/SLAM-Hive/slam_hive_results/mapping_results/2804/2012_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720462407.500052955]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720462407.502217401]: init begins[0m
[31m[ERROR] [1720462407.503221184]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c6046b00-3d55-11ef-8206-0242ac110005/roslaunch-79d7fbd5a6ae-118.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
[1mstarted roslaunch server http://79d7fbd5a6ae:44855/[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 [155][0m
[0m[ INFO] [1720462408.606281548]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720462408.608844737]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720462408.614868585]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720462408.615047655]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720462408.615074981]: ROW: 288 COL: 451 [0m
 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
set g       0       0 9.81007
[0m[ INFO] [1720462408.615245373]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720462408.615478793]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://79d7fbd5a6ae:11311/[0m
]2;roscore http://79d7fbd5a6ae:11311/
[1msetting /run_id to c6046b00-3d55-11ef-8206-0242ac110005[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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720462417.653098029]: 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: 316825838.94 
init first imu pose
averge acc 7.745210 -0.452196 -2.672312
init R0 
  0.330294    0.15748   0.930648
         0  -0.985983   0.166843
  0.943878 -0.0551073  -0.325664
[33m[ WARN] [1720462420.023449164]: gyroscope bias initial calibration -0.00775572 -0.00992026   0.0699276[0m
[0m[ INFO] [1720462420.053897206]: Initialization finish![0m
time: 1403636580.813555, t: -0.018078 0.008016 -0.170264 q: -0.036088 0.836315 0.032129 0.546116 
time: 1403636580.913555, t: -0.013429 0.007814 -0.097036 q: -0.023991 0.827605 0.030967 0.559942 
wait for imu ... 
time: 1403636581.013556, t: -0.011273 0.009575 -0.025129 q: -0.020764 0.818829 0.031451 0.572799 
time: 1403636581.113555, t: -0.011188 0.009585 0.037492 q: -0.022857 0.810691 0.029967 0.584260 
time: 1403636581.213556, t: -0.013069 0.007342 0.090531 q: -0.025783 0.801121 0.025224 0.597414 
time: 1403636581.313555, t: -0.017759 0.004289 0.128751 q: -0.027712 0.791116 0.023650 0.610580 
time: 1403636581.413555, t: -0.026531 -0.000345 0.137145 q: -0.024566 0.786975 0.024085 0.616025 
time: 1403636581.513556, t: -0.030874 -0.002335 0.113330 q: -0.018633 0.791706 0.027113 0.610016 
time: 1403636581.613555, t: -0.037891 -0.006767 0.052304 q: -0.020147 0.799476 0.025966 0.599799 
time: 1403636581.713556, t: -0.043743 -0.010431 -0.021363 q: -0.021228 0.804756 0.026649 0.592627 
time: 1403636581.813555, t: -0.049906 -0.014106 -0.099450 q: -0.025682 0.806989 0.027926 0.589346 
time: 1403636581.913555, t: -0.052047 -0.012976 -0.179185 q: -0.029044 0.811675 0.027174 0.582753 
time: 1403636582.013556, t: -0.046340 -0.018213 -0.242576 q: -0.027649 0.821282 0.023351 0.569373 
wait for imu ... 
time: 1403636582.113555, t: -0.053660 -0.018103 -0.292154 q: -0.025204 0.831080 0.023837 0.555070 
time: 1403636582.213556, t: -0.046150 -0.007633 -0.303413 q: -0.026556 0.839184 0.025673 0.542592 
wait for imu ... 
wait for imu ... 
time: 1403636582.313555, t: -0.044438 -0.005345 -0.275164 q: -0.028072 0.842380 0.027498 0.537449 
wait for imu ... 
time: 1403636582.413555, t: -0.024467 0.007245 -0.215256 q: -0.028795 0.838686 0.026886 0.543189 
time: 1403636582.513556, t: -0.025632 0.007451 -0.152495 q: -0.027266 0.830957 0.027157 0.555003 
wait for imu ... 
time: 1403636582.613555, t: -0.022254 0.008407 -0.084889 q: -0.021934 0.826713 0.026293 0.561582 
time: 1403636582.713556, t: -0.019551 0.007513 -0.017985 q: -0.018932 0.824235 0.023515 0.565443 
time: 1403636582.813555, t: -0.014464 0.004099 0.048139 q: -0.017265 0.819802 0.016657 0.572145 
time: 1403636582.913555, t: -0.009955 0.000064 0.111749 q: -0.014185 0.811468 0.007811 0.584173 
time: 1403636583.013556, t: -0.008093 -0.003342 0.159526 q: -0.012237 0.801623 0.004926 0.597684 
time: 1403636583.113555, t: -0.008503 -0.006004 0.178855 q: -0.010616 0.797074 0.006266 0.603756 
time: 1403636583.213556, t: -0.007556 -0.006743 0.164545 q: -0.006076 0.797808 0.008231 0.602825 
time: 1403636583.313555, t: -0.006796 -0.007614 0.123443 q: -0.007208 0.800264 0.010083 0.599520 
time: 1403636583.413555, t: -0.006141 -0.010390 0.066636 q: -0.009938 0.803093 0.011933 0.595651 
time: 1403636583.513556, t: -0.008786 -0.014436 -0.000097 q: -0.011754 0.806811 0.016588 0.590460 
time: 1403636583.613555, t: -0.010064 -0.017092 -0.070902 q: -0.007909 0.812566 0.018432 0.582524 
time: 1403636583.713556, t: -0.013924 -0.017845 -0.139914 q: -0.014602 0.823464 0.017337 0.566915 
wait for imu ... 
time: 1403636583.813555, t: -0.020138 -0.019638 -0.199026 q: -0.020119 0.835574 0.014121 0.548828 
wait for imu ... 
time: 1403636583.913555, t: -0.024035 -0.019544 -0.246350 q: -0.017610 0.842523 0.016382 0.538123 
time: 1403636584.013556, t: -0.028298 -0.016892 -0.274854 q: -0.017936 0.844851 0.022861 0.534213 
time: 1403636584.113555, t: -0.029862 -0.013565 -0.276712 q: -0.023219 0.844737 0.027429 0.533974 
time: 1403636584.213556, t: -0.027555 -0.011425 -0.248113 q: -0.024981 0.844591 0.029989 0.533987 
time: 1403636584.313555, t: -0.023114 -0.009714 -0.198389 q: -0.025172 0.842656 0.030171 0.537016 
time: 1403636584.413555, t: -0.015352 -0.009921 -0.134849 q: -0.018452 0.840602 0.031309 0.540433 
wait for imu ... 
time: 1403636584.513556, t: -0.006453 -0.010476 -0.063166 q: -0.012440 0.835972 0.031072 0.547750 
time: 1403636584.613555, t: 0.001962 -0.010314 0.011381 q: -0.010366 0.827437 0.026871 0.560820 
time: 1403636584.713556, t: 0.007179 -0.009754 0.081812 q: -0.006242 0.815409 0.021137 0.578466 
time: 1403636584.813555, t: 0.008356 -0.008315 0.141810 q: -0.002616 0.804743 0.016741 0.593382 
time: 1403636584.913555, t: 0.005994 -0.006853 0.184173 q: -0.005185 0.797973 0.013025 0.602530 
time: 1403636585.013556, t: 0.004828 -0.004895 0.198254 q: -0.005851 0.796832 0.007870 0.604121 
time: 1403636585.113555, t: 0.005807 -0.004275 0.183956 q: -0.005394 0.799360 0.005607 0.600803 
time: 1403636585.213556, t: 0.007542 -0.006012 0.148570 q: -0.001389 0.803028 0.002636 0.595934 
time: 1403636585.313555, t: 0.008863 -0.010566 0.101891 q: 0.006580 0.806646 0.004568 0.590980 
time: 1403636585.413555, t: 0.009074 -0.015328 0.049653 q: 0.011774 0.810488 0.009420 0.585561 
time: 1403636585.513556, t: 0.005400 -0.018548 -0.003503 q: 0.008736 0.816232 0.015954 0.577438 
time: 1403636585.613555, t: -0.002980 -0.022078 -0.050133 q: -0.001474 0.822999 0.024274 0.567523 
time: 1403636585.713556, t: -0.015881 -0.023547 -0.082105 q: -0.014484 0.830831 0.028321 0.555615 
wait for imu ... 
time: 1403636585.813555, t: -0.026740 -0.024307 -0.099955 q: -0.025273 0.839514 0.028140 0.542021 
time: 1403636585.913555, t: -0.036941 -0.024494 -0.105724 q: -0.033720 0.849416 0.027187 0.525944 
time: 1403636586.013556, t: -0.044877 -0.024680 -0.105308 q: -0.032868 0.861407 0.022107 0.506369 
time: 1403636586.113555, t: -0.051000 -0.024109 -0.102234 q: -0.022764 0.873376 0.013318 0.486331 
time: 1403636586.213556, t: -0.057669 -0.020179 -0.096703 q: -0.018614 0.882276 0.005795 0.470328 
wait for imu ... 
time: 1403636586.313555, t: -0.066329 -0.017272 -0.092451 q: -0.019206 0.891390 0.002073 0.452825 
time: 1403636586.413555, t: -0.077326 -0.017274 -0.090002 q: -0.020613 0.900634 -0.002199 0.434083 
time: 1403636586.513556, t: -0.089063 -0.020633 -0.087665 q: -0.020025 0.908476 -0.000891 0.417456 
time: 1403636586.613555, t: -0.095722 -0.027217 -0.083677 q: -0.021785 0.912812 0.002228 0.407793 
time: 1403636586.713556, t: -0.096085 -0.036598 -0.079178 q: -0.023477 0.912056 0.002315 0.409386 
time: 1403636586.813555, t: -0.092433 -0.045650 -0.076865 q: -0.028204 0.908700 0.003755 0.416479 
wait for imu ... 
time: 1403636586.913555, t: -0.087789 -0.050975 -0.077220 q: -0.029216 0.905901 0.007871 0.422408 
wait for imu ... 
time: 1403636587.013556, t: -0.082706 -0.052960 -0.077066 q: -0.031059 0.904478 0.013941 0.425159 
wait for imu ... 
time: 1403636587.113555, t: -0.076341 -0.054605 -0.076843 q: -0.031361 0.905888 0.018288 0.421959 
time: 1403636587.213556, t: -0.069761 -0.060834 -0.076988 q: -0.031312 0.907654 0.020828 0.418030 
time: 1403636587.313555, t: -0.062136 -0.073624 -0.077853 q: -0.031535 0.908534 0.019104 0.416181 
time: 1403636587.413555, t: -0.053138 -0.093503 -0.078513 q: -0.031004 0.909434 0.016132 0.414377 
wait for imu ... 
time: 1403636587.513556, t: -0.044450 -0.120214 -0.079279 q: -0.032126 0.910529 0.011931 0.412022 
time: 1403636587.613555, t: -0.036403 -0.153152 -0.079148 q: -0.031978 0.910714 0.007393 0.411732 
time: 1403636587.713556, t: -0.027916 -0.189607 -0.077217 q: -0.030601 0.908508 0.001081 0.416743 
wait for imu ... 
time: 1403636587.813555, t: -0.019589 -0.227278 -0.075346 q: -0.027970 0.905840 -0.006870 0.422641 
time: 1403636587.913555, t: -0.012933 -0.263938 -0.076558 q: -0.024538 0.906013 -0.013452 0.422323 
time: 1403636588.013556, t: -0.008064 -0.297935 -0.080457 q: -0.016974 0.909909 -0.019567 0.413998 
wait for imu ... 
time: 1403636588.113555, t: -0.004495 -0.324988 -0.085436 q: -0.014528 0.913260 -0.024879 0.406358 
wait for imu ... 
time: 1403636588.313555, t: 0.000230 -0.355402 -0.094193 q: -0.016888 0.913128 -0.024239 0.406601 
time: 1403636588.413555, t: 0.000142 -0.358254 -0.096568 q: -0.020041 0.911685 -0.024291 0.409682 
wait for imu ... 
time: 1403636588.513556, t: -0.002188 -0.353269 -0.096717 q: -0.018624 0.911718 -0.024930 0.409637 
time: 1403636588.613555, t: -0.006155 -0.339549 -0.093181 q: -0.017582 0.911547 -0.024853 0.410067 
time: 1403636588.713556, t: -0.012558 -0.318107 -0.089792 q: -0.020155 0.911581 -0.023218 0.409970 
time: 1403636588.813555, t: -0.020098 -0.290626 -0.088863 q: -0.022922 0.912857 -0.018821 0.407200 
wait for imu ... 
time: 1403636588.913555, t: -0.027519 -0.256424 -0.088193 q: -0.027151 0.913161 -0.015478 0.406400 
time: 1403636589.013556, t: -0.035982 -0.217233 -0.085109 q: -0.030836 0.912096 -0.010441 0.408681 
wait for imu ... 
time: 1403636589.113555, t: -0.045602 -0.175040 -0.079960 q: -0.034482 0.909828 -0.004070 0.413530 
wait for imu ... 
time: 1403636589.213556, t: -0.054451 -0.130290 -0.073917 q: -0.037327 0.908144 0.000111 0.416990 
wait for imu ... 
time: 1403636589.313555, t: -0.063145 -0.083841 -0.070378 q: -0.039681 0.908664 0.005492 0.415602 
time: 1403636589.413555, t: -0.072188 -0.036810 -0.069237 q: -0.041747 0.910228 0.011422 0.411839 
wait for imu ... 
time: 1403636589.613555, t: -0.089971 0.056963 -0.069136 q: -0.044430 0.908703 0.018098 0.414677 
wait for imu ... 
time: 1403636589.713556, t: -0.099634 0.102463 -0.069869 q: -0.046111 0.907754 0.021396 0.416411 
wait for imu ... 
time: 1403636589.813555, t: -0.108621 0.145986 -0.072684 q: -0.051620 0.908448 0.026693 0.413938 
time: 1403636589.913555, t: -0.116226 0.183242 -0.077010 q: -0.056993 0.910756 0.033209 0.407642 
wait for imu ... 
time: 1403636590.013556, t: -0.122080 0.214090 -0.080561 q: -0.064880 0.910897 0.038223 0.405704 
wait for imu ... 
time: 1403636590.113555, t: -0.127433 0.236467 -0.079823 q: -0.069915 0.907931 0.042393 0.411067 
wait for imu ... 
time: 1403636590.213556, t: -0.130630 0.247697 -0.077796 q: -0.073577 0.905254 0.044937 0.416032 
time: 1403636590.313555, t: -0.133439 0.246722 -0.075381 q: -0.071773 0.905329 0.046487 0.416012 
wait for imu ... 
time: 1403636590.413555, t: -0.134790 0.232872 -0.072901 q: -0.067273 0.906405 0.044721 0.414613 
wait for imu ... 
time: 1403636590.513556, t: -0.134333 0.206725 -0.069898 q: -0.060983 0.906220 0.041497 0.416321 
wait for imu ... 
time: 1403636590.613555, t: -0.132408 0.172324 -0.066224 q: -0.055409 0.905230 0.038575 0.419524 
time: 1403636590.713556, t: -0.128554 0.132573 -0.064340 q: -0.050787 0.905271 0.034581 0.420369 
time: 1403636590.813555, t: -0.122614 0.089596 -0.065533 q: -0.049613 0.907275 0.029749 0.416540 
wait for imu ... 
time: 1403636590.913555, t: -0.114059 0.043817 -0.068952 q: -0.049335 0.909847 0.025664 0.411200 
wait for imu ... 
time: 1403636591.013556, t: -0.103990 -0.003105 -0.072640 q: -0.048303 0.910447 0.024125 0.410086 
wait for imu ... 
time: 1403636591.113555, t: -0.093234 -0.048115 -0.076087 q: -0.050999 0.909758 0.023812 0.411305 
time: 1403636591.213556, t: -0.082683 -0.090065 -0.079180 q: -0.052240 0.910077 0.021288 0.410582 
wait for imu ... 
time: 1403636591.313555, t: -0.073367 -0.126950 -0.084220 q: -0.050874 0.911294 0.018494 0.408183 
wait for imu ... 
time: 1403636591.413555, t: -0.066103 -0.154611 -0.091110 q: -0.048461 0.912246 0.014230 0.406516 
wait for imu ... 
time: 1403636591.513556, t: -0.058320 -0.174408 -0.099792 q: -0.046396 0.911959 0.010686 0.407509 
time: 1403636591.613555, t: -0.049724 -0.190556 -0.107589 q: -0.036619 0.908161 0.000985 0.417016 
time: 1403636591.713556, t: -0.041505 -0.200338 -0.112783 q: -0.027388 0.899783 -0.006539 0.435427 
time: 1403636591.813555, t: -0.033817 -0.206235 -0.113692 q: -0.018016 0.890278 -0.012712 0.454884 
wait for imu ... 
time: 1403636591.913555, t: -0.026808 -0.210814 -0.112769 q: -0.011621 0.883596 -0.020270 0.467666 
wait for imu ... 
time: 1403636592.013556, t: -0.017623 -0.216732 -0.113254 q: -0.008823 0.884956 -0.030327 0.464602 
time: 1403636592.113555, t: -0.001061 -0.226723 -0.115385 q: -0.004826 0.888010 -0.042665 0.457815 
time: 1403636592.213556, t: 0.019912 -0.238005 -0.117865 q: -0.001542 0.891734 -0.052201 0.449537 
time: 1403636592.313555, t: 0.044749 -0.246473 -0.119451 q: -0.001193 0.895532 -0.054611 0.441632 
wait for imu ... 
time: 1403636592.413555, t: 0.073624 -0.247429 -0.120054 q: -0.007817 0.898352 -0.053297 0.435961 
time: 1403636592.513556, t: 0.105661 -0.239115 -0.118291 q: -0.016580 0.897689 -0.043846 0.438128 
time: 1403636592.613555, t: 0.137591 -0.220496 -0.116628 q: -0.025481 0.893676 -0.028000 0.447112 
time: 1403636592.713556, t: 0.166756 -0.193324 -0.116747 q: -0.033933 0.890762 -0.009473 0.453103 
wait for imu ... 
time: 1403636592.813555, t: 0.187629 -0.155448 -0.117069 q: -0.049061 0.889959 0.011575 0.453246 
time: 1403636592.913555, t: 0.196734 -0.107439 -0.118738 q: -0.069171 0.890588 0.034227 0.448215 
time: 1403636593.013556, t: 0.190491 -0.051846 -0.119445 q: -0.088132 0.891153 0.057042 0.441390 
time: 1403636593.113555, t: 0.169591 0.007776 -0.117659 q: -0.104005 0.890444 0.080310 0.435709 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636593.213556, t: 0.133312 0.065848 -0.113819 q: -0.122455 0.888306 0.096508 0.431976 
time: 1403636593.313555, t: 0.087057 0.116002 -0.109593 q: -0.138694 0.886931 0.106633 0.427490 
wait for imu ... 
time: 1403636593.413555, t: 0.035939 0.148409 -0.108182 q: -0.142982 0.887768 0.112476 0.422816 
time: 1403636593.513556, t: -0.016144 0.161352 -0.110914 q: -0.138790 0.889743 0.111271 0.420374 
time: 1403636593.613555, t: -0.066632 0.157949 -0.116267 q: -0.133675 0.893968 0.100535 0.415746 
time: 1403636593.713556, t: -0.111688 0.137666 -0.123397 q: -0.125559 0.900326 0.081896 0.408584 
time: 1403636593.813555, t: -0.149742 0.101230 -0.129084 q: -0.109293 0.905625 0.053890 0.406196 
time: 1403636593.913555, t: -0.178715 0.052744 -0.131541 q: -0.088256 0.906005 0.018939 0.413530 
time: 1403636594.013556, t: -0.197157 -0.000337 -0.132362 q: -0.063005 0.903015 -0.015643 0.424676 
time: 1403636594.113555, t: -0.204359 -0.055939 -0.130610 q: -0.038703 0.900368 -0.047921 0.430748 
time: 1403636594.213556, t: -0.194782 -0.112688 -0.132007 q: -0.018973 0.899728 -0.073926 0.429726 
wait for imu ... 
time: 1403636594.313555, t: -0.169830 -0.169179 -0.134035 q: -0.002444 0.899420 -0.088921 0.427939 
time: 1403636594.413555, t: -0.131609 -0.223154 -0.134334 q: 0.011425 0.897598 -0.095236 0.430252 
time: 1403636594.513556, t: -0.082475 -0.268988 -0.133949 q: 0.020215 0.893293 -0.093569 0.439162 
time: 1403636594.613555, t: -0.028085 -0.295659 -0.135985 q: 0.019793 0.888468 -0.093843 0.448806 
time: 1403636594.713556, t: 0.020748 -0.300462 -0.136336 q: 0.015702 0.885840 -0.091480 0.454613 
time: 1403636594.813555, t: 0.062943 -0.277814 -0.139224 q: 0.005915 0.885012 -0.077579 0.459020 
time: 1403636594.913555, t: 0.095814 -0.230882 -0.142395 q: -0.007464 0.884241 -0.053259 0.463925 
wait for imu ... 
time: 1403636595.013556, t: 0.114142 -0.161593 -0.144941 q: -0.027935 0.883412 -0.019793 0.467345 
time: 1403636595.113555, t: 0.116092 -0.082472 -0.148523 q: -0.052049 0.883829 0.015921 0.464632 
time: 1403636595.213556, t: 0.104429 -0.006767 -0.151579 q: -0.076644 0.884356 0.046086 0.458166 
time: 1403636595.313555, t: 0.083542 0.055674 -0.154355 q: -0.098124 0.884076 0.071289 0.451330 
time: 1403636595.413555, t: 0.052528 0.094825 -0.155637 q: -0.110265 0.883506 0.087133 0.446840 
time: 1403636595.513556, t: 0.019524 0.107285 -0.156341 q: -0.115321 0.884187 0.093144 0.442989 
time: 1403636595.613555, t: -0.013557 0.092118 -0.158055 q: -0.114783 0.886192 0.095465 0.438607 
time: 1403636595.713556, t: -0.043537 0.053753 -0.162281 q: -0.105951 0.889053 0.088818 0.436430 
wait for imu ... 
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wait for imu ... 
time: 1403636595.913555, t: -0.091860 -0.062143 -0.173940 q: -0.063902 0.894287 0.050860 0.439978 
wait for imu ... 
time: 1403636596.013556, t: -0.117495 -0.118182 -0.178927 q: -0.042918 0.897607 0.026330 0.437912 
time: 1403636596.113555, t: -0.148898 -0.157618 -0.181908 q: -0.025979 0.900491 0.002058 0.434093 
time: 1403636596.213556, t: -0.182608 -0.169896 -0.180462 q: -0.018611 0.901132 -0.013468 0.432936 
time: 1403636596.313555, t: -0.219694 -0.155199 -0.172532 q: -0.019299 0.899774 -0.021626 0.435392 
time: 1403636596.413555, t: -0.261593 -0.124913 -0.159447 q: -0.017853 0.897604 -0.023002 0.439841 
time: 1403636596.513556, t: -0.303403 -0.089952 -0.146550 q: -0.016829 0.895035 -0.017725 0.445326 
time: 1403636596.613555, t: -0.336472 -0.057967 -0.137044 q: -0.015420 0.894065 -0.012521 0.447497 
time: 1403636596.713556, t: -0.356904 -0.034179 -0.132128 q: -0.015679 0.895239 -0.010388 0.445190 
time: 1403636596.813555, t: -0.358142 -0.023211 -0.131283 q: -0.014746 0.894022 -0.005936 0.447741 
time: 1403636596.913555, t: -0.335317 -0.023732 -0.133292 q: -0.011006 0.891315 -0.001919 0.453247 
time: 1403636597.013556, t: -0.290532 -0.031391 -0.136816 q: -0.006820 0.892330 -0.000082 0.451333 
time: 1403636597.113555, t: -0.231703 -0.041819 -0.141693 q: -0.008027 0.897409 0.002352 0.441121 
time: 1403636597.213556, t: -0.163758 -0.052760 -0.144051 q: -0.014736 0.900868 0.012326 0.433667 
time: 1403636597.313555, t: -0.092676 -0.060708 -0.140504 q: -0.022156 0.900187 0.026291 0.434144 
time: 1403636597.413555, t: -0.021827 -0.061981 -0.136547 q: -0.030410 0.897517 0.041691 0.437950 
time: 1403636597.513556, t: 0.038854 -0.057961 -0.133770 q: -0.039764 0.894462 0.060111 0.441297 
wait for imu ... 
time: 1403636597.613555, t: 0.080078 -0.044971 -0.134381 q: -0.056808 0.889640 0.076889 0.446543 
time: 1403636597.713556, t: 0.095690 -0.022933 -0.137189 q: -0.075409 0.883423 0.092104 0.453203 
wait for imu ... 
time: 1403636597.813555, t: 0.086618 0.000476 -0.139066 q: -0.087260 0.877617 0.104659 0.459586 
time: 1403636597.913555, t: 0.058637 0.018323 -0.140674 q: -0.090793 0.873868 0.116364 0.463218 
wait for imu ... 
time: 1403636598.013556, t: 0.018213 0.027980 -0.142863 q: -0.090222 0.874005 0.125045 0.460802 
time: 1403636598.113555, t: -0.027094 0.031106 -0.148190 q: -0.090033 0.878369 0.126491 0.452064 
time: 1403636598.213556, t: -0.070281 0.026538 -0.157112 q: -0.085119 0.886627 0.125246 0.436990 
time: 1403636598.313555, t: -0.101154 0.017867 -0.170649 q: -0.077328 0.894494 0.124457 0.422389 
time: 1403636598.413555, t: -0.113012 0.005874 -0.185036 q: -0.067862 0.898110 0.122070 0.417004 
time: 1403636598.513556, t: -0.103648 -0.004382 -0.200124 q: -0.064292 0.897066 0.121625 0.419936 
time: 1403636598.613555, t: -0.077051 -0.012394 -0.213126 q: -0.069884 0.891063 0.124398 0.430869 
wait for imu ... 
time: 1403636598.713556, t: -0.042291 -0.017941 -0.227222 q: -0.080175 0.882047 0.129426 0.445886 
time: 1403636598.813555, t: -0.006603 -0.022034 -0.246296 q: -0.093320 0.870227 0.134282 0.464719 
time: 1403636598.913555, t: 0.025745 -0.026164 -0.269523 q: -0.101301 0.858823 0.133600 0.484058 
wait for imu ... 
time: 1403636599.013556, t: 0.052248 -0.029979 -0.293607 q: -0.102551 0.850176 0.133861 0.498764 
wait for imu ... 
time: 1403636599.113555, t: 0.072183 -0.031410 -0.312017 q: -0.111231 0.840218 0.133075 0.513763 
time: 1403636599.213556, t: 0.087641 -0.032007 -0.323514 q: -0.119207 0.824490 0.131619 0.537291 
wait for imu ... 
time: 1403636599.313555, t: 0.100997 -0.031847 -0.332311 q: -0.124420 0.808444 0.125802 0.561349 
time: 1403636599.413555, t: 0.111745 -0.032125 -0.341829 q: -0.122318 0.800084 0.122054 0.574462 
time: 1403636599.513556, t: 0.120214 -0.032007 -0.351705 q: -0.115471 0.800599 0.117360 0.576137 
time: 1403636599.613555, t: 0.125022 -0.032242 -0.361014 q: -0.111301 0.805269 0.111596 0.571577 
time: 1403636599.713556, t: 0.127718 -0.033153 -0.368980 q: -0.109304 0.806291 0.109523 0.570922 
time: 1403636599.813555, t: 0.127355 -0.035654 -0.369358 q: -0.111531 0.795967 0.108991 0.584909 
optimize pose graph 
time: 1403636599.913555, t: 0.126237 -0.037385 -0.370488 q: -0.114433 0.791057 0.106930 0.591354 
wait for imu ... 
time: 1403636600.013556, t: 0.126191 -0.038517 -0.371631 q: -0.114339 0.792402 0.103673 0.590150 
time: 1403636600.113555, t: 0.126090 -0.040391 -0.372847 q: -0.118784 0.790469 0.100592 0.592393 
wait for imu ... 
time: 1403636600.213556, t: 0.126165 -0.040580 -0.373059 q: -0.118678 0.790340 0.100697 0.592570 
wait for imu ... 
time: 1403636600.313555, t: 0.126045 -0.040436 -0.373252 q: -0.119260 0.790440 0.100354 0.592377 
time: 1403636600.413555, t: 0.125955 -0.040373 -0.373230 q: -0.119589 0.790416 0.099942 0.592413 
time: 1403636600.513556, t: 0.125852 -0.040471 -0.373150 q: -0.119622 0.790374 0.099520 0.592533 
time: 1403636600.613555, t: 0.125903 -0.040368 -0.373149 q: -0.119774 0.790508 0.099406 0.592342 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.713556, t: 0.125904 -0.040471 -0.373125 q: -0.119458 0.790665 0.099449 0.592190 
wait for imu ... 
wait for imu ... 
time: 1403636600.813555, t: 0.125895 -0.040509 -0.373108 q: -0.119220 0.790688 0.099470 0.592204 
time: 1403636600.913555, t: 0.125910 -0.040508 -0.373097 q: -0.119200 0.790763 0.099396 0.592120 
time: 1403636601.013556, t: 0.125873 -0.040556 -0.373074 q: -0.119001 0.790861 0.099378 0.592032 
wait for imu ... 
time: 1403636601.113555, t: 0.125881 -0.040541 -0.373067 q: -0.118982 0.790921 0.099276 0.591972 
time: 1403636601.213556, t: 0.125847 -0.040561 -0.373064 q: -0.118920 0.790961 0.099246 0.591937 
time: 1403636601.313555, t: 0.125840 -0.040584 -0.373059 q: -0.118853 0.791007 0.099201 0.591895 
time: 1403636601.413555, t: 0.125861 -0.040569 -0.373067 q: -0.118865 0.791060 0.099062 0.591846 
time: 1403636601.513556, t: 0.125848 -0.040594 -0.373085 q: -0.118839 0.791058 0.098966 0.591869 
time: 1403636601.613555, t: 0.125845 -0.040577 -0.373111 q: -0.118848 0.791096 0.098872 0.591833 
wait for imu ... 
time: 1403636601.713556, t: 0.125845 -0.040588 -0.373143 q: -0.118803 0.791102 0.098824 0.591842 
time: 1403636601.813555, t: 0.125897 -0.040588 -0.373157 q: -0.118815 0.791151 0.098807 0.591777 
time: 1403636601.913555, t: 0.125895 -0.040595 -0.373151 q: -0.118707 0.791163 0.098742 0.591794 
time: 1403636602.013556, t: 0.125873 -0.040605 -0.373128 q: -0.118638 0.791187 0.098724 0.591778 
wait for imu ... 
time: 1403636602.113555, t: 0.125885 -0.040610 -0.373121 q: -0.118610 0.791248 0.098670 0.591712 
time: 1403636602.213556, t: 0.125897 -0.040607 -0.373125 q: -0.118552 0.791257 0.098646 0.591715 
wait for imu ... 
time: 1403636602.313555, t: 0.125902 -0.040630 -0.373126 q: -0.118471 0.791313 0.098671 0.591652 
time: 1403636602.413555, t: 0.125898 -0.040653 -0.373142 q: -0.118446 0.791318 0.098685 0.591648 
wait for imu ... 
time: 1403636602.513556, t: 0.125892 -0.040661 -0.373136 q: -0.118318 0.791355 0.098667 0.591627 
time: 1403636602.613555, t: 0.125885 -0.040686 -0.373122 q: -0.118251 0.791391 0.098696 0.591587 
wait for imu ... 
time: 1403636602.713556, t: 0.125878 -0.040671 -0.373123 q: -0.118197 0.791410 0.098636 0.591583 
wait for imu ... 
