/SLAM-Hive/slam_hive_results/mapping_results/2805/2013_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720462644.823513756]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720462644.825796978]: init begins[0m
[31m[ERROR] [1720462644.826910318]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5379cafc-3d56-11ef-a68f-0242ac110005/roslaunch-eb28aa32c78f-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://eb28aa32c78f:42871/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[1mROS_MASTER_URI=http://eb28aa32c78f:11311/[0m
]2;roscore http://eb28aa32c78f:11311/
[1msetting /run_id to 5379cafc-3d56-11ef-a68f-0242ac110005[0m
[0m[ INFO] [1720462645.981851996]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720462645.987041153]: 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] [1720462646.012851661]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720462646.013226872]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720462646.013295054]: ROW: 240 COL: 376 [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] [1720462646.013878947]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720462646.014457317]: 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
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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720462654.981543970]: 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: 316826076.27 
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] [1720462657.295563291]: gyroscope bias initial calibration -0.00555568 -0.00450157   0.0613998[0m
[0m[ INFO] [1720462657.316922261]: Initialization finish![0m
time: 1403636580.813555, t: -0.016348 0.006643 -0.163798 q: -0.033882 0.837130 0.025854 0.545341 
wait for imu ... 
time: 1403636580.913555, t: -0.011342 0.004648 -0.092359 q: -0.022513 0.828367 0.025242 0.559164 
time: 1403636581.013556, t: -0.009936 0.006452 -0.025689 q: -0.019048 0.819476 0.025424 0.572232 
time: 1403636581.113555, t: -0.008189 0.006485 0.034030 q: -0.021172 0.811512 0.023481 0.583480 
wait for imu ... 
time: 1403636581.213556, t: -0.008021 0.003242 0.084275 q: -0.024059 0.802064 0.018013 0.596482 
time: 1403636581.313555, t: -0.010285 0.000886 0.119031 q: -0.025645 0.792129 0.015620 0.609614 
time: 1403636581.413555, t: -0.017998 -0.004612 0.126608 q: -0.022636 0.788014 0.015486 0.615046 
time: 1403636581.513556, t: -0.023441 -0.011195 0.103242 q: -0.017660 0.792654 0.018297 0.609142 
wait for imu ... 
time: 1403636581.613555, t: -0.031781 -0.018161 0.043367 q: -0.019534 0.800278 0.016648 0.599080 
time: 1403636581.713556, t: -0.037361 -0.023099 -0.032428 q: -0.020646 0.805407 0.016804 0.592124 
wait for imu ... 
time: 1403636581.813555, t: -0.040794 -0.024114 -0.112423 q: -0.024518 0.807545 0.017498 0.589037 
time: 1403636581.913555, t: -0.051960 -0.028313 -0.191762 q: -0.028273 0.811625 0.016647 0.583257 
time: 1403636582.013556, t: -0.062580 -0.033157 -0.265669 q: -0.025954 0.820415 0.012305 0.571047 
wait for imu ... 
time: 1403636582.113555, t: -0.064414 -0.029940 -0.323021 q: -0.022527 0.830580 0.012302 0.556307 
time: 1403636582.213556, t: -0.050893 -0.011082 -0.345916 q: -0.022010 0.838566 0.012719 0.544207 
wait for imu ... 
wait for imu ... 
time: 1403636582.313555, t: -0.041032 -0.001321 -0.320966 q: -0.021713 0.841870 0.013247 0.539080 
time: 1403636582.413555, t: -0.019268 0.012565 -0.243473 q: -0.021154 0.838240 0.011807 0.544764 
time: 1403636582.513556, t: -0.021873 0.012783 -0.181013 q: -0.018511 0.830737 0.011758 0.556233 
time: 1403636582.613555, t: -0.016332 0.015231 -0.110583 q: -0.012108 0.826686 0.010498 0.562435 
time: 1403636582.713556, t: -0.012618 0.013622 -0.042612 q: -0.008666 0.824339 0.007720 0.565977 
wait for imu ... 
time: 1403636582.813555, t: -0.007174 0.009309 0.022196 q: -0.006757 0.819874 0.000965 0.572503 
wait for imu ... 
time: 1403636582.913555, t: -0.001891 0.005040 0.083784 q: -0.003284 0.811392 -0.007829 0.584440 
time: 1403636583.013556, t: 0.000338 0.001398 0.131988 q: -0.000874 0.801541 -0.010606 0.597845 
wait for imu ... 
time: 1403636583.113555, t: -0.000673 -0.000748 0.151988 q: 0.001195 0.797019 -0.009301 0.603881 
time: 1403636583.213556, t: -0.002121 -0.003241 0.138706 q: 0.005685 0.797766 -0.007268 0.602897 
time: 1403636583.313555, t: -0.001536 -0.003850 0.097944 q: 0.004712 0.800256 -0.005498 0.599614 
time: 1403636583.413555, t: -0.001201 -0.005724 0.041619 q: 0.002184 0.803138 -0.003812 0.595777 
wait for imu ... 
time: 1403636583.513556, t: -0.005772 -0.008606 -0.024992 q: 0.000595 0.806910 0.000665 0.590673 
time: 1403636583.613555, t: -0.007908 -0.010909 -0.095556 q: 0.004469 0.812717 0.002356 0.582636 
time: 1403636583.713556, t: -0.011606 -0.011560 -0.163906 q: -0.002480 0.823658 0.001046 0.567080 
time: 1403636583.813555, t: -0.015364 -0.012601 -0.222373 q: -0.008303 0.835826 -0.002442 0.548926 
wait for imu ... 
time: 1403636583.913555, t: -0.020339 -0.014100 -0.269086 q: -0.006366 0.842764 -0.000154 0.538246 
time: 1403636584.013556, t: -0.026494 -0.014154 -0.297516 q: -0.007220 0.845127 0.006563 0.534477 
wait for imu ... 
time: 1403636584.113555, t: -0.025602 -0.009763 -0.299548 q: -0.011967 0.845274 0.010760 0.534091 
wait for imu ... 
time: 1403636584.213556, t: -0.023263 -0.007068 -0.270377 q: -0.013463 0.845210 0.013112 0.534105 
time: 1403636584.313555, t: -0.018545 -0.005396 -0.220694 q: -0.013576 0.843282 0.013288 0.537136 
wait for imu ... 
time: 1403636584.413555, t: -0.010876 -0.005211 -0.157501 q: -0.006634 0.841230 0.014411 0.540444 
wait for imu ... 
time: 1403636584.513556, t: -0.001329 -0.005504 -0.085948 q: -0.000405 0.836619 0.014230 0.547600 
wait for imu ... 
wait for imu ... 
time: 1403636584.613555, t: 0.007794 -0.005243 -0.011336 q: 0.001887 0.828020 0.010230 0.560603 
wait for imu ... 
time: 1403636584.713556, t: 0.013947 -0.004393 0.059332 q: 0.006387 0.815899 0.004728 0.578139 
time: 1403636584.813555, t: 0.016433 -0.001922 0.119444 q: 0.010435 0.805154 0.000510 0.592974 
time: 1403636584.913555, t: 0.014757 -0.000777 0.162541 q: 0.007976 0.798302 -0.003027 0.602197 
time: 1403636585.013556, t: 0.014301 0.000640 0.177556 q: 0.007302 0.797046 -0.008147 0.603820 
wait for imu ... 
time: 1403636585.113555, t: 0.015408 -0.000039 0.163695 q: 0.007607 0.799473 -0.010452 0.600563 
time: 1403636585.213556, t: 0.016829 -0.002263 0.127001 q: 0.011558 0.803032 -0.013539 0.595670 
time: 1403636585.313555, t: 0.017725 -0.006883 0.078871 q: 0.019537 0.806636 -0.011754 0.590609 
wait for imu ... 
time: 1403636585.413555, t: 0.017933 -0.011947 0.025445 q: 0.024665 0.810536 -0.007023 0.585127 
wait for imu ... 
time: 1403636585.513556, t: 0.014841 -0.015350 -0.028462 q: 0.021563 0.816425 -0.000680 0.577049 
time: 1403636585.613555, t: 0.004793 -0.017409 -0.074769 q: 0.011398 0.823322 0.007350 0.567412 
wait for imu ... 
time: 1403636585.713556, t: -0.007379 -0.018228 -0.107284 q: -0.001827 0.831243 0.011179 0.555794 
wait for imu ... 
time: 1403636585.813555, t: -0.019015 -0.018625 -0.125060 q: -0.012905 0.839882 0.010787 0.542509 
time: 1403636585.913555, t: -0.030326 -0.017882 -0.130198 q: -0.021520 0.849748 0.009464 0.526664 
wait for imu ... 
time: 1403636586.013556, t: -0.038800 -0.018049 -0.129818 q: -0.021070 0.861622 0.004073 0.507097 
time: 1403636586.113555, t: -0.044719 -0.017037 -0.126161 q: -0.011302 0.873394 -0.005105 0.486856 
time: 1403636586.213556, t: -0.051233 -0.012553 -0.120474 q: -0.007304 0.882115 -0.013035 0.470797 
wait for imu ... 
time: 1403636586.313555, t: -0.059390 -0.009300 -0.115831 q: -0.008179 0.891161 -0.017064 0.453292 
time: 1403636586.413555, t: -0.069775 -0.008646 -0.113175 q: -0.009900 0.900336 -0.021663 0.434544 
time: 1403636586.513556, t: -0.081608 -0.011465 -0.110645 q: -0.009551 0.908220 -0.020703 0.417872 
wait for imu ... 
time: 1403636586.713556, t: -0.090258 -0.027584 -0.101409 q: -0.013040 0.911921 -0.017725 0.409776 
time: 1403636586.813555, t: -0.086572 -0.036922 -0.099204 q: -0.017553 0.908615 -0.016261 0.416949 
time: 1403636586.913555, t: -0.081628 -0.042569 -0.099844 q: -0.018314 0.905885 -0.012173 0.422952 
wait for imu ... 
time: 1403636587.013556, t: -0.075963 -0.044575 -0.100177 q: -0.020016 0.904572 -0.006093 0.425808 
time: 1403636587.113555, t: -0.070060 -0.046631 -0.099523 q: -0.020283 0.905997 -0.001844 0.422794 
time: 1403636587.213556, t: -0.063673 -0.053069 -0.099772 q: -0.020251 0.907834 0.000601 0.418840 
time: 1403636587.313555, t: -0.056149 -0.066261 -0.101003 q: -0.020478 0.908662 -0.001173 0.417029 
time: 1403636587.413555, t: -0.047592 -0.087004 -0.101769 q: -0.019972 0.909497 -0.004170 0.415209 
wait for imu ... 
time: 1403636587.513556, t: -0.040392 -0.113881 -0.102461 q: -0.021155 0.910490 -0.008454 0.412903 
wait for imu ... 
time: 1403636587.613555, t: -0.033595 -0.147522 -0.102910 q: -0.021135 0.910590 -0.013017 0.412565 
time: 1403636587.713556, t: -0.026746 -0.185011 -0.101332 q: -0.019714 0.908210 -0.019328 0.417602 
time: 1403636587.813555, t: -0.020382 -0.223482 -0.099505 q: -0.016898 0.905306 -0.027250 0.423548 
wait for imu ... 
time: 1403636587.913555, t: -0.016034 -0.260078 -0.100380 q: -0.013449 0.905342 -0.033823 0.423121 
wait for imu ... 
time: 1403636588.013556, t: -0.013240 -0.294106 -0.103949 q: -0.006023 0.909099 -0.040039 0.414608 
time: 1403636588.113555, t: -0.010479 -0.322546 -0.108627 q: -0.003802 0.912351 -0.045472 0.406859 
time: 1403636588.313555, t: -0.007406 -0.354219 -0.116906 q: -0.006120 0.912268 -0.044959 0.407073 
time: 1403636588.413555, t: -0.007447 -0.355335 -0.119920 q: -0.009117 0.910856 -0.045104 0.410151 
time: 1403636588.513556, t: -0.009661 -0.349288 -0.119944 q: -0.007601 0.910883 -0.045767 0.410049 
time: 1403636588.613555, t: -0.013051 -0.334683 -0.116328 q: -0.006528 0.910731 -0.045690 0.410412 
time: 1403636588.713556, t: -0.018433 -0.312684 -0.112887 q: -0.009067 0.910827 -0.044075 0.410329 
wait for imu ... 
time: 1403636588.813555, t: -0.024549 -0.284728 -0.111986 q: -0.011933 0.912226 -0.039698 0.407585 
time: 1403636588.913555, t: -0.030552 -0.250039 -0.111411 q: -0.016157 0.912611 -0.036453 0.406880 
time: 1403636589.013556, t: -0.037238 -0.210531 -0.108347 q: -0.019775 0.911682 -0.031424 0.409216 
wait for imu ... 
time: 1403636589.113555, t: -0.044672 -0.168139 -0.103140 q: -0.023312 0.909582 -0.025042 0.414113 
wait for imu ... 
time: 1403636589.213556, t: -0.051036 -0.123516 -0.097144 q: -0.026083 0.908021 -0.020773 0.417596 
wait for imu ... 
time: 1403636589.413555, t: -0.062998 -0.029380 -0.093066 q: -0.030329 0.910391 -0.009497 0.412527 
wait for imu ... 
time: 1403636589.513556, t: -0.068153 0.017785 -0.093835 q: -0.030955 0.910169 -0.005778 0.413039 
time: 1403636589.613555, t: -0.073987 0.064544 -0.095138 q: -0.032776 0.908986 -0.002625 0.415528 
wait for imu ... 
time: 1403636589.713556, t: -0.080858 0.109914 -0.096440 q: -0.034339 0.908102 0.000754 0.417339 
wait for imu ... 
time: 1403636589.813555, t: -0.087225 0.152968 -0.099699 q: -0.039876 0.908915 0.006063 0.415027 
wait for imu ... 
time: 1403636589.913555, t: -0.091364 0.189576 -0.104604 q: -0.045462 0.911395 0.012581 0.408820 
time: 1403636590.013556, t: -0.093927 0.219271 -0.109625 q: -0.053399 0.911647 0.017646 0.407108 
wait for imu ... 
time: 1403636590.113555, t: -0.097791 0.240680 -0.109267 q: -0.058360 0.908768 0.021942 0.412618 
wait for imu ... 
time: 1403636590.213556, t: -0.098864 0.250936 -0.108342 q: -0.061972 0.906161 0.024533 0.417647 
time: 1403636590.313555, t: -0.101259 0.250495 -0.106123 q: -0.060159 0.906274 0.026045 0.417576 
wait for imu ... 
