400.23 
-5.82176e+06 |      24.7705      3509.84 
    0.258338 |       934.01     -184.902 
   -0.674317 |     -415.087      483.911 
    0.234493 |      237.018      346.886 
    0.650824 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     11.2735 |     -28.4118     -1.28096 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:04.690397   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636691.813555, t: 3221892.997675 -3946664.926470 -5821757.964234 q: 0.650824 0.258338 -0.674317 0.234493 
unstable tracking...
time: 1403636691.913555, t: 3221892.938660 -3946664.960297 -5821757.992657 q: 0.670005 0.237892 -0.670082 0.213288 
W0708 15:46:04.890542   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -87.3005      24.3482 
-3.94666e+06 |      16.7001      21.2076 
-5.82176e+06 |      3.43825     -64.8635 
    0.250993 |     -581.197      129.114 
   -0.670266 |      148.395     -408.365 
    0.227704 |     -148.746     -264.583 
    0.660225 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      87.3005     -24.3482 
-3.94666e+06 |     -16.7001     -21.2076 
-5.82176e+06 |     -3.43825      64.8635 
    0.237892 |      578.708     -134.641 
   -0.670082 |     -151.001      395.041 
    0.213288 |      149.518      279.286 
    0.670005 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -40.5094      3.34178 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:04.890602   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636692.013556, t: 3221892.942804 -3946664.962861 -5821757.987522 q: 0.670005 0.237892 -0.670082 0.213288 
unstable tracking...
time: 1403636692.113555, t: 3221892.962070 -3946664.950438 -5821757.972912 q: 0.671222 0.236579 -0.668331 0.216390 
W0708 15:46:05.090010   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -72.9171      25.5576 
-3.94666e+06 |       23.193      21.6584 
-5.82176e+06 |      3.14949     -62.0456 
    0.247435 |     -476.268      126.853 
   -0.665572 |      113.084     -404.251 
    0.206167 |     -164.116     -215.562 
    0.673264 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      72.9171     -25.5576 
-3.94666e+06 |      -23.193     -21.6584 
-5.82176e+06 |     -3.14949      62.0456 
    0.236579 |      473.343     -114.968 
   -0.668331 |     -128.367      409.668 
     0.21639 |      166.359      215.267 
    0.671222 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -26.8414      1.35829 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:05.090072   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636692.213556, t: 3221892.960564 -3946664.950806 -5821757.977940 q: 0.671222 0.236579 -0.668331 0.216390 
unstable tracking...
time: 1403636692.313555, t: 3221893.001476 -3946664.911483 -5821757.971666 q: 0.671222 0.236579 -0.668331 0.216390 
W0708 15:46:05.295766   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  -0.00154303  0.000415624 
-3.94666e+06 |  0.000272759  0.000358566 
-5.82176e+06 |  6.11475e-05  -0.00113426 
    0.236579 |     -593.848      137.564 
   -0.668331 |      151.619     -392.177 
     0.21639 |     -146.014     -289.138 
    0.671222 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   0.00154303 -0.000415624 
-3.94666e+06 | -0.000272759 -0.000358566 
-5.82176e+06 | -6.11475e-05   0.00113426 
    0.236579 |      593.848     -137.564 
   -0.668331 |     -151.619      392.177 
     0.21639 |      146.014      289.138 
    0.671222 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 3.65309e-06 |     -12.6842      -8.7605 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:05.295828   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636692.413555, t: 3221893.022132 -3946664.901171 -5821757.964364 q: 0.671222 0.236579 -0.668331 0.216390 
unstable tracking...
time: 1403636692.513556, t: 3221893.054675 -3946664.936633 -5821757.951579 q: 0.679113 0.222433 -0.669622 0.202326 
unstable tracking...
time: 1403636692.613555, t: 3221893.072095 -3946664.888663 -5821757.946707 q: 0.679113 0.222433 -0.669622 0.202326 
unstable tracking...
time: 1403636692.713556, t: 3221893.099335 -3946664.861982 -5821757.950477 q: 0.679113 0.222433 -0.669622 0.202326 
unstable tracking...
time: 1403636692.813555, t: 3221893.038787 -3946664.876948 -5821757.973754 q: 0.679113 0.222433 -0.669622 0.202326 
unstable tracking...
time: 1403636692.913555, t: 3221893.042506 -3946664.892698 -5821757.981822 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:05.888597   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -1034.51      433.557 
-3.94666e+06 |     -56.8671      89.7023 
-5.82176e+06 |     -314.169     -447.353 
    0.090151 |      -1235.5      231.683 
   -0.758063 |      503.063     -631.428 
    0.320764 |     -233.312     -441.288 
    0.560646 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      1034.51     -433.557 
-3.94666e+06 |      56.8671     -89.7023 
-5.82176e+06 |      314.169      447.353 
    0.107457 |      1219.92     -306.282 
   -0.759617 |      -366.22      453.836 
    0.284477 |      188.872      510.735 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.18059 |     -273.847       39.807 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:05.888659   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636693.013556, t: 3221892.928453 -3946664.955619 -5821758.000972 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:05.994210   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -64.1336      51.2374 
-3.94666e+06 |      31.9782      10.1528 
-5.82176e+06 |     -25.6287     -54.1417 
    0.106202 |     -435.319      96.2179 
    -0.75921 |      123.096     -439.481 
    0.296916 |     -181.736     -172.895 
    0.569352 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      64.1336     -51.2374 
-3.94666e+06 |     -31.9782     -10.1528 
-5.82176e+06 |      25.6287      54.1417 
    0.107457 |      428.504     -105.769 
   -0.759617 |     -117.924      425.589 
    0.284477 |      181.457       181.27 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -64.7425      25.1783 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:05.994282   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636693.113555, t: 3221892.932648 -3946664.959999 -5821758.008514 q: 0.574898 0.107457 -0.759617 0.284477 
unstable tracking...
time: 1403636693.213556, t: 3221892.943371 -3946664.954214 -5821758.007326 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:06.193979   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -82.1465      47.1963 
-3.94666e+06 |      16.3871      8.81844 
-5.82176e+06 |      -28.569     -51.3885 
    0.107457 |     -642.791      175.266 
   -0.759617 |      193.091     -416.612 
    0.284477 |     -172.554     -314.565 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      82.1465     -47.1963 
-3.94666e+06 |     -16.3871     -8.81844 
-5.82176e+06 |       28.569      51.3885 
    0.107457 |      646.851     -174.834 
   -0.759617 |     -192.624      421.067 
    0.284477 |      171.963      313.775 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -5.24134     -16.0632 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:06.194046   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636693.313555, t: 3221893.001161 -3946664.924418 -5821757.992416 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:06.290372   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -75.3613      42.8932 
-3.94666e+06 |      19.8363      6.33967 
-5.82176e+06 |     -27.0415     -51.4642 
    0.107457 |     -569.159      134.652 
   -0.759617 |      149.886     -386.306 
    0.284477 |     -149.098     -279.262 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      75.3613     -42.8932 
-3.94666e+06 |     -19.8363     -6.33967 
-5.82176e+06 |      27.0415      51.4642 
    0.107457 |      577.128     -134.312 
   -0.759617 |     -150.441      394.953 
    0.284477 |       149.46      278.561 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      8.68581     -18.5416 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:06.290422   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636693.413555, t: 3221893.050275 -3946664.890717 -5821757.974968 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:06.395501   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -131.103       96.997 
-3.94666e+06 |      53.0552      19.6144 
-5.82176e+06 |     -50.2566     -101.374 
    0.107457 |     -451.918      125.655 
   -0.759617 |       138.61     -409.428 
    0.284477 |     -182.005     -212.362 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      131.103      -96.997 
-3.94666e+06 |     -53.0552     -19.6144 
-5.82176e+06 |      50.2566      101.374 
    0.107457 |      471.704     -125.502 
   -0.759617 |     -141.305      431.135 
    0.284477 |      185.142      212.013 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.417229 |      2.08125     -20.2728 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:06.395584   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636693.513556, t: 3221893.068915 -3946664.861875 -5821757.953873 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:06.492142   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -80.5593      40.1271 
-3.94666e+06 |      16.1587      4.67409 
-5.82176e+06 |     -28.0323     -51.7182 
    0.107457 |     -634.147      134.355 
   -0.759617 |      150.081     -369.861 
    0.284477 |     -130.249     -312.294 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      80.5593     -40.1271 
-3.94666e+06 |     -16.1587     -4.67409 
-5.82176e+06 |      28.0323      51.7182 
    0.107457 |      645.344     -134.843 
   -0.759617 |     -152.686      380.666 
    0.284477 |      132.503      313.463 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      10.6739      -9.7605 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:06.492185   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636693.613555, t: 3221893.112437 -3946664.811824 -5821757.934556 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:06.594832   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -78.0223      48.2936 
-3.94666e+06 |      18.8809      9.56828 
-5.82176e+06 |     -27.7094     -51.0346 
    0.107457 |     -591.501      167.543 
   -0.759617 |      182.946     -422.263 
    0.284477 |     -178.026     -288.096 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      78.0223     -48.2936 
-3.94666e+06 |     -18.8809     -9.56828 
-5.82176e+06 |      27.7094      51.0346 
    0.107457 |      598.485     -168.336 
   -0.759617 |     -184.943      429.024 
    0.284477 |      179.951      289.441 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -14.2608     -6.31422 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:06.594902   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636693.713556, t: 3221893.104128 -3946664.816572 -5821757.935939 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:06.697944   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -73.8498      42.9686 
-3.94666e+06 |      22.1954      5.95639 
-5.82176e+06 |     -26.9768     -52.6759 
    0.107457 |     -540.393      120.572 
   -0.759617 |      135.876     -386.897 
    0.284477 |      -144.23     -258.678 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      73.8498     -42.9686 
-3.94666e+06 |     -22.1954     -5.95639 
-5.82176e+06 |      26.9768      52.6759 
    0.107457 |      543.847     -121.195 
   -0.759617 |     -136.549      389.524 
    0.284477 |      144.919      260.014 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.1127      -1.5216 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:06.697986   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636693.813555, t: 3221893.084770 -3946664.821768 -5821757.943133 q: 0.574898 0.107457 -0.759617 0.284477 
unstable tracking...
time: 1403636693.913555, t: 3221893.081202 -3946664.823960 -5821757.954732 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:06.888768   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   -0.0246842    0.0108804 
-3.94666e+06 |    0.0071887 -0.000169402 
-5.82176e+06 |  -0.00897711   -0.0181077 
    0.107457 |     -553.191      70.7224 
   -0.759617 |      84.8402     -340.448 
    0.284477 |     -81.3242     -267.537 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |    0.0246842   -0.0108804 
-3.94666e+06 |   -0.0071887  0.000169402 
-5.82176e+06 |   0.00897711    0.0181077 
    0.107457 |      553.189     -70.7221 
   -0.759617 |     -84.8391      340.447 
    0.284477 |      81.3229      267.535 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 6.59038e-05 |     -21.0325     -17.8747 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:06.888826   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636694.013556, t: 3221893.136868 -3946664.880913 -5821757.981446 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:07.006228   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -67.3168        37.62 
-3.94666e+06 |      27.6836      2.12435 
-5.82176e+06 |     -25.8815      -54.905 
    0.107457 |     -472.534      73.1323 
   -0.759617 |      87.6438     -360.614 
    0.284477 |     -109.586     -212.566 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      67.3168       -37.62 
-3.94666e+06 |     -27.6836     -2.12435 
-5.82176e+06 |      25.8815       54.905 
    0.107457 |      468.831     -73.3244 
   -0.759617 |      -86.894      356.279 
    0.284477 |      108.636       213.07 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -51.0047      2.60684 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:07.006270   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
W0708 15:46:07.090679   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   -0.0075431   0.00511083 
-3.94666e+06 |   0.00363896  0.000645258 
-5.82176e+06 |  -0.00299316  -0.00644516 
    0.107457 |     -436.058      84.6124 
   -0.759617 |      94.9443     -380.178 
    0.284477 |     -138.348     -190.226 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |    0.0075431  -0.00511083 
-3.94666e+06 |  -0.00363896 -0.000645258 
-5.82176e+06 |   0.00299316   0.00644516 
    0.107457 |      436.057     -84.6125 
   -0.759617 |     -94.9443      380.178 
    0.284477 |      138.348      190.226 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  2.4207e-05 |     -46.5576      6.81476 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:07.090759   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636694.213556, t: 3221893.013099 -3946664.917438 -5821757.981841 q: 0.574898 0.107457 -0.759617 0.284477 
unstable tracking...
time: 1403636694.313555, t: 3221893.026986 -3946664.913300 -5821757.973348 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:07.291772   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -73.8748      41.8167 
-3.94666e+06 |      22.3753      5.15728 
-5.82176e+06 |     -27.0158     -53.0816 
    0.107457 |     -543.107      115.408 
   -0.759617 |      129.068     -380.688 
    0.284477 |     -136.607      -261.87 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      73.8748     -41.8167 
-3.94666e+06 |     -22.3753     -5.15728 
-5.82176e+06 |      27.0158      53.0816 
    0.107457 |      541.869      -114.12 
   -0.759617 |     -129.464       382.08 
    0.284477 |      137.124      258.964 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -14.3162    -0.250164 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:07.291818   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636694.413555, t: 3221893.070195 -3946664.879399 -5821757.946318 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:07.389156   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -68.4188      43.5622 
-3.94666e+06 |      24.8183      6.60327 
-5.82176e+06 |     -25.7302     -51.7986 
    0.107457 |      -492.34       113.73 
   -0.759617 |      126.281     -388.692 
    0.284477 |      -150.84     -232.628 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      68.4188     -43.5622 
-3.94666e+06 |     -24.8183     -6.60327 
-5.82176e+06 |      25.7302      51.7986 
    0.107457 |      498.221     -113.498 
   -0.759617 |     -127.587      395.604 
    0.284477 |      152.373      232.157 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -7.91649     -7.32472 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:07.389219   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636694.513556, t: 3221893.091219 -3946664.863520 -5821757.938528 q: 0.574898 0.107457 -0.759617 0.284477 
W0708 15:46:07.487496   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -65.6988      46.7389 
-3.94666e+06 |      26.7012      8.59619 
-5.82176e+06 |     -25.2046     -51.2795 
    0.107457 |     -465.577      117.815 
   -0.759617 |      130.394     -409.005 
    0.284477 |     -170.273     -213.458 
    0.574898 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      65.6988     -46.7389 
-3.94666e+06 |     -26.7012     -8.59619 
-5.82176e+06 |      25.2046      51.2795 
    0.107457 |      472.091     -118.292 
   -0.759617 |     -131.604      415.703 
    0.284477 |      171.773      214.309 
    0.574898 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -17.4808     -8.29417 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:07.487565   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636694.613555, t: 3221893.090175 -3946664.844682 -5821757.937651 q: 0.574898 0.107457 -0.759617 0.284477 
unstable tracking...
time: 1403636694.713556, t: 3221893.115171 -3946664.805340 -5821757.908224 q: 0.577027 0.108837 -0.758368 0.282972 
unstable tracking...
time: 1403636694.813555, t: 3221893.115954 -3946664.805958 -5821757.907374 q: 0.577027 0.108837 -0.758368 0.282972 
W0708 15:46:07.792382   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -77.3444       42.856 
-3.94666e+06 |      20.0043      6.24516 
-5.82176e+06 |     -27.1248     -52.7251 
    0.108413 |     -579.641      131.439 
   -0.759626 |      148.467     -387.822 
     0.28243 |     -142.489     -282.424 
    0.575716 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      77.3444      -42.856 
-3.94666e+06 |     -20.0043     -6.24516 
-5.82176e+06 |      27.1248      52.7251 
    0.108837 |      582.514     -132.844 
   -0.758368 |     -149.165      391.941 
    0.282972 |      146.276      281.464 
    0.577027 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -21.0805      1.05231 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:07.792426   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636694.913555, t: 3221893.117340 -3946664.806805 -5821757.906035 q: 0.577027 0.108837 -0.758368 0.282972 
unstable tracking...
time: 1403636695.013556, t: 3221893.119401 -3946664.806931 -5821757.904812 q: 0.577027 0.108837 -0.758368 0.282972 
time: 1403636695.113555, t: 3221893.122702 -3946664.805400 -5821757.904026 q: 0.577027 0.108837 -0.758368 0.282972 
unstable tracking...
time: 1403636695.213556, t: 3221892.878702 -3946664.822772 -5821757.964328 q: 0.572900 0.100881 -0.761309 0.286387 
unstable tracking...
time: 1403636695.313555, t: 3221892.870553 -3946664.824420 -5821757.967724 q: 0.572900 0.100881 -0.761309 0.286387 
W0708 15:46:08.287990   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 | -0.000222155  0.000124938 
-3.94666e+06 |  7.75028e-05  8.37075e-06 
-5.82176e+06 | -8.60197e-05 -0.000168125 
   0.0985088 |     -511.808      91.0923 
   -0.760979 |      110.589      -367.68 
    0.290269 |     -120.286      -242.14 
    0.571796 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  0.000222155 -0.000124938 
-3.94666e+06 | -7.75028e-05 -8.37075e-06 
-5.82176e+06 |  8.60197e-05  0.000168125 
    0.100881 |      512.845     -94.0537 
   -0.761309 |     -106.601      366.006 
    0.286387 |      119.465       243.54 
      0.5729 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