time: 1403636602.813555, t: 0.125863 -0.040684 -0.373133 q: -0.118108 0.791424 0.098628 0.591584 
time: 1403636602.913555, t: 0.125866 -0.040699 -0.373120 q: -0.118055 0.791444 0.098653 0.591563 
time: 1403636603.013556, t: 0.125862 -0.040696 -0.373127 q: -0.117957 0.791447 0.098629 0.591583 
time: 1403636603.113555, t: 0.125858 -0.040688 -0.373129 q: -0.117884 0.791453 0.098618 0.591591 
time: 1403636603.213556, t: 0.125857 -0.040699 -0.373117 q: -0.117887 0.791511 0.098586 0.591519 
time: 1403636603.313555, t: 0.125861 -0.040700 -0.373124 q: -0.117837 0.791500 0.098597 0.591541 
time: 1403636603.413555, t: 0.125855 -0.040702 -0.373131 q: -0.117792 0.791488 0.098582 0.591569 
wait for imu ... 
time: 1403636603.513556, t: 0.125849 -0.040689 -0.373109 q: -0.117716 0.791555 0.098566 0.591496 
time: 1403636603.613555, t: 0.125842 -0.040696 -0.373105 q: -0.117701 0.791575 0.098571 0.591472 
time: 1403636603.713556, t: 0.125848 -0.040698 -0.373104 q: -0.117660 0.791601 0.098537 0.591452 
time: 1403636603.813555, t: 0.125839 -0.040714 -0.373105 q: -0.117618 0.791651 0.098541 0.591392 
time: 1403636603.913555, t: 0.125816 -0.040703 -0.373139 q: -0.117667 0.791638 0.098482 0.591410 
time: 1403636604.113555, t: 0.125848 -0.040718 -0.373135 q: -0.117626 0.791624 0.098437 0.591444 
time: 1403636604.213556, t: 0.125845 -0.040729 -0.373137 q: -0.117550 0.791643 0.098460 0.591429 
time: 1403636604.313555, t: 0.125846 -0.040735 -0.373134 q: -0.117519 0.791662 0.098434 0.591415 
wait for imu ... 
time: 1403636604.413555, t: 0.125847 -0.040736 -0.373123 q: -0.117482 0.791704 0.098463 0.591361 
time: 1403636604.513556, t: 0.125852 -0.040748 -0.373128 q: -0.117413 0.791689 0.098456 0.591396 
wait for imu ... 
time: 1403636604.613555, t: 0.125843 -0.040746 -0.373147 q: -0.117375 0.791693 0.098437 0.591401 
time: 1403636604.713556, t: 0.125856 -0.040760 -0.373138 q: -0.117369 0.791714 0.098467 0.591370 
time: 1403636604.813555, t: 0.125850 -0.040757 -0.373128 q: -0.117280 0.791734 0.098502 0.591355 
wait for imu ... 
time: 1403636604.913555, t: 0.125850 -0.040756 -0.373120 q: -0.117259 0.791771 0.098470 0.591314 
time: 1403636605.013556, t: 0.125848 -0.040772 -0.373114 q: -0.117240 0.791792 0.098470 0.591290 
time: 1403636605.113555, t: 0.125847 -0.040778 -0.373117 q: -0.117167 0.791784 0.098508 0.591308 
wait for imu ... 
time: 1403636605.213556, t: 0.125844 -0.040782 -0.373121 q: -0.117177 0.791813 0.098455 0.591276 
time: 1403636605.313555, t: 0.125844 -0.040788 -0.373131 q: -0.117131 0.791803 0.098474 0.591296 
time: 1403636605.413555, t: 0.125843 -0.040780 -0.373130 q: -0.117133 0.791830 0.098431 0.591267 
wait for imu ... 
time: 1403636605.513556, t: 0.125851 -0.040793 -0.373129 q: -0.117140 0.791862 0.098413 0.591226 
time: 1403636605.613555, t: 0.125831 -0.040788 -0.373114 q: -0.117100 0.791870 0.098416 0.591223 
wait for imu ... 
time: 1403636605.713556, t: 0.125508 -0.040808 -0.372986 q: -0.117081 0.791878 0.098376 0.591222 
time: 1403636605.813555, t: 0.125502 -0.040859 -0.372892 q: -0.116988 0.791918 0.098368 0.591188 
time: 1403636605.913555, t: 0.125509 -0.040868 -0.372889 q: -0.116984 0.791949 0.098366 0.591147 
time: 1403636606.013556, t: 0.125502 -0.040869 -0.372883 q: -0.116947 0.791959 0.098363 0.591143 
time: 1403636606.113555, t: 0.125499 -0.040864 -0.372888 q: -0.116932 0.791962 0.098330 0.591147 
time: 1403636606.213556, t: 0.125505 -0.040858 -0.372888 q: -0.116893 0.791967 0.098333 0.591147 
wait for imu ... 
time: 1403636606.313555, t: 0.125494 -0.040865 -0.372894 q: -0.116851 0.791987 0.098313 0.591131 
time: 1403636606.413555, t: 0.125493 -0.040865 -0.372895 q: -0.116836 0.791987 0.098302 0.591137 
wait for imu ... 
time: 1403636606.513556, t: 0.125507 -0.040879 -0.372913 q: -0.116866 0.791998 0.098269 0.591122 
time: 1403636606.613555, t: 0.125504 -0.040872 -0.372926 q: -0.116789 0.791977 0.098298 0.591160 
time: 1403636606.713556, t: 0.125500 -0.040879 -0.372925 q: -0.116771 0.791979 0.098310 0.591158 
time: 1403636606.813555, t: 0.125500 -0.040879 -0.372913 q: -0.116744 0.792013 0.098305 0.591120 
time: 1403636606.913555, t: 0.125512 -0.040885 -0.372904 q: -0.116702 0.792047 0.098303 0.591082 
time: 1403636607.013556, t: 0.125506 -0.040888 -0.372909 q: -0.116686 0.792046 0.098273 0.591092 
time: 1403636607.113555, t: 0.125503 -0.040901 -0.372904 q: -0.116671 0.792065 0.098289 0.591067 
wait for imu ... 
time: 1403636607.213556, t: 0.125498 -0.040897 -0.372896 q: -0.116613 0.792102 0.098278 0.591031 
time: 1403636607.313555, t: 0.125498 -0.040896 -0.372881 q: -0.116577 0.792124 0.098275 0.591008 
time: 1403636607.413555, t: 0.125491 -0.040898 -0.372876 q: -0.116547 0.792144 0.098249 0.590992 
time: 1403636607.513556, t: 0.125491 -0.040913 -0.372888 q: -0.116547 0.792130 0.098260 0.591009 
time: 1403636607.613555, t: 0.125491 -0.040900 -0.372876 q: -0.116452 0.792143 0.098266 0.591009 
time: 1403636607.713556, t: 0.125497 -0.040914 -0.372870 q: -0.116435 0.792191 0.098246 0.590952 
wait for imu ... 
time: 1403636607.813555, t: 0.125479 -0.040915 -0.372864 q: -0.116405 0.792188 0.098257 0.590960 
time: 1403636607.913555, t: 0.125482 -0.040918 -0.372879 q: -0.116424 0.792195 0.098195 0.590957 
time: 1403636608.013556, t: 0.125485 -0.040910 -0.372861 q: -0.116352 0.792215 0.098227 0.590939 
wait for imu ... 
time: 1403636608.113555, t: 0.125477 -0.040922 -0.372871 q: -0.116342 0.792224 0.098206 0.590933 
time: 1403636608.213556, t: 0.125473 -0.040929 -0.372873 q: -0.116352 0.792220 0.098199 0.590936 
time: 1403636608.313555, t: 0.125485 -0.040941 -0.372885 q: -0.116360 0.792216 0.098206 0.590940 
time: 1403636608.413555, t: 0.125492 -0.040940 -0.372887 q: -0.116349 0.792232 0.098190 0.590924 
time: 1403636608.513556, t: 0.125476 -0.040950 -0.372890 q: -0.116354 0.792231 0.098170 0.590926 
time: 1403636608.613555, t: 0.125477 -0.040948 -0.372899 q: -0.116311 0.792218 0.098183 0.590951 
time: 1403636608.713556, t: 0.125472 -0.040937 -0.372895 q: -0.116233 0.792228 0.098189 0.590951 
time: 1403636608.813555, t: 0.125468 -0.040946 -0.372878 q: -0.116228 0.792258 0.098196 0.590910 
wait for imu ... 
time: 1403636608.913555, t: 0.125461 -0.040954 -0.372875 q: -0.116228 0.792270 0.098180 0.590897 
time: 1403636609.013556, t: 0.125458 -0.040949 -0.372872 q: -0.116218 0.792281 0.098167 0.590887 
time: 1403636609.113555, t: 0.125477 -0.040959 -0.372882 q: -0.116241 0.792271 0.098188 0.590892 
wait for imu ... 
time: 1403636609.213556, t: 0.125467 -0.040967 -0.372902 q: -0.116264 0.792248 0.098139 0.590926 
time: 1403636609.313555, t: 0.125472 -0.040964 -0.372900 q: -0.116220 0.792264 0.098152 0.590911 
time: 1403636609.413555, t: 0.125458 -0.040957 -0.372890 q: -0.116193 0.792289 0.098130 0.590888 
time: 1403636609.513556, t: 0.125454 -0.040962 -0.372875 q: -0.116177 0.792300 0.098148 0.590873 
wait for imu ... 
time: 1403636609.613555, t: 0.125456 -0.040969 -0.372894 q: -0.116183 0.792293 0.098120 0.590886 
time: 1403636609.713556, t: 0.125468 -0.040991 -0.372905 q: -0.116156 0.792290 0.098130 0.590893 
time: 1403636609.813555, t: 0.125447 -0.040996 -0.372914 q: -0.116231 0.792373 0.098110 0.590770 
wait for imu ... 
time: 1403636609.913555, t: 0.125456 -0.040990 -0.372890 q: -0.116229 0.792337 0.098072 0.590825 
time: 1403636610.013556, t: 0.125458 -0.040988 -0.372885 q: -0.116195 0.792341 0.098033 0.590833 
wait for imu ... 
time: 1403636610.113555, t: 0.125428 -0.040992 -0.372896 q: -0.116227 0.792338 0.097999 0.590837 
time: 1403636610.213556, t: 0.125442 -0.040986 -0.372893 q: -0.116205 0.792353 0.097980 0.590824 
time: 1403636610.313555, t: 0.125712 -0.040707 -0.373177 q: -0.118143 0.790927 0.098747 0.592221 
time: 1403636610.413555, t: 0.125799 -0.040581 -0.373144 q: -0.118796 0.790641 0.099124 0.592409 
wait for imu ... 
time: 1403636610.513556, t: 0.125787 -0.040504 -0.373155 q: -0.119287 0.790549 0.099365 0.592393 
time: 1403636610.613555, t: 0.125791 -0.040451 -0.373152 q: -0.119569 0.790495 0.099498 0.592386 
time: 1403636610.713556, t: 0.125795 -0.040413 -0.373140 q: -0.119779 0.790482 0.099595 0.592345 
wait for imu ... 
time: 1403636610.813555, t: 0.125855 -0.040390 -0.373054 q: -0.119730 0.790580 0.099765 0.592195 
time: 1403636610.913555, t: 0.125871 -0.040399 -0.373043 q: -0.119724 0.790564 0.099910 0.592194 
time: 1403636611.013556, t: 0.125863 -0.040343 -0.373043 q: -0.119836 0.790529 0.099839 0.592230 
time: 1403636611.113555, t: 0.126155 -0.040305 -0.373164 q: -0.119924 0.790553 0.099914 0.592167 
time: 1403636611.213556, t: 0.126165 -0.040325 -0.373192 q: -0.119856 0.790573 0.100031 0.592134 
time: 1403636611.313555, t: 0.126161 -0.040307 -0.373196 q: -0.119892 0.790564 0.099952 0.592152 
time: 1403636611.413555, t: 0.126164 -0.040195 -0.373198 q: -0.120298 0.790499 0.099872 0.592171 
time: 1403636611.513556, t: 0.126230 -0.040985 -0.373476 q: -0.119389 0.790474 0.100011 0.592364 
time: 1403636611.613555, t: 0.126293 -0.040849 -0.373491 q: -0.119873 0.790496 0.099943 0.592249 
time: 1403636611.713556, t: 0.126235 -0.040908 -0.373486 q: -0.119768 0.790382 0.099805 0.592445 
time: 1403636611.813555, t: 0.126182 -0.040738 -0.373516 q: -0.120501 0.790532 0.099279 0.592184 
time: 1403636611.913555, t: 0.126195 -0.040871 -0.373522 q: -0.120001 0.790508 0.099731 0.592241 
time: 1403636612.013556, t: 0.126306 -0.040629 -0.373455 q: -0.120856 0.790426 0.099320 0.592246 
wait for imu ... 
time: 1403636612.113555, t: 0.126286 -0.040500 -0.373500 q: -0.121157 0.790564 0.099089 0.592039 
time: 1403636612.213556, t: 0.126253 -0.040565 -0.373521 q: -0.121003 0.790602 0.099210 0.592000 
time: 1403636612.313555, t: 0.126196 -0.040534 -0.373524 q: -0.121281 0.790481 0.099031 0.592135 
time: 1403636612.413555, t: 0.126068 -0.040629 -0.373444 q: -0.120855 0.790434 0.099250 0.592249 
time: 1403636612.513556, t: 0.126235 -0.040684 -0.373468 q: -0.120625 0.790441 0.099339 0.592270 
time: 1403636612.613555, t: 0.126209 -0.040784 -0.373498 q: -0.120327 0.790410 0.099485 0.592349 
time: 1403636612.713556, t: 0.126244 -0.040787 -0.373448 q: -0.120393 0.790413 0.099554 0.592319 
time: 1403636612.813555, t: 0.126212 -0.040864 -0.373437 q: -0.120090 0.790404 0.099638 0.592378 
time: 1403636612.913555, t: 0.126210 -0.040932 -0.373442 q: -0.119899 0.790398 0.099785 0.592401 
time: 1403636613.013556, t: 0.126216 -0.040973 -0.373458 q: -0.119860 0.790313 0.099787 0.592522 
wait for imu ... 
time: 1403636613.113555, t: 0.126216 -0.040996 -0.373471 q: -0.119732 0.790350 0.099961 0.592469 
time: 1403636613.213556, t: 0.126211 -0.040963 -0.373487 q: -0.119706 0.790313 0.099845 0.592543 
time: 1403636613.313555, t: 0.126255 -0.040960 -0.373477 q: -0.119803 0.790266 0.099808 0.592592 
time: 1403636613.413555, t: 0.126255 -0.040941 -0.373471 q: -0.119682 0.790364 0.099858 0.592477 
time: 1403636613.513556, t: 0.126266 -0.040946 -0.373464 q: -0.119764 0.790313 0.099889 0.592524 
time: 1403636613.613555, t: 0.126263 -0.040956 -0.373482 q: -0.119793 0.790306 0.099866 0.592531 
time: 1403636613.713556, t: 0.126253 -0.040927 -0.373504 q: -0.119948 0.790288 0.099744 0.592544 
time: 1403636613.813555, t: 0.126254 -0.040957 -0.373511 q: -0.120131 0.790248 0.099728 0.592562 
time: 1403636613.913555, t: 0.126247 -0.040963 -0.373513 q: -0.120117 0.790270 0.099764 0.592531 
time: 1403636614.013556, t: 0.126244 -0.040952 -0.373516 q: -0.120191 0.790269 0.099700 0.592528 
time: 1403636614.113555, t: 0.126239 -0.040944 -0.373522 q: -0.120154 0.790239 0.099714 0.592572 
time: 1403636614.213556, t: 0.126235 -0.040930 -0.373497 q: -0.120159 0.790276 0.099726 0.592521 
time: 1403636614.313555, t: 0.126232 -0.040934 -0.373519 q: -0.120206 0.790255 0.099663 0.592550 
time: 1403636614.413555, t: 0.126220 -0.040916 -0.373527 q: -0.120262 0.790301 0.099638 0.592481 
time: 1403636614.513556, t: 0.126240 -0.040921 -0.373492 q: -0.120242 0.790249 0.099676 0.592549 
time: 1403636614.613555, t: 0.126237 -0.040930 -0.373502 q: -0.120198 0.790302 0.099671 0.592487 
time: 1403636614.713556, t: 0.126231 -0.040917 -0.373499 q: -0.120186 0.790274 0.099681 0.592526 
time: 1403636614.813555, t: 0.126250 -0.040928 -0.373491 q: -0.120119 0.790275 0.099726 0.592530 
time: 1403636614.913555, t: 0.126228 -0.040930 -0.373510 q: -0.120120 0.790285 0.099719 0.592517 
time: 1403636615.013556, t: 0.126237 -0.040928 -0.373492 q: -0.120140 0.790258 0.099698 0.592554 
time: 1403636615.113555, t: 0.126226 -0.040947 -0.373496 q: -0.120078 0.790296 0.099782 0.592501 
time: 1403636615.213556, t: 0.126234 -0.040949 -0.373491 q: -0.120058 0.790280 0.099786 0.592525 
time: 1403636615.313555, t: 0.126227 -0.040944 -0.373492 q: -0.120047 0.790299 0.099775 0.592504 
time: 1403636615.413555, t: 0.126220 -0.040936 -0.373505 q: -0.120056 0.790272 0.099746 0.592543 
time: 1403636615.513556, t: 0.126232 -0.040942 -0.373498 q: -0.120074 0.790280 0.099749 0.592529 
time: 1403636615.613555, t: 0.126223 -0.040943 -0.373483 q: -0.120036 0.790300 0.099768 0.592506 
time: 1403636615.713556, t: 0.126239 -0.040942 -0.373480 q: -0.120060 0.790304 0.099768 0.592497 
time: 1403636615.813555, t: 0.126224 -0.040939 -0.373507 q: -0.120058 0.790254 0.099727 0.592570 
time: 1403636615.913555, t: 0.126234 -0.040939 -0.373482 q: -0.120036 0.790297 0.099758 0.592512 
time: 1403636616.013556, t: 0.126229 -0.040942 -0.373493 q: -0.120075 0.790292 0.099743 0.592514 
time: 1403636616.113555, t: 0.126237 -0.040939 -0.373507 q: -0.120084 0.790272 0.099721 0.592542 
time: 1403636616.213556, t: 0.126236 -0.040937 -0.373490 q: -0.120064 0.790289 0.099751 0.592517 
time: 1403636616.313555, t: 0.126229 -0.040939 -0.373491 q: -0.120056 0.790279 0.099754 0.592533 
time: 1403636616.413555, t: 0.126237 -0.040952 -0.373496 q: -0.120083 0.790295 0.099741 0.592507 
time: 1403636616.513556, t: 0.126225 -0.040933 -0.373496 q: -0.120065 0.790272 0.099719 0.592545 
time: 1403636616.613555, t: 0.126237 -0.040936 -0.373491 q: -0.120062 0.790304 0.099751 0.592498 
time: 1403636616.713556, t: 0.126239 -0.040946 -0.373500 q: -0.120105 0.790291 0.099738 0.592509 
wait for imu ... 
time: 1403636616.813555, t: 0.126237 -0.040947 -0.373504 q: -0.120115 0.790295 0.099736 0.592502 
time: 1403636616.913555, t: 0.126230 -0.040931 -0.373495 q: -0.120086 0.790289 0.099722 0.592519 
time: 1403636617.013556, t: 0.126249 -0.040945 -0.373502 q: -0.120088 0.790281 0.099754 0.592523 
time: 1403636617.113555, t: 0.126229 -0.040932 -0.373496 q: -0.120062 0.790289 0.099744 0.592520 
time: 1403636617.213556, t: 0.126251 -0.040939 -0.373498 q: -0.120113 0.790275 0.099734 0.592530 
wait for imu ... 
time: 1403636617.313555, t: 0.126246 -0.040935 -0.373507 q: -0.120092 0.790281 0.099718 0.592529 
time: 1403636617.413555, t: 0.126245 -0.040940 -0.373498 q: -0.120097 0.790292 0.099726 0.592512 
time: 1403636617.513556, t: 0.126242 -0.040951 -0.373497 q: -0.120096 0.790281 0.099742 0.592524 
time: 1403636617.613555, t: 0.126251 -0.040953 -0.373499 q: -0.120073 0.790288 0.099758 0.592516 
time: 1403636617.713556, t: 0.126234 -0.040941 -0.373511 q: -0.120093 0.790265 0.099741 0.592546 
time: 1403636617.813555, t: 0.126230 -0.040943 -0.373493 q: -0.120078 0.790286 0.099726 0.592524 
time: 1403636617.913555, t: 0.126229 -0.040942 -0.373504 q: -0.120060 0.790291 0.099730 0.592520 
time: 1403636618.013556, t: 0.126242 -0.040937 -0.373505 q: -0.120076 0.790283 0.099729 0.592527 
time: 1403636618.113555, t: 0.126253 -0.040944 -0.373510 q: -0.120079 0.790277 0.099730 0.592534 
time: 1403636618.213556, t: 0.126251 -0.040939 -0.373504 q: -0.120065 0.790289 0.099767 0.592516 
time: 1403636618.313555, t: 0.126245 -0.040942 -0.373501 q: -0.120089 0.790290 0.099729 0.592515 
time: 1403636618.413555, t: 0.126251 -0.040943 -0.373517 q: -0.120094 0.790261 0.099717 0.592555 
time: 1403636618.513556, t: 0.126440 -0.040920 -0.373619 q: -0.120250 0.790219 0.100040 0.592524 
time: 1403636618.613555, t: 0.126480 -0.040922 -0.373657 q: -0.120106 0.790227 0.099926 0.592563 
wait for imu ... 
time: 1403636618.713556, t: 0.126468 -0.040946 -0.373653 q: -0.119917 0.790301 0.099567 0.592563 
time: 1403636618.813555, t: 0.126515 -0.040966 -0.373677 q: -0.120154 0.790263 0.099711 0.592542 
time: 1403636618.913555, t: 0.126467 -0.040851 -0.373659 q: -0.120385 0.790220 0.099856 0.592528 
time: 1403636619.013556, t: 0.126470 -0.040840 -0.373639 q: -0.120365 0.790220 0.099825 0.592536 
time: 1403636619.113555, t: 0.126493 -0.040915 -0.373653 q: -0.120243 0.790263 0.099645 0.592535 
time: 1403636619.213556, t: 0.126499 -0.040920 -0.373637 q: -0.120038 0.790289 0.099476 0.592570 
time: 1403636619.313555, t: 0.126518 -0.040936 -0.373657 q: -0.120011 0.790270 0.099699 0.592564 
time: 1403636619.413555, t: 0.126520 -0.040885 -0.373643 q: -0.120245 0.790190 0.099980 0.592575 
time: 1403636619.513556, t: 0.126447 -0.040868 -0.373654 q: -0.120078 0.790264 0.099817 0.592538 
time: 1403636619.613555, t: 0.126484 -0.040908 -0.373669 q: -0.119962 0.790234 0.099818 0.592600 
time: 1403636619.713556, t: 0.126513 -0.040925 -0.373683 q: -0.119929 0.790237 0.099729 0.592619 
time: 1403636619.813555, t: 0.126473 -0.040926 -0.373696 q: -0.119933 0.790232 0.099724 0.592625 
time: 1403636619.913555, t: 0.126499 -0.040919 -0.373694 q: -0.119963 0.790217 0.099689 0.592644 
time: 1403636620.013556, t: 0.126495 -0.040910 -0.373682 q: -0.119997 0.790255 0.099771 0.592573 
time: 1403636620.113555, t: 0.126504 -0.040915 -0.373692 q: -0.119906 0.790209 0.099818 0.592645 
wait for imu ... 
time: 1403636620.213556, t: 0.126489 -0.040931 -0.373675 q: -0.119922 0.790231 0.099871 0.592604 
time: 1403636620.313555, t: 0.126479 -0.040928 -0.373675 q: -0.119897 0.790235 0.099796 0.592616 
time: 1403636620.413555, t: 0.126480 -0.040922 -0.373674 q: -0.119938 0.790236 0.099862 0.592596 
wait for imu ... 
time: 1403636620.513556, t: 0.126494 -0.040922 -0.373693 q: -0.119954 0.790238 0.099770 0.592605 
time: 1403636620.713556, t: 0.126485 -0.040922 -0.373687 q: -0.119899 0.790229 0.099819 0.592620 
time: 1403636620.813555, t: 0.126503 -0.040935 -0.373680 q: -0.119978 0.790248 0.099810 0.592580 
time: 1403636620.913555, t: 0.126474 -0.040929 -0.373677 q: -0.119976 0.790239 0.099770 0.592599 
wait for imu ... 
time: 1403636621.013556, t: 0.126487 -0.040930 -0.373655 q: -0.119906 0.790284 0.099790 0.592550 
time: 1403636621.113555, t: 0.126528 -0.040937 -0.373670 q: -0.120003 0.790213 0.099753 0.592631 
wait for imu ... 
time: 1403636621.213556, t: 0.126537 -0.040917 -0.373656 q: -0.119951 0.790190 0.099788 0.592667 
time: 1403636621.413555, t: 0.126537 -0.040935 -0.373667 q: -0.119970 0.790268 0.099764 0.592564 
wait for imu ... 
time: 1403636621.513556, t: 0.126515 -0.040941 -0.373662 q: -0.119880 0.790240 0.099821 0.592609 
time: 1403636621.613555, t: 0.126507 -0.040949 -0.373654 q: -0.119872 0.790262 0.099790 0.592587 
time: 1403636621.713556, t: 0.126516 -0.040944 -0.373658 q: -0.119870 0.790238 0.099836 0.592611 
wait for imu ... 
time: 1403636621.813555, t: 0.126518 -0.040964 -0.373657 q: -0.119824 0.790228 0.099885 0.592625 
time: 1403636622.013556, t: 0.126529 -0.040969 -0.373637 q: -0.119731 0.790225 0.099931 0.592641 
wait for imu ... 
time: 1403636622.113555, t: 0.126519 -0.040983 -0.373641 q: -0.119757 0.790222 0.099925 0.592641 
time: 1403636622.213556, t: 0.126543 -0.040964 -0.373642 q: -0.119833 0.790223 0.099917 0.592625 
wait for imu ... 
time: 1403636622.313555, t: 0.126513 -0.040955 -0.373636 q: -0.119774 0.790232 0.099895 0.592628 
time: 1403636622.413555, t: 0.126529 -0.040959 -0.373632 q: -0.119810 0.790250 0.099876 0.592600 
time: 1403636622.513556, t: 0.126517 -0.040969 -0.373646 q: -0.119789 0.790231 0.099878 0.592630 
time: 1403636622.613555, t: 0.126511 -0.040983 -0.373649 q: -0.119726 0.790240 0.099905 0.592626 
time: 1403636622.713556, t: 0.126528 -0.040979 -0.373648 q: -0.119814 0.790224 0.099837 0.592641 
time: 1403636622.813555, t: 0.126535 -0.040987 -0.373632 q: -0.119754 0.790243 0.099815 0.592632 
wait for imu ... 
time: 1403636622.913555, t: 0.126559 -0.041080 -0.373595 q: -0.119698 0.790122 0.099649 0.592832 
wait for imu ... 
time: 1403636623.013556, t: 0.126619 -0.041116 -0.373558 q: -0.119669 0.790058 0.099586 0.592933 
time: 1403636623.113555, t: 0.126632 -0.041175 -0.373527 q: -0.119737 0.790041 0.099483 0.592959 
time: 1403636623.213556, t: 0.126621 -0.041190 -0.373542 q: -0.119684 0.790025 0.099490 0.592991 
time: 1403636623.313555, t: 0.126667 -0.041227 -0.373566 q: -0.119610 0.789963 0.099484 0.593089 
wait for imu ... 
time: 1403636623.413555, t: 0.126656 -0.041254 -0.373542 q: -0.119652 0.789984 0.099450 0.593059 
time: 1403636623.513556, t: 0.126717 -0.041229 -0.373544 q: -0.119649 0.790001 0.099343 0.593055 
time: 1403636623.613555, t: 0.126744 -0.041276 -0.373475 q: -0.119697 0.790092 0.099105 0.592963 
time: 1403636623.713556, t: 0.126736 -0.041335 -0.373505 q: -0.119692 0.790077 0.098947 0.593011 
time: 1403636623.813555, t: 0.126717 -0.041404 -0.373516 q: -0.119441 0.790348 0.098598 0.592758 
time: 1403636623.913555, t: 0.126738 -0.041473 -0.373531 q: -0.119192 0.790381 0.098348 0.592805 
wait for imu ... 
time: 1403636624.013556, t: 0.126711 -0.041533 -0.373467 q: -0.119106 0.790431 0.098223 0.592777 
time: 1403636624.113555, t: 0.126597 -0.041555 -0.373369 q: -0.118481 0.790839 0.097602 0.592461 
time: 1403636624.213556, t: 0.126544 -0.041602 -0.373333 q: -0.118407 0.791048 0.097222 0.592259 
wait for imu ... 
time: 1403636624.313555, t: 0.126304 -0.042148 -0.373234 q: -0.116998 0.792882 0.097325 0.590066 
time: 1403636624.413555, t: 0.124839 -0.045606 -0.373506 q: -0.113365 0.798171 0.096890 0.583681 
time: 1403636624.513556, t: 0.121605 -0.051919 -0.373739 q: -0.110384 0.804127 0.095172 0.576313 
time: 1403636624.613555, t: 0.117523 -0.060376 -0.373242 q: -0.105805 0.806810 0.095041 0.573437 
wait for imu ... 
time: 1403636624.713556, t: 0.113311 -0.072179 -0.374264 q: -0.099476 0.805287 0.097960 0.576213 
time: 1403636624.813555, t: 0.105707 -0.087593 -0.374230 q: -0.090516 0.805540 0.103800 0.576314 
wait for imu ... 
time: 1403636624.913555, t: 0.094199 -0.105752 -0.368236 q: -0.077623 0.810772 0.113910 0.568901 
time: 1403636625.013556, t: 0.081108 -0.123151 -0.353439 q: -0.066471 0.817062 0.122893 0.559364 
time: 1403636625.113555, t: 0.069095 -0.135560 -0.331124 q: -0.062727 0.823212 0.126711 0.549846 
wait for imu ... 
time: 1403636625.213556, t: 0.062384 -0.141099 -0.303431 q: -0.069923 0.824495 0.122092 0.548099 
wait for imu ... 
time: 1403636625.313555, t: 0.060188 -0.143130 -0.277262 q: -0.076217 0.820531 0.118530 0.553959 
time: 1403636625.413555, t: 0.059530 -0.144329 -0.269535 q: -0.079122 0.819765 0.118641 0.554661 
wait for imu ... 
time: 1403636625.513556, t: 0.060483 -0.143789 -0.276347 q: -0.079338 0.822152 0.119735 0.550849 
time: 1403636625.613555, t: 0.064668 -0.141311 -0.282103 q: -0.079157 0.822399 0.121901 0.550031 
time: 1403636625.713556, t: 0.073312 -0.136057 -0.272649 q: -0.080628 0.819580 0.122649 0.553846 
time: 1403636625.813555, t: 0.086528 -0.127743 -0.246144 q: -0.082672 0.813621 0.122533 0.562292 
time: 1403636625.913555, t: 0.099989 -0.118118 -0.204113 q: -0.086724 0.808114 0.120896 0.569926 
time: 1403636626.013556, t: 0.113514 -0.107577 -0.155696 q: -0.089128 0.805130 0.119773 0.574000 
wait for imu ... 
time: 1403636626.113555, t: 0.123589 -0.099375 -0.108157 q: -0.097643 0.804497 0.114542 0.574569 
wait for imu ... 