time: 1403636590.413555, t: -0.104114 0.238487 -0.103584 q: -0.055704 0.907291 0.024230 0.416093 
time: 1403636590.513556, t: -0.105749 0.214310 -0.099842 q: -0.049445 0.907006 0.021092 0.417672 
wait for imu ... 
time: 1403636590.613555, t: -0.105663 0.181107 -0.096002 q: -0.043963 0.905949 0.018213 0.420704 
time: 1403636590.713556, t: -0.103786 0.142240 -0.093884 q: -0.039511 0.905901 0.014255 0.421402 
wait for imu ... 
time: 1403636590.813555, t: -0.100414 0.099646 -0.094301 q: -0.038637 0.907797 0.009447 0.417520 
time: 1403636590.913555, t: -0.095387 0.053752 -0.096528 q: -0.038690 0.910251 0.005405 0.412210 
time: 1403636591.013556, t: -0.089019 0.006319 -0.099313 q: -0.037962 0.910790 0.003927 0.411103 
time: 1403636591.113555, t: -0.081692 -0.039381 -0.101469 q: -0.040842 0.910080 0.003762 0.412399 
time: 1403636591.213556, t: -0.074142 -0.082364 -0.103333 q: -0.042325 0.910347 0.001386 0.411673 
time: 1403636591.313555, t: -0.067054 -0.120019 -0.107711 q: -0.041142 0.911541 -0.001321 0.409145 
wait for imu ... 
time: 1403636591.413555, t: -0.061252 -0.149099 -0.113854 q: -0.038977 0.912433 -0.005453 0.407330 
time: 1403636591.513556, t: -0.054152 -0.169490 -0.122324 q: -0.037023 0.912104 -0.008887 0.408188 
time: 1403636591.613555, t: -0.046104 -0.185524 -0.130088 q: -0.027132 0.908092 -0.018392 0.417487 
time: 1403636591.713556, t: -0.037222 -0.194284 -0.136073 q: -0.017587 0.899555 -0.025661 0.435699 
time: 1403636591.813555, t: -0.029555 -0.199766 -0.137603 q: -0.007908 0.889894 -0.031533 0.455008 
wait for imu ... 
time: 1403636591.913555, t: -0.022527 -0.204163 -0.137311 q: -0.001371 0.883017 -0.038886 0.467726 
wait for imu ... 
time: 1403636592.013556, t: -0.013499 -0.210988 -0.138201 q: 0.001203 0.884154 -0.048906 0.464628 
time: 1403636592.113555, t: 0.002549 -0.221836 -0.140714 q: 0.004951 0.886935 -0.061278 0.457785 
time: 1403636592.213556, t: 0.023232 -0.234302 -0.143182 q: 0.007901 0.890455 -0.070815 0.449457 
wait for imu ... 
wait for imu ... 
time: 1403636592.413555, t: 0.076936 -0.246159 -0.144703 q: 0.001235 0.897087 -0.072051 0.435939 
time: 1403636592.513556, t: 0.109527 -0.238215 -0.142362 q: -0.007594 0.896626 -0.062533 0.438285 
time: 1403636592.613555, t: 0.142376 -0.219943 -0.140469 q: -0.016475 0.892926 -0.046529 0.447489 
wait for imu ... 
time: 1403636592.713556, t: 0.173317 -0.192960 -0.140578 q: -0.024986 0.890369 -0.027839 0.453700 
time: 1403636592.813555, t: 0.197310 -0.155399 -0.141310 q: -0.040358 0.889978 -0.006654 0.454164 
time: 1403636592.913555, t: 0.209494 -0.106399 -0.144915 q: -0.060720 0.891015 0.016069 0.449608 
wait for imu ... 
time: 1403636593.013556, t: 0.206949 -0.049468 -0.147554 q: -0.080057 0.891964 0.038993 0.443250 
time: 1403636593.113555, t: 0.188892 0.011763 -0.147501 q: -0.096277 0.891610 0.062391 0.438030 
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wait for imu ... 
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time: 1403636593.213556, t: 0.156076 0.071964 -0.145068 q: -0.115084 0.889701 0.078758 0.434724 
wait for imu ... 
time: 1403636593.413555, t: 0.064705 0.158755 -0.140807 q: -0.136349 0.889384 0.094907 0.425908 
wait for imu ... 
time: 1403636593.513556, t: 0.014012 0.173775 -0.143599 q: -0.132393 0.891326 0.093735 0.423349 
wait for imu ... 
time: 1403636593.613555, t: -0.034858 0.171311 -0.149899 q: -0.127596 0.895350 0.083015 0.418540 
wait for imu ... 
time: 1403636593.713556, t: -0.080392 0.152614 -0.156765 q: -0.119814 0.901354 0.064387 0.411168 
time: 1403636593.813555, t: -0.118803 0.117497 -0.163009 q: -0.103739 0.906172 0.036366 0.408372 
wait for imu ... 
time: 1403636593.913555, t: -0.147504 0.071197 -0.166907 q: -0.082590 0.905966 0.001410 0.415215 
time: 1403636594.013556, t: -0.168726 0.018570 -0.167081 q: -0.057273 0.902400 -0.033057 0.425796 
wait for imu ... 
time: 1403636594.113555, t: -0.176514 -0.034890 -0.166139 q: -0.032861 0.899237 -0.065285 0.431313 
time: 1403636594.213556, t: -0.169814 -0.090217 -0.167805 q: -0.013201 0.898156 -0.091252 0.429900 
wait for imu ... 
time: 1403636594.313555, t: -0.144625 -0.145501 -0.170656 q: 0.003330 0.897649 -0.106234 0.427702 
time: 1403636594.413555, t: -0.107413 -0.200622 -0.172745 q: 0.017085 0.895742 -0.112459 0.429777 
time: 1403636594.513556, t: -0.057361 -0.246396 -0.175270 q: 0.026118 0.891477 -0.110751 0.438545 
wait for imu ... 
time: 1403636594.613555, t: -0.002860 -0.277268 -0.176850 q: 0.025672 0.886662 -0.110902 0.448187 
time: 1403636594.713556, t: 0.046356 -0.285696 -0.176362 q: 0.021591 0.884063 -0.108471 0.454094 
time: 1403636594.813555, t: 0.089883 -0.264932 -0.179399 q: 0.011956 0.883451 -0.094594 0.458719 
time: 1403636594.913555, t: 0.125321 -0.219093 -0.182897 q: -0.001151 0.883017 -0.070305 0.464045 
time: 1403636595.013556, t: 0.144245 -0.150881 -0.184323 q: -0.021259 0.882696 -0.036928 0.468008 
wait for imu ... 
time: 1403636595.113555, t: 0.147975 -0.072673 -0.187261 q: -0.045113 0.883716 -0.001262 0.465842 
time: 1403636595.213556, t: 0.137738 0.002038 -0.189372 q: -0.069522 0.884760 0.028851 0.459928 
time: 1403636595.313555, t: 0.117533 0.064675 -0.192627 q: -0.090763 0.884954 0.053989 0.453545 
wait for imu ... 
time: 1403636595.413555, t: 0.087197 0.106148 -0.193420 q: -0.102540 0.884752 0.069726 0.449264 
wait for imu ... 
time: 1403636595.513556, t: 0.054759 0.120630 -0.194031 q: -0.107307 0.885623 0.075570 0.445472 
wait for imu ... 
time: 1403636595.613555, t: 0.023371 0.106531 -0.197259 q: -0.106620 0.887779 0.077707 0.440956 
wait for imu ... 
time: 1403636595.713556, t: -0.006947 0.069671 -0.201188 q: -0.097586 0.890599 0.070885 0.438505 
wait for imu ... 
time: 1403636595.813555, t: -0.034240 0.016450 -0.206970 q: -0.077576 0.893051 0.055723 0.439700 
wait for imu ... 
time: 1403636595.913555, t: -0.058321 -0.042716 -0.214234 q: -0.055164 0.895165 0.032659 0.441101 
wait for imu ... 
time: 1403636596.013556, t: -0.084844 -0.095978 -0.219752 q: -0.033989 0.898024 0.007961 0.438559 
wait for imu ... 
time: 1403636596.113555, t: -0.116187 -0.131995 -0.223088 q: -0.016883 0.900426 -0.016489 0.434369 
time: 1403636596.213556, t: -0.148395 -0.142458 -0.222244 q: -0.009469 0.900775 -0.032072 0.432996 
time: 1403636596.313555, t: -0.184199 -0.126596 -0.214508 q: -0.010088 0.899238 -0.040235 0.435489 
time: 1403636596.413555, t: -0.224122 -0.095387 -0.201493 q: -0.008578 0.897037 -0.041540 0.439916 
wait for imu ... 
time: 1403636596.513556, t: -0.263936 -0.059683 -0.188124 q: -0.007424 0.894558 -0.036200 0.445422 
time: 1403636596.613555, t: -0.295471 -0.026409 -0.178007 q: -0.005888 0.893665 -0.031017 0.447623 
wait for imu ... 
time: 1403636596.713556, t: -0.312993 -0.001312 -0.173020 q: -0.006042 0.894882 -0.028962 0.445321 
time: 1403636596.813555, t: -0.311138 0.009780 -0.174315 q: -0.004987 0.893741 -0.024538 0.447884 
time: 1403636596.913555, t: -0.288400 0.009437 -0.177164 q: -0.000931 0.891069 -0.020557 0.453401 
time: 1403636597.013556, t: -0.245813 0.001180 -0.180225 q: 0.003357 0.892097 -0.018833 0.451438 
wait for imu ... 
time: 1403636597.113555, t: -0.189855 -0.012232 -0.184118 q: 0.001961 0.897203 -0.016569 0.441304 
time: 1403636597.213556, t: -0.124748 -0.026263 -0.185389 q: -0.004849 0.900859 -0.006755 0.434033 
time: 1403636597.313555, t: -0.056211 -0.038005 -0.180665 q: -0.012142 0.900486 0.007149 0.434657 
wait for imu ... 
time: 1403636597.413555, t: 0.011801 -0.043906 -0.174840 q: -0.020295 0.898157 0.022592 0.438625 
wait for imu ... 
time: 1403636597.513556, t: 0.071013 -0.042288 -0.170369 q: -0.029244 0.895555 0.040965 0.442094 
time: 1403636597.613555, t: 0.111939 -0.030154 -0.170360 q: -0.045871 0.891139 0.057766 0.447695 
time: 1403636597.713556, t: 0.129629 -0.009356 -0.172142 q: -0.064263 0.885338 0.073069 0.454651 
wait for imu ... 
time: 1403636597.813555, t: 0.122777 0.013809 -0.173328 q: -0.075851 0.879872 0.085705 0.461222 
time: 1403636597.913555, t: 0.095911 0.032609 -0.176167 q: -0.079280 0.876375 0.097481 0.464950 
wait for imu ... 
time: 1403636598.013556, t: 0.057257 0.044226 -0.179725 q: -0.078766 0.876708 0.106165 0.462502 
wait for imu ... 
time: 1403636598.113555, t: 0.012013 0.049451 -0.185389 q: -0.078803 0.881088 0.107542 0.453772 
time: 1403636598.213556, t: -0.030837 0.047059 -0.194656 q: -0.074242 0.889312 0.106131 0.438576 
time: 1403636598.313555, t: -0.062163 0.039645 -0.208376 q: -0.066817 0.897125 0.105212 0.423830 
time: 1403636598.413555, t: -0.075055 0.028141 -0.222728 q: -0.057539 0.900642 0.102811 0.418287 
time: 1403636598.513556, t: -0.067191 0.016315 -0.236939 q: -0.054096 0.899540 0.102505 0.421182 
time: 1403636598.613555, t: -0.041652 0.006881 -0.249595 q: -0.059491 0.893577 0.105502 0.432262 
wait for imu ... 
time: 1403636598.713556, t: -0.008055 -0.000649 -0.263811 q: -0.069549 0.884651 0.110808 0.447522 
time: 1403636598.813555, t: 0.027475 -0.006278 -0.282763 q: -0.082310 0.872960 0.115955 0.466606 
time: 1403636598.913555, t: 0.059819 -0.011357 -0.305977 q: -0.089848 0.861553 0.115547 0.486109 
time: 1403636599.013556, t: 0.086811 -0.015717 -0.330521 q: -0.090777 0.852929 0.116051 0.500804 
wait for imu ... 
time: 1403636599.113555, t: 0.107482 -0.017565 -0.350093 q: -0.099220 0.842971 0.115591 0.515940 
time: 1403636599.213556, t: 0.123901 -0.018332 -0.361865 q: -0.106661 0.827243 0.114552 0.539602 
wait for imu ... 
time: 1403636599.313555, t: 0.136857 -0.018528 -0.370900 q: -0.111456 0.811015 0.109116 0.563849 
time: 1403636599.413555, t: 0.147025 -0.019199 -0.380053 q: -0.109182 0.802546 0.105566 0.576936 
wait for imu ... 
time: 1403636599.513556, t: 0.154561 -0.019548 -0.389408 q: -0.102377 0.802944 0.100873 0.578467 
wait for imu ... 
time: 1403636599.613555, t: 0.158997 -0.020275 -0.397981 q: -0.098423 0.807467 0.095060 0.573823 
wait for imu ... 
time: 1403636599.713556, t: 0.161570 -0.021225 -0.405493 q: -0.096458 0.808443 0.093038 0.573114 
wait for imu ... 
time: 1403636599.813555, t: 0.162014 -0.023621 -0.405817 q: -0.098443 0.798141 0.092772 0.587089 
time: 1403636599.913555, t: 0.161061 -0.025141 -0.407358 q: -0.101274 0.793216 0.090843 0.593549 
wait for imu ... 
time: 1403636600.013556, t: 0.161104 -0.026166 -0.408314 q: -0.101233 0.794478 0.087582 0.592356 
time: 1403636600.113555, t: 0.160865 -0.027947 -0.409408 q: -0.105629 0.792483 0.084553 0.594696 
wait for imu ... 
time: 1403636600.213556, t: 0.160760 -0.028089 -0.409440 q: -0.105550 0.792330 0.084667 0.594898 
wait for imu ... 