  6.2721e-07 |     -66.4234       6.5336 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:08.288074   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636695.413555, t: 3221892.853195 -3946664.826760 -5821757.975747 q: 0.572900 0.100881 -0.761309 0.286387 
unstable tracking...
time: 1403636695.513556, t: 3221892.673803 -3946664.809719 -5821758.003889 q: 0.585541 0.130079 -0.756836 0.259654 
W0708 15:46:08.491361   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  -0.00810791   0.00470978 
-3.94666e+06 |   0.00347787   0.00094796 
-5.82176e+06 |  -0.00257355  -0.00658303 
    0.099554 |     -458.789      57.2587 
   -0.761502 |      141.439     -382.769 
    0.287549 |     -131.005     -212.049 
    0.572293 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   0.00810791  -0.00470978 
-3.94666e+06 |  -0.00347787  -0.00094796 
-5.82176e+06 |   0.00257355   0.00658303 
    0.130079 |       469.07     -90.7426 
   -0.756836 |     -102.039      374.724 
    0.259654 |      131.209      214.715 
    0.585541 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.39466e-05 |     -108.401      22.9949 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:08.491405   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636695.613555, t: 3221892.694920 -3946664.789785 -5821758.005718 q: 0.585541 0.130079 -0.756836 0.259654 
unstable tracking...
time: 1403636695.713556, t: 3221892.363139 -3946664.778678 -5821758.035814 q: 0.590732 0.142895 -0.754167 0.248696 
W0708 15:46:08.689781   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -74.4471      50.6474 
-3.94666e+06 |      30.8424       16.411 
-5.82176e+06 |      -20.911     -57.7585 
    0.145187 |     -493.311      124.964 
   -0.754548 |      139.197     -454.562 
    0.245963 |     -182.214     -204.885 
    0.590831 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      74.4471     -50.6474 
-3.94666e+06 |     -30.8424      -16.411 
-5.82176e+06 |       20.911      57.7585 
    0.142895 |      476.569     -130.091 
   -0.754167 |     -143.766      433.094 
    0.248696 |       186.37      216.892 
    0.590732 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -189.997      89.1725 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:08.689833   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636695.813555, t: 3221892.347864 -3946664.777947 -5821758.044765 q: 0.590732 0.142895 -0.754167 0.248696 
W0708 15:46:08.788332   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -86.7733      44.1407 
-3.94666e+06 |      20.0902      12.9625 
-5.82176e+06 |     -23.1092     -56.3457 
    0.164525 |     -645.502      178.439 
    -0.74987 |      135.257     -407.009 
    0.229202 |     -157.111     -300.075 
    0.598409 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      86.7733     -44.1407 
-3.94666e+06 |     -20.0902     -12.9625 
-5.82176e+06 |      23.1092      56.3457 
    0.142895 |      629.968     -156.914 
   -0.754167 |      -174.48       405.88 
    0.248696 |      158.638      305.611 
    0.590732 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -136.17      41.6353 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:08.788389   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636695.913555, t: 3221892.325408 -3946664.788978 -5821758.049718 q: 0.590732 0.142895 -0.754167 0.248696 
unstable tracking...
time: 1403636696.013556, t: 3221892.456287 -3946664.693684 -5821758.123063 q: 0.592758 0.141145 -0.752400 0.250220 
W0708 15:46:08.990442   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -76.6667       44.564 
-3.94666e+06 |      25.4685      13.1453 
-5.82176e+06 |     -20.8772     -55.6606 
    0.149801 |     -540.407      140.522 
   -0.752267 |      147.345     -420.177 
    0.247761 |     -171.947     -250.845 
    0.591835 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      76.6667      -44.564 
-3.94666e+06 |     -25.4685     -13.1453 
-5.82176e+06 |      20.8772      55.6606 
    0.141145 |      531.843      -135.42 
     -0.7524 |     -150.478      411.677 
     0.25022 |      166.572      252.602 
    0.592758 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -52.5872     -24.4767 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:08.990509   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636696.113555, t: 3221892.432349 -3946664.715635 -5821758.121433 q: 0.592758 0.141145 -0.752400 0.250220 
time: 1403636696.213556, t: 3221892.503082 -3946664.826518 -5821758.304714 q: 0.599331 0.140956 -0.752616 0.233459 
W0708 15:46:09.193071   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -73.3017      44.9954 
-3.94666e+06 |      30.4161      13.7794 
-5.82176e+06 |     -18.6631     -56.6296 
    0.143293 |     -505.289      121.066 
   -0.752539 |      153.949     -433.899 
     0.24814 |     -184.531     -228.596 
     0.59294 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      73.3017     -44.9954 
-3.94666e+06 |     -30.4161     -13.7794 
-5.82176e+06 |      18.6631      56.6296 
    0.140956 |      495.382     -124.829 
   -0.752616 |     -138.937      413.234 
    0.233459 |       168.96      229.912 
    0.599331 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -2.68812     -62.8543 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:09.193121   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636696.313555, t: 3221892.511412 -3946664.877252 -5821758.265714 q: 0.599331 0.140956 -0.752616 0.233459 
time: 1403636696.413555, t: 3221892.240228 -3946664.718519 -5821757.878890 q: 0.584170 0.144638 -0.760964 0.242400 
W0708 15:46:09.389770   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -65.4592      46.1008 
-3.94666e+06 |      33.3892      14.4511 
-5.82176e+06 |      -19.389     -54.9648 
    0.143368 |     -440.437      92.7123 
   -0.763713 |      109.432     -413.819 
    0.245532 |     -153.522     -181.476 
     0.57957 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      65.4592     -46.1008 
-3.94666e+06 |     -33.3892     -14.4511 
-5.82176e+06 |       19.389      54.9648 
    0.144638 |       434.36     -100.178 
   -0.760964 |     -112.514      409.859 
      0.2424 |       167.67      186.354 
     0.58417 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -84.0648      75.9665 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:09.389839   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636696.513556, t: 3221892.247608 -3946664.694243 -5821757.891266 q: 0.584170 0.144638 -0.760964 0.242400 
W0708 15:46:09.489081   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  -0.00609253   0.00331439 
-3.94666e+06 |   0.00232126  0.000892199 
-5.82176e+06 |  -0.00175429  -0.00463815 
    0.146627 |     -506.987      102.346 
   -0.762888 |      110.736     -374.101 
    0.238218 |     -127.563     -241.135 
    0.582885 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   0.00609253  -0.00331439 
-3.94666e+06 |  -0.00232126 -0.000892199 
-5.82176e+06 |   0.00175429   0.00463815 
    0.144638 |      505.406     -101.351 
   -0.760964 |     -113.549      375.891 
      0.2424 |      131.308      238.759 
     0.58417 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.70816e-05 |     -81.3745      24.5547 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:09.489143   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636696.613555, t: 3221892.245195 -3946664.676923 -5821758.015189 q: 0.584170 0.144638 -0.760964 0.242400 
time: 1403636696.713556, t: 3221892.270297 -3946664.656855 -5821758.014904 q: 0.584170 0.144638 -0.760964 0.242400 
time: 1403636696.813555, t: 3221892.321830 -3946664.623972 -5821757.995961 q: 0.584170 0.144638 -0.760964 0.242400 
time: 1403636696.913555, t: 3221892.214623 -3946664.781904 -5821758.041132 q: 0.581141 0.139426 -0.763105 0.245980 
W0708 15:46:09.889948   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -61.0613      43.6402 
-3.94666e+06 |      31.3403      12.8192 
-5.82176e+06 |     -19.1302     -51.2566 
    0.137705 |     -424.393      99.2842 
   -0.761378 |      111.537     -399.077 
    0.249505 |     -166.556      -186.18 
    0.582312 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      61.0613     -43.6402 
-3.94666e+06 |     -31.3403     -12.8192 
-5.82176e+06 |      19.1302      51.2566 
    0.139426 |      434.094     -99.4317 
   -0.763105 |     -111.613      408.504 
     0.24598 |      166.439       186.29 
    0.581141 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      5.06063     -11.4111 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:09.890000   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636697.013556, t: 3221892.242743 -3946664.789158 -5821758.002590 q: 0.581141 0.139426 -0.763105 0.245980 
time: 1403636697.113555, t: 3221892.040421 -3946664.784338 -5821758.066142 q: 0.573611 0.120389 -0.768452 0.256823 
W0708 15:46:10.093362   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -73.3983      53.4825 
-3.94666e+06 |      26.3461      14.6643 
-5.82176e+06 |     -25.5502     -51.0687 
    0.137522 |      -530.14      179.382 
   -0.762163 |      152.441     -451.637 
    0.249997 |     -205.847     -237.687 
    0.581116 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      73.3983     -53.4825 
-3.94666e+06 |     -26.3461     -14.6643 
-5.82176e+06 |      25.5502      51.0687 
    0.120389 |      527.296     -162.851 
   -0.768452 |     -177.729      455.316 
    0.256823 |      202.478      249.176 
    0.573611 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -71.0859      23.1744 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:10.093418   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636697.213556, t: 3221892.034745 -3946664.785668 -5821758.068385 q: 0.573611 0.120389 -0.768452 0.256823 
time: 1403636697.313555, t: 3221892.086802 -3946664.821552 -5821758.090592 q: 0.616098 0.105452 -0.749203 0.219084 
W0708 15:46:10.292909   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      -81.913      34.9494 
-3.94666e+06 |      29.9086      5.91103 
-5.82176e+06 |     -18.2451     -58.5206 
    0.104429 |     -600.241      92.5548 
   -0.751546 |      156.242     -380.092 
    0.230969 |     -117.594     -286.381 
    0.609037 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |       81.913     -34.9494 
-3.94666e+06 |     -29.9086     -5.91103 
-5.82176e+06 |      18.2451      58.5206 
    0.115091 |      604.777     -112.483 
   -0.748964 |     -129.571      367.753 
    0.208965 |       118.66      293.303 
    0.618176 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -41.3655   -0.0593102 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:10.293010   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636697.413555, t: 3221892.114406 -3946664.826095 -5821758.072238 q: 0.616098 0.105452 -0.749203 0.219084 
time: 1403636697.513556, t: 3221892.155561 -3946664.952771 -5821758.009108 q: 0.616098 0.105452 -0.749203 0.219084 
time: 1403636697.613555, t: 3221892.206837 -3946664.955047 -5821757.992872 q: 0.616098 0.105452 -0.749203 0.219084 
W0708 15:46:10.589794   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      -68.654      43.1423 
-3.94666e+06 |       33.528      8.46373 
-5.82176e+06 |     -17.6404     -55.0592 
    0.105452 |     -507.629       134.02 
   -0.749203 |      140.714     -410.999 
    0.219084 |     -167.586     -244.751 
    0.616098 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |       68.654     -43.1423 
-3.94666e+06 |      -33.528     -8.46373 
-5.82176e+06 |      17.6404      55.0592 
    0.105452 |      502.484     -128.455 
   -0.749203 |     -142.636      414.969 
    0.219084 |      170.298      234.539 
    0.616098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      27.4578      5.04573 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:10.589838   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636697.713556, t: 3221892.214114 -3946664.947602 -5821757.995445 q: 0.616098 0.105452 -0.749203 0.219084 
time: 1403636697.813555, t: 3221892.248599 -3946664.916042 -5821757.981359 q: 0.616098 0.105452 -0.749203 0.219084 
W0708 15:46:10.793202   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |       -66.18      34.7349 
-3.94666e+06 |      33.1153      4.67472 
-5.82176e+06 |     -17.0934     -54.8212 
    0.105452 |     -485.125       93.671 
   -0.749203 |      106.212     -361.419 
    0.219084 |     -125.526     -230.598 
    0.616098 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |        66.18     -34.7349 
-3.94666e+06 |     -33.1153     -4.67472 
-5.82176e+06 |      17.0934      54.8212 
    0.105452 |      494.803      -93.549 
   -0.749203 |     -107.636      371.802 
    0.219084 |      127.097      230.355 
    0.616098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      4.66072     -12.0037 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:10.793254   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636697.913555, t: 3221892.293703 -3946664.879310 -5821757.959945 q: 0.616098 0.105452 -0.749203 0.219084 
unstable tracking...
time: 1403636698.013556, t: 3221892.427773 -3946664.620741 -5821757.941436 q: 0.587446 0.208692 -0.706529 0.334921 
unstable tracking...
time: 1403636698.113555, t: 3221892.443657 -3946664.560145 -5821757.908264 q: 0.587446 0.208692 -0.706529 0.334921 
unstable tracking...
time: 1403636698.213556, t: 3221892.525732 -3946664.558613 -5821758.001804 q: 0.647198 0.185782 -0.647511 0.356860 
W0708 15:46:11.194913   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   -0.0015296  0.000611698 
-3.94666e+06 |  5.37732e-05  0.000250031 
-5.82176e+06 | -0.000124919  -0.00115773 
    0.228659 |     -599.536      204.195 
   -0.636151 |      146.954     -455.262 
    0.355331 |     -196.465     -259.351 
    0.645574 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |    0.0015296 -0.000611698 
-3.94666e+06 | -5.37732e-05 -0.000250031 
-5.82176e+06 |  0.000124919   0.00115773 
    0.185782 |      585.511       -181.8 
   -0.647511 |     -195.127      450.041 
     0.35686 |      196.823      283.961 
    0.647198 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 3.36631e-06 |     -44.5255      4.68678 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:11.194998   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636698.313555, t: 3221892.497720 -3946664.568867 -5821758.010358 q: 0.647198 0.185782 -0.647511 0.356860 
unstable tracking...
time: 1403636698.413555, t: 3221892.465733 -3946664.625551 -5821758.016278 q: 0.647198 0.185782 -0.647511 0.356860 
unstable tracking...
time: 1403636698.513556, t: 3221892.817352 -3946664.511369 -5821757.806772 q: 0.535492 0.227419 -0.810631 0.066378 
unstable tracking...
time: 1403636698.613555, t: 3221893.454954 -3946664.705916 -5821757.172003 q: 0.519386 -0.095709 -0.817091 0.231172 
W0708 15:46:11.599052   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  -0.00241982   0.00199815 
-3.94666e+06 |   0.00129405 -0.000548473 
-5.82176e+06 |  -0.00187681  -0.00135227 
  -0.0676289 |     -702.873      203.849 
   -0.773565 |       176.95      -463.22 
    0.295853 |     -248.903      -263.02 
    0.556323 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   0.00241982  -0.00199815 
-3.94666e+06 |  -0.00129405  0.000548473 
-5.82176e+06 |   0.00187681   0.00135227 
  -0.0957091 |      721.753      -184.68 
   -0.817091 |     -201.304      410.908 
    0.231172 |      160.755      349.791 
    0.519386 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 6.24343e-06 |     -359.475      277.205 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:11.599117   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636698.713556, t: 3221893.468839 -3946664.609833 -5821757.229458 q: 0.519386 -0.095709 -0.817091 0.231172 
unstable tracking...
time: 1403636698.813555, t: 3221893.336053 -3946664.651619 -5821757.468647 q: 0.521008 -0.124995 -0.815870 0.217446 
unstable tracking...
time: 1403636698.913555, t: 3221893.336453 -3946664.648986 -5821757.454558 q: 0.521008 -0.124995 -0.815870 0.217446 
unstable tracking...
time: 1403636699.013556, t: 3221893.370332 -3946664.628881 -5821757.431175 q: 0.521008 -0.124995 -0.815870 0.217446 
W0708 15:46:11.992126   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -51.2745      47.9914 
-3.94666e+06 |      43.1701     -20.9313 
-5.82176e+06 |     -48.5519     -40.2918 
   -0.124995 |      -558.87      105.033 
    -0.81587 |      119.532     -364.635 
    0.217446 |     -119.134     -270.502 
    0.521008 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      51.2745     -47.9914 
-3.94666e+06 |     -43.1701      20.9313 
-5.82176e+06 |      48.5519      40.2918 
   -0.124995 |      562.023     -105.047 
    -0.81587 |     -120.978      368.295 
    0.217446 |      120.694      270.563 
    0.521008 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.8715      1.93241 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:11.992197   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636699.113555, t: 3221893.411981 -3946664.596673 -5821757.419579 q: 0.521008 -0.124995 -0.815870 0.217446 
unstable tracking...
time: 1403636699.213556, t: 3221893.385971 -3946664.599721 -5821757.431909 q: 0.521008 -0.124995 -0.815870 0.217446 
W0708 15:46:12.191273   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    -0.123085     0.147476 
-3.94666e+06 |     0.143671   -0.0664273 
-5.82176e+06 |    -0.137505    -0.127818 
   -0.124995 |      -457.07      76.0004 
    -0.81587 |      87.2401     -360.677 
    0.217446 |     -114.826     -206.426 
    0.521008 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     0.123085    -0.147476 
-3.94666e+06 |    -0.143671    0.0664273 
-5.82176e+06 |     0.137505     0.127818 
   -0.124995 |      457.067     -76.0016 
    -0.81587 |     -87.2357       360.67 
    0.217446 |       114.82      206.429 
    0.521008 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000622156 |     -43.8281     -7.53081 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:12.191344   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636699.313555, t: 3221893.362972 -3946664.634567 -5821757.474473 q: 0.521008 -0.124995 -0.815870 0.217446 
W0708 15:46:12.287524   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    -0.137276     0.138226 
-3.94666e+06 |     0.143076   -0.0698012 
-5.82176e+06 |    -0.144378     -0.13413 
   -0.124995 |     -488.276      69.1846 
    -0.81587 |      81.5478     -346.923 
    0.217446 |     -94.4869     -228.141 
    0.521008 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     0.137276    -0.138226 
-3.94666e+06 |    -0.143076    0.0698012 
-5.82176e+06 |     0.144378      0.13413 
   -0.124995 |      488.266     -69.1838 
    -0.81587 |      -81.535       346.91 
    0.217446 |      94.4697      228.138 
    0.521008 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000631636 |     -38.7605     -22.7195 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:12.287570   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636699.413555, t: 3221893.411741 -3946664.654948 -5821757.497477 q: 0.521008 -0.124995 -0.815870 0.217446 
W0708 15:46:12.388330   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      -55.638      57.8805 
-3.94666e+06 |      43.0312     -19.2781 
-5.82176e+06 |     -50.6883     -37.2561 
   -0.124995 |     -600.932      161.036 
    -0.81587 |      182.294     -422.764 
    0.217446 |     -176.791     -290.925 
    0.521008 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |       55.638     -57.8805 
-3.94666e+06 |     -43.0312      19.2781 
-5.82176e+06 |      50.6883      37.2561 
   -0.124995 |      599.109     -160.446 
    -0.81587 |     -177.138      418.958 
    0.217446 |      171.306      289.865 
    0.521008 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.9273     -24.7192 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:12.388376   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636699.513556, t: 3221893.462588 -3946664.689564 -5821757.506930 q: 0.521008 -0.124995 -0.815870 0.217446 
unstable tracking...
time: 1403636699.613555, t: 3221893.378909 -3946664.670649 -5821757.518313 q: 0.530150 -0.165637 -0.814209 0.169021 
W0708 15:46:12.588372   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -39.9911      53.8739 
-3.94666e+06 |      55.3064     -26.6124 
-5.82176e+06 |     -47.5544     -41.6978 
   -0.123174 |     -493.273      119.719 
   -0.810387 |      85.9277     -401.287 
     0.19811 |     -150.695     -189.758 
    0.537451 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      39.9911     -53.8739 
-3.94666e+06 |     -55.3064      26.6124 
-5.82176e+06 |      47.5544      41.6978 
   -0.165637 |      491.422     -106.292 
   -0.814209 |     -120.414      388.843 
    0.169021 |      145.807      227.707 
     0.53015 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.1794      1.24318 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:12.588435   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636699.713556, t: 3221893.418688 -3946664.639231 -5821757.483457 q: 0.530150 -0.165637 -0.814209 0.169021 
unstable tracking...
time: 1403636699.813555, t: 3221893.389695 -3946664.643552 -5821757.498385 q: 0.530150 -0.165637 -0.814209 0.169021 
W0708 15:46:12.787743   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    -0.013615    0.0268152 
-3.94666e+06 |    0.0280694   -0.0132834 
-5.82176e+06 |   -0.0211388   -0.0208322 
   -0.165637 |     -407.131      77.0236 
   -0.814209 |      86.4644     -385.025 
    0.169021 |     -144.473     -165.953 
     0.53015 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     0.013615   -0.0268152 
-3.94666e+06 |   -0.0280694    0.0132834 
-5.82176e+06 |    0.0211388    0.0208322 
   -0.165637 |      407.133      -77.024 
   -0.814209 |      -86.465      385.028 
    0.169021 |      144.474      165.954 
     0.53015 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000106159 |      -31.232       1.6498 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:12.787802   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636699.913555, t: 3221893.428830 -3946664.625370 -5821757.475803 q: 0.530150 -0.165637 -0.814209 0.169021 
unstable tracking...
time: 1403636700.013556, t: 3221893.377885 -3946664.642314 -5821757.507071 q: -0.367108 0.239393 0.869300 -0.228560 
W0708 15:46:12.995642   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 | -0.000369236  0.000880442 
-3.94666e+06 |  0.000497637 -0.000370968 
-5.82176e+06 | -0.000933697 -0.000119671 
    0.211554 |     -594.504      186.868 
    0.872734 |      155.224     -443.564 
   -0.240943 |     -184.386     -268.619 
    -0.36814 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  0.000369236 -0.000880442 
-3.94666e+06 | -0.000497637  0.000370968 
-5.82176e+06 |  0.000933697  0.000119671 
    0.239393 |      583.789     -173.914 
      0.8693 |     -187.274      439.752 
    -0.22856 |      188.803      283.191 
   -0.367108 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.50594e-06 |      -26.402     -1.82811 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:12.995709   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636700.113555, t: 3221893.409243 -3946664.636245 -5821757.481972 q: -0.367108 0.239393 0.869300 -0.228560 
time: 1403636700.213556, t: 3221893.392281 -3946664.638760 -5821757.497194 q: -0.367108 0.239393 0.869300 -0.228560 
unstable tracking...
time: 1403636700.313555, t: 3221893.404516 -3946664.633314 -5821757.481344 q: -0.367108 0.239393 0.869300 -0.228560 
W0708 15:46:13.295503   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 | -0.000243122  0.000802231 
-3.94666e+06 |  0.000501632 -0.000362633 
-5.82176e+06 | -0.000798394 -0.000144537 
    0.239393 |     -486.286      124.351 
      0.8693 |      135.596     -414.509 
    -0.22856 |     -170.086     -225.729 
   -0.367108 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  0.000243122 -0.000802231 
-3.94666e+06 | -0.000501632  0.000362633 
-5.82176e+06 |  0.000798394  0.000144537 
    0.239393 |      486.286     -124.351 
      0.8693 |     -135.596      414.509 
    -0.22856 |      170.086      225.729 
   -0.367108 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.50594e-06 |     -31.2563     -1.38815 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:13.295574   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636700.413555, t: 3221893.388756 -3946664.634175 -5821757.495978 q: -0.367108 0.239393 0.869300 -0.228560 
unstable tracking...
time: 1403636700.513556, t: 3221893.412460 -3946664.633982 -5821757.490596 q: -0.367108 0.239393 0.869300 -0.228560 
W0708 15:46:13.488386   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -24.9296      62.0585 
-3.94666e+06 |      38.7369     -29.5487 
-5.82176e+06 |      -68.463     -13.3384 
    0.239393 |     -543.996      130.738 
      0.8693 |      146.382     -402.345 
    -0.22856 |     -156.901     -259.315 
   -0.367108 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      24.9296     -62.0585 
-3.94666e+06 |     -38.7369      29.5487 
-5.82176e+06 |       68.463      13.3384 
    0.239393 |       543.23     -130.818 
      0.8693 |     -146.141      401.327 
    -0.22856 |      156.639      259.474 
   -0.367108 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -38.8563      1.22661 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:13.488427   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636700.613555, t: 3221893.384797 -3946664.642308 -5821757.509704 q: -0.367108 0.239393 0.869300 -0.228560 
W0708 15:46:13.592872   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -10.1472      59.5253 
-3.94666e+06 |      41.9901     -29.6856 
-5.82176e+06 |     -55.5426     -14.7305 
    0.239393 |     -403.233      75.5482 
      0.8693 |      89.0939     -385.557 
    -0.22856 |     -150.331     -163.233 
   -0.367108 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      10.1472     -59.5253 
-3.94666e+06 |     -41.9901      29.6856 
-5.82176e+06 |      55.5426      14.7305 
    0.239393 |      405.182     -75.1241 
      0.8693 |     -86.5112      385.688 
    -0.22856 |      145.396      162.321 
   -0.367108 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -22.2566     -30.0281 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:13.592914   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636700.713556, t: 3221893.463563 -3946664.683581 -5821757.505207 q: -0.367108 0.239393 0.869300 -0.228560 
W0708 15:46:13.689359   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -23.8352      62.7317 
-3.94666e+06 |      38.6419     -29.0023 
-5.82176e+06 |      -67.152     -12.2332 
    0.239393 |     -531.182      134.334 
      0.8693 |      155.346     -411.761 
    -0.22856 |     -172.052     -253.263 
   -0.367108 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      23.8352     -62.7317 
-3.94666e+06 |     -38.6419      29.0023 
-5.82176e+06 |       67.152      12.2332 
    0.239393 |      533.144     -134.435 
      0.8693 |     -149.452      409.745 
    -0.22856 |      164.775      253.456 
   -0.367108 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -26.5904     -40.4089 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:13.689404   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636700.813555, t: 3221893.506122 -3946664.692925 -5821757.535575 q: -0.367108 0.239393 0.869300 -0.228560 
unstable tracking...
time: 1403636700.913555, t: 3221893.458338 -3946664.777006 -5821757.730385 q: -0.440527 -0.107140 0.890823 -0.029864 
unstable tracking...
time: 1403636701.013556, t: 3221893.459394 -3946664.779008 -5821757.728325 q: -0.440527 -0.107140 0.890823 -0.029864 
W0708 15:46:13.993682   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -63.6824      66.1571 
-3.94666e+06 |      58.0903      16.1607 
-5.82176e+06 |     -32.7973     -33.5869 
  -0.0492207 |     -567.359      52.3272 
    0.914435 |      238.037     -429.063 
  -0.0711057 |     -113.611     -280.207 
   -0.395385 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      63.6824     -66.1571 
-3.94666e+06 |     -58.0903     -16.1607 
-5.82176e+06 |      32.7973      33.5869 
    -0.10714 |      569.761     -134.281 
    0.890823 |     -150.529      397.255 
  -0.0298645 |       151.97      274.316 
   -0.440527 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -10.9087      -24.713 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:13.993744   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636701.113555, t: 3221893.450517 -3946664.757245 -5821757.747994 q: -0.440527 -0.107140 0.890823 -0.029864 
W0708 15:46:14.088263   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -64.0749      62.9964 
-3.94666e+06 |      51.4786      15.1151 
-5.82176e+06 |     -34.5177     -27.9716 
    -0.10714 |     -643.945      173.778 
    0.890823 |      197.349     -419.151 
  -0.0298645 |     -175.528     -312.407 
   -0.440527 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      64.0749     -62.9964 
-3.94666e+06 |     -51.4786     -15.1151 
-5.82176e+06 |      34.5177      27.9716 
    -0.10714 |      651.331      -175.73 
    0.890823 |     -193.636      420.806 
  -0.0298645 |      171.626      315.925 
   -0.440527 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -32.0472     -28.6758 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:14.088335   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636701.213556, t: 3221893.528541 -3946664.702655 -5821757.739083 q: -0.440527 -0.107140 0.890823 -0.029864 
W0708 15:46:14.188742   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -741.844      653.782 
-3.94666e+06 |      657.957      168.159 
-5.82176e+06 |     -386.143     -455.883 
    -0.10714 |     -473.597      66.7133 
    0.890823 |      165.115     -334.635 
  -0.0298645 |      -166.22     -206.055 
   -0.440527 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      741.844     -653.782 
-3.94666e+06 |     -657.957     -168.159 
-5.82176e+06 |      386.143      455.883 
    -0.10714 |      561.902     -81.6079 
    0.890823 |     -122.219      364.109 
  -0.0298645 |      116.229      251.489 
   -0.440527 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     2.90388 |     -30.4202     -21.4934 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:14.188784   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636701.313555, t: 3221893.615067 -3946664.639684 -5821757.757890 q: -0.440527 -0.107140 0.890823 -0.029864 
time: 1403636701.413555, t: 3221893.658040 -3946664.609395 -5821757.754644 q: -0.440527 -0.107140 0.890823 -0.029864 
unstable tracking...
time: 1403636701.513556, t: 3221893.725072 -3946664.579438 -5821757.737858 q: -0.440527 -0.107140 0.890823 -0.029864 
W0708 15:46:14.496291   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -50.1692      50.6569 
-3.94666e+06 |      51.1708      12.9489 
-5.82176e+06 |       -24.66     -34.1421 
    -0.10714 |     -492.737      81.0984 
    0.890823 |      104.905     -344.659 
  -0.0298645 |     -117.683     -236.829 
   -0.440527 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      50.1692     -50.6569 
-3.94666e+06 |     -51.1708     -12.9489 
-5.82176e+06 |        24.66      34.1421 
    -0.10714 |      512.045     -82.6856 
    0.890823 |     -97.3288      356.501 
  -0.0298645 |      107.284      241.519 
   -0.440527 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |       5.6059     -77.2656 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:14.496342   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636701.613555, t: 3221893.815128 -3946664.557756 -5821757.712753 q: -0.440527 -0.107140 0.890823 -0.029864 
unstable tracking...
time: 1403636701.713556, t: 3221893.804741 -3946664.576202 -5821757.840009 q: -0.440527 -0.107140 0.890823 -0.029864 
W0708 15:46:14.694361   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -43.2335      58.4925 
-3.94666e+06 |      53.5858      14.3011 
-5.82176e+06 |     -19.1838     -29.8809 
    -0.10714 |     -426.692       91.264 
    0.890823 |      106.416     -386.025 
  -0.0298645 |     -156.273     -187.694 
   -0.440527 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      43.2335     -58.4925 
-3.94666e+06 |     -53.5858     -14.3011 
-5.82176e+06 |      19.1838      29.8809 
    -0.10714 |      436.826     -91.7906 
    0.890823 |     -104.102      393.426 
  -0.0298645 |      152.116      188.779 
   -0.440527 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -8.99527     -43.1265 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:14.694429   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636701.813555, t: 3221893.836754 -3946664.567560 -5821757.811758 q: -0.440527 -0.107140 0.890823 -0.029864 
unstable tracking...
time: 1403636701.913555, t: 3221893.810091 -3946664.602938 -5821757.860561 q: -0.440527 -0.107140 0.890823 -0.029864 
W0708 15:46:14.888518   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      -48.292      59.3509 
-3.94666e+06 |      55.2177      14.6395 
-5.82176e+06 |     -22.4386     -32.2048 
    -0.10714 |     -469.343      96.5613 
    0.890823 |      113.012     -390.727 
  -0.0298645 |     -148.772     -212.142 
   -0.440527 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |       48.292     -59.3509 
-3.94666e+06 |     -55.2177     -14.6395 
-5.82176e+06 |      22.4386      32.2048 
    -0.10714 |      464.498     -95.3669 
    0.890823 |     -108.619      384.834 
  -0.0298645 |      142.493      209.515 
   -0.440527 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -30.8289     -24.2773 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:14.888576   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636702.013556, t: 3221893.845709 -3946664.589044 -5821757.822950 q: -0.440527 -0.107140 0.890823 -0.029864 
W0708 15:46:14.989962   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    -0.007326   0.00795581 
-3.94666e+06 |   0.00785869   0.00201159 
-5.82176e+06 |  -0.00351682   -0.0050385 
    -0.10714 |     -491.271      86.1722 
    0.890823 |      98.2422     -362.853 
  -0.0298645 |     -116.311     -229.889 
   -0.440527 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     0.007326  -0.00795581 
-3.94666e+06 |  -0.00785869  -0.00201159 
-5.82176e+06 |   0.00351682    0.0050385 
    -0.10714 |       491.27     -86.1721 
    0.890823 |     -98.2422      362.853 
  -0.0298645 |      116.311      229.888 
   -0.440527 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.90003e-05 |     -20.5892     -3.17536 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:14.990022   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636702.113555, t: 3221893.854455 -3946664.603783 -5821757.817860 q: -0.440527 -0.107140 0.890823 -0.029864 
unstable tracking...
time: 1403636702.213556, t: 3221893.906848 -3946664.590742 -5821757.812075 q: -0.440527 -0.107140 0.890823 -0.029864 
unstable tracking...
time: 1403636702.313555, t: 3221894.010744 -3946664.805174 -5821757.646207 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:15.292960   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -40.3335      73.7896 
-3.94666e+06 |      66.2531    0.0608609 
-5.82176e+06 |     -29.6718     -23.9306 
   -0.155603 |     -505.831      288.773 
    0.875286 |     -5.34094     -411.115 
   -0.012896 |     -249.002     -158.891 
   -0.457708 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      40.3335     -73.7896 
-3.94666e+06 |     -66.2531   -0.0608609 
-5.82176e+06 |      29.6718      23.9306 
 -0.00296864 |      509.039     -154.983 
    0.903469 |      -169.46      453.995 
  0.00739226 |      201.915      237.905 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      72.3557      -6.9468 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:15.293006   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636702.413555, t: 3221893.956316 -3946664.758630 -5821757.596721 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:15.392035   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -40.2726      68.8368 
-3.94666e+06 |       64.668     0.202272 
-5.82176e+06 |     -29.6741      -25.812 
  -0.0427984 |     -512.535       171.34 
    0.897047 |      109.492     -423.659 
 -0.00818149 |     -195.152     -209.852 
   -0.439781 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      40.2726     -68.8368 
-3.94666e+06 |      -64.668    -0.202272 
-5.82176e+06 |      29.6741       25.812 
 -0.00296864 |      518.323      -143.07 
    0.903469 |     -157.728      428.979 
  0.00739227 |      181.907      244.165 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -35.7612      28.7107 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:15.392082   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636702.513556, t: 3221893.967119 -3946664.691586 -5821757.539324 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:15.492897   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   -0.0012886   0.00208082 
-3.94666e+06 |   0.00217158  1.74475e-05 
-5.82176e+06 | -0.000946229  -0.00105192 
 -0.00296864 |     -500.172      103.983 
    0.903469 |      115.979     -380.596 
  0.00739226 |     -136.669     -235.366 
   -0.428579 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |    0.0012886  -0.00208082 
-3.94666e+06 |  -0.00217158 -1.74475e-05 
-5.82176e+06 |  0.000946229   0.00105192 
 -0.00296864 |      500.172     -103.983 
    0.903469 |     -115.979      380.596 
  0.00739226 |      136.669      235.367 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 6.85037e-06 |     -63.4024      40.2629 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:15.492938   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636702.613555, t: 3221893.941660 -3946664.699189 -5821757.520505 q: -0.428579 -0.002969 0.903469 0.007392 
unstable tracking...
time: 1403636702.713556, t: 3221893.987895 -3946664.688597 -5821757.490841 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:15.692078   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -25.0917      67.2628 
-3.94666e+06 |      62.4633     0.193555 
-5.82176e+06 |     -17.7852     -25.1237 
 -0.00296864 |     -393.527      90.1395 
    0.903469 |      100.285     -423.079 
  0.00739227 |      -181.56     -152.768 
   -0.428579 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      25.0917     -67.2628 
-3.94666e+06 |     -62.4633    -0.193555 
-5.82176e+06 |      17.7852      25.1237 
 -0.00296864 |      396.153     -90.1989 
    0.903469 |      -101.18      426.619 
  0.00739226 |      183.218      152.856 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.0389      1.05248 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:15.692122   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636702.813555, t: 3221893.982365 -3946664.690866 -5821757.492366 q: -0.428579 -0.002969 0.903469 0.007392 
unstable tracking...
time: 1403636702.913555, t: 3221894.038127 -3946664.661962 -5821757.410693 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:15.889621   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -43.0147      61.6324 
-3.94666e+06 |      61.1015     0.334218 
-5.82176e+06 |     -31.9472     -26.7808 
 -0.00296864 |     -561.297      142.288 
    0.903469 |      157.637     -391.457 
  0.00739226 |     -157.935     -275.646 
   -0.428579 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      43.0147     -61.6324 
-3.94666e+06 |     -61.1015    -0.334218 
-5.82176e+06 |      31.9472      26.7808 
 -0.00296865 |      577.492     -143.842 
    0.903469 |     -159.905      405.816 
  0.00739226 |      159.944      278.646 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      11.9718      -23.646 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:15.889664   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636703.013556, t: 3221894.092129 -3946664.651769 -5821757.352114 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:15.992414   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -43.9323      55.5447 
-3.94666e+06 |      61.0745     0.607601 
-5.82176e+06 |     -32.6709     -31.4801 
 -0.00296864 |     -574.567      109.146 
    0.903469 |      124.102     -353.973 
  0.00739226 |     -117.198     -283.729 
   -0.428579 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      43.9323     -55.5447 
-3.94666e+06 |     -61.0745    -0.607601 
-5.82176e+06 |      32.6709      31.4801 
 -0.00296865 |      589.319      -109.75 
    0.903469 |     -126.297      367.733 
  0.00739226 |      119.123       285.38 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      19.0451     -15.3252 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:15.992466   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636703.113555, t: 3221894.130973 -3946664.665953 -5821757.328444 q: -0.428579 -0.002969 0.903469 0.007392 
unstable tracking...
time: 1403636703.213556, t: 3221894.134634 -3946664.666212 -5821757.326245 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:16.190923   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -38.9715      55.3933 
-3.94666e+06 |      61.7659     0.663166 
-5.82176e+06 |     -28.7411     -32.7659 
 -0.00296865 |      -515.24      90.0349 
    0.903469 |       104.57      -352.98 
  0.00739226 |     -113.057     -248.537 
   -0.428579 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      38.9715     -55.3933 
-3.94666e+06 |     -61.7659    -0.663166 
-5.82176e+06 |      28.7411      32.7659 
 -0.00296865 |      523.508     -89.9648 
    0.903469 |     -104.916      361.282 
  0.00739226 |      113.207      248.419 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     0.800229     -14.1873 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:16.190977   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636703.313555, t: 3221894.142340 -3946664.665422 -5821757.322519 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:16.293460   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -30.9124      62.2809 
-3.94666e+06 |      62.9842     0.433854 
-5.82176e+06 |      -22.354     -29.3666 
 -0.00296865 |     -437.558      90.4709 
    0.903469 |      103.002     -389.771 
  0.00739226 |     -149.295      -189.96 
   -0.428579 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      30.9124     -62.2809 
-3.94666e+06 |     -62.9842    -0.433854 
-5.82176e+06 |       22.354      29.3666 
 -0.00296865 |      438.368     -90.4895 
    0.903469 |     -102.919      390.473 
  0.00739226 |      149.131      189.999 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.8233     -2.41632 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:16.293504   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636703.413555, t: 3221894.157095 -3946664.664178 -5821757.315198 q: -0.428579 -0.002969 0.903469 0.007392 
W0708 15:46:16.392287   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |    -0.015732    0.0287413 
-3.94666e+06 |    0.0294496  0.000217041 
-5.82176e+06 |    -0.011459   -0.0139554 
 -0.00296865 |      -463.76      97.3283 
    0.903469 |      108.328      -385.63 
  0.00739226 |      -143.18     -210.775 
   -0.428579 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     0.015732   -0.0287413 
-3.94666e+06 |   -0.0294496 -0.000217041 
-5.82176e+06 |     0.011459    0.0139554 
 -0.00296865 |      463.762     -97.3284 
    0.903469 |     -108.327      385.631 
  0.00739226 |       143.18      210.776 
   -0.428579 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 9.31296e-05 |     -25.4077     -12.3509 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:16.392364   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636703.513556, t: 3221894.186414 -3946664.657409 -5821757.303564 q: -0.428579 -0.002969 0.903469 0.007392 
unstable tracking...
time: 1403636703.613555, t: 3221894.238095 -3946664.647015 -5821757.282011 q: -0.428579 -0.002969 0.903469 0.007392 
unstable tracking...
time: 1403636703.713556, t: 3221894.172839 -3946664.714464 -5821757.241560 q: -0.426551 0.023933 0.904094 0.009829 
W0708 15:46:16.691663   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -44.1664      65.1045 
-3.94666e+06 |      67.1748     -3.44889 
-5.82176e+06 |      -36.887     -29.1529 
  0.00551348 |      -599.25      157.046 
    0.902066 |      139.349      -405.45 
    0.010512 |     -164.574     -274.781 
   -0.431435 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      44.1664     -65.1045 
-3.94666e+06 |     -67.1748      3.44889 
-5.82176e+06 |       36.887      29.1529 
   0.0239334 |      595.993     -143.327 
    0.904094 |     -160.047      399.958 
  0.00982889 |      153.876      288.436 
   -0.426551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -91.7811      6.18253 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:16.691711   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636703.813555, t: 3221894.170759 -3946664.666621 -5821757.275148 q: -0.426551 0.023933 0.904094 0.009829 
unstable tracking...
W0708 15:46:16.888089   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |  -0.00309538   0.00818268 
-3.94666e+06 |   0.00799863 -0.000440677 
-5.82176e+06 |  -0.00267432  -0.00335425 
  0.00976619 |     -419.423      106.155 
    0.904091 |      90.2762     -406.524 
   0.0146079 |     -167.956     -172.247 
   -0.426978 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |   0.00309538  -0.00818268 
-3.94666e+06 |  -0.00799863  0.000440677 
-5.82176e+06 |   0.00267432   0.00335425 
   0.0239334 |      416.764     -93.8289 
    0.904094 |     -103.269      408.892 
  0.00982889 |      167.085      173.789 
   -0.426551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.49681e-05 |     -61.0494     -1.28283 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:16.888140   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636704.013556, t: 3221894.315393 -3946664.660714 -5821757.229963 q: -0.426551 0.023933 0.904094 0.009829 
unstable tracking...
time: 1403636704.113555, t: 3221894.436577 -3946664.632374 -5821757.190987 q: -0.426551 0.023933 0.904094 0.009829 
unstable tracking...
time: 1403636704.213556, t: 3221894.207993 -3946664.674689 -5821757.190721 q: -0.419164 0.016818 0.907618 0.015744 
W0708 15:46:17.193742   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -42.8764      60.8083 
-3.94666e+06 |      64.7889     -2.17695 
-5.82176e+06 |     -35.5283     -28.7786 
   0.0200421 |     -594.928      137.533 
    0.899898 |      154.233     -388.348 
   0.0102333 |     -162.159     -284.742 
    -0.43552 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      42.8764     -60.8083 
-3.94666e+06 |     -64.7889      2.17695 
-5.82176e+06 |      35.5283      28.7786 
   0.0168182 |      603.065     -131.442 
    0.907618 |     -148.286       385.62 
   0.0157439 |      139.111      292.332 
   -0.419164 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -27.2208     -4.86039 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:17.193790   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636704.313555, t: 3221894.223426 -3946664.683043 -5821757.176520 q: -0.419164 0.016818 0.907618 0.015744 
unstable tracking...
time: 1403636704.413555, t: 3221894.206234 -3946664.669162 -5821757.104575 q: -0.419164 0.016818 0.907618 0.015744 
time: 1403636704.513556, t: 3221894.207104 -3946664.690740 -5821757.032975 q: -0.419164 0.016818 0.907618 0.015744 
unstable tracking...
time: 1403636704.613555, t: 3221894.256686 -3946664.690785 -5821756.952214 q: -0.419164 0.016818 0.907618 0.015744 
W0708 15:46:17.587020   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -23.1454      64.2381 
-3.94666e+06 |      60.8137     -2.59699 
-5.82176e+06 |     -19.2979     -23.0774 
   0.0168182 |     -395.989      97.3529 
    0.907618 |      101.741     -400.426 
   0.0157439 |     -168.525     -168.243 
   -0.419164 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      23.1454     -64.2381 
-3.94666e+06 |     -60.8137      2.59699 
-5.82176e+06 |      19.2979      23.0774 
   0.0168182 |      411.966     -96.9798 
    0.907618 |     -108.387      423.256 
   0.0157438 |      179.945      167.513 
   -0.419164 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      14.8465      10.2835 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:17.587077   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636704.713556, t: 3221894.307914 -3946664.703393 -5821756.852237 q: -0.419164 0.016818 0.907618 0.015744 
W0708 15:46:17.692307   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -34.4528      62.8843 
-3.94666e+06 |      61.3759     -2.50025 
-5.82176e+06 |     -28.5913     -23.6261 
   0.0168182 |     -501.758      136.239 
    0.907618 |      147.839     -397.603 
   0.0157438 |     -168.272     -244.503 
   -0.419164 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      34.4528     -62.8843 
-3.94666e+06 |     -61.3759      2.50025 
-5.82176e+06 |      28.5913      23.6261 
   0.0168182 |      522.354     -137.618 
    0.907618 |     -152.195      418.697 
   0.0157438 |      173.032      246.931 
   -0.419164 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      29.0823     -26.9893 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:17.692369   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636704.813555, t: 3221894.394813 -3946664.661334 -5821756.767142 q: -0.419164 0.016818 0.907618 0.015744 
unstable tracking...
time: 1403636704.913555, t: 3221894.438113 -3946664.650061 -5821756.751060 q: -0.420071 0.018244 0.907215 0.012992 
time: 1403636705.013556, t: 3221894.519243 -3946664.607442 -5821756.721705 q: -0.420071 0.018244 0.907215 0.012992 
unstable tracking...
time: 1403636705.113555, t: 3221894.513468 -3946664.679013 -5821756.917365 q: -0.420071 0.018244 0.907215 0.012992 
unstable tracking...
time: 1403636705.213556, t: 3221894.561800 -3946664.615937 -5821756.639122 q: -0.310185 0.568441 0.714432 -0.265040 
unstable tracking...
time: 1403636705.313555, t: 3221894.483634 -3946664.353400 -5821756.578590 q: -0.310185 0.568441 0.714432 -0.265040 
unstable tracking...
time: 1403636705.413555, t: 3221894.512984 -3946664.696903 -5821756.791992 q: -0.291920 0.559206 0.706441 -0.320954 
unstable tracking...
time: 1403636705.513556, t: 3221894.467538 -3946664.735353 -5821756.819409 q: -0.288290 0.563433 0.703216 -0.323911 
W0708 15:46:18.488804   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   0.00173147   0.00769411 
-3.94666e+06 |   0.00131473   -0.0120785 
-5.82176e+06 |    -0.015436   0.00356989 
    0.565574 |     -435.131      91.7328 
    0.699468 |      107.233     -398.044 
    -0.32709 |     -155.948     -187.048 
   -0.289626 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |  -0.00173147  -0.00769411 
-3.94666e+06 |  -0.00131473    0.0120785 
-5.82176e+06 |     0.015436  -0.00356989 
    0.563433 |      436.286     -94.6407 
    0.703216 |     -104.772      395.926 
   -0.323911 |      154.384      190.066 
    -0.28829 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 4.22398e-05 |      -45.063      8.48826 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:18.488852   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636705.613555, t: 3221894.581240 -3946664.697454 -5821757.060830 q: -0.288290 0.563433 0.703216 -0.323911 
time: 1403636705.713556, t: 3221894.606765 -3946664.685658 -5821757.054703 q: -0.288290 0.563433 0.703216 -0.323911 
unstable tracking...
W0708 15:46:18.787420   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      4.31619      18.2213 
-3.94666e+06 |      4.17966     -41.4037 
-5.82176e+06 |      -52.784        5.592 
    0.563433 |     -444.779      50.7584 
    0.703216 |      66.4329     -339.534 
   -0.323911 |     -84.8039     -190.909 
    -0.28829 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |     -4.31619     -18.2213 
-3.94666e+06 |     -4.17966      41.4037 
-5.82176e+06 |       52.784       -5.592 
    0.563433 |      452.683     -53.9047 
    0.703216 |     -66.6923      339.987 
   -0.323911 |      84.9019      202.328 
    -0.28829 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.142016 |     -113.844      1.74602 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:18.787463   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636705.913555, t: 3221894.629306 -3946664.685530 -5821757.016885 q: -0.288290 0.563433 0.703216 -0.323911 
W0708 15:46:18.889930   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -973.588      1014.21 
-3.94666e+06 |      146.591      -3395.1 
-5.82176e+06 |     -5364.54       67.381 
    0.563433 |     -307.044      24.4907 
    0.703216 |      90.8298     -47.2005 
   -0.323911 |     -71.5751     -231.543 
    -0.28829 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      973.588     -1014.21 
-3.94666e+06 |     -146.591       3395.1 
-5.82176e+06 |      5364.54      -67.381 
    0.563433 |       581.24     -17.7526 
    0.703216 |     -136.282      356.388 
   -0.323911 |      103.841      197.203 
    -0.28829 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