time: 1403636626.213556, t: 0.133458 -0.092468 -0.065261 q: -0.105999 0.804222 0.109072 0.574539 
time: 1403636626.313555, t: 0.143886 -0.088160 -0.034874 q: -0.109315 0.804145 0.107093 0.574398 
time: 1403636626.413555, t: 0.154279 -0.087561 -0.020546 q: -0.107896 0.803609 0.108286 0.575191 
time: 1403636626.513556, t: 0.163830 -0.092292 -0.014976 q: -0.103465 0.800717 0.112384 0.579239 
time: 1403636626.613555, t: 0.170250 -0.099954 -0.012999 q: -0.098858 0.795980 0.117249 0.585573 
time: 1403636626.713556, t: 0.172974 -0.109331 -0.014334 q: -0.096452 0.794213 0.120796 0.587649 
time: 1403636626.813555, t: 0.171837 -0.119623 -0.020646 q: -0.096480 0.797070 0.123124 0.583277 
time: 1403636626.913555, t: 0.168129 -0.130342 -0.030560 q: -0.095881 0.801577 0.125107 0.576741 
time: 1403636627.013556, t: 0.162085 -0.141824 -0.043044 q: -0.094064 0.806747 0.126802 0.569414 
time: 1403636627.113555, t: 0.155933 -0.152671 -0.053498 q: -0.092664 0.811793 0.127747 0.562216 
time: 1403636627.213556, t: 0.151046 -0.162617 -0.051804 q: -0.093124 0.809559 0.127629 0.565378 
time: 1403636627.313555, t: 0.147550 -0.172127 -0.039710 q: -0.094997 0.805294 0.126814 0.571310 
time: 1403636627.413555, t: 0.142692 -0.182094 -0.019271 q: -0.096934 0.804326 0.125601 0.572615 
time: 1403636627.513556, t: 0.137830 -0.192374 0.006499 q: -0.097364 0.804943 0.121607 0.572537 
time: 1403636627.613555, t: 0.131722 -0.204771 0.021545 q: -0.093312 0.807330 0.114528 0.571309 
wait for imu ... 
time: 1403636627.713556, t: 0.124034 -0.218602 0.019355 q: -0.087031 0.812819 0.108460 0.565675 
time: 1403636627.813555, t: 0.118646 -0.233479 0.008027 q: -0.077802 0.820622 0.100485 0.557162 
optimize pose graph 
wait for imu ... 
time: 1403636627.913555, t: 0.116872 -0.248639 -0.004078 q: -0.068170 0.827527 0.092198 0.549593 
wait for imu ... 
time: 1403636628.013556, t: 0.121001 -0.261572 -0.008963 q: -0.060754 0.830261 0.086526 0.547256 
wait for imu ... 
time: 1403636628.113555, t: 0.132557 -0.271696 -0.000893 q: -0.057781 0.825978 0.081014 0.554851 
time: 1403636628.213556, t: 0.146559 -0.280266 0.017478 q: -0.059580 0.816540 0.074569 0.569343 
time: 1403636628.313555, t: 0.159971 -0.289119 0.041070 q: -0.065583 0.811040 0.067280 0.577397 
time: 1403636628.413555, t: 0.172630 -0.299788 0.066187 q: -0.069329 0.809987 0.063538 0.578858 
wait for imu ... 
time: 1403636628.513556, t: 0.185103 -0.313160 0.086793 q: -0.071863 0.810278 0.062361 0.578270 
time: 1403636628.613555, t: 0.197499 -0.328950 0.099615 q: -0.074729 0.810990 0.062041 0.576942 
time: 1403636628.713556, t: 0.209280 -0.349394 0.106815 q: -0.073151 0.811082 0.063176 0.576892 
time: 1403636628.813555, t: 0.218865 -0.373830 0.106959 q: -0.063536 0.814742 0.062819 0.572898 
wait for imu ... 
time: 1403636628.913555, t: 0.228879 -0.400431 0.105184 q: -0.054243 0.820068 0.059809 0.566541 
time: 1403636629.013556, t: 0.236803 -0.426930 0.111696 q: -0.048344 0.824094 0.056564 0.561544 
wait for imu ... 
time: 1403636629.113555, t: 0.242694 -0.455224 0.128388 q: -0.043679 0.825606 0.052874 0.560064 
time: 1403636629.213556, t: 0.253059 -0.483478 0.144271 q: -0.038061 0.825772 0.044696 0.560940 
time: 1403636629.313555, t: 0.268280 -0.512079 0.155042 q: -0.034034 0.823999 0.035348 0.564462 
time: 1403636629.413555, t: 0.286928 -0.539557 0.159297 q: -0.034614 0.821320 0.025708 0.568835 
time: 1403636629.513556, t: 0.307408 -0.568170 0.156568 q: -0.034265 0.818594 0.011950 0.573225 
time: 1403636629.613555, t: 0.327168 -0.600657 0.145824 q: -0.026577 0.820961 -0.001460 0.570363 
time: 1403636629.713556, t: 0.346981 -0.636218 0.127508 q: -0.013182 0.826799 -0.015177 0.562138 
wait for imu ... 
time: 1403636629.813555, t: 0.369955 -0.673525 0.104753 q: 0.002423 0.830923 -0.031247 0.555505 
optimize pose graph 
time: 1403636629.913555, t: 0.401730 -0.710775 0.081918 q: 0.016313 0.832768 -0.048695 0.551235 
time: 1403636630.013556, t: 0.433453 -0.748468 0.064449 q: 0.027002 0.832521 -0.061661 0.549888 
wait for imu ... 
time: 1403636630.113555, t: 0.467447 -0.786213 0.055405 q: 0.034291 0.828476 -0.070276 0.554538 
wait for imu ... 
wait for imu ... 
time: 1403636630.213556, t: 0.505950 -0.820900 0.055187 q: 0.039936 0.820267 -0.076089 0.565489 
time: 1403636630.313555, t: 0.545358 -0.853327 0.060973 q: 0.043397 0.814511 -0.079471 0.573038 
time: 1403636630.413555, t: 0.585449 -0.887764 0.070198 q: 0.044765 0.815650 -0.080250 0.571201 
wait for imu ... 
time: 1403636630.513556, t: 0.627047 -0.920512 0.086749 q: 0.046210 0.818474 -0.077946 0.567352 
time: 1403636630.613555, t: 0.668993 -0.956198 0.104057 q: 0.048852 0.820064 -0.072435 0.565563 
time: 1403636630.713556, t: 0.715445 -0.989986 0.118284 q: 0.048918 0.821771 -0.067480 0.563690 
time: 1403636630.813555, t: 0.759685 -1.022665 0.127358 q: 0.044319 0.822344 -0.066486 0.563353 
time: 1403636630.913555, t: 0.810711 -1.056014 0.127874 q: 0.039048 0.822310 -0.066346 0.563808 
time: 1403636631.013556, t: 0.856577 -1.086488 0.126036 q: 0.035827 0.822124 -0.066559 0.564268 
time: 1403636631.113555, t: 0.902652 -1.117618 0.121545 q: 0.034404 0.820498 -0.065887 0.566797 
time: 1403636631.213556, t: 0.950115 -1.150404 0.115034 q: 0.033512 0.818357 -0.065050 0.570032 
time: 1403636631.313555, t: 0.996167 -1.182473 0.107856 q: 0.032999 0.817482 -0.064355 0.571395 
time: 1403636631.413555, t: 1.040152 -1.216024 0.096891 q: 0.032928 0.817299 -0.063473 0.571760 
time: 1403636631.513556, t: 1.084451 -1.247352 0.079971 q: 0.034065 0.817521 -0.061648 0.571576 
time: 1403636631.613555, t: 1.128923 -1.277496 0.061180 q: 0.035461 0.817618 -0.059243 0.571606 
time: 1403636631.713556, t: 1.168373 -1.308722 0.046983 q: 0.036034 0.818133 -0.057358 0.571025 
time: 1403636631.813555, t: 1.212327 -1.336957 0.038238 q: 0.036235 0.818245 -0.055952 0.570992 
time: 1403636631.913555, t: 1.257256 -1.364702 0.035694 q: 0.037810 0.819071 -0.054347 0.569859 
time: 1403636632.013556, t: 1.298598 -1.389671 0.035680 q: 0.038522 0.819007 -0.054405 0.569898 
wait for imu ... 
time: 1403636632.113555, t: 1.337613 -1.414887 0.040962 q: 0.040678 0.817038 -0.053451 0.572658 
time: 1403636632.213556, t: 1.379157 -1.433443 0.041794 q: 0.045331 0.816238 -0.051918 0.573590 
time: 1403636632.313555, t: 1.419303 -1.449649 0.038603 q: 0.044883 0.815535 -0.054238 0.574410 
wait for imu ... 
time: 1403636632.413555, t: 1.453771 -1.465705 0.030008 q: 0.044828 0.815632 -0.055753 0.574131 
time: 1403636632.513556, t: 1.495058 -1.477530 0.013289 q: 0.038205 0.819313 -0.059437 0.568977 
wait for imu ... 
time: 1403636632.613555, t: 1.534612 -1.487093 -0.006873 q: 0.025353 0.825369 -0.060798 0.560738 
wait for imu ... 
time: 1403636632.713556, t: 1.573152 -1.498811 -0.026064 q: 0.012006 0.829154 -0.053646 0.556310 
time: 1403636632.813555, t: 1.616142 -1.511123 -0.040775 q: 0.000151 0.829919 -0.036801 0.556669 
time: 1403636632.913555, t: 1.664270 -1.524842 -0.046519 q: -0.006384 0.826029 -0.011280 0.563478 
wait for imu ... 
time: 1403636633.013556, t: 1.718041 -1.539592 -0.048184 q: -0.011015 0.822863 0.010722 0.568032 
time: 1403636633.113555, t: 1.769857 -1.552532 -0.046933 q: -0.016434 0.821526 0.026114 0.569335 
time: 1403636633.213556, t: 1.822330 -1.564882 -0.050263 q: -0.021397 0.820988 0.035736 0.569424 
wait for imu ... 
time: 1403636633.313555, t: 1.873715 -1.576413 -0.060167 q: -0.027248 0.822346 0.039514 0.566960 
time: 1403636633.413555, t: 1.926586 -1.588031 -0.074539 q: -0.033157 0.824580 0.038936 0.563429 
wait for imu ... 
time: 1403636633.513556, t: 1.983988 -1.598409 -0.090490 q: -0.036161 0.826582 0.037139 0.560424 
time: 1403636633.613555, t: 2.042403 -1.610379 -0.111240 q: -0.036424 0.828916 0.034831 0.557098 
wait for imu ... 
time: 1403636633.713556, t: 2.104392 -1.621635 -0.122639 q: -0.034365 0.829713 0.032288 0.556195 
time: 1403636633.813555, t: 2.168716 -1.633627 -0.130641 q: -0.033588 0.829392 0.029044 0.556899 
wait for imu ... 
time: 1403636633.913555, t: 2.233534 -1.646628 -0.127707 q: -0.036320 0.828309 0.023331 0.558606 
time: 1403636634.013556, t: 2.301858 -1.661238 -0.128566 q: -0.041129 0.826312 0.016195 0.561476 
wait for imu ... 
time: 1403636634.113555, t: 2.370297 -1.678525 -0.128500 q: -0.042050 0.826372 0.013917 0.561381 
time: 1403636634.213556, t: 2.444741 -1.698715 -0.125703 q: -0.038998 0.827804 0.017328 0.559392 
time: 1403636634.313555, t: 2.524271 -1.721317 -0.113212 q: -0.033675 0.825736 0.023140 0.562575 
wait for imu ... 
time: 1403636634.413555, t: 2.605987 -1.744311 -0.100971 q: -0.030161 0.820391 0.027874 0.570327 
time: 1403636634.513556, t: 2.687454 -1.767726 -0.095253 q: -0.028701 0.816597 0.031309 0.575644 
wait for imu ... 
time: 1403636634.613555, t: 2.774343 -1.789752 -0.097702 q: -0.028641 0.814457 0.035202 0.578446 
time: 1403636634.713556, t: 2.849011 -1.809999 -0.104533 q: -0.031065 0.813466 0.043233 0.579171 
time: 1403636634.813555, t: 2.920908 -1.829681 -0.108610 q: -0.035125 0.815416 0.050049 0.575636 
wait for imu ... 
time: 1403636634.913555, t: 2.987475 -1.847265 -0.107397 q: -0.039535 0.817154 0.055651 0.572363 
time: 1403636635.013556, t: 3.058786 -1.863906 -0.098311 q: -0.041896 0.818430 0.061858 0.569729 
wait for imu ... 
time: 1403636635.113555, t: 3.125329 -1.878135 -0.091291 q: -0.043299 0.819760 0.066721 0.567157 
time: 1403636635.213556, t: 3.196184 -1.890881 -0.089620 q: -0.045570 0.821033 0.069158 0.564842 
wait for imu ... 
time: 1403636635.313555, t: 3.265086 -1.902338 -0.094857 q: -0.050502 0.822334 0.068748 0.562575 
time: 1403636635.413555, t: 3.334222 -1.912781 -0.099467 q: -0.055980 0.824119 0.066585 0.559697 
time: 1403636635.513556, t: 3.404414 -1.922341 -0.100035 q: -0.059776 0.824289 0.063995 0.559356 
time: 1403636635.613555, t: 3.477430 -1.934080 -0.093216 q: -0.061340 0.824008 0.062695 0.559748 
wait for imu ... 
time: 1403636635.713556, t: 3.553177 -1.947551 -0.083304 q: -0.061801 0.822801 0.060982 0.561658 
time: 1403636635.813555, t: 3.635112 -1.962501 -0.062533 q: -0.066756 0.818895 0.056040 0.567286 
time: 1403636635.913555, t: 3.716390 -1.979171 -0.035913 q: -0.071853 0.818470 0.050476 0.567799 
wait for imu ... 
time: 1403636636.013556, t: 3.795023 -1.999109 -0.006441 q: -0.069160 0.823550 0.050723 0.560722 
wait for imu ... 
time: 1403636636.113555, t: 3.876796 -2.022621 0.018278 q: -0.060079 0.827146 0.056021 0.555950 
time: 1403636636.213556, t: 3.963523 -2.048865 0.046391 q: -0.052970 0.823169 0.061020 0.562017 
time: 1403636636.313555, t: 4.046967 -2.072899 0.080697 q: -0.048727 0.816281 0.063757 0.572054 
time: 1403636636.413555, t: 4.125193 -2.097178 0.116786 q: -0.047347 0.807157 0.064778 0.584859 
time: 1403636636.513556, t: 4.202243 -2.122036 0.146561 q: -0.044791 0.801156 0.066726 0.593035 
time: 1403636636.613555, t: 4.271671 -2.146403 0.167972 q: -0.038166 0.799700 0.071488 0.594906 
wait for imu ... 
time: 1403636636.713556, t: 4.337782 -2.167800 0.182020 q: -0.030739 0.799662 0.076648 0.594745 
time: 1403636636.813555, t: 4.394569 -2.186106 0.186178 q: -0.022996 0.799722 0.082520 0.594227 
wait for imu ... 
time: 1403636636.913555, t: 4.447340 -2.199114 0.181249 q: -0.021840 0.802275 0.084459 0.590546 
wait for imu ... 
wait for imu ... 
time: 1403636637.013556, t: 4.504749 -2.207876 0.173059 q: -0.034014 0.805703 0.078323 0.586133 
wait for imu ... 
time: 1403636637.113555, t: 4.553058 -2.211212 0.160155 q: -0.044397 0.808638 0.072887 0.582083 
wait for imu ... 
time: 1403636637.213556, t: 4.610561 -2.216282 0.147447 q: -0.047912 0.813488 0.071508 0.575177 
wait for imu ... 
time: 1403636637.313555, t: 4.660276 -2.216344 0.135386 q: -0.049162 0.816767 0.071972 0.570346 
wait for imu ... 
time: 1403636637.413555, t: 4.714932 -2.215685 0.132084 q: -0.049796 0.818253 0.072958 0.568031 
time: 1403636637.513556, t: 4.757903 -2.210194 0.135099 q: -0.050449 0.819454 0.074096 0.566092 
time: 1403636637.613555, t: 4.798319 -2.206047 0.142706 q: -0.052697 0.820364 0.074303 0.564539 
wait for imu ... 
time: 1403636637.713556, t: 4.846666 -2.204280 0.159054 q: -0.053859 0.820322 0.074949 0.564405 
time: 1403636637.813555, t: 4.896552 -2.197668 0.183635 q: -0.054180 0.818199 0.076021 0.567306 
wait for imu ... 
time: 1403636637.913555, t: 4.948461 -2.189803 0.215505 q: -0.055039 0.816034 0.076608 0.570254 
time: 1403636638.013556, t: 4.998448 -2.186000 0.239174 q: -0.056176 0.813307 0.076991 0.573976 
wait for imu ... 
time: 1403636638.113555, t: 5.051423 -2.177152 0.244414 q: -0.057285 0.810984 0.077117 0.577128 
wait for imu ... 
time: 1403636638.213556, t: 5.095639 -2.170589 0.238279 q: -0.058483 0.809681 0.077658 0.578762 
time: 1403636638.313555, t: 5.140576 -2.163490 0.226373 q: -0.060202 0.810414 0.077309 0.577606 
wait for imu ... 
time: 1403636638.413555, t: 5.176471 -2.158700 0.206190 q: -0.068067 0.819759 0.072587 0.563998 
time: 1403636638.513556, t: 5.220465 -2.153565 0.183331 q: -0.074699 0.830454 0.068376 0.547805 
wait for imu ... 
time: 1403636638.613555, t: 5.256062 -2.152741 0.166405 q: -0.073883 0.834118 0.069307 0.542204 
wait for imu ... 
time: 1403636638.713556, t: 5.302157 -2.156623 0.161579 q: -0.066775 0.831270 0.075032 0.546718 
time: 1403636638.813555, t: 5.359591 -2.159911 0.165846 q: -0.064073 0.825538 0.077837 0.555268 
time: 1403636638.913555, t: 5.423840 -2.163555 0.175467 q: -0.066583 0.821222 0.076591 0.561512 
time: 1403636639.013556, t: 5.489125 -2.168545 0.189546 q: -0.073543 0.819822 0.072192 0.563268 
wait for imu ... 
time: 1403636639.113555, t: 5.555105 -2.174577 0.201262 q: -0.082792 0.819488 0.065806 0.563254 
time: 1403636639.213556, t: 5.623175 -2.184750 0.199085 q: -0.088876 0.820235 0.061470 0.561727 
wait for imu ... 
wait for imu ... 
time: 1403636639.313555, t: 5.695369 -2.198153 0.183743 q: -0.085597 0.820946 0.063278 0.560997 
time: 1403636639.413555, t: 5.767426 -2.217218 0.163486 q: -0.074729 0.821082 0.070946 0.561432 
wait for imu ... 
wait for imu ... 
time: 1403636639.613555, t: 5.917337 -2.257251 0.111176 q: -0.052835 0.817235 0.086825 0.567271 
time: 1403636639.713556, t: 5.993167 -2.273679 0.084209 q: -0.053128 0.812893 0.087318 0.573374 
time: 1403636639.813555, t: 6.065449 -2.290381 0.062894 q: -0.058141 0.809736 0.084193 0.577804 
wait for imu ... 
time: 1403636639.913555, t: 6.135198 -2.305628 0.051208 q: -0.063045 0.808833 0.081586 0.578929 
time: 1403636640.013556, t: 6.198952 -2.320774 0.045643 q: -0.064371 0.808139 0.081734 0.579731 
time: 1403636640.113555, t: 6.262163 -2.337269 0.051663 q: -0.065493 0.807035 0.089092 0.580058 
time: 1403636640.213556, t: 6.322385 -2.350821 0.062472 q: -0.070662 0.805793 0.096940 0.579920 
time: 1403636640.313555, t: 6.390828 -2.369551 0.075131 q: -0.074405 0.806265 0.103368 0.577682 
time: 1403636640.413555, t: 6.445624 -2.384081 0.083657 q: -0.077038 0.805536 0.108820 0.577352 
wait for imu ... 
time: 1403636640.513556, t: 6.505441 -2.403530 0.082998 q: -0.079249 0.805746 0.112522 0.576048 
time: 1403636640.613555, t: 6.555427 -2.417362 0.082688 q: -0.080809 0.805312 0.114981 0.575953 
time: 1403636640.713556, t: 6.602102 -2.431056 0.075174 q: -0.081955 0.805235 0.116526 0.575588 
time: 1403636640.813555, t: 6.657770 -2.448126 0.061725 q: -0.082530 0.806718 0.117828 0.573159 
time: 1403636640.913555, t: 6.700248 -2.459887 0.059693 q: -0.082406 0.807952 0.119041 0.571185 
wait for imu ... 
time: 1403636641.013556, t: 6.742616 -2.471566 0.062583 q: -0.081705 0.807814 0.119351 0.571416 
time: 1403636641.113555, t: 6.783913 -2.485746 0.055630 q: -0.082063 0.806816 0.118354 0.572981 
time: 1403636641.213556, t: 6.824003 -2.495214 0.050790 q: -0.081298 0.806524 0.117835 0.573607 
time: 1403636641.313555, t: 6.860027 -2.504093 0.038539 q: -0.085143 0.806523 0.114168 0.573791 
time: 1403636641.413555, t: 6.894739 -2.513300 0.016135 q: -0.091645 0.807445 0.108855 0.572525 
time: 1403636641.513556, t: 6.928414 -2.522565 -0.000455 q: -0.090485 0.807164 0.108684 0.573138 
wait for imu ... 
time: 1403636641.613555, t: 6.961194 -2.534231 -0.014234 q: -0.086478 0.807134 0.110761 0.573400 
wait for imu ... 
time: 1403636641.713556, t: 6.991913 -2.546308 -0.023448 q: -0.083674 0.806840 0.111959 0.573997 
time: 1403636641.813555, t: 7.026290 -2.559282 -0.021126 q: -0.082285 0.806827 0.112084 0.574192 
time: 1403636641.913555, t: 7.058718 -2.570559 -0.012579 q: -0.081190 0.806466 0.110911 0.575082 
time: 1403636642.013556, t: 7.096939 -2.582089 0.000288 q: -0.077686 0.806449 0.104474 0.576793 
wait for imu ... 
time: 1403636642.113555, t: 7.123339 -2.593651 0.016432 q: -0.071940 0.806540 0.096735 0.578757 
time: 1403636642.213556, t: 7.156326 -2.604249 0.026205 q: -0.067374 0.806471 0.090582 0.580397 
time: 1403636642.313555, t: 7.181402 -2.613472 0.029708 q: -0.063938 0.806786 0.083774 0.581369 
time: 1403636642.413555, t: 7.199124 -2.624747 0.028754 q: -0.059037 0.806709 0.075050 0.583183 
time: 1403636642.513556, t: 7.216890 -2.636727 0.020201 q: -0.055022 0.808053 0.068706 0.582497 
time: 1403636642.613555, t: 7.229156 -2.648985 0.009086 q: -0.051795 0.812639 0.064588 0.576856 
time: 1403636642.713556, t: 7.237099 -2.661854 -0.006952 q: -0.049715 0.817654 0.061761 0.570224 
time: 1403636642.813555, t: 7.248717 -2.674253 -0.019240 q: -0.049287 0.821425 0.060097 0.564996 
time: 1403636642.913555, t: 7.258578 -2.685578 -0.023322 q: -0.049715 0.823425 0.059360 0.562118 
time: 1403636643.013556, t: 7.273258 -2.695658 -0.022829 q: -0.050600 0.823424 0.058621 0.562118 
time: 1403636643.113555, t: 7.287750 -2.710596 -0.015945 q: -0.051904 0.818794 0.058149 0.568772 
time: 1403636643.213556, t: 7.307477 -2.723607 -0.015551 q: -0.053483 0.815456 0.057355 0.573482 
time: 1403636643.313555, t: 7.326042 -2.739060 -0.019521 q: -0.053812 0.815054 0.057918 0.573966 
time: 1403636643.413555, t: 7.347289 -2.752793 -0.024426 q: -0.054135 0.817597 0.058396 0.570258 
time: 1403636643.513556, t: 7.371099 -2.767105 -0.022475 q: -0.054886 0.821892 0.059046 0.563910 
wait for imu ... 
time: 1403636643.613555, t: 7.398547 -2.781971 -0.013763 q: -0.054149 0.825771 0.060608 0.558119 
time: 1403636643.713556, t: 7.427705 -2.797719 0.002257 q: -0.053771 0.829012 0.063077 0.553055 
time: 1403636643.813555, t: 7.461407 -2.814229 0.022484 q: -0.052153 0.831377 0.065197 0.549401 
time: 1403636643.913555, t: 7.501595 -2.830016 0.037654 q: -0.051735 0.833955 0.066265 0.545391 
wait for imu ... 
time: 1403636644.013556, t: 7.547552 -2.844416 0.048019 q: -0.050228 0.835505 0.067407 0.543014 
time: 1403636644.113555, t: 7.598226 -2.857218 0.052774 q: -0.049902 0.836426 0.067616 0.541598 
wait for imu ... 
time: 1403636644.213556, t: 7.652804 -2.868694 0.054785 q: -0.052064 0.832794 0.065949 0.547170 
time: 1403636644.313555, t: 7.716506 -2.880300 0.051044 q: -0.063001 0.824588 0.057768 0.559239 
wait for imu ... 
time: 1403636644.413555, t: 7.779569 -2.892988 0.041258 q: -0.071572 0.817086 0.050947 0.569782 
time: 1403636644.513556, t: 7.843117 -2.908764 0.023063 q: -0.078584 0.811420 0.045431 0.577372 
time: 1403636644.613555, t: 7.901706 -2.929633 -0.004167 q: -0.083109 0.808929 0.042004 0.580484 
time: 1403636644.713556, t: 7.959378 -2.957718 -0.037328 q: -0.073239 0.807660 0.048530 0.583066 
time: 1403636644.813555, t: 8.011168 -2.993735 -0.075721 q: -0.057733 0.807464 0.058907 0.584122 
time: 1403636644.913555, t: 8.065730 -3.030492 -0.117827 q: -0.049410 0.809965 0.062913 0.580996 
time: 1403636645.013556, t: 8.109738 -3.065268 -0.154406 q: -0.047843 0.816027 0.062805 0.572597 
wait for imu ... 
time: 1403636645.113555, t: 8.151917 -3.099517 -0.183734 q: -0.048808 0.829142 0.060629 0.553593 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636645.213556, t: 8.198847 -3.132448 -0.206077 q: -0.047410 0.839834 0.060454 0.537379 
wait for imu ... 
wait for imu ... 
time: 1403636645.313555, t: 8.258128 -3.162693 -0.219095 q: -0.046483 0.842117 0.060481 0.533874 
time: 1403636645.413555, t: 8.328651 -3.191439 -0.228387 q: -0.045426 0.836975 0.060308 0.542008 
time: 1403636645.513556, t: 8.403721 -3.218833 -0.238418 q: -0.045306 0.833017 0.059751 0.548143 
time: 1403636645.613555, t: 8.487924 -3.242483 -0.255476 q: -0.044234 0.831238 0.059315 0.550970 
time: 1403636645.713556, t: 8.574739 -3.265307 -0.271468 q: -0.043170 0.829752 0.059912 0.553226 
time: 1403636645.813555, t: 8.665368 -3.285802 -0.280113 q: -0.044821 0.829012 0.058990 0.554301 
time: 1403636645.913555, t: 8.758294 -3.307451 -0.277728 q: -0.046304 0.829805 0.057862 0.553111 
time: 1403636646.013556, t: 8.858138 -3.328305 -0.264944 q: -0.046897 0.825139 0.051477 0.560621 
time: 1403636646.113555, t: 8.956825 -3.353545 -0.247461 q: -0.045708 0.822074 0.037155 0.566325 
wait for imu ... 
time: 1403636646.213556, t: 9.058674 -3.380539 -0.231321 q: -0.039002 0.819212 0.016660 0.571921 
time: 1403636646.313555, t: 9.160026 -3.412294 -0.219440 q: -0.028698 0.815305 -0.008684 0.578255 
wait for imu ... 
time: 1403636646.413555, t: 9.256003 -3.448535 -0.212902 q: -0.013620 0.810675 -0.033718 0.584366 
time: 1403636646.513556, t: 9.345325 -3.487714 -0.208586 q: 0.006734 0.804380 -0.049314 0.592027 
time: 1403636646.613555, t: 9.431657 -3.528663 -0.201560 q: 0.021838 0.802082 -0.060662 0.593724 
time: 1403636646.713556, t: 9.514740 -3.569942 -0.187614 q: 0.032913 0.804112 -0.068065 0.589650 
time: 1403636646.813555, t: 9.589229 -3.610922 -0.164279 q: 0.038883 0.804190 -0.073494 0.588528 
time: 1403636646.913555, t: 9.663730 -3.652397 -0.134426 q: 0.041800 0.804389 -0.076972 0.587610 
time: 1403636647.013556, t: 9.726891 -3.690703 -0.104929 q: 0.043664 0.806104 -0.078383 0.584933 
wait for imu ... 
time: 1403636647.113555, t: 9.788793 -3.728666 -0.081719 q: 0.044492 0.809946 -0.078096 0.579577 
time: 1403636647.213556, t: 9.849055 -3.766691 -0.066832 q: 0.044436 0.813020 -0.077432 0.575350 
time: 1403636647.313555, t: 9.906194 -3.804884 -0.054619 q: 0.041682 0.812383 -0.077321 0.576470 
time: 1403636647.413555, t: 9.963724 -3.844273 -0.049266 q: 0.039023 0.810406 -0.076949 0.579481 
time: 1403636647.513556, t: 10.019713 -3.884338 -0.047971 q: 0.035168 0.807379 -0.076530 0.583991 
wait for imu ... 
time: 1403636647.613555, t: 10.068745 -3.925030 -0.044920 q: 0.029445 0.801700 -0.077874 0.591900 
time: 1403636647.713556, t: 10.113299 -3.967357 -0.039422 q: 0.031275 0.801616 -0.078836 0.591792 
wait for imu ... 
time: 1403636647.813555, t: 10.156272 -4.011966 -0.027850 q: 0.036215 0.803493 -0.078911 0.588949 
time: 1403636647.913555, t: 10.193939 -4.058506 -0.022277 q: 0.042352 0.804218 -0.084067 0.586833 
wait for imu ... 
time: 1403636648.013556, t: 10.218143 -4.103746 -0.025078 q: 0.051798 0.803223 -0.095380 0.585706 
time: 1403636648.113555, t: 10.235687 -4.149555 -0.037843 q: 0.064786 0.801454 -0.113125 0.583676 
time: 1403636648.213556, t: 10.252447 -4.197484 -0.055860 q: 0.080111 0.798069 -0.133954 0.582000 
time: 1403636648.313555, t: 10.268435 -4.247998 -0.076992 q: 0.095758 0.793858 -0.157034 0.579621 
time: 1403636648.413555, t: 10.282187 -4.298855 -0.100949 q: 0.112767 0.788926 -0.179428 0.576789 
wait for imu ... 
wait for imu ... 
time: 1403636648.513556, t: 10.289483 -4.349313 -0.127252 q: 0.129223 0.783620 -0.202993 0.572743 
wait for imu ... 
time: 1403636648.613555, t: 10.297501 -4.398759 -0.149025 q: 0.142718 0.778609 -0.221765 0.569403 
wait for imu ... 
time: 1403636648.713556, t: 10.294466 -4.445378 -0.165197 q: 0.153886 0.777555 -0.233984 0.563009 
time: 1403636648.813555, t: 10.295613 -4.492304 -0.176663 q: 0.158530 0.781289 -0.243359 0.552478 
wait for imu ... 
time: 1403636648.913555, t: 10.304157 -4.523659 -0.206527 q: 0.161079 0.787359 -0.250148 0.539950 
wait for imu ... 