time: 1403636600.313555, t: 0.160731 -0.027989 -0.409703 q: -0.106233 0.792441 0.084384 0.594670 
time: 1403636600.413555, t: 0.160724 -0.027936 -0.409679 q: -0.106572 0.792409 0.083980 0.594708 
time: 1403636600.513556, t: 0.160677 -0.028013 -0.409636 q: -0.106624 0.792356 0.083572 0.594827 
time: 1403636600.613555, t: 0.160734 -0.027915 -0.409638 q: -0.106796 0.792481 0.083462 0.594645 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.713556, t: 0.160744 -0.028011 -0.409630 q: -0.106492 0.792637 0.083512 0.594485 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.813555, t: 0.160732 -0.028047 -0.409611 q: -0.106271 0.792652 0.083545 0.594499 
time: 1403636600.913555, t: 0.160753 -0.028050 -0.409604 q: -0.106263 0.792723 0.083477 0.594416 
time: 1403636601.013556, t: 0.160717 -0.028092 -0.409585 q: -0.106078 0.792815 0.083467 0.594328 
wait for imu ... 
time: 1403636601.113555, t: 0.160725 -0.028076 -0.409575 q: -0.106077 0.792869 0.083369 0.594269 
time: 1403636601.213556, t: 0.160694 -0.028090 -0.409572 q: -0.106029 0.792903 0.083347 0.594236 
time: 1403636601.313555, t: 0.160705 -0.028116 -0.409574 q: -0.105979 0.792947 0.083312 0.594190 
time: 1403636601.413555, t: 0.160724 -0.028104 -0.409583 q: -0.106004 0.792994 0.083176 0.594142 
time: 1403636601.513556, t: 0.160694 -0.028136 -0.409586 q: -0.105988 0.792986 0.083085 0.594168 
wait for imu ... 
time: 1403636601.613555, t: 0.160691 -0.028126 -0.409606 q: -0.106002 0.793022 0.082989 0.594131 
time: 1403636601.713556, t: 0.160681 -0.028143 -0.409638 q: -0.105965 0.793023 0.082940 0.594144 
wait for imu ... 
time: 1403636601.813555, t: 0.160732 -0.028152 -0.409657 q: -0.105992 0.793069 0.082930 0.594079 
time: 1403636601.913555, t: 0.160741 -0.028164 -0.409650 q: -0.105897 0.793077 0.082872 0.594094 
time: 1403636602.013556, t: 0.160718 -0.028170 -0.409627 q: -0.105829 0.793098 0.082850 0.594081 
time: 1403636602.113555, t: 0.160729 -0.028174 -0.409622 q: -0.105806 0.793157 0.082798 0.594013 
time: 1403636602.213556, t: 0.160747 -0.028176 -0.409631 q: -0.105753 0.793168 0.082774 0.594011 
wait for imu ... 
time: 1403636602.313555, t: 0.160736 -0.028200 -0.409626 q: -0.105679 0.793222 0.082802 0.593948 
time: 1403636602.413555, t: 0.160743 -0.028227 -0.409645 q: -0.105663 0.793229 0.082820 0.593939 
time: 1403636602.513556, t: 0.160724 -0.028234 -0.409637 q: -0.105540 0.793260 0.082806 0.593922 
time: 1403636602.613555, t: 0.160731 -0.028260 -0.409630 q: -0.105480 0.793300 0.082836 0.593875 
wait for imu ... 
time: 1403636602.713556, t: 0.160728 -0.028257 -0.409639 q: -0.105444 0.793304 0.082788 0.593882 
time: 1403636602.813555, t: 0.160705 -0.028269 -0.409643 q: -0.105354 0.793316 0.082777 0.593884 
time: 1403636602.913555, t: 0.160706 -0.028278 -0.409634 q: -0.105300 0.793336 0.082803 0.593863 
time: 1403636603.013556, t: 0.160701 -0.028281 -0.409636 q: -0.105205 0.793337 0.082782 0.593881 
wait for imu ... 
time: 1403636603.113555, t: 0.160691 -0.028273 -0.409640 q: -0.105132 0.793340 0.082772 0.593892 
time: 1403636603.213556, t: 0.160677 -0.028277 -0.409624 q: -0.105137 0.793394 0.082742 0.593823 
wait for imu ... 
time: 1403636603.313555, t: 0.160683 -0.028286 -0.409632 q: -0.105093 0.793385 0.082755 0.593842 
time: 1403636603.413555, t: 0.160690 -0.028294 -0.409640 q: -0.105047 0.793373 0.082741 0.593867 
wait for imu ... 
time: 1403636603.513556, t: 0.160676 -0.028274 -0.409623 q: -0.104973 0.793436 0.082724 0.593799 
time: 1403636603.613555, t: 0.160678 -0.028278 -0.409621 q: -0.104958 0.793457 0.082730 0.593772 
time: 1403636603.713556, t: 0.160673 -0.028280 -0.409616 q: -0.104920 0.793478 0.082696 0.593756 
time: 1403636603.813555, t: 0.160660 -0.028294 -0.409616 q: -0.104878 0.793530 0.082698 0.593694 
time: 1403636603.913555, t: 0.160636 -0.028288 -0.409649 q: -0.104931 0.793514 0.082638 0.593714 
time: 1403636604.013556, t: 0.160639 -0.028291 -0.409639 q: -0.104933 0.793496 0.082597 0.593743 
time: 1403636604.113555, t: 0.160665 -0.028306 -0.409647 q: -0.104889 0.793500 0.082592 0.593746 
time: 1403636604.213556, t: 0.160651 -0.028311 -0.409646 q: -0.104810 0.793516 0.082611 0.593736 
time: 1403636604.313555, t: 0.160654 -0.028324 -0.409635 q: -0.104782 0.793534 0.082582 0.593721 
time: 1403636604.413555, t: 0.160646 -0.028326 -0.409626 q: -0.104749 0.793574 0.082615 0.593668 
time: 1403636604.513556, t: 0.160659 -0.028339 -0.409638 q: -0.104679 0.793559 0.082606 0.593702 
time: 1403636604.613555, t: 0.160661 -0.028341 -0.409662 q: -0.104641 0.793562 0.082583 0.593708 
wait for imu ... 
time: 1403636604.713556, t: 0.160660 -0.028355 -0.409648 q: -0.104637 0.793582 0.082617 0.593678 
time: 1403636604.813555, t: 0.160650 -0.028353 -0.409638 q: -0.104552 0.793602 0.082656 0.593660 
wait for imu ... 
time: 1403636604.913555, t: 0.160645 -0.028351 -0.409627 q: -0.104534 0.793637 0.082625 0.593621 
time: 1403636605.013556, t: 0.160647 -0.028368 -0.409624 q: -0.104519 0.793658 0.082626 0.593596 
wait for imu ... 
time: 1403636605.113555, t: 0.160655 -0.028375 -0.409632 q: -0.104449 0.793651 0.082668 0.593612 
time: 1403636605.213556, t: 0.160644 -0.028382 -0.409630 q: -0.104462 0.793676 0.082616 0.593583 
wait for imu ... 
time: 1403636605.313555, t: 0.160636 -0.028391 -0.409635 q: -0.104414 0.793667 0.082633 0.593601 
time: 1403636605.413555, t: 0.160634 -0.028383 -0.409636 q: -0.104420 0.793692 0.082590 0.593573 
time: 1403636605.513556, t: 0.160634 -0.028390 -0.409630 q: -0.104428 0.793723 0.082572 0.593533 
time: 1403636605.613555, t: 0.160630 -0.028387 -0.409622 q: -0.104383 0.793735 0.082570 0.593525 
wait for imu ... 
wait for imu ... 
time: 1403636605.713556, t: 0.160306 -0.028371 -0.409547 q: -0.104370 0.793731 0.082564 0.593532 
time: 1403636605.813555, t: 0.160327 -0.028308 -0.409522 q: -0.104266 0.793770 0.082568 0.593499 
wait for imu ... 
time: 1403636605.913555, t: 0.160339 -0.028315 -0.409523 q: -0.104263 0.793804 0.082565 0.593454 
time: 1403636606.013556, t: 0.160344 -0.028320 -0.409524 q: -0.104231 0.793812 0.082564 0.593449 
wait for imu ... 
time: 1403636606.113555, t: 0.160331 -0.028315 -0.409524 q: -0.104217 0.793812 0.082530 0.593456 
time: 1403636606.213556, t: 0.160329 -0.028307 -0.409521 q: -0.104174 0.793819 0.082531 0.593454 
wait for imu ... 
time: 1403636606.313555, t: 0.160326 -0.028316 -0.409525 q: -0.104135 0.793838 0.082513 0.593437 
time: 1403636606.413555, t: 0.160320 -0.028316 -0.409524 q: -0.104120 0.793837 0.082504 0.593444 
wait for imu ... 
time: 1403636606.513556, t: 0.160329 -0.028332 -0.409536 q: -0.104151 0.793847 0.082468 0.593430 
time: 1403636606.613555, t: 0.160332 -0.028327 -0.409551 q: -0.104079 0.793826 0.082501 0.593466 
wait for imu ... 
time: 1403636606.713556, t: 0.160327 -0.028328 -0.409551 q: -0.104057 0.793828 0.082513 0.593465 
time: 1403636606.813555, t: 0.160330 -0.028332 -0.409540 q: -0.104031 0.793862 0.082508 0.593425 
time: 1403636606.913555, t: 0.160330 -0.028334 -0.409527 q: -0.103988 0.793895 0.082505 0.593388 
time: 1403636607.013556, t: 0.160322 -0.028337 -0.409526 q: -0.103972 0.793894 0.082474 0.593397 
time: 1403636607.113555, t: 0.160326 -0.028347 -0.409527 q: -0.103962 0.793914 0.082495 0.593369 
time: 1403636607.213556, t: 0.160318 -0.028342 -0.409516 q: -0.103907 0.793948 0.082487 0.593334 
time: 1403636607.313555, t: 0.160316 -0.028344 -0.409503 q: -0.103873 0.793971 0.082486 0.593309 
time: 1403636607.413555, t: 0.160295 -0.028344 -0.409496 q: -0.103846 0.793989 0.082463 0.593293 
wait for imu ... 
time: 1403636607.513556, t: 0.160305 -0.028364 -0.409510 q: -0.103845 0.793977 0.082472 0.593308 
time: 1403636607.613555, t: 0.160284 -0.028343 -0.409494 q: -0.103750 0.793986 0.082482 0.593311 
wait for imu ... 
time: 1403636607.713556, t: 0.160292 -0.028355 -0.409488 q: -0.103735 0.794037 0.082460 0.593249 
time: 1403636607.813555, t: 0.160279 -0.028358 -0.409486 q: -0.103709 0.794033 0.082475 0.593257 
time: 1403636607.913555, t: 0.160289 -0.028366 -0.409497 q: -0.103730 0.794039 0.082414 0.593254 
time: 1403636608.013556, t: 0.160287 -0.028355 -0.409483 q: -0.103655 0.794061 0.082444 0.593233 
wait for imu ... 
time: 1403636608.113555, t: 0.160260 -0.028363 -0.409482 q: -0.103644 0.794068 0.082423 0.593229 
time: 1403636608.313555, t: 0.160287 -0.028385 -0.409505 q: -0.103665 0.794060 0.082424 0.593236 
time: 1403636608.413555, t: 0.160286 -0.028386 -0.409501 q: -0.103657 0.794077 0.082412 0.593217 
wait for imu ... 
time: 1403636608.513556, t: 0.160266 -0.028394 -0.409501 q: -0.103662 0.794077 0.082391 0.593218 
time: 1403636608.613555, t: 0.160265 -0.028393 -0.409509 q: -0.103619 0.794063 0.082405 0.593243 
wait for imu ... 
time: 1403636608.713556, t: 0.160262 -0.028381 -0.409507 q: -0.103540 0.794073 0.082414 0.593242 
time: 1403636608.813555, t: 0.160254 -0.028386 -0.409490 q: -0.103534 0.794103 0.082423 0.593201 
wait for imu ... 
time: 1403636608.913555, t: 0.160258 -0.028391 -0.409494 q: -0.103535 0.794116 0.082405 0.593186 
time: 1403636609.013556, t: 0.160260 -0.028395 -0.409491 q: -0.103528 0.794126 0.082393 0.593176 
wait for imu ... 
time: 1403636609.113555, t: 0.160263 -0.028404 -0.409498 q: -0.103541 0.794117 0.082405 0.593184 
wait for imu ... 
time: 1403636609.213556, t: 0.160256 -0.028415 -0.409513 q: -0.103575 0.794091 0.082367 0.593217 
time: 1403636609.313555, t: 0.160267 -0.028414 -0.409516 q: -0.103535 0.794108 0.082385 0.593199 
time: 1403636609.413555, t: 0.160243 -0.028404 -0.409498 q: -0.103507 0.794132 0.082361 0.593176 
wait for imu ... 
time: 1403636609.513556, t: 0.160239 -0.028402 -0.409488 q: -0.103477 0.794147 0.082369 0.593160 
time: 1403636609.613555, t: 0.160240 -0.028408 -0.409506 q: -0.103492 0.794137 0.082349 0.593173 
time: 1403636609.713556, t: 0.160244 -0.028431 -0.409509 q: -0.103467 0.794135 0.082357 0.593180 
time: 1403636609.813555, t: 0.160218 -0.028428 -0.409519 q: -0.103535 0.794220 0.082330 0.593057 
time: 1403636609.913555, t: 0.160216 -0.028427 -0.409490 q: -0.103527 0.794180 0.082285 0.593119 
wait for imu ... 
time: 1403636610.013556, t: 0.160221 -0.028426 -0.409483 q: -0.103503 0.794185 0.082260 0.593120 
time: 1403636610.113555, t: 0.160192 -0.028431 -0.409495 q: -0.103543 0.794179 0.082230 0.593125 
time: 1403636610.213556, t: 0.160199 -0.028424 -0.409488 q: -0.103524 0.794192 0.082213 0.593113 
wait for imu ... 
time: 1403636610.313555, t: 0.160468 -0.028208 -0.409784 q: -0.105128 0.792827 0.082956 0.594552 
time: 1403636610.413555, t: 0.160553 -0.028098 -0.409759 q: -0.105723 0.792546 0.083311 0.594771 
wait for imu ... 
time: 1403636610.513556, t: 0.160564 -0.028029 -0.409781 q: -0.106194 0.792456 0.083546 0.594774 
time: 1403636610.613555, t: 0.160559 -0.027973 -0.409774 q: -0.106470 0.792401 0.083675 0.594780 
time: 1403636610.713556, t: 0.160571 -0.027931 -0.409767 q: -0.106656 0.792391 0.083795 0.594743 
time: 1403636610.813555, t: 0.160642 -0.027906 -0.409703 q: -0.106597 0.792482 0.083991 0.594604 
time: 1403636610.913555, t: 0.160653 -0.027914 -0.409708 q: -0.106598 0.792459 0.084146 0.594614 
wait for imu ... 