      835.24 |  -0.00234741 -0.000708054 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:18.889973   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636706.013556, t: 3221894.666000 -3946664.667427 -5821756.992509 q: -0.288290 0.563433 0.703216 -0.323911 
unstable tracking...
time: 1403636706.113555, t: 3221894.718134 -3946664.638228 -5821756.958680 q: -0.288290 0.563433 0.703216 -0.323911 
W0708 15:46:19.091845   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -610.803      1087.02 
-3.94666e+06 |       123.36     -2453.46 
-5.82176e+06 |     -3863.27      337.296 
    0.563433 |     -216.942      47.5027 
    0.703216 |      63.7118     -44.4941 
   -0.323911 |     -52.7376     -171.008 
    -0.28829 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      610.803     -1087.02 
-3.94666e+06 |      -123.36      2453.46 
-5.82176e+06 |      3863.27     -337.296 
    0.563433 |      590.428     -59.9917 
    0.703216 |     -167.922      378.885 
   -0.323911 |      138.439      222.289 
    -0.28829 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     885.449 |  -0.00114303  0.000168121 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:19.091915   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636706.213556, t: 3221894.726446 -3946664.634807 -5821756.956401 q: -0.288290 0.563433 0.703216 -0.323911 
unstable tracking...
time: 1403636706.313555, t: 3221894.742080 -3946664.630183 -5821756.950885 q: -0.288290 0.563433 0.703216 -0.323911 
unstable tracking...
time: 1403636706.413555, t: 3221894.772521 -3946664.621075 -5821756.940215 q: -0.288290 0.563433 0.703216 -0.323911 
W0708 15:46:19.388983   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     0.697682      34.7306 
-3.94666e+06 |      5.11238     -56.9896 
-5.82176e+06 |     -78.8718      15.5622 
    0.563433 |      -503.89      110.201 
    0.703216 |      124.609     -387.849 
   -0.323911 |     -145.335     -236.314 
    -0.28829 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |    -0.697682     -34.7306 
-3.94666e+06 |     -5.11238      56.9896 
-5.82176e+06 |      78.8718     -15.5622 
    0.563433 |      505.182     -110.371 
    0.703216 |     -124.715      388.896 
   -0.323911 |      145.428       236.68 
    -0.28829 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -32.0827     -1.57502 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:19.389060   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636706.513556, t: 3221894.831811 -3946664.600622 -5821756.921270 q: -0.288290 0.563433 0.703216 -0.323911 
unstable tracking...
time: 1403636706.613555, t: 3221894.924566 -3946664.591854 -5821756.901715 q: -0.288290 0.563433 0.703216 -0.323911 
unstable tracking...
time: 1403636706.713556, t: 3221894.952400 -3946664.504436 -5821756.945575 q: -0.288290 0.563433 0.703216 -0.323911 
unstable tracking...
time: 1403636706.813555, t: 3221894.933440 -3946664.499660 -5821756.912634 q: -0.281440 0.572539 0.699577 -0.321842 
time: 1403636706.913555, t: 3221894.932809 -3946664.500000 -5821756.912755 q: -0.281440 0.572539 0.699577 -0.321842 
unstable tracking...
time: 1403636707.013556, t: 3221894.931548 -3946664.500666 -5821756.913003 q: -0.281440 0.572539 0.699577 -0.321842 
unstable tracking...
time: 1403636707.113555, t: 3221894.929018 -3946664.501993 -5821756.913505 q: -0.281440 0.572539 0.699577 -0.321842 
W0708 15:46:20.093724   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |      -395646     -15384.2 
-3.94666e+06 |     -58627.1      36081.3 
-5.82176e+06 |      -294899     -5666.55 
    0.572539 |       -32047     -694.976 
    0.699577 |      10996.7      651.801 
   -0.321842 |      1117.04      2490.39 
    -0.28144 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |       395646      15384.2 
-3.94666e+06 |      58627.1     -36081.3 
-5.82176e+06 |       294899      5666.55 
    0.572539 |        29845      644.573 
    0.699577 |     -9394.81     -294.587 
   -0.321842 |     -996.837     -2303.76 
    -0.28144 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     914.296 |    -0.611009  0.000840589 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:20.093787   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636707.213556, t: 3221894.923883 -3946664.504784 -5821756.914457 q: -0.281440 0.572539 0.699577 -0.321842 
unstable tracking...
time: 1403636707.313555, t: 3221894.913646 -3946664.510093 -5821756.916525 q: -0.281440 0.572539 0.699577 -0.321842 
unstable tracking...
unstable tracking...
time: 1403636707.513556, t: 3221894.898969 -3946664.475071 -5821756.968490 q: -0.281440 0.572539 0.699577 -0.321842 
time: 1403636707.613555, t: 3221895.006439 -3946664.453559 -5821756.883669 q: -0.281440 0.572539 0.699577 -0.321842 
unstable tracking...
time: 1403636707.713556, t: 3221894.750288 -3946664.446600 -5821756.934335 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636707.813555, t: 3221894.766774 -3946664.421265 -5821756.942389 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636707.913555, t: 3221894.805395 -3946664.422129 -5821756.956868 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636708.013556, t: 3221894.842273 -3946664.416378 -5821756.947065 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636708.113555, t: 3221894.894631 -3946664.403942 -5821756.927411 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:21.088658   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -2.53762      24.7079 
-3.94666e+06 |      2.76417     -57.5439 
-5.82176e+06 |     -81.5541      10.0175 
    0.576206 |     -549.266      76.2498 
    0.696151 |      92.5605     -340.104 
   -0.323667 |      -89.447     -265.642 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

 3.22189e+06 |      2.53762     -24.7079 
-3.94666e+06 |     -2.76417      57.5439 
-5.82176e+06 |      81.5541     -10.0175 
    0.576206 |      556.636     -76.8457 
    0.696151 |     -92.8475      345.569 
   -0.323667 |      89.5372      267.767 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.6501     -7.06515 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:21.088711   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636708.213556, t: 3221894.960852 -3946664.384350 -5821756.900818 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:21.193291   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   1.4976e-05  0.000248161 
-3.94666e+06 |   3.2084e-05 -0.000550336 
-5.82176e+06 | -0.000748053  0.000105794 
    0.576206 |     -511.139      75.8459 
    0.696151 |      88.7077      -349.14 
   -0.323667 |     -96.8897     -242.693 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |  -1.4976e-05 -0.000248161 
-3.94666e+06 |  -3.2084e-05  0.000550336 
-5.82176e+06 |  0.000748053 -0.000105794 
    0.576206 |      511.139     -75.8459 
    0.696151 |     -88.7077       349.14 
   -0.323667 |      96.8897      242.693 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 1.88461e-06 |     -13.6584     -9.12943 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:21.193333   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636708.313555, t: 3221895.005738 -3946664.363685 -5821756.889988 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:21.289952   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |   0.00242756    0.0119511 
-3.94666e+06 |   0.00159686   -0.0227884 
-5.82176e+06 |   -0.0297138    0.0057916 
    0.576206 |     -465.083      84.8494 
    0.696151 |      96.1413     -368.733 
   -0.323667 |     -124.433     -212.024 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |  -0.00242756   -0.0119511 
-3.94666e+06 |  -0.00159686    0.0227884 
-5.82176e+06 |    0.0297138   -0.0057916 
    0.576206 |      465.089     -84.8501 
    0.696151 |      -96.142      368.738 
   -0.323667 |      124.434      212.026 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 7.87054e-05 |     -15.8016     -13.3935 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:21.290009   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636708.413555, t: 3221895.081017 -3946664.336126 -5821756.859981 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636708.513556, t: 3221895.203259 -3946664.296235 -5821756.802831 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:21.486764   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |  7.45658e-05   0.00084263 
-3.94666e+06 |  0.000103973  -0.00170589 
-5.82176e+06 |  -0.00230783  0.000389749 
    0.576206 |     -501.164      86.0594 
    0.696151 |      98.4237     -360.458 
   -0.323667 |       -112.9     -236.297 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 | -7.45658e-05  -0.00084263 
-3.94666e+06 | -0.000103973   0.00170589 
-5.82176e+06 |   0.00230783 -0.000389749 
    0.576206 |      501.165     -86.0595 
    0.696151 |     -98.4238      360.459 
   -0.323667 |        112.9      236.297 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 5.87104e-06 |     -13.3374      -11.113 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:21.486806   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636708.613555, t: 3221895.289963 -3946664.246924 -5821756.822631 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636708.713556, t: 3221895.393406 -3946664.209100 -5821756.753559 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:21.694005   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      25.7064      200.455 
-3.94666e+06 |      24.1198     -371.739 
-5.82176e+06 |     -497.796      99.1089 
    0.576206 |     -408.921      81.1933 
    0.696151 |      98.2925     -316.685 
   -0.323667 |     -121.122     -194.213 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |     -25.7064     -200.455 
-3.94666e+06 |     -24.1198      371.739 
-5.82176e+06 |      497.796     -99.1089 
    0.576206 |      476.245     -87.0277 
    0.696151 |     -112.313       380.29 
   -0.323667 |      138.077       208.35 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.56609 |     -11.0943     -4.03884 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:21.694044   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636708.813555, t: 3221895.325155 -3946664.231615 -5821756.740068 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:21.786161   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      1.11934      38.0684 
-3.94666e+06 |      3.29902     -55.9738 
-5.82176e+06 |     -78.7975      21.5642 
    0.576206 |     -511.919      142.444 
    0.696151 |      154.878     -422.164 
   -0.323667 |      -180.06     -244.668 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |     -1.11934     -38.0684 
-3.94666e+06 |     -3.29902      55.9738 
-5.82176e+06 |      78.7975     -21.5642 
    0.576206 |      515.004     -141.028 
    0.696151 |      -155.51      427.514 
   -0.323667 |       180.76      242.201 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -1.62012     -11.0379 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:21.786203   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636708.913555, t: 3221895.209230 -3946664.247431 -5821756.593459 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636709.013556, t: 3221895.282519 -3946664.230891 -5821756.541801 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:21.993433   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |  0.000390159   0.00119453 
-3.94666e+06 |  0.000169752  -0.00206737 
-5.82176e+06 |  -0.00256834  0.000618329 
    0.576206 |      -424.16      83.6427 
    0.696151 |      93.5719     -385.191 
   -0.323667 |     -144.044     -180.553 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 | -0.000390159  -0.00119453 
-3.94666e+06 | -0.000169752   0.00206737 
-5.82176e+06 |   0.00256834 -0.000618329 
    0.576206 |       424.16     -83.6425 
    0.696151 |     -93.5719      385.191 
   -0.323667 |      144.044      180.553 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 7.18386e-06 |      36.9295     -6.82755 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:21.993501   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636709.113555, t: 3221895.287235 -3946664.220167 -5821756.546289 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:22.087952   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -3.50279      34.2046 
-3.94666e+06 |      2.57763     -55.2259 
-5.82176e+06 |     -81.1292      18.4504 
    0.576206 |     -555.931      139.189 
    0.696151 |      155.598     -392.774 
   -0.323667 |     -158.296     -271.816 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      3.50279     -34.2046 
-3.94666e+06 |     -2.57763      55.2259 
-5.82176e+06 |      81.1292     -18.4504 
    0.576206 |      569.668     -140.512 
    0.696151 |     -156.401      404.329 
   -0.323667 |      158.757      274.393 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      4.26197     -25.9457 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:22.088021   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636709.213556, t: 3221895.377528 -3946664.209402 -5821756.507624 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636709.313555, t: 3221895.454428 -3946664.180764 -5821756.469936 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636709.413555, t: 3221895.440204 -3946664.184073 -5821756.475567 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:22.394567   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      4.20938      37.4539 
-3.94666e+06 |      3.76231      -56.556 
-5.82176e+06 |     -76.7565      20.9375 
    0.576206 |     -479.938       124.25 
    0.696151 |      137.496     -416.531 
   -0.323667 |     -173.976     -221.086 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |     -4.20938     -37.4539 
-3.94666e+06 |     -3.76231       56.556 
-5.82176e+06 |      76.7565     -20.9375 
    0.576206 |      482.795     -124.512 
    0.696151 |     -138.147      419.484 
   -0.323667 |      174.778      221.546 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -27.317     -2.67273 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:22.394611   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636709.513556, t: 3221895.410630 -3946664.190487 -5821756.487588 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636709.613555, t: 3221895.418876 -3946664.186505 -5821756.520698 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:22.585585   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -7.73122       35.895 
-3.94666e+06 |      2.12061     -57.7667 
-5.82176e+06 |     -88.4169      19.3976 
    0.576206 |     -622.408      154.256 
    0.696151 |      172.442     -408.768 
   -0.323667 |     -159.214     -299.897 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      7.73122      -35.895 
-3.94666e+06 |     -2.12061      57.7667 
-5.82176e+06 |      88.4169     -19.3976 
    0.576206 |      620.938     -154.905 
    0.696151 |     -172.172      406.001 
   -0.323667 |       158.98      301.163 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -54.0341      6.16735 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:22.585634   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636709.713556, t: 3221895.435078 -3946664.186626 -5821756.512423 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
W0708 15:46:22.788192   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |  -0.00180128    0.0186074 
-3.94666e+06 |   0.00171852    -0.035935 
-5.82176e+06 |   -0.0517025   0.00893209 
    0.576206 |     -562.609      107.175 
    0.696151 |      120.871     -368.558 
   -0.323667 |      -120.91     -272.569 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |   0.00180128   -0.0186074 
-3.94666e+06 |  -0.00171852     0.035935 
-5.82176e+06 |    0.0517025  -0.00893209 
    0.576206 |      562.613     -107.177 
    0.696151 |     -120.869      368.558 
   -0.323667 |      120.908      272.573 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 0.000124023 |     -53.0571     -21.7624 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:22.788256   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636709.913555, t: 3221895.505413 -3946664.229721 -5821756.537477 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:22.889169   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -3.03756      35.7576 
-3.94666e+06 |      2.76489     -57.3767 
-5.82176e+06 |     -83.8068       19.355 
    0.576206 |     -561.202      138.585 
    0.696151 |      158.864      -408.32 
   -0.323667 |     -164.281     -268.288 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      3.03756     -35.7576 
-3.94666e+06 |     -2.76489      57.3767 
-5.82176e+06 |      83.8068      -19.355 
    0.576206 |      562.326     -139.597 
    0.696151 |     -155.396      405.703 
   -0.323667 |      160.255      270.252 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -46.3086     -17.7864 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:22.889240   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636710.013556, t: 3221895.458495 -3946664.245556 -5821756.543841 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636710.113555, t: 3221895.563747 -3946664.221700 -5821756.542114 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:23.093604   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -8.40591      36.6052 
-3.94666e+06 |      1.93698     -55.9462 
-5.82176e+06 |     -86.7675      20.3371 
    0.576206 |     -621.642      166.664 
    0.696151 |      189.028     -414.033 
   -0.323667 |     -172.897     -301.873 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      8.40591     -36.6052 
-3.94666e+06 |     -1.93698      55.9462 
-5.82176e+06 |      86.7675     -20.3371 
    0.576206 |      633.205     -169.578 
    0.696151 |     -187.034      419.026 
   -0.323667 |      170.509      307.156 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -29.1519     -27.6956 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:23.093650   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636710.213556, t: 3221895.548340 -3946664.215633 -5821756.541875 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636710.313555, t: 3221895.520748 -3946664.239017 -5821756.550210 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:23.287994   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -3.73756      32.2583 
-3.94666e+06 |      2.62292      -57.037 
-5.82176e+06 |     -83.3287      16.4715 
    0.576206 |     -564.798      122.278 
    0.696151 |      139.123     -381.398 
   -0.323667 |     -138.811     -272.036 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      3.73756     -32.2583 
-3.94666e+06 |     -2.62292       57.037 
-5.82176e+06 |      83.3287     -16.4715 
    0.576206 |      571.285     -123.826 
    0.696151 |     -139.892      385.086 
   -0.323667 |      139.469      275.477 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -36.3802     -3.59132 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:23.288080   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636710.413555, t: 3221895.532523 -3946664.219612 -5821756.552396 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:23.387562   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -7.41845      30.2463 
-3.94666e+06 |      2.08201     -56.9466 
-5.82176e+06 |     -86.0385       14.794 
    0.576206 |     -614.531      123.171 
    0.696151 |      141.077      -370.02 
   -0.323667 |     -127.287     -300.957 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      7.41845     -30.2463 
-3.94666e+06 |     -2.08201      56.9466 
-5.82176e+06 |      86.0385      -14.794 
    0.576206 |      619.287     -123.048 
    0.696151 |     -140.342      374.586 
   -0.323667 |      126.374      300.681 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -7.96539     -14.4657 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:23.387604   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636710.513556, t: 3221895.609843 -3946664.220474 -5821756.487535 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636710.613555, t: 3221895.707290 -3946664.208098 -5821756.427587 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:23.587198   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.3351     0.295706 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:23.587262   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636710.713556, t: 3221895.719325 -3946664.203664 -5821756.423934 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:23.691644   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      4.25833      36.2168 
-3.94666e+06 |      3.71827     -55.7352 
-5.82176e+06 |     -75.4191      20.0495 
    0.576206 |     -470.911      118.611 
    0.696151 |      131.516     -404.781 
   -0.323667 |     -166.588     -216.596 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |     -4.25833     -36.2168 
-3.94666e+06 |     -3.71827      55.7352 
-5.82176e+06 |      75.4191     -20.0495 
    0.576206 |      481.599     -120.949 
    0.696151 |     -134.519      414.438 
   -0.323667 |      170.394      220.862 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.2123    -0.836275 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:23.691704   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636710.813555, t: 3221895.736364 -3946664.133145 -5821756.462312 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:23.788031   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2041     0.255973 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:23.788075   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636710.913555, t: 3221895.755617 -3946664.128530 -5821756.454788 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636711.013556, t: 3221895.759992 -3946664.148054 -5821756.439133 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:23.988260   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |    -0.794175       39.118 
-3.94666e+06 |      3.04759     -56.2115 
-5.82176e+06 |     -80.9623      22.4036 
    0.576206 |     -531.833      152.039 
    0.696151 |      170.239     -433.002 
   -0.323667 |     -188.832     -253.338 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |     0.794175      -39.118 
-3.94666e+06 |     -3.04759      56.2115 
-5.82176e+06 |      80.9623     -22.4036 
    0.576206 |      536.497     -153.061 
    0.696151 |      -168.12      434.637 
   -0.323667 |      186.101      255.046 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.7608     -22.5581 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:23.988325   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636711.113555, t: 3221895.800764 -3946664.165254 -5821756.451401 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:24.086621   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -59.2832      197.769 
-3.94666e+06 |      10.0502     -332.567 
-5.82176e+06 |     -520.221      104.194 
    0.576206 |     -606.191       141.48 
    0.696151 |      197.343     -385.933 
   -0.323667 |     -175.335     -292.621 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      59.2832     -197.769 
-3.94666e+06 |     -10.0502      332.567 
-5.82176e+06 |      520.221     -104.194 
    0.576206 |      644.584     -147.437 
    0.696151 |     -178.305      401.857 
   -0.323667 |      155.446       304.94 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