time: 1403636649.013556, t: 10.310374 -4.588046 -0.172243 q: 0.161018 0.790745 -0.250866 0.534661 
wait for imu ... 
time: 1403636649.113555, t: 10.325016 -4.638700 -0.153543 q: 0.164329 0.785372 -0.247998 0.542849 
time: 1403636649.213556, t: 10.337163 -4.685266 -0.126869 q: 0.167468 0.777546 -0.244167 0.554761 
wait for imu ... 
time: 1403636649.313555, t: 10.352339 -4.733837 -0.094079 q: 0.167847 0.774406 -0.240355 0.560671 
time: 1403636649.413555, t: 10.363691 -4.782158 -0.059236 q: 0.165167 0.777302 -0.237723 0.558577 
wait for imu ... 
time: 1403636649.513556, t: 10.372272 -4.828121 -0.017745 q: 0.161931 0.780343 -0.234721 0.556550 
time: 1403636649.613555, t: 10.379360 -4.873062 0.029498 q: 0.158983 0.777348 -0.233374 0.562130 
time: 1403636649.713556, t: 10.382095 -4.915601 0.075209 q: 0.159191 0.772209 -0.238368 0.567037 
wait for imu ... 
time: 1403636649.813555, t: 10.380190 -4.958396 0.114032 q: 0.165392 0.768736 -0.243791 0.567676 
wait for imu ... 
time: 1403636649.913555, t: 10.371609 -4.995556 0.145653 q: 0.171578 0.765853 -0.248150 0.567848 
time: 1403636650.013556, t: 10.359758 -5.028243 0.169504 q: 0.176994 0.764359 -0.251529 0.566711 
time: 1403636650.113555, t: 10.345416 -5.061156 0.182449 q: 0.181098 0.761709 -0.257221 0.566427 
wait for imu ... 
time: 1403636650.213556, t: 10.325584 -5.092108 0.187138 q: 0.190129 0.757846 -0.268585 0.563367 
wait for imu ... 
time: 1403636650.313555, t: 10.303040 -5.123990 0.185513 q: 0.201752 0.752192 -0.286748 0.557923 
time: 1403636650.413555, t: 10.277102 -5.155512 0.180591 q: 0.215478 0.746287 -0.308092 0.549276 
time: 1403636650.513556, t: 10.247520 -5.184175 0.172146 q: 0.229087 0.741049 -0.330063 0.537980 
wait for imu ... 
time: 1403636650.613555, t: 10.218037 -5.210066 0.158525 q: 0.238369 0.736877 -0.348049 0.528257 
wait for imu ... 
time: 1403636650.713556, t: 10.190164 -5.233915 0.141049 q: 0.246147 0.733297 -0.360044 0.521590 
wait for imu ... 
wait for imu ... 
time: 1403636650.813555, t: 10.162217 -5.256261 0.129104 q: 0.251590 0.729226 -0.368221 0.518985 
wait for imu ... 
time: 1403636650.913555, t: 10.135433 -5.277750 0.127277 q: 0.258278 0.723610 -0.370719 0.521775 
wait for imu ... 
time: 1403636651.013556, t: 10.109017 -5.297638 0.131412 q: 0.262742 0.718989 -0.370613 0.525992 
time: 1403636651.113555, t: 10.082577 -5.316414 0.141173 q: 0.264012 0.717202 -0.369607 0.528497 
time: 1403636651.213556, t: 10.054966 -5.332377 0.155138 q: 0.262461 0.719042 -0.368958 0.527222 
wait for imu ... 
wait for imu ... 
time: 1403636651.413555, t: 9.991433 -5.355411 0.191726 q: 0.255932 0.726592 -0.367112 0.521337 
time: 1403636651.513556, t: 9.959693 -5.364416 0.203789 q: 0.253773 0.728162 -0.364534 0.522010 
time: 1403636651.613555, t: 9.926887 -5.372162 0.208993 q: 0.253674 0.725813 -0.360684 0.527970 
time: 1403636651.713556, t: 9.892580 -5.377114 0.208186 q: 0.252513 0.722881 -0.358999 0.533666 
time: 1403636651.813555, t: 9.856657 -5.380574 0.203337 q: 0.249669 0.717510 -0.365219 0.538014 
time: 1403636651.913555, t: 9.816250 -5.381659 0.194221 q: 0.251748 0.709482 -0.376803 0.539702 
wait for imu ... 
time: 1403636652.013556, t: 9.772784 -5.384338 0.178430 q: 0.260988 0.700020 -0.391974 0.536855 
time: 1403636652.113555, t: 9.720096 -5.385941 0.159069 q: 0.277832 0.692280 -0.410324 0.524587 
wait for imu ... 
time: 1403636652.213556, t: 9.660140 -5.386568 0.137250 q: 0.297703 0.683062 -0.433652 0.506700 
time: 1403636652.313555, t: 9.594123 -5.380482 0.109079 q: 0.313689 0.672503 -0.461608 0.486062 
time: 1403636652.413555, t: 9.525361 -5.373933 0.077634 q: 0.326127 0.661457 -0.487597 0.467296 
wait for imu ... 
time: 1403636652.513556, t: 9.457363 -5.370243 0.050183 q: 0.333869 0.651614 -0.506967 0.454879 
wait for imu ... 
time: 1403636652.613555, t: 9.388403 -5.368887 0.031569 q: 0.337250 0.646252 -0.521876 0.443020 
time: 1403636652.713556, t: 9.322989 -5.374138 0.022810 q: 0.341165 0.645046 -0.529708 0.432354 
wait for imu ... 
time: 1403636652.813555, t: 9.263230 -5.384200 0.023015 q: 0.343027 0.643110 -0.533412 0.429202 
wait for imu ... 
time: 1403636652.913555, t: 9.207629 -5.402533 0.032180 q: 0.345583 0.641034 -0.533286 0.430411 
time: 1403636653.013556, t: 9.155468 -5.425429 0.048206 q: 0.348706 0.639929 -0.530485 0.432990 
time: 1403636653.113555, t: 9.107339 -5.452391 0.052548 q: 0.351990 0.639096 -0.525774 0.437289 
wait for imu ... 
time: 1403636653.213556, t: 9.063629 -5.484804 0.049773 q: 0.356473 0.637006 -0.519279 0.444409 
time: 1403636653.313555, t: 9.016583 -5.516188 0.042884 q: 0.361335 0.634883 -0.511572 0.452388 
time: 1403636653.413555, t: 8.971155 -5.548451 0.046270 q: 0.361570 0.635879 -0.506539 0.456447 
time: 1403636653.513556, t: 8.930851 -5.578333 0.058077 q: 0.359431 0.638589 -0.503672 0.457523 
wait for imu ... 
time: 1403636653.613555, t: 8.887593 -5.603958 0.073642 q: 0.357354 0.639685 -0.501420 0.460086 
time: 1403636653.713556, t: 8.845269 -5.626890 0.090633 q: 0.358749 0.639001 -0.497472 0.464219 
time: 1403636653.813555, t: 8.804621 -5.646727 0.101493 q: 0.360086 0.638130 -0.494700 0.467333 
time: 1403636653.913555, t: 8.767897 -5.660448 0.105939 q: 0.361311 0.637756 -0.493437 0.468232 
time: 1403636654.013556, t: 8.727530 -5.670547 0.101247 q: 0.356836 0.638083 -0.496418 0.468068 
wait for imu ... 
time: 1403636654.113555, t: 8.687019 -5.676593 0.090835 q: 0.354392 0.636688 -0.499318 0.468739 
time: 1403636654.213556, t: 8.645491 -5.679791 0.082429 q: 0.357801 0.631522 -0.503761 0.468384 
wait for imu ... 
time: 1403636654.313555, t: 8.601818 -5.678460 0.080139 q: 0.364572 0.626819 -0.510948 0.461647 
time: 1403636654.413555, t: 8.561033 -5.670270 0.084392 q: 0.371358 0.620431 -0.522362 0.451992 
time: 1403636654.513556, t: 8.517409 -5.660554 0.097400 q: 0.380262 0.611299 -0.535262 0.441824 
time: 1403636654.613555, t: 8.475850 -5.650601 0.113807 q: 0.387713 0.601473 -0.549309 0.431472 
wait for imu ... 
time: 1403636654.713556, t: 8.436367 -5.637825 0.127075 q: 0.389844 0.593302 -0.562414 0.423917 
time: 1403636654.813555, t: 8.398133 -5.622775 0.134313 q: 0.393549 0.587795 -0.570632 0.417127 
time: 1403636654.913555, t: 8.361319 -5.609102 0.134091 q: 0.397838 0.583295 -0.575566 0.412572 
wait for imu ... 
time: 1403636655.013556, t: 8.324517 -5.596152 0.129614 q: 0.406398 0.576419 -0.574770 0.414996 
time: 1403636655.113555, t: 8.288151 -5.583183 0.120644 q: -0.411999 -0.570499 0.573769 -0.419019 
time: 1403636655.213556, t: 8.251154 -5.567235 0.109827 q: -0.415410 -0.566412 0.572718 -0.422619 
wait for imu ... 
time: 1403636655.313555, t: 8.212769 -5.546729 0.098084 q: -0.418220 -0.560837 0.575147 -0.423981 
time: 1403636655.413555, t: 8.176718 -5.523769 0.085108 q: -0.420891 -0.553546 0.580405 -0.423753 
time: 1403636655.513556, t: 8.138325 -5.490649 0.081101 q: -0.425509 -0.546694 0.586675 -0.419380 
wait for imu ... 
time: 1403636655.613555, t: 8.099453 -5.449232 0.079644 q: -0.424075 -0.541856 0.600140 -0.407902 
time: 1403636655.713556, t: 8.059725 -5.405114 0.072855 q: -0.420230 -0.536460 0.614694 -0.397201 
wait for imu ... 
time: 1403636655.813555, t: 8.017826 -5.361372 0.053748 q: -0.420873 -0.529400 0.626265 -0.387806 
time: 1403636655.913555, t: 7.971673 -5.316889 0.022951 q: -0.424220 -0.517601 0.639012 -0.379198 
time: 1403636656.013556, t: 7.922188 -5.275304 -0.009246 q: -0.430404 -0.504082 0.649712 -0.372194 
time: 1403636656.113555, t: 7.869530 -5.235215 -0.033663 q: -0.436949 -0.495115 0.656649 -0.364346 
wait for imu ... 
time: 1403636656.213556, t: 7.813396 -5.196134 -0.047857 q: -0.441733 -0.491424 0.660991 -0.355621 
time: 1403636656.313555, t: 7.756061 -5.158324 -0.050564 q: -0.443232 -0.489379 0.664368 -0.350241 
time: 1403636656.413555, t: 7.698054 -5.126258 -0.042422 q: -0.443128 -0.488679 0.666243 -0.347779 
time: 1403636656.513556, t: 7.640932 -5.101941 -0.025019 q: -0.443184 -0.489349 0.666317 -0.346624 
time: 1403636656.613555, t: 7.587458 -5.083640 -0.005015 q: -0.445928 -0.490441 0.663384 -0.347185 
time: 1403636656.713556, t: 7.531078 -5.064113 0.011616 q: -0.453205 -0.487469 0.656544 -0.354866 
time: 1403636656.813555, t: 7.477714 -5.050460 0.023676 q: -0.461436 -0.485305 0.648727 -0.361537 
time: 1403636656.913555, t: 7.419248 -5.031463 0.025911 q: -0.466270 -0.485924 0.643262 -0.364258 
time: 1403636657.013556, t: 7.363822 -5.008286 0.019642 q: -0.466794 -0.485347 0.640902 -0.368493 
wait for imu ... 
wait for imu ... 
time: 1403636657.113555, t: 7.307574 -4.976006 0.006637 q: -0.465203 -0.484032 0.640385 -0.373103 
time: 1403636657.213556, t: 7.254326 -4.942771 -0.007502 q: -0.461787 -0.482784 0.641545 -0.376952 
time: 1403636657.313555, t: 7.199143 -4.903232 -0.016428 q: -0.456835 -0.484339 0.644661 -0.375673 
wait for imu ... 
time: 1403636657.413555, t: 7.143675 -4.858870 -0.022123 q: -0.449469 -0.485524 0.650143 -0.373575 
time: 1403636657.513556, t: 7.092159 -4.814001 -0.031120 q: -0.441201 -0.487491 0.656238 -0.370196 
time: 1403636657.613555, t: 7.036829 -4.767771 -0.042502 q: -0.438382 -0.489003 0.658656 -0.367246 
time: 1403636657.713556, t: 6.981046 -4.721918 -0.057580 q: -0.438681 -0.488393 0.658898 -0.367266 
time: 1403636657.813555, t: 6.921856 -4.675347 -0.076558 q: -0.438718 -0.484790 0.661638 -0.367071 
time: 1403636657.913555, t: 6.853707 -4.631533 -0.099808 q: -0.432964 -0.480411 0.667926 -0.368270 
time: 1403636658.013556, t: 6.784411 -4.583757 -0.116952 q: -0.430728 -0.479080 0.671412 -0.366281 
time: 1403636658.113555, t: 6.707976 -4.534819 -0.124008 q: -0.435623 -0.482231 0.669861 -0.359127 
wait for imu ... 
time: 1403636658.213556, t: 6.626845 -4.485988 -0.125461 q: -0.441352 -0.485430 0.667669 -0.351830 
wait for imu ... 
time: 1403636658.313555, t: 6.543170 -4.442090 -0.128444 q: -0.446134 -0.488807 0.665481 -0.345206 
time: 1403636658.413555, t: 6.460719 -4.402772 -0.136982 q: -0.447902 -0.490629 0.665150 -0.340945 
time: 1403636658.513556, t: 6.379875 -4.367837 -0.147352 q: -0.450741 -0.493565 0.663786 -0.335582 
wait for imu ... 
time: 1403636658.613555, t: 6.299023 -4.337886 -0.160061 q: -0.455310 -0.497026 0.660877 -0.330000 
time: 1403636658.713556, t: 6.220983 -4.313546 -0.174933 q: -0.458239 -0.498133 0.658981 -0.328062 
wait for imu ... 
time: 1403636658.813555, t: 6.147612 -4.293465 -0.191898 q: -0.465016 -0.499121 0.654327 -0.326335 
wait for imu ... 
time: 1403636658.913555, t: 6.080536 -4.278905 -0.210319 q: -0.469710 -0.496444 0.651238 -0.329856 
time: 1403636659.013556, t: 6.019109 -4.264352 -0.231980 q: -0.469645 -0.490726 0.651366 -0.338147 
wait for imu ... 
time: 1403636659.113555, t: 5.961695 -4.249240 -0.257795 q: -0.471805 -0.486379 0.649712 -0.344545 
time: 1403636659.213556, t: 5.907325 -4.231202 -0.287488 q: -0.473063 -0.484105 0.648579 -0.348138 
time: 1403636659.313555, t: 5.856837 -4.209810 -0.315951 q: -0.471150 -0.484821 0.649742 -0.347564 
time: 1403636659.413555, t: 5.810493 -4.188349 -0.340539 q: -0.466316 -0.488243 0.653052 -0.343062 
time: 1403636659.513556, t: 5.765756 -4.165259 -0.356668 q: -0.463317 -0.491542 0.655214 -0.338258 
time: 1403636659.613555, t: 5.724440 -4.142697 -0.369617 q: -0.463934 -0.490711 0.655179 -0.338686 
wait for imu ... 
time: 1403636659.713556, t: 5.685761 -4.121814 -0.385660 q: -0.467254 -0.488899 0.653795 -0.339415 
time: 1403636659.813555, t: 5.651043 -4.103023 -0.407939 q: -0.469687 -0.487315 0.653201 -0.339479 
time: 1403636659.913555, t: 5.620822 -4.080584 -0.434742 q: -0.468750 -0.486401 0.655000 -0.338619 
time: 1403636660.013556, t: 5.592927 -4.060051 -0.467993 q: -0.464303 -0.488600 0.659326 -0.333139 
time: 1403636660.113555, t: 5.571091 -4.038103 -0.502550 q: -0.459452 -0.490598 0.663903 -0.327796 
time: 1403636660.213556, t: 5.551236 -4.019410 -0.540404 q: -0.456874 -0.491614 0.666152 -0.325305 
wait for imu ... 
time: 1403636660.313555, t: 5.530645 -4.002403 -0.577296 q: -0.452822 -0.493943 0.669445 -0.320650 
wait for imu ... 
time: 1403636660.413555, t: 5.512308 -3.991415 -0.608492 q: -0.444053 -0.498375 0.675645 -0.312959 
time: 1403636660.613555, t: 5.476897 -3.993512 -0.652978 q: -0.450269 -0.497184 0.671043 -0.315860 
time: 1403636660.713556, t: 5.465315 -4.010398 -0.679326 q: -0.463674 -0.493878 0.661410 -0.321914 
time: 1403636660.813555, t: 5.456028 -4.027821 -0.711605 q: -0.476358 -0.493597 0.651903 -0.323214 
wait for imu ... 
time: 1403636660.913555, t: 5.452620 -4.045638 -0.748321 q: -0.484374 -0.494752 0.645630 -0.322124 
time: 1403636661.013556, t: 5.454283 -4.063631 -0.791325 q: -0.483394 -0.491967 0.645932 -0.327217 
time: 1403636661.113555, t: 5.461736 -4.081118 -0.838761 q: -0.481192 -0.487986 0.647347 -0.333566 
time: 1403636661.213556, t: 5.474767 -4.098419 -0.887175 q: -0.479809 -0.484507 0.648288 -0.338760 
time: 1403636661.313555, t: 5.492867 -4.112155 -0.928979 q: -0.478250 -0.482952 0.649357 -0.341131 
wait for imu ... 
time: 1403636661.413555, t: 5.513749 -4.123130 -0.963413 q: -0.478248 -0.482705 0.649191 -0.341799 
time: 1403636661.513556, t: 5.538662 -4.130325 -0.988838 q: -0.476450 -0.482758 0.650293 -0.342140 
wait for imu ... 
time: 1403636661.613555, t: 5.564954 -4.137067 -1.007307 q: -0.472331 -0.482381 0.652822 -0.343563 
time: 1403636661.713556, t: 5.594663 -4.138458 -1.018312 q: -0.472468 -0.481413 0.652145 -0.346009 
time: 1403636661.813555, t: 5.624140 -4.140129 -1.021099 q: -0.468717 -0.476186 0.654282 -0.354213 
time: 1403636661.913555, t: 5.653640 -4.138387 -1.019473 q: -0.467591 -0.473735 0.654412 -0.358717 
time: 1403636662.013556, t: 5.680457 -4.134651 -1.009334 q: -0.467459 -0.473621 0.653881 -0.360008 
time: 1403636662.113555, t: 5.707768 -4.128408 -0.996016 q: -0.468879 -0.474319 0.652636 -0.359501 
time: 1403636662.213556, t: 5.734323 -4.120042 -0.986302 q: -0.471243 -0.478907 0.651505 -0.352305 
time: 1403636662.313555, t: 5.764939 -4.101379 -0.979821 q: -0.474422 -0.483677 0.650069 -0.344080 
time: 1403636662.413555, t: 5.795336 -4.082460 -0.978978 q: -0.473777 -0.487103 0.651464 -0.337433 
time: 1403636662.513556, t: 5.829149 -4.068800 -0.987574 q: -0.467816 -0.490299 0.656645 -0.331015 
time: 1403636662.613555, t: 5.862538 -4.049852 -0.997575 q: -0.460084 -0.488135 0.662716 -0.332947 
time: 1403636662.713556, t: 5.897721 -4.039242 -1.012123 q: -0.452124 -0.478772 0.669196 -0.344293 
time: 1403636662.813555, t: 5.928977 -4.028152 -1.029106 q: -0.449183 -0.471693 0.671855 -0.352635 
time: 1403636662.913555, t: 5.956485 -4.015559 -1.050903 q: -0.445884 -0.472850 0.674609 -0.350005 
time: 1403636663.013556, t: 5.979543 -4.004704 -1.074255 q: -0.439602 -0.473447 0.679352 -0.347964 
wait for imu ... 
time: 1403636663.113555, t: 5.995077 -3.994835 -1.094615 q: -0.431894 -0.470728 0.684753 -0.350708 
time: 1403636663.213556, t: 6.003117 -3.986066 -1.107937 q: -0.431294 -0.472800 0.685794 -0.346601 
wait for imu ... 
time: 1403636663.313555, t: 6.004765 -3.979544 -1.121515 q: -0.441165 -0.483650 0.679470 -0.331327 
time: 1403636663.413555, t: 6.004920 -3.978617 -1.141865 q: -0.445783 -0.493340 0.676273 -0.317093 
time: 1403636663.513556, t: 6.004179 -3.982880 -1.168291 q: -0.445445 -0.499760 0.676304 -0.307297 
time: 1403636663.613555, t: 6.004667 -3.994899 -1.197262 q: -0.444227 -0.502672 0.676803 -0.303183 
time: 1403636663.713556, t: 6.004166 -4.019604 -1.228667 q: -0.446057 -0.505993 0.674989 -0.298989 
time: 1403636663.813555, t: 6.007019 -4.053407 -1.254244 q: -0.454934 -0.510583 0.667563 -0.294447 
wait for imu ... 
time: 1403636663.913555, t: 6.014922 -4.100265 -1.271772 q: -0.464876 -0.513255 0.658988 -0.293588 
time: 1403636664.013556, t: 6.031930 -4.152759 -1.281132 q: -0.477668 -0.514055 0.648035 -0.296025 
time: 1403636664.113555, t: 6.057857 -4.214694 -1.285014 q: -0.480890 -0.511385 0.644098 -0.303920 
wait for imu ... 
time: 1403636664.213556, t: 6.094419 -4.280285 -1.284342 q: -0.480406 -0.505420 0.642807 -0.317111 
time: 1403636664.313555, t: 6.138930 -4.346509 -1.287889 q: -0.479649 -0.500487 0.641169 -0.329170 
wait for imu ... 
time: 1403636664.413555, t: 6.188253 -4.410732 -1.308014 q: -0.478109 -0.498803 0.639703 -0.336731 
wait for imu ... 
time: 1403636664.513556, t: 6.242048 -4.473484 -1.338997 q: -0.476400 -0.498546 0.638050 -0.342618 
wait for imu ... 
time: 1403636664.613555, t: 6.301001 -4.532512 -1.370090 q: -0.471333 -0.496376 0.638254 -0.352260 
time: 1403636664.713556, t: 6.362836 -4.588355 -1.396227 q: -0.465894 -0.495855 0.638870 -0.359048 
wait for imu ... 
time: 1403636664.813555, t: 6.426126 -4.640582 -1.414222 q: -0.465082 -0.502466 0.636818 -0.354527 
time: 1403636664.913555, t: 6.491101 -4.692748 -1.424304 q: -0.462713 -0.504869 0.635714 -0.356190 
time: 1403636665.013556, t: 6.558280 -4.743240 -1.429158 q: -0.455918 -0.508390 0.638402 -0.355137 
time: 1403636665.113555, t: 6.627522 -4.790669 -1.426184 q: -0.448286 -0.512654 0.642116 -0.352013 
time: 1403636665.213556, t: 6.696491 -4.838892 -1.417264 q: -0.442429 -0.512990 0.644988 -0.353679 
time: 1403636665.313555, t: 6.764625 -4.889398 -1.404469 q: -0.441777 -0.506198 0.644876 -0.364324 
time: 1403636665.413555, t: 6.830351 -4.941518 -1.392201 q: -0.444137 -0.505617 0.643082 -0.365430 
time: 1403636665.513556, t: 6.891386 -4.989177 -1.380131 q: -0.448918 -0.511191 0.640559 -0.356147 
time: 1403636665.613555, t: 6.955144 -5.034618 -1.368340 q: -0.453587 -0.516043 0.638242 -0.347284 
time: 1403636665.713556, t: 7.021297 -5.081882 -1.356587 q: -0.457256 -0.516303 0.637121 -0.344128 
time: 1403636665.813555, t: 7.088722 -5.130452 -1.341833 q: -0.461865 -0.512890 0.635465 -0.346134 
wait for imu ... 
time: 1403636665.913555, t: 7.158253 -5.178110 -1.324990 q: -0.457591 -0.502115 0.639682 -0.359580 
time: 1403636666.013556, t: 7.225732 -5.224213 -1.310125 q: -0.451088 -0.494475 0.645272 -0.368291 
wait for imu ... 
time: 1403636666.113555, t: 7.291867 -5.269106 -1.300357 q: -0.450800 -0.493162 0.646027 -0.369079 
time: 1403636666.213556, t: 7.357135 -5.310037 -1.294545 q: -0.456178 -0.495070 0.642680 -0.365746 
time: 1403636666.313555, t: 7.422158 -5.346949 -1.295102 q: -0.456905 -0.493778 0.642113 -0.367576 
time: 1403636666.413555, t: 7.484221 -5.377968 -1.299433 q: -0.453478 -0.491336 0.643559 -0.372530 
wait for imu ... 
time: 1403636666.513556, t: 7.544016 -5.404150 -1.301109 q: -0.448777 -0.492139 0.645570 -0.373682 
time: 1403636666.613555, t: 7.600899 -5.424834 -1.295427 q: -0.446791 -0.497999 0.645959 -0.367577 
time: 1403636666.713556, t: 7.656857 -5.442205 -1.283524 q: -0.445478 -0.505952 0.645659 -0.358730 
time: 1403636666.813555, t: 7.713554 -5.459633 -1.269459 q: -0.440240 -0.511285 0.647995 -0.353382 
time: 1403636666.913555, t: 7.769490 -5.481502 -1.260212 q: -0.425374 -0.510503 0.657262 -0.355599 
time: 1403636667.013556, t: 7.820845 -5.506122 -1.256175 q: -0.413923 -0.506642 0.664378 -0.361365 
wait for imu ... 
time: 1403636667.113555, t: 7.864094 -5.535795 -1.254810 q: -0.421993 -0.505600 0.658619 -0.364021 
time: 1403636667.213556, t: 7.902708 -5.567881 -1.256292 q: -0.441145 -0.506729 0.645097 -0.363959 
wait for imu ... 
time: 1403636667.313555, t: 7.939884 -5.599911 -1.263382 q: -0.454094 -0.509499 0.635402 -0.361211 
time: 1403636667.413555, t: 7.978477 -5.629953 -1.275211 q: -0.456878 -0.510696 0.632940 -0.360333 
time: 1403636667.513556, t: 8.018764 -5.657208 -1.290617 q: -0.451771 -0.514268 0.635875 -0.356503 
time: 1403636667.613555, t: 8.061277 -5.684210 -1.304889 q: -0.439893 -0.514913 0.644056 -0.355740 
time: 1403636667.713556, t: 8.103234 -5.712487 -1.311556 q: -0.431818 -0.513375 0.649313 -0.358289 
wait for imu ... 
time: 1403636667.813555, t: 8.144717 -5.741705 -1.309742 q: -0.431346 -0.511208 0.649890 -0.360903 
time: 1403636667.913555, t: 8.182609 -5.770147 -1.305346 q: -0.431080 -0.509266 0.650732 -0.362445 
time: 1403636668.013556, t: 8.216560 -5.800409 -1.304058 q: -0.431309 -0.509057 0.651248 -0.361538 
time: 1403636668.113555, t: 8.249196 -5.833240 -1.309085 q: -0.436057 -0.510083 0.649549 -0.357430 
time: 1403636668.213556, t: 8.280809 -5.867079 -1.322523 q: -0.439318 -0.511809 0.649218 -0.351520 
time: 1403636668.313555, t: 8.311391 -5.903142 -1.339870 q: -0.441631 -0.512685 0.649873 -0.346095 
time: 1403636668.413555, t: 8.342760 -5.941203 -1.360397 q: -0.444064 -0.511263 0.650142 -0.344577 
wait for imu ... 
time: 1403636668.513556, t: 8.376146 -5.981446 -1.382454 q: -0.447607 -0.509159 0.649593 -0.344141 
time: 1403636668.613555, t: 8.409080 -6.023145 -1.406532 q: -0.448713 -0.507741 0.650459 -0.343160 
time: 1403636668.713556, t: 8.445637 -6.067668 -1.430135 q: -0.452232 -0.508256 0.649660 -0.339268 
time: 1403636668.813555, t: 8.485161 -6.115226 -1.451930 q: -0.461608 -0.509964 0.644189 -0.334478 
time: 1403636668.913555, t: 8.527110 -6.159905 -1.470043 q: -0.471856 -0.512176 0.636950 -0.330639 
wait for imu ... 
time: 1403636669.013556, t: 8.577857 -6.207227 -1.480506 q: -0.471528 -0.506844 0.637431 -0.338308 
wait for imu ... 
time: 1403636669.113555, t: 8.631571 -6.249743 -1.484030 q: -0.468920 -0.500367 0.639624 -0.347315 
wait for imu ... 
time: 1403636669.213556, t: 8.687330 -6.288615 -1.485597 q: -0.467941 -0.497046 0.640870 -0.351087 
time: 1403636669.313555, t: 8.747835 -6.326939 -1.493362 q: -0.468605 -0.496512 0.640883 -0.350934 
time: 1403636669.413555, t: 8.808733 -6.363157 -1.505885 q: -0.468291 -0.495603 0.641332 -0.351815 
time: 1403636669.513556, t: 8.874511 -6.396685 -1.522703 q: -0.471195 -0.493485 0.638886 -0.355347 
wait for imu ... 
time: 1403636669.613555, t: 8.940624 -6.429322 -1.540093 q: -0.477460 -0.490924 0.633716 -0.359763 
time: 1403636669.713556, t: 9.014245 -6.459655 -1.553773 q: -0.483674 -0.487717 0.628175 -0.365497 
time: 1403636669.813555, t: 9.086650 -6.480580 -1.560558 q: -0.479117 -0.482621 0.630060 -0.374898 
wait for imu ... 
time: 1403636669.913555, t: 9.159954 -6.492947 -1.562479 q: -0.458802 -0.472394 0.642505 -0.391831 
time: 1403636670.013556, t: 9.227525 -6.495534 -1.558684 q: -0.443179 -0.468696 0.652414 -0.397835 
time: 1403636670.113555, t: 9.287531 -6.490437 -1.549298 q: -0.433086 -0.468233 0.657384 -0.401299 
time: 1403636670.213556, t: 9.336119 -6.475477 -1.535508 q: -0.427454 -0.463334 0.656004 -0.415048 
time: 1403636670.313555, t: 9.374813 -6.453995 -1.525138 q: -0.422050 -0.457691 0.653347 -0.430732 
time: 1403636670.413555, t: 9.398513 -6.420379 -1.522151 q: -0.412998 -0.459798 0.651737 -0.439611 
wait for imu ... 
time: 1403636670.513556, t: 9.405458 -6.375717 -1.519148 q: -0.400715 -0.466648 0.648546 -0.448392 
wait for imu ... 
time: 1403636670.613555, t: 9.396693 -6.322889 -1.509649 q: -0.389470 -0.478567 0.640624 -0.457042 
time: 1403636670.713556, t: 9.369344 -6.262416 -1.491608 q: -0.380437 -0.493327 0.628855 -0.465228 
wait for imu ... 
time: 1403636670.813555, t: 9.323958 -6.196396 -1.470805 q: -0.368811 -0.507000 0.616037 -0.476895 
time: 1403636670.913555, t: 9.262073 -6.123026 -1.451066 q: -0.352138 -0.518174 0.602764 -0.494136 
wait for imu ... 
time: 1403636671.013556, t: 9.179443 -6.044086 -1.428836 q: -0.334874 -0.529832 0.584942 -0.514763 
wait for imu ... 