time: 1403636611.013556, t: 0.160658 -0.027888 -0.409708 q: -0.106792 0.792384 0.084092 0.594687 
time: 1403636611.113555, t: 0.161020 -0.027948 -0.409840 q: -0.107016 0.792410 0.084065 0.594615 
time: 1403636611.213556, t: 0.161006 -0.028036 -0.409900 q: -0.107082 0.792431 0.084099 0.594571 
time: 1403636611.313555, t: 0.161027 -0.028014 -0.409923 q: -0.107104 0.792424 0.084032 0.594586 
time: 1403636611.413555, t: 0.160985 -0.027913 -0.409903 q: -0.107490 0.792376 0.083954 0.594590 
time: 1403636611.513556, t: 0.161198 -0.028675 -0.410251 q: -0.106628 0.792351 0.084095 0.594760 
wait for imu ... 
time: 1403636611.613555, t: 0.161243 -0.028563 -0.410296 q: -0.107166 0.792342 0.084025 0.594685 
time: 1403636611.713556, t: 0.161144 -0.028637 -0.410268 q: -0.107175 0.792184 0.083861 0.594916 
time: 1403636611.813555, t: 0.161075 -0.028477 -0.410305 q: -0.107943 0.792303 0.083335 0.594692 
time: 1403636611.913555, t: 0.161109 -0.028601 -0.410315 q: -0.107447 0.792281 0.083791 0.594748 
time: 1403636612.013556, t: 0.161177 -0.028378 -0.410232 q: -0.108302 0.792194 0.083398 0.594764 
time: 1403636612.113555, t: 0.161156 -0.028247 -0.410273 q: -0.108597 0.792329 0.083169 0.594562 
time: 1403636612.213556, t: 0.161135 -0.028303 -0.410302 q: -0.108449 0.792367 0.083298 0.594521 
time: 1403636612.313555, t: 0.161056 -0.028291 -0.410317 q: -0.108745 0.792234 0.083127 0.594668 
time: 1403636612.413555, t: 0.160796 -0.028285 -0.410091 q: -0.108207 0.792223 0.083424 0.594739 
time: 1403636612.513556, t: 0.161035 -0.028383 -0.410127 q: -0.107961 0.792245 0.083530 0.594740 
time: 1403636612.613555, t: 0.161056 -0.028501 -0.410200 q: -0.107754 0.792201 0.083625 0.594822 
time: 1403636612.713556, t: 0.161101 -0.028516 -0.410169 q: -0.107848 0.792198 0.083681 0.594802 
time: 1403636612.813555, t: 0.161083 -0.028588 -0.410162 q: -0.107541 0.792189 0.083763 0.594858 
time: 1403636612.913555, t: 0.161077 -0.028656 -0.410157 q: -0.107339 0.792186 0.083924 0.594875 
wait for imu ... 
wait for imu ... 
time: 1403636613.113555, t: 0.161095 -0.028722 -0.410192 q: -0.107190 0.792134 0.084105 0.594946 
time: 1403636613.213556, t: 0.161084 -0.028706 -0.410205 q: -0.107206 0.792084 0.083993 0.595025 
time: 1403636613.313555, t: 0.161128 -0.028718 -0.410200 q: -0.107319 0.792026 0.083941 0.595089 
time: 1403636613.413555, t: 0.161116 -0.028677 -0.410197 q: -0.107159 0.792129 0.083980 0.594975 
time: 1403636613.513556, t: 0.161122 -0.028657 -0.410179 q: -0.107170 0.792118 0.083925 0.594997 
time: 1403636613.613555, t: 0.161116 -0.028656 -0.410195 q: -0.107171 0.792117 0.083917 0.594998 
wait for imu ... 
time: 1403636613.713556, t: 0.161100 -0.028629 -0.410208 q: -0.107313 0.792099 0.083810 0.595012 
time: 1403636613.813555, t: 0.161096 -0.028609 -0.410191 q: -0.107340 0.792111 0.083774 0.594996 
time: 1403636613.913555, t: 0.161097 -0.028613 -0.410203 q: -0.107321 0.792134 0.083810 0.594963 
time: 1403636614.013556, t: 0.161101 -0.028606 -0.410208 q: -0.107404 0.792130 0.083750 0.594963 
wait for imu ... 
time: 1403636614.113555, t: 0.161095 -0.028598 -0.410216 q: -0.107372 0.792099 0.083753 0.595009 
time: 1403636614.213556, t: 0.161063 -0.028653 -0.410211 q: -0.107648 0.792058 0.083804 0.595007 
time: 1403636614.313555, t: 0.160860 -0.028705 -0.410229 q: -0.106991 0.792058 0.083747 0.595134 
time: 1403636614.413555, t: 0.160826 -0.028610 -0.410211 q: -0.106801 0.792169 0.083542 0.595049 
time: 1403636614.513556, t: 0.160840 -0.028608 -0.410188 q: -0.106849 0.792118 0.083559 0.595106 
wait for imu ... 
time: 1403636614.613555, t: 0.160862 -0.028611 -0.410220 q: -0.107026 0.792114 0.083619 0.595070 
time: 1403636614.713556, t: 0.160881 -0.028580 -0.410237 q: -0.107209 0.792026 0.083715 0.595142 
wait for imu ... 
time: 1403636614.813555, t: 0.160888 -0.028585 -0.410221 q: -0.107120 0.792031 0.083766 0.595143 
wait for imu ... 
time: 1403636614.913555, t: 0.160891 -0.028582 -0.410255 q: -0.107178 0.792014 0.083800 0.595151 
time: 1403636615.013556, t: 0.160899 -0.028569 -0.410241 q: -0.107232 0.791970 0.083812 0.595198 
time: 1403636615.113555, t: 0.160895 -0.028580 -0.410254 q: -0.107180 0.792010 0.083911 0.595140 
wait for imu ... 
time: 1403636615.213556, t: 0.160895 -0.028580 -0.410240 q: -0.107159 0.791994 0.083927 0.595163 
time: 1403636615.313555, t: 0.160883 -0.028574 -0.410238 q: -0.107152 0.792015 0.083922 0.595137 
time: 1403636615.413555, t: 0.160891 -0.028571 -0.410250 q: -0.107145 0.791995 0.083891 0.595169 
time: 1403636615.513556, t: 0.160891 -0.028576 -0.410242 q: -0.107167 0.791997 0.083893 0.595162 
time: 1403636615.613555, t: 0.160890 -0.028571 -0.410235 q: -0.107152 0.792014 0.083917 0.595139 
time: 1403636615.713556, t: 0.160897 -0.028570 -0.410229 q: -0.107178 0.792020 0.083920 0.595126 
time: 1403636615.813555, t: 0.160891 -0.028576 -0.410254 q: -0.107163 0.791965 0.083875 0.595208 
time: 1403636615.913555, t: 0.160899 -0.028574 -0.410234 q: -0.107151 0.792007 0.083901 0.595151 
time: 1403636616.013556, t: 0.160892 -0.028571 -0.410243 q: -0.107197 0.792003 0.083886 0.595149 
time: 1403636616.113555, t: 0.160889 -0.028577 -0.410249 q: -0.107198 0.791985 0.083865 0.595176 
wait for imu ... 
time: 1403636616.213556, t: 0.160895 -0.028572 -0.410235 q: -0.107181 0.792005 0.083901 0.595148 
time: 1403636616.313555, t: 0.160888 -0.028574 -0.410236 q: -0.107170 0.791995 0.083900 0.595163 
wait for imu ... 
time: 1403636616.413555, t: 0.160903 -0.028586 -0.410248 q: -0.107214 0.792009 0.083891 0.595138 
time: 1403636616.513556, t: 0.160881 -0.028566 -0.410240 q: -0.107197 0.791984 0.083871 0.595177 
time: 1403636616.613555, t: 0.160891 -0.028568 -0.410239 q: -0.107192 0.792015 0.083901 0.595132 
time: 1403636616.713556, t: 0.160900 -0.028577 -0.410246 q: -0.107226 0.792002 0.083894 0.595145 
wait for imu ... 
time: 1403636616.813555, t: 0.160892 -0.028574 -0.410251 q: -0.107241 0.792004 0.083897 0.595139 
time: 1403636616.913555, t: 0.160891 -0.028566 -0.410241 q: -0.107213 0.791996 0.083873 0.595158 
time: 1403636617.013556, t: 0.160888 -0.028578 -0.410247 q: -0.107211 0.791990 0.083899 0.595162 
wait for imu ... 
time: 1403636617.113555, t: 0.160887 -0.028566 -0.410244 q: -0.107179 0.791999 0.083882 0.595159 
time: 1403636617.213556, t: 0.160892 -0.028574 -0.410243 q: -0.107233 0.791984 0.083869 0.595171 
wait for imu ... 
time: 1403636617.313555, t: 0.160893 -0.028573 -0.410249 q: -0.107202 0.791992 0.083856 0.595168 
time: 1403636617.413555, t: 0.160899 -0.028579 -0.410247 q: -0.107210 0.792003 0.083864 0.595151 
time: 1403636617.513556, t: 0.160894 -0.028581 -0.410243 q: -0.107210 0.791991 0.083880 0.595165 
time: 1403636617.713556, t: 0.160891 -0.028577 -0.410255 q: -0.107209 0.791977 0.083882 0.595183 
wait for imu ... 
time: 1403636617.813555, t: 0.160885 -0.028572 -0.410239 q: -0.107192 0.791996 0.083868 0.595162 
time: 1403636617.913555, t: 0.160881 -0.028572 -0.410246 q: -0.107170 0.792001 0.083878 0.595158 
time: 1403636618.013556, t: 0.160892 -0.028573 -0.410247 q: -0.107186 0.791994 0.083873 0.595166 
time: 1403636618.113555, t: 0.160899 -0.028581 -0.410250 q: -0.107193 0.791989 0.083868 0.595172 
time: 1403636618.213556, t: 0.160895 -0.028577 -0.410246 q: -0.107170 0.792001 0.083903 0.595155 
time: 1403636618.313555, t: 0.160884 -0.028577 -0.410241 q: -0.107195 0.792001 0.083869 0.595156 
time: 1403636618.413555, t: 0.160894 -0.028578 -0.410254 q: -0.107204 0.791974 0.083857 0.595191 
time: 1403636618.513556, t: 0.160864 -0.028544 -0.410227 q: -0.107396 0.791966 0.084254 0.595111 
wait for imu ... 
time: 1403636618.613555, t: 0.160771 -0.028551 -0.410106 q: -0.107398 0.792043 0.084188 0.595018 
time: 1403636618.713556, t: 0.160782 -0.028574 -0.410114 q: -0.107195 0.792109 0.083819 0.595018 
wait for imu ... 
time: 1403636618.813555, t: 0.160791 -0.028584 -0.410127 q: -0.107425 0.792072 0.083962 0.595006 
time: 1403636618.913555, t: 0.160739 -0.028497 -0.410104 q: -0.107700 0.792038 0.084094 0.594983 
wait for imu ... 
time: 1403636619.013556, t: 0.160745 -0.028492 -0.410085 q: -0.107711 0.792042 0.084054 0.594982 
time: 1403636619.113555, t: 0.160779 -0.028548 -0.410103 q: -0.107565 0.792079 0.083887 0.594982 
wait for imu ... 
time: 1403636619.213556, t: 0.160805 -0.028552 -0.410102 q: -0.107302 0.792097 0.083727 0.595028 
time: 1403636619.313555, t: 0.160824 -0.028559 -0.410128 q: -0.107268 0.792075 0.083939 0.595034 
time: 1403636619.413555, t: 0.160809 -0.028516 -0.410099 q: -0.107538 0.792007 0.084223 0.595036 
wait for imu ... 
time: 1403636619.513556, t: 0.160315 -0.028524 -0.410077 q: -0.107340 0.792105 0.083905 0.594985 
time: 1403636619.613555, t: 0.160404 -0.028525 -0.410060 q: -0.107210 0.792125 0.083815 0.594996 
wait for imu ... 
time: 1403636619.713556, t: 0.160429 -0.028541 -0.410044 q: -0.107144 0.792132 0.083783 0.595002 
time: 1403636619.813555, t: 0.160414 -0.028531 -0.410070 q: -0.107181 0.792117 0.083775 0.595017 
time: 1403636619.913555, t: 0.160462 -0.028532 -0.410077 q: -0.107235 0.792091 0.083751 0.595045 
wait for imu ... 
time: 1403636620.013556, t: 0.160403 -0.028522 -0.410049 q: -0.107274 0.792133 0.083830 0.594971 
wait for imu ... 
time: 1403636620.213556, t: 0.160400 -0.028550 -0.410049 q: -0.107194 0.792108 0.083922 0.595006 
time: 1403636620.313555, t: 0.160390 -0.028533 -0.410042 q: -0.107154 0.792129 0.083836 0.594997 
time: 1403636620.413555, t: 0.160375 -0.028533 -0.410030 q: -0.107207 0.792132 0.083890 0.594975 
wait for imu ... 
time: 1403636620.513556, t: 0.160520 -0.028530 -0.410102 q: -0.107235 0.792113 0.083821 0.595006 
wait for imu ... 
time: 1403636620.713556, t: 0.160465 -0.028550 -0.410094 q: -0.107248 0.792067 0.083862 0.595059 
time: 1403636620.813555, t: 0.160387 -0.028568 -0.410039 q: -0.107273 0.792128 0.083834 0.594977 
wait for imu ... 
time: 1403636620.913555, t: 0.160382 -0.028541 -0.410047 q: -0.107271 0.792137 0.083773 0.594974 
wait for imu ... 
time: 1403636621.013556, t: 0.160453 -0.028544 -0.410049 q: -0.107236 0.792163 0.083798 0.594943 
time: 1403636621.113555, t: 0.160501 -0.028549 -0.410077 q: -0.107339 0.792075 0.083785 0.595043 
time: 1403636621.213556, t: 0.160451 -0.028540 -0.410028 q: -0.107244 0.792063 0.083836 0.595069 
time: 1403636621.313555, t: 0.160414 -0.028536 -0.410015 q: -0.107207 0.792140 0.083819 0.594975 
wait for imu ... 
time: 1403636621.413555, t: 0.160506 -0.028553 -0.410066 q: -0.107288 0.792145 0.083769 0.594960 
wait for imu ... 
time: 1403636621.513556, t: 0.160462 -0.028570 -0.410067 q: -0.107226 0.792100 0.083830 0.595023 
time: 1403636621.613555, t: 0.160369 -0.028578 -0.410012 q: -0.107179 0.792146 0.083791 0.594976 
wait for imu ... 