      1.2575 |     -20.2975     -24.7003 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:24.086663   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636711.213556, t: 3221895.839645 -3946664.167563 -5821756.437911 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636711.313555, t: 3221895.907415 -3946664.154458 -5821756.404072 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636711.413555, t: 3221895.968813 -3946664.138012 -5821756.359961 q: -0.280357 0.576206 0.696151 -0.323667 
W0708 15:46:24.390230   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -7.68961      32.7507 
-3.94666e+06 |      1.96524     -55.0608 
-5.82176e+06 |     -84.2842      17.2569 
    0.576206 |     -610.913      146.089 
    0.696151 |      163.015     -382.812 
   -0.323667 |     -148.577     -302.047 
   -0.280357 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      7.68961     -32.7507 
-3.94666e+06 |     -1.96524      55.0608 
-5.82176e+06 |      84.2842     -17.2569 
    0.576206 |      625.832     -146.932 
    0.696151 |     -164.212      396.184 
   -0.323667 |      149.342      303.795 
   -0.280357 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      22.2792     -27.1458 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:24.390275   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636711.513556, t: 3221896.021329 -3946664.122872 -5821756.322665 q: -0.280357 0.576206 0.696151 -0.323667 
unstable tracking...
time: 1403636711.613555, t: 3221895.936282 -3946664.132835 -5821756.359288 q: -0.305381 0.580516 0.690124 -0.305734 
W0708 15:46:24.592335   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |       1.0132      36.7101 
-3.94666e+06 |      4.13001     -58.5177 
-5.82176e+06 |     -79.4606      19.9064 
    0.575755 |     -506.272      123.852 
    0.694699 |      144.175     -414.048 
    -0.32847 |      -154.51     -242.648 
   -0.279299 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      -1.0132     -36.7101 
-3.94666e+06 |     -4.13001      58.5177 
-5.82176e+06 |      79.4606     -19.9064 
    0.580856 |       501.23     -130.281 
    0.687229 |     -144.463      418.397 
   -0.322866 |      173.345      233.649 
   -0.293395 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -28.067    -0.796552 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:24.592378   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636711.713556, t: 3221895.963752 -3946664.134408 -5821756.343022 q: -0.305381 0.580516 0.690124 -0.305734 
unstable tracking...
time: 1403636711.813555, t: 3221896.023345 -3946664.073502 -5821756.286606 q: -0.287859 0.598819 0.669349 -0.332453 
W0708 15:46:24.789669   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -1.23581      28.0322 
-3.94666e+06 |      0.51052     -55.6518 
-5.82176e+06 |     -76.2313      17.2379 
    0.597772 |     -512.955      126.627 
    0.673978 |       117.31     -368.571 
   -0.318806 |     -148.694     -251.291 
   -0.294593 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      1.23581     -28.0322 
-3.94666e+06 |     -0.51052      55.6518 
-5.82176e+06 |      76.2313     -17.2379 
    0.598819 |      524.293     -113.663 
    0.669349 |     -128.404      386.491 
   -0.332453 |      142.346      248.604 
   -0.287859 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      15.0703      -7.8667 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:24.789732   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636711.913555, t: 3221896.068243 -3946664.074547 -5821756.256644 q: -0.287859 0.598819 0.669349 -0.332453 
unstable tracking...
time: 1403636712.013556, t: 3221896.036580 -3946664.046726 -5821756.215819 q: -0.276338 0.614247 0.650879 -0.350277 
unstable tracking...
time: 1403636712.113555, t: 3221896.074449 -3946663.921201 -5821756.188650 q: -0.042897 0.869112 0.186774 -0.455983 
unstable tracking...
time: 1403636712.213556, t: 3221896.040437 -3946664.071303 -5821756.279031 q: -0.047262 0.873323 0.190623 -0.445798 
W0708 15:46:25.185596   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -16.5073     -8.24529 
-3.94666e+06 |     -60.2771     -20.2984 
-5.82176e+06 |     -43.3236      64.6986 
    0.871552 |     -484.739        116.4 
    0.204986 |      118.514      -389.45 
   -0.443678 |     -149.971     -232.086 
   -0.039091 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      16.5073      8.24529 
-3.94666e+06 |      60.2771      20.2984 
-5.82176e+06 |      43.3236     -64.6986 
    0.873323 |      482.068     -109.863 
    0.190623 |     -123.503      397.504 
   -0.445798 |      154.708      221.481 
  -0.0472621 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -37.589      2.83752 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:25.185659   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636712.313555, t: 3221896.094069 -3946664.043033 -5821756.277633 q: -0.047262 0.873323 0.190623 -0.445798 
unstable tracking...
time: 1403636712.413555, t: 3221895.997717 -3946664.101684 -5821756.364004 q: -0.275448 0.678938 0.571898 -0.368922 
unstable tracking...
time: 1403636712.513556, t: 3221895.617225 -3946664.338633 -5821756.989493 q: -0.272024 0.673084 0.590366 -0.352744 
W0708 15:46:25.497097   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -168.558      99.6182 
-3.94666e+06 |     -42.4906     -196.322 
-5.82176e+06 |     -393.748       116.82 
    0.695295 |     -1318.05       244.88 
     0.57171 |       560.72     -631.722 
   -0.370854 |     -126.748     -515.868 
    -0.22843 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      168.558     -99.6182 
-3.94666e+06 |      42.4906      196.322 
-5.82176e+06 |      393.748      -116.82 
    0.673084 |      1352.47      -379.81 
    0.590366 |     -422.121      482.883 
   -0.352744 |      206.452      556.723 
   -0.272024 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.458892 |     -774.872      200.791 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:25.497138   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636712.613555, t: 3221895.542632 -3946664.218036 -5821756.961328 q: -0.272024 0.673084 0.590366 -0.352744 
unstable tracking...
time: 1403636712.713556, t: 3221895.574820 -3946664.214066 -5821756.940809 q: -0.272024 0.673084 0.590366 -0.352744 
unstable tracking...
time: 1403636712.813555, t: 3221895.614696 -3946664.319953 -5821756.957710 q: -0.374996 0.423200 0.772665 -0.288564 
W0708 15:46:25.788647   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22189e+06 |     -8.04995      30.3255 
-3.94666e+06 |      19.1859     -38.6021 
-5.82176e+06 |     -54.7904     -6.88211 
    0.435449 |     -411.575      75.7193 
    0.786188 |      83.1421     -275.947 
   -0.246535 |     -95.0701     -225.197 
   -0.362647 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      8.04995     -30.3255 
-3.94666e+06 |     -19.1859      38.6021 
-5.82176e+06 |      54.7904      6.88211 
      0.4232 |      485.958     -76.6272 
    0.772665 |     -90.1881      355.444 
   -0.288564 |      106.829      225.178 
   -0.374996 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      47.8284     -44.8256 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:25.788697   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636712.913555, t: 3221895.713715 -3946664.320899 -5821756.889940 q: -0.374996 0.423200 0.772665 -0.288564 
W0708 15:46:25.893709   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2138     0.266383 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:25.893762   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636713.013556, t: 3221895.730207 -3946664.312463 -5821756.886535 q: -0.374996 0.423200 0.772665 -0.288564 
W0708 15:46:25.991941   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -21.2959      45.9563 
-3.94666e+06 |      23.2897     -48.7067 
-5.82176e+06 |     -77.9181     -3.99669 
      0.4232 |     -594.766      142.718 
    0.772665 |      160.113     -387.225 
   -0.288564 |     -151.384     -292.999 
   -0.374996 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      21.2959     -45.9563 
-3.94666e+06 |     -23.2897      48.7067 
-5.82176e+06 |      77.9181      3.99669 
      0.4232 |      605.415     -142.937 
    0.772665 |     -159.744      396.944 
   -0.288564 |      150.654      293.452 
   -0.374996 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      12.6936     -27.7939 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:25.992003   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636713.113555, t: 3221895.759647 -3946664.305106 -5821756.875232 q: -0.374996 0.423200 0.772665 -0.288564 
W0708 15:46:26.094223   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 0.000228625 |     -34.1673     0.220432 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:26.094261   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636713.213556, t: 3221895.802412 -3946664.304290 -5821756.812077 q: -0.374996 0.423200 0.772665 -0.288564 
time: 1403636713.313555, t: 3221895.775401 -3946664.281151 -5821756.774026 q: -0.369083 0.425225 0.770928 -0.297709 
unstable tracking...
unstable tracking...
time: 1403636713.513556, t: 3221895.745872 -3946664.212334 -5821756.564342 q: -0.369083 0.425225 0.770928 -0.297709 
W0708 15:46:26.488292   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |       -19.15      51.1876 
-3.94666e+06 |       21.542     -47.2547 
-5.82176e+06 |     -76.2915     0.877048 
    0.425225 |     -575.615      173.451 
    0.770928 |      176.139     -417.144 
   -0.297709 |     -176.719      -288.71 
   -0.369083 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |        19.15     -51.1876 
-3.94666e+06 |      -21.542      47.2547 
-5.82176e+06 |      76.2915    -0.877048 
    0.425225 |      581.762     -168.618 
    0.770928 |     -184.732      435.931 
   -0.297709 |      186.049      280.533 
   -0.369083 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      68.4204      4.98961 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:26.488337   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636713.613555, t: 3221895.845605 -3946664.180022 -5821756.497737 q: -0.369083 0.425225 0.770928 -0.297709 
unstable tracking...
time: 1403636713.713556, t: 3221895.890608 -3946664.192277 -5821756.511496 q: -0.368028 0.426374 0.770616 -0.298179 
unstable tracking...
time: 1403636713.813555, t: 3221895.837929 -3946664.191561 -5821756.491883 q: -0.355176 0.438934 0.764398 -0.311260 
unstable tracking...
time: 1403636713.913555, t: 3221895.860431 -3946664.171226 -5821756.474843 q: -0.355176 0.438934 0.764398 -0.311260 
unstable tracking...
time: 1403636714.013556, t: 3221895.895543 -3946664.153638 -5821756.440239 q: -0.355176 0.438934 0.764398 -0.311260 
W0708 15:46:26.995957   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -21.7382      54.0448 
-3.94666e+06 |      18.2991     -49.2306 
-5.82176e+06 |     -82.6648      4.82071 
    0.438934 |     -616.061      187.524 
    0.764398 |      203.908     -444.288 
    -0.31126 |      -192.95     -299.046 
   -0.355176 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      21.7382     -54.0448 
-3.94666e+06 |     -18.2991      49.2306 
-5.82176e+06 |      82.6648     -4.82071 
    0.438934 |      618.342     -187.734 
    0.764398 |      -204.85      446.789 
    -0.31126 |      193.859       299.37 
   -0.355176 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -26.4814     -1.19295 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:26.996001   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636714.113555, t: 3221895.941640 -3946664.138697 -5821756.388439 q: -0.355176 0.438934 0.764398 -0.311260 
W0708 15:46:27.090209   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -146.873      353.118 
-3.94666e+06 |      131.457     -355.431 
-5.82176e+06 |     -582.518      12.3689 
    0.438934 |      -531.34      150.491 
    0.764398 |      169.652     -351.479 
    -0.31126 |     -163.689     -280.067 
   -0.355176 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      146.873     -353.118 
-3.94666e+06 |     -131.457      355.431 
-5.82176e+06 |      582.518     -12.3689 
    0.438934 |      591.549     -148.241 
    0.764398 |     -181.564      420.515 
    -0.31126 |      174.455      275.734 
   -0.355176 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.77437 |       9.0151     -13.0351 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:27.090253   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636714.213556, t: 3221895.964612 -3946664.130616 -5821756.381206 q: -0.355176 0.438934 0.764398 -0.311260 
unstable tracking...
time: 1403636714.313555, t: 3221896.009133 -3946664.114001 -5821756.367834 q: -0.355176 0.438934 0.764398 -0.311260 
W0708 15:46:27.287483   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -21.9091      185.134 
-3.94666e+06 |      76.4484     -181.602 
-5.82176e+06 |     -261.304      9.17266 
    0.438934 |     -430.972      109.845 
    0.764398 |      126.113     -399.047 
    -0.31126 |     -175.453     -195.794 
   -0.355176 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      21.9091     -185.134 
-3.94666e+06 |     -76.4484      181.602 
-5.82176e+06 |      261.304     -9.17266 
    0.438934 |      451.295     -109.154 
    0.764398 |     -128.355      421.536 
    -0.31126 |      178.094      194.491 
   -0.355176 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.777687 |     -12.4014     -11.5044 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:27.287554   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636714.413555, t: 3221896.074806 -3946664.120374 -5821756.363697 q: -0.355176 0.438934 0.764398 -0.311260 
unstable tracking...
time: 1403636714.513556, t: 3221895.805502 -3946664.037864 -5821756.669357 q: -0.346681 0.417761 0.774624 -0.324416 
W0708 15:46:27.489953   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1729     0.249463 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:27.489990   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636714.613555, t: 3221895.788944 -3946664.034622 -5821756.680722 q: -0.346681 0.417761 0.774624 -0.324416 
W0708 15:46:27.586382   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1777      0.24182 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:27.586419   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636714.713556, t: 3221895.736895 -3946664.037480 -5821756.667210 q: -0.346681 0.417761 0.774624 -0.324416 
unstable tracking...
time: 1403636714.813555, t: 3221895.682275 -3946664.070778 -5821756.601081 q: -0.346681 0.417761 0.774624 -0.324416 
W0708 15:46:27.789727   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      -22.648      53.4624 
-3.94666e+06 |      16.8986     -47.5688 
-5.82176e+06 |     -83.1681      2.15131 
    0.417761 |     -613.775      162.585 
    0.774624 |      177.092     -418.225 
   -0.324416 |     -167.624     -297.371 
   -0.346681 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |       22.648     -53.4624 
-3.94666e+06 |     -16.8986      47.5688 
-5.82176e+06 |      83.1681     -2.15131 
    0.417761 |      609.478     -161.419 
    0.774624 |     -178.382      416.779 
   -0.324416 |      169.122      295.236 
   -0.346681 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -34.5508      13.3633 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:27.789793   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636714.913555, t: 3221895.675849 -3946664.066679 -5821756.573328 q: -0.346681 0.417761 0.774624 -0.324416 
W0708 15:46:27.890008   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -20.7079      56.2161 
-3.94666e+06 |      17.2187     -46.5859 
-5.82176e+06 |     -81.4187      4.28577 
    0.417761 |     -594.786      177.223 
    0.774624 |      187.925      -438.65 
   -0.324416 |     -186.892     -290.822 
   -0.346681 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      20.7079     -56.2161 
-3.94666e+06 |     -17.2187      46.5859 
-5.82176e+06 |      81.4187     -4.28577 
    0.417761 |      588.003     -172.943 
    0.774624 |     -189.337       439.33 
   -0.324416 |      188.659      283.746 
   -0.346681 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     0.104214      8.63555 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:27.890076   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636715.013556, t: 3221895.656030 -3946664.080219 -5821756.549093 q: -0.346681 0.417761 0.774624 -0.324416 
unstable tracking...
time: 1403636715.113555, t: 3221895.655571 -3946664.104718 -5821756.542781 q: -0.346681 0.417761 0.774624 -0.324416 
W0708 15:46:28.087556   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -5.83392      53.8284 
-3.94666e+06 |      20.6577     -47.1464 
-5.82176e+06 |     -71.0037      2.60702 
    0.417761 |     -442.645      108.669 
    0.774624 |      119.844      -418.46 
   -0.324416 |     -174.603     -193.513 
   -0.346681 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      5.83392     -53.8284 
-3.94666e+06 |     -20.6577      47.1464 
-5.82176e+06 |      71.0037     -2.60702 
    0.417761 |      440.975     -107.498 
    0.774624 |     -119.945      418.207 
   -0.324416 |      174.829      191.416 
   -0.346681 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -24.8097      2.10378 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:28.087605   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636715.213556, t: 3221895.680715 -3946664.154264 -5821756.522967 q: -0.346681 0.417761 0.774624 -0.324416 
unstable tracking...
time: 1403636715.313555, t: 3221895.702884 -3946664.195739 -5821756.552652 q: -0.346681 0.417761 0.774624 -0.324416 
W0708 15:46:28.288003   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |      -34.186     0.260716 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:28.288056   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636715.413555, t: 3221895.751863 -3946664.198694 -5821756.537192 q: -0.346681 0.417761 0.774624 -0.324416 
unstable tracking...
time: 1403636715.513556, t: 3221895.746584 -3946664.110257 -5821756.495003 q: -0.361340 0.318997 0.812304 -0.328385 
unstable tracking...
time: 1403636715.613555, t: 3221895.770861 -3946664.107347 -5821756.483544 q: -0.361340 0.318997 0.812304 -0.328385 
unstable tracking...
time: 1403636715.713556, t: 3221895.753637 -3946664.035554 -5821756.413512 q: -0.366424 0.325621 0.804220 -0.336057 
W0708 15:46:28.687494   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -17.9994      53.0457 
-3.94666e+06 |      19.6591      -38.573 
-5.82176e+06 |      -65.929     -6.68265 
    0.381684 |     -446.383       73.959 
    0.784852 |      159.158     -385.752 
   -0.343163 |     -139.881     -235.722 
   -0.347223 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      17.9994     -53.0457 
-3.94666e+06 |     -19.6591       38.573 
-5.82176e+06 |       65.929      6.68265 
    0.343975 |      458.858     -105.162 
    0.781326 |     -118.031      402.119 
   -0.356368 |        159.8      205.254 
   -0.379754 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -14.3179      -6.5729 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:28.687552   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636715.813555, t: 3221895.776603 -3946664.040817 -5821756.378883 q: -0.366424 0.325621 0.804220 -0.336057 
unstable tracking...
time: 1403636715.913555, t: 3221895.840526 -3946664.012633 -5821756.372444 q: -0.407689 0.305493 0.795054 -0.329170 
W0708 15:46:28.886544   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -28.1228       53.483 
-3.94666e+06 |      23.7462     -36.2945 
-5.82176e+06 |     -66.6648     -12.9662 
    0.316623 |     -505.641      113.214 
    0.796671 |      151.783      -383.85 
   -0.327473 |     -147.838     -255.131 
   -0.397274 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      28.1228      -53.483 
-3.94666e+06 |     -23.7462      36.2945 
-5.82176e+06 |      66.6648      12.9662 
    0.305493 |      521.813     -124.285 
    0.795054 |     -138.903      400.608 
    -0.32917 |      156.538      246.888 
   -0.407689 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      22.7578     -30.0935 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:28.886621   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636716.013556, t: 3221895.943461 -3946663.976917 -5821756.318286 q: -0.407689 0.305493 0.795054 -0.329170 
unstable tracking...
time: 1403636716.113555, t: 3221895.974262 -3946663.954216 -5821756.316632 q: -0.407689 0.305493 0.795054 -0.329170 
unstable tracking...
time: 1403636716.213556, t: 3221896.030106 -3946663.919371 -5821756.309351 q: -0.407689 0.305493 0.795054 -0.329170 
W0708 15:46:29.188182   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -13.1826      32.8445 
-3.94666e+06 |       14.503     -20.2481 
-5.82176e+06 |      -36.694     -6.30655 
    0.305493 |      -468.55      123.933 
    0.795054 |      136.821     -421.622 
    -0.32917 |     -179.386     -213.861 
   -0.407689 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      13.1826     -32.8445 
-3.94666e+06 |      -14.503      20.2481 
-5.82176e+06 |       36.694      6.30655 
    0.305493 |      472.838     -124.841 
    0.795054 |     -137.038      424.899 
    -0.32917 |      179.542      215.428 
   -0.407689 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.109539 |     -28.0823     -14.5494 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:29.188228   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636716.313555, t: 3221896.128436 -3946663.873294 -5821756.259567 q: -0.407689 0.305493 0.795054 -0.329170 
W0708 15:46:29.290983   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -28.9307        54.44 
-3.94666e+06 |      24.2239      -37.172 
-5.82176e+06 |     -68.2497     -13.3833 
    0.305493 |      -510.85      122.507 
    0.795054 |      137.461     -388.014 
    -0.32917 |     -154.403     -245.674 
   -0.407689 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      28.9307       -54.44 
-3.94666e+06 |     -24.2239       37.172 
-5.82176e+06 |      68.2497      13.3833 
    0.305493 |      523.578      -123.64 
    0.795054 |     -138.363      399.155 
    -0.32917 |      155.095      247.944 
   -0.407689 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -1.06896     -22.8557 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:29.291069   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636716.413555, t: 3221896.139118 -3946663.866202 -5821756.258466 q: -0.407689 0.305493 0.795054 -0.329170 
unstable tracking...
time: 1403636716.513556, t: 3221896.160585 -3946663.853876 -5821756.254944 q: -0.407689 0.305493 0.795054 -0.329170 
unstable tracking...
time: 1403636716.613555, t: 3221896.179578 -3946663.826297 -5821756.229623 q: -0.418939 0.314566 0.782142 -0.337330 
W0708 15:46:29.587584   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -33.4271      52.8114 
-3.94666e+06 |      22.8478     -39.3209 
-5.82176e+06 |     -70.0451     -14.5964 
    0.312792 |     -553.184      127.075 
    0.791677 |      139.737     -382.259 
   -0.327581 |     -135.387     -276.881 
       -0.41 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      33.4271     -52.8114 
-3.94666e+06 |     -22.8478      39.3209 
-5.82176e+06 |      70.0451      14.5964 
    0.314566 |      552.694     -127.619 
    0.782142 |     -143.138      394.334 
    -0.33733 |      149.533      265.041 
   -0.418939 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.9616     -1.72613 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:29.587658   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636716.713556, t: 3221896.165263 -3946663.911336 -5821756.095925 q: -0.418939 0.314566 0.782142 -0.337330 
unstable tracking...
time: 1403636716.813555, t: 3221896.227288 -3946663.961273 -5821756.059345 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:29.795190   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      -28.272      59.1501 
-3.94666e+06 |      24.6592     -38.3061 
-5.82176e+06 |     -68.1772     -11.9758 
    0.313023 |       -506.2      141.681 
    0.787861 |        150.2     -422.705 
    -0.33326 |     -173.889     -249.139 
   -0.412588 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |       28.272     -59.1501 
-3.94666e+06 |     -24.6592      38.3061 
-5.82176e+06 |      68.1772      11.9758 
    0.314566 |      498.863     -136.992 
    0.782142 |     -151.043      430.176 
    -0.33733 |      183.384      231.951 
   -0.418939 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      27.9893      -6.0857 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:29.795284   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636716.913555, t: 3221896.292628 -3946663.930446 -5821756.016490 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:29.891734   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |        -38.1      49.2396 
-3.94666e+06 |      21.9909      -40.972 
-5.82176e+06 |     -73.0529     -16.8961 
    0.314566 |     -597.237      117.168 
    0.782142 |      135.685     -369.738 
    -0.33733 |     -126.977     -292.661 
   -0.418939 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |         38.1     -49.2396 
-3.94666e+06 |     -21.9909       40.972 
-5.82176e+06 |      73.0529      16.8961 
    0.314566 |      598.146     -116.054 
    0.782142 |      -132.86       371.93 
    -0.33733 |      123.908      289.911 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -3.14959      -22.178 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:29.891817   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636717.013556, t: 3221896.367673 -3946663.894869 -5821755.970301 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:29.988384   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -158.941      391.674 
-3.94666e+06 |      184.494     -276.446 
-5.82176e+06 |      -460.09     -96.6813 
    0.314566 |     -407.032      95.7613 
    0.782142 |      116.949     -373.097 
    -0.33733 |     -164.996     -183.236 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      158.941     -391.674 
-3.94666e+06 |     -184.494      276.446 
-5.82176e+06 |       460.09      96.6813 
    0.314566 |      442.522     -95.2173 
    0.782142 |     -121.632      412.072 
    -0.33733 |      170.874      182.141 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.56934 |     -14.7295     -8.00071 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:29.988444   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636717.113555, t: 3221896.403259 -3946663.881027 -5821755.938087 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:30.088675   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -36.1232      58.4917 
-3.94666e+06 |      22.0777     -37.7156 
-5.82176e+06 |     -71.3187     -11.7173 
    0.314566 |     -574.146      166.992 
    0.782142 |      181.273     -423.594 
    -0.33733 |     -182.251     -281.481 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      36.1232     -58.4917 
-3.94666e+06 |     -22.0777      37.7156 
-5.82176e+06 |      71.3187      11.7173 
    0.314566 |      582.308     -166.638 
    0.782142 |     -182.813       433.06 
    -0.33733 |      183.693      280.841 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      9.14336     -18.1645 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:30.088718   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636717.213556, t: 3221896.370051 -3946663.881736 -5821755.955987 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:30.194177   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -428.558      702.699 
-3.94666e+06 |      258.189     -438.798 
-5.82176e+06 |     -839.854      -129.86 
    0.314566 |     -558.057      158.372 
    0.782142 |      193.121     -441.099 
    -0.33733 |     -194.406     -255.545 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      428.558     -702.699 
-3.94666e+06 |     -258.189      438.798 
-5.82176e+06 |      839.854       129.86 
    0.314566 |       564.26     -156.956 
    0.782142 |     -203.521       456.14 
    -0.33733 |      205.643      253.166 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     2.34108 |     -29.3382       2.8271 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:30.194247   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636717.313555, t: 3221896.387770 -3946663.877158 -5821755.985163 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:30.290661   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -30.4759      59.7012 
-3.94666e+06 |      24.7245     -39.2692 
-5.82176e+06 |      -70.382     -12.5496 
    0.314566 |     -513.745      138.124 
    0.782142 |      154.528     -428.353 
    -0.33733 |     -180.229      -238.97 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      30.4759     -59.7012 
-3.94666e+06 |     -24.7245      39.2692 
-5.82176e+06 |       70.382      12.5496 
    0.314566 |      513.492     -139.429 
    0.782142 |     -153.933      425.931 
    -0.33733 |      179.476      241.251 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -53.8835      2.71274 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:30.290717   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636717.413555, t: 3221896.382161 -3946663.885962 -5821755.994081 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:30.391669   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |       -33.29       60.789 
-3.94666e+06 |      23.4892     -38.1782 
-5.82176e+06 |     -70.9888     -11.4007 
    0.314566 |     -542.202      159.661 
    0.782142 |      175.227      -437.98 
    -0.33733 |     -190.761     -259.628 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |        33.29      -60.789 
-3.94666e+06 |     -23.4892      38.1782 
-5.82176e+06 |      70.9888      11.4007 
    0.314566 |      545.134     -159.888 
    0.782142 |     -175.174      440.489 
    -0.33733 |      190.599      259.989 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -24.7762     -8.38558 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:30.391745   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636717.513556, t: 3221896.408708 -3946663.869209 -5821755.943987 q: -0.418938 0.314566 0.782142 -0.337330 
unstable tracking...
time: 1403636717.613555, t: 3221896.379499 -3946663.875652 -5821755.955787 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:30.595669   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -44.5171      61.4746 
-3.94666e+06 |      20.9013     -38.7486 
-5.82176e+06 |     -77.3294     -11.6359 
    0.314566 |     -664.843      196.095 
    0.782142 |      215.479     -443.499 
    -0.33733 |     -189.204     -320.859 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      44.5171     -61.4746 
-3.94666e+06 |     -20.9013      38.7486 
-5.82176e+06 |      77.3294      11.6359 
    0.314566 |      663.898     -196.557 
    0.782142 |     -214.794      441.412 
    -0.33733 |      188.567      321.629 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -47.3121      2.51139 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:30.595752   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636717.713556, t: 3221896.370919 -3946663.884795 -5821756.010606 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:30.695483   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -135.996      175.364 
-3.94666e+06 |      55.4091     -107.547 
-5.82176e+06 |     -222.096     -30.9139 
    0.314566 |     -710.198      213.422 
    0.782142 |      252.473     -462.821 
    -0.33733 |      -208.46     -337.012 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      135.996     -175.364 
-3.94666e+06 |     -55.4091      107.547 
-5.82176e+06 |      222.096      30.9139 
    0.314566 |      710.392      -215.11 
    0.782142 |     -240.298       453.25 
    -0.33733 |      197.383       339.75 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.557514 |     -44.5347     -15.9323 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:30.695571   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636717.813555, t: 3221896.425905 -3946663.912096 -5821755.989956 q: -0.418938 0.314566 0.782142 -0.337330 
unstable tracking...
time: 1403636717.913555, t: 3221896.376927 -3946663.910253 -5821756.006779 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:30.887938   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1908     0.268224 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:30.887997   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636718.013556, t: 3221896.412057 -3946663.905360 -5821755.984992 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:30.986608   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -36.4364      55.2049 
-3.94666e+06 |      22.9101     -40.1465 
-5.82176e+06 |     -73.0105     -14.5286 
    0.314566 |     -575.009       138.37 
    0.782142 |      153.639     -400.418 
    -0.33733 |     -153.956     -277.111 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      36.4364     -55.2049 
-3.94666e+06 |     -22.9101      40.1465 
-5.82176e+06 |      73.0105      14.5286 
    0.314566 |      574.327     -138.278 
    0.782142 |     -154.393      400.335 
    -0.33733 |      154.826      276.926 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -35.7801      5.79639 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:30.986697   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636718.113555, t: 3221896.391642 -3946663.911114 -5821756.000065 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:31.091534   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -36.8421      58.6337 
-3.94666e+06 |      22.3851      -38.521 
-5.82176e+06 |     -72.5172       -12.29 
    0.314566 |     -581.326       163.73 
    0.782142 |      179.208     -423.885 
    -0.33733 |     -179.167       -283.1 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      36.8421     -58.6337 
-3.94666e+06 |     -22.3851       38.521 
-5.82176e+06 |      72.5172        12.29 
    0.314566 |      583.876     -162.951 
    0.782142 |     -179.215      427.575 
    -0.33733 |      179.092      281.733 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -9.70927     -11.1096 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:31.091576   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636718.213556, t: 3221896.425898 -3946663.908345 -5821755.964443 q: -0.418938 0.314566 0.782142 -0.337330 
W0708 15:46:31.193898   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -41.3364      52.1687 
-3.94666e+06 |      21.6718      -41.115 
-5.82176e+06 |     -75.5955     -16.1517 
    0.314566 |     -628.667      133.743 
    0.782142 |      151.527     -384.742 
    -0.33733 |     -135.822     -304.302 
   -0.418938 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      41.3364     -52.1687 
-3.94666e+06 |     -21.6718       41.115 
-5.82176e+06 |      75.5955      16.1517 
    0.314566 |      627.309     -133.865 
    0.782142 |     -151.358      383.088 
    -0.33733 |      135.691      304.573 
   -0.418938 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -43.7056      3.17135 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:31.193939   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636718.313555, t: 3221896.392566 -3946663.919413 -5821755.975390 q: -0.418938 0.314566 0.782142 -0.337330 
unstable tracking...
time: 1403636718.413555, t: 3221896.470370 -3946663.873652 -5821755.975820 q: -0.405516 0.298160 0.777133 -0.377784 
unstable tracking...
time: 1403636718.513556, t: 3221896.485491 -3946663.871401 -5821755.968981 q: -0.405516 0.298160 0.777133 -0.377784 
W0708 15:46:31.488397   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -37.3346       59.102 
-3.94666e+06 |      14.8003     -33.2254 
-5.82176e+06 |     -69.3259     -10.1314 
    0.309901 |      -574.81      166.015 
    0.785182 |      197.825     -419.834 
   -0.360154 |     -178.727      -300.16 
   -0.397165 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      37.3346      -59.102 
-3.94666e+06 |     -14.8003      33.2254 
-5.82176e+06 |      69.3259      10.1314 
     0.29816 |       580.45     -168.491 
    0.777133 |     -184.527       436.27 
   -0.377784 |      186.351      279.848 
   -0.405516 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -11.8472     -21.7095 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:31.488440   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636718.613555, t: 3221896.514396 -3946663.861567 -5821755.959653 q: -0.405516 0.298160 0.777133 -0.377784 
W0708 15:46:31.586635   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -44.1785      54.7873 
-3.94666e+06 |      13.9111     -37.9735 
-5.82176e+06 |     -75.4805      -14.284 
     0.29816 |     -632.751      139.767 
    0.777133 |      157.463     -386.457 
   -0.377784 |     -140.299     -307.807 
   -0.405516 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      44.1785     -54.7873 
-3.94666e+06 |     -13.9111      37.9735 
-5.82176e+06 |      75.4805       14.284 
     0.29816 |      633.653     -139.707 
    0.777133 |     -157.311      387.388 
   -0.377784 |      140.116      307.677 
   -0.405516 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.3688       -2.978 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:31.586697   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636718.713556, t: 3221896.568566 -3946663.817857 -5821755.936945 q: -0.405516 0.298160 0.777133 -0.377784 
unstable tracking...
time: 1403636718.813555, t: 3221896.622576 -3946663.808003 -5821755.914022 q: -0.405516 0.298160 0.777133 -0.377784 
unstable tracking...
time: 1403636718.913555, t: 3221896.709683 -3946663.753281 -5821755.871996 q: -0.405516 0.298160 0.777133 -0.377784 
W0708 15:46:31.888651   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -25.8844        59.06 
-3.94666e+06 |      20.4558      -35.989 
-5.82176e+06 |     -66.6114     -12.0249 
     0.29816 |     -450.732      109.941 
    0.777133 |      122.896     -409.489 
   -0.377784 |     -170.285     -201.832 
   -0.405516 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      25.8844       -59.06 
-3.94666e+06 |     -20.4558       35.989 
-5.82176e+06 |      66.6114      12.0249 
     0.29816 |      454.151      -109.77 
    0.777133 |     -122.588      412.769 
   -0.377784 |      169.685       201.51 
   -0.405516 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -20.1884     -12.5285 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:31.888703   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636719.013556, t: 3221896.716961 -3946663.746752 -5821755.872397 q: -0.405516 0.298160 0.777133 -0.377784 
W0708 15:46:31.993301   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -41.0517       52.895 
-3.94666e+06 |      14.5095     -37.6011 
-5.82176e+06 |     -73.0183     -14.4311 
     0.29816 |     -598.942      128.191 
    0.777133 |      144.176     -374.855 
   -0.377784 |     -134.085     -293.493 
   -0.405516 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      41.0517      -52.895 
-3.94666e+06 |     -14.5095      37.6011 
-5.82176e+06 |      73.0183      14.4311 
     0.29816 |      606.204     -128.401 
    0.777133 |     -145.321      381.961 
   -0.377784 |      135.071      293.994 
   -0.405516 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -4.24124     -9.47781 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:31.993366   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636719.113555, t: 3221896.731102 -3946663.734337 -5821755.872990 q: -0.405516 0.298160 0.777133 -0.377784 
W0708 15:46:32.087801   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -45.6627        64.04 
-3.94666e+06 |      13.2107     -34.2632 
-5.82176e+06 |     -75.8918     -9.79243 
     0.29816 |     -649.501       201.16 
    0.777133 |      219.728     -448.038 
   -0.377784 |     -196.532     -315.499 
   -0.405516 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      45.6627       -64.04 
-3.94666e+06 |     -13.2107      34.2632 
-5.82176e+06 |      75.8918      9.79243 
     0.29816 |      654.684     -202.223 
    0.777133 |     -220.193       451.68 
   -0.377784 |      196.831      317.159 
   -0.405516 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |       -24.83     -8.77001 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:32.087870   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636719.213556, t: 3221896.758414 -3946663.715493 -5821755.870653 q: -0.405516 0.298160 0.777133 -0.377784 
unstable tracking...
time: 1403636719.313555, t: 3221896.718220 -3946663.749469 -5821755.879892 q: -0.389872 0.348783 0.746058 -0.412005 
W0708 15:46:32.289193   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -32.1761      56.3757 
-3.94666e+06 |      10.2055     -40.7912 
-5.82176e+06 |     -72.8432     -6.46777 
    0.339565 |     -535.134      138.594 
    0.760469 |      137.771     -400.062 
    -0.39948 |     -150.835     -263.382 
   -0.383143 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      32.1761     -56.3757 
-3.94666e+06 |     -10.2055      40.7912 
-5.82176e+06 |      72.8432      6.46777 
    0.348783 |      527.844     -132.935 
    0.746058 |     -147.801      409.863 
   -0.412005 |      165.026      250.304 
   -0.389872 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -42.2448     0.657404 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:32.289235   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636719.413555, t: 3221896.726833 -3946663.742603 -5821755.879783 q: -0.389872 0.348783 0.746058 -0.412005 
unstable tracking...
time: 1403636719.513556, t: 3221896.382629 -3946663.790203 -5821755.927440 q: -0.393816 0.335842 0.753014 -0.406312 
unstable tracking...
time: 1403636719.613555, t: 3221896.370165 -3946663.774568 -5821755.944940 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:32.590931   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -31.6099      56.7225 
-3.94666e+06 |      11.5383     -38.3213 
-5.82176e+06 |     -70.3912     -7.30421 
    0.345397 |     -510.007      127.253 
    0.749541 |       164.05     -409.597 
    -0.41004 |     -171.103     -249.556 
   -0.388274 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      31.6099     -56.7225 
-3.94666e+06 |     -11.5383      38.3213 
-5.82176e+06 |      70.3912      7.30421 
    0.335842 |      523.123     -136.683 
    0.753014 |     -151.348      417.067 
   -0.406312 |      171.591      247.382 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      12.3746     -28.6912 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:32.590975   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636719.713556, t: 3221896.485419 -3946663.751875 -5821755.874187 q: -0.393816 0.335842 0.753014 -0.406312 
unstable tracking...
time: 1403636719.813555, t: 3221896.505860 -3946663.724946 -5821755.881133 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:32.790724   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      -42.452      56.7611 
-3.94666e+06 |      7.41771     -38.0073 
-5.82176e+06 |     -74.7894     -7.12663 
    0.335842 |     -632.902      174.628 
    0.753014 |      191.996     -409.104 
   -0.406312 |     -172.045     -312.753 
   -0.393816 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |       42.452     -56.7611 
-3.94666e+06 |     -7.41771      38.0073 
-5.82176e+06 |      74.7894      7.12663 
    0.335842 |      645.883     -174.976 
    0.753014 |     -192.673      421.456 
   -0.406312 |       172.32      313.343 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      26.0312     -32.1928 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:32.790778   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636719.913555, t: 3221896.545654 -3946663.695660 -5821755.878966 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:32.888962   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -27.6795      60.1829 
-3.94666e+06 |      13.4969      -38.339 
-5.82176e+06 |     -69.9328     -6.50428 
    0.335842 |      -474.88      129.695 
    0.753014 |      143.869     -426.731 
   -0.406312 |     -184.076     -217.638 
   -0.393816 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      27.6795     -60.1829 
-3.94666e+06 |     -13.4969       38.339 
-5.82176e+06 |      69.9328      6.50428 
    0.335842 |      481.022     -131.177 
    0.753014 |     -144.734      431.665 
   -0.406312 |      185.063      220.125 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -30.9042     -7.22274 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:32.889008   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636720.013556, t: 3221896.626070 -3946663.651979 -5821755.825330 q: -0.393816 0.335842 0.753014 -0.406312 
time: 1403636720.113555, t: 3221896.790321 -3946663.585738 -5821755.741776 q: -0.393816 0.335842 0.753014 -0.406312 
unstable tracking...
time: 1403636720.213556, t: 3221896.781133 -3946663.594226 -5821755.741109 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:33.193503   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -30.8615      66.6659 
-3.94666e+06 |      15.9783     -45.2815 
-5.82176e+06 |     -80.2449     -8.71481 
    0.335842 |     -455.731      119.485 
    0.753014 |      130.335     -395.316 
   -0.406312 |     -170.098     -217.714 
   -0.393816 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      30.8615     -66.6659 
-3.94666e+06 |     -15.9783      45.2815 
-5.82176e+06 |      80.2449      8.71481 
    0.335842 |       472.66     -117.722 
    0.753014 |     -131.443      414.875 
   -0.406312 |      171.067      214.441 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.242726 |      36.6658     -39.0951 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:33.193588   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636720.313555, t: 3221896.763662 -3946663.612722 -5821755.738242 q: -0.393816 0.335842 0.753014 -0.406312 
unstable tracking...
time: 1403636720.413555, t: 3221896.731820 -3946663.647635 -5821755.732198 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:33.388770   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -39.7774      57.1998 
-3.94666e+06 |      9.62648     -40.9637 
-5.82176e+06 |     -76.6187      -8.6111 
    0.335842 |     -606.915      152.555 
    0.753014 |      163.626     -409.212 
   -0.406312 |     -159.143     -298.745 
   -0.393816 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      39.7774     -57.1998 
-3.94666e+06 |     -9.62648      40.9637 
-5.82176e+06 |      76.6187       8.6111 
    0.335842 |      590.161     -145.716 
    0.753014 |     -162.244      404.282 
   -0.406312 |      158.173      285.342 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      13.7929      4.30128 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:33.388836   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636720.513556, t: 3221896.702651 -3946663.721053 -5821755.586728 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:33.489727   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -43.3342      62.1174 
-3.94666e+06 |      7.69387     -37.5665 
-5.82176e+06 |     -76.6419     -5.63711 
    0.335842 |     -652.583      205.717 
    0.753014 |      215.391     -445.571 
   -0.406312 |     -195.615     -325.248 
   -0.393816 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      43.3342     -62.1174 
-3.94666e+06 |     -7.69387      37.5665 
-5.82176e+06 |      76.6419      5.63711 
    0.335842 |      643.228     -197.208 
    0.753014 |     -214.893      449.504 
   -0.406312 |      195.406      311.674 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      57.0125     -16.6441 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:33.489781   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636720.613555, t: 3221896.788216 -3946663.694537 -5821755.523306 q: -0.393816 0.335842 0.753014 -0.406312 
unstable tracking...
time: 1403636720.713556, t: 3221896.839772 -3946663.668207 -5821755.494975 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:33.692587   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 6.84219e-07 |     -34.1738     0.264033 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:33.692642   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636720.813555, t: 3221896.918039 -3946663.610146 -5821755.463484 q: -0.393816 0.335842 0.753014 -0.406312 
unstable tracking...
time: 1403636720.913555, t: 3221896.900954 -3946663.617862 -5821755.467711 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:33.886248   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -40.4141      50.8534 
-3.94666e+06 |      8.56966     -41.2087 
-5.82176e+06 |     -74.8853     -10.2271 
    0.335842 |     -605.358      126.164 
    0.753014 |       141.23     -371.511 
   -0.406312 |     -129.249     -296.535 
   -0.393816 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      40.4141     -50.8534 
-3.94666e+06 |     -8.56966      41.2087 
-5.82176e+06 |      74.8853      10.2271 
    0.335842 |      612.625     -126.476 
    0.753014 |     -143.571      378.887 
   -0.406312 |      131.478      297.294 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -6.58746     -2.43512 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:33.886292   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636721.013556, t: 3221896.865029 -3946663.622326 -5821755.484569 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:33.995680   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -38.7854      57.1705 
-3.94666e+06 |      9.80139     -40.4858 
-5.82176e+06 |     -75.7223     -8.36142 
    0.335842 |     -582.168      144.802 
    0.753014 |      167.726     -411.148 
   -0.406312 |     -166.737     -279.201 
   -0.393816 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      38.7854     -57.1705 
-3.94666e+06 |     -9.80139      40.4858 
-5.82176e+06 |      75.7223      8.36142 
    0.335842 |      582.866     -145.962 
    0.753014 |     -162.281      406.757 
   -0.406312 |      160.691      281.446 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -51.0172     -25.7564 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:33.995750   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636721.113555, t: 3221896.949908 -3946663.679414 -5821755.532650 q: -0.393816 0.335842 0.753014 -0.406312 
W0708 15:46:34.086756   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -22.7566       52.588 
-3.94666e+06 |      15.5214     -41.6714 
-5.82176e+06 |      -68.311     -10.0697 
    0.335842 |     -436.481      82.6398 
    0.753014 |       102.52      -383.24 
   -0.406312 |     -147.939     -187.997 
   -0.393816 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      22.7566      -52.588 
-3.94666e+06 |     -15.5214      41.6714 
-5.82176e+06 |       68.311      10.0697 
    0.335842 |      439.274     -83.9416 
    0.753014 |      -96.445      379.875 
   -0.406312 |      138.059       190.93 
   -0.393816 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -44.7655     -50.5061 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:34.086843   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636721.213556, t: 3221896.995684 -3946663.721018 -5821755.554094 q: -0.393816 0.335842 0.753014 -0.406312 
unstable tracking...
time: 1403636721.313555, t: 3221896.912663 -3946663.623170 -5821755.491406 q: -0.373058 0.352615 0.763686 -0.391502 
unstable tracking...
time: 1403636721.413555, t: 3221896.876403 -3946663.638919 -5821755.500798 q: -0.373058 0.352615 0.763686 -0.391502 
W0708 15:46:34.386837   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -29.4788      59.9612 
-3.94666e+06 |      12.1386     -40.1617 
-5.82176e+06 |     -75.8048     -3.43994 
    0.329371 |     -539.842      182.703 
    0.762391 |      123.985     -423.521 
   -0.383582 |      -204.02      -237.08 
   -0.403905 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      29.4788     -59.9612 
-3.94666e+06 |     -12.1386      40.1617 
-5.82176e+06 |      75.8048      3.43994 
    0.352615 |      537.562     -146.989 
    0.763686 |     -162.122      425.271 
   -0.391502 |      178.304        255.8 
   -0.373058 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -41.0952     -9.23863 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:34.386880   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636721.513556, t: 3221896.965027 -3946663.696912 -5821755.524633 q: -0.373058 0.352615 0.763686 -0.391502 
W0708 15:46:34.486423   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -24.3055       56.573 
-3.94666e+06 |      13.8538      -40.943 
-5.82176e+06 |     -72.7313     -4.91612 
    0.352615 |     -487.583      116.041 
    0.763686 |      137.029     -407.714 
   -0.391502 |     -169.239     -224.442 
   -0.373058 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      24.3055      -56.573 
-3.94666e+06 |     -13.8538       40.943 
-5.82176e+06 |      72.7313      4.91612 
    0.352615 |      490.103     -117.197 
    0.763686 |     -131.078      404.408 
   -0.391502 |      161.046      226.685 
   -0.373058 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -41.1861     -42.2265 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:34.486488   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636721.613555, t: 3221896.994404 -3946663.710184 -5821755.554731 q: -0.373058 0.352615 0.763686 -0.391502 
unstable tracking...
time: 1403636721.713556, t: 3221897.068700 -3946663.665671 -5821755.509135 q: -0.378037 0.351383 0.763319 -0.388539 
unstable tracking...
time: 1403636721.813555, t: 3221897.137610 -3946663.616883 -5821755.473246 q: -0.378037 0.351383 0.763319 -0.388539 
W0708 15:46:34.780704   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |       -26.87      50.6933 
-3.94666e+06 |      12.8023     -40.4373 
-5.82176e+06 |     -70.8507     -6.98809 
    0.351172 |     -507.061      113.982 
    0.762753 |      122.355     -369.917 
   -0.387308 |     -140.846     -245.881 
   -0.380629 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |        26.87     -50.6933 
-3.94666e+06 |     -12.8023      40.4373 
-5.82176e+06 |      70.8507      6.98809 
    0.351383 |      521.609     -111.802 
    0.763319 |     -126.501       385.13 
   -0.388539 |      140.998      246.983 
   -0.378037 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |       20.847     -17.1236 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:34.780758   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636721.913555, t: 3221897.174019 -3946663.588852 -5821755.444653 q: -0.378037 0.351383 0.763319 -0.388539 
unstable tracking...
time: 1403636722.013556, t: 3221897.175827 -3946663.587447 -5821755.444607 q: -0.378037 0.351383 0.763319 -0.388539 
W0708 15:46:34.985608   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -27.7565      56.2194 
-3.94666e+06 |      12.9273     -39.6328 
-5.82176e+06 |     -72.4232     -4.84975 
    0.351383 |     -515.965      134.858 
    0.763319 |      147.894     -403.791 
   -0.388539 |     -166.573     -248.324 
   -0.378037 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      27.7565     -56.2194 
-3.94666e+06 |     -12.9273      39.6328 
-5.82176e+06 |      72.4232      4.84975 
    0.351383 |      525.368     -135.117 
    0.763319 |     -149.863      413.872 
   -0.388539 |      168.704      248.782 
   -0.378037 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     0.371286     -13.2989 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:34.985687   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636722.113555, t: 3221897.179436 -3946663.584972 -5821755.444290 q: -0.378037 0.351383 0.763319 -0.388539 
unstable tracking...
time: 1403636722.213556, t: 3221897.186603 -3946663.580856 -5821755.443117 q: -0.378037 0.351383 0.763319 -0.388539 
unstable tracking...
time: 1403636722.313555, t: 3221897.200755 -3946663.572680 -5821755.440831 q: -0.378037 0.351383 0.763319 -0.388539 
time: 1403636722.413555, t: 3221897.219896 -3946663.555320 -5821755.425592 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636722.513556, t: 3221897.204540 -3946663.544228 -5821755.441612 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:35.487993   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -28.7201       54.356 
-3.94666e+06 |      12.0588     -41.1755 
-5.82176e+06 |     -73.1473     -6.25301 
    0.351162 |      -520.58      122.873 
    0.761253 |       134.22     -391.333 
   -0.392408 |     -150.026     -250.736 
   -0.378413 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      28.7201      -54.356 
-3.94666e+06 |     -12.0588      41.1755 
-5.82176e+06 |      73.1473      6.25301 
    0.351634 |      521.978      -121.36 
    0.758114 |     -136.098      396.855 
   -0.396776 |      152.909      246.975 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -26.2571     -1.40763 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:35.488085   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636722.613555, t: 3221897.261218 -3946663.526895 -5821755.554286 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636722.713556, t: 3221897.255824 -3946663.512142 -5821755.567274 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:35.688434   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -42.8917       51.342 
-3.94666e+06 |      7.26159     -43.0701 
-5.82176e+06 |      -80.769     -8.13888 
    0.351634 |     -665.178      133.526 
    0.758114 |      156.133     -378.055 
   -0.396776 |     -129.147     -318.056 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      42.8917      -51.342 
-3.94666e+06 |     -7.26159      43.0701 
-5.82176e+06 |       80.769      8.13888 
    0.351634 |      675.615     -137.592 
    0.758114 |     -156.243      378.262 
   -0.396776 |      128.935      327.691 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -82.4921     0.290898 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:35.688517   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636722.813555, t: 3221897.257357 -3946663.485287 -5821755.558635 q: -0.379717 0.351634 0.758114 -0.396776 
time: 1403636722.913555, t: 3221897.251076 -3946663.452408 -5821755.548573 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636723.013556, t: 3221897.257263 -3946663.457135 -5821755.546254 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:35.994594   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -23.8297      57.2161 
-3.94666e+06 |      14.0253     -40.7109 
-5.82176e+06 |     -71.3411     -5.17597 
    0.351634 |     -473.084      116.109 
    0.758114 |      127.447     -407.357 
   -0.396776 |     -164.122     -216.088 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      23.8297     -57.2161 
-3.94666e+06 |     -14.0253      40.7109 
-5.82176e+06 |      71.3411      5.17597 
    0.351634 |      475.106     -116.315 
    0.758114 |     -129.755      410.804 
   -0.396776 |      167.334      216.467 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -30.211      11.5986 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:35.994642   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636723.113555, t: 3221897.252924 -3946663.459504 -5821755.547762 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636723.213556, t: 3221897.255830 -3946663.455588 -5821755.548593 q: -0.379717 0.351634 0.758114 -0.396776 
time: 1403636723.313555, t: 3221897.276935 -3946663.440955 -5821755.539937 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636723.413555, t: 3221897.338896 -3946663.398649 -5821755.514061 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:36.388152   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -40.6082      58.7164 
-3.94666e+06 |      7.59408     -39.0928 
-5.82176e+06 |     -78.3739      -3.8765 
    0.351634 |      -650.25      186.578 
    0.758114 |       203.82     -423.733 
   -0.396776 |     -179.772     -318.506 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      40.6082     -58.7164 
-3.94666e+06 |     -7.59408      39.0928 
-5.82176e+06 |      78.3739       3.8765 
    0.351634 |      658.515     -187.027 
    0.758114 |     -205.055      431.675 
   -0.396776 |      180.729      319.247 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      0.80881      -16.393 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:36.388195   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636723.513556, t: 3221897.351746 -3946663.400532 -5821755.505675 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636723.613555, t: 3221897.362284 -3946663.378569 -5821755.487782 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:36.584820   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -118.297      254.885 
-3.94666e+06 |      74.4451     -225.657 
-5.82176e+06 |     -366.925     -46.7309 
    0.351634 |     -411.893      76.8695 
    0.758114 |      87.3715     -314.971 
   -0.396776 |     -112.389     -201.205 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      118.297     -254.885 
-3.94666e+06 |     -74.4451      225.657 
-5.82176e+06 |      366.925      46.7309 
    0.351634 |      460.342     -76.0734 
    0.758114 |       -97.61      369.103 
   -0.396776 |      125.553       199.53 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.22468 |     0.129587     -4.69527 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:36.584885   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636723.713556, t: 3221897.387872 -3946663.358225 -5821755.462481 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636723.813555, t: 3221897.432808 -3946663.343079 -5821755.427658 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:36.792959   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -38.6641      57.9331 
-3.94666e+06 |      8.12928     -38.9299 
-5.82176e+06 |     -77.0028     -4.01641 
    0.351634 |     -629.788      180.004 
    0.758114 |      195.757     -418.895 
   -0.396776 |      -178.14      -310.92 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      38.6641     -57.9331 
-3.94666e+06 |     -8.12928      38.9299 
-5.82176e+06 |      77.0028      4.01641 
    0.351634 |      637.923     -179.134 
    0.758114 |     -196.656      428.785 
   -0.396776 |      178.795      309.374 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      22.4583     -24.2504 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:36.793001   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636723.913555, t: 3221897.486477 -3946663.328779 -5821755.400182 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636724.013556, t: 3221897.551012 -3946663.305737 -5821755.400700 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:36.987427   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2052     0.243658 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:36.987463   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636724.113555, t: 3221897.618312 -3946663.294048 -5821755.381187 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:37.087916   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -24.2906      52.7295 
-3.94666e+06 |      12.8718      -39.645 
-5.82176e+06 |     -68.9464     -5.90644 
    0.351634 |     -471.804      111.159 
    0.758114 |      127.152     -383.731 
   -0.396776 |     -156.984     -223.746 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      24.2906     -52.7295 
-3.94666e+06 |     -12.8718       39.645 
-5.82176e+06 |      68.9464      5.90644 
    0.351634 |      488.759     -112.276 
    0.758114 |      -126.03      397.855 
   -0.396776 |      154.844      225.993 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      12.3219     -47.6741 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:37.087976   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636724.213556, t: 3221897.729663 -3946663.255742 -5821755.342080 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:37.186854   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -34.1639      52.0892 
-3.94666e+06 |      9.42718     -40.1624 
-5.82176e+06 |     -73.9853     -6.36851 
    0.351634 |     -574.109      135.517 
    0.758114 |      153.275     -380.758 
   -0.396776 |     -148.868     -283.055 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      34.1639     -52.0892 
-3.94666e+06 |     -9.42718      40.1624 
-5.82176e+06 |      73.9853      6.36851 
    0.351634 |      590.323     -136.752 
    0.758114 |     -153.171        394.1 
   -0.396776 |      148.234      285.645 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      17.4354     -35.1053 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:37.186911   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636724.313555, t: 3221897.760509 -3946663.218005 -5821755.350594 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636724.413555, t: 3221897.822306 -3946663.168902 -5821755.354504 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636724.513556, t: 3221897.931322 -3946663.108819 -5821755.335718 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:37.493475   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -27.9729      52.1688 
-3.94666e+06 |      11.6444     -40.1093 
-5.82176e+06 |     -70.9777     -6.31709 
    0.351634 |     -505.428      116.844 
    0.758114 |      132.603     -379.193 
   -0.396776 |     -148.605     -243.058 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      27.9729     -52.1688 
-3.94666e+06 |     -11.6444      40.1093 
-5.82176e+06 |      70.9777      6.31709 
    0.351634 |       523.31     -119.161 
    0.758114 |     -133.874      393.539 
   -0.396776 |      149.583      247.884 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -1.3982     -27.5137 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:37.493518   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636724.613555, t: 3221897.968981 -3946663.089541 -5821755.323459 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636724.713556, t: 3221898.043720 -3946663.051964 -5821755.315542 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:37.680677   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -18.8961      53.0452 
-3.94666e+06 |      14.9453     -39.8941 
-5.82176e+06 |     -66.7008     -5.94809 
    0.351634 |     -426.277      94.2381 
    0.758114 |      107.649      -383.51 
   -0.396776 |       -155.5     -189.762 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      18.8961     -53.0452 
-3.94666e+06 |     -14.9453      39.8941 
-5.82176e+06 |      66.7008      5.94809 
    0.351634 |      441.198     -95.4158 
    0.758114 |      -107.82      396.724 
   -0.396776 |      155.196      192.133 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -2.60205     -34.0747 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:37.680718   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636724.813555, t: 3221898.133396 -3946663.020098 -5821755.282788 q: -0.379717 0.351634 0.758114 -0.396776 
W0708 15:46:37.786727   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -38.4012      51.9803 
-3.94666e+06 |      8.52723     -41.8935 
-5.82176e+06 |     -77.6799     -7.32518 
    0.351634 |     -621.478      135.747 
    0.758114 |      153.839     -380.533 
   -0.396776 |     -138.254     -303.318 
   -0.379717 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      38.4012     -51.9803 
-3.94666e+06 |     -8.52723      41.8935 
-5.82176e+06 |      77.6799      7.32518 
    0.351634 |      628.073     -136.481 
    0.758114 |     -153.929      385.382 
   -0.396776 |      138.141      304.966 
   -0.379717 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -17.885     -11.0203 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:37.786768   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636724.913555, t: 3221898.115871 -3946663.028435 -5821755.286838 q: -0.379717 0.351634 0.758114 -0.396776 
unstable tracking...
time: 1403636725.013556, t: 3221898.071117 -3946663.037781 -5821755.246135 q: -0.351254 0.401196 0.734426 -0.419858 
W0708 15:46:37.991444   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -29.7643      60.4515 
-3.94666e+06 |      3.35445     -41.5079 
-5.82176e+06 |     -78.1622      5.02159 
    0.370888 |     -581.609       213.33 
    0.749565 |       145.34      -433.19 
   -0.405767 |      -198.95     -272.901 
    -0.36871 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      29.7643     -60.4515 
-3.94666e+06 |     -3.35445      41.5079 
-5.82176e+06 |      78.1622     -5.02159 
    0.401196 |      573.763     -178.538 
    0.734426 |     -194.541      453.857 
   -0.419858 |      200.312      275.872 
   -0.351254 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -26.2035     0.520023 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:37.991487   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636725.113555, t: 3221898.044621 -3946662.995617 -5821755.330513 q: -0.351254 0.401196 0.734426 -0.419858 
unstable tracking...
time: 1403636725.213556, t: 3221898.088075 -3946662.957837 -5821755.336644 q: -0.351254 0.401196 0.734426 -0.419858 
W0708 15:46:38.189818   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -15.8166      58.2788 
-3.94666e+06 |      8.62238     -43.1567 
-5.82176e+06 |     -72.1545      3.61786 
    0.372885 |     -449.569      144.457 
    0.748729 |      90.2834     -418.293 
   -0.406825 |     -181.265     -189.556 
   -0.367227 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      15.8166     -58.2788 
-3.94666e+06 |     -8.62238      43.1567 
-5.82176e+06 |      72.1545     -3.61786 
    0.401196 |      442.016     -113.458 
    0.734426 |     -125.926      428.694 
   -0.419858 |      183.651      191.988 
   -0.351254 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -44.7613      16.6146 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:38.189859   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636725.313555, t: 3221898.069002 -3946662.918378 -5821755.535389 q: -0.351254 0.401196 0.734426 -0.419858 
unstable tracking...
time: 1403636725.413555, t: 3221898.140770 -3946662.863787 -5821755.505822 q: -0.351254 0.401196 0.734426 -0.419858 
W0708 15:46:38.388245   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -35.5884      54.1682 
-3.94666e+06 |      1.10015     -43.1918 
-5.82176e+06 |     -80.4263      2.16343 
    0.401196 |     -625.373      160.381 
    0.734426 |      181.368     -404.726 
   -0.419858 |     -161.871     -300.192 
   -0.351254 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      35.5884     -54.1682 
-3.94666e+06 |     -1.10015      43.1918 
-5.82176e+06 |      80.4263     -2.16343 
    0.401196 |      645.023     -167.208 
    0.734426 |     -184.957      413.028 
   -0.419858 |      164.849      312.988 
   -0.351254 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -65.9542    -0.435488 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:38.388325   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636725.513556, t: 3221898.173782 -3946662.843663 -5821755.466024 q: -0.351254 0.401196 0.734426 -0.419858 
W0708 15:46:38.489845   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -34.0429      48.8131 
-3.94666e+06 |      1.55294     -44.6498 
-5.82176e+06 |     -79.1745    -0.281425 
    0.401196 |     -621.498      133.695 
    0.734426 |      148.673     -373.267 
   -0.419858 |     -132.703     -306.131 
   -0.351254 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      34.0429     -48.8131 
-3.94666e+06 |     -1.55294      44.6498 
-5.82176e+06 |      79.1745     0.281425 
    0.401196 |      629.224     -133.441 
    0.734426 |     -150.905      382.276 
   -0.419858 |      134.745      305.579 
   -0.351254 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      9.61572     -7.64091 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:38.489887   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636725.613555, t: 3221898.166664 -3946662.847329 -5821755.467481 q: -0.351254 0.401196 0.734426 -0.419858 
unstable tracking...
time: 1403636725.813555, t: 3221898.203580 -3946662.806655 -5821755.487172 q: -0.355534 0.402030 0.732975 -0.417989 
unstable tracking...
time: 1403636725.913555, t: 3221898.215424 -3946662.835237 -5821755.464767 q: -0.355952 0.402904 0.732743 -0.417199 
W0708 15:46:38.891767   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1987     0.221464 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:38.891841   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636726.013556, t: 3221898.239052 -3946662.811321 -5821755.467906 q: -0.355952 0.402904 0.732743 -0.417199 
unstable tracking...
W0708 15:46:39.089112   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