time: 1403636671.113555, t: 9.072060 -5.957675 -1.395794 q: -0.325202 -0.550654 0.561237 -0.525393 
time: 1403636671.213556, t: 8.939269 -5.866028 -1.354694 q: 0.316558 0.575565 -0.538980 0.527273 
time: 1403636671.313555, t: 8.783717 -5.769956 -1.310820 q: 0.313592 0.603665 -0.520151 0.516422 
time: 1403636671.413555, t: 8.613828 -5.672164 -1.267154 q: 0.319978 0.637483 -0.498206 0.492971 
time: 1403636671.513556, t: 8.439720 -5.574729 -1.230282 q: 0.316863 0.666067 -0.480522 0.474396 
time: 1403636671.613555, t: 8.267020 -5.479728 -1.198698 q: 0.306255 0.685909 -0.471474 0.462005 
time: 1403636671.713556, t: 8.097600 -5.391526 -1.173012 q: 0.296056 0.698872 -0.467972 0.452693 
time: 1403636671.813555, t: 7.933365 -5.312012 -1.151522 q: 0.290704 0.707648 -0.465811 0.444685 
time: 1403636671.913555, t: 7.777041 -5.243057 -1.129502 q: 0.285231 0.714601 -0.467779 0.434938 
wait for imu ... 
time: 1403636672.013556, t: 7.629730 -5.187089 -1.101094 q: 0.283802 0.722453 -0.469320 0.421020 
time: 1403636672.113555, t: 7.494153 -5.147585 -1.063361 q: 0.294351 0.727557 -0.463395 0.411440 
time: 1403636672.213556, t: 7.375729 -5.121935 -1.017912 q: 0.305088 0.728833 -0.458318 0.407025 
time: 1403636672.313555, t: 7.275156 -5.109476 -0.972827 q: 0.313381 0.728023 -0.455335 0.405518 
wait for imu ... 
time: 1403636672.413555, t: 7.192638 -5.107216 -0.933190 q: 0.329145 0.726199 -0.445271 0.407471 
wait for imu ... 
time: 1403636672.513556, t: 7.127947 -5.113006 -0.906027 q: 0.341414 0.714482 -0.437977 0.425592 
time: 1403636672.613555, t: 7.076390 -5.120792 -0.894708 q: 0.342674 0.697273 -0.437844 0.452413 
time: 1403636672.713556, t: 7.031424 -5.126742 -0.903650 q: 0.336965 0.686839 -0.442638 0.467737 
time: 1403636672.813555, t: 6.990019 -5.129488 -0.931142 q: 0.323833 0.689174 -0.450041 0.466514 
time: 1403636672.913555, t: 6.952687 -5.132081 -0.956028 q: 0.316374 0.695268 -0.445297 0.467141 
time: 1403636673.013556, t: 6.921973 -5.135029 -0.973302 q: 0.309530 0.703993 -0.433643 0.469614 
wait for imu ... 
time: 1403636673.113555, t: 6.901780 -5.139619 -0.986092 q: 0.302268 0.714190 -0.421056 0.470404 
time: 1403636673.213556, t: 6.886290 -5.145512 -0.990058 q: 0.289863 0.727124 -0.415348 0.463418 
wait for imu ... 
time: 1403636673.313555, t: 6.876883 -5.151778 -0.986185 q: 0.279331 0.738831 -0.411765 0.454480 
time: 1403636673.413555, t: 6.874995 -5.161868 -0.977846 q: 0.274038 0.744287 -0.407991 0.452199 
wait for imu ... 
time: 1403636673.513556, t: 6.882552 -5.178734 -0.973540 q: 0.272673 0.745108 -0.404047 0.455203 
time: 1403636673.613555, t: 6.899002 -5.201900 -0.971919 q: 0.276026 0.741655 -0.398330 0.463779 
wait for imu ... 
time: 1403636673.713556, t: 6.926211 -5.227658 -0.975767 q: 0.281294 0.735238 -0.392380 0.475748 
wait for imu ... 
time: 1403636673.813555, t: 6.957690 -5.254054 -0.980508 q: 0.286671 0.728482 -0.386572 0.487541 
time: 1403636673.913555, t: 6.993628 -5.277974 -0.982210 q: 0.289588 0.728112 -0.383431 0.488848 
time: 1403636674.013556, t: 7.035283 -5.302383 -0.981710 q: 0.288167 0.728597 -0.384185 0.488373 
time: 1403636674.113555, t: 7.081916 -5.323226 -0.982657 q: 0.286323 0.728294 -0.385534 0.488846 
wait for imu ... 
time: 1403636674.213556, t: 7.133002 -5.341905 -0.989766 q: 0.285454 0.725820 -0.386394 0.492342 
wait for imu ... 
time: 1403636674.313555, t: 7.187834 -5.358953 -1.004731 q: 0.278905 0.720549 -0.391479 0.499766 
time: 1403636674.413555, t: 7.246390 -5.374936 -1.028370 q: 0.266176 0.717566 -0.396476 0.507007 
time: 1403636674.513556, t: 7.305875 -5.391214 -1.056715 q: 0.254358 0.717218 -0.393597 0.515735 
time: 1403636674.613555, t: 7.361376 -5.408091 -1.090342 q: 0.247656 0.720233 -0.385887 0.520598 
time: 1403636674.713556, t: 7.414603 -5.426739 -1.127001 q: 0.243125 0.723935 -0.378676 0.522888 
wait for imu ... 
time: 1403636674.813555, t: 7.463949 -5.446088 -1.167513 q: 0.233292 0.733015 -0.377448 0.515555 
time: 1403636674.913555, t: 7.508583 -5.467586 -1.203666 q: 0.224183 0.742296 -0.378250 0.505633 
time: 1403636675.013556, t: 7.550989 -5.495327 -1.231030 q: 0.218011 0.749352 -0.379296 0.497069 
time: 1403636675.113555, t: 7.595289 -5.530611 -1.247509 q: 0.219361 0.755139 -0.376998 0.489407 
time: 1403636675.213556, t: 7.642150 -5.574706 -1.254187 q: 0.230937 0.760937 -0.367988 0.481900 
time: 1403636675.313555, t: 7.699258 -5.627430 -1.254145 q: 0.241906 0.763182 -0.360819 0.478377 
time: 1403636675.413555, t: 7.767726 -5.685505 -1.248676 q: 0.251559 0.758595 -0.351508 0.487538 
wait for imu ... 
time: 1403636675.513556, t: 7.844348 -5.744029 -1.245475 q: 0.254972 0.755372 -0.339453 0.499174 
time: 1403636675.613555, t: 7.925919 -5.800032 -1.247884 q: 0.258349 0.754150 -0.325533 0.508470 
time: 1403636675.713556, t: 8.011655 -5.850404 -1.256882 q: 0.254945 0.754214 -0.313968 0.517289 
time: 1403636675.813555, t: 8.100539 -5.893629 -1.272042 q: 0.239478 0.751996 -0.306460 0.532197 
wait for imu ... 
time: 1403636675.913555, t: 8.189817 -5.931559 -1.293970 q: 0.210934 0.751152 -0.304565 0.546368 
time: 1403636676.013556, t: 8.275767 -5.966365 -1.320624 q: 0.184694 0.757101 -0.298308 0.551088 
time: 1403636676.113555, t: 8.357470 -6.002990 -1.350235 q: 0.172322 0.767203 -0.281762 0.549832 
time: 1403636676.213556, t: 8.435551 -6.039700 -1.380697 q: 0.172566 0.779095 -0.254634 0.546254 
time: 1403636676.313555, t: 8.513113 -6.075816 -1.413378 q: 0.173134 0.791849 -0.224727 0.540831 
time: 1403636676.413555, t: 8.594653 -6.108036 -1.442432 q: 0.171833 0.800390 -0.195025 0.540198 
wait for imu ... 
time: 1403636676.513556, t: 8.678762 -6.132521 -1.464125 q: 0.157213 0.806876 -0.175408 0.541727 
time: 1403636676.613555, t: 8.767182 -6.151314 -1.478322 q: 0.135523 0.808711 -0.164402 0.548263 
wait for imu ... 
time: 1403636676.713556, t: 8.859713 -6.168076 -1.483473 q: 0.118333 0.808294 -0.158356 0.554601 
time: 1403636676.913555, t: 9.043464 -6.195412 -1.473917 q: 0.092735 0.807330 -0.153806 0.562105 
time: 1403636677.013556, t: 9.130086 -6.208310 -1.472724 q: 0.089644 0.807131 -0.150634 0.563749 
time: 1403636677.113555, t: 9.213426 -6.221656 -1.484934 q: 0.097870 0.807742 -0.143180 0.563448 
time: 1403636677.213556, t: 9.298181 -6.237202 -1.511223 q: 0.105334 0.807420 -0.138027 0.563850 
time: 1403636677.313555, t: 9.381735 -6.247391 -1.536385 q: 0.108042 0.804008 -0.132461 0.569519 
time: 1403636677.413555, t: 9.467804 -6.256105 -1.557821 q: 0.106149 0.798281 -0.122425 0.580080 
time: 1403636677.513556, t: 9.551155 -6.257004 -1.568995 q: 0.097538 0.792885 -0.112335 0.590932 
time: 1403636677.613555, t: 9.627811 -6.253439 -1.573746 q: 0.083157 0.791720 -0.101776 0.596579 
time: 1403636677.713556, t: 9.701532 -6.246380 -1.572678 q: 0.064145 0.794575 -0.091068 0.596860 
wait for imu ... 
time: 1403636677.813555, t: 9.768861 -6.236939 -1.567178 q: 0.041776 0.801660 -0.079104 0.591048 
wait for imu ... 
time: 1403636677.913555, t: 9.824120 -6.227502 -1.557696 q: 0.014807 0.810047 -0.066596 0.582383 
wait for imu ... 
time: 1403636678.013556, t: 9.875619 -6.221490 -1.545608 q: -0.004662 0.816001 -0.048009 0.576035 
time: 1403636678.113555, t: 9.925530 -6.221026 -1.535979 q: -0.012852 0.817278 -0.025962 0.575515 
wait for imu ... 
time: 1403636678.213556, t: 9.973819 -6.226144 -1.531851 q: -0.012716 0.817400 -0.005026 0.575908 
time: 1403636678.313555, t: 10.017569 -6.232163 -1.530854 q: -0.015456 0.816932 0.012809 0.576384 
time: 1403636678.413555, t: 10.060795 -6.236953 -1.526539 q: -0.026759 0.816889 0.026351 0.575571 
time: 1403636678.513556, t: 10.102860 -6.242347 -1.516300 q: -0.036762 0.817283 0.042042 0.573523 
time: 1403636678.613555, t: 10.144833 -6.247402 -1.498968 q: -0.049064 0.815768 0.059516 0.573212 
wait for imu ... 
time: 1403636678.713556, t: 10.185268 -6.252275 -1.483040 q: -0.054856 0.812898 0.085644 0.573456 
wait for imu ... 
time: 1403636678.813555, t: 10.223922 -6.255272 -1.472768 q: -0.056380 0.809326 0.117267 0.572766 
time: 1403636678.913555, t: 10.260522 -6.255355 -1.469670 q: -0.056430 0.805614 0.145582 0.571496 
wait for imu ... 
time: 1403636679.013556, t: 10.295238 -6.248312 -1.470723 q: -0.065277 0.802088 0.165757 0.570016 
wait for imu ... 
time: 1403636679.113555, t: 10.327721 -6.234175 -1.476855 q: -0.082961 0.797177 0.180305 0.570190 
wait for imu ... 
time: 1403636679.213556, t: 10.355774 -6.213028 -1.486932 q: -0.110838 0.791212 0.189481 0.570785 
time: 1403636679.313555, t: 10.378509 -6.187996 -1.495603 q: -0.139015 0.784999 0.200229 0.569526 
time: 1403636679.413555, t: 10.396946 -6.162461 -1.497336 q: -0.159984 0.779057 0.216961 0.566041 
time: 1403636679.513556, t: 10.411266 -6.138896 -1.490836 q: -0.176137 0.773991 0.235530 0.560749 
time: 1403636679.613555, t: 10.425339 -6.118428 -1.479351 q: -0.187543 0.770644 0.250517 0.555137 
time: 1403636679.713556, t: 10.432951 -6.102400 -1.460472 q: -0.194126 0.769557 0.261937 0.549077 
time: 1403636679.813555, t: 10.439805 -6.090179 -1.435510 q: -0.196490 0.764904 0.270275 0.550695 
time: 1403636679.913555, t: 10.446646 -6.079504 -1.401117 q: -0.195272 0.757422 0.276138 0.558505 
time: 1403636680.013556, t: 10.451921 -6.068466 -1.363194 q: -0.186971 0.753808 0.283013 0.562778 
time: 1403636680.113555, t: 10.448650 -6.059823 -1.320860 q: -0.173155 0.749638 0.291607 0.568353 
time: 1403636680.213556, t: 10.435660 -6.049759 -1.283055 q: -0.169529 0.749029 0.292384 0.569849 
time: 1403636680.313555, t: 10.415359 -6.035193 -1.250067 q: -0.166537 0.746909 0.291947 0.573724 
time: 1403636680.413555, t: 10.385821 -6.018236 -1.225325 q: -0.154340 0.748941 0.296671 0.572060 
wait for imu ... 
wait for imu ... 
time: 1403636680.513556, t: 10.346416 -5.995206 -1.206219 q: -0.146599 0.752001 0.298120 0.569322 
wait for imu ... 
time: 1403636680.613555, t: 10.299870 -5.965559 -1.192593 q: -0.149127 0.755312 0.293298 0.566782 
time: 1403636680.713556, t: 10.244737 -5.928405 -1.183058 q: -0.152483 0.758533 0.288252 0.564169 
time: 1403636680.813555, t: 10.183113 -5.886961 -1.179521 q: -0.166434 0.765069 0.276715 0.557134 
time: 1403636680.913555, t: 10.117510 -5.843351 -1.178564 q: -0.183513 0.773421 0.263365 0.546609 
time: 1403636681.013556, t: 10.052367 -5.798302 -1.185486 q: -0.187241 0.783825 0.259630 0.532120 
wait for imu ... 
time: 1403636681.113555, t: 9.989391 -5.754376 -1.197570 q: -0.182752 0.791280 0.262230 0.521261 
time: 1403636681.213556, t: 9.932311 -5.709293 -1.208773 q: -0.177848 0.787191 0.265946 0.527232 
time: 1403636681.313555, t: 9.880494 -5.660901 -1.217035 q: -0.176377 0.777352 0.268208 0.540998 
time: 1403636681.413555, t: 9.830039 -5.610631 -1.219066 q: -0.179702 0.770629 0.266828 0.550128 
wait for imu ... 
time: 1403636681.513556, t: 9.777205 -5.561391 -1.216492 q: -0.184485 0.767960 0.264901 0.553200 
time: 1403636681.613555, t: 9.724711 -5.513779 -1.211110 q: -0.183465 0.766952 0.267794 0.553545 
time: 1403636681.713556, t: 9.669903 -5.466714 -1.209070 q: -0.182403 0.765790 0.270524 0.554176 
time: 1403636681.813555, t: 9.613962 -5.418971 -1.211106 q: -0.182518 0.764606 0.272328 0.554889 
time: 1403636681.913555, t: 9.555520 -5.370485 -1.210533 q: -0.184634 0.763328 0.272876 0.555678 
wait for imu ... 
time: 1403636682.013556, t: 9.497335 -5.319412 -1.202965 q: -0.187844 0.763348 0.272669 0.554676 
wait for imu ... 
time: 1403636682.113555, t: 9.434708 -5.270166 -1.187336 q: -0.190991 0.763504 0.272073 0.553680 
time: 1403636682.213556, t: 9.369558 -5.222569 -1.168954 q: -0.192639 0.765565 0.271950 0.550312 
time: 1403636682.313555, t: 9.303517 -5.177023 -1.156037 q: -0.192186 0.771518 0.272260 0.541939 
time: 1403636682.413555, t: 9.239817 -5.130541 -1.148941 q: -0.190954 0.777153 0.272289 0.534256 
time: 1403636682.513556, t: 9.178467 -5.083132 -1.143501 q: -0.189911 0.773989 0.271266 0.539713 
time: 1403636682.613555, t: 9.116392 -5.035457 -1.141916 q: -0.187761 0.769192 0.270890 0.547457 
time: 1403636682.713556, t: 9.056193 -4.987836 -1.144790 q: -0.188157 0.766455 0.268462 0.552333 
wait for imu ... 
wait for imu ... 
time: 1403636682.813555, t: 8.994474 -4.938672 -1.142856 q: -0.189528 0.764612 0.264925 0.556114 
time: 1403636682.913555, t: 8.930441 -4.893015 -1.134737 q: -0.184894 0.763347 0.265953 0.558914 
time: 1403636683.013556, t: 8.864570 -4.845397 -1.122508 q: -0.179322 0.762880 0.268715 0.560044 
time: 1403636683.113555, t: 8.794410 -4.799934 -1.110931 q: -0.179583 0.762857 0.268545 0.560075 
time: 1403636683.213556, t: 8.721705 -4.752877 -1.105968 q: -0.182974 0.764662 0.267195 0.557153 
time: 1403636683.313555, t: 8.646887 -4.706403 -1.106922 q: -0.186097 0.765558 0.266691 0.555126 
time: 1403636683.413555, t: 8.570435 -4.659987 -1.111617 q: -0.188658 0.765993 0.266839 0.553588 
time: 1403636683.513556, t: 8.498330 -4.613851 -1.120671 q: -0.190408 0.766129 0.267701 0.552384 
time: 1403636683.613555, t: 8.422976 -4.568721 -1.134739 q: -0.191254 0.766764 0.268484 0.550828 
wait for imu ... 
time: 1403636683.713556, t: 8.348556 -4.526871 -1.151754 q: -0.191827 0.769313 0.269682 0.546472 
time: 1403636683.813555, t: 8.275407 -4.486878 -1.165120 q: -0.192242 0.772410 0.270877 0.541343 
time: 1403636683.913555, t: 8.204069 -4.448060 -1.171327 q: -0.193059 0.773589 0.272512 0.538540 
time: 1403636684.013556, t: 8.134393 -4.406435 -1.168736 q: -0.195643 0.772263 0.272458 0.539537 
time: 1403636684.113555, t: 8.064948 -4.364581 -1.158203 q: -0.197189 0.769561 0.273612 0.542245 
wait for imu ... 
time: 1403636684.213556, t: 7.992416 -4.322830 -1.141791 q: -0.199222 0.767671 0.274613 0.543672 
time: 1403636684.313555, t: 7.920586 -4.281542 -1.119738 q: -0.201219 0.765066 0.275404 0.546203 
time: 1403636684.413555, t: 7.847266 -4.242303 -1.102465 q: -0.202853 0.762829 0.276005 0.548419 
time: 1403636684.513556, t: 7.775976 -4.207103 -1.091218 q: -0.207357 0.762470 0.274387 0.548046 
time: 1403636684.713556, t: 7.630693 -4.146125 -1.084066 q: -0.212897 0.760851 0.272154 0.549284 
wait for imu ... 
time: 1403636684.813555, t: 7.558708 -4.121250 -1.090543 q: -0.212828 0.760174 0.272441 0.550105 
time: 1403636684.913555, t: 7.489264 -4.100040 -1.103265 q: -0.209186 0.759268 0.275012 0.551472 
wait for imu ... 
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time: 1403636685.113555, t: 7.344841 -4.066405 -1.121721 q: -0.196258 0.760470 0.281839 0.551122 
time: 1403636685.213556, t: 7.269303 -4.048560 -1.123040 q: -0.192559 0.763616 0.281891 0.548041 
time: 1403636685.313555, t: 7.194383 -4.031846 -1.116189 q: -0.186115 0.765602 0.283250 0.546795 
time: 1403636685.413555, t: 7.120244 -4.010808 -1.108565 q: -0.183719 0.766415 0.281951 0.547137 
time: 1403636685.513556, t: 7.043377 -3.990395 -1.102937 q: -0.185693 0.767806 0.278339 0.546370 
wait for imu ... 
time: 1403636685.613555, t: 6.965965 -3.965460 -1.104896 q: -0.187642 0.769019 0.275252 0.545561 
time: 1403636685.713556, t: 6.888870 -3.943871 -1.110367 q: -0.186005 0.768015 0.275374 0.547470 
wait for imu ... 
time: 1403636685.813555, t: 6.810320 -3.917798 -1.122144 q: -0.183390 0.766440 0.276875 0.549798 
time: 1403636685.913555, t: 6.732134 -3.893405 -1.137278 q: -0.182835 0.765709 0.277245 0.550815 
time: 1403636686.013556, t: 6.648938 -3.865980 -1.154551 q: -0.187531 0.768251 0.274486 0.547065 
time: 1403636686.213556, t: 6.488210 -3.813639 -1.171081 q: -0.192613 0.772113 0.271216 0.541465 
wait for imu ... 
time: 1403636686.313555, t: 6.409308 -3.786320 -1.170232 q: -0.193760 0.773841 0.269925 0.539228 
time: 1403636686.413555, t: 6.333690 -3.760497 -1.163032 q: -0.193710 0.775014 0.269769 0.537637 
time: 1403636686.513556, t: 6.257974 -3.733930 -1.157701 q: -0.194368 0.776815 0.269508 0.534925 
time: 1403636686.613555, t: 6.188578 -3.707695 -1.159469 q: -0.192874 0.776622 0.271203 0.534889 
time: 1403636686.713556, t: 6.117654 -3.683571 -1.166212 q: -0.192879 0.776151 0.271614 0.535362 
time: 1403636686.813555, t: 6.053424 -3.657432 -1.172847 q: -0.194258 0.774145 0.271280 0.537932 
time: 1403636686.913555, t: 5.988948 -3.632185 -1.172859 q: -0.197049 0.772672 0.270308 0.539522 
time: 1403636687.013556, t: 5.921616 -3.606290 -1.166188 q: -0.198838 0.771432 0.269887 0.540848 
wait for imu ... 
time: 1403636687.113555, t: 5.864513 -3.581537 -1.154586 q: -0.200033 0.771329 0.269314 0.540840 
time: 1403636687.213556, t: 5.803298 -3.558233 -1.140739 q: -0.200335 0.770130 0.269549 0.542318 
time: 1403636687.313555, t: 5.742003 -3.536044 -1.131066 q: -0.200561 0.769120 0.270211 0.543337 
time: 1403636687.413555, t: 5.680665 -3.514396 -1.129024 q: -0.199793 0.767024 0.271150 0.546109 
time: 1403636687.513556, t: 5.627674 -3.494746 -1.133158 q: -0.200086 0.766094 0.271235 0.547263 
time: 1403636687.613555, t: 5.572800 -3.477424 -1.143908 q: -0.202792 0.765645 0.270311 0.547352 
time: 1403636687.713556, t: 5.521815 -3.464906 -1.163076 q: -0.205624 0.764818 0.269452 0.547876 
wait for imu ... 
time: 1403636687.813555, t: 5.472741 -3.452570 -1.187809 q: -0.205719 0.765064 0.270168 0.547144 
wait for imu ... 
time: 1403636687.913555, t: 5.420081 -3.439268 -1.218460 q: -0.204567 0.765271 0.271229 0.546760 
time: 1403636688.013556, t: 5.373333 -3.427755 -1.252919 q: -0.200835 0.764565 0.273928 0.547786 
wait for imu ... 
time: 1403636688.113555, t: 5.329808 -3.417950 -1.288731 q: -0.195336 0.763586 0.277976 0.549099 
time: 1403636688.213556, t: 5.282203 -3.409131 -1.318072 q: -0.194607 0.763795 0.278754 0.548672 
time: 1403636688.313555, t: 5.231358 -3.397848 -1.341913 q: -0.197921 0.764454 0.276826 0.547544 
time: 1403636688.413555, t: 5.180493 -3.387809 -1.362270 q: -0.200252 0.765843 0.275710 0.545314 
wait for imu ... 
time: 1403636688.513556, t: 5.128659 -3.377563 -1.385490 q: -0.196388 0.765353 0.278417 0.546031 
wait for imu ... 
time: 1403636688.613555, t: 5.075674 -3.366141 -1.413818 q: -0.188398 0.764389 0.284041 0.547300 
time: 1403636688.713556, t: 5.020610 -3.352114 -1.444899 q: -0.185229 0.763331 0.287309 0.548151 
wait for imu ... 
time: 1403636688.813555, t: 4.963994 -3.337772 -1.476724 q: -0.186742 0.763389 0.288666 0.546843 
wait for imu ... 
time: 1403636688.913555, t: 4.906569 -3.319767 -1.503714 q: -0.190933 0.763543 0.292549 0.543105 
time: 1403636689.013556, t: 4.847813 -3.297774 -1.522661 q: -0.197886 0.764336 0.295525 0.537863 
time: 1403636689.113555, t: 4.789631 -3.272904 -1.533320 q: -0.205852 0.764937 0.297953 0.532655 
wait for imu ... 
time: 1403636689.213556, t: 4.731732 -3.246198 -1.536359 q: -0.211034 0.765609 0.301500 0.527642 
time: 1403636689.313555, t: 4.674980 -3.219730 -1.531030 q: -0.214961 0.765799 0.304560 0.524011 
time: 1403636689.413555, t: 4.621986 -3.191085 -1.516881 q: -0.217058 0.764455 0.307552 0.523360 
time: 1403636689.513556, t: 4.572473 -3.160306 -1.496171 q: -0.219090 0.764133 0.308956 0.522156 
time: 1403636689.613555, t: 4.522997 -3.131970 -1.468533 q: -0.220452 0.766341 0.309669 0.517906 
time: 1403636689.713556, t: 4.481965 -3.104387 -1.439196 q: -0.224132 0.771114 0.307435 0.510521 
wait for imu ... 
time: 1403636689.813555, t: 4.448242 -3.073751 -1.415797 q: -0.229254 0.776802 0.302632 0.502429 
time: 1403636689.913555, t: 4.425249 -3.040916 -1.396177 q: -0.237365 0.777836 0.295422 0.501353 
time: 1403636690.013556, t: 4.408820 -3.008301 -1.381227 q: -0.240532 0.776979 0.290990 0.503759 
wait for imu ... 
time: 1403636690.113555, t: 4.403809 -2.977585 -1.371873 q: -0.234116 0.776873 0.293995 0.505198 
time: 1403636690.213556, t: 4.406906 -2.947180 -1.364452 q: -0.223810 0.776193 0.299705 0.507554 
time: 1403636690.313555, t: 4.414612 -2.916832 -1.348052 q: -0.219458 0.775032 0.301985 0.509871 
time: 1403636690.413555, t: 4.432568 -2.880793 -1.331107 q: -0.216953 0.774385 0.302772 0.511457 
time: 1403636690.513556, t: 4.449754 -2.847432 -1.310182 q: -0.221876 0.773645 0.299147 0.512597 
wait for imu ... 
time: 1403636690.613555, t: 4.475695 -2.809318 -1.298732 q: -0.230164 0.774655 0.292978 0.510978 
time: 1403636690.713556, t: 4.506035 -2.775467 -1.291651 q: -0.243094 0.774296 0.283792 0.510718 
time: 1403636690.813555, t: 4.541220 -2.745452 -1.297897 q: -0.259061 0.773271 0.272055 0.510808 
time: 1403636690.913555, t: 4.582127 -2.723841 -1.314417 q: -0.269937 0.767618 0.264387 0.517683 
time: 1403636691.013556, t: 4.630373 -2.714688 -1.328617 q: -0.280621 0.757634 0.257151 0.530203 
time: 1403636691.113555, t: 4.683878 -2.720827 -1.335951 q: -0.284811 0.748508 0.255509 0.541603 
wait for imu ... 
time: 1403636691.213556, t: 4.740033 -2.742903 -1.334180 q: -0.277421 0.739026 0.262258 0.555067 
wait for imu ... 
time: 1403636691.313555, t: 4.793372 -2.782298 -1.325851 q: -0.260268 0.732103 0.276129 0.565720 
time: 1403636691.413555, t: 4.842917 -2.831885 -1.313301 q: -0.248304 0.734687 0.287530 0.562055 
time: 1403636691.513556, t: 4.888314 -2.889572 -1.292935 q: -0.243182 0.743907 0.294638 0.548318 
time: 1403636691.613555, t: 4.929660 -2.953520 -1.260321 q: -0.240500 0.748442 0.299885 0.540430 
time: 1403636691.713556, t: 4.972439 -3.020355 -1.223235 q: -0.229609 0.749597 0.309425 0.538182 
time: 1403636691.813555, t: 5.014791 -3.087827 -1.190458 q: -0.224398 0.749191 0.314359 0.538086 
time: 1403636691.913555, t: 5.053845 -3.155544 -1.167567 q: -0.227869 0.750125 0.312542 0.536383 
wait for imu ... 
time: 1403636692.013556, t: 5.093969 -3.222412 -1.149656 q: -0.234717 0.746152 0.307892 0.541635 
wait for imu ... 
time: 1403636692.113555, t: 5.131092 -3.290701 -1.133290 q: -0.234899 0.746501 0.307369 0.541371 
wait for imu ... 
time: 1403636692.213556, t: 5.166751 -3.359073 -1.112563 q: -0.227184 0.746291 0.311916 0.542352 
time: 1403636692.313555, t: 5.194694 -3.428980 -1.084663 q: -0.225750 0.747914 0.312030 0.540647 
time: 1403636692.413555, t: 5.219344 -3.500328 -1.048612 q: -0.226637 0.750104 0.310332 0.538213 
time: 1403636692.513556, t: 5.240446 -3.571581 -1.003291 q: -0.219827 0.749876 0.313595 0.539462 
time: 1403636692.613555, t: 5.260529 -3.639158 -0.952408 q: -0.219840 0.750533 0.312426 0.539222 
time: 1403636692.713556, t: 5.277848 -3.702594 -0.897833 q: -0.216595 0.752219 0.312676 0.538040 
time: 1403636692.813555, t: 5.296166 -3.763074 -0.847045 q: -0.199838 0.753642 0.322430 0.536775 
wait for imu ... 
time: 1403636692.913555, t: 5.306476 -3.814232 -0.800499 q: -0.188229 0.754152 0.329116 0.536197 
wait for imu ... 
time: 1403636693.013556, t: 5.317376 -3.859386 -0.759250 q: -0.190521 0.756505 0.327555 0.533019 
time: 1403636693.113555, t: 5.324273 -3.895292 -0.722446 q: -0.197745 0.756176 0.322901 0.533695 
time: 1403636693.213556, t: 5.329524 -3.930681 -0.692496 q: -0.203315 0.757246 0.320189 0.531715 
wait for imu ... 
time: 1403636693.313555, t: 5.334954 -3.959337 -0.670288 q: -0.207404 0.762677 0.318351 0.523412 
time: 1403636693.413555, t: 5.340150 -3.986794 -0.651431 q: -0.211248 0.767674 0.316945 0.515360 
time: 1403636693.513556, t: 5.348496 -4.009177 -0.637291 q: -0.212609 0.773964 0.316669 0.505468 
wait for imu ... 
time: 1403636693.613555, t: 5.359814 -4.027010 -0.626404 q: -0.210942 0.779694 0.318569 0.496079 
time: 1403636693.713556, t: 5.377067 -4.038881 -0.617096 q: -0.211378 0.780375 0.318876 0.494624 
wait for imu ... 
time: 1403636693.813555, t: 5.402134 -4.043160 -0.607961 q: -0.213952 0.774010 0.318165 0.503889 
wait for imu ... 
time: 1403636693.913555, t: 5.431956 -4.042690 -0.601717 q: -0.219862 0.765640 0.314967 0.515997 
wait for imu ... 
time: 1403636694.013556, t: 5.463753 -4.039823 -0.597017 q: -0.224789 0.756684 0.312365 0.528515 
time: 1403636694.113555, t: 5.494851 -4.036739 -0.595005 q: -0.227559 0.751393 0.311139 0.535554 
wait for imu ... 