time: 1403636621.713556, t: 0.160510 -0.028552 -0.410062 q: -0.107180 0.792122 0.083841 0.595001 
time: 1403636621.813555, t: 0.160446 -0.028586 -0.410038 q: -0.107138 0.792100 0.083911 0.595027 
wait for imu ... 
time: 1403636621.913555, t: 0.160423 -0.028571 -0.410010 q: -0.107062 0.792144 0.083903 0.594984 
time: 1403636622.013556, t: 0.160472 -0.028586 -0.410015 q: -0.107016 0.792120 0.083951 0.595017 
wait for imu ... 
time: 1403636622.113555, t: 0.160431 -0.028591 -0.410010 q: -0.107063 0.792112 0.083950 0.595020 
time: 1403636622.213556, t: 0.160546 -0.028586 -0.410055 q: -0.107172 0.792092 0.083942 0.595027 
wait for imu ... 
time: 1403636622.313555, t: 0.160423 -0.028587 -0.410012 q: -0.107099 0.792103 0.083917 0.595029 
time: 1403636622.413555, t: 0.160546 -0.028582 -0.410052 q: -0.107148 0.792122 0.083894 0.594999 
time: 1403636622.513556, t: 0.160450 -0.028602 -0.410031 q: -0.107135 0.792093 0.083901 0.595039 
time: 1403636622.613555, t: 0.160446 -0.028595 -0.410031 q: -0.107060 0.792121 0.083916 0.595013 
time: 1403636622.713556, t: 0.160457 -0.028599 -0.410029 q: -0.107163 0.792101 0.083852 0.595031 
time: 1403636622.813555, t: 0.160489 -0.028602 -0.410019 q: -0.107100 0.792115 0.083848 0.595024 
wait for imu ... 
time: 1403636622.913555, t: 0.160508 -0.028684 -0.409978 q: -0.107004 0.791994 0.083713 0.595221 
time: 1403636623.013556, t: 0.160574 -0.028715 -0.409927 q: -0.106939 0.791938 0.083682 0.595311 
time: 1403636623.113555, t: 0.160600 -0.028774 -0.409875 q: -0.106998 0.791957 0.083600 0.595287 
time: 1403636623.213556, t: 0.160596 -0.028786 -0.409891 q: -0.106933 0.791944 0.083613 0.595314 
time: 1403636623.313555, t: 0.160620 -0.028826 -0.409905 q: -0.106857 0.791878 0.083615 0.595415 
wait for imu ... 
time: 1403636623.413555, t: 0.160627 -0.028855 -0.409888 q: -0.106908 0.791895 0.083595 0.595387 
time: 1403636623.513556, t: 0.160695 -0.028837 -0.409886 q: -0.106899 0.791915 0.083480 0.595377 
time: 1403636623.613555, t: 0.160741 -0.028862 -0.409837 q: -0.106843 0.792020 0.083307 0.595273 
time: 1403636623.713556, t: 0.160725 -0.028893 -0.409845 q: -0.106722 0.792018 0.083229 0.595307 
time: 1403636623.813555, t: 0.160750 -0.028941 -0.409857 q: -0.106439 0.792298 0.082874 0.595034 
time: 1403636623.913555, t: 0.160751 -0.028992 -0.409852 q: -0.106162 0.792336 0.082633 0.595067 
time: 1403636624.013556, t: 0.160712 -0.029056 -0.409785 q: -0.106070 0.792392 0.082503 0.595027 
time: 1403636624.113555, t: 0.160682 -0.029086 -0.409725 q: -0.105506 0.792766 0.081872 0.594717 
wait for imu ... 
time: 1403636624.313555, t: 0.160468 -0.029635 -0.409607 q: -0.104062 0.794809 0.081571 0.592280 
time: 1403636624.413555, t: 0.158847 -0.032882 -0.409849 q: -0.100302 0.800156 0.081027 0.585769 
wait for imu ... 
time: 1403636624.513556, t: 0.154909 -0.038988 -0.410014 q: -0.097439 0.806061 0.079093 0.578374 
time: 1403636624.613555, t: 0.150106 -0.047162 -0.409092 q: -0.093655 0.808813 0.078710 0.575200 
wait for imu ... 
time: 1403636624.713556, t: 0.145936 -0.058673 -0.410328 q: -0.087358 0.807232 0.081893 0.577961 
time: 1403636624.813555, t: 0.138914 -0.073145 -0.410785 q: -0.078569 0.807462 0.088067 0.577993 
wait for imu ... 
time: 1403636624.913555, t: 0.127950 -0.090164 -0.405215 q: -0.065967 0.812868 0.098134 0.570319 
time: 1403636625.013556, t: 0.114051 -0.107007 -0.390277 q: -0.055294 0.819210 0.107059 0.560692 
time: 1403636625.113555, t: 0.100977 -0.119241 -0.367900 q: -0.051832 0.825468 0.110497 0.551096 
wait for imu ... 
time: 1403636625.213556, t: 0.093670 -0.124815 -0.340039 q: -0.058919 0.826818 0.105219 0.549390 
time: 1403636625.313555, t: 0.090947 -0.127265 -0.313737 q: -0.065196 0.822922 0.101504 0.555200 
time: 1403636625.413555, t: 0.090967 -0.128363 -0.306351 q: -0.067995 0.822321 0.101221 0.555805 
time: 1403636625.513556, t: 0.092404 -0.127898 -0.313349 q: -0.068313 0.824832 0.101933 0.551901 
wait for imu ... 
time: 1403636625.613555, t: 0.096991 -0.125607 -0.318935 q: -0.068169 0.825178 0.103868 0.551040 
time: 1403636625.713556, t: 0.105828 -0.120967 -0.309306 q: -0.069630 0.822390 0.104526 0.554888 
wait for imu ... 
time: 1403636625.813555, t: 0.118315 -0.113692 -0.282722 q: -0.071600 0.816420 0.104192 0.563450 
wait for imu ... 
time: 1403636625.913555, t: 0.132200 -0.104740 -0.240935 q: -0.075380 0.810855 0.102344 0.571277 
time: 1403636626.013556, t: 0.145477 -0.096513 -0.192395 q: -0.078057 0.807729 0.101343 0.575509 
time: 1403636626.113555, t: 0.158376 -0.087628 -0.146466 q: -0.086524 0.806978 0.096159 0.576241 
time: 1403636626.213556, t: 0.169745 -0.081457 -0.105198 q: -0.095051 0.806526 0.090758 0.576407 
time: 1403636626.313555, t: 0.179537 -0.077943 -0.074899 q: -0.098404 0.806323 0.088765 0.576438 
time: 1403636626.413555, t: 0.188044 -0.078837 -0.058649 q: -0.097137 0.805728 0.089989 0.577294 
wait for imu ... 
time: 1403636626.513556, t: 0.198018 -0.082789 -0.052487 q: -0.092397 0.802985 0.094030 0.581237 
time: 1403636626.613555, t: 0.203077 -0.092754 -0.048432 q: -0.087925 0.798311 0.099111 0.587491 
wait for imu ... 
time: 1403636626.713556, t: 0.206666 -0.102289 -0.051615 q: -0.085546 0.796719 0.102691 0.589386 
time: 1403636626.813555, t: 0.206722 -0.111261 -0.059097 q: -0.085468 0.799715 0.104857 0.584941 
time: 1403636626.913555, t: 0.202529 -0.121423 -0.069663 q: -0.084775 0.804292 0.106610 0.578414 
wait for imu ... 
time: 1403636627.013556, t: 0.195948 -0.132285 -0.082343 q: -0.082946 0.809538 0.108123 0.571032 
wait for imu ... 
time: 1403636627.113555, t: 0.189743 -0.142845 -0.092597 q: -0.081530 0.814636 0.108939 0.563785 
wait for imu ... 
time: 1403636627.213556, t: 0.184590 -0.152442 -0.090639 q: -0.081652 0.812462 0.108801 0.566922 
wait for imu ... 
time: 1403636627.313555, t: 0.180239 -0.161780 -0.078210 q: -0.083139 0.808180 0.107961 0.572955 
time: 1403636627.413555, t: 0.175171 -0.171486 -0.057905 q: -0.084963 0.807194 0.106706 0.574311 
time: 1403636627.513556, t: 0.169039 -0.182247 -0.031953 q: -0.085313 0.807676 0.102665 0.574318 
time: 1403636627.613555, t: 0.162135 -0.194540 -0.016836 q: -0.081182 0.809910 0.095486 0.573007 
wait for imu ... 
time: 1403636627.713556, t: 0.154622 -0.206768 -0.019416 q: -0.074744 0.815319 0.089183 0.567199 
time: 1403636627.813555, t: 0.148737 -0.221206 -0.031058 q: -0.065656 0.822951 0.081002 0.558461 
wait for imu ... 
time: 1403636627.913555, t: 0.146448 -0.235614 -0.043662 q: -0.056021 0.829691 0.072444 0.550660 
wait for imu ... 
time: 1403636628.013556, t: 0.149658 -0.248667 -0.048292 q: -0.048509 0.832312 0.066626 0.548147 
wait for imu ... 
time: 1403636628.113555, t: 0.160854 -0.259241 -0.040378 q: -0.045220 0.827907 0.061207 0.555678 
time: 1403636628.213556, t: 0.174584 -0.268139 -0.022226 q: -0.046475 0.818332 0.054949 0.570223 
wait for imu ... 
time: 1403636628.313555, t: 0.187961 -0.277551 0.001108 q: -0.052203 0.812682 0.047768 0.578396 
time: 1403636628.413555, t: 0.200304 -0.288578 0.026077 q: -0.055808 0.811551 0.043989 0.579944 
wait for imu ... 
time: 1403636628.513556, t: 0.212264 -0.302269 0.046468 q: -0.058275 0.811806 0.042731 0.579438 
time: 1403636628.613555, t: 0.223493 -0.318629 0.059405 q: -0.061144 0.812503 0.042341 0.578193 
wait for imu ... 
time: 1403636628.713556, t: 0.234591 -0.339330 0.066248 q: -0.059576 0.812623 0.043441 0.578107 
time: 1403636628.813555, t: 0.243284 -0.364975 0.066235 q: -0.050154 0.816263 0.043025 0.573888 
time: 1403636628.913555, t: 0.253666 -0.392109 0.064632 q: -0.041033 0.821529 0.039892 0.567288 
time: 1403636629.013556, t: 0.260104 -0.419172 0.070432 q: -0.035296 0.825431 0.036537 0.562213 
wait for imu ... 
time: 1403636629.113555, t: 0.265395 -0.446956 0.086044 q: -0.030567 0.826823 0.032798 0.560673 
wait for imu ... 
time: 1403636629.213556, t: 0.274587 -0.475058 0.100682 q: -0.024829 0.826784 0.024616 0.561432 
wait for imu ... 
time: 1403636629.313555, t: 0.288209 -0.505330 0.110271 q: -0.020750 0.824762 0.015323 0.564892 
time: 1403636629.413555, t: 0.303530 -0.534608 0.114073 q: -0.021224 0.821800 0.005697 0.569352 
wait for imu ... 
time: 1403636629.513556, t: 0.322941 -0.564423 0.111068 q: -0.020710 0.818727 -0.008033 0.573753 
time: 1403636629.613555, t: 0.341155 -0.598135 0.100381 q: -0.013106 0.820748 -0.021560 0.570732 
wait for imu ... 
time: 1403636629.713556, t: 0.359114 -0.635038 0.082446 q: 0.000068 0.826247 -0.035394 0.562194 
wait for imu ... 
time: 1403636629.813555, t: 0.379568 -0.674054 0.059360 q: 0.015419 0.829932 -0.051493 0.555269 
wait for imu ... 
time: 1403636629.913555, t: 0.409553 -0.714559 0.035236 q: 0.028946 0.831306 -0.068816 0.550779 
wait for imu ... 
time: 1403636630.013556, t: 0.440362 -0.753085 0.015964 q: 0.039494 0.830706 -0.081672 0.549270 
time: 1403636630.113555, t: 0.472546 -0.790506 0.004666 q: 0.046852 0.826387 -0.090170 0.553859 
wait for imu ... 
wait for imu ... 
time: 1403636630.213556, t: 0.502785 -0.830473 0.000871 q: 0.052654 0.817865 -0.095797 0.564931 
time: 1403636630.313555, t: 0.535055 -0.873657 0.005067 q: 0.056012 0.811883 -0.098965 0.572638 
wait for imu ... 
time: 1403636630.413555, t: 0.573764 -0.905950 0.017576 q: 0.057803 0.813032 -0.099997 0.570647 
wait for imu ... 
time: 1403636630.513556, t: 0.615091 -0.938731 0.035198 q: 0.059220 0.815976 -0.097753 0.566674 
time: 1403636630.613555, t: 0.652781 -0.976743 0.053201 q: 0.061894 0.817712 -0.092329 0.564794 
wait for imu ... 
time: 1403636630.713556, t: 0.699064 -1.009472 0.069257 q: 0.061856 0.819654 -0.087365 0.562769 
time: 1403636630.813555, t: 0.738501 -1.046174 0.077143 q: 0.057063 0.820235 -0.086244 0.562602 
wait for imu ... 
time: 1403636630.913555, t: 0.786629 -1.080705 0.078763 q: 0.051691 0.820243 -0.086061 0.563137 
time: 1403636631.013556, t: 0.829795 -1.115410 0.076207 q: 0.048239 0.820049 -0.086133 0.563714 
wait for imu ... 
time: 1403636631.113555, t: 0.874254 -1.148776 0.070693 q: 0.046712 0.818449 -0.085336 0.566284 
time: 1403636631.213556, t: 0.923097 -1.181349 0.062538 q: 0.045748 0.816406 -0.084376 0.569446 
time: 1403636631.313555, t: 0.966729 -1.217089 0.053326 q: 0.044984 0.815560 -0.083517 0.570845 
time: 1403636631.413555, t: 1.012981 -1.250021 0.038753 q: 0.044648 0.815442 -0.082479 0.571191 
wait for imu ... 
time: 1403636631.513556, t: 1.057164 -1.283585 0.021270 q: 0.045522 0.815770 -0.080526 0.570931 
time: 1403636631.613555, t: 1.100269 -1.316190 0.002041 q: 0.046868 0.815935 -0.078130 0.570919 
wait for imu ... 
time: 1403636631.713556, t: 1.143805 -1.348939 -0.014174 q: 0.047086 0.816577 -0.076098 0.570258 
time: 1403636631.813555, t: 1.189237 -1.379227 -0.024804 q: 0.046993 0.816769 -0.074595 0.570189 
time: 1403636631.913555, t: 1.235085 -1.408299 -0.028816 q: 0.048397 0.817657 -0.072942 0.569011 
wait for imu ... 