     48.2713 |     -37.2686     0.304523 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:39.089167   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636726.213556, t: 3221898.265178 -3946662.787757 -5821755.445652 q: -0.356136 0.397743 0.734466 -0.418960 
unstable tracking...
time: 1403636726.313555, t: 3221898.285930 -3946662.770765 -5821755.449214 q: -0.357859 0.395513 0.733580 -0.421149 
W0708 15:46:39.288512   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      -34.554      59.5088 
-3.94666e+06 |       2.4601     -41.4419 
-5.82176e+06 |     -79.0804      3.80919 
    0.404252 |     -613.581      189.221 
    0.732124 |       214.03     -446.752 
    -0.41671 |      -197.39     -301.546 
   -0.356269 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |       34.554     -59.5088 
-3.94666e+06 |      -2.4601      41.4419 
-5.82176e+06 |      79.0804     -3.80919 
     0.39836 |      621.019     -192.322 
    0.733324 |     -209.459      451.824 
   -0.419226 |      197.692      300.675 
   -0.357484 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -27.3468      2.65769 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:39.288599   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636726.413555, t: 3221898.327341 -3946662.779944 -5821755.399297 q: -0.357859 0.395513 0.733580 -0.421149 
unstable tracking...
time: 1403636726.513556, t: 3221898.264053 -3946662.798845 -5821755.403400 q: -0.360203 0.396056 0.733509 -0.418758 
W0708 15:46:39.487442   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      -27.322      52.3927 
-3.94666e+06 |        5.618     -44.4027 
-5.82176e+06 |     -75.7012    -0.297374 
    0.397966 |     -532.257      122.812 
    0.734824 |      143.069     -393.515 
   -0.417682 |     -149.628     -257.712 
    -0.35665 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |       27.322     -52.3927 
-3.94666e+06 |       -5.618      44.4027 
-5.82176e+06 |      75.7012     0.297374 
    0.396056 |      534.656     -125.324 
    0.733509 |       -140.4      397.396 
   -0.418758 |      153.075      254.546 
   -0.360203 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -23.9817     -3.21952 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:39.487506   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636726.613555, t: 3221898.286070 -3946662.772953 -5821755.408770 q: -0.360203 0.396056 0.733509 -0.418758 
unstable tracking...
time: 1403636726.713556, t: 3221898.325425 -3946662.822029 -5821755.385894 q: -0.359172 0.417492 0.714033 -0.432265 
W0708 15:46:39.692693   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -7.32897      20.1188 
-3.94666e+06 |      2.14631     -15.8829 
-5.82176e+06 |     -26.1855       1.1581 
     0.39502 |     -479.586      137.558 
     0.73509 |      120.141     -415.948 
   -0.418792 |     -170.265     -223.653 
   -0.358072 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      7.32897     -20.1188 
-3.94666e+06 |     -2.14631      15.8829 
-5.82176e+06 |      26.1855      -1.1581 
    0.410176 |      471.412     -124.031 
    0.721088 |      -135.72      423.899 
   -0.428155 |      178.687      214.787 
   -0.358428 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

   0.0714277 |     -25.3352     -14.0519 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:39.692773   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636726.813555, t: 3221898.394020 -3946662.790279 -5821755.343793 q: -0.359172 0.417492 0.714033 -0.432265 
unstable tracking...
time: 1403636726.913555, t: 3221898.340397 -3946662.786082 -5821755.354312 q: -0.370787 0.400922 0.725770 -0.418373 
time: 1403636727.013556, t: 3221898.440488 -3946662.749605 -5821755.296492 q: -0.370787 0.400922 0.725770 -0.418373 
time: 1403636727.113555, t: 3221898.399388 -3946662.809741 -5821755.329965 q: -0.382938 0.395868 0.726962 -0.410088 
time: 1403636727.213556, t: 3221898.476509 -3946662.735298 -5821755.509483 q: -0.382938 0.395868 0.726962 -0.410088 
time: 1403636727.313555, t: 3221898.194119 -3946662.622838 -5821755.233136 q: -0.372211 0.370846 0.749932 -0.401913 
time: 1403636727.413555, t: 3221898.253444 -3946662.718101 -5821755.106410 q: -0.372211 0.370846 0.749932 -0.401913 
time: 1403636727.513556, t: 3221898.356043 -3946662.794624 -5821755.283309 q: -0.388206 0.383208 0.738635 -0.396063 
time: 1403636727.613555, t: 3221898.349697 -3946662.891428 -5821755.221198 q: -0.388206 0.383208 0.738635 -0.396063 
time: 1403636727.713556, t: 3221898.407882 -3946662.772061 -5821755.206301 q: -0.386200 0.392039 0.734165 -0.397690 
time: 1403636727.813555, t: 3221898.446070 -3946662.756669 -5821755.196355 q: -0.386260 0.391943 0.734191 -0.397678 
time: 1403636727.913555, t: 3221898.486654 -3946662.781504 -5821755.136932 q: -0.391532 0.389633 0.738845 -0.386002 
W0708 15:46:40.891551   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -20.2984      53.0318 
-3.94666e+06 |      15.2136     -45.8977 
-5.82176e+06 |     -70.9418     -4.25937 
    0.392163 |     -456.248      103.419 
     0.73336 |      125.831     -406.481 
   -0.395867 |     -162.782     -204.879 
   -0.389462 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      20.2984     -53.0318 
-3.94666e+06 |     -15.2136      45.8977 
-5.82176e+06 |      70.9418      4.25937 
    0.389633 |       459.54     -108.723 
    0.738845 |     -121.727      407.625 
   -0.386002 |      164.896      205.539 
   -0.391532 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      8.13038     -4.71291 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:40.891618   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636728.013556, t: 3221898.456602 -3946662.788792 -5821755.120960 q: -0.391532 0.389633 0.738845 -0.386002 
time: 1403636728.113555, t: 3221898.538976 -3946662.790236 -5821755.084425 q: -0.393059 0.397750 0.733003 -0.387307 
W0708 15:46:41.091392   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -40.5197      56.3933 
-3.94666e+06 |      9.40535     -45.6211 
-5.82176e+06 |     -80.3532      -1.8323 
    0.395392 |     -662.825      193.846 
    0.733075 |      212.637     -435.953 
   -0.392075 |     -181.662     -324.367 
   -0.390569 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      40.5197     -56.3933 
-3.94666e+06 |     -9.40535      45.6211 
-5.82176e+06 |      80.3532       1.8323 
     0.39775 |      663.835     -195.502 
    0.733003 |     -213.699      440.123 
   -0.387307 |      187.529      321.636 
   -0.393059 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      17.4884     -13.3986 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:41.091470   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636728.213556, t: 3221898.523549 -3946662.808389 -5821755.080660 q: -0.393059 0.397750 0.733003 -0.387307 
time: 1403636728.313555, t: 3221898.524342 -3946662.767425 -5821755.035488 q: -0.391079 0.404982 0.728517 -0.390268 
time: 1403636728.413555, t: 3221898.519637 -3946662.776047 -5821755.033283 q: -0.391018 0.404945 0.728524 -0.390355 
time: 1403636728.513556, t: 3221898.556233 -3946662.852021 -5821755.003939 q: -0.390762 0.415687 0.719085 -0.396769 
W0708 15:46:41.495323   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -31.4129      49.4847 
-3.94666e+06 |      8.94645     -46.6722 
-5.82176e+06 |     -74.6377     -1.73118 
    0.405196 |     -576.156      165.786 
    0.730066 |       144.06     -394.628 
   -0.382268 |     -164.346     -285.747 
   -0.395842 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      31.4129     -49.4847 
-3.94666e+06 |     -8.94645      46.6722 
-5.82175e+06 |      74.6377      1.73118 
    0.415687 |      574.746     -148.081 
    0.719085 |     -164.072      411.874 
   -0.396769 |        165.6      277.068 
   -0.390762 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      6.72844     -15.8773 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:41.495419   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636728.613555, t: 3221898.571890 -3946662.861505 -5821754.988847 q: -0.390762 0.415687 0.719085 -0.396769 
time: 1403636728.713556, t: 3221898.669441 -3946662.937358 -5821754.955174 q: -0.399949 0.414646 0.713016 -0.399647 
W0708 15:46:41.689551   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |      -28.772      51.1367 
-3.94666e+06 |      10.0758     -46.2947 
-5.82175e+06 |     -71.9095     -1.74526 
    0.416933 |     -530.364      150.787 
    0.722359 |      164.737     -413.626 
   -0.385576 |     -176.815     -266.924 
   -0.394582 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |       28.772     -51.1367 
-3.94666e+06 |     -10.0758      46.2947 
-5.82176e+06 |      71.9095      1.74526 
    0.414646 |      534.155     -147.185 
    0.713016 |     -162.099      427.025 
   -0.399647 |      179.857      253.844 
   -0.399949 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -18.2992     -30.3668 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:41.689635   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636728.813555, t: 3221898.655605 -3946662.946500 -5821755.000293 q: -0.399949 0.414646 0.713016 -0.399647 
time: 1403636728.913555, t: 3221899.103313 -3946662.882171 -5821754.674065 q: -0.411947 0.414803 0.699370 -0.411242 
time: 1403636729.013556, t: 3221898.937773 -3946662.754576 -5821754.729523 q: -0.437691 0.371444 0.717787 -0.394001 
W0708 15:46:41.990216   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  3.2219e+06 |     -42.4481      42.0293 
-3.94666e+06 |      12.8547     -46.8038 
-5.82175e+06 |     -71.3016     -13.0188 
    0.396971 |      -602.08      88.2338 
    0.718916 |      171.011     -360.395 
   -0.395239 |     -101.321     -312.425 
   -0.411534 |            0            0 

Parameter Block 1, size: 7

  3.2219e+06 |      42.4481     -42.0293 
-3.94666e+06 |     -12.8547      46.8038 
-5.82175e+06 |      71.3016      13.0188 
    0.371444 |      611.973     -115.626 
    0.717787 |     -132.727      369.237 
   -0.394001 |      120.243      297.071 
   -0.437691 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.2757     0.460682 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:41.990255   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636729.113555, t: 3221898.954225 -3946662.735844 -5821754.623430 q: -0.437691 0.371444 0.717787 -0.394001 
W0708 15:46:42.087664   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1852     0.258772 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:42.087715   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636729.213556, t: 3221898.992167 -3946662.712064 -5821754.530697 q: -0.437691 0.371444 0.717787 -0.394001 
time: 1403636729.313555, t: 3221898.782101 -3946662.779689 -5821754.624636 q: -0.434871 0.414623 0.727276 -0.331730 
time: 1403636729.413555, t: 3221853.885097 -3946657.875875 -5821806.752675 q: -0.208329 0.671160 0.628503 -0.333358 
W0708 15:46:42.391568   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -40.8335      28.6734 
-3.94666e+06 |       1.3689      41.4737 
 -5.8218e+06 |      10.4076       23.806 
    0.638076 |      85.7268      182.551 
    0.656615 |      90.7742      42.1566 
   -0.331725 |      132.394          153 
    -0.22732 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |      40.8335     -28.6734 
-3.94666e+06 |      -1.3689     -41.4737 
-5.82181e+06 |     -10.4076      -23.806 
     0.67116 |      393.365     -188.994 
    0.628503 |     -211.084       704.35 
   -0.333358 |     -352.664     -185.105 
   -0.208329 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -1283.59      1703.15 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:42.391635   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636729.513556, t: 3221853.798585 -3946657.905449 -5821806.780505 q: -0.208329 0.671160 0.628503 -0.333358 
time: 1403636729.613555, t: 3221853.774661 -3946657.923984 -5821806.785418 q: -0.208329 0.671160 0.628503 -0.333358 
W0708 15:46:42.589771   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 6.46324e-06 |     -34.1888     0.274032 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:42.589836   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636729.713556, t: 3221853.787646 -3946657.971938 -5821806.770070 q: -0.208329 0.671160 0.628503 -0.333358 
time: 1403636729.813555, t: 3221853.767126 -3946658.008049 -5821806.553217 q: -0.208329 0.671160 0.628503 -0.333358 
W0708 15:46:42.797442   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |      1.47456      18.3806 
-3.94666e+06 |      -14.015     -56.1444 
-5.82181e+06 |     -84.3246      28.2469 
     0.67116 |     -619.886      125.604 
    0.628503 |      146.873     -369.679 
   -0.333358 |     -133.594      -309.96 
   -0.208329 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |     -1.47456     -18.3806 
-3.94666e+06 |       14.015      56.1444 
-5.82181e+06 |      84.3246     -28.2469 
     0.67116 |      617.354     -121.425 
    0.628503 |     -138.659      373.454 
   -0.333358 |      125.111      299.734 
   -0.208329 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |       55.493     -57.7815 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:42.797495   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636729.913555, t: 3221853.863139 -3946657.938570 -5821806.530718 q: -0.208329 0.671160 0.628503 -0.333358 
W0708 15:46:42.890440   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |      13.7752       23.087 
-3.94666e+06 |      -11.549     -54.2517 
-5.82181e+06 |     -70.1576      32.9258 
     0.67116 |     -451.653      113.082 
    0.628503 |      122.467     -395.138 
   -0.333358 |     -165.866     -213.229 
   -0.208329 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |     -13.7752      -23.087 
-3.94666e+06 |       11.549      54.2517 
-5.82181e+06 |      70.1576     -32.9258 
     0.67116 |      460.339     -109.365 
    0.628503 |     -122.297      408.089 
   -0.333358 |      165.288      206.177 
   -0.208329 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |       47.973     -38.8105 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:42.890492   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636730.013556, t: 3221853.893520 -3946657.944965 -5821806.505215 q: -0.208329 0.671160 0.628503 -0.333358 
time: 1403636730.113555, t: 3221853.916076 -3946657.942653 -5821806.452491 q: -0.208329 0.671160 0.628503 -0.333358 
time: 1403636730.213556, t: 3221853.875784 -3946657.929395 -5821806.459849 q: -0.208329 0.671160 0.628503 -0.333358 
time: 1403636730.313555, t: 3221853.914950 -3946657.920575 -5821806.407366 q: -0.208329 0.671160 0.628503 -0.333358 
W0708 15:46:43.294953   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |       15.624      61.0237 
-3.94666e+06 |      -30.017     -125.695 
-5.82181e+06 |      -181.27      84.2508 
     0.67116 |     -525.357      160.625 
    0.628503 |      172.154     -413.194 
   -0.333358 |      -188.05      -265.71 
   -0.208329 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |      -15.624     -61.0237 
-3.94666e+06 |       30.017      125.695 
-5.82181e+06 |       181.27     -84.2508 
     0.67116 |      541.817     -154.842 
    0.628503 |     -173.548      438.138 
   -0.333358 |      189.165      255.967 
   -0.208329 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.485513 |      31.2436     -28.3042 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:43.295017   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636730.413555, t: 3221853.968327 -3946657.906198 -5821806.336921 q: -0.208329 0.671160 0.628503 -0.333358 
W0708 15:46:43.394057   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |      12.1887      22.9832 
-3.94666e+06 |     -12.2766     -56.1103 
-5.82181e+06 |     -74.4467      33.1079 
     0.67116 |     -477.901       113.05 
    0.628503 |      126.321     -397.995 
   -0.333358 |     -159.076     -221.634 
   -0.208329 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |     -12.1887     -22.9832 
-3.94666e+06 |      12.2766      56.1103 
-5.82181e+06 |      74.4467     -33.1079 
     0.67116 |      481.503     -112.733 
    0.628503 |     -126.357      401.964 
   -0.333358 |      158.996       221.01 
   -0.208329 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -16.0686     -10.4543 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:43.394116   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636730.513556, t: 3221853.996392 -3946657.899726 -5821806.282557 q: -0.208329 0.671160 0.628503 -0.333358 
unstable tracking...
time: 1403636730.613555, t: 3221854.023766 -3946657.932124 -5821806.174783 q: -0.208329 0.671160 0.628503 -0.333358 
time: 1403636730.713556, t: 3221854.008198 -3946657.876046 -5821806.255208 q: -0.215639 0.663172 0.633084 -0.336017 
unstable tracking...
time: 1403636730.813555, t: 3221854.011886 -3946657.895479 -5821806.239996 q: -0.215639 0.663172 0.633084 -0.336017 
W0708 15:46:43.790814   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |      9.71894      24.9648 
-3.94666e+06 |     -11.4293     -56.1357 
-5.82181e+06 |     -76.2438      32.7661 
    0.661512 |      -494.93      125.267 
    0.635409 |       132.45     -403.212 
   -0.334346 |     -163.784     -232.429 
   -0.216496 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |     -9.71894     -24.9648 
-3.94666e+06 |      11.4293      56.1357 
-5.82181e+06 |      76.2438     -32.7661 
    0.663172 |      497.038     -122.023 
    0.633084 |     -136.062      408.128 
   -0.336017 |      164.287      231.165 
   -0.215639 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -18.1048     -4.12863 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:43.790885   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636730.913555, t: 3221854.021333 -3946657.923098 -5821806.216046 q: -0.215639 0.663172 0.633084 -0.336017 
unstable tracking...
time: 1403636731.013556, t: 3221853.971637 -3946657.965945 -5821806.125213 q: -0.215639 0.663172 0.633084 -0.336017 
time: 1403636731.113555, t: 3221854.011807 -3946658.007846 -5821806.080874 q: -0.215639 0.663172 0.633084 -0.336017 
unstable tracking...
time: 1403636731.213556, t: 3221854.072877 -3946657.975072 -5821806.016427 q: -0.215639 0.663172 0.633084 -0.336017 
time: 1403636731.313555, t: 3221854.125752 -3946657.950911 -5821805.962267 q: -0.215639 0.663172 0.633084 -0.336017 
unstable tracking...
time: 1403636731.413555, t: 3221854.155140 -3946657.948291 -5821805.938580 q: -0.215639 0.663172 0.633084 -0.336017 
W0708 15:46:44.387759   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |   0.00173711   0.00256105 
-3.94666e+06 |  -0.00102521  -0.00568344 
-5.82181e+06 |  -0.00697402   0.00335168 
    0.663172 |     -424.408      96.5525 
    0.633084 |      106.222     -407.726 
   -0.336017 |     -165.801     -180.241 
   -0.215639 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |  -0.00173711  -0.00256105 
-3.94666e+06 |   0.00102521   0.00568344 
-5.82181e+06 |   0.00697402  -0.00335168 
    0.663172 |       424.41     -96.5524 
    0.633084 |     -106.222      407.728 
   -0.336017 |      165.801      180.241 
   -0.215639 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.00133e-05 |      25.2201      -36.836 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:44.387831   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636731.513556, t: 3221854.193829 -3946657.935509 -5821805.875732 q: -0.215639 0.663172 0.633084 -0.336017 
unstable tracking...
time: 1403636731.613555, t: 3221854.233815 -3946657.928870 -5821805.858106 q: -0.215639 0.663172 0.633084 -0.336017 
time: 1403636731.713556, t: 3221854.287591 -3946657.900299 -5821805.785028 q: -0.215639 0.663172 0.633084 -0.336017 
unstable tracking...
time: 1403636731.813555, t: 3221854.304047 -3946657.966954 -5821805.777090 q: -0.215639 0.663172 0.633084 -0.336017 
time: 1403636731.913555, t: 3221854.283383 -3946657.999024 -5821805.775626 q: -0.215639 0.663172 0.633084 -0.336017 
unstable tracking...
time: 1403636732.013556, t: 3221854.196363 -3946658.010967 -5821805.742716 q: -0.211692 0.670548 0.625907 -0.337329 
W0708 15:46:44.987125   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