time: 1403636694.213556, t: 5.524953 -4.034487 -0.590671 q: -0.228930 0.748586 0.310594 0.539204 
wait for imu ... 
time: 1403636694.313555, t: 5.552936 -4.032436 -0.582589 q: -0.227881 0.749454 0.312200 0.537512 
time: 1403636694.413555, t: 5.580313 -4.031340 -0.570259 q: -0.227283 0.752880 0.312995 0.532493 
wait for imu ... 
time: 1403636694.513556, t: 5.606606 -4.028860 -0.559103 q: -0.224867 0.754995 0.314015 0.529917 
time: 1403636694.613555, t: 5.632324 -4.027203 -0.551230 q: -0.223879 0.756122 0.314218 0.528606 
wait for imu ... 
time: 1403636694.713556, t: 5.657572 -4.025500 -0.551048 q: -0.222701 0.755519 0.314277 0.529929 
time: 1403636694.813555, t: 5.682497 -4.021968 -0.557675 q: -0.224972 0.754036 0.311082 0.532959 
time: 1403636694.913555, t: 5.706934 -4.019939 -0.569817 q: -0.233360 0.756509 0.304180 0.529823 
time: 1403636695.013556, t: 5.731486 -4.021495 -0.583372 q: -0.238044 0.758811 0.299712 0.526985 
wait for imu ... 
time: 1403636695.113555, t: 5.758583 -4.023650 -0.595877 q: -0.232659 0.758948 0.301831 0.527982 
time: 1403636695.213556, t: 5.788582 -4.028686 -0.600087 q: -0.227541 0.758618 0.303246 0.529873 
time: 1403636695.313555, t: 5.818251 -4.033950 -0.596970 q: -0.222772 0.757334 0.304604 0.532949 
wait for imu ... 
time: 1403636695.413555, t: 5.845721 -4.038514 -0.588300 q: -0.220141 0.756975 0.304504 0.534606 
time: 1403636695.513556, t: 5.873156 -4.045623 -0.576790 q: -0.216723 0.755922 0.305507 0.536916 
wait for imu ... 
time: 1403636695.613555, t: 5.900127 -4.049798 -0.567671 q: -0.213578 0.754741 0.306305 0.539377 
time: 1403636695.713556, t: 5.923467 -4.054378 -0.564380 q: -0.210440 0.753871 0.307185 0.541323 
wait for imu ... 
time: 1403636695.813555, t: 5.945422 -4.057274 -0.565130 q: -0.212374 0.755598 0.304740 0.539539 
wait for imu ... 
time: 1403636696.013556, t: 5.983801 -4.062816 -0.582574 q: -0.213292 0.760035 0.302145 0.534380 
time: 1403636696.113555, t: 6.004090 -4.063482 -0.594955 q: -0.208816 0.764082 0.303928 0.529341 
time: 1403636696.213556, t: 6.021232 -4.063475 -0.609450 q: -0.202803 0.765127 0.307016 0.528387 
time: 1403636696.313555, t: 6.041067 -4.059323 -0.625734 q: -0.203342 0.761529 0.306269 0.533784 
time: 1403636696.413555, t: 6.055480 -4.053469 -0.641144 q: -0.210347 0.753267 0.300553 0.545904 
wait for imu ... 
time: 1403636696.513556, t: 6.067282 -4.048564 -0.652889 q: -0.215266 0.750503 0.296124 0.550196 
time: 1403636696.613555, t: 6.075067 -4.045603 -0.658767 q: -0.215845 0.752108 0.295062 0.548346 
wait for imu ... 
time: 1403636696.713556, t: 6.078638 -4.045561 -0.659813 q: -0.216664 0.753898 0.294029 0.546114 
time: 1403636696.813555, t: 6.081127 -4.046631 -0.661571 q: -0.215078 0.755144 0.294707 0.544652 
time: 1403636696.913555, t: 6.081674 -4.048896 -0.667658 q: -0.212496 0.755478 0.296505 0.544226 
time: 1403636697.013556, t: 6.080501 -4.050875 -0.677182 q: -0.201231 0.752885 0.304127 0.547884 
time: 1403636697.113555, t: 6.075413 -4.050729 -0.685444 q: -0.189369 0.750316 0.311679 0.551381 
time: 1403636697.213556, t: 6.064255 -4.045730 -0.685533 q: -0.182144 0.748071 0.316049 0.554370 
time: 1403636697.313555, t: 6.041688 -4.036313 -0.678672 q: -0.182810 0.749768 0.314906 0.552506 
time: 1403636697.413555, t: 6.013758 -4.018969 -0.663633 q: -0.192168 0.755457 0.308047 0.545402 
time: 1403636697.513556, t: 5.978535 -4.001007 -0.639153 q: -0.198655 0.760649 0.303174 0.538550 
time: 1403636697.613555, t: 5.943801 -3.980921 -0.609245 q: -0.196429 0.763497 0.297799 0.538334 
wait for imu ... 
time: 1403636697.713556, t: 5.909634 -3.960561 -0.583109 q: -0.187838 0.767766 0.286300 0.541558 
time: 1403636697.813555, t: 5.875410 -3.938943 -0.564534 q: -0.174752 0.774294 0.269957 0.545026 
time: 1403636697.913555, t: 5.838574 -3.916705 -0.551321 q: -0.164661 0.779700 0.253182 0.548501 
time: 1403636698.013556, t: 5.800818 -3.893970 -0.544309 q: -0.157842 0.784155 0.239005 0.550513 
time: 1403636698.113555, t: 5.763228 -3.867528 -0.541923 q: -0.152967 0.786688 0.229111 0.552477 
time: 1403636698.213556, t: 5.725936 -3.838142 -0.544748 q: -0.149795 0.788465 0.221241 0.554019 
time: 1403636698.313555, t: 5.689041 -3.806929 -0.551609 q: -0.142741 0.791354 0.211608 0.555523 
time: 1403636698.413555, t: 5.651177 -3.778191 -0.561966 q: -0.132494 0.794751 0.198546 0.558028 
time: 1403636698.513556, t: 5.614628 -3.746738 -0.576702 q: -0.119942 0.799513 0.182847 0.559429 
time: 1403636698.613555, t: 5.579440 -3.715178 -0.594106 q: -0.106795 0.803960 0.163638 0.561663 
wait for imu ... 
time: 1403636698.713556, t: 5.542854 -3.682852 -0.615461 q: -0.093687 0.808807 0.141038 0.563172 
time: 1403636698.813555, t: 5.509552 -3.647955 -0.641256 q: -0.078521 0.813330 0.116817 0.564519 
time: 1403636698.913555, t: 5.477120 -3.610821 -0.668163 q: -0.063748 0.816755 0.090806 0.566216 
wait for imu ... 
time: 1403636699.013556, t: 5.445745 -3.573157 -0.690370 q: -0.049870 0.819424 0.065172 0.567283 
time: 1403636699.113555, t: 5.414133 -3.534894 -0.705591 q: -0.036611 0.820576 0.039003 0.569028 
wait for imu ... 
time: 1403636699.213556, t: 5.384289 -3.497242 -0.713087 q: -0.026008 0.821552 0.009831 0.569455 
wait for imu ... 
time: 1403636699.313555, t: 5.354756 -3.462439 -0.713209 q: -0.014223 0.822766 -0.020530 0.567831 
time: 1403636699.413555, t: 5.329878 -3.432194 -0.708789 q: -0.001652 0.823023 -0.048797 0.565906 
time: 1403636699.513556, t: 5.309942 -3.407175 -0.701664 q: 0.011841 0.822463 -0.073466 0.563930 
time: 1403636699.613555, t: 5.290960 -3.388202 -0.698103 q: 0.023989 0.820564 -0.097885 0.562599 
time: 1403636699.713556, t: 5.274413 -3.375112 -0.700189 q: 0.037740 0.817189 -0.120902 0.562281 
time: 1403636699.813555, t: 5.255979 -3.369917 -0.705042 q: 0.056951 0.813909 -0.133957 0.562462 
wait for imu ... 
time: 1403636699.913555, t: 5.243125 -3.365692 -0.715193 q: 0.070339 0.809611 -0.142395 0.565072 
time: 1403636700.013556, t: 5.230137 -3.364312 -0.726625 q: 0.075188 0.806808 -0.149383 0.566650 
time: 1403636700.113555, t: 5.215594 -3.365916 -0.742548 q: 0.076342 0.805511 -0.153185 0.567326 
time: 1403636700.213556, t: 5.202055 -3.369461 -0.762939 q: 0.077599 0.804802 -0.154372 0.567840 
time: 1403636700.313555, t: 5.187921 -3.377513 -0.788815 q: 0.077814 0.805385 -0.157831 0.566030 
time: 1403636700.413555, t: 5.172105 -3.388208 -0.820673 q: 0.078612 0.805376 -0.166972 0.563303 
time: 1403636700.513556, t: 5.156570 -3.403717 -0.856490 q: 0.086658 0.801578 -0.173246 0.565640 
time: 1403636700.613555, t: 5.141031 -3.424632 -0.896186 q: 0.097592 0.796935 -0.178171 0.568881 
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time: 1403636700.813555, t: 5.104834 -3.472459 -0.973627 q: 0.119092 0.790909 -0.192126 0.568655 
time: 1403636700.913555, t: 5.085547 -3.493492 -1.003003 q: 0.123290 0.792708 -0.197430 0.563414 
wait for imu ... 
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time: 1403636701.113555, t: 5.046700 -3.535758 -1.039129 q: 0.123440 0.801377 -0.202248 0.549229 
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wait for imu ... 
time: 1403636701.313555, t: 5.016948 -3.586849 -1.039300 q: 0.122134 0.806291 -0.197640 0.543982 
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time: 1403636701.513556, t: 4.998060 -3.645300 -1.022544 q: 0.121547 0.802046 -0.190084 0.553007 
time: 1403636701.613555, t: 4.991816 -3.675796 -1.013778 q: 0.121170 0.798939 -0.185556 0.559092 
time: 1403636701.713556, t: 4.985856 -3.706561 -1.008711 q: 0.121449 0.797025 -0.182633 0.562714 
time: 1403636701.813555, t: 4.977043 -3.739499 -1.006602 q: 0.122515 0.796042 -0.187537 0.562261 
time: 1403636701.913555, t: 4.971117 -3.768504 -1.008965 q: 0.128376 0.794369 -0.198447 0.559569 
wait for imu ... 
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time: 1403636702.113555, t: 4.951781 -3.833130 -1.030176 q: 0.147286 0.785249 -0.231703 0.554982 
wait for imu ... 
time: 1403636702.213556, t: 4.942554 -3.865608 -1.048387 q: 0.159715 0.779207 -0.250318 0.551967 
wait for imu ... 
time: 1403636702.313555, t: 4.934714 -3.896211 -1.072758 q: 0.169372 0.776952 -0.264138 0.545793 
wait for imu ... 
time: 1403636702.413555, t: 4.927535 -3.926550 -1.100667 q: 0.178941 0.776529 -0.272052 0.539416 
time: 1403636702.513556, t: 4.922892 -3.954757 -1.133197 q: 0.186290 0.776757 -0.277619 0.533734 
time: 1403636702.613555, t: 4.921215 -3.982540 -1.169492 q: 0.190750 0.777346 -0.280991 0.529520 
wait for imu ... 
time: 1403636702.713556, t: 4.923473 -4.011062 -1.210116 q: 0.193955 0.778924 -0.282244 0.525354 
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time: 1403636702.813555, t: 4.929480 -4.039379 -1.254490 q: 0.194530 0.780450 -0.282990 0.522468 
wait for imu ... 
time: 1403636702.913555, t: 4.939211 -4.069845 -1.299850 q: 0.193713 0.781849 -0.283333 0.520489 
time: 1403636703.013556, t: 4.954274 -4.100272 -1.340044 q: 0.191865 0.780460 -0.283639 0.523086 
time: 1403636703.113555, t: 4.971778 -4.132776 -1.371829 q: 0.188496 0.776439 -0.284932 0.529551 
time: 1403636703.213556, t: 4.991510 -4.167299 -1.395144 q: 0.181531 0.769299 -0.288125 0.540564 
wait for imu ... 
time: 1403636703.313555, t: 5.011361 -4.203417 -1.412381 q: 0.173481 0.763090 -0.292835 0.549405 
time: 1403636703.413555, t: 5.027947 -4.242862 -1.424128 q: 0.176399 0.761816 -0.290167 0.551654 
time: 1403636703.513556, t: 5.040208 -4.284279 -1.430957 q: 0.185853 0.766299 -0.282980 0.546047 
time: 1403636703.613555, t: 5.050895 -4.324153 -1.429357 q: 0.190596 0.770403 -0.278931 0.540694 
time: 1403636703.713556, t: 5.060923 -4.364274 -1.426271 q: 0.190578 0.772650 -0.277788 0.538077 
time: 1403636703.813555, t: 5.072499 -4.402571 -1.424952 q: 0.188318 0.771036 -0.277788 0.541178 
time: 1403636703.913555, t: 5.086007 -4.450076 -1.442610 q: 0.184135 0.768284 -0.278313 0.546238 
time: 1403636704.013556, t: 5.094218 -4.475673 -1.437935 q: 0.181124 0.767163 -0.278817 0.548558 
time: 1403636704.113555, t: 5.102819 -4.512057 -1.451013 q: 0.178391 0.767958 -0.278539 0.548483 
time: 1403636704.213556, t: 5.110680 -4.550042 -1.468061 q: 0.177963 0.772526 -0.276958 0.542980 
time: 1403636704.313555, t: 5.117977 -4.589040 -1.486161 q: 0.179167 0.776780 -0.274806 0.537581 
time: 1403636704.413555, t: 5.126941 -4.628404 -1.497246 q: 0.179528 0.779427 -0.273428 0.534322 
time: 1403636704.513556, t: 5.138903 -4.670388 -1.500474 q: 0.181365 0.782862 -0.271305 0.529743 
time: 1403636704.613555, t: 5.153577 -4.709957 -1.497156 q: 0.180895 0.785553 -0.271074 0.526024 
time: 1403636704.713556, t: 5.173502 -4.754135 -1.498123 q: 0.181220 0.789359 -0.270349 0.520559 
time: 1403636704.813555, t: 5.199633 -4.798898 -1.505493 q: 0.179668 0.793114 -0.270161 0.515464 
time: 1403636704.913555, t: 5.232713 -4.846185 -1.519488 q: 0.176546 0.796905 -0.270501 0.510493 
time: 1403636705.013556, t: 5.270117 -4.895082 -1.536647 q: 0.175918 0.800006 -0.269470 0.506389 
time: 1403636705.113555, t: 5.316756 -4.948243 -1.555139 q: 0.178310 0.798349 -0.266510 0.509722 
time: 1403636705.213556, t: 5.369963 -5.003438 -1.572420 q: 0.183971 0.789480 -0.261455 0.523944 
time: 1403636705.313555, t: 5.431022 -5.058522 -1.586106 q: 0.187712 0.783556 -0.257958 0.533162 
time: 1403636705.413555, t: 5.495035 -5.113877 -1.594959 q: 0.187581 0.782870 -0.257625 0.534376 
time: 1403636705.513556, t: 5.560767 -5.165611 -1.602409 q: 0.185389 0.785991 -0.259845 0.529462 
wait for imu ... 
time: 1403636705.613555, t: 5.629197 -5.215716 -1.613314 q: 0.184043 0.788591 -0.261092 0.525436 
time: 1403636705.713556, t: 5.702324 -5.269877 -1.631782 q: 0.184280 0.788096 -0.261531 0.525878 
time: 1403636705.813555, t: 5.777690 -5.323719 -1.650618 q: 0.182841 0.784207 -0.262492 0.531683 
time: 1403636705.913555, t: 5.855667 -5.381816 -1.668866 q: 0.179027 0.778458 -0.264506 0.540360 
time: 1403636706.013556, t: 5.934191 -5.436451 -1.675235 q: 0.170221 0.772767 -0.269340 0.548918 
time: 1403636706.113555, t: 6.009210 -5.491537 -1.674158 q: 0.160433 0.767974 -0.274449 0.556018 
wait for imu ... 
time: 1403636706.213556, t: 6.080332 -5.550077 -1.675911 q: 0.167224 0.768632 -0.267869 0.556316 
wait for imu ... 
time: 1403636706.313555, t: 6.149651 -5.608779 -1.686352 q: 0.176740 0.772725 -0.259632 0.551588 
time: 1403636706.413555, t: 6.215080 -5.665883 -1.704000 q: 0.183053 0.777421 -0.253731 0.545646 
wait for imu ... 
time: 1403636706.513556, t: 6.281370 -5.719936 -1.722530 q: 0.186311 0.780992 -0.250547 0.540894 
time: 1403636706.613555, t: 6.345718 -5.770512 -1.734266 q: 0.186986 0.782791 -0.250139 0.538243 
time: 1403636706.713556, t: 6.413923 -5.821001 -1.739879 q: 0.187215 0.784847 -0.250650 0.534921 
time: 1403636706.813555, t: 6.482478 -5.868034 -1.740256 q: 0.185650 0.787436 -0.253211 0.530436 
time: 1403636706.913555, t: 6.558656 -5.916319 -1.733827 q: 0.185238 0.788143 -0.255838 0.528265 
time: 1403636707.013556, t: 6.639403 -5.964974 -1.724953 q: 0.187241 0.785951 -0.257350 0.530088 
wait for imu ... 
time: 1403636707.113555, t: 6.724590 -6.014136 -1.714307 q: 0.190343 0.782518 -0.258145 0.533663 
time: 1403636707.213556, t: 6.809653 -6.059711 -1.706641 q: 0.192475 0.781692 -0.260736 0.532849 
time: 1403636707.313555, t: 6.895494 -6.103954 -1.694769 q: 0.195280 0.781847 -0.262546 0.530708 
time: 1403636707.413555, t: 6.988660 -6.149093 -1.673946 q: 0.196018 0.782084 -0.264702 0.529012 
time: 1403636707.513556, t: 7.082006 -6.191220 -1.647414 q: 0.195921 0.782276 -0.266186 0.528020 
time: 1403636707.713556, t: 7.278952 -6.271702 -1.588787 q: 0.183170 0.781422 -0.275988 0.528828 
time: 1403636707.813555, t: 7.380888 -6.313309 -1.572826 q: 0.178450 0.780550 -0.278840 0.530231 
wait for imu ... 
time: 1403636707.913555, t: 7.479356 -6.356898 -1.569406 q: 0.177019 0.778615 -0.277919 0.534026 
time: 1403636708.013556, t: 7.578091 -6.403394 -1.576440 q: 0.178310 0.777901 -0.274108 0.536601 
wait for imu ... 
time: 1403636708.113555, t: 7.675427 -6.450586 -1.590935 q: 0.181115 0.777487 -0.268586 0.539048 
time: 1403636708.213556, t: 7.772049 -6.498195 -1.611424 q: 0.181220 0.776474 -0.265324 0.542079 
time: 1403636708.313555, t: 7.859812 -6.541000 -1.637908 q: 0.173868 0.772642 -0.268443 0.548391 
wait for imu ... 
time: 1403636708.413555, t: 7.946074 -6.585411 -1.663740 q: 0.162202 0.767829 -0.275289 0.555288 
time: 1403636708.513556, t: 8.027846 -6.635249 -1.683816 q: 0.157267 0.764990 -0.277953 0.559285 
time: 1403636708.613555, t: 8.108331 -6.690711 -1.695467 q: 0.162735 0.764344 -0.274369 0.560372 
wait for imu ... 
time: 1403636708.713556, t: 8.179093 -6.746174 -1.708084 q: 0.176631 0.766246 -0.266097 0.557549 
time: 1403636708.813555, t: 8.258935 -6.803321 -1.724040 q: 0.191222 0.767198 -0.258009 0.555223 
wait for imu ... 
time: 1403636708.913555, t: 8.326973 -6.853094 -1.745007 q: 0.198357 0.766277 -0.256675 0.554610 
wait for imu ... 
time: 1403636709.013556, t: 8.395320 -6.898485 -1.761428 q: 0.203151 0.763298 -0.257561 0.556568 
time: 1403636709.113555, t: 8.469304 -6.941149 -1.768588 q: 0.208152 0.760864 -0.258328 0.557696 
wait for imu ... 
time: 1403636709.213556, t: 8.532150 -6.970777 -1.769245 q: 0.209468 0.762254 -0.261593 0.553769 
time: 1403636709.313555, t: 8.598414 -6.999434 -1.765149 q: 0.209187 0.766084 -0.263958 0.547432 
time: 1403636709.413555, t: 8.658457 -7.018646 -1.760749 q: 0.209752 0.768947 -0.264633 0.542857 
time: 1403636709.513556, t: 8.726684 -7.035560 -1.763465 q: 0.209825 0.770150 -0.264736 0.541071 
time: 1403636709.613555, t: 8.787455 -7.045655 -1.770941 q: 0.208834 0.771773 -0.265183 0.538918 
time: 1403636709.713556, t: 8.855342 -7.054434 -1.784022 q: 0.208441 0.773078 -0.264139 0.537712 
time: 1403636709.813555, t: 8.922148 -7.058043 -1.795763 q: 0.207273 0.773641 -0.262750 0.538033 
time: 1403636709.913555, t: 8.994924 -7.059577 -1.805201 q: 0.206246 0.773546 -0.261615 0.539118 
time: 1403636710.013556, t: 9.073433 -7.059599 -1.807457 q: 0.204855 0.773469 -0.260403 0.540343 
time: 1403636710.113555, t: 9.147851 -7.053164 -1.806256 q: 0.204121 0.773254 -0.258306 0.541932 
time: 1403636710.213556, t: 9.225528 -7.044173 -1.809647 q: 0.203385 0.773453 -0.255927 0.543053 
time: 1403636710.313555, t: 9.305059 -7.029906 -1.824465 q: 0.195470 0.771869 -0.257672 0.547371 
time: 1403636710.413555, t: 9.387924 -7.015177 -1.843680 q: 0.179829 0.770490 -0.261546 0.552812 
time: 1403636710.513556, t: 9.468636 -6.998401 -1.868711 q: 0.163804 0.771569 -0.259669 0.557154 
time: 1403636710.613555, t: 9.545653 -6.982381 -1.895669 q: 0.152104 0.773443 -0.252722 0.561054 
wait for imu ... 
time: 1403636710.713556, t: 9.617063 -6.967461 -1.926565 q: 0.143760 0.776544 -0.240129 0.564492 
time: 1403636710.813555, t: 9.679794 -6.956918 -1.954738 q: 0.139317 0.780907 -0.221064 0.567368 
wait for imu ... 
time: 1403636710.913555, t: 9.740405 -6.946906 -1.976848 q: 0.136485 0.787373 -0.198463 0.567475 
time: 1403636711.013556, t: 9.798358 -6.937878 -1.993522 q: 0.136106 0.793140 -0.177252 0.566556 
time: 1403636711.113555, t: 9.855576 -6.924494 -2.004236 q: 0.134309 0.795870 -0.163418 0.567315 
time: 1403636711.213556, t: 9.910119 -6.909149 -2.011068 q: 0.133088 0.796562 -0.154715 0.569069 
time: 1403636711.313555, t: 9.960825 -6.886731 -2.015480 q: 0.129453 0.796068 -0.151819 0.571374 
time: 1403636711.413555, t: 10.009861 -6.861033 -2.015357 q: 0.124868 0.792007 -0.152835 0.577732 
time: 1403636711.513556, t: 10.055239 -6.831693 -2.010525 q: 0.123866 0.783390 -0.153544 0.589391 
time: 1403636711.613555, t: 10.098108 -6.797663 -2.004519 q: 0.129387 0.778393 -0.151894 0.595224 
time: 1403636711.713556, t: 10.133964 -6.758356 -1.997981 q: 0.134521 0.778139 -0.151274 0.594575 
wait for imu ... 
time: 1403636711.813555, t: 10.162863 -6.712627 -1.990030 q: 0.133620 0.779652 -0.154770 0.591890 
time: 1403636711.913555, t: 10.186958 -6.662826 -1.980458 q: 0.125149 0.783301 -0.162763 0.586759 
time: 1403636712.013556, t: 10.203212 -6.610814 -1.966113 q: 0.114589 0.785939 -0.171891 0.582771 
time: 1403636712.113555, t: 10.208917 -6.559542 -1.945988 q: 0.106548 0.786045 -0.178212 0.582255 
wait for imu ... 
time: 1403636712.213556, t: 10.210383 -6.511999 -1.922423 q: 0.107214 0.786374 -0.173901 0.582992 
time: 1403636712.313555, t: 10.210968 -6.465987 -1.893279 q: 0.111020 0.788621 -0.157735 0.583842 
time: 1403636712.413555, t: 10.211236 -6.416846 -1.860141 q: 0.111293 0.790799 -0.140520 0.585239 
wait for imu ... 
time: 1403636712.613555, t: 10.189857 -6.315573 -1.785384 q: 0.101573 0.790580 -0.117524 0.592330 
wait for imu ... 
time: 1403636712.713556, t: 10.174868 -6.257822 -1.752742 q: 0.093064 0.787422 -0.112364 0.598898 
time: 1403636712.813555, t: 10.155632 -6.197073 -1.726769 q: 0.086784 0.787654 -0.108608 0.600229 
wait for imu ... 
time: 1403636712.913555, t: 10.131598 -6.135049 -1.705422 q: 0.083446 0.790883 -0.106706 0.596787 
time: 1403636713.013556, t: 10.100507 -6.071776 -1.690105 q: 0.084458 0.794264 -0.104440 0.592540 
wait for imu ... 
time: 1403636713.113555, t: 10.065488 -6.005576 -1.671564 q: 0.080968 0.793897 -0.105176 0.593389 
time: 1403636713.213556, t: 10.024091 -5.938518 -1.646334 q: 0.077979 0.795626 -0.105909 0.591339 
wait for imu ... 
time: 1403636713.313555, t: 9.980546 -5.871227 -1.613312 q: 0.077365 0.797990 -0.106340 0.588149 
time: 1403636713.413555, t: 9.935383 -5.804169 -1.574169 q: 0.075376 0.799393 -0.108203 0.586158 
time: 1403636713.513556, t: 9.886965 -5.737754 -1.529354 q: 0.072459 0.800152 -0.111136 0.584940 
time: 1403636713.613555, t: 9.837080 -5.671330 -1.487193 q: 0.067914 0.800994 -0.116029 0.583381 
wait for imu ... 
time: 1403636713.713556, t: 9.783929 -5.608770 -1.449284 q: 0.063532 0.802198 -0.121041 0.581197 
wait for imu ... 
time: 1403636713.813555, t: 9.730242 -5.550025 -1.418096 q: 0.060349 0.802862 -0.125473 0.579678 
optimize pose graph 
time: 1403636713.913555, t: 9.672718 -5.495540 -1.392279 q: 0.063035 0.803158 -0.126129 0.578840 
time: 1403636714.013556, t: 9.614518 -5.446233 -1.371290 q: 0.067389 0.804114 -0.125511 0.577153 
time: 1403636714.113555, t: 9.555172 -5.400623 -1.354942 q: 0.074116 0.804090 -0.123803 0.576732 
wait for imu ... 
time: 1403636714.213556, t: 9.495068 -5.361682 -1.346062 q: 0.076728 0.802995 -0.124540 0.577755 
time: 1403636714.313555, t: 9.434678 -5.319898 -1.340309 q: 0.074053 0.801548 -0.128801 0.579179 
wait for imu ... 
time: 1403636714.413555, t: 9.375238 -5.286257 -1.340596 q: 0.074192 0.804056 -0.130763 0.575231 
time: 1403636714.513556, t: 9.313909 -5.250318 -1.342221 q: 0.071438 0.809788 -0.128762 0.567944 
wait for imu ... 
time: 1403636714.613555, t: 9.257017 -5.219335 -1.350304 q: 0.063904 0.815236 -0.121891 0.562538 
wait for imu ... 
time: 1403636714.713556, t: 9.201821 -5.191325 -1.354911 q: 0.055780 0.819506 -0.107575 0.560113 
time: 1403636714.813555, t: 9.149425 -5.167276 -1.352944 q: 0.046867 0.822690 -0.086196 0.559959 
wait for imu ... 
time: 1403636714.913555, t: 9.101581 -5.146135 -1.342972 q: 0.037273 0.824728 -0.060897 0.561004 
time: 1403636715.013556, t: 9.057070 -5.124369 -1.324495 q: 0.025317 0.826805 -0.038393 0.560606 
wait for imu ... 
time: 1403636715.113555, t: 9.017516 -5.105266 -1.299463 q: 0.016899 0.828494 -0.019632 0.559398 
wait for imu ... 
time: 1403636715.213556, t: 8.983325 -5.084254 -1.269758 q: 0.009990 0.829158 -0.007860 0.558870 
time: 1403636715.313555, t: 8.952760 -5.063644 -1.244075 q: 0.002973 0.827529 -0.002162 0.561411 
wait for imu ... 
time: 1403636715.413555, t: 8.925374 -5.042416 -1.224649 q: -0.003685 0.824524 -0.000977 0.565815 
time: 1403636715.513556, t: 8.902383 -5.022289 -1.214466 q: -0.013130 0.820605 -0.005218 0.571321 
wait for imu ... 