time: 1403636632.013556, t: 1.282739 -1.437799 -0.031861 q: 0.048762 0.817653 -0.072758 0.569009 
time: 1403636632.113555, t: 1.322380 -1.465430 -0.026500 q: 0.050784 0.815751 -0.071705 0.571690 
time: 1403636632.213556, t: 1.365806 -1.487032 -0.025562 q: 0.055350 0.815014 -0.070101 0.572516 
time: 1403636632.313555, t: 1.406530 -1.504373 -0.029324 q: 0.054794 0.814271 -0.072323 0.573350 
time: 1403636632.413555, t: 1.437088 -1.521480 -0.036623 q: 0.054977 0.814340 -0.074049 0.573014 
time: 1403636632.513556, t: 1.478292 -1.534694 -0.054620 q: 0.048465 0.817921 -0.077926 0.567965 
time: 1403636632.613555, t: 1.517764 -1.544756 -0.075658 q: 0.035441 0.823916 -0.079369 0.560006 
time: 1403636632.713556, t: 1.548402 -1.556229 -0.092525 q: 0.022266 0.827814 -0.072508 0.555852 
time: 1403636632.813555, t: 1.586180 -1.571404 -0.104952 q: 0.010598 0.828926 -0.055832 0.556464 
time: 1403636632.913555, t: 1.629964 -1.586661 -0.109386 q: 0.004526 0.825586 -0.030332 0.563442 
wait for imu ... 
time: 1403636633.013556, t: 1.677861 -1.602383 -0.108193 q: 0.000224 0.822900 -0.008378 0.568125 
time: 1403636633.113555, t: 1.726635 -1.616457 -0.105350 q: -0.004984 0.821916 0.006903 0.569545 
wait for imu ... 
time: 1403636633.213556, t: 1.775948 -1.629370 -0.107430 q: -0.009821 0.821624 0.016413 0.569708 
wait for imu ... 
time: 1403636633.313555, t: 1.826752 -1.641553 -0.116591 q: -0.015580 0.823122 0.019978 0.567299 
time: 1403636633.413555, t: 1.877641 -1.654394 -0.130887 q: -0.021522 0.825329 0.019329 0.563910 
wait for imu ... 
time: 1403636633.513556, t: 1.931658 -1.665798 -0.145915 q: -0.024512 0.827308 0.017340 0.560946 
time: 1403636633.613555, t: 1.988562 -1.679734 -0.166248 q: -0.024845 0.829585 0.014979 0.557626 
wait for imu ... 
time: 1403636633.713556, t: 2.051150 -1.693847 -0.177756 q: -0.022799 0.830362 0.012311 0.556621 
time: 1403636633.813555, t: 2.113265 -1.708866 -0.184973 q: -0.022039 0.829961 0.009100 0.557312 
wait for imu ... 
time: 1403636633.913555, t: 2.180654 -1.723019 -0.183098 q: -0.024635 0.828801 0.003228 0.558992 
time: 1403636634.013556, t: 2.247887 -1.740607 -0.183965 q: -0.029388 0.826634 -0.003879 0.561958 
time: 1403636634.113555, t: 2.318274 -1.758899 -0.185486 q: -0.030198 0.826669 -0.006306 0.561843 
time: 1403636634.213556, t: 2.389527 -1.783474 -0.181973 q: -0.027297 0.828176 -0.002852 0.559795 
time: 1403636634.313555, t: 2.466769 -1.809544 -0.170168 q: -0.021835 0.826279 0.002965 0.562831 
time: 1403636634.413555, t: 2.546940 -1.838341 -0.158803 q: -0.018277 0.821057 0.007856 0.570500 
wait for imu ... 
time: 1403636634.513556, t: 2.628612 -1.866250 -0.154218 q: -0.016588 0.817381 0.011392 0.575745 
wait for imu ... 
time: 1403636634.613555, t: 2.708225 -1.893237 -0.155874 q: -0.016428 0.815324 0.015386 0.578568 
time: 1403636634.713556, t: 2.787510 -1.918719 -0.163591 q: -0.018704 0.814566 0.023483 0.579294 
wait for imu ... 
time: 1403636634.813555, t: 2.858863 -1.942737 -0.167175 q: -0.022923 0.816680 0.030249 0.575841 
wait for imu ... 
time: 1403636634.913555, t: 2.930397 -1.965311 -0.165621 q: -0.027368 0.818622 0.035877 0.572558 
time: 1403636635.013556, t: 3.000559 -1.985232 -0.158464 q: -0.029781 0.820022 0.042031 0.570010 
wait for imu ... 
time: 1403636635.113555, t: 3.067686 -2.003608 -0.151518 q: -0.031226 0.821533 0.046865 0.567373 
time: 1403636635.213556, t: 3.138835 -2.019142 -0.149729 q: -0.033447 0.822873 0.049176 0.565104 
wait for imu ... 
time: 1403636635.313555, t: 3.208655 -2.034864 -0.155507 q: -0.038397 0.824199 0.048698 0.562894 
time: 1403636635.413555, t: 3.277224 -2.049247 -0.161077 q: -0.043958 0.825915 0.046499 0.560152 
wait for imu ... 
time: 1403636635.513556, t: 3.347300 -2.063135 -0.162439 q: -0.047775 0.826059 0.043922 0.559834 
time: 1403636635.613555, t: 3.419345 -2.079435 -0.154578 q: -0.049358 0.825767 0.042622 0.560228 
wait for imu ... 
time: 1403636635.713556, t: 3.493256 -2.097513 -0.144553 q: -0.049793 0.824570 0.040970 0.562074 
time: 1403636635.813555, t: 3.573660 -2.117157 -0.125037 q: -0.054626 0.820541 0.036124 0.567823 
time: 1403636635.913555, t: 3.649955 -2.139683 -0.098740 q: -0.059915 0.819980 0.030699 0.568420 
wait for imu ... 
time: 1403636636.013556, t: 3.727481 -2.167349 -0.071247 q: -0.057722 0.825053 0.031039 0.561242 
wait for imu ... 
time: 1403636636.113555, t: 3.808844 -2.198648 -0.047373 q: -0.049047 0.828779 0.036389 0.556233 
wait for imu ... 
time: 1403636636.213556, t: 3.890348 -2.230185 -0.019639 q: -0.041848 0.824897 0.041559 0.562197 
time: 1403636636.313555, t: 3.973086 -2.261775 0.015202 q: -0.037619 0.818104 0.044547 0.572107 
wait for imu ... 
time: 1403636636.413555, t: 4.049663 -2.292033 0.053412 q: -0.036112 0.809038 0.045838 0.584853 
time: 1403636636.513556, t: 4.124076 -2.323301 0.083774 q: -0.033501 0.803095 0.047947 0.592974 
time: 1403636636.613555, t: 4.192165 -2.351675 0.105426 q: -0.026807 0.801805 0.052679 0.594655 
wait for imu ... 
time: 1403636636.713556, t: 4.254270 -2.377630 0.118723 q: -0.019344 0.801926 0.057797 0.594307 
time: 1403636636.813555, t: 4.316039 -2.399416 0.123753 q: -0.011524 0.802230 0.063575 0.593509 
time: 1403636636.913555, t: 4.373207 -2.415082 0.119074 q: -0.010236 0.804851 0.065341 0.589781 
time: 1403636637.013556, t: 4.425219 -2.426068 0.109333 q: -0.022440 0.808148 0.059050 0.585583 
time: 1403636637.113555, t: 4.469043 -2.434233 0.093059 q: -0.033025 0.810872 0.053637 0.581823 
time: 1403636637.213556, t: 4.520760 -2.441817 0.079560 q: -0.036713 0.815708 0.052147 0.574938 
wait for imu ... 
time: 1403636637.313555, t: 4.568228 -2.444867 0.066429 q: -0.038017 0.818990 0.052550 0.570131 
wait for imu ... 
time: 1403636637.413555, t: 4.624086 -2.448400 0.065050 q: -0.038684 0.820569 0.053478 0.567723 
time: 1403636637.513556, t: 4.668853 -2.445735 0.068610 q: -0.039265 0.821813 0.054538 0.565780 
time: 1403636637.613555, t: 4.710696 -2.444120 0.076559 q: -0.041480 0.822731 0.054697 0.564270 
wait for imu ... 
time: 1403636637.713556, t: 4.757150 -2.443786 0.094096 q: -0.042514 0.822780 0.055222 0.564071 
time: 1403636637.813555, t: 4.810879 -2.441564 0.118357 q: -0.042748 0.820686 0.056337 0.566986 
wait for imu ... 
time: 1403636637.913555, t: 4.867457 -2.438359 0.150239 q: -0.043478 0.818547 0.056954 0.569953 
time: 1403636638.013556, t: 4.915790 -2.432594 0.173425 q: -0.044187 0.815892 0.057196 0.573669 
time: 1403636638.113555, t: 4.969933 -2.429342 0.179474 q: -0.045273 0.813563 0.057390 0.576864 
wait for imu ... 
time: 1403636638.213556, t: 5.015254 -2.427241 0.173225 q: -0.046366 0.812303 0.057951 0.578494 
time: 1403636638.313555, t: 5.070186 -2.423773 0.163578 q: -0.048009 0.813098 0.057505 0.577287 
wait for imu ... 
time: 1403636638.413555, t: 5.107939 -2.419318 0.142631 q: -0.055996 0.822274 0.052465 0.563894 
time: 1403636638.513556, t: 5.155195 -2.418009 0.119014 q: -0.063041 0.832817 0.048079 0.547841 
wait for imu ... 
time: 1403636638.613555, t: 5.188415 -2.417313 0.098857 q: -0.062336 0.836429 0.049004 0.542309 
wait for imu ... 
time: 1403636638.713556, t: 5.238374 -2.421463 0.092192 q: -0.055093 0.833646 0.054856 0.546800 
time: 1403636638.813555, t: 5.299341 -2.428509 0.096933 q: -0.052344 0.827962 0.057874 0.555329 
time: 1403636638.913555, t: 5.359363 -2.434752 0.107838 q: -0.054778 0.823579 0.056791 0.561686 
wait for imu ... 
time: 1403636639.013556, t: 5.422684 -2.442496 0.123046 q: -0.061714 0.822073 0.052422 0.563595 
wait for imu ... 
time: 1403636639.113555, t: 5.489023 -2.451737 0.136159 q: -0.071093 0.821604 0.046105 0.563726 
time: 1403636639.213556, t: 5.557425 -2.465275 0.132551 q: -0.077289 0.822204 0.041774 0.562371 
wait for imu ... 
wait for imu ... 
time: 1403636639.313555, t: 5.627527 -2.482030 0.115545 q: -0.074201 0.822907 0.043699 0.561613 
time: 1403636639.413555, t: 5.701623 -2.504340 0.094314 q: -0.063402 0.823240 0.051416 0.561794 
time: 1403636639.513556, t: 5.777397 -2.527333 0.068500 q: -0.052222 0.822333 0.059356 0.563488 
wait for imu ... 
time: 1403636639.613555, t: 5.852616 -2.551998 0.041101 q: -0.041501 0.819762 0.067441 0.567204 
time: 1403636639.713556, t: 5.930838 -2.573457 0.014446 q: -0.041683 0.815488 0.068040 0.573247 
time: 1403636639.813555, t: 6.002809 -2.593760 -0.007290 q: -0.046587 0.812270 0.064961 0.577778 
wait for imu ... 
time: 1403636639.913555, t: 6.073371 -2.611786 -0.020265 q: -0.051436 0.811291 0.062342 0.579030 
time: 1403636640.013556, t: 6.139292 -2.630027 -0.026920 q: -0.052741 0.810595 0.062512 0.579867 
time: 1403636640.113555, t: 6.207391 -2.648851 -0.023206 q: -0.053863 0.809635 0.069851 0.580267 
wait for imu ... 
time: 1403636640.213556, t: 6.268722 -2.665699 -0.013048 q: -0.059080 0.808543 0.077750 0.580278 
wait for imu ... 
time: 1403636640.313555, t: 6.332447 -2.687298 -0.000024 q: -0.063006 0.809045 0.084204 0.578262 
time: 1403636640.413555, t: 6.392190 -2.705671 0.008073 q: -0.065722 0.808435 0.089738 0.577980 
wait for imu ... 
time: 1403636640.513556, t: 6.451343 -2.725597 0.009147 q: -0.067833 0.808731 0.093358 0.576747 
time: 1403636640.613555, t: 6.501882 -2.741668 0.007494 q: -0.069412 0.808295 0.095864 0.576760 
time: 1403636640.713556, t: 6.550732 -2.758668 -0.000534 q: -0.070623 0.808217 0.097459 0.576454 
wait for imu ... 
time: 1403636640.813555, t: 6.597681 -2.776917 -0.013873 q: -0.071342 0.809572 0.098857 0.574222 
time: 1403636640.913555, t: 6.647268 -2.791463 -0.014838 q: -0.071277 0.810895 0.100028 0.572156 
wait for imu ... 
time: 1403636641.013556, t: 6.690801 -2.807024 -0.011111 q: -0.070611 0.810764 0.100395 0.572360 
wait for imu ... 
time: 1403636641.113555, t: 6.728450 -2.821418 -0.019870 q: -0.070845 0.809675 0.099481 0.574031 
time: 1403636641.213556, t: 6.769730 -2.831767 -0.024872 q: -0.070037 0.809368 0.098975 0.574649 
time: 1403636641.313555, t: 6.811777 -2.843237 -0.037238 q: -0.073848 0.809317 0.095299 0.574866 
time: 1403636641.413555, t: 6.847919 -2.851927 -0.061768 q: -0.080190 0.810083 0.090046 0.573783 
time: 1403636641.513556, t: 6.880985 -2.863729 -0.079738 q: -0.079139 0.809755 0.089947 0.574407 
wait for imu ... 
wait for imu ... 
time: 1403636641.613555, t: 6.911654 -2.877614 -0.094376 q: -0.075244 0.809735 0.092100 0.574617 
time: 1403636641.713556, t: 6.946406 -2.890019 -0.107591 q: -0.072267 0.809419 0.093384 0.575237 
time: 1403636641.813555, t: 6.984639 -2.905506 -0.106838 q: -0.070892 0.809434 0.093511 0.575367 
time: 1403636641.913555, t: 7.018515 -2.918379 -0.099345 q: -0.069798 0.809039 0.092358 0.576241 
wait for imu ... 
time: 1403636642.013556, t: 7.056018 -2.932222 -0.087089 q: -0.066163 0.808835 0.086050 0.577930 
time: 1403636642.113555, t: 7.079436 -2.945392 -0.069094 q: -0.060472 0.808745 0.078399 0.579766 
wait for imu ... 