    0.120147 |     -34.1795     0.270897 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:44.987174   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636732.113555, t: 3221854.337139 -3946657.990303 -5821806.014384 q: -0.211692 0.670548 0.625907 -0.337329 
unstable tracking...
time: 1403636732.213556, t: 3221854.355929 -3946657.996450 -5821805.795664 q: -0.223315 0.650824 0.644715 -0.333018 
time: 1403636732.313555, t: 3221854.465935 -3946657.961556 -5821805.652710 q: -0.223315 0.650824 0.644715 -0.333017 
unstable tracking...
time: 1403636732.413555, t: 3221854.505952 -3946657.992180 -5821805.637447 q: -0.218528 0.657834 0.638095 -0.335164 
W0708 15:46:45.388290   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |      9.53547      15.7093 
-3.94666e+06 |     -5.24607     -31.7385 
-5.82181e+06 |     -39.3096       19.317 
    0.649605 |     -414.206      114.994 
    0.645907 |      104.627     -405.549 
   -0.332932 |     -181.069     -181.233 
   -0.223547 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |     -9.53547     -15.7093 
-3.94666e+06 |      5.24607      31.7385 
-5.82181e+06 |      39.3096      -19.317 
    0.657834 |      425.581     -103.419 
    0.638095 |     -114.333      421.902 
   -0.335164 |      178.311      179.844 
   -0.218528 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.117869 |      64.2036     -93.9068 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:45.388365   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636732.513556, t: 3221854.502224 -3946658.004064 -5821805.559640 q: -0.218528 0.657834 0.638095 -0.335164 
unstable tracking...
W0708 15:46:45.588631   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |      8.67499        36.59 
-3.94666e+06 |     -16.5356      -64.357 
-5.82181e+06 |     -92.4173      49.9872 
    0.648146 |     -589.135      219.693 
    0.647224 |      145.503     -515.915 
   -0.333281 |     -219.151     -244.693 
   -0.223453 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |     -8.67499       -36.59 
-3.94666e+06 |      16.5356       64.357 
-5.82181e+06 |      92.4173     -49.9872 
    0.676489 |       527.33     -179.187 
    0.619795 |     -194.559      484.268 
    -0.33786 |      223.268      248.419 
   -0.209924 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -242.147      173.998 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:45.588693   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636732.713556, t: 3221854.018850 -3946658.082101 -5821806.111932 q: -0.209924 0.676489 0.619795 -0.337860 
unstable tracking...
time: 1403636732.813555, t: 3221853.685451 -3946657.939947 -5821806.297793 q: -0.213434 0.680630 0.614985 -0.336126 
time: 1403636732.913555, t: 3221853.846039 -3946657.993291 -5821806.486286 q: -0.213434 0.680630 0.614985 -0.336126 
unstable tracking...
W0708 15:46:45.995919   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |      9.78853      20.1327 
-3.94666e+06 |     -8.41985     -55.0975 
-5.82181e+06 |     -72.1618      25.0557 
    0.698787 |     -447.886      43.3547 
    0.595732 |      172.023     -367.845 
   -0.340766 |     -132.919     -224.477 
   -0.201689 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |     -9.78853     -20.1327 
-3.94666e+06 |      8.41985      55.0975 
-5.82181e+06 |      72.1618     -25.0557 
    0.655854 |      484.051     -93.3993 
    0.639589 |     -107.119      374.836 
   -0.330056 |      130.944      223.271 
   -0.227694 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      8.22385     -48.7612 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:45.995983   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636733.113555, t: 3221853.993087 -3946658.001424 -5821806.059612 q: -0.227694 0.655854 0.639589 -0.330056 
unstable tracking...
time: 1403636733.213556, t: 3221854.150739 -3946658.084878 -5821805.985360 q: -0.221343 0.661018 0.634336 -0.334186 
W0708 15:46:46.192130   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22185e+06 |      11.1119      20.9259 
-3.94666e+06 |      -10.673     -55.4888 
-5.82181e+06 |     -72.3406      28.7602 
    0.673013 |     -464.016      96.3587 
    0.622197 |      127.703     -381.888 
   -0.333907 |     -157.818     -220.001 
   -0.220068 |            0            0 

Parameter Block 1, size: 7

 3.22185e+06 |     -11.1119     -20.9259 
-3.94666e+06 |       10.673      55.4888 
-5.82181e+06 |      72.3406     -28.7602 
    0.665534 |       474.86     -98.9126 
    0.629888 |     -112.355      385.282 
   -0.334959 |       142.62       216.83 
   -0.219337 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      28.6382     -73.6907 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:46.192194   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636733.313555, t: 3221854.221932 -3946658.063560 -5821805.922252 q: -0.221343 0.661018 0.634336 -0.334186 
time: 1403636733.413555, t: 3221853.887203 -3946658.052385 -5821807.218925 q: -0.243789 0.639208 0.633796 -0.360947 
time: 1403636733.513556, t: 3221860.573790 -3946656.899838 -5821796.602840 q: 0.187198 0.900745 -0.037323 -0.390158 
time: 1403636733.613555, t: 3221860.542572 -3946657.070469 -5821796.504446 q: 0.187198 0.900745 -0.037323 -0.390158 
time: 1403636733.713556, t: 3221860.538959 -3946657.070503 -5821796.506425 q: 0.187198 0.900745 -0.037323 -0.390158 
time: 1403636733.813555, t: 3221860.532101 -3946657.070128 -5821796.510477 q: 0.187198 0.900745 -0.037323 -0.390158 
W0708 15:46:46.792577   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      -29.396     -16.2581 
-3.94666e+06 |     -74.4413      25.2972 
 -5.8218e+06 |     -8.99917      67.0322 
    0.900745 |     -506.614      140.609 
  -0.0373232 |      166.701     -442.675 
   -0.390158 |     -195.437     -230.041 
    0.187198 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |       29.396      16.2581 
-3.94666e+06 |      74.4413     -25.2972 
 -5.8218e+06 |      8.99917     -67.0322 
    0.900745 |      514.836     -147.765 
  -0.0373232 |     -162.291      438.213 
   -0.390158 |      189.521      241.874 
    0.187198 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -97.6345     -23.9201 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:46.792655   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636733.913555, t: 3221860.514914 -3946657.060781 -5821796.484144 q: 0.187198 0.900745 -0.037323 -0.390158 
time: 1403636734.013556, t: 3221860.540771 -3946657.062595 -5821796.495737 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636734.113555, t: 3221860.542410 -3946657.068285 -5821796.490195 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636734.213556, t: 3221860.554208 -3946657.116568 -5821796.445248 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636734.313555, t: 3221860.583674 -3946657.149251 -5821796.394572 q: 0.117820 0.908120 0.112480 -0.385727 
W0708 15:46:47.290027   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -8.76726     -18.8445 
-3.94666e+06 |      -70.257      3.14963 
 -5.8218e+06 |     -21.2374      66.5537 
     0.90812 |     -449.614      110.066 
     0.11248 |      128.624     -407.233 
   -0.385727 |     -173.694     -200.905 
     0.11782 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      8.76726      18.8445 
-3.94666e+06 |       70.257     -3.14963 
 -5.8218e+06 |      21.2374     -66.5537 
     0.90812 |      462.723     -113.802 
     0.11248 |     -126.831      414.023 
   -0.385727 |      170.551      207.742 
     0.11782 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -38.7767      -37.324 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:47.290098   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636734.413555, t: 3221860.634226 -3946657.132982 -5821796.352983 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636734.513556, t: 3221860.697889 -3946657.087269 -5821796.302478 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636734.613555, t: 3221860.739779 -3946657.065684 -5821796.261369 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636734.713556, t: 3221860.823632 -3946657.031738 -5821796.182519 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636734.813555, t: 3221860.789299 -3946657.047072 -5821796.332030 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636734.913555, t: 3221860.859495 -3946657.023818 -5821796.242644 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636735.013556, t: 3221860.822549 -3946657.060857 -5821796.393274 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636735.113555, t: 3221860.874177 -3946657.044181 -5821796.330840 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636735.213556, t: 3221860.926333 -3946657.027752 -5821796.285864 q: 0.117820 0.908120 0.112480 -0.385727 
unstable tracking...
time: 1403636735.313555, t: 3221860.982463 -3946657.013612 -5821796.224494 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636735.413555, t: 3221861.029030 -3946657.018054 -5821796.143485 q: 0.117820 0.908120 0.112480 -0.385727 
unstable tracking...
time: 1403636735.513556, t: 3221860.989402 -3946657.071278 -5821796.031343 q: 0.117820 0.908120 0.112480 -0.385727 
unstable tracking...
time: 1403636735.613555, t: 3221861.003689 -3946657.059003 -5821796.020767 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636735.713556, t: 3221861.038278 -3946657.058693 -5821796.004316 q: 0.117820 0.908120 0.112480 -0.385727 
unstable tracking...
time: 1403636735.813555, t: 3221861.035779 -3946657.058257 -5821796.005997 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636735.913555, t: 3221861.070499 -3946657.038049 -5821795.965057 q: 0.117820 0.908120 0.112480 -0.385727 
unstable tracking...
time: 1403636736.013556, t: 3221861.122457 -3946657.017768 -5821795.909471 q: 0.117820 0.908120 0.112480 -0.385727 
time: 1403636736.113555, t: 3221861.171043 -3946657.011464 -5821795.859174 q: 0.117820 0.908120 0.112480 -0.385727 
unstable tracking...
time: 1403636736.213556, t: 3221861.201315 -3946657.007570 -5821795.845063 q: 0.117820 0.908120 0.112480 -0.385727 
unstable tracking...
time: 1403636736.313555, t: 3221861.232944 -3946656.972595 -5821795.841271 q: 0.092478 0.912223 0.117772 -0.381349 
unstable tracking...
time: 1403636736.413555, t: 3221861.298755 -3946656.939006 -5821795.735599 q: 0.092478 0.912223 0.117772 -0.381349 
unstable tracking...
time: 1403636736.513556, t: 3221861.283321 -3946656.984476 -5821795.785931 q: 0.092478 0.912223 0.117772 -0.381349 
unstable tracking...
time: 1403636736.613555, t: 3221861.488849 -3946657.099060 -5821795.676786 q: 0.053674 0.912142 0.126599 -0.386121 
time: 1403636736.713556, t: 3221861.498168 -3946657.096615 -5821795.673289 q: 0.053674 0.912142 0.126599 -0.386121 
unstable tracking...
time: 1403636736.813555, t: 3221861.517096 -3946657.091301 -5821795.666418 q: 0.053674 0.912142 0.126599 -0.386121 
time: 1403636736.913555, t: 3221861.553306 -3946657.087656 -5821795.648852 q: 0.053674 0.912142 0.126599 -0.386121 
unstable tracking...
time: 1403636737.013556, t: 3221861.469892 -3946657.069388 -5821795.528556 q: 0.053674 0.912142 0.126599 -0.386121 
unstable tracking...
time: 1403636737.113555, t: 3221861.462170 -3946657.064830 -5821795.535921 q: 0.053674 0.912142 0.126599 -0.386121 
time: 1403636737.213556, t: 3221861.551404 -3946657.050863 -5821795.633799 q: 0.024228 0.900377 0.176985 -0.396750 
unstable tracking...
time: 1403636737.313555, t: 3221861.494576 -3946657.070534 -5821795.601937 q: 0.024228 0.900377 0.176985 -0.396750 
time: 1403636737.413555, t: 3221861.379132 -3946657.091991 -5821795.607167 q: 0.017779 0.889886 0.207573 -0.405834 
unstable tracking...
time: 1403636737.513556, t: 3221861.369407 -3946657.093422 -5821795.611582 q: 0.017779 0.889886 0.207573 -0.405834 
time: 1403636737.613555, t: 3221861.350231 -3946657.100153 -5821795.617632 q: 0.017779 0.889886 0.207573 -0.405834 
unstable tracking...
time: 1403636737.713556, t: 3221861.267025 -3946657.063331 -5821795.526227 q: 0.017779 0.889886 0.207573 -0.405834 
time: 1403636737.813555, t: 3221861.620115 -3946656.831971 -5821795.541979 q: 0.043292 0.895878 0.167197 -0.409358 
unstable tracking...
time: 1403636737.913555, t: 3221861.647658 -3946656.833906 -5821795.525427 q: 0.043292 0.895878 0.167197 -0.409358 
time: 1403636738.013556, t: 3221861.263066 -3946657.150496 -5821795.776643 q: 0.056079 0.907896 0.132011 -0.393896 
unstable tracking...
time: 1403636738.113555, t: 3221861.356240 -3946657.120938 -5821795.740928 q: 0.056079 0.907896 0.132011 -0.393896 
time: 1403636738.213556, t: 3221861.286968 -3946657.161076 -5821795.781369 q: 0.082699 0.922778 0.081701 -0.367377 
unstable tracking...
time: 1403636738.313555, t: 3221861.371111 -3946657.116394 -5821795.740398 q: 0.082699 0.922779 0.081701 -0.367377 
time: 1403636738.413555, t: 3221861.290623 -3946657.148693 -5821795.777551 q: 0.075434 0.923260 0.095067 -0.364505 
unstable tracking...
time: 1403636738.513556, t: 3221861.382365 -3946657.113013 -5821795.708410 q: 0.075434 0.923260 0.095067 -0.364505 
time: 1403636738.613555, t: 3221861.246392 -3946657.169731 -5821795.805855 q: 0.183520 0.916167 -0.121494 -0.334960 
unstable tracking...
time: 1403636738.713556, t: 3221861.308464 -3946657.155359 -5821795.774039 q: 0.183520 0.916167 -0.121494 -0.334960 
unstable tracking...
time: 1403636738.813555, t: 3221861.390665 -3946657.127097 -5821795.732285 q: 0.183520 0.916167 -0.121494 -0.334960 
W0708 15:46:51.792928   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -33.1474     -31.9872 
-3.94666e+06 |     -65.7072      24.9818 
 -5.8218e+06 |     -6.28321      47.0351 
    0.916167 |     -470.139      69.2436 
   -0.121494 |      78.7366     -333.754 
    -0.33496 |     -92.8977     -225.263 
     0.18352 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      33.1474      31.9872 
-3.94666e+06 |      65.7072     -24.9818 
 -5.8218e+06 |      6.28321     -47.0351 
    0.916167 |      481.162     -68.0658 
   -0.121494 |     -81.9631       348.43 
    -0.33496 |      97.0018      221.728 
     0.18352 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      33.5993      -1.0127 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:51.793021   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636738.913555, t: 3221861.451424 -3946657.080921 -5821795.708425 q: 0.183520 0.916167 -0.121494 -0.334960 
unstable tracking...
time: 1403636739.013556, t: 3221861.502807 -3946657.059922 -5821795.592495 q: 0.183520 0.916167 -0.121494 -0.334960 
unstable tracking...
time: 1403636739.113555, t: 3221861.482764 -3946657.074864 -5821795.593460 q: 0.183520 0.916167 -0.121494 -0.334960 
W0708 15:46:52.090894   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -2.41637     -2.85122 
-3.94666e+06 |      -6.3504      2.78308 
 -5.8218e+06 |      0.45631      5.36221 
    0.916167 |     -383.871      61.0832 
   -0.121494 |      70.6591     -373.161 
    -0.33496 |      -133.42     -144.093 
     0.18352 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      2.41637      2.85122 
-3.94666e+06 |       6.3504     -2.78308 
 -5.8218e+06 |     -0.45631     -5.36221 
    0.916167 |      384.611     -61.3243 
   -0.121494 |     -70.4263      373.411 
    -0.33496 |      132.889      144.657 
     0.18352 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