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time: 1403636715.713556, t: 8.857043 -4.993017 -1.211911 q: -0.017810 0.812684 -0.009617 0.582353 
time: 1403636715.813555, t: 8.835257 -4.984596 -1.214583 q: -0.008409 0.806713 -0.005844 0.590855 
time: 1403636715.913555, t: 8.811481 -4.978677 -1.209702 q: -0.001677 0.801531 -0.003553 0.597940 
time: 1403636716.013556, t: 8.781546 -4.974406 -1.201085 q: 0.000822 0.799059 -0.004594 0.601235 
time: 1403636716.113555, t: 8.746339 -4.969498 -1.188544 q: 0.000900 0.800129 -0.007680 0.599777 
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time: 1403636716.213556, t: 8.706897 -4.966109 -1.173978 q: -0.000415 0.807027 -0.012324 0.590385 
wait for imu ... 
time: 1403636716.313555, t: 8.661449 -4.961553 -1.158188 q: 0.001117 0.811576 -0.015736 0.584034 
wait for imu ... 
time: 1403636716.413555, t: 8.616102 -4.959313 -1.151150 q: 0.002463 0.813393 -0.018708 0.581408 
time: 1403636716.513556, t: 8.570421 -4.957215 -1.148125 q: 0.004568 0.813753 -0.020554 0.580829 
time: 1403636716.613555, t: 8.525116 -4.955340 -1.154617 q: 0.006396 0.813450 -0.017017 0.581351 
time: 1403636716.713556, t: 8.480532 -4.952899 -1.162600 q: 0.002647 0.813252 -0.009689 0.581825 
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time: 1403636716.813555, t: 8.436235 -4.951730 -1.177290 q: -0.005407 0.812960 0.000515 0.582294 
time: 1403636716.913555, t: 8.389759 -4.950487 -1.193933 q: -0.016941 0.813194 0.014823 0.581557 
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time: 1403636717.013556, t: 8.341852 -4.947184 -1.202701 q: -0.029705 0.813158 0.034328 0.580271 
wait for imu ... 
time: 1403636717.113555, t: 8.292454 -4.944957 -1.202876 q: -0.042534 0.812549 0.054565 0.578772 
wait for imu ... 
time: 1403636717.213556, t: 8.244530 -4.944051 -1.198022 q: -0.050789 0.811586 0.071048 0.577669 
time: 1403636717.313555, t: 8.190550 -4.944224 -1.191746 q: -0.051330 0.810540 0.086421 0.576993 
wait for imu ... 
time: 1403636717.413555, t: 8.137812 -4.943511 -1.184039 q: -0.045965 0.808432 0.100411 0.578138 
time: 1403636717.513556, t: 8.084217 -4.938784 -1.179806 q: -0.045396 0.807654 0.106496 0.578181 
time: 1403636717.613555, t: 8.028137 -4.930011 -1.181484 q: -0.051710 0.807840 0.104844 0.577693 
time: 1403636717.713556, t: 7.973193 -4.915325 -1.189537 q: -0.054660 0.807263 0.102848 0.578586 
wait for imu ... 
time: 1403636717.813555, t: 7.917807 -4.898723 -1.202398 q: -0.052928 0.807340 0.107782 0.577740 
time: 1403636717.913555, t: 7.856861 -4.875886 -1.210886 q: -0.055219 0.806619 0.117400 0.576658 
time: 1403636718.013556, t: 7.795392 -4.848323 -1.211240 q: -0.061762 0.804690 0.129951 0.575997 
wait for imu ... 
time: 1403636718.113555, t: 7.730441 -4.813814 -1.204432 q: -0.076156 0.802823 0.142356 0.573942 
time: 1403636718.213556, t: 7.667430 -4.774557 -1.197015 q: -0.093438 0.801344 0.153352 0.570613 
time: 1403636718.313555, t: 7.604917 -4.733627 -1.197491 q: -0.107272 0.800547 0.161959 0.566909 
wait for imu ... 
time: 1403636718.413555, t: 7.539671 -4.689877 -1.205850 q: -0.119655 0.799242 0.171902 0.563334 
wait for imu ... 
time: 1403636718.513556, t: 7.474603 -4.644261 -1.220792 q: -0.133667 0.796882 0.182089 0.560317 
time: 1403636718.613555, t: 7.413956 -4.598526 -1.240074 q: -0.147258 0.795538 0.189218 0.556446 
time: 1403636718.713556, t: 7.357026 -4.555371 -1.264400 q: -0.161234 0.795468 0.192749 0.551437 
wait for imu ... 
time: 1403636718.813555, t: 7.302418 -4.516214 -1.291949 q: -0.164695 0.793554 0.200391 0.550446 
wait for imu ... 
time: 1403636718.913555, t: 7.256710 -4.483987 -1.318853 q: -0.159328 0.790615 0.211157 0.552227 
wait for imu ... 
time: 1403636719.013556, t: 7.213260 -4.453753 -1.338445 q: -0.154908 0.787712 0.218543 0.554755 
time: 1403636719.113555, t: 7.169670 -4.424145 -1.348881 q: -0.154187 0.784268 0.221358 0.558704 
time: 1403636719.213556, t: 7.120980 -4.390815 -1.349949 q: -0.156070 0.780401 0.220300 0.563990 
wait for imu ... 
time: 1403636719.313555, t: 7.073958 -4.360336 -1.355472 q: -0.159366 0.777671 0.217054 0.568082 
time: 1403636719.413555, t: 7.021583 -4.329388 -1.364719 q: -0.160845 0.775888 0.214502 0.571065 
wait for imu ... 
time: 1403636719.513556, t: 6.968135 -4.302176 -1.384319 q: -0.162075 0.776077 0.211629 0.571532 
time: 1403636719.613555, t: 6.917786 -4.278394 -1.404130 q: -0.161868 0.780004 0.209521 0.567003 
wait for imu ... 
time: 1403636719.713556, t: 6.864878 -4.257809 -1.420067 q: -0.158899 0.784732 0.208325 0.561735 
wait for imu ... 
time: 1403636719.813555, t: 6.807913 -4.240039 -1.426007 q: -0.156907 0.788085 0.205867 0.558499 
wait for imu ... 
time: 1403636719.913555, t: 6.750427 -4.221370 -1.424633 q: -0.155777 0.789527 0.202917 0.557858 
time: 1403636720.013556, t: 6.695839 -4.205346 -1.421853 q: -0.153776 0.791216 0.201301 0.556604 
wait for imu ... 
time: 1403636720.113555, t: 6.641823 -4.192960 -1.426866 q: -0.153078 0.791954 0.200585 0.556005 
time: 1403636720.213556, t: 6.593099 -4.179766 -1.435805 q: -0.153241 0.792875 0.200017 0.554850 
time: 1403636720.313555, t: 6.544768 -4.171446 -1.450538 q: -0.154376 0.792719 0.199571 0.554920 
time: 1403636720.413555, t: 6.501792 -4.163878 -1.466205 q: -0.155235 0.792505 0.200366 0.554699 
time: 1403636720.513556, t: 6.455826 -4.156870 -1.483957 q: -0.156947 0.792918 0.200712 0.553501 
time: 1403636720.613555, t: 6.414001 -4.151226 -1.493736 q: -0.157362 0.792976 0.202202 0.552757 
wait for imu ... 
time: 1403636720.713556, t: 6.371564 -4.147020 -1.497092 q: -0.158646 0.792055 0.202254 0.553691 
time: 1403636720.813555, t: 6.333002 -4.143329 -1.493077 q: -0.156160 0.793485 0.198403 0.553743 
wait for imu ... 
time: 1403636720.913555, t: 6.299915 -4.143429 -1.487205 q: -0.148691 0.795680 0.190693 0.555356 
wait for imu ... 
time: 1403636721.013556, t: 6.265111 -4.145033 -1.487901 q: -0.143034 0.796913 0.179110 0.558920 
wait for imu ... 
time: 1403636721.113555, t: 6.231250 -4.147901 -1.494817 q: -0.136803 0.798124 0.166031 0.562776 
wait for imu ... 
time: 1403636721.213556, t: 6.200209 -4.153569 -1.505359 q: -0.127422 0.799119 0.151566 0.567627 
wait for imu ... 
time: 1403636721.313555, t: 6.174601 -4.161163 -1.509534 q: -0.120015 0.799833 0.139129 0.571408 
time: 1403636721.413555, t: 6.144370 -4.171055 -1.505066 q: -0.112195 0.800762 0.130513 0.573724 
wait for imu ... 
time: 1403636721.513556, t: 6.111207 -4.181770 -1.497559 q: -0.105007 0.802629 0.123649 0.573996 
wait for imu ... 
time: 1403636721.613555, t: 6.077193 -4.193743 -1.493508 q: -0.096112 0.805019 0.115858 0.573833 
wait for imu ... 
time: 1403636721.713556, t: 6.043686 -4.207327 -1.495234 q: -0.089079 0.806178 0.110461 0.574404 
wait for imu ... 
time: 1403636721.813555, t: 6.008580 -4.220703 -1.502723 q: -0.084134 0.806774 0.107748 0.574829 
wait for imu ... 
time: 1403636721.913555, t: 5.973320 -4.233242 -1.515311 q: -0.083162 0.806602 0.105897 0.575555 
time: 1403636722.013556, t: 5.938221 -4.244843 -1.527484 q: -0.077801 0.805991 0.109729 0.576442 
time: 1403636722.113555, t: 5.902776 -4.255768 -1.532585 q: -0.075508 0.805751 0.113077 0.576435 
time: 1403636722.213556, t: 5.865690 -4.265190 -1.531566 q: -0.078758 0.806249 0.112858 0.575346 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636722.313555, t: 5.827272 -4.272823 -1.525112 q: -0.082835 0.806500 0.112429 0.574505 
time: 1403636722.413555, t: 5.790723 -4.279179 -1.521335 q: -0.082527 0.807151 0.111253 0.573863 
wait for imu ... 
time: 1403636722.513556, t: 5.751434 -4.287311 -1.524802 q: -0.080076 0.807294 0.107036 0.574811 
time: 1403636722.613555, t: 5.712707 -4.293643 -1.531770 q: -0.076243 0.807836 0.104658 0.575008 
wait for imu ... 
time: 1403636722.713556, t: 5.676023 -4.298840 -1.539012 q: -0.073184 0.808101 0.102861 0.575357 
time: 1403636722.813555, t: 5.636064 -4.302766 -1.548892 q: -0.069877 0.808834 0.102755 0.574758 
time: 1403636722.913555, t: 5.594463 -4.305325 -1.550686 q: -0.069142 0.809083 0.101760 0.574672 
time: 1403636723.013556, t: 5.551113 -4.308021 -1.546116 q: -0.071846 0.809347 0.100034 0.574273 
time: 1403636723.113555, t: 5.510821 -4.308805 -1.535624 q: -0.074877 0.808984 0.098115 0.574727 
wait for imu ... 
time: 1403636723.213556, t: 5.470628 -4.310310 -1.526849 q: -0.075281 0.809097 0.097455 0.574628 
wait for imu ... 
time: 1403636723.313555, t: 5.434396 -4.309921 -1.523407 q: -0.071795 0.809267 0.099097 0.574555 
time: 1403636723.413555, t: 5.392220 -4.311058 -1.526683 q: -0.065933 0.809138 0.096786 0.575831 
time: 1403636723.513556, t: 5.350970 -4.311145 -1.530361 q: -0.057933 0.806414 0.089438 0.581671 
time: 1403636723.613555, t: 5.315627 -4.307435 -1.522638 q: -0.056521 0.800124 0.077059 0.592174 
wait for imu ... 
time: 1403636723.713556, t: 5.278030 -4.302965 -1.514449 q: -0.052368 0.802363 0.069074 0.590508 
wait for imu ... 
time: 1403636723.813555, t: 5.236818 -4.296489 -1.503939 q: -0.049027 0.808486 0.062081 0.583175 
time: 1403636723.913555, t: 5.192052 -4.291013 -1.498362 q: -0.047028 0.813103 0.056759 0.577435 
wait for imu ... 
time: 1403636724.013556, t: 5.148376 -4.282881 -1.495467 q: -0.043862 0.818415 0.051752 0.570609 
wait for imu ... 
time: 1403636724.113555, t: 5.105709 -4.276071 -1.497214 q: -0.037011 0.823051 0.043250 0.565107 
wait for imu ... 
time: 1403636724.213556, t: 5.065847 -4.272236 -1.503465 q: -0.028009 0.824444 0.031136 0.564392 
wait for imu ... 
time: 1403636724.313555, t: 5.025276 -4.270600 -1.512715 q: -0.016138 0.824072 0.016771 0.566007 
wait for imu ... 
time: 1403636724.413555, t: 4.987546 -4.269432 -1.522373 q: -0.004139 0.821235 0.001356 0.570573 
wait for imu ... 
time: 1403636724.513556, t: 4.949923 -4.266889 -1.527523 q: 0.005601 0.818288 -0.010550 0.574684 
time: 1403636724.613555, t: 4.915044 -4.262559 -1.525609 q: 0.012377 0.816449 -0.019086 0.576969 
wait for imu ... 
time: 1403636724.713556, t: 4.887571 -4.255614 -1.514931 q: 0.016296 0.815904 -0.024580 0.577434 
wait for imu ... 
time: 1403636724.813555, t: 4.863187 -4.246482 -1.496043 q: 0.018052 0.816711 -0.027777 0.576096 
time: 1403636724.913555, t: 4.836343 -4.235890 -1.470321 q: 0.016008 0.817805 -0.029825 0.574500 
wait for imu ... 
time: 1403636725.013556, t: 4.816620 -4.225716 -1.437141 q: 0.010521 0.818513 -0.031988 0.573500 
time: 1403636725.113555, t: 4.790503 -4.216809 -1.397107 q: 0.005902 0.818553 -0.033079 0.573447 
time: 1403636725.213556, t: 4.765214 -4.210309 -1.355158 q: 0.004094 0.819107 -0.032527 0.572703 
wait for imu ... 
time: 1403636725.313555, t: 4.744160 -4.206307 -1.317529 q: 0.005015 0.819730 -0.030657 0.571907 
time: 1403636725.413555, t: 4.721093 -4.202846 -1.286078 q: 0.007304 0.819633 -0.028444 0.572136 
time: 1403636725.513556, t: 4.700306 -4.200008 -1.260984 q: 0.009308 0.819690 -0.026926 0.572099 
wait for imu ... 
time: 1403636725.613555, t: 4.680711 -4.197151 -1.242178 q: 0.011618 0.820036 -0.025829 0.571611 
wait for imu ... 
time: 1403636725.713556, t: 4.663140 -4.195264 -1.227888 q: 0.011521 0.818895 -0.026434 0.573218 
wait for imu ... 
time: 1403636725.813555, t: 4.644318 -4.191901 -1.220296 q: 0.011662 0.818949 -0.025995 0.573158 
time: 1403636725.913555, t: 4.626748 -4.188482 -1.216944 q: 0.009000 0.819776 -0.027046 0.571974 
time: 1403636726.013556, t: 4.609212 -4.185085 -1.217205 q: 0.007268 0.819589 -0.027134 0.572263 
wait for imu ... 
time: 1403636726.113555, t: 4.592659 -4.181928 -1.221342 q: 0.008348 0.819131 -0.025091 0.572997 
time: 1403636726.313555, t: 4.558605 -4.174100 -1.236842 q: 0.008635 0.817175 -0.021782 0.575913 
wait for imu ... 
time: 1403636726.413555, t: 4.542919 -4.170257 -1.238206 q: 0.008507 0.816152 -0.020032 0.577428 
time: 1403636726.513556, t: 4.529045 -4.166604 -1.233226 q: 0.004885 0.815359 -0.020608 0.578569 
time: 1403636726.613555, t: 4.512282 -4.163237 -1.216152 q: -0.009220 0.813858 -0.028703 0.580282 
time: 1403636726.713556, t: 4.501323 -4.164885 -1.201908 q: -0.016983 0.812170 -0.032873 0.582246 
time: 1403636726.813555, t: 4.475852 -4.168810 -1.174078 q: -0.009504 0.811469 -0.026833 0.583701 
time: 1403636726.913555, t: 4.457964 -4.175885 -1.144234 q: -0.003122 0.811310 -0.017299 0.584351 
time: 1403636727.013556, t: 4.441436 -4.184842 -1.109643 q: -0.001568 0.811247 -0.011580 0.584587 
time: 1403636727.113555, t: 4.412441 -4.193721 -1.071413 q: 0.000705 0.811241 -0.006996 0.584670 
time: 1403636727.213556, t: 4.393879 -4.201450 -1.042459 q: 0.004690 0.812052 -0.002218 0.583562 
time: 1403636727.313555, t: 4.374239 -4.207920 -1.019636 q: 0.008995 0.812682 0.001843 0.582635 
time: 1403636727.413555, t: 4.342743 -4.208748 -0.999386 q: 0.010588 0.813674 0.003340 0.581216 
time: 1403636727.513556, t: 4.321075 -4.210232 -0.982210 q: 0.009717 0.812724 0.002944 0.582561 
wait for imu ... 
time: 1403636727.713556, t: 4.274748 -4.204227 -0.934556 q: 0.003980 0.811866 -0.001102 0.583830 
time: 1403636727.813555, t: 4.250574 -4.197568 -0.901046 q: 0.006076 0.812530 0.000646 0.582887 
wait for imu ... 
time: 1403636727.913555, t: 4.208335 -4.189352 -0.856948 q: 0.014800 0.812758 0.005978 0.582383 
time: 1403636728.013556, t: 4.181742 -4.174662 -0.825405 q: 0.014915 0.812983 0.005755 0.582068 
optimize pose graph 
wait for imu ... 
time: 1403636728.113555, t: 4.151360 -4.159244 -0.797800 q: 0.010364 0.812286 0.002430 0.583162 
wait for imu ... 
time: 1403636728.213556, t: 4.119427 -4.141316 -0.775935 q: 0.007502 0.811017 -0.000107 0.584975 
time: 1403636728.313555, t: 4.068766 -4.122803 -0.750936 q: 0.005352 0.810666 -0.002136 0.585481 
time: 1403636728.413555, t: 4.032321 -4.102416 -0.743322 q: 0.002196 0.811167 -0.004375 0.584794 
time: 1403636728.513556, t: 3.996396 -4.081209 -0.738238 q: -0.009299 0.811184 -0.012754 0.584578 
time: 1403636728.613555, t: 3.950566 -4.057425 -0.732210 q: -0.015599 0.811156 -0.014511 0.584441 
time: 1403636728.713556, t: 3.913594 -4.040697 -0.729935 q: -0.012773 0.811446 -0.002559 0.584282 
wait for imu ... 
time: 1403636728.813555, t: 3.867517 -4.019512 -0.715368 q: -0.013246 0.811538 0.014280 0.583975 
time: 1403636728.913555, t: 3.828042 -4.000936 -0.700172 q: -0.017130 0.810270 0.029403 0.585067 
time: 1403636729.013556, t: 3.777246 -3.978222 -0.683411 q: -0.022529 0.808450 0.039537 0.586803 
wait for imu ... 
time: 1403636729.113555, t: 3.730141 -3.955473 -0.673304 q: -0.026817 0.806421 0.047270 0.588839 
time: 1403636729.213556, t: 3.685042 -3.934585 -0.669174 q: -0.029850 0.807537 0.051919 0.586768 
time: 1403636729.313555, t: 3.637884 -3.911962 -0.669193 q: -0.033600 0.808233 0.053610 0.585454 
time: 1403636729.413555, t: 3.587921 -3.890863 -0.673575 q: -0.035320 0.807653 0.054846 0.586038 
time: 1403636729.513556, t: 3.538092 -3.867513 -0.674819 q: -0.036101 0.807487 0.055383 0.586169 
time: 1403636729.613555, t: 3.484484 -3.845002 -0.668655 q: -0.036885 0.808332 0.055515 0.584942 
time: 1403636729.713556, t: 3.431799 -3.820873 -0.657455 q: -0.038256 0.808616 0.054450 0.584562 
time: 1403636729.813555, t: 3.375220 -3.796727 -0.642690 q: -0.037463 0.811040 0.053937 0.581292 
time: 1403636729.913555, t: 3.317975 -3.772346 -0.632808 q: -0.037966 0.813784 0.052670 0.577530 
wait for imu ... 
time: 1403636730.013556, t: 3.259756 -3.743408 -0.627634 q: -0.037298 0.815767 0.052429 0.574791 
time: 1403636730.113555, t: 3.203454 -3.718119 -0.627136 q: -0.037849 0.816609 0.052980 0.573507 
wait for imu ... 
time: 1403636730.213556, t: 3.152134 -3.689318 -0.630684 q: -0.037891 0.817235 0.052778 0.572630 
time: 1403636730.313555, t: 3.098192 -3.663934 -0.638052 q: -0.039835 0.816988 0.052204 0.572904 
time: 1403636730.413555, t: 3.049606 -3.636873 -0.648520 q: -0.039579 0.817996 0.053014 0.571406 
time: 1403636730.513556, t: 3.000040 -3.611673 -0.656112 q: -0.038842 0.822186 0.054194 0.565301 
wait for imu ... 
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time: 1403636730.813555, t: 2.891631 -3.525430 -0.626438 q: -0.039593 0.828507 0.054397 0.555923 
wait for imu ... 
time: 1403636730.913555, t: 2.855115 -3.494885 -0.603810 q: -0.044128 0.829492 0.050696 0.554459 
time: 1403636731.013556, t: 2.826052 -3.466492 -0.583953 q: -0.052714 0.828310 0.043897 0.556055 
wait for imu ... 
time: 1403636731.113555, t: 2.802466 -3.439121 -0.569519 q: -0.061918 0.821717 0.036178 0.565365 
time: 1403636731.213556, t: 2.787667 -3.421407 -0.558329 q: -0.062225 0.816514 0.035090 0.572890 
wait for imu ... 
time: 1403636731.313555, t: 2.774345 -3.409462 -0.551563 q: -0.054031 0.813291 0.039617 0.577986 
wait for imu ... 
time: 1403636731.413555, t: 2.761846 -3.399740 -0.551166 q: -0.045749 0.813254 0.044780 0.578377 
wait for imu ... 
time: 1403636731.513556, t: 2.743486 -3.391467 -0.554622 q: -0.045351 0.813438 0.044800 0.578148 
time: 1403636731.613555, t: 2.728988 -3.386571 -0.561994 q: -0.051726 0.813810 0.040734 0.577389 
time: 1403636731.713556, t: 2.716603 -3.386269 -0.574868 q: -0.053502 0.813823 0.039580 0.577289 
time: 1403636731.813555, t: 2.705484 -3.389633 -0.593010 q: -0.049274 0.813812 0.042759 0.577455 
time: 1403636731.913555, t: 2.694898 -3.394927 -0.613512 q: -0.046244 0.813552 0.045907 0.577830 
time: 1403636732.013556, t: 2.686222 -3.401399 -0.638750 q: -0.045953 0.812882 0.046934 0.578713 
wait for imu ... 
time: 1403636732.113555, t: 2.673215 -3.408202 -0.666758 q: -0.046142 0.811950 0.047346 0.579970 
time: 1403636732.213556, t: 2.661863 -3.416233 -0.697419 q: -0.045437 0.810789 0.048865 0.581523 
time: 1403636732.313555, t: 2.648644 -3.425801 -0.722348 q: -0.045480 0.809692 0.049974 0.582952 
wait for imu ... 
time: 1403636732.413555, t: 2.628963 -3.433774 -0.738293 q: -0.039609 0.808758 0.054323 0.584287 
time: 1403636732.513556, t: 2.608535 -3.440631 -0.743927 q: -0.026670 0.804799 0.063839 0.589501 
time: 1403636732.613555, t: 2.583670 -3.442822 -0.745029 q: -0.017783 0.800574 0.070549 0.594801 
wait for imu ... 
time: 1403636732.713556, t: 2.550753 -3.440011 -0.740755 q: -0.022347 0.798237 0.068396 0.598030 
wait for imu ... 
time: 1403636732.813555, t: 2.510575 -3.433285 -0.729514 q: -0.031432 0.798111 0.063143 0.598367 
time: 1403636732.913555, t: 2.470144 -3.422745 -0.719693 q: -0.034394 0.798860 0.061572 0.597368 
time: 1403636733.013556, t: 2.420618 -3.410848 -0.716398 q: -0.035857 0.801899 0.061449 0.593209 
time: 1403636733.113555, t: 2.373505 -3.396001 -0.713814 q: -0.036141 0.805927 0.061781 0.587672 
time: 1403636733.213556, t: 2.318535 -3.380975 -0.703305 q: -0.033760 0.806619 0.064018 0.586624 
time: 1403636733.313555, t: 2.267305 -3.360894 -0.687621 q: -0.034936 0.807426 0.064201 0.585424 
time: 1403636733.413555, t: 2.209193 -3.341325 -0.665655 q: -0.038404 0.810323 0.063117 0.581307 
time: 1403636733.513556, t: 2.152972 -3.319890 -0.637585 q: -0.040830 0.812760 0.061636 0.577888 
time: 1403636733.613555, t: 2.099136 -3.296091 -0.613936 q: -0.040912 0.814402 0.062053 0.575522 
time: 1403636733.713556, t: 2.042183 -3.273495 -0.595309 q: -0.042171 0.815858 0.061422 0.573433 
time: 1403636733.813555, t: 1.989427 -3.249674 -0.582011 q: -0.041981 0.817151 0.061839 0.571557 
time: 1403636734.013556, t: 1.885100 -3.198090 -0.572672 q: -0.037180 0.813574 0.065251 0.576591 
time: 1403636734.113555, t: 1.831692 -3.171422 -0.571256 q: -0.037898 0.811061 0.063518 0.580266 
wait for imu ... 
time: 1403636734.213556, t: 1.777423 -3.143732 -0.566557 q: -0.039583 0.810605 0.062265 0.580927 
time: 1403636734.313555, t: 1.726895 -3.112255 -0.553714 q: -0.042664 0.811021 0.061144 0.580247 
time: 1403636734.413555, t: 1.671011 -3.083051 -0.535698 q: -0.045349 0.812849 0.060433 0.577553 
time: 1403636734.513556, t: 1.616170 -3.053340 -0.511810 q: -0.046462 0.814862 0.060852 0.574577 
time: 1403636734.713556, t: 1.506743 -2.998845 -0.479563 q: -0.046727 0.818650 0.063351 0.568872 
time: 1403636734.813555, t: 1.455355 -2.971193 -0.474698 q: -0.046761 0.818908 0.065036 0.568307 
wait for imu ... 
time: 1403636734.913555, t: 1.407322 -2.946105 -0.475024 q: -0.048269 0.819022 0.065750 0.567935 
time: 1403636735.013556, t: 1.360752 -2.918475 -0.479085 q: -0.048310 0.818961 0.066408 0.567942 
wait for imu ... 
time: 1403636735.113555, t: 1.320709 -2.895596 -0.484608 q: -0.049779 0.818677 0.065417 0.568341 
time: 1403636735.213556, t: 1.278864 -2.868567 -0.487844 q: -0.051260 0.819440 0.063884 0.567283 
time: 1403636735.313555, t: 1.241039 -2.842403 -0.483218 q: -0.052740 0.821146 0.061357 0.564954 
time: 1403636735.413555, t: 1.209437 -2.819326 -0.466516 q: -0.052198 0.820993 0.059121 0.565464 
time: 1403636735.513556, t: 1.173435 -2.791446 -0.441340 q: -0.050480 0.819917 0.056120 0.567485 
time: 1403636735.613555, t: 1.141091 -2.765799 -0.409974 q: -0.047549 0.818453 0.054119 0.570039 
time: 1403636735.713556, t: 1.108504 -2.741614 -0.379066 q: -0.045596 0.818808 0.051704 0.569913 
time: 1403636735.813555, t: 1.078615 -2.719060 -0.359064 q: -0.044165 0.818977 0.049975 0.569938 
time: 1403636735.913555, t: 1.053641 -2.695544 -0.339851 q: -0.043634 0.818293 0.049453 0.571005 
time: 1403636736.013556, t: 1.032094 -2.676027 -0.325326 q: -0.043228 0.817441 0.051588 0.572067 
time: 1403636736.113555, t: 1.009860 -2.654481 -0.306665 q: -0.048026 0.815281 0.057986 0.574150 
time: 1403636736.213556, t: 0.988270 -2.633315 -0.279840 q: -0.055896 0.812173 0.068075 0.576729 
time: 1403636736.313555, t: 0.964401 -2.612543 -0.254491 q: -0.062147 0.810436 0.078244 0.577243 
wait for imu ... 
time: 1403636736.413555, t: 0.943537 -2.593034 -0.231320 q: -0.066066 0.809478 0.086709 0.576942 
time: 1403636736.513556, t: 0.920031 -2.574142 -0.213030 q: -0.063170 0.807653 0.096856 0.578208 
wait for imu ... 
time: 1403636736.613555, t: 0.895474 -2.554145 -0.201610 q: -0.059826 0.806075 0.104802 0.579379 
wait for imu ... 
time: 1403636736.713556, t: 0.870323 -2.531537 -0.194591 q: -0.059726 0.804769 0.108278 0.580565 
time: 1403636736.813555, t: 0.846602 -2.506660 -0.195563 q: -0.059677 0.804326 0.110749 0.580718 
time: 1403636736.913555, t: 0.818274 -2.476258 -0.196856 q: -0.061393 0.804641 0.111902 0.579881 
wait for imu ... 
time: 1403636737.013556, t: 0.787150 -2.443325 -0.199752 q: -0.067686 0.805175 0.110208 0.578762 
wait for imu ... 
time: 1403636737.113555, t: 0.761280 -2.406969 -0.210468 q: -0.075753 0.804766 0.107917 0.578764 
wait for imu ... 
time: 1403636737.213556, t: 0.730817 -2.373683 -0.223151 q: -0.079587 0.804938 0.108731 0.577856 
wait for imu ... 
time: 1403636737.313555, t: 0.696392 -2.333379 -0.238946 q: -0.082420 0.806541 0.109818 0.575011 
time: 1403636737.413555, t: 0.660629 -2.299448 -0.249713 q: -0.084363 0.808737 0.111546 0.571301 
wait for imu ... 
time: 1403636737.513556, t: 0.629918 -2.263075 -0.252857 q: -0.084317 0.810913 0.114069 0.567714 
time: 1403636737.613555, t: 0.593125 -2.229429 -0.246397 q: -0.088162 0.812292 0.112811 0.565405 
wait for imu ... 
time: 1403636737.713556, t: 0.566252 -2.192356 -0.237029 q: -0.093856 0.814455 0.109270 0.562062 
time: 1403636737.813555, t: 0.534857 -2.163410 -0.217764 q: -0.097968 0.815553 0.106289 0.560338 
wait for imu ... 
time: 1403636737.913555, t: 0.518198 -2.135473 -0.190598 q: -0.099193 0.815930 0.104576 0.559896 
time: 1403636738.013556, t: 0.499011 -2.119182 -0.156692 q: -0.098923 0.815653 0.103499 0.560546 
time: 1403636738.113555, t: 0.484974 -2.107733 -0.117330 q: -0.094821 0.814988 0.104740 0.561990 
wait for imu ... 
time: 1403636738.213556, t: 0.490058 -2.098851 -0.077755 q: -0.091617 0.813681 0.104857 0.564389 
wait for imu ... 
time: 1403636738.313555, t: 0.480622 -2.091188 -0.047795 q: -0.089874 0.813824 0.104132 0.564598 
time: 1403636738.413555, t: 0.489042 -2.086412 -0.024261 q: -0.088861 0.814471 0.102585 0.564107 
time: 1403636738.513556, t: 0.484734 -2.079134 -0.007286 q: -0.085395 0.815944 0.098213 0.563291 
time: 1403636738.613555, t: 0.482227 -2.073752 0.002118 q: -0.079702 0.819168 0.087893 0.561147 
time: 1403636738.713556, t: 0.483354 -2.072188 0.005731 q: -0.071373 0.820676 0.072332 0.562286 
time: 1403636738.813555, t: 0.503631 -2.071127 -0.000468 q: -0.061965 0.819337 0.051919 0.567585 
time: 1403636738.913555, t: 0.518521 -2.075338 -0.014526 q: -0.051977 0.817873 0.028318 0.572347 
time: 1403636739.013556, t: 0.530901 -2.082870 -0.031742 q: -0.042183 0.817133 0.001686 0.574901 
time: 1403636739.113555, t: 0.546195 -2.096475 -0.055434 q: -0.026936 0.816774 -0.023557 0.575847 
time: 1403636739.213556, t: 0.558217 -2.117845 -0.084170 q: -0.003986 0.816246 -0.043854 0.576024 
time: 1403636739.313555, t: 0.566895 -2.140700 -0.114640 q: 0.021839 0.814978 -0.062419 0.575706 
time: 1403636739.413555, t: 0.573510 -2.165213 -0.143859 q: 0.046808 0.813503 -0.079979 0.574130 
wait for imu ... 
time: 1403636739.513556, t: 0.578908 -2.190040 -0.165058 q: 0.065135 0.811550 -0.099967 0.571971 
time: 1403636739.613555, t: 0.585803 -2.211383 -0.176195 q: 0.074228 0.808382 -0.119520 0.571598 
wait for imu ... 
time: 1403636739.713556, t: 0.592096 -2.232441 -0.181251 q: 0.082086 0.806909 -0.131147 0.570052 
time: 1403636739.813555, t: 0.601916 -2.251780 -0.188858 q: 0.082944 0.805518 -0.140648 0.569630 
time: 1403636739.913555, t: 0.611540 -2.272872 -0.200344 q: 0.084597 0.805228 -0.144545 0.568821 
time: 1403636740.013556, t: 0.616471 -2.296082 -0.216920 q: 0.086452 0.805434 -0.144409 0.568285 
time: 1403636740.113555, t: 0.623464 -2.317169 -0.237279 q: 0.089908 0.805856 -0.140599 0.568106 
time: 1403636740.213556, t: 0.630024 -2.339808 -0.262480 q: 0.095579 0.806222 -0.133917 0.568275 
time: 1403636740.313555, t: 0.635280 -2.359311 -0.290330 q: 0.096428 0.805610 -0.130420 0.569811 
time: 1403636740.413555, t: 0.634091 -2.376701 -0.321352 q: 0.090051 0.804624 -0.131524 0.571990 
wait for imu ... 