time: 1403636642.213556, t: 7.110681 -2.957668 -0.060005 q: -0.055808 0.808516 0.072391 0.581332 
wait for imu ... 
time: 1403636642.313555, t: 7.137126 -2.968217 -0.056132 q: -0.052338 0.808702 0.065654 0.582195 
time: 1403636642.413555, t: 7.152615 -2.977899 -0.057050 q: -0.047313 0.808444 0.056920 0.583901 
wait for imu ... 
time: 1403636642.513556, t: 7.172323 -2.989629 -0.066421 q: -0.043282 0.809655 0.050545 0.583121 
time: 1403636642.613555, t: 7.183653 -2.999642 -0.078206 q: -0.040018 0.814163 0.046315 0.577401 
time: 1403636642.713556, t: 7.190131 -3.011178 -0.094728 q: -0.038013 0.819088 0.043435 0.570757 
time: 1403636642.813555, t: 7.201406 -3.021953 -0.107432 q: -0.037531 0.822810 0.041690 0.565541 
time: 1403636642.913555, t: 7.209860 -3.032154 -0.111595 q: -0.037951 0.824767 0.040904 0.562713 
time: 1403636643.013556, t: 7.225932 -3.043507 -0.111320 q: -0.038941 0.824735 0.040195 0.562743 
time: 1403636643.113555, t: 7.239412 -3.058853 -0.105185 q: -0.040075 0.820060 0.039834 0.569482 
time: 1403636643.213556, t: 7.260516 -3.071688 -0.106278 q: -0.041548 0.816705 0.039124 0.574227 
time: 1403636643.313555, t: 7.276927 -3.088470 -0.110318 q: -0.041931 0.816268 0.039778 0.574775 
time: 1403636643.413555, t: 7.297462 -3.103238 -0.115520 q: -0.042400 0.818792 0.040228 0.571107 
time: 1403636643.513556, t: 7.320665 -3.118999 -0.113963 q: -0.043347 0.823082 0.040829 0.564792 
time: 1403636643.613555, t: 7.348411 -3.135372 -0.105318 q: -0.042799 0.827000 0.042361 0.558968 
time: 1403636643.713556, t: 7.376717 -3.152830 -0.088752 q: -0.042577 0.830276 0.044787 0.553916 
time: 1403636643.813555, t: 7.404936 -3.172161 -0.066801 q: -0.041092 0.832629 0.046927 0.550308 
wait for imu ... 
time: 1403636643.913555, t: 7.444113 -3.188946 -0.051520 q: -0.040749 0.835227 0.047945 0.546293 
wait for imu ... 
time: 1403636644.013556, t: 7.488799 -3.204758 -0.041634 q: -0.039285 0.836789 0.049058 0.543906 
wait for imu ... 
time: 1403636644.113555, t: 7.534156 -3.218276 -0.033923 q: -0.038878 0.837724 0.049243 0.542477 
time: 1403636644.213556, t: 7.593206 -3.232426 -0.033716 q: -0.041019 0.834111 0.047755 0.547993 
time: 1403636644.313555, t: 7.656704 -3.245737 -0.037281 q: -0.051725 0.825712 0.039730 0.560309 
wait for imu ... 
time: 1403636644.413555, t: 7.720505 -3.258362 -0.045171 q: -0.060006 0.818132 0.033083 0.570934 
wait for imu ... 
time: 1403636644.513556, t: 7.784024 -3.276899 -0.062195 q: -0.066916 0.812382 0.027748 0.578609 
wait for imu ... 
time: 1403636644.613555, t: 7.843604 -3.299065 -0.088141 q: -0.071368 0.809864 0.024406 0.581749 
wait for imu ... 
time: 1403636644.713556, t: 7.898593 -3.327631 -0.120261 q: -0.061431 0.808778 0.030957 0.584076 
time: 1403636644.813555, t: 7.952153 -3.361421 -0.158439 q: -0.045775 0.808840 0.041232 0.584793 
time: 1403636644.913555, t: 7.994657 -3.394304 -0.200732 q: -0.037388 0.811407 0.045056 0.581541 
time: 1403636645.013556, t: 8.037162 -3.427592 -0.237182 q: -0.035953 0.817483 0.044707 0.573089 
wait for imu ... 
time: 1403636645.113555, t: 8.073743 -3.459764 -0.265817 q: -0.037288 0.830509 0.042192 0.554152 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636645.213556, t: 8.114953 -3.490648 -0.287423 q: -0.036197 0.841150 0.041745 0.537972 
wait for imu ... 
wait for imu ... 
time: 1403636645.413555, t: 8.237684 -3.552087 -0.308132 q: -0.034220 0.838229 0.041633 0.542648 
time: 1403636645.513556, t: 8.311335 -3.582349 -0.316842 q: -0.034099 0.834279 0.041246 0.548739 
wait for imu ... 
time: 1403636645.613555, t: 8.393587 -3.609442 -0.333675 q: -0.033081 0.832476 0.040830 0.551564 
wait for imu ... 
time: 1403636645.713556, t: 8.481281 -3.635746 -0.350582 q: -0.032056 0.831026 0.041392 0.553765 
time: 1403636645.813555, t: 8.573294 -3.660575 -0.361927 q: -0.033790 0.830253 0.040486 0.554887 
time: 1403636645.913555, t: 8.665074 -3.685839 -0.360202 q: -0.035365 0.830997 0.039426 0.553750 
time: 1403636646.013556, t: 8.763926 -3.712289 -0.349525 q: -0.035863 0.826158 0.033190 0.561316 
time: 1403636646.113555, t: 8.861684 -3.741669 -0.331253 q: -0.034614 0.822804 0.019001 0.566952 
wait for imu ... 
wait for imu ... 
time: 1403636646.213556, t: 8.962641 -3.774578 -0.317365 q: -0.027827 0.819471 -0.001338 0.572443 
time: 1403636646.313555, t: 9.060395 -3.812007 -0.306512 q: -0.017430 0.814980 -0.026513 0.578619 
time: 1403636646.413555, t: 9.152236 -3.852401 -0.301237 q: -0.002231 0.809775 -0.051405 0.584480 
wait for imu ... 
time: 1403636646.513556, t: 9.237885 -3.895279 -0.297535 q: 0.018307 0.803122 -0.066834 0.591772 
time: 1403636646.613555, t: 9.317982 -3.939490 -0.291393 q: 0.033432 0.800548 -0.078156 0.593208 
wait for imu ... 
time: 1403636646.713556, t: 9.395010 -3.983483 -0.278819 q: 0.044437 0.802395 -0.085624 0.588944 
time: 1403636646.813555, t: 9.468159 -4.026358 -0.256430 q: 0.050440 0.802380 -0.091101 0.587659 
wait for imu ... 
time: 1403636646.913555, t: 9.536782 -4.068936 -0.227866 q: 0.053400 0.802499 -0.094642 0.586674 
wait for imu ... 
time: 1403636647.013556, t: 9.595692 -4.108031 -0.199474 q: 0.055244 0.804163 -0.096132 0.583976 
time: 1403636647.113555, t: 9.650270 -4.146213 -0.176050 q: 0.055990 0.807968 -0.095958 0.578658 
time: 1403636647.213556, t: 9.707621 -4.185656 -0.162201 q: 0.055824 0.811058 -0.095348 0.574436 
time: 1403636647.313555, t: 9.761434 -4.225084 -0.148213 q: 0.053024 0.810445 -0.095220 0.575587 
time: 1403636647.413555, t: 9.815883 -4.264929 -0.143691 q: 0.050449 0.808481 -0.094830 0.578638 
time: 1403636647.513556, t: 9.867081 -4.305504 -0.143136 q: 0.046669 0.805462 -0.094347 0.583226 
wait for imu ... 
time: 1403636647.613555, t: 9.913715 -4.346411 -0.138849 q: 0.041097 0.799785 -0.095633 0.591193 
time: 1403636647.713556, t: 9.956713 -4.389639 -0.133695 q: 0.042874 0.799698 -0.096575 0.591032 
wait for imu ... 
time: 1403636647.813555, t: 9.990322 -4.434168 -0.122455 q: 0.047594 0.801544 -0.096687 0.588144 
time: 1403636647.913555, t: 10.023167 -4.479697 -0.117547 q: 0.053714 0.802143 -0.101907 0.585915 
wait for imu ... 
time: 1403636648.013556, t: 10.044720 -4.524274 -0.121145 q: 0.063118 0.800909 -0.113281 0.584575 
time: 1403636648.113555, t: 10.061363 -4.571549 -0.134103 q: 0.075805 0.798801 -0.130873 0.582273 
wait for imu ... 
time: 1403636648.213556, t: 10.075684 -4.621135 -0.152233 q: 0.091138 0.794973 -0.151701 0.580257 
time: 1403636648.313555, t: 10.086403 -4.671074 -0.174225 q: 0.106575 0.790314 -0.174568 0.577557 
time: 1403636648.413555, t: 10.095485 -4.723233 -0.198199 q: 0.123431 0.784940 -0.196759 0.574386 
wait for imu ... 
wait for imu ... 
time: 1403636648.613555, t: 10.099023 -4.825159 -0.246712 q: 0.152905 0.773747 -0.238645 0.566555 
time: 1403636648.713556, t: 10.094667 -4.872602 -0.263869 q: 0.163839 0.772520 -0.250718 0.559920 
wait for imu ... 
time: 1403636648.813555, t: 10.090969 -4.919088 -0.275528 q: 0.168205 0.776040 -0.260072 0.549392 
wait for imu ... 
time: 1403636648.913555, t: 10.090535 -4.966469 -0.278400 q: 0.169222 0.782392 -0.266126 0.537032 
time: 1403636649.013556, t: 10.095112 -5.015623 -0.270525 q: 0.170451 0.785210 -0.267820 0.531662 
wait for imu ... 
time: 1403636649.113555, t: 10.105624 -5.065336 -0.252448 q: 0.174010 0.779944 -0.264881 0.539672 
wait for imu ... 
time: 1403636649.213556, t: 10.114130 -5.113683 -0.226403 q: 0.177213 0.772253 -0.260788 0.551552 
wait for imu ... 
time: 1403636649.313555, t: 10.126229 -5.161353 -0.194883 q: 0.177933 0.769161 -0.256983 0.557396 
time: 1403636649.413555, t: 10.133161 -5.206547 -0.158705 q: 0.175412 0.772087 -0.254464 0.555303 
wait for imu ... 
time: 1403636649.513556, t: 10.138861 -5.250513 -0.117914 q: 0.172253 0.775181 -0.251510 0.553323 
wait for imu ... 
time: 1403636649.613555, t: 10.142997 -5.293090 -0.070320 q: 0.169457 0.772225 -0.250142 0.558911 
wait for imu ... 
time: 1403636649.713556, t: 10.140693 -5.332229 -0.022495 q: 0.169823 0.766971 -0.255060 0.563790 
time: 1403636649.813555, t: 10.136228 -5.373560 0.016180 q: 0.175974 0.763432 -0.260269 0.564326 
wait for imu ... 
time: 1403636649.913555, t: 10.129775 -5.415570 0.046529 q: 0.181768 0.760622 -0.264248 0.564435 
wait for imu ... 
time: 1403636650.013556, t: 10.119611 -5.453507 0.067284 q: 0.186813 0.759157 -0.267337 0.563305 
wait for imu ... 
time: 1403636650.113555, t: 10.106070 -5.489488 0.077088 q: 0.190639 0.756490 -0.272754 0.563013 
wait for imu ... 
time: 1403636650.213556, t: 10.087496 -5.523722 0.079078 q: 0.199359 0.752508 -0.283852 0.559836 
wait for imu ... 
time: 1403636650.313555, t: 10.064293 -5.557347 0.075489 q: 0.210703 0.746581 -0.301767 0.554219 
wait for imu ... 
time: 1403636650.413555, t: 10.038156 -5.593754 0.068838 q: 0.223938 0.740396 -0.322698 0.545464 
time: 1403636650.513556, t: 10.007531 -5.624465 0.058837 q: 0.237133 0.734846 -0.344336 0.534042 
wait for imu ... 
time: 1403636650.613555, t: 9.976830 -5.650030 0.044516 q: 0.246257 0.730344 -0.362155 0.524213 
time: 1403636650.713556, t: 9.945685 -5.673226 0.027967 q: 0.254006 0.726470 -0.374069 0.517488 
wait for imu ... 
wait for imu ... 
time: 1403636650.813555, t: 9.915028 -5.694791 0.015821 q: 0.259467 0.722183 -0.382147 0.514871 
time: 1403636650.913555, t: 9.886085 -5.716276 0.013517 q: 0.266206 0.716487 -0.384518 0.517616 
wait for imu ... 
time: 1403636651.013556, t: 9.857457 -5.735835 0.016806 q: 0.270771 0.711820 -0.384323 0.521815 
time: 1403636651.113555, t: 9.828235 -5.753793 0.026340 q: 0.272158 0.709987 -0.383303 0.524335 
time: 1403636651.213556, t: 9.797879 -5.769032 0.041006 q: 0.270657 0.711777 -0.382730 0.523103 
wait for imu ... 
time: 1403636651.313555, t: 9.765775 -5.779183 0.060183 q: 0.267703 0.715731 -0.382102 0.519676 
time: 1403636651.413555, t: 9.733648 -5.789228 0.078302 q: 0.264131 0.719346 -0.381052 0.517277 
time: 1403636651.513556, t: 9.701667 -5.797851 0.090278 q: 0.261966 0.720982 -0.378487 0.517982 
time: 1403636651.613555, t: 9.668964 -5.805467 0.095627 q: 0.261957 0.718725 -0.374570 0.523937 
time: 1403636651.713556, t: 9.634413 -5.810075 0.094859 q: 0.260858 0.715844 -0.372787 0.529670 
wait for imu ... 
time: 1403636651.813555, t: 9.598515 -5.812957 0.090435 q: 0.258074 0.710368 -0.378894 0.534055 
wait for imu ... 
time: 1403636651.913555, t: 9.559537 -5.814945 0.079390 q: 0.260128 0.702138 -0.390388 0.535662 
time: 1403636652.013556, t: 9.508966 -5.815171 0.064519 q: 0.269298 0.692374 -0.405308 0.532749 
time: 1403636652.113555, t: 9.456519 -5.813889 0.044320 q: 0.285951 0.684296 -0.423587 0.520139 
wait for imu ... 