   0.0197763 |     -50.9452       -36.17 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:52.090960   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636739.213556, t: 3221861.430049 -3946657.115312 -5821795.567653 q: 0.183520 0.916167 -0.121494 -0.334960 
W0708 15:46:52.193818   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 | -0.000666522  -0.00086045 
-3.94666e+06 |  -0.00201144  0.000933279 
 -5.8218e+06 |  0.000278068    0.0018146 
    0.916167 |     -359.327      55.4253 
   -0.121494 |      63.2893     -387.542 
    -0.33496 |      -148.86     -116.045 
     0.18352 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |  0.000666522   0.00086045 
-3.94666e+06 |   0.00201144 -0.000933279 
 -5.8218e+06 | -0.000278068   -0.0018146 
    0.916167 |      359.327     -55.4255 
   -0.121494 |     -63.2892      387.542 
    -0.33496 |       148.86      116.046 
     0.18352 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 6.41179e-06 |     -82.2016     -17.5161 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:52.193861   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636739.313555, t: 3221861.415035 -3946657.173209 -5821795.513055 q: 0.183520 0.916167 -0.121494 -0.334960 
W0708 15:46:52.290079   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 | -7.29213e+06 -2.72734e+06 
-3.94666e+06 | -3.09552e+06  -1.2749e+06 
 -5.8218e+06 | -8.03808e+06 -3.14899e+06 
    0.916167 |      -734070      -283519 
   -0.121494 |       247885      96806.8 
    -0.33496 |      9652.42      10501.5 
     0.18352 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |  7.29213e+06  2.72734e+06 
-3.94666e+06 |  3.09552e+06   1.2749e+06 
 -5.8218e+06 |  8.03808e+06  3.14899e+06 
    0.916167 |  2.27463e+06       877560 
   -0.121494 |       807994       310401 
    -0.33496 |     -52996.3     -47650.8 
     0.18352 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     2485.03 |     -1.83028    -0.694616 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:52.290122   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636739.413555, t: 3221861.399074 -3946657.165949 -5821795.483452 q: 0.183520 0.916167 -0.121494 -0.334960 
unstable tracking...
time: 1403636739.513556, t: 3221861.397323 -3946656.851396 -5821795.294458 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:52.487367   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -70.8588     -22.4382 
-3.94666e+06 |     -143.289      82.7343 
 -5.8218e+06 |     -54.5532      137.227 
    0.924259 |      -1085.1      594.772 
  -0.0969394 |      383.376     -901.148 
   -0.358017 |      -302.88      -365.77 
   0.0903934 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      70.8588      22.4382 
-3.94666e+06 |      143.289     -82.7343 
 -5.8218e+06 |      54.5532     -137.227 
    0.934445 |      909.398      -544.87 
  -0.0958167 |     -573.385      860.663 
   -0.243933 |       404.26      415.914 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      247.329     -248.961 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:52.487435   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636739.613555, t: 3221861.448770 -3946656.894205 -5821795.217966 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:52.590018   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -27.9018     -34.6213 
-3.94666e+06 |     -85.1501       46.311 
 -5.8218e+06 |     -1.62316      75.1811 
    0.918183 |     -502.092      157.986 
   -0.107892 |      126.556     -528.491 
   -0.345722 |     -177.014     -174.827 
    0.160548 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      27.9018      34.6213 
-3.94666e+06 |      85.1501      -46.311 
 -5.8218e+06 |      1.62316     -75.1811 
    0.934445 |      458.663     -163.695 
  -0.0958167 |     -177.331      522.315 
   -0.243933 |      249.307      202.128 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      41.3683     -126.069 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:52.590071   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636739.713556, t: 3221861.539111 -3946656.879530 -5821795.134078 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:52.694792   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2092     0.273842 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:52.694828   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636739.813555, t: 3221861.502851 -3946656.806995 -5821795.070393 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...W0708 15:46:52.934857   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -24.9865     -38.4192 
-3.94666e+06 |     -71.8538      29.3295 
 -5.8218e+06 |     -4.49469       46.393 
    0.934445 |     -481.179       103.56 
  -0.0958167 |      122.726     -382.617 
   -0.243933 |     -150.502     -225.506 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      24.9865      38.4192 
-3.94666e+06 |      71.8538     -29.3295 
-5.82179e+06 |      4.49469      -46.393 
    0.934445 |      488.838     -103.876 
  -0.0958167 |     -117.737      386.462 
   -0.243933 |      143.412      226.198 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -9.87249     -51.0359 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:52.935055   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636740.013556, t: 3221861.497511 -3946656.808425 -5821794.992410 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...
time: 1403636740.113555, t: 3221861.540149 -3946656.810972 -5821794.950230 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:53.098019   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -22.3585     -36.1682 
-3.94666e+06 |     -69.1492      30.8314 
 -5.8218e+06 |    -0.667532      49.0808 
    0.934445 |     -438.959      103.112 
  -0.0958167 |      118.144     -397.234 
   -0.243933 |     -164.727     -195.258 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      22.3585      36.1682 
-3.94666e+06 |      69.1492     -30.8314 
-5.82179e+06 |     0.667532     -49.0808 
    0.934445 |      452.089     -105.688 
  -0.0958168 |      -118.41      407.111 
   -0.243933 |      164.638      200.136 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -25.3482     -25.5097 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:53.098086   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636740.213556, t: 3221861.580247 -3946656.811113 -5821794.905762 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...
time: 1403636740.313555, t: 3221861.598396 -3946656.800712 -5821794.863260 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:53.281982   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -26.5571     -33.7948 
-3.94666e+06 |      -72.657      32.6722 
-5.82179e+06 |     -7.34418      52.3466 
    0.934445 |     -506.466      146.862 
  -0.0958167 |       161.94     -424.293 
   -0.243933 |     -186.694     -242.296 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      26.5571      33.7948 
-3.94666e+06 |       72.657     -32.6722 
-5.82179e+06 |      7.34418     -52.3466 
    0.934445 |      520.494     -148.796 
  -0.0958168 |     -163.362      436.513 
   -0.243933 |      188.005      245.457 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -3.58839     -26.9912 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:53.282042   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636740.413555, t: 3221861.608929 -3946656.784397 -5821794.831288 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...
time: 1403636740.513556, t: 3221861.616043 -3946656.769836 -5821794.812132 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:53.490700   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -27.6844     -38.1049 
-3.94666e+06 |     -74.6133      30.0852 
-5.82179e+06 |     -8.43544      47.6849 
    0.934445 |     -525.205      120.801 
  -0.0958168 |      136.971     -389.247 
   -0.243933 |     -150.615     -251.571 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      27.6844      38.1049 
-3.94666e+06 |      74.6133     -30.0852 
-5.82179e+06 |      8.43544     -47.6849 
    0.934445 |      530.725     -121.141 
  -0.0958168 |     -136.118      393.544 
   -0.243933 |      149.378      252.283 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -17.0517     -17.4794 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:53.490759   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636740.613555, t: 3221861.602528 -3946656.783244 -5821794.831173 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...
time: 1403636740.713556, t: 3221861.606786 -3946656.781008 -5821794.823175 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:53.680838   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -24.7839     -37.3446 
-3.94666e+06 |     -72.8137      31.7264 
-5.82179e+06 |     -3.39205      50.4962 
    0.934445 |     -476.667      114.548 
  -0.0958168 |      128.368     -406.812 
   -0.243933 |     -164.221     -217.844 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      24.7839      37.3446 
-3.94666e+06 |      72.8137     -31.7264 
-5.82179e+06 |      3.39205     -50.4962 
    0.934445 |       477.13     -114.589 
  -0.0958168 |     -128.104      407.015 
   -0.243933 |      163.831      217.922 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.0562     -2.71856 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:53.680910   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636740.813555, t: 3221861.604670 -3946656.777940 -5821794.822889 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...
time: 1403636740.913555, t: 3221861.592725 -3946656.783767 -5821794.836567 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:53.893740   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -28.8119     -35.2978 
-3.94666e+06 |     -76.4272      33.6046 
-5.82179e+06 |      -9.6256      53.8006 
    0.934445 |     -542.305      154.225 
  -0.0958168 |      169.595     -433.071 
   -0.243933 |     -185.002     -258.594 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      28.8119      35.2978 
-3.94666e+06 |      76.4272     -33.6046 
-5.82179e+06 |       9.6256     -53.8006 
    0.934445 |      542.776     -154.303 
  -0.0958168 |     -169.551      433.391 
   -0.243933 |      184.933      258.724 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.3715     -1.09295 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:53.893806   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636741.013556, t: 3221861.604388 -3946656.782422 -5821794.825339 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...
time: 1403636741.113555, t: 3221861.627463 -3946656.763241 -5821794.806381 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:54.091670   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -27.3962     -39.0127 
-3.94666e+06 |     -74.9119      29.9863 
-5.82179e+06 |     -7.60433      47.4517 
    0.934445 |     -518.578      113.853 
  -0.0958168 |       128.22     -386.571 
   -0.243933 |      -143.65     -245.606 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      27.3962      39.0127 
-3.94666e+06 |      74.9119     -29.9863 
-5.82179e+06 |      7.60433     -47.4517 
    0.934445 |      520.483     -114.118 
  -0.0958168 |     -128.871      388.352 
   -0.243933 |      144.405      246.179 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.3099     0.736554 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:54.091761   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636741.213556, t: 3221861.626256 -3946656.780275 -5821794.805716 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:54.199198   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -24.9752     -38.2688 
-3.94666e+06 |     -72.5728      30.3889 
-5.82179e+06 |     -3.97326      48.1825 
    0.934445 |      -479.95      107.267 
  -0.0958168 |       120.64     -390.658 
   -0.243933 |     -150.338     -221.768 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      24.9752      38.2688 
-3.94666e+06 |      72.5728     -30.3889 
-5.82179e+06 |      3.97326     -48.1825 
    0.934445 |      483.009     -107.459 
  -0.0958168 |     -121.161      393.701 
   -0.243933 |       150.95      222.166 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -26.0076     -3.30064 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:54.199265   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636741.313555, t: 3221861.634916 -3946656.773014 -5821794.792269 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...
time: 1403636741.413555, t: 3221861.603749 -3946656.796902 -5821794.815791 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:54.393376   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -31.3343     -36.9114 
-3.94666e+06 |     -78.7674      32.3211 
-5.82179e+06 |     -13.4759      51.5267 
    0.934445 |     -587.212      153.774 
  -0.0958168 |      171.774     -416.439 
   -0.243933 |     -169.335     -282.551 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      31.3343      36.9114 
-3.94666e+06 |      78.7674     -32.3211 
-5.82179e+06 |      13.4759     -51.5267 
    0.934445 |      588.172     -154.648 
  -0.0958168 |     -171.074      415.515 
   -0.243933 |      168.537      284.164 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -44.8065     -1.99815 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:54.393479   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636741.513556, t: 3221861.611474 -3946656.785407 -5821794.795114 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:54.488101   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -31.0897      -39.267 
-3.94666e+06 |     -78.8137      30.5738 
-5.82179e+06 |     -12.9136       48.419 
    0.934445 |     -582.773      132.161 
  -0.0958168 |      149.426     -394.753 
   -0.243933 |     -147.193     -280.217 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      31.0897       39.267 
-3.94666e+06 |      78.8137     -30.5738 
-5.82179e+06 |      12.9136      -48.419 
    0.934445 |      580.276     -132.172 
  -0.0958168 |     -148.481      391.823 
   -0.243933 |      146.223      280.235 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -45.771      1.33365 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:54.488170   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636741.613555, t: 3221861.601948 -3946656.784701 -5821794.816079 q: 0.241098 0.934445 -0.095817 -0.243933 
W0708 15:46:54.588815   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -26.6999     -38.2987 
-3.94666e+06 |     -74.2978      30.6185 
-5.82179e+06 |     -6.51944      48.5657 
    0.934445 |     -507.372       116.57 
  -0.0958168 |      131.192     -394.177 
   -0.243933 |     -152.314     -238.919 
    0.241098 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      26.6999      38.2987 
-3.94666e+06 |      74.2978     -30.6185 
-5.82179e+06 |      6.51944     -48.5657 
    0.934445 |      508.891     -116.565 
  -0.0958168 |     -130.981      395.528 
   -0.243933 |      151.987       238.91 
    0.241098 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -28.0641     -5.04458 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:54.588874   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636741.713556, t: 3221861.610639 -3946656.785164 -5821794.796959 q: 0.241098 0.934445 -0.095817 -0.243933 
unstable tracking...
time: 1403636741.813555, t: 3221861.269053 -3946657.080431 -5821794.900128 q: 0.327942 0.884774 0.237770 -0.230423 
time: 1403636741.913555, t: 3221861.275321 -3946657.072532 -5821794.902014 q: 0.327942 0.884774 0.237770 -0.230423 
unstable tracking...
time: 1403636742.013556, t: 3221861.280549 -3946657.053134 -5821794.912272 q: 0.327942 0.884774 0.237770 -0.230423 
W0708 15:46:54.987423   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      16.3553     -69.3773 
-3.94666e+06 |      -171.46     -26.0167 
-5.82179e+06 |       -66.57      49.6245 
    0.929909 |     -1166.68     -237.158 
 -0.00365898 |      617.137     -393.231 
   -0.227282 |      76.4619     -443.863 
    0.289134 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -16.3553      69.3773 
-3.94666e+06 |       171.46      26.0167 
-5.82179e+06 |        66.57     -49.6245 
    0.884774 |      1308.04      14.7864 
     0.23777 |     -19.4425      321.189 
   -0.230423 |     -22.0059      543.945 
    0.327942 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -300.687     -106.835 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:54.987504   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636742.113555, t: 3221861.307975 -3946657.036188 -5821794.945238 q: 0.327942 0.884774 0.237770 -0.230423 
unstable tracking...
time: 1403636742.213556, t: 3221861.316480 -3946657.024872 -5821794.948203 q: 0.327942 0.884774 0.237770 -0.230423 
W0708 15:46:55.186894   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      23.2715     -39.3664 
-3.94666e+06 |     -78.7678      7.20686 
-5.82179e+06 |     -8.60354      57.8956 
    0.884774 |     -559.383      152.356 
     0.23777 |      164.888     -413.944 
   -0.230423 |     -170.389     -271.202 
    0.327942 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -23.2715      39.3664 
-3.94666e+06 |      78.7678     -7.20686 
-5.82179e+06 |      8.60354     -57.8956 
    0.884774 |      564.927      -152.54 
     0.23777 |     -168.324      421.225 
   -0.230423 |      174.141      271.508 
    0.327942 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -12.8147      4.30503 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:55.186975   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636742.313555, t: 3221861.346789 -3946657.001207 -5821794.876227 q: 0.327942 0.884774 0.237770 -0.230423 
unstable tracking...
time: 1403636742.413555, t: 3221861.378947 -3946656.960043 -5821794.822640 q: 0.327942 0.884774 0.237770 -0.230423 
time: 1403636742.513556, t: 3221861.394995 -3946656.925490 -5821794.796395 q: 0.327942 0.884774 0.237770 -0.230423 
unstable tracking...
time: 1403636742.613555, t: 3221861.407283 -3946656.914215 -5821794.777818 q: 0.327942 0.884774 0.237770 -0.230423 
time: 1403636742.713556, t: 3221861.428259 -3946656.895367 -5821794.765395 q: 0.327942 0.884774 0.237769 -0.230423 
unstable tracking...
time: 1403636742.813555, t: 3221861.451361 -3946656.837436 -5821794.728287 q: 0.327942 0.884774 0.237769 -0.230423 
W0708 15:46:55.782159   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      23.3624     -38.9024 
-3.94666e+06 |     -74.5336      5.26223 
-5.82179e+06 |     -6.26941       54.696 
    0.884774 |     -522.664      132.199 
     0.23777 |      145.059     -391.583 
   -0.230423 |     -158.586     -254.852 
    0.327942 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -23.3624      38.9024 
-3.94666e+06 |      74.5336     -5.26223 
-5.82179e+06 |      6.26941      -54.696 
    0.884774 |      536.306     -132.513 
    0.237769 |     -147.531      405.891 
   -0.230422 |      161.128      255.443 
    0.327942 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      17.9648     -20.7488 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:55.782235   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636742.913555, t: 3221861.488432 -3946656.770754 -5821794.668023 q: 0.327942 0.884774 0.237769 -0.230422 
unstable tracking...
time: 1403636743.013556, t: 3221861.477416 -3946656.799371 -5821794.615415 q: 0.327942 0.884774 0.237769 -0.230422 
time: 1403636743.113555, t: 3221861.463868 -3946656.828927 -5821794.550250 q: 0.327942 0.884774 0.237769 -0.230422 
unstable tracking...
time: 1403636743.213556, t: 3221861.460271 -3946656.852961 -5821794.518993 q: 0.327942 0.884774 0.237769 -0.230422 
W0708 15:46:56.188678   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      26.7297     -39.9969 
-3.94666e+06 |     -69.4501      6.56767 
-5.82179e+06 |      1.07712      57.8015 
    0.884774 |     -445.142      105.747 
    0.237769 |      125.227     -414.303 
   -0.230422 |     -176.423     -193.783 
    0.327942 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -26.7297      39.9969 
-3.94666e+06 |      69.4501     -6.56767 
-5.82179e+06 |     -1.07712     -57.8015 
    0.884774 |      450.497     -108.461 
    0.237769 |     -121.183      412.977 
   -0.230422 |      169.976      198.783 
    0.327942 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -51.5348     -36.7682 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:56.188719   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636743.313555, t: 3221861.444788 -3946656.881467 -5821794.520318 q: 0.327942 0.884774 0.237769 -0.230423 
W0708 15:46:56.285328   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       23.419     -40.5492 
-3.94666e+06 |     -80.4844      5.36705 
-5.82179e+06 |     -9.29257      56.8517 
    0.884774 |     -570.367      141.498 
    0.237769 |      162.221     -407.327 
   -0.230422 |     -164.389       -274.2 
    0.327942 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -23.419      40.5492 
-3.94666e+06 |      80.4844     -5.36705 
-5.82179e+06 |      9.29257     -56.8517 
    0.884774 |      572.435     -142.337 
    0.237769 |     -158.382      405.712 
   -0.230422 |      159.991      275.831 
    0.327942 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -39.1244     -22.7369 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:56.285394   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636743.413555, t: 3221861.427398 -3946656.858472 -5821794.492555 q: 0.327942 0.884774 0.237769 -0.230422 
W0708 15:46:56.386350   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      21.8968     -39.3876 
-3.94666e+06 |     -86.8561      10.3862 
-5.82179e+06 |     -14.7373      62.2251 
    0.884774 |     -650.182      197.738 
    0.237769 |      219.119     -452.717 
   -0.230422 |     -197.474     -313.245 
    0.327942 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -21.8968      39.3876 
-3.94666e+06 |      86.8561     -10.3862 
-5.82179e+06 |      14.7373     -62.2251 
    0.884774 |      649.463     -198.611 
    0.237769 |     -216.512      449.035 
   -0.230422 |      194.908      314.659 
    0.327942 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -52.1637     -5.45316 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:56.386448   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636743.513556, t: 3221861.433744 -3946656.901829 -5821794.509143 q: 0.327942 0.884774 0.237769 -0.230422 
unstable tracking...
time: 1403636743.613555, t: 3221861.325597 -3946656.934898 -5821794.533521 q: 0.319647 0.888262 0.268663 -0.191405 
W0708 15:46:56.589619   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      34.5148     -49.1309 
-3.94666e+06 |     -86.6426     0.825953 
-5.82179e+06 |     -11.2663      64.3158 
    0.883489 |      -565.96      91.6609 
    0.231698 |      194.921     -453.954 
   -0.240201 |     -132.194     -254.461 
    0.328736 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -34.5148      49.1309 
-3.94666e+06 |      86.6426    -0.825953 
-5.82179e+06 |      11.2663     -64.3158 
    0.888262 |      545.781     -142.574 
    0.268663 |      -158.29      415.938 
   -0.191405 |      170.043      260.498 
    0.319647 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -154.888     -72.3228 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:56.589660   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636743.713556, t: 3221861.323905 -3946657.043726 -5821794.442227 q: 0.319647 0.888262 0.268663 -0.191405 
W0708 15:46:56.686444   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      30.1001     -45.6109 
-3.94666e+06 |      -81.206     -7.49098 
-5.82179e+06 |      -14.023      48.8034 
    0.891775 |     -585.599      88.2038 
    0.257248 |      128.895     -366.779 
    -0.19787 |     -105.849      -274.55 
     0.31529 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -30.1001      45.6109 
-3.94666e+06 |       81.206      7.49098 
-5.82179e+06 |       14.023     -48.8034 
    0.888262 |      594.889     -101.413 
    0.268663 |     -118.303      359.938 
   -0.191405 |      108.986      288.256 
    0.319647 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -75.4187     -17.2054 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:56.686517   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636743.813555, t: 3221861.354149 -3946657.060368 -5821794.383207 q: 0.319647 0.888262 0.268663 -0.191405 
unstable tracking...
time: 1403636743.913555, t: 3221861.376748 -3946657.035779 -5821794.345731 q: 0.319647 0.888262 0.268663 -0.191405 
W0708 15:46:56.889346   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |   0.00329849  -0.00457519 
-3.94666e+06 |  -0.00700709 -0.000534982 
-5.82179e+06 | -0.000130114   0.00518123 
    0.888262 |     -454.162      82.2957 
    0.268663 |      93.2901     -369.285 
   -0.191405 |     -125.476      -204.16 
    0.319647 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |  -0.00329849   0.00457519 
-3.94666e+06 |   0.00700709  0.000534982 
-5.82179e+06 |  0.000130114  -0.00518123 
    0.888262 |      454.164     -82.2962 
    0.268663 |     -93.2898      369.286 
   -0.191405 |      125.475      204.161 
    0.319647 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.06639e-05 |     -63.1272     -42.9355 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:56.889433   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636744.013556, t: 3221861.394115 -3946656.992369 -5821794.306774 q: 0.319647 0.888262 0.268663 -0.191405 
unstable tracking...
time: 1403636744.113555, t: 3221861.404129 -3946656.962676 -5821794.267401 q: 0.319647 0.888262 0.268663 -0.191405 
W0708 15:46:57.089691   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      29.1838     -42.0656 
-3.94666e+06 |     -74.7298    -0.477427 
-5.82179e+06 |     -10.6189      53.5025 
    0.888262 |     -548.507      138.503 
    0.268663 |       153.75     -396.038 
   -0.191405 |     -159.943     -267.539 
    0.319647 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -29.1838      42.0656 
-3.94666e+06 |      74.7298     0.477427 
-5.82179e+06 |      10.6189     -53.5025 
    0.888262 |      559.045      -138.99 
    0.268663 |      -154.62      405.989 
   -0.191405 |      160.603      268.471 
    0.319647 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      3.97312     -21.1588 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:57.089756   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636744.213556, t: 3221861.421489 -3946656.935341 -5821794.229601 q: 0.319647 0.888262 0.268663 -0.191405 
unstable tracking...
time: 1403636744.313555, t: 3221861.416513 -3946656.789712 -5821794.115522 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:57.292836   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      28.5808     -43.4526 
-3.94666e+06 |     -76.1148     -5.15113 
-5.82179e+06 |     -11.4862      47.5721 
    0.887584 |     -569.478      115.231 
    0.271418 |      113.357     -356.463 
    -0.19512 |     -119.614     -278.322 
    0.316945 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -28.5808      43.4526 
-3.94666e+06 |      76.1148      5.15113 
-5.82179e+06 |      11.4862     -47.5721 
    0.889021 |      578.752     -109.236 
    0.264756 |     -125.532      369.094 
   -0.188463 |      121.122      279.728 
    0.322533 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      35.9337     -26.8974 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:57.292923   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636744.413555, t: 3221861.298132 -3946656.813040 -5821794.025161 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636744.513556, t: 3221861.307749 -3946656.789234 -5821793.997706 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636744.613555, t: 3221861.293687 -3946656.752677 -5821793.916315 q: 0.322533 0.889021 0.264756 -0.188463 
time: 1403636744.713556, t: 3221861.310567 -3946656.716911 -5821793.836811 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636744.813555, t: 3221861.360585 -3946656.703637 -5821793.807718 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:57.787071   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      28.2545     -41.6214 
-3.94666e+06 |     -74.6314      1.06692 
-5.82179e+06 |     -10.8999      53.3553 
    0.889021 |     -553.562      148.059 
    0.264756 |      166.827     -401.047 
   -0.188463 |     -169.868     -271.207 
    0.322533 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -28.2545      41.6214 
-3.94666e+06 |      74.6314     -1.06692 
-5.82179e+06 |      10.8999     -53.3553 
    0.889021 |      573.359     -150.835 
    0.264756 |     -166.756      415.783 
   -0.188463 |      169.144      276.276 
    0.322533 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      9.44178      -43.479 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:57.787138   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636744.913555, t: 3221861.392291 -3946656.677744 -5821793.770032 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636745.013556, t: 3221861.424673 -3946656.656266 -5821793.748475 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636745.113555, t: 3221861.433273 -3946656.640213 -5821793.716870 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:58.094875   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      28.2247       -42.08 
-3.94666e+06 |     -78.8792      2.73104 
-5.82179e+06 |     -14.0931      56.0878 
    0.889021 |     -602.577      173.318 
    0.264756 |      190.209     -421.005 
   -0.188463 |     -180.357     -295.472 
    0.322533 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -28.2247        42.08 
-3.94666e+06 |      78.8792     -2.73104 
-5.82179e+06 |      14.0931     -56.0878 
    0.889021 |      614.295     -174.565 
    0.264756 |     -191.519      431.173 
   -0.188463 |      181.361       297.57 
    0.322533 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |       2.1372     -22.3033 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:58.094940   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636745.213556, t: 3221861.452417 -3946656.588148 -5821793.648774 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636745.313555, t: 3221861.456401 -3946656.578308 -5821793.622970 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:58.292526   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       28.258     -43.7279 
-3.94666e+06 |     -80.0801     -4.27621 
-5.82179e+06 |     -14.9302      49.0514 
    0.889021 |     -616.591      125.041 
    0.264756 |      143.125     -369.147 
   -0.188463 |      -128.16     -302.282 
    0.322533 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -28.258      43.7279 
-3.94666e+06 |      80.0801      4.27621 
-5.82179e+06 |      14.9302     -49.0514 
    0.889021 |      624.662     -125.478 
    0.264756 |     -142.879      375.834 
   -0.188463 |      127.654      303.365 
    0.322533 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -4.93943     -16.4164 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:58.292572   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636745.413555, t: 3221861.467565 -3946656.581693 -5821793.565334 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636745.513556, t: 3221861.498846 -3946656.575110 -5821793.527745 q: 0.322533 0.889021 0.264756 -0.188463 
time: 1403636745.613555, t: 3221861.494986 -3946656.598637 -5821793.546121 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636745.713556, t: 3221861.513288 -3946656.545041 -5821793.516711 q: 0.322533 0.889021 0.264756 -0.188463 
time: 1403636745.813555, t: 3221861.544756 -3946656.544059 -5821793.497057 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
unstable tracking...
time: 1403636746.013556, t: 3221861.609238 -3946656.454587 -5821793.360742 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:58.991528   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      30.3629     -42.1083 
-3.94666e+06 |     -65.2694    -0.124723 
-5.82179e+06 |    -0.653695      52.4168 
    0.889021 |      -437.89      101.996 
    0.264756 |      115.684     -389.608 
   -0.188463 |     -160.135     -197.647 
    0.322533 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -30.3629      42.1083 
-3.94666e+06 |      65.2694     0.124723 
-5.82179e+06 |     0.653695     -52.4168 
    0.889021 |      453.505     -103.876 
    0.264756 |     -116.626      403.208 
   -0.188463 |      160.985      201.284 
    0.322533 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -7.92937     -28.8561 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:58.991578   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636746.113555, t: 3221861.629174 -3946656.430492 -5821793.317899 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636746.213556, t: 3221861.652984 -3946656.401704 -5821793.304008 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636746.313555, t: 3221861.679499 -3946656.373864 -5821793.274718 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:59.287218   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      29.9278     -43.7509 
-3.94666e+06 |     -70.6104     -5.38376 
-5.82179e+06 |     -5.29317      47.6426 
    0.889021 |     -494.146      90.7441 
    0.264756 |      101.782     -356.958 
   -0.188463 |     -116.895     -235.717 
    0.322533 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -29.9278      43.7509 
-3.94666e+06 |      70.6104      5.38376 
-5.82179e+06 |      5.29317     -47.6426 
    0.889021 |      501.732      -90.391 
    0.264756 |     -104.716      366.472 
   -0.188463 |      120.498      234.875 
    0.322533 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      1.81455      2.08718 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:59.287297   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636746.413555, t: 3221861.689055 -3946656.310325 -5821793.257147 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636746.513556, t: 3221861.704927 -3946656.237042 -5821793.206202 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:59.489921   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      30.7679     -42.9982 
-3.94666e+06 |     -66.1223     -1.80472 
-5.82179e+06 |    -0.649303      51.3477 
    0.889021 |     -446.015       96.603 
    0.264756 |      106.676     -380.288 
   -0.188463 |      -146.14     -203.853 
    0.322533 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -30.7679      42.9982 
-3.94666e+06 |      66.1223      1.80472 
-5.82179e+06 |     0.649303     -51.3477 
    0.889021 |      453.241     -95.4015 
    0.264756 |      -108.22      390.058 
   -0.188463 |      148.226      201.332 
    0.322533 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      8.35029     -10.6422 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:59.489964   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636746.613555, t: 3221861.685551 -3946656.257695 -5821793.220628 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636746.713556, t: 3221861.720406 -3946656.277975 -5821793.154244 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:59.690483   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2005     0.254237 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:59.690529   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636746.813555, t: 3221861.738041 -3946656.317445 -5821793.094643 q: 0.322533 0.889021 0.264756 -0.188463 
W0708 15:46:59.787463   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      30.9674       -43.11 
-3.94666e+06 |     -70.2116      2.59006 
-5.82179e+06 |     -3.36481      57.1908 
    0.889021 |     -474.935      125.703 
    0.264756 |      142.133     -424.813 
   -0.188463 |     -182.002     -215.695 
    0.322533 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -30.9674        43.11 
-3.94666e+06 |      70.2116     -2.59006 
-5.82179e+06 |      3.36481     -57.1908 
    0.889021 |      480.344     -128.052 
    0.264756 |      -141.61      426.817 
   -0.188463 |      181.074      219.748 
    0.322533 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -45.3737     -10.9265 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:46:59.787510   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636746.913555, t: 3221861.795006 -3946656.290124 -5821792.981047 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636747.013556, t: 3221861.799282 -3946656.286360 -5821792.983540 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636747.113555, t: 3221861.801591 -3946656.284123 -5821792.983780 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636747.213556, t: 3221861.801462 -3946656.284329 -5821792.983712 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636747.313555, t: 3221861.802038 -3946656.283865 -5821792.983708 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636747.413555, t: 3221861.803120 -3946656.283828 -5821792.983135 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636747.513556, t: 3221861.803783 -3946656.282721 -5821792.983519 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636747.613555, t: 3221861.802725 -3946656.283336 -5821792.983688 q: 0.322533 0.889021 0.264756 -0.188463 
time: 1403636747.713556, t: 3221861.828034 -3946656.249402 -5821792.918206 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636747.813555, t: 3221861.853435 -3946656.223497 -5821792.862261 q: 0.322533 0.889021 0.264756 -0.188463 
time: 1403636747.913555, t: 3221861.871794 -3946656.210932 -5821792.831286 q: 0.322533 0.889021 0.264756 -0.188463 
unstable tracking...
time: 1403636748.013556, t: 3221861.894670 -3946656.321711 -5821793.167914 q: 0.318551 0.886248 0.276923 -0.190798 
W0708 15:47:00.987253   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      31.7458     -47.0054 
-3.94666e+06 |     -86.1813     -10.3428 
-5.82179e+06 |     -18.0793      48.8498 
     0.88868 |     -636.418      82.8477 
    0.266162 |      129.289     -369.806 
   -0.188831 |     -93.1079     -296.587 
    0.322099 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -31.7458      47.0054 
-3.94666e+06 |      86.1813      10.3428 
-5.82179e+06 |      18.0793     -48.8498 
    0.886248 |      634.939     -96.8265 
    0.276923 |     -114.844      352.107 
   -0.190798 |      96.6559      308.425 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -184.748      30.3089 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:00.987341   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636748.113555, t: 3221861.922026 -3946656.513797 -5821792.990338 q: 0.318551 0.886248 0.276923 -0.190798 
W0708 15:47:01.081962   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       30.628     -45.5172 
-3.94666e+06 |     -90.3891     -4.11935 
-5.82179e+06 |     -23.0023      55.0913 
    0.888084 |      -706.71      143.385 
    0.269163 |        192.4     -406.964 
   -0.189118 |     -142.262     -332.059 
     0.32108 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -30.628      45.5172 
-3.94666e+06 |      90.3891      4.11935 
-5.82179e+06 |      23.0023     -55.0913 
    0.886248 |      707.023     -155.956 
    0.276923 |     -175.403      389.142 
   -0.190798 |      139.951      341.747 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -166.751      11.7074 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:01.082026   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636748.213556, t: 3221861.898129 -3946656.507958 -5821792.986940 q: 0.318551 0.886248 0.276923 -0.190798 
unstable tracking...
time: 1403636748.313555, t: 3221861.824277 -3946656.521997 -5821792.963513 q: 0.318551 0.886248 0.276923 -0.190798 
time: 1403636748.413555, t: 3221861.785449 -3946656.530912 -5821792.981937 q: 0.318551 0.886248 0.276923 -0.190798 
unstable tracking...
time: 1403636748.513556, t: 3221861.813277 -3946656.529796 -5821792.981345 q: 0.318551 0.886248 0.276923 -0.190798 
W0708 15:47:01.487778   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      32.2845     -43.0116 
-3.94666e+06 |     -72.6617      0.21678 
-5.82179e+06 |     -6.88545      57.4869 
    0.886248 |     -508.985      133.032 
    0.276923 |      149.912     -422.928 
   -0.190798 |     -178.258     -238.702 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -32.2845      43.0116 
-3.94666e+06 |      72.6617     -0.21678 
-5.82179e+06 |      6.88545     -57.4869 
    0.886248 |      505.354     -131.681 
    0.276923 |     -145.972      418.393 
   -0.190798 |      173.232      236.278 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -28.169     -20.1429 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:01.487823   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636748.613555, t: 3221861.807773 -3946656.531240 -5821792.983413 q: 0.318551 0.886248 0.276923 -0.190798 
unstable tracking...
time: 1403636748.713556, t: 3221861.804514 -3946656.532539 -5821792.984336 q: 0.318551 0.886248 0.276923 -0.190798 
W0708 15:47:01.699824   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |   0.00332939  -0.00437738 
-3.94666e+06 |  -0.00667811 -0.000434319 
-5.82179e+06 | -8.42681e-05   0.00524772 
    0.886248 |     -446.057      88.2856 
    0.276923 |      98.8816     -380.756 
   -0.190798 |     -138.624     -197.907 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |  -0.00332939   0.00437738 
-3.94666e+06 |   0.00667811  0.000434319 
-5.82179e+06 |  8.42681e-05  -0.00524772 
    0.886248 |      446.057     -88.2857 
    0.276923 |     -98.8817      380.756 
   -0.190798 |      138.624      197.907 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 2.00806e-05 |     -28.8279     -7.01802 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:01.699900   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636748.813555, t: 3221861.825225 -3946656.495901 -5821792.918060 q: 0.318551 0.886248 0.276923 -0.190798 
unstable tracking...
time: 1403636748.913555, t: 3221861.858390 -3946656.455213 -5821792.850212 q: 0.318551 0.886248 0.276923 -0.190798 
time: 1403636749.013556, t: 3221861.885075 -3946656.428636 -5821792.814904 q: 0.318551 0.886248 0.276923 -0.190798 
unstable tracking...
time: 1403636749.113555, t: 3221861.907257 -3946656.424832 -5821792.798092 q: 0.318551 0.886248 0.276923 -0.190798 
W0708 15:47:02.088637   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      30.5836     -41.8689 
-3.94666e+06 |     -73.2707     -1.45398 
-5.82179e+06 |     -9.92887      53.7603 
    0.886248 |     -531.963      132.136 
    0.276923 |      147.562     -395.135 
   -0.190798 |     -158.438     -256.361 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -30.5836      41.8689 
-3.94666e+06 |      73.2707      1.45398 
-5.82179e+06 |      9.92887     -53.7603 
    0.886248 |      544.086     -133.998 
    0.276923 |     -149.253      404.964 
   -0.190798 |      160.052      259.969 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -13.8156     -14.3005 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:02.088701   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636749.213556, t: 3221861.914614 -3946656.397099 -5821792.782530 q: 0.318551 0.886248 0.276923 -0.190798 
unstable tracking...
time: 1403636749.313555, t: 3221861.932923 -3946656.346397 -5821792.737740 q: 0.318551 0.886248 0.276923 -0.190798 
W0708 15:47:02.289129   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |  0.000495891 -0.000690439 
-3.94666e+06 |  -0.00115836 -0.000110538 
-5.82179e+06 | -0.000138216  0.000772192 
    0.886248 |     -529.312       96.343 
    0.276923 |      109.314     -364.731 
   -0.190798 |     -117.324     -253.528 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 | -0.000495891  0.000690439 
-3.94666e+06 |   0.00115836  0.000110538 
-5.82179e+06 |  0.000138216 -0.000772192 
    0.886248 |      529.312     -96.3429 
    0.276923 |     -109.314      364.731 
   -0.190798 |      117.324      253.528 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 3.13211e-06 |      20.9452     -10.2864 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:02.289240   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636749.413555, t: 3221861.956853 -3946656.264465 -5821792.684570 q: 0.318551 0.886248 0.276923 -0.190798 
unstable tracking...
time: 1403636749.513556, t: 3221861.929909 -3946656.177875 -5821792.708288 q: 0.318551 0.886248 0.276922 -0.190798 
W0708 15:47:02.493280   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      31.0914     -41.9052 
-3.94666e+06 |     -75.8846      3.20508 
-5.82179e+06 |     -11.1663      59.9628 
    0.886248 |     -562.543      173.819 
    0.276923 |      179.097     -441.308 
   -0.190798 |     -189.856     -275.887 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -31.0914      41.9052 
-3.94666e+06 |      75.8846     -3.20508 
-5.82179e+06 |      11.1663     -59.9628 
    0.886248 |      556.679     -167.964 
    0.276922 |     -183.546      446.722 
   -0.190798 |      195.227      266.487 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      22.4806        18.32 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:02.493360   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636749.613555, t: 3221861.909184 -3946656.194721 -5821792.822566 q: 0.318551 0.886248 0.276922 -0.190798 
unstable tracking...
time: 1403636749.713556, t: 3221861.905970 -3946656.159174 -5821792.780422 q: 0.318551 0.886248 0.276922 -0.190798 
W0708 15:47:02.686903   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      32.6715      -42.939 
-3.94666e+06 |     -68.2668     -1.64099 
-5.82179e+06 |     -2.92569      54.9363 
    0.886248 |     -469.252       111.39 
    0.276923 |      117.816      -399.18 
   -0.190798 |     -155.797     -217.612 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -32.6715       42.939 
-3.94666e+06 |      68.2668      1.64099 
-5.82179e+06 |      2.92569     -54.9363 
    0.886248 |       464.75     -107.186 
    0.276922 |     -120.354      402.181 
   -0.190798 |      159.694      209.385 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      10.8222      15.6518 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:02.686945   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636749.813555, t: 3221861.924281 -3946656.145260 -5821792.762492 q: 0.318551 0.886248 0.276922 -0.190798 
W0708 15:47:02.787420   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |  0.000147673 -0.000202413 
-3.94666e+06 | -0.000336865 -2.39962e-05 
-5.82179e+06 | -3.49501e-05  0.000237489 
    0.886248 |     -514.761      104.073 
    0.276922 |      116.494     -376.334 
   -0.190798 |     -131.502     -244.578 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 | -0.000147673  0.000202413 
-3.94666e+06 |  0.000336865  2.39962e-05 
-5.82179e+06 |  3.49501e-05 -0.000237489 
    0.886248 |      514.761     -104.073 
    0.276922 |     -116.494      376.334 
   -0.190798 |      131.502      244.578 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