time: 1403636740.513556, t: 0.635803 -2.392636 -0.356376 q: 0.084462 0.803629 -0.132326 0.574052 
time: 1403636740.613555, t: 0.635382 -2.406875 -0.386602 q: 0.082819 0.803272 -0.130586 0.575189 
time: 1403636740.713556, t: 0.635199 -2.421128 -0.410714 q: 0.079014 0.805204 -0.131086 0.572905 
time: 1403636740.813555, t: 0.628723 -2.435902 -0.430129 q: 0.077905 0.807214 -0.129568 0.570568 
time: 1403636740.913555, t: 0.628211 -2.452654 -0.453454 q: 0.079672 0.806264 -0.126602 0.572331 
time: 1403636741.013556, t: 0.619781 -2.467974 -0.480814 q: 0.089615 0.805239 -0.118702 0.573995 
time: 1403636741.113555, t: 0.614487 -2.481737 -0.515415 q: 0.099397 0.803257 -0.115651 0.575780 
time: 1403636741.213556, t: 0.602896 -2.487474 -0.557420 q: 0.101026 0.800058 -0.124978 0.577998 
wait for imu ... 
time: 1403636741.313555, t: 0.593582 -2.493200 -0.605194 q: 0.096331 0.798717 -0.136985 0.577933 
wait for imu ... 
time: 1403636741.413555, t: 0.579379 -2.494131 -0.651632 q: 0.092922 0.802147 -0.146914 0.571264 
time: 1403636741.513556, t: 0.565810 -2.499077 -0.694698 q: 0.092578 0.808181 -0.152437 0.561281 
time: 1403636741.613555, t: 0.553318 -2.502712 -0.730007 q: 0.092021 0.812145 -0.156220 0.554569 
time: 1403636741.713556, t: 0.546281 -2.510330 -0.759033 q: 0.093456 0.812921 -0.156355 0.553153 
time: 1403636741.813555, t: 0.544412 -2.520239 -0.779787 q: 0.096650 0.810573 -0.153229 0.556912 
time: 1403636741.913555, t: 0.541958 -2.531746 -0.801817 q: 0.101395 0.808773 -0.147273 0.560282 
time: 1403636742.013556, t: 0.541410 -2.542519 -0.831062 q: 0.107570 0.809616 -0.139277 0.559958 
time: 1403636742.113555, t: 0.542041 -2.551420 -0.862777 q: 0.104936 0.814482 -0.136811 0.553977 
time: 1403636742.213556, t: 0.550730 -2.558914 -0.891654 q: 0.098105 0.817315 -0.138069 0.550734 
time: 1403636742.313555, t: 0.561447 -2.565786 -0.912924 q: 0.091251 0.816507 -0.138880 0.552903 
time: 1403636742.413555, t: 0.571312 -2.572835 -0.925210 q: 0.088555 0.812017 -0.137742 0.560191 
wait for imu ... 
time: 1403636742.513556, t: 0.587396 -2.580015 -0.931584 q: 0.087340 0.809518 -0.136272 0.564343 
time: 1403636742.613555, t: 0.602030 -2.587964 -0.934956 q: 0.086844 0.807934 -0.134437 0.567122 
time: 1403636742.713556, t: 0.618578 -2.597418 -0.937798 q: 0.086150 0.805082 -0.133005 0.571603 
time: 1403636742.813555, t: 0.632869 -2.605313 -0.957280 q: 0.085776 0.803192 -0.131647 0.574625 
time: 1403636742.913555, t: 0.644711 -2.613074 -0.980013 q: 0.083559 0.802245 -0.131359 0.576339 
time: 1403636743.013556, t: 0.651923 -2.622732 -1.009828 q: 0.084705 0.803072 -0.134233 0.574354 
time: 1403636743.113555, t: 0.659099 -2.632011 -1.051840 q: 0.085235 0.810260 -0.142388 0.562085 
wait for imu ... 
time: 1403636743.213556, t: 0.667566 -2.642111 -1.089756 q: 0.085419 0.820297 -0.149650 0.545364 
time: 1403636743.313555, t: 0.678743 -2.654736 -1.116644 q: 0.086805 0.826290 -0.154430 0.534660 
time: 1403636743.413555, t: 0.697659 -2.670165 -1.134211 q: 0.085995 0.826690 -0.158511 0.532975 
time: 1403636743.513556, t: 0.724693 -2.689739 -1.146182 q: 0.088161 0.822425 -0.159128 0.539002 
time: 1403636743.613555, t: 0.757810 -2.711921 -1.163905 q: 0.092551 0.816854 -0.156798 0.547356 
time: 1403636743.713556, t: 0.794957 -2.735710 -1.188058 q: 0.097600 0.812253 -0.153698 0.554163 
wait for imu ... 
time: 1403636743.813555, t: 0.834036 -2.762388 -1.218984 q: 0.102934 0.806826 -0.155911 0.560472 
wait for imu ... 
time: 1403636743.913555, t: 0.873140 -2.786205 -1.254291 q: 0.106480 0.801891 -0.161419 0.565311 
wait for imu ... 
time: 1403636744.013556, t: 0.915355 -2.811721 -1.295381 q: 0.110149 0.798687 -0.164453 0.568261 
time: 1403636744.113555, t: 0.956757 -2.835100 -1.342166 q: 0.117003 0.796308 -0.169199 0.568837 
time: 1403636744.213556, t: 0.996952 -2.857676 -1.394285 q: 0.120345 0.793267 -0.176622 0.570131 
wait for imu ... 
time: 1403636744.313555, t: 1.032045 -2.877288 -1.452256 q: 0.120482 0.790423 -0.183563 0.571857 
time: 1403636744.513556, t: 1.105140 -2.915123 -1.587910 q: 0.109399 0.787079 -0.196403 0.574425 
time: 1403636744.713556, t: 1.161640 -2.956408 -1.739408 q: 0.107286 0.782850 -0.196214 0.580634 
time: 1403636744.813555, t: 1.181168 -2.979771 -1.814847 q: 0.115390 0.783817 -0.190589 0.579648 
wait for imu ... 
time: 1403636744.913555, t: 1.197224 -3.002017 -1.883859 q: 0.120588 0.788173 -0.186590 0.573956 
wait for imu ... 
time: 1403636745.013556, t: 1.211683 -3.027407 -1.945877 q: 0.119550 0.792970 -0.184965 0.568062 
time: 1403636745.113555, t: 1.222831 -3.050935 -1.997192 q: 0.116745 0.798512 -0.182813 0.561540 
wait for imu ... 
time: 1403636745.213556, t: 1.236866 -3.073995 -2.041515 q: 0.113072 0.800673 -0.180282 0.560032 
wait for imu ... 
time: 1403636745.313555, t: 1.252778 -3.097757 -2.081398 q: 0.111525 0.801843 -0.175329 0.560241 
time: 1403636745.513556, t: 1.280322 -3.144109 -2.127091 q: 0.113668 0.793572 -0.167044 0.573950 
time: 1403636745.613555, t: 1.292953 -3.164951 -2.141051 q: 0.115188 0.791543 -0.168945 0.575890 
time: 1403636745.713556, t: 1.304434 -3.183787 -2.145042 q: 0.119215 0.790058 -0.172156 0.576158 
time: 1403636745.813555, t: 1.313989 -3.198920 -2.142361 q: 0.125447 0.790107 -0.175480 0.573761 
time: 1403636745.913555, t: 1.324892 -3.211754 -2.130805 q: 0.133045 0.789491 -0.178893 0.571839 
time: 1403636746.013556, t: 1.332382 -3.220312 -2.116260 q: 0.142219 0.789412 -0.180815 0.569130 
time: 1403636746.113555, t: 1.342968 -3.225002 -2.096535 q: 0.149922 0.790016 -0.182570 0.565745 
wait for imu ... 
time: 1403636746.213556, t: 1.353932 -3.224404 -2.071507 q: 0.154125 0.787983 -0.184315 0.566882 
time: 1403636746.313555, t: 1.362698 -3.217325 -2.041200 q: 0.157496 0.779861 -0.184854 0.576923 
time: 1403636746.413555, t: 1.371082 -3.204893 -2.017723 q: 0.157731 0.774219 -0.185716 0.584136 
time: 1403636746.513556, t: 1.376651 -3.185519 -2.005147 q: 0.151333 0.778488 -0.189447 0.578934 
wait for imu ... 
time: 1403636746.613555, t: 1.380819 -3.161041 -2.001482 q: 0.140601 0.790278 -0.194140 0.563916 
time: 1403636746.713556, t: 1.383715 -3.132946 -2.002793 q: 0.125701 0.802445 -0.200300 0.547869 
time: 1403636746.813555, t: 1.391124 -3.108137 -2.008960 q: 0.112752 0.806791 -0.205140 0.542488 
time: 1403636746.913555, t: 1.401068 -3.088845 -2.014774 q: 0.105679 0.806058 -0.206491 0.544485 
wait for imu ... 
time: 1403636747.013556, t: 1.413244 -3.075659 -2.015045 q: 0.105346 0.804446 -0.203782 0.547943 
time: 1403636747.113555, t: 1.432134 -3.067606 -2.003491 q: 0.115850 0.801457 -0.195186 0.553306 
time: 1403636747.213556, t: 1.456168 -3.061649 -1.983299 q: 0.125221 0.797872 -0.188956 0.558584 
time: 1403636747.313555, t: 1.481498 -3.054939 -1.953272 q: 0.131937 0.796077 -0.185574 0.560729 
time: 1403636747.413555, t: 1.507578 -3.044471 -1.919572 q: 0.134910 0.794772 -0.185683 0.561835 
time: 1403636747.513556, t: 1.535997 -3.033625 -1.891856 q: 0.136245 0.794770 -0.188131 0.560700 
time: 1403636747.613555, t: 1.560185 -3.014127 -1.869963 q: 0.136130 0.795276 -0.191344 0.558921 
time: 1403636747.713556, t: 1.589599 -2.998013 -1.843397 q: 0.137171 0.795263 -0.193850 0.557820 
time: 1403636747.813555, t: 1.619436 -2.979799 -1.810118 q: 0.138392 0.795277 -0.196300 0.556640 
time: 1403636747.913555, t: 1.651710 -2.959884 -1.767358 q: 0.133045 0.792845 -0.203288 0.558901 
time: 1403636748.013556, t: 1.687189 -2.939440 -1.723335 q: 0.121580 0.787932 -0.214467 0.564256 
wait for imu ... 
time: 1403636748.113555, t: 1.707265 -2.917261 -1.686558 q: 0.116375 0.786094 -0.220835 0.565460 
time: 1403636748.213556, t: 1.732657 -2.900478 -1.654594 q: 0.115954 0.786332 -0.223434 0.564193 
time: 1403636748.313555, t: 1.760582 -2.892747 -1.628142 q: 0.127354 0.789169 -0.216115 0.560614 
wait for imu ... 
time: 1403636748.413555, t: 1.786806 -2.888595 -1.606895 q: 0.139914 0.791468 -0.206673 0.557933 
time: 1403636748.513556, t: 1.811436 -2.884475 -1.582829 q: 0.144864 0.791187 -0.202486 0.558603 
wait for imu ... 
time: 1403636748.613555, t: 1.831507 -2.879400 -1.557156 q: 0.141904 0.789812 -0.204810 0.560459 
wait for imu ... 
time: 1403636748.913555, t: 1.898265 -2.870408 -1.470031 q: 0.125853 0.783793 -0.221068 0.566531 
time: 1403636749.013556, t: 1.917980 -2.870888 -1.447200 q: 0.126329 0.782339 -0.224837 0.566953 
wait for imu ... 
time: 1403636749.113555, t: 1.934755 -2.873601 -1.429381 q: 0.121874 0.779870 -0.231256 0.568745 
time: 1403636749.213556, t: 1.947241 -2.880946 -1.412803 q: 0.123389 0.778930 -0.232941 0.569018 
time: 1403636749.313555, t: 1.955965 -2.893660 -1.390814 q: 0.135153 0.779650 -0.227410 0.567595 
time: 1403636749.413555, t: 1.962402 -2.909450 -1.362896 q: 0.143990 0.781131 -0.222665 0.565262 
time: 1403636749.513556, t: 1.968241 -2.924697 -1.329573 q: 0.151760 0.782530 -0.217556 0.563280 
time: 1403636749.613555, t: 1.968530 -2.940712 -1.297804 q: 0.159104 0.783895 -0.211434 0.561685 
wait for imu ... 
time: 1403636749.713556, t: 1.976168 -2.957392 -1.271736 q: 0.158842 0.783815 -0.209892 0.562449 
time: 1403636749.813555, t: 1.981604 -2.966023 -1.249401 q: 0.156885 0.779824 -0.208844 0.568899 
time: 1403636750.013556, t: 1.991567 -2.977579 -1.222543 q: 0.151689 0.773488 -0.205099 0.580208 
time: 1403636750.113555, t: 1.987879 -2.974687 -1.217064 q: 0.148508 0.774679 -0.203461 0.580019 
time: 1403636750.213556, t: 1.981640 -2.972359 -1.208752 q: 0.145108 0.777513 -0.202432 0.577442 
time: 1403636750.313555, t: 1.970362 -2.962432 -1.193300 q: 0.142083 0.781489 -0.201038 0.573299 
time: 1403636750.413555, t: 1.956800 -2.950428 -1.167905 q: 0.138992 0.784671 -0.199742 0.570155 
time: 1403636750.513556, t: 1.943801 -2.939265 -1.131987 q: 0.137195 0.786118 -0.196313 0.569787 
time: 1403636750.613555, t: 1.928317 -2.925498 -1.086046 q: 0.135074 0.787818 -0.193185 0.569015 
time: 1403636750.713556, t: 1.912246 -2.910974 -1.033197 q: 0.134979 0.789128 -0.189912 0.568323 
time: 1403636750.813555, t: 1.894897 -2.894459 -0.978165 q: 0.134361 0.790739 -0.187844 0.566916 
time: 1403636750.913555, t: 1.878522 -2.878173 -0.912575 q: 0.134959 0.792712 -0.185814 0.564684 
time: 1403636751.013556, t: 1.860875 -2.858667 -0.846548 q: 0.137101 0.794437 -0.184049 0.562316 
time: 1403636751.113555, t: 1.838595 -2.830262 -0.790230 q: 0.137369 0.794488 -0.184668 0.561976 
time: 1403636751.213556, t: 1.825083 -2.806920 -0.736110 q: 0.136690 0.798280 -0.186686 0.556069 
time: 1403636751.313555, t: 1.811648 -2.781302 -0.685957 q: 0.133242 0.801713 -0.190695 0.550580 
time: 1403636751.413555, t: 1.801843 -2.755841 -0.635773 q: 0.127557 0.799359 -0.196584 0.553271 
wait for imu ... 
time: 1403636751.513556, t: 1.792390 -2.728754 -0.589008 q: 0.120838 0.794468 -0.202061 0.559812 
time: 1403636751.613555, t: 1.783784 -2.708428 -0.540602 q: 0.113670 0.791691 -0.201483 0.565428 
wait for imu ... 
time: 1403636751.713556, t: 1.773495 -2.686754 -0.499154 q: 0.106909 0.794144 -0.199543 0.563992 
wait for imu ... 
time: 1403636751.813555, t: 1.761766 -2.671306 -0.460225 q: 0.101133 0.799967 -0.197676 0.557449 
time: 1403636751.913555, t: 1.751659 -2.665275 -0.420159 q: 0.104327 0.805980 -0.190910 0.550513 
time: 1403636752.013556, t: 1.745616 -2.664480 -0.384447 q: 0.110376 0.809225 -0.183483 0.547089 
time: 1403636752.113555, t: 1.743890 -2.667434 -0.347723 q: 0.113397 0.808297 -0.179551 0.549144 
optimize pose graph 
time: 1403636752.213556, t: 1.749701 -2.674841 -0.321497 q: 0.113710 0.803763 -0.173763 0.557532 
time: 1403636752.313555, t: 1.753753 -2.679596 -0.285505 q: 0.109071 0.799607 -0.164629 0.567123 
time: 1403636752.413555, t: 1.761592 -2.684957 -0.252838 q: 0.101051 0.797838 -0.151888 0.574607 
time: 1403636752.513556, t: 1.770984 -2.692026 -0.214767 q: 0.090182 0.800497 -0.135735 0.576756 
time: 1403636752.613555, t: 1.779624 -2.700476 -0.177517 q: 0.078434 0.804967 -0.117459 0.576264 
time: 1403636752.713556, t: 1.784692 -2.706080 -0.144986 q: 0.065491 0.809210 -0.098938 0.575414 
wait for imu ... 
time: 1403636752.813555, t: 1.786999 -2.709132 -0.116689 q: 0.053588 0.812392 -0.078623 0.575296 
wait for imu ... 
time: 1403636752.913555, t: 1.788468 -2.711700 -0.094987 q: 0.043150 0.814536 -0.056155 0.575774 
wait for imu ... 
time: 1403636753.013556, t: 1.789874 -2.712329 -0.080425 q: 0.033841 0.816339 -0.031911 0.575696 
time: 1403636753.113555, t: 1.790191 -2.710272 -0.071323 q: 0.022401 0.817552 -0.007900 0.575364 
time: 1403636753.213556, t: 1.790077 -2.704280 -0.068723 q: 0.009154 0.817936 0.015729 0.575021 
wait for imu ... 
time: 1403636753.413555, t: 1.791843 -2.682318 -0.080116 q: -0.014697 0.814763 0.059408 0.576555 
time: 1403636753.513556, t: 1.791968 -2.664844 -0.083937 q: -0.029690 0.813600 0.067152 0.576770 
wait for imu ... 
time: 1403636753.613555, t: 1.789392 -2.645919 -0.081326 q: -0.040414 0.812069 0.070798 0.577839 
time: 1403636753.713556, t: 1.784784 -2.625739 -0.073568 q: -0.045792 0.811698 0.071669 0.577853 
time: 1403636753.813555, t: 1.780902 -2.603822 -0.068935 q: -0.045421 0.810566 0.072798 0.579327 
time: 1403636753.913555, t: 1.773896 -2.582354 -0.069380 q: -0.045236 0.810540 0.071111 0.579587 
time: 1403636754.013556, t: 1.766824 -2.559111 -0.074648 q: -0.042798 0.810004 0.069710 0.580691 
time: 1403636754.113555, t: 1.757482 -2.535925 -0.072985 q: -0.042276 0.806278 0.066755 0.586236 
time: 1403636754.213556, t: 1.745072 -2.511158 -0.065791 q: -0.038860 0.803355 0.065394 0.590622 
optimize pose graph 
time: 1403636754.313555, t: 1.728197 -2.484584 -0.053125 q: -0.035331 0.802701 0.064291 0.591853 
time: 1403636754.413555, t: 1.713055 -2.452878 -0.037501 q: -0.033967 0.802758 0.064969 0.591782 
time: 1403636754.513556, t: 1.688228 -2.422631 -0.018091 q: -0.036742 0.803185 0.069148 0.590561 
time: 1403636754.613555, t: 1.660857 -2.389132 -0.005271 q: -0.040371 0.804465 0.078925 0.587348 
time: 1403636754.713556, t: 1.630586 -2.351926 0.000998 q: -0.049536 0.804178 0.090510 0.585365 
time: 1403636754.813555, t: 1.597091 -2.313021 0.003374 q: -0.059742 0.802497 0.104245 0.584433 
time: 1403636754.913555, t: 1.560679 -2.275588 0.001065 q: -0.068510 0.800804 0.115110 0.583754 
time: 1403636755.013556, t: 1.522149 -2.237774 -0.004443 q: -0.074217 0.799974 0.124375 0.582293 
wait for imu ... 
time: 1403636755.113555, t: 1.480113 -2.197799 -0.010527 q: -0.079305 0.799258 0.129386 0.581513 
time: 1403636755.213556, t: 1.432667 -2.156790 -0.011775 q: -0.083687 0.799373 0.132042 0.580141 
time: 1403636755.313555, t: 1.382228 -2.113728 -0.006106 q: -0.084770 0.803655 0.133991 0.573584 
time: 1403636755.413555, t: 1.331423 -2.071289 0.007723 q: -0.083910 0.810135 0.135480 0.564168 
time: 1403636755.513556, t: 1.284426 -2.026104 0.024888 q: -0.082661 0.812727 0.135404 0.560632 
time: 1403636755.613555, t: 1.240981 -1.979541 0.038980 q: -0.079760 0.811786 0.135802 0.562316 
time: 1403636755.713556, t: 1.199361 -1.930544 0.045130 q: -0.080836 0.810858 0.133198 0.564122 
wait for imu ... 
wait for imu ... 
time: 1403636755.913555, t: 1.115944 -1.828229 0.047056 q: -0.083605 0.806181 0.128870 0.571380 
time: 1403636756.013556, t: 1.074697 -1.774568 0.046101 q: -0.085349 0.805106 0.127416 0.572962 
time: 1403636756.113555, t: 1.034694 -1.720508 0.053504 q: -0.084836 0.804023 0.127595 0.574517 
time: 1403636756.213556, t: 0.993694 -1.663895 0.065156 q: -0.085094 0.802551 0.127683 0.576514 
wait for imu ... 
time: 1403636756.313555, t: 0.946955 -1.606335 0.080182 q: -0.085998 0.802264 0.127627 0.576792 
time: 1403636756.413555, t: 0.901999 -1.548449 0.089311 q: -0.085559 0.801293 0.129025 0.577895 
time: 1403636756.513556, t: 0.849372 -1.490937 0.093693 q: -0.087057 0.800911 0.129188 0.578164 
time: 1403636756.613555, t: 0.803955 -1.434982 0.091419 q: -0.087695 0.800290 0.129897 0.578768 
time: 1403636756.713556, t: 0.749150 -1.381531 0.090187 q: -0.089164 0.799266 0.130305 0.579865 
time: 1403636756.813555, t: 0.698661 -1.326367 0.093154 q: -0.090581 0.798427 0.130672 0.580719 
time: 1403636756.913555, t: 0.635063 -1.274682 0.102174 q: -0.091156 0.798563 0.131203 0.580321 
time: 1403636757.013556, t: 0.568977 -1.222633 0.118762 q: -0.092045 0.798558 0.131601 0.580098 
time: 1403636757.113555, t: 0.501752 -1.170689 0.132904 q: -0.094079 0.798621 0.130846 0.579856 
time: 1403636757.213556, t: 0.432778 -1.118452 0.141677 q: -0.094494 0.798855 0.130592 0.579523 
time: 1403636757.313555, t: 0.360683 -1.068501 0.144424 q: -0.091802 0.799122 0.132979 0.579045 
time: 1403636757.413555, t: 0.293812 -1.018757 0.140088 q: -0.090708 0.800596 0.134466 0.576833 
time: 1403636757.513556, t: 0.223257 -0.967958 0.136394 q: -0.088112 0.802677 0.138664 0.573340 
time: 1403636757.613555, t: 0.154616 -0.912842 0.138477 q: -0.089630 0.807430 0.145550 0.564658 
time: 1403636757.713556, t: 0.089440 -0.857576 0.146962 q: -0.092491 0.813434 0.152621 0.553604 
time: 1403636757.813555, t: 0.030103 -0.800868 0.163350 q: -0.096576 0.817485 0.158299 0.545282 
time: 1403636757.913555, t: -0.027635 -0.734847 0.190811 q: -0.101595 0.818131 0.161285 0.542520 
time: 1403636758.013556, t: -0.098473 -0.658896 0.224000 q: -0.107267 0.811642 0.162028 0.550888 
time: 1403636758.113555, t: -0.146449 -0.590151 0.253867 q: -0.112924 0.803714 0.161622 0.561401 
time: 1403636758.213556, t: -0.186917 -0.524527 0.276258 q: -0.116394 0.797752 0.161311 0.569230 
time: 1403636758.313555, t: -0.245341 -0.452794 0.291235 q: -0.119557 0.795432 0.159664 0.572277 
time: 1403636758.413555, t: -0.294741 -0.385166 0.296603 q: -0.121804 0.800419 0.158213 0.565209 
wait for imu ... 
time: 1403636758.513556, t: -0.347153 -0.319239 0.293523 q: -0.127086 0.812634 0.154221 0.547441 
time: 1403636758.613555, t: -0.394196 -0.256013 0.286768 q: -0.134984 0.824215 0.148226 0.529601 
time: 1403636758.713556, t: -0.430213 -0.197485 0.282906 q: -0.135510 0.821930 0.146720 0.533425 
time: 1403636758.813555, t: -0.450131 -0.145967 0.277598 q: -0.133220 0.812337 0.147251 0.548342 
time: 1403636758.913555, t: -0.469729 -0.101221 0.269590 q: -0.127107 0.803706 0.151366 0.561239 
time: 1403636759.013556, t: -0.481300 -0.060657 0.256477 q: -0.124062 0.799505 0.153504 0.567306 
time: 1403636759.113555, t: -0.492241 -0.021199 0.239576 q: -0.132718 0.798111 0.147772 0.568830 
time: 1403636759.213556, t: -0.500440 0.012347 0.218877 q: -0.151339 0.799099 0.135463 0.565851 
time: 1403636759.313555, t: -0.507998 0.037346 0.195207 q: -0.161064 0.799598 0.129308 0.563898 
wait for imu ... 
time: 1403636759.413555, t: -0.513389 0.051741 0.167766 q: -0.148880 0.798181 0.138637 0.567029 
time: 1403636759.513556, t: -0.518603 0.059255 0.137011 q: -0.135852 0.796261 0.148433 0.570509 
time: 1403636759.613555, t: -0.528744 0.062382 0.107254 q: -0.127154 0.794520 0.156226 0.572856 
time: 1403636759.713556, t: -0.537949 0.063599 0.086118 q: -0.122790 0.794328 0.160526 0.572885 
time: 1403636759.813555, t: -0.549219 0.063173 0.078186 q: -0.122682 0.793126 0.161561 0.574280 
time: 1403636759.913555, t: -0.563680 0.062575 0.072862 q: -0.122327 0.796714 0.161906 0.569271 
time: 1403636760.013556, t: -0.579669 0.061486 0.065526 q: -0.120858 0.802655 0.162629 0.560972 
time: 1403636760.113555, t: -0.596211 0.059100 0.056039 q: -0.120351 0.807786 0.162477 0.553713 
time: 1403636760.213556, t: -0.608941 0.059119 0.044665 q: -0.120984 0.807545 0.161810 0.554122 
time: 1403636760.313555, t: -0.618403 0.057566 0.035260 q: -0.124610 0.799495 0.159157 0.565640 
time: 1403636760.413555, t: -0.627999 0.056004 0.021071 q: -0.123152 0.794545 0.160293 0.572572 
wait for imu ... 
wait for imu ... 
time: 1403636760.513556, t: -0.639645 0.052939 0.004824 q: -0.120249 0.794461 0.162371 0.572719 
time: 1403636760.613555, t: -0.652957 0.050436 -0.012697 q: -0.117404 0.800345 0.164917 0.564329 
optimize pose graph 
time: 1403636760.713556, t: -0.665370 0.049836 -0.029797 q: -0.113157 0.804165 0.168442 0.558695 
time: 1403636760.813555, t: -0.676579 0.051803 -0.045110 q: -0.111357 0.802260 0.170377 0.561205 
time: 1403636760.913555, t: -0.688898 0.054455 -0.057929 q: -0.110115 0.797924 0.172308 0.567011 
time: 1403636761.013556, t: -0.703223 0.059393 -0.071413 q: -0.111450 0.800273 0.172003 0.563522 
wait for imu ... 
time: 1403636761.113555, t: -0.718217 0.067060 -0.086413 q: -0.113976 0.807052 0.170666 0.553670 
time: 1403636761.213556, t: -0.731218 0.077045 -0.101985 q: -0.112581 0.815037 0.172359 0.541602 
wait for imu ... 
time: 1403636761.313555, t: -0.740229 0.089721 -0.113827 q: -0.112472 0.818241 0.172598 0.536696 
time: 1403636761.413555, t: -0.742039 0.106207 -0.120009 q: -0.114451 0.812822 0.171516 0.544796 
wait for imu ... 
time: 1403636761.513556, t: -0.739650 0.124650 -0.121246 q: -0.116324 0.804370 0.169715 0.557364 
wait for imu ... 
time: 1403636761.613555, t: -0.736631 0.143852 -0.119559 q: -0.118349 0.798370 0.167278 0.566230 
wait for imu ... 
time: 1403636761.713556, t: -0.734013 0.163026 -0.116891 q: -0.127418 0.797327 0.159839 0.567879 
time: 1403636761.813555, t: -0.732229 0.180120 -0.112923 q: -0.136484 0.798094 0.152827 0.566623 
wait for imu ... 
time: 1403636761.913555, t: -0.730897 0.192180 -0.106882 q: -0.137687 0.798819 0.151570 0.565647 
wait for imu ... 
time: 1403636762.013556, t: -0.729334 0.199467 -0.099096 q: -0.126567 0.797665 0.158662 0.567924 
time: 1403636762.113555, t: -0.728955 0.204549 -0.089395 q: -0.107914 0.794879 0.170718 0.572170 
time: 1403636762.213556, t: -0.730882 0.211658 -0.080460 q: -0.096577 0.797260 0.177649 0.568761 
wait for imu ... 
time: 1403636762.313555, t: -0.734522 0.224406 -0.075537 q: -0.097356 0.806733 0.176361 0.555518 
wait for imu ... 
time: 1403636762.413555, t: -0.736982 0.240532 -0.079401 q: -0.102264 0.813599 0.172373 0.545790 
wait for imu ... 
time: 1403636762.613555, t: -0.732132 0.282826 -0.109139 q: -0.145728 0.809685 0.141529 0.550585 
time: 1403636762.713556, t: -0.723185 0.297017 -0.136674 q: -0.150576 0.803455 0.138647 0.559075 
wait for imu ... 
time: 1403636762.813555, t: -0.712106 0.306268 -0.170637 q: -0.137821 0.799934 0.148361 0.564889 
optimize pose graph 
time: 1403636762.913555, t: -0.715966 0.297997 -0.170637 q: -0.143805 0.774798 0.142400 0.598942 
wait for imu ... 
time: 1403636763.013556, t: -0.728328 0.279382 -0.179998 q: -0.121869 0.799423 0.138868 0.571652 
time: 1403636763.113555, t: -0.738700 0.261304 -0.189394 q: -0.122730 0.796800 0.113818 0.580597 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -0.744206 0.255193 -0.192238 q: -0.121407 0.795119 0.102398 0.585286 
wait for imu ... 
time: 1403636763.313555, t: -0.741820 0.251011 -0.194981 q: -0.122962 0.798339 0.101499 0.580718 
wait for imu ... 
time: 1403636763.413555, t: -0.747345 0.250114 -0.201234 q: -0.123370 0.799275 0.101248 0.579386 
wait for imu ... 
time: 1403636763.513556, t: -0.752152 0.243865 -0.204079 q: -0.123617 0.799108 0.101369 0.579543 
time: 1403636763.613555, t: -0.757209 0.245827 -0.211816 q: -0.123217 0.799243 0.101179 0.579475 
wait for imu ... 
time: 1403636763.713556, t: -0.763317 0.243318 -0.213313 q: -0.123336 0.799213 0.100942 0.579532 
time: 1403636763.813555, t: -0.769318 0.240355 -0.218076 q: -0.123541 0.799211 0.100838 0.579509 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720462606.332397763]: Shutdown request received.[0m
[33m[ WARN] [1720462606.332440847]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720462606.333442344]: Shutdown request received.[0m
[33m[ WARN] [1720462606.333474277]: Reason given for shutdown: [user request][0m
killed