 9.25298e-07 |     -15.3245     -7.34284 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:02.787472   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636749.913555, t: 3221861.932398 -3946656.138481 -5821792.767548 q: 0.318551 0.886248 0.276922 -0.190798 
unstable tracking...
time: 1403636750.013556, t: 3221861.938483 -3946656.133592 -5821792.794979 q: 0.318551 0.886248 0.276922 -0.190798 
time: 1403636750.113555, t: 3221861.945767 -3946656.111925 -5821792.760407 q: 0.318551 0.886248 0.276922 -0.190798 
unstable tracking...
time: 1403636750.213556, t: 3221861.962082 -3946656.058849 -5821792.699032 q: 0.318551 0.886248 0.276922 -0.190798 
W0708 15:47:03.186116   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       248.09      -350.35 
-3.94666e+06 |     -578.178     -81.8846 
-5.82179e+06 |     -68.1174      357.762 
    0.886248 |     -398.576      68.5898 
    0.276922 |      83.2514     -237.066 
   -0.190798 |     -89.8302      -229.45 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -248.09       350.35 
-3.94666e+06 |      578.178      81.8846 
-5.82179e+06 |      68.1174     -357.762 
    0.886248 |      513.536     -68.4277 
    0.276922 |     -96.4579      353.045 
   -0.190798 |      102.318      230.764 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     2.45179 |      14.9371     -8.75097 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:03.186204   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636750.313555, t: 3221861.991039 -3946655.975796 -5821792.612003 q: 0.318551 0.886248 0.276922 -0.190798 
W0708 15:47:03.293417   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      31.0049     -41.6501 
-3.94666e+06 |     -68.3586     -2.87636 
-5.82179e+06 |     -5.52011      51.5904 
    0.886248 |     -480.581      109.503 
    0.276922 |       122.93     -379.837 
   -0.190798 |     -148.829     -228.632 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -31.0049      41.6501 
-3.94666e+06 |      68.3586      2.87636 
-5.82179e+06 |      5.52011     -51.5904 
    0.886248 |      493.406     -109.734 
    0.276922 |     -123.658      392.423 
   -0.190798 |      149.356      229.124 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      10.7636     -26.6499 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:03.293495   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636750.413555, t: 3221861.947654 -3946655.984507 -5821792.716429 q: 0.318551 0.886248 0.276922 -0.190798 
unstable tracking...
time: 1403636750.513556, t: 3221861.881730 -3946656.062863 -5821792.778174 q: 0.318551 0.886248 0.276922 -0.190798 
time: 1403636750.613555, t: 3221861.892801 -3946655.984994 -5821792.751596 q: 0.318551 0.886248 0.276922 -0.190798 
unstable tracking...
time: 1403636750.713556, t: 3221861.879619 -3946655.920740 -5821792.799273 q: 0.318551 0.886248 0.276922 -0.190798 
W0708 15:47:03.682686   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      33.2419     -43.1404 
-3.94666e+06 |     -67.6365    -0.541302 
-5.82179e+06 |     -1.57801      56.6568 
    0.886248 |     -458.484      111.772 
    0.276922 |       119.98     -412.182 
   -0.190798 |     -167.015     -207.307 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -33.2419      43.1404 
-3.94666e+06 |      67.6365     0.541302 
-5.82179e+06 |      1.57801     -56.6568 
    0.886248 |      451.737     -107.703 
    0.276922 |     -120.493      410.865 
   -0.190798 |      168.058      199.731 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -2.15187      9.23829 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:03.682746   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636750.813555, t: 3221861.894509 -3946655.916289 -5821792.800704 q: 0.318551 0.886248 0.276922 -0.190798 
W0708 15:47:03.786374   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      30.9117     -42.6204 
-3.94666e+06 |     -76.2682    -0.972057 
-5.82179e+06 |     -11.7329      55.3962 
    0.886248 |      -564.59      145.138 
    0.276922 |      155.629     -404.925 
   -0.190798 |     -159.938     -274.937 
    0.318551 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -30.9117      42.6204 
-3.94666e+06 |      76.2682     0.972057 
-5.82179e+06 |      11.7329     -55.3962 
    0.886248 |       563.89     -143.114 
    0.276922 |     -158.915      409.502 
   -0.190798 |       163.73      271.087 
    0.318551 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -3.23427      11.4065 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:03.786433   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636750.913555, t: 3221861.907144 -3946655.894391 -5821792.779193 q: 0.318551 0.886248 0.276922 -0.190798 
unstable tracking...
time: 1403636751.013556, t: 3221861.923005 -3946655.845959 -5821792.763848 q: 0.318551 0.886248 0.276922 -0.190798 
time: 1403636751.113555, t: 3221861.929367 -3946655.759733 -5821792.726466 q: 0.318551 0.886248 0.276922 -0.190798 
unstable tracking...
time: 1403636751.213556, t: 3221861.984681 -3946655.867575 -5821792.433938 q: 0.307044 0.888680 0.280193 -0.193555 
unstable tracking...
W0708 15:47:04.286198   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      29.9373     -41.5817 
-3.94666e+06 |     -75.8011     -3.51681 
-5.82179e+06 |     -14.6047      53.4091 
    0.889104 |     -573.588      147.446 
    0.287337 |      143.216      -389.95 
   -0.189593 |     -159.154     -278.232 
    0.301638 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -29.9373      41.5817 
-3.94666e+06 |      75.8011      3.51681 
-5.82179e+06 |      14.6047     -53.4091 
     0.88868 |      577.332     -136.851 
    0.280193 |     -152.984      397.766 
   -0.193555 |      152.238      278.631 
    0.307044 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      13.8019     -5.07572 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:04.286268   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636751.413555, t: 3221861.968657 -3946655.863146 -5821792.445809 q: 0.307044 0.888680 0.280193 -0.193555 
unstable tracking...
time: 1403636751.513556, t: 3221862.013942 -3946655.901631 -5821792.752970 q: 0.312024 0.894156 0.259742 -0.188839 
unstable tracking...
time: 1403636751.613555, t: 3221862.121712 -3946655.808885 -5821792.603709 q: 0.338256 0.899598 0.209894 -0.179584 
unstable tracking...
time: 1403636751.713556, t: 3221862.056672 -3946655.842508 -5821792.501909 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:04.698957   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       22.697     -43.6089 
-3.94666e+06 |     -69.0369       6.0931 
-5.82179e+06 |    0.0356094      48.5371 
    0.891948 |     -478.605      125.532 
    0.218773 |      130.673     -383.442 
   -0.186419 |     -158.206     -240.101 
     0.34902 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -22.697      43.6089 
-3.94666e+06 |      69.0369      -6.0931 
-5.82179e+06 |   -0.0356094     -48.5371 
    0.899598 |      491.283     -120.318 
    0.209894 |     -134.054      408.258 
   -0.179584 |      164.553      227.512 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      43.7547     -65.0265 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:04.698997   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636751.813555, t: 3221862.022499 -3946655.680878 -5821792.438990 q: 0.338256 0.899598 0.209894 -0.179584 
unstable tracking...
time: 1403636751.913555, t: 3221862.084121 -3946655.693797 -5821792.398778 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:04.899222   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      21.3944       -44.15 
-3.94666e+06 |     -78.7952      8.17954 
-5.82179e+06 |       -8.248      51.5823 
    0.899598 |      -580.54      165.927 
    0.209894 |      188.475     -414.632 
   -0.179584 |     -184.307     -287.552 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -21.3944        44.15 
-3.94666e+06 |      78.7952     -8.17954 
-5.82179e+06 |        8.248     -51.5823 
    0.899598 |      598.607     -167.119 
    0.209894 |     -183.636      427.341 
   -0.179584 |      178.523      289.583 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |       33.173     -73.7397 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:04.899281   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636752.013556, t: 3221862.106727 -3946655.672586 -5821792.351201 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:04.993739   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      25.4142     -45.2617 
-3.94666e+06 |     -65.1054      8.57909 
-5.82179e+06 |      7.40154      53.1163 
    0.899598 |     -406.741      97.6086 
    0.209894 |      111.207     -415.483 
   -0.179584 |      -179.23     -167.207 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -25.4142      45.2617 
-3.94666e+06 |      65.1054     -8.57909 
-5.82179e+06 |     -7.40154     -53.1163 
    0.899598 |      418.547     -101.044 
    0.209894 |      -112.72      425.225 
   -0.179584 |      181.414      173.109 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -39.2584     -12.4116 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:04.993811   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636752.113555, t: 3221862.128150 -3946655.642987 -5821792.307313 q: 0.338256 0.899598 0.209894 -0.179584 
unstable tracking...
W0708 15:47:05.189371   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      23.8162     -45.3682 
-3.94666e+06 |     -69.9065      5.16487 
-5.82179e+06 |      1.56741       49.069 
    0.899598 |     -461.899      108.059 
    0.209894 |      119.669     -385.578 
   -0.179584 |     -153.859     -215.864 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -23.8162      45.3682 
-3.94666e+06 |      69.9065     -5.16487 
-5.82179e+06 |     -1.56741      -49.069 
    0.899598 |      474.257     -108.214 
    0.209894 |     -121.583      398.748 
   -0.179584 |      156.138      216.169 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      7.85362     -18.5257 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:05.189450   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636752.313555, t: 3221862.155071 -3946655.550254 -5821792.271755 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:05.293435   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       22.559     -45.8054 
-3.94666e+06 |     -79.4856      7.75615 
-5.82179e+06 |     -6.52478      52.6294 
    0.899598 |     -567.098      155.125 
    0.209894 |      168.198     -414.059 
   -0.179584 |     -171.706     -276.875 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -22.559      45.8054 
-3.94666e+06 |      79.4856     -7.75615 
-5.82179e+06 |      6.52478     -52.6294 
    0.899598 |      571.199     -154.075 
    0.209894 |     -170.013      420.814 
   -0.179584 |      173.625      274.975 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      1.34208     -6.51565 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:05.293509   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636752.413555, t: 3221862.162506 -3946655.480011 -5821792.280501 q: 0.338256 0.899598 0.209894 -0.179584 
unstable tracking...
time: 1403636752.513556, t: 3221862.163347 -3946655.413903 -5821792.269390 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:05.502256   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       21.785     -47.2376 
-3.94666e+06 |     -82.4088     0.531062 
-5.82179e+06 |     -9.71134       45.203 
    0.899598 |     -614.664      117.621 
    0.209894 |      130.153     -361.798 
   -0.179584 |     -116.716     -304.136 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -21.785      47.2376 
-3.94666e+06 |      82.4088    -0.531062 
-5.82179e+06 |      9.71134      -45.203 
    0.899598 |      615.439     -115.521 
    0.209894 |     -132.754      368.642 
   -0.179584 |      119.411      298.798 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      21.8503      1.28502 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:05.502312   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
W0708 15:47:05.589359   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      77.2682     -142.652 
-3.94666e+06 |      -214.65      22.9801 
-5.82179e+06 |      12.4198      162.477 
    0.899598 |     -437.126      114.273 
    0.209894 |      121.388     -396.458 
   -0.179584 |     -171.075     -206.984 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -77.2682      142.652 
-3.94666e+06 |       214.65     -22.9801 
-5.82179e+06 |     -12.4198     -162.477 
    0.899598 |      447.312     -106.398 
    0.209894 |     -123.991       417.67 
   -0.179584 |      174.712      192.597 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.651311 |      9.46305     -11.1502 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:05.589449   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636752.713556, t: 3221862.156738 -3946655.270245 -5821792.247409 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:05.694152   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      92.9365     -171.401 
-3.94666e+06 |     -258.559      28.9019 
-5.82179e+06 |      14.7071      196.789 
    0.899598 |      -427.22      125.515 
    0.209894 |      120.229      -375.77 
   -0.179584 |     -169.262     -224.212 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -92.9365      171.401 
-3.94666e+06 |      258.559     -28.9019 
-5.82179e+06 |     -14.7071     -196.789 
    0.899598 |      447.109     -107.228 
    0.209894 |     -126.373      421.261 
   -0.179584 |      177.986      191.259 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.847767 |      40.8782     -17.5732 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:05.694231   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636752.813555, t: 3221862.153156 -3946655.184432 -5821792.235230 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:05.791081   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      21.7466      -44.987 
-3.94666e+06 |     -80.8725      8.73949 
-5.82179e+06 |     -8.85452       53.052 
    0.899598 |     -605.632      178.097 
    0.209894 |      184.694     -419.372 
   -0.179584 |     -177.442     -303.734 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -21.7466       44.987 
-3.94666e+06 |      80.8725     -8.73949 
-5.82179e+06 |      8.85452      -53.052 
    0.899598 |      604.755     -171.682 
    0.209894 |     -188.402      430.966 
   -0.179584 |      181.418       292.69 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      67.3464       -9.576 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:05.791170   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636752.913555, t: 3221862.145536 -3946655.107424 -5821792.270619 q: 0.338256 0.899598 0.209894 -0.179584 
unstable tracking...
time: 1403636753.013556, t: 3221862.145079 -3946655.036271 -5821792.267573 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:05.988642   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.2172     0.234252 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:05.988699   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636753.113555, t: 3221862.149727 -3946654.940873 -5821792.250089 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:06.089259   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      98.8598     -181.429 
-3.94666e+06 |     -277.375      37.5951 
-5.82179e+06 |      14.2343      216.809 
    0.899598 |     -440.024      140.149 
    0.209894 |      125.802     -391.172 
   -0.179584 |     -175.028     -233.329 
    0.338256 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -98.8598      181.429 
-3.94665e+06 |      277.375     -37.5951 
-5.82179e+06 |     -14.2343     -216.809 
    0.899598 |      450.411      -116.21 
    0.209894 |     -136.396      436.696 
   -0.179584 |      190.775      192.987 
    0.338256 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.890291 |      42.2985     -8.04098 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:06.089319   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636753.213556, t: 3221862.141305 -3946654.876992 -5821792.280059 q: 0.338256 0.899598 0.209894 -0.179584 
W0708 15:47:06.193954   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1828     0.247659 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:06.194005   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636753.313555, t: 3221862.165742 -3946654.819442 -5821792.238480 q: 0.338256 0.899598 0.209894 -0.179584 
unstable tracking...
time: 1403636753.413555, t: 3221862.240749 -3946654.903470 -5821792.158736 q: 0.220894 0.934623 0.174360 -0.217449 
W0708 15:47:06.393404   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       80.416     -182.046 
-3.94665e+06 |     -276.132      1.07841 
-5.82179e+06 |     -2.02106      230.901 
    0.894091 |     -339.975      66.8995 
     0.21628 |      101.055     -314.045 
   -0.173254 |     -129.985     -214.598 
    0.351863 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -80.416      182.046 
-3.94665e+06 |      276.132     -1.07841 
-5.82179e+06 |      2.02106     -230.901 
    0.934623 |      366.211     -55.3038 
     0.17436 |     -71.4986      392.628 
   -0.217449 |      154.461      115.703 
    0.220894 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.12895 |     -14.8582    -0.225859 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:06.393461   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636753.513556, t: 3221862.203787 -3946654.815992 -5821792.248105 q: 0.220894 0.934623 0.174360 -0.217449 
W0708 15:47:06.502458   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      11.5927     -38.1653 
-3.94665e+06 |       -63.62     -2.03645 
-5.82179e+06 |     -12.8442       43.089 
    0.911288 |     -469.095      103.717 
    0.216051 |      92.3606     -322.866 
   -0.201862 |     -114.824     -263.675 
     0.28658 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -11.5927      38.1653 
-3.94665e+06 |        63.62      2.03645 
-5.82179e+06 |      12.8442      -43.089 
    0.934623 |      471.724     -84.4494 
     0.17436 |     -97.7007      367.778 
   -0.217449 |      123.133      215.153 
    0.220894 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -38.0445      -4.0976 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:06.502533   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636753.613555, t: 3221862.240532 -3946654.840059 -5821792.250420 q: 0.220894 0.934623 0.174360 -0.217449 
W0708 15:47:06.580612   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      8.15932     -41.5389 
-3.94665e+06 |     -82.7585      2.30027 
-5.82179e+06 |     -29.0614      57.5152 
    0.934623 |      -628.67      168.047 
     0.17436 |      175.638     -412.832 
   -0.217449 |     -161.837     -308.174 
    0.220894 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -8.15932      41.5389 
-3.94665e+06 |      82.7585     -2.30027 
-5.82179e+06 |      29.0614     -57.5152 
    0.934623 |      622.796     -164.689 
     0.17436 |     -181.952      416.513 
   -0.217449 |      168.548      301.989 
    0.220894 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -2.96016      31.8414 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:06.580695   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636753.713556, t: 3221862.286946 -3946654.794944 -5821792.239487 q: 0.220894 0.934623 0.174360 -0.217449 
unstable tracking...
time: 1403636753.813555, t: 3221862.236775 -3946654.821656 -5821792.241998 q: 0.211794 0.946535 0.130523 -0.205375 
W0708 15:47:06.787571   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      10.1234     -43.3395 
-3.94665e+06 |     -70.5063      5.48349 
-5.82179e+06 |     -8.58585       55.293 
    0.944263 |     -420.713      91.5483 
    0.128035 |      114.745     -409.949 
   -0.206831 |     -166.304     -183.578 
    0.221799 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -10.1234      43.3395 
-3.94665e+06 |      70.5063     -5.48349 
-5.82179e+06 |      8.58585      -55.293 
    0.946535 |       421.18     -96.1727 
    0.130523 |     -107.993      412.809 
   -0.205375 |      170.683        175.6 
    0.211794 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.2531     -5.69654 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:06.787637   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636753.913555, t: 3221862.307566 -3946654.744564 -5821792.158817 q: 0.211794 0.946535 0.130523 -0.205375 
unstable tracking...
time: 1403636754.013556, t: 3221862.245310 -3946654.770171 -5821792.255126 q: 0.213921 0.945779 0.131165 -0.206242 
W0708 15:47:06.987929   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       6.8236     -42.7989 
-3.94665e+06 |     -73.8423       4.7008 
-5.82179e+06 |     -16.5856       52.689 
    0.946611 |     -481.924      109.385 
    0.120561 |      141.936     -395.923 
   -0.204363 |     -157.089     -231.188 
    0.218238 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      -6.8236      42.7989 
-3.94665e+06 |      73.8423      -4.7008 
-5.82179e+06 |      16.5856      -52.689 
    0.945779 |      493.707     -118.654 
    0.131165 |     -132.564      404.758 
   -0.206242 |      161.262      229.092 
    0.213921 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      2.25761     -10.0484 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:06.988015   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636754.113555, t: 3221862.318465 -3946654.710265 -5821792.168627 q: 0.213921 0.945779 0.131165 -0.206242 
W0708 15:47:07.090677   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      5.30516     -41.9316 
-3.94665e+06 |     -74.7318      4.81946 
-5.82179e+06 |     -20.0234      52.1244 
    0.945162 |     -517.643      131.694 
    0.130873 |      144.116     -389.999 
   -0.207117 |     -156.056     -254.523 
     0.21597 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -5.30516      41.9316 
-3.94665e+06 |      74.7318     -4.81946 
-5.82179e+06 |      20.0234     -52.1244 
    0.945779 |      532.088     -132.814 
    0.131165 |       -147.7        407.9 
   -0.206242 |      163.103      252.931 
    0.213921 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      24.8343     -11.8265 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:07.090763   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636754.213556, t: 3221862.382526 -3946654.656140 -5821792.152908 q: 0.213921 0.945779 0.131165 -0.206242 
unstable tracking...
time: 1403636754.313555, t: 3221862.504836 -3946654.623588 -5821791.983472 q: 0.203218 0.946435 0.141917 -0.206935 
time: 1403636754.413555, t: 3221862.372696 -3946654.811731 -5821792.091927 q: 0.150928 0.962585 0.151458 -0.166466 
unstable tracking...
time: 1403636754.513556, t: 3221862.369673 -3946654.854101 -5821792.064877 q: 0.150928 0.962585 0.151458 -0.166466 
W0708 15:47:07.487533   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      9.43765     -34.7733 
-3.94666e+06 |     -49.5377     -3.88124 
-5.82179e+06 |     -12.3358      34.9915 
    0.956822 |     -330.179      82.0771 
    0.172784 |      79.7626     -292.754 
    -0.15428 |     -134.482     -169.065 
    0.175598 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -9.43765      34.7733 
-3.94665e+06 |      49.5377      3.88124 
-5.82179e+06 |      12.3358     -34.9915 
    0.962585 |       415.79     -78.3989 
    0.151458 |     -89.5925      383.466 
   -0.166466 |      142.663      172.219 
    0.150928 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      85.1983     -116.507 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:07.487600   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636754.613555, t: 3221862.289919 -3946654.835362 -5821792.033080 q: 0.150928 0.962585 0.151458 -0.166466 
W0708 15:47:07.592948   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      8.09124     -46.3076 
-3.94665e+06 |     -74.8597     -3.37864 
-5.82179e+06 |     -34.3495      52.8116 
    0.962585 |      -558.72      147.771 
    0.151458 |       168.88     -416.235 
   -0.166466 |     -176.503     -270.678 
    0.150928 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |     -8.09124      46.3076 
-3.94665e+06 |      74.8597      3.37864 
-5.82179e+06 |      34.3495     -52.8116 
    0.962585 |      560.732      -146.99 
    0.151458 |     -162.694      415.578 
   -0.166466 |      169.298      269.244 
    0.150928 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -11.3569     -44.3414 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:07.593027   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636754.713556, t: 3221862.274951 -3946654.800602 -5821792.007976 q: 0.150928 0.962585 0.151458 -0.166466 
unstable tracking...
time: 1403636754.813555, t: 3221862.362235 -3946654.802880 -5821792.022817 q: 0.110518 0.962774 0.174698 -0.174164 
unstable tracking...
time: 1403636754.913555, t: 3221862.445490 -3946654.880169 -5821791.903576 q: 0.098715 0.967309 0.155334 -0.174470 
W0708 15:47:07.887629   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1937     0.269085 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:07.887696   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636755.013556, t: 3221862.426103 -3946654.883423 -5821791.852566 q: 0.098715 0.967309 0.155334 -0.174470 
W0708 15:47:07.988401   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1905     0.258759 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:07.988461   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636755.113555, t: 3221862.439874 -3946654.863667 -5821791.774629 q: 0.098715 0.967309 0.155334 -0.174470 
unstable tracking...
time: 1403636755.213556, t: 3221862.467803 -3946654.887997 -5821791.873248 q: 0.077985 0.973744 0.131759 -0.168466 
unstable tracking...
time: 1403636755.313555, t: 3221862.481225 -3946654.895654 -5821791.795917 q: 0.077985 0.973744 0.131759 -0.168466 
unstable tracking...
time: 1403636755.413555, t: 3221862.515485 -3946654.853394 -5821791.693366 q: 0.077985 0.973744 0.131759 -0.168466 
time: 1403636755.513556, t: 3221862.540171 -3946654.805694 -5821791.609059 q: 0.077985 0.973744 0.131758 -0.168466 
W0708 15:47:08.490136   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     0.542079     -47.8998 
-3.94665e+06 |     -70.4022     -9.53919 
-5.82179e+06 |     -50.5229      43.0253 
    0.973744 |     -626.056      118.079 
    0.131759 |      134.704     -360.903 
   -0.168466 |     -117.708     -308.201 
   0.0779854 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |    -0.542079      47.8998 
-3.94665e+06 |      70.4022      9.53919 
-5.82179e+06 |      50.5229     -43.0253 
    0.973744 |      631.936     -117.601 
    0.131759 |      -135.23      367.963 
   -0.168466 |      118.061      307.014 
   0.0779854 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      7.24549     -11.6154 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:08.490218   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
time: 1403636755.613555, t: 3221862.488922 -3946654.816136 -5821791.636378 q: 0.077985 0.973744 0.131759 -0.168466 
time: 1403636755.713556, t: 3221862.471052 -3946654.816124 -5821791.587483 q: 0.077985 0.973744 0.131759 -0.168466 
time: 1403636755.813555, t: 3221862.506211 -3946654.837667 -5821791.656885 q: 0.060189 0.977630 0.120996 -0.161173 
time: 1403636755.913555, t: 3221862.483583 -3946654.824660 -5821791.569940 q: 0.060189 0.977630 0.120996 -0.161173 
time: 1403636756.013556, t: 3221862.510488 -3946654.812190 -5821791.549546 q: 0.060189 0.977630 0.120996 -0.161173 
time: 1403636756.113555, t: 3221862.494438 -3946654.814726 -5821791.571930 q: 0.060189 0.977630 0.120996 -0.161173 
unstable tracking...
time: 1403636756.213556, t: 3221862.491129 -3946654.802097 -5821791.581305 q: 0.060189 0.977630 0.120996 -0.161173 
W0708 15:47:09.189764   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      -1.2978      -47.223 
-3.94665e+06 |     -70.7348      -8.2103 
-5.82179e+06 |     -56.2078       52.199 
     0.97763 |     -654.882      171.886 
    0.120996 |      188.849     -414.771 
   -0.161173 |     -165.918     -317.972 
   0.0601888 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |       1.2978       47.223 
-3.94665e+06 |      70.7348       8.2103 
-5.82179e+06 |      56.2078      -52.199 
     0.97763 |      654.622     -171.652 
    0.120996 |     -189.678      415.385 
   -0.161173 |      166.742      317.538 
   0.0601888 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -31.2487       3.7618 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:09.189841   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636756.313555, t: 3221862.479663 -3946654.818382 -5821791.603876 q: 0.060189 0.977630 0.120996 -0.161173 
time: 1403636756.413555, t: 3221862.476244 -3946654.826064 -5821791.605090 q: 0.060189 0.977630 0.120996 -0.161173 
unstable tracking...
time: 1403636756.513556, t: 3221862.487775 -3946654.814118 -5821791.590601 q: 0.060189 0.977630 0.120996 -0.161173 
time: 1403636756.613555, t: 3221862.049158 -3946655.387015 -5821791.930131 q: 0.080625 0.966753 0.126189 -0.207277 
unstable tracking...
time: 1403636756.713556, t: 3221862.064602 -3946655.316279 -5821791.969538 q: 0.080625 0.966753 0.126189 -0.207277 
unstable tracking...
time: 1403636756.813555, t: 3221862.040203 -3946655.301531 -5821791.985389 q: 0.080625 0.966753 0.126189 -0.207277 
time: 1403636756.913555, t: 3221862.040792 -3946655.275273 -5821791.927041 q: 0.080625 0.966753 0.126189 -0.207277 
unstable tracking...
time: 1403636757.013556, t: 3221862.067849 -3946655.266677 -5821791.859401 q: 0.080625 0.966753 0.126189 -0.207277 
time: 1403636757.113555, t: 3221862.090783 -3946655.261381 -5821791.780682 q: 0.080625 0.966753 0.126189 -0.207277 
unstable tracking...
time: 1403636757.213556, t: 3221862.111929 -3946655.268936 -5821791.694426 q: 0.080625 0.966753 0.126189 -0.207277 
unstable tracking...
time: 1403636757.313555, t: 3221862.114268 -3946655.296948 -5821791.785612 q: 0.062149 0.969737 0.105973 -0.210993 
unstable tracking...
time: 1403636757.413555, t: 3221862.107818 -3946655.202907 -5821791.798835 q: 0.077544 0.963877 0.116396 -0.226672 
unstable tracking...
time: 1403636757.513556, t: 3221862.141083 -3946655.105390 -5821791.770512 q: 0.100722 0.960399 0.094351 -0.242046 
unstable tracking...
time: 1403636757.613555, t: 3221862.272952 -3946655.066012 -5821791.560956 q: 0.150262 0.913378 -0.350126 -0.143436 
unstable tracking...
time: 1403636757.713556, t: 3221862.238079 -3946655.105516 -5821791.555971 q: 0.150262 0.913378 -0.350126 -0.143436 
unstable tracking...
time: 1403636757.813555, t: 3221862.317484 -3946655.040365 -5821791.547587 q: 0.123667 0.915620 -0.352380 -0.148911 
unstable tracking...
time: 1403636757.913555, t: 3221862.323975 -3946655.057240 -5821791.490148 q: 0.105299 0.919498 -0.349688 -0.145447 
unstable tracking...
time: 1403636758.013556, t: 3221862.369338 -3946655.062835 -5821791.471007 q: 0.105299 0.919498 -0.349688 -0.145447 
unstable tracking...
time: 1403636758.113555, t: 3221862.348689 -3946655.091716 -5821791.468580 q: 0.091804 0.917525 -0.370381 -0.111971 
unstable tracking...
time: 1403636758.213556, t: 3221862.342360 -3946655.092286 -5821791.471698 q: 0.091804 0.917525 -0.370381 -0.111971 
unstable tracking...
time: 1403636758.313555, t: 3221862.334322 -3946655.094581 -5821791.463266 q: 0.094214 0.912367 -0.386590 -0.096221 
unstable tracking...
time: 1403636758.413555, t: 3221862.329305 -3946655.096794 -5821791.467664 q: 0.094214 0.912367 -0.386590 -0.096221 
unstable tracking...
time: 1403636758.513556, t: 3221862.337123 -3946655.099060 -5821791.481427 q: 0.070770 0.905738 -0.402675 -0.111730 
unstable tracking...
time: 1403636758.613555, t: 3221862.348585 -3946655.105095 -5821791.452768 q: 0.070770 0.905738 -0.402675 -0.111730 
unstable tracking...
time: 1403636758.713556, t: 3221862.402617 -3946655.037970 -5821791.468372 q: 0.070770 0.905738 -0.402675 -0.111730 
unstable tracking...
time: 1403636758.813555, t: 3221862.430152 -3946655.037543 -5821791.476747 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:11.795996   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

 1.71919e-06 |     -34.1502     0.235486 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:11.796056   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636758.913555, t: 3221862.466203 -3946655.053048 -5821791.481926 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:11.893507   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -617.121     -328.436 
-3.94666e+06 |     -463.162      473.835 
-5.82179e+06 |     -529.466      373.121 
    0.905738 |     -709.729      160.116 
   -0.402675 |      157.305     -388.857 
    -0.11173 |     -123.423     -339.913 
     0.07077 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      617.121      328.436 
-3.94666e+06 |      463.162     -473.835 
-5.82179e+06 |      529.466     -373.121 
    0.905738 |      682.517     -148.857 
   -0.402675 |     -192.545      403.129 
    -0.11173 |      156.635      316.061 
     0.07077 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

     1.98982 |     -23.0691      16.4163 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:11.893599   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636759.013556, t: 3221862.463057 -3946655.050590 -5821791.485336 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:11.993649   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -285.063     -146.578 
-3.94666e+06 |     -213.883      220.087 
-5.82179e+06 |     -244.923      190.641 
    0.905738 |     -701.696       181.32 
   -0.402675 |      194.626     -411.602 
    -0.11173 |     -157.727     -336.429 
     0.07077 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      285.063      146.578 
-3.94666e+06 |      213.883     -220.087 
-5.82179e+06 |      244.923     -190.641 
    0.905738 |      697.889     -178.727 
   -0.402675 |     -208.463      419.802 
    -0.11173 |      170.543       331.59 
     0.07077 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

    0.924183 |     -27.4674      12.8303 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:11.993717   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636759.113555, t: 3221862.471686 -3946655.058413 -5821791.481608 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:12.090162   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -60.1481      -34.388 
-3.94666e+06 |     -45.8713      46.9092 
-5.82179e+06 |     -47.5089      31.5035 
    0.905738 |     -643.578      116.436 
   -0.402675 |      134.683     -364.626 
    -0.11173 |     -114.567     -312.682 
     0.07077 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      60.1481       34.388 
-3.94666e+06 |      45.8713     -46.9092 
-5.82179e+06 |      47.5089     -31.5035 
    0.905738 |      645.276     -116.732 
   -0.402675 |     -134.745      365.509 
    -0.11173 |      114.577      313.478 
     0.07077 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -33.7373     -1.24816 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:12.090229   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636759.213556, t: 3221862.461039 -3946655.061478 -5821791.465647 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:12.189177   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 4 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 1, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 2, size: 1

         0.2 |     -34.1422     0.264575 

Parameter Block 3, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:12.189235   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636759.313555, t: 3221862.452216 -3946655.066236 -5821791.439189 q: 0.070770 0.905738 -0.402675 -0.111730 
unstable tracking...
time: 1403636759.413555, t: 3221862.459172 -3946655.081461 -5821791.420003 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:12.389425   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -55.7129     -31.6122 
-3.94666e+06 |     -44.4069      47.0394 
-5.82179e+06 |     -33.2278      39.9217 
    0.905738 |     -505.121      124.995 
   -0.402675 |      139.734     -401.987 
    -0.11173 |     -162.383     -238.487 
     0.07077 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      55.7129      31.6122 
-3.94666e+06 |      44.4069     -47.0394 
-5.82179e+06 |      33.2278     -39.9217 
    0.905738 |       511.49     -125.978 
   -0.402675 |     -140.404      407.193 
    -0.11173 |      163.024      240.361 
     0.07077 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -24.2366     -8.97625 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:12.389503   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636759.513556, t: 3221862.466997 -3946655.087087 -5821791.384466 q: 0.070770 0.905738 -0.402675 -0.111730 
unstable tracking...
time: 1403636759.613555, t: 3221862.470748 -3946655.090674 -5821791.315814 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:12.588747   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -53.6678     -31.3147 
-3.94666e+06 |     -43.7393      46.8597 
-5.82179e+06 |     -26.5999      40.2819 
    0.905738 |     -452.874      109.284 
   -0.402675 |       122.81     -403.003 
    -0.11173 |     -166.469     -204.666 
     0.07077 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      53.6678      31.3147 
-3.94666e+06 |      43.7393     -46.8597 
-5.82179e+06 |      26.5999     -40.2819 
    0.905738 |      460.082     -109.961 
   -0.402675 |     -122.938       409.29 
    -0.11173 |      166.391      205.926 
     0.07077 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      -18.564     -16.7491 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:12.588820   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636759.713556, t: 3221862.478689 -3946655.086293 -5821791.256058 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:12.687541   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |      -54.633     -30.9604 
-3.94666e+06 |     -43.5954      46.2282 
-5.82179e+06 |     -32.3067      39.5428 
    0.905738 |     -498.175      126.364 
   -0.402675 |      141.474     -399.471 
    -0.11173 |     -166.112     -238.438 
     0.07077 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |       54.633      30.9604 
-3.94666e+06 |      43.5954     -46.2282 
-5.82179e+06 |      32.3067     -39.5428 
    0.905738 |      508.678     -126.459 
   -0.402675 |     -140.759       409.07 
    -0.11173 |      164.821      238.601 
     0.07077 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |      6.26934     -33.2576 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:12.687608   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636759.813555, t: 3221862.495492 -3946655.066634 -5821791.216541 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:12.788081   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |     -52.1813      -31.933 
-3.94666e+06 |     -43.6004      47.1505 
-5.82179e+06 |     -19.8357      39.3019 
    0.905738 |     -409.494        86.35 
   -0.402675 |      98.2325     -397.113 
    -0.11173 |     -160.208     -168.935 
     0.07077 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |      52.1813       31.933 
-3.94666e+06 |      43.6004     -47.1505 
-5.82179e+06 |      19.8357     -39.3019 
    0.905738 |      413.356     -86.4915 
   -0.402675 |     -98.0845      400.591 
    -0.11173 |      159.781       169.21 
     0.07077 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -24.8026     -11.2467 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:12.788138   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636759.913555, t: 3221862.491652 -3946655.026770 -5821791.179856 q: 0.070770 0.905738 -0.402675 -0.111730 
W0708 15:47:12.890329   185 residual_block.cc:131] 

Error in evaluating the ResidualBlock.

There are two possible reasons. Either the CostFunction did not evaluate and fill all    
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation. 

Residual Block size: 6 parameter blocks x 2 residuals

For each parameter block, the value of the parameters are printed in the first column   
and the value of the jacobian under the corresponding residual. If a ParameterBlock was 
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry 
of the Jacobian/residual array was requested but was not written to by user code, it is 
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating 
to Inf or NaN is also an error.  

Residuals:             -nan         -nan 

Parameter Block 0, size: 7

 3.22186e+06 |       -51.16     -31.5956 
-3.94666e+06 |     -43.4454      47.4377 
-5.82179e+06 |     -15.5234      41.0846 
    0.905738 |     -386.487      79.4771 
   -0.402675 |       89.905     -406.932 
    -0.11173 |     -169.132     -147.036 
     0.07077 |            0            0 

Parameter Block 1, size: 7

 3.22186e+06 |        51.16      31.5956 
-3.94666e+06 |      43.4454     -47.4377 
-5.82179e+06 |      15.5234     -41.0846 
    0.905738 |      388.678     -78.9326 
   -0.402675 |       -89.68      409.294 
    -0.11173 |      168.567      146.019 
     0.07077 |            0            0 

Parameter Block 2, size: 7

  -0.0216401 | Not Computed  Not Computed  
   -0.064677 | Not Computed  Not Computed  
  0.00981073 | Not Computed  Not Computed  
 -0.00770718 | Not Computed  Not Computed  
   0.0104993 | Not Computed  Not Computed  
    0.701753 | Not Computed  Not Computed  
    0.712301 | Not Computed  Not Computed  

Parameter Block 3, size: 7

  -0.0198436 | Not Computed  Not Computed  
   0.0453689 | Not Computed  Not Computed  
  0.00786212 | Not Computed  Not Computed  
 -0.00255024 | Not Computed  Not Computed  
   0.0153239 | Not Computed  Not Computed  
    0.702487 | Not Computed  Not Computed  
    0.711527 | Not Computed  Not Computed  

Parameter Block 4, size: 1

         0.2 |     -22.2227     -9.85717 

Parameter Block 5, size: 1

           0 | Not Computed  Not Computed  


E0708 15:47:12.890403   185 trust_region_minimizer.cc:72] Terminating: Residual and Jacobian evaluation failed.
unstable tracking...
time: 1403636760.013556, t: 3221862.474305 -3946655.008095 -5821791.149760 q: 0.070770 0.905738 -0.402675 -0.111730 
unstable tracking...
time: 1403636760.113555, t: 3221862.469376 -3946655.008648 -5821791.118421 q: 0.070770 0.905738 -0.402675 -0.111730 
unstable tracking...
time: 1403636760.213556, t: 3221862.468033 -3946655.022707 -5821791.117595 q: 0.070770 0.905738 -0.402675 -0.111730 
unstable tracking...
time: 1403636760.313555, t: 3221862.472686 -3946655.009362 -5821791.134520 q: 0.080065 0.899305 -0.418810 -0.097153 
unstable tracking...
time: 1403636760.413555, t: 3221862.456954 -3946655.018772 -5821791.158267 q: 0.080065 0.899305 -0.418810 -0.097153 
unstable tracking...
unstable tracking...
time: 1403636760.613555, t: 3221862.481624 -3946655.042152 -5821791.068156 q: 0.053520 0.892457 -0.436032 -0.102630 
unstable tracking...
time: 1403636760.713556, t: 3221862.467033 -3946654.992487 -5821791.200339 q: 0.095884 0.898063 -0.415698 -0.107164 
unstable tracking...
time: 1403636760.813555, t: 3221862.478381 -3946655.016819 -5821791.166521 q: 0.095884 0.898063 -0.415698 -0.107164 
unstable tracking...
time: 1403636760.913555, t: 3221862.471680 -3946655.028155 -5821791.190199 q: 0.088693 0.898317 -0.414872 -0.114200 
unstable tracking...
time: 1403636761.013556, t: 3221862.482228 -3946655.024234 -5821791.170793 q: 0.088693 0.898317 -0.414872 -0.114200 
unstable tracking...
time: 1403636761.113555, t: 3221862.427777 -3946655.105080 -5821791.351511 q: 0.129451 0.884592 -0.431446 -0.120807 
unstable tracking...
time: 1403636761.213556, t: 3221862.525804 -3946655.009754 -5821791.210333 q: 0.101777 0.876447 -0.451321 -0.133383 
unstable tracking...
time: 1403636761.313555, t: 3221862.552017 -3946654.977119 -5821791.165902 q: 0.101777 0.876447 -0.451321 -0.133383 
time: 1403636761.413555, t: 3221862.570991 -3946654.967056 -5821791.160262 q: 0.105509 0.877438 -0.449014 -0.131747 
time: 1403636761.513556, t: 3221862.563630 -3946655.025317 -5821791.205916 q: 0.105509 0.877438 -0.449014 -0.131747 
time: 1403636761.613555, t: 3221862.563088 -3946654.995467 -5821791.192880 q: 0.105465 0.879106 -0.453085 -0.103746 
time: 1403636761.713556, t: 3221862.564405 -3946655.018420 -5821791.196114 q: 0.097395 0.841350 -0.528283 -0.059680 
unstable tracking...
time: 1403636761.813555, t: 3221862.570135 -3946655.003785 -5821791.183173 q: 0.099544 0.858589 -0.498790 -0.064222 
unstable tracking...
time: 1403636761.913555, t: 3221862.569333 -3946655.006828 -5821791.183129 q: 0.096234 0.860006 -0.497527 -0.059970 
unstable tracking...
time: 1403636762.013556, t: 3221862.571348 -3946655.015742 -5821791.172662 q: 0.096234 0.860006 -0.497527 -0.059970 
unstable tracking...
time: 1403636762.113555, t: 3221862.570067 -3946655.002261 -5821791.172534 q: -0.176215 -0.614984 0.764042 -0.083566 
unstable tracking...
time: 1403636762.213556, t: 3221862.577109 -3946655.016336 -5821791.166485 q: -0.170068 -0.621212 0.761969 -0.067644 
time: 1403636762.313555, t: 3221862.583619 -3946655.017971 -5821791.165193 q: -0.158742 -0.621753 0.764121 -0.065908 
unstable tracking...
time: 1403636762.413555, t: 3221862.598128 -3946655.025180 -5821791.170079 q: -0.146706 -0.615795 0.772481 -0.050461 
unstable tracking...
time: 1403636762.513556, t: 3221862.634001 -3946655.021027 -5821791.187627 q: -0.154097 -0.627186 0.760862 -0.063095 
unstable tracking...
time: 1403636762.613555, t: 3221862.636592 -3946655.000811 -5821791.129337 q: 0.140508 0.715612 -0.681928 0.055957 
unstable tracking...
time: 1403636762.713556, t: 3221862.630156 -3946655.027071 -5821791.201922 q: 0.149584 0.716472 -0.678776 0.059622 
unstable tracking...
time: 1403636762.813555, t: 3221862.632802 -3946654.974280 -5821791.224537 q: 0.157027 0.729103 -0.663122 0.063406 
unstable tracking...
time: 1403636762.913555, t: 3221862.628735 -3946655.010874 -5821791.171974 q: 0.168541 0.745096 -0.641406 0.070877 
unstable tracking...
time: 1403636763.013556, t: 3221862.632590 -3946654.975713 -5821791.195308 q: 0.183591 0.756889 -0.626429 0.031619 
unstable tracking...
time: 1403636763.113555, t: 3221862.631903 -3946654.956947 -5821791.208065 q: 0.220380 0.742534 -0.630844 0.045955 
unstable tracking...
unstable tracking...
time: 1403636763.313555, t: 3221862.632056 -3946654.972844 -5821791.195131 q: 0.211942 0.737635 -0.640384 0.029723 
unstable tracking...
time: 1403636763.413555, t: 3221862.637644 -3946654.970897 -5821791.192346 q: 0.211715 0.736349 -0.642032 0.027600 
time: 1403636763.513556, t: 3221862.635364 -3946654.969130 -5821791.191536 q: 0.209127 0.735329 -0.644005 0.028539 
unstable tracking...
time: 1403636763.613555, t: 3221862.691098 -3946654.966169 -5821791.204447 q: 0.209127 0.735329 -0.644005 0.028539 
unstable tracking...
time: 1403636763.713556, t: 3221862.635118 -3946655.008169 -5821791.203779 q: 0.205503 0.735723 -0.644434 0.034417 
unstable tracking...
time: 1403636763.813555, t: 3221862.660885 -3946654.961930 -5821791.182942 q: 0.205425 0.734809 -0.645483 0.034744 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720453640.138490035]: Shutdown request received.[0m
[33m[ WARN] [1720453640.138535671]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720453640.139511937]: Shutdown request received.[0m
[33m[ WARN] [1720453640.139541641]: Reason given for shutdown: [user request][0m
killed