time: 1403636652.213556, t: 9.397331 -5.810996 0.022407 q: 0.305538 0.674678 -0.446808 0.501815 
time: 1403636652.313555, t: 9.333038 -5.800713 -0.005152 q: 0.321213 0.663643 -0.474621 0.480765 
wait for imu ... 
time: 1403636652.413555, t: 9.265517 -5.788660 -0.036832 q: 0.333398 0.652109 -0.500475 0.461654 
wait for imu ... 
time: 1403636652.513556, t: 9.198803 -5.779276 -0.065335 q: 0.340994 0.641864 -0.519730 0.449014 
wait for imu ... 
time: 1403636652.613555, t: 9.131624 -5.773400 -0.084815 q: 0.344191 0.636226 -0.534558 0.437032 
time: 1403636652.713556, t: 9.065953 -5.773799 -0.094266 q: 0.347942 0.634843 -0.542379 0.426306 
wait for imu ... 
time: 1403636652.813555, t: 9.003860 -5.780574 -0.094513 q: 0.349796 0.632743 -0.546083 0.423170 
time: 1403636652.913555, t: 8.945863 -5.794059 -0.085282 q: 0.352443 0.630604 -0.545922 0.424372 
time: 1403636653.013556, t: 8.892861 -5.814776 -0.069245 q: 0.355553 0.629588 -0.543046 0.426968 
time: 1403636653.113555, t: 8.844445 -5.840554 -0.065629 q: 0.358909 0.628842 -0.538335 0.431205 
wait for imu ... 
time: 1403636653.213556, t: 8.800202 -5.873455 -0.069299 q: 0.363365 0.626962 -0.531715 0.438364 
time: 1403636653.313555, t: 8.750936 -5.903519 -0.077361 q: 0.368295 0.625017 -0.523944 0.446313 
wait for imu ... 
time: 1403636653.413555, t: 8.702453 -5.934751 -0.074069 q: 0.368531 0.626108 -0.518854 0.450516 
time: 1403636653.513556, t: 8.662960 -5.966980 -0.062665 q: 0.366285 0.628922 -0.516030 0.451670 
wait for imu ... 
time: 1403636653.613555, t: 8.620636 -5.992274 -0.046719 q: 0.364234 0.630093 -0.513781 0.454253 
wait for imu ... 
time: 1403636653.713556, t: 8.578062 -6.014268 -0.029735 q: 0.365704 0.629479 -0.509830 0.458355 
time: 1403636653.813555, t: 8.535568 -6.033596 -0.019056 q: 0.367086 0.628667 -0.507023 0.461468 
wait for imu ... 
time: 1403636653.913555, t: 8.494832 -6.048932 -0.013900 q: 0.368249 0.628379 -0.505657 0.462433 
time: 1403636654.013556, t: 8.453345 -6.058089 -0.017621 q: 0.363783 0.628665 -0.508622 0.462327 
time: 1403636654.113555, t: 8.411640 -6.063514 -0.027812 q: 0.361356 0.627215 -0.511482 0.463043 
wait for imu ... 
time: 1403636654.213556, t: 8.368033 -6.065158 -0.036002 q: 0.364781 0.621955 -0.515830 0.462630 
time: 1403636654.313555, t: 8.323046 -6.062666 -0.038773 q: 0.371428 0.617137 -0.522918 0.455786 
wait for imu ... 
time: 1403636654.413555, t: 8.281725 -6.050899 -0.033736 q: 0.378168 0.610487 -0.534279 0.445916 
time: 1403636654.513556, t: 8.238559 -6.040722 -0.019750 q: 0.386843 0.601208 -0.546989 0.435552 
time: 1403636654.613555, t: 8.199167 -6.027833 -0.002020 q: 0.394162 0.591130 -0.560897 0.424966 
wait for imu ... 
time: 1403636654.713556, t: 8.162549 -6.013618 0.012988 q: 0.396190 0.582761 -0.573861 0.417261 
time: 1403636654.813555, t: 8.125963 -5.996733 0.020877 q: -0.399796 -0.577123 0.581997 -0.410330 
wait for imu ... 
time: 1403636654.913555, t: 8.091515 -5.981055 0.020241 q: -0.404038 -0.572545 0.586858 -0.405640 
wait for imu ... 
time: 1403636655.013556, t: 8.057105 -5.967877 0.015019 q: -0.412663 -0.565708 0.585945 -0.407863 
time: 1403636655.113555, t: 8.025363 -5.952742 0.004878 q: -0.418396 -0.559785 0.584853 -0.411743 
time: 1403636655.213556, t: 7.990726 -5.936025 -0.007352 q: -0.421903 -0.555730 0.583702 -0.415276 
time: 1403636655.313555, t: 7.954582 -5.916041 -0.020667 q: -0.424723 -0.550143 0.586002 -0.416598 
time: 1403636655.413555, t: 7.919000 -5.892432 -0.033503 q: -0.427395 -0.542745 0.591106 -0.416358 
wait for imu ... 
time: 1403636655.513556, t: 7.882751 -5.859312 -0.039392 q: -0.431944 -0.535797 0.597204 -0.411938 
time: 1403636655.613555, t: 7.846267 -5.818019 -0.041016 q: -0.430313 -0.530741 0.610534 -0.400491 
time: 1403636655.713556, t: 7.809097 -5.773090 -0.048032 q: -0.426311 -0.525062 0.624961 -0.389863 
time: 1403636655.813555, t: 7.769580 -5.728665 -0.067813 q: -0.426830 -0.517779 0.636362 -0.380481 
wait for imu ... 
time: 1403636655.913555, t: 7.725594 -5.684119 -0.099588 q: -0.430021 -0.505746 0.648862 -0.371863 
wait for imu ... 
time: 1403636656.013556, t: 7.678402 -5.641043 -0.131608 q: -0.436100 -0.492016 0.659302 -0.364772 
time: 1403636656.113555, t: 7.627995 -5.598620 -0.155410 q: -0.442547 -0.482896 0.666064 -0.356823 
wait for imu ... 
time: 1403636656.213556, t: 7.575425 -5.557742 -0.168628 q: -0.447237 -0.479092 0.670344 -0.347979 
time: 1403636656.313555, t: 7.521448 -5.517421 -0.170505 q: -0.448725 -0.476957 0.673640 -0.342587 
wait for imu ... 
time: 1403636656.413555, t: 7.466960 -5.482181 -0.161777 q: -0.448686 -0.476138 0.675510 -0.340088 
time: 1403636656.513556, t: 7.414037 -5.454552 -0.142997 q: -0.448840 -0.476709 0.675608 -0.338888 
wait for imu ... 
time: 1403636656.613555, t: 7.361108 -5.431632 -0.122633 q: -0.451660 -0.477837 0.672624 -0.339487 
time: 1403636656.713556, t: 7.305005 -5.409022 -0.107276 q: -0.459061 -0.475019 0.665700 -0.347078 
time: 1403636656.813555, t: 7.247891 -5.389861 -0.098212 q: -0.467372 -0.473019 0.657763 -0.353785 
time: 1403636656.913555, t: 7.190633 -5.370608 -0.097189 q: -0.472202 -0.473768 0.652276 -0.356519 
time: 1403636657.013556, t: 7.135648 -5.347882 -0.104346 q: -0.472691 -0.473267 0.649886 -0.360872 
wait for imu ... 
time: 1403636657.113555, t: 7.081305 -5.315362 -0.118378 q: -0.471151 -0.471976 0.649334 -0.365540 
time: 1403636657.213556, t: 7.030393 -5.283505 -0.132834 q: -0.467750 -0.470714 0.650475 -0.369487 
time: 1403636657.313555, t: 6.978032 -5.241559 -0.141443 q: -0.462802 -0.472208 0.653616 -0.368266 
wait for imu ... 
time: 1403636657.413555, t: 6.925879 -5.199106 -0.148128 q: -0.455373 -0.473266 0.659170 -0.366265 
time: 1403636657.513556, t: 6.873725 -5.153217 -0.157057 q: -0.447020 -0.475163 0.665237 -0.363117 
wait for imu ... 
time: 1403636657.613555, t: 6.818906 -5.104967 -0.169632 q: -0.444149 -0.476581 0.667685 -0.360278 
wait for imu ... 
time: 1403636657.713556, t: 6.762337 -5.056840 -0.184895 q: -0.444432 -0.475946 0.667895 -0.360378 
time: 1403636657.813555, t: 6.703606 -5.008679 -0.205123 q: -0.444461 -0.472253 0.670579 -0.360216 
wait for imu ... 
time: 1403636657.913555, t: 6.637762 -4.963197 -0.228360 q: -0.438729 -0.467799 0.676756 -0.361500 
wait for imu ... 
time: 1403636658.013556, t: 6.572043 -4.916492 -0.247830 q: -0.436472 -0.466354 0.680249 -0.359537 
time: 1403636658.113555, t: 6.498908 -4.865723 -0.255949 q: -0.441307 -0.469460 0.678802 -0.352254 
wait for imu ... 
time: 1403636658.213556, t: 6.419613 -4.818707 -0.259673 q: -0.446898 -0.472715 0.676695 -0.344829 
wait for imu ... 
time: 1403636658.313555, t: 6.340363 -4.774781 -0.263143 q: -0.451639 -0.476088 0.674588 -0.338074 
time: 1403636658.413555, t: 6.261759 -4.735591 -0.271978 q: -0.453370 -0.477933 0.674245 -0.333810 
wait for imu ... 
time: 1403636658.513556, t: 6.184561 -4.700085 -0.283209 q: -0.456140 -0.480902 0.672909 -0.328426 
wait for imu ... 
time: 1403636658.613555, t: 6.108541 -4.670522 -0.295807 q: -0.460630 -0.484417 0.670060 -0.322769 
time: 1403636658.713556, t: 6.036147 -4.645797 -0.310759 q: -0.463581 -0.485531 0.668188 -0.320745 
wait for imu ... 
time: 1403636658.813555, t: 5.967311 -4.624217 -0.326724 q: -0.470350 -0.486609 0.663533 -0.318914 
wait for imu ... 
time: 1403636658.913555, t: 5.902625 -4.606532 -0.344057 q: -0.475133 -0.484019 0.660333 -0.322389 
time: 1403636659.013556, t: 5.841429 -4.589520 -0.366058 q: -0.475148 -0.478368 0.660296 -0.330769 
time: 1403636659.113555, t: 5.782305 -4.570858 -0.392255 q: -0.477368 -0.474121 0.658479 -0.337245 
wait for imu ... 
time: 1403636659.213556, t: 5.726865 -4.548807 -0.422848 q: -0.478688 -0.471926 0.657212 -0.340903 
wait for imu ... 
time: 1403636659.313555, t: 5.673810 -4.524347 -0.451704 q: -0.476679 -0.472724 0.658330 -0.340456 
wait for imu ... 
time: 1403636659.413555, t: 5.625904 -4.499290 -0.475681 q: -0.471694 -0.476188 0.661653 -0.336104 
time: 1403636659.513556, t: 5.581753 -4.475094 -0.492625 q: -0.468584 -0.479510 0.663848 -0.331369 
time: 1403636659.613555, t: 5.542523 -4.451742 -0.505468 q: -0.469244 -0.478694 0.663782 -0.331745 
time: 1403636659.713556, t: 5.505737 -4.428310 -0.521604 q: -0.472652 -0.476953 0.662294 -0.332389 
wait for imu ... 
time: 1403636659.813555, t: 5.473980 -4.406041 -0.544078 q: -0.475150 -0.475367 0.661653 -0.332376 
wait for imu ... 
time: 1403636659.913555, t: 5.446198 -4.384168 -0.572667 q: -0.474251 -0.474483 0.663372 -0.331496 
wait for imu ... 
time: 1403636660.013556, t: 5.418979 -4.358580 -0.605148 q: -0.469627 -0.476686 0.667689 -0.326209 
time: 1403636660.113555, t: 5.395293 -4.334090 -0.640318 q: -0.464649 -0.478753 0.672183 -0.321040 
time: 1403636660.213556, t: 5.373411 -4.312760 -0.678135 q: -0.461978 -0.479874 0.674340 -0.318691 
wait for imu ... 
time: 1403636660.313555, t: 5.354998 -4.297282 -0.715639 q: -0.457776 -0.482214 0.677690 -0.314081 
wait for imu ... 
time: 1403636660.413555, t: 5.337310 -4.287276 -0.747883 q: -0.448846 -0.486661 0.683908 -0.306544 
time: 1403636660.513556, t: 5.319965 -4.285004 -0.771226 q: -0.446592 -0.488315 0.685139 -0.304448 
time: 1403636660.613555, t: 5.305114 -4.293763 -0.793918 q: -0.455095 -0.485756 0.679189 -0.309243 
wait for imu ... 
time: 1403636660.713556, t: 5.290939 -4.308555 -0.820510 q: -0.468540 -0.482684 0.669414 -0.315231 
time: 1403636660.813555, t: 5.280529 -4.327658 -0.852896 q: -0.481184 -0.482651 0.659862 -0.316374 
time: 1403636660.913555, t: 5.276094 -4.346763 -0.890935 q: -0.489213 -0.483943 0.653570 -0.315146 
time: 1403636661.013556, t: 5.277801 -4.366257 -0.934858 q: -0.488345 -0.481144 0.653825 -0.320207 
wait for imu ... 
time: 1403636661.113555, t: 5.284776 -4.384819 -0.982756 q: -0.486261 -0.477117 0.655181 -0.326569 
time: 1403636661.213556, t: 5.296646 -4.402678 -1.032145 q: -0.484949 -0.473589 0.656079 -0.331811 
time: 1403636661.313555, t: 5.313770 -4.416564 -1.075255 q: -0.483403 -0.471980 0.657125 -0.334280 
wait for imu ... 
time: 1403636661.413555, t: 5.334111 -4.427372 -1.110847 q: -0.483387 -0.471728 0.656950 -0.335003 
time: 1403636661.513556, t: 5.357473 -4.436208 -1.138375 q: -0.481566 -0.471752 0.658076 -0.335381 
wait for imu ... 
time: 1403636661.613555, t: 5.384362 -4.442184 -1.157761 q: -0.477475 -0.471332 0.660581 -0.336892 
time: 1403636661.713556, t: 5.414787 -4.445577 -1.168118 q: -0.477679 -0.470349 0.659903 -0.339298 
time: 1403636661.813555, t: 5.445373 -4.446910 -1.171501 q: -0.474031 -0.465089 0.661921 -0.347631 
time: 1403636661.913555, t: 5.474625 -4.446609 -1.166685 q: -0.472920 -0.462563 0.662088 -0.352168 
time: 1403636662.013556, t: 5.503060 -4.444357 -1.156998 q: -0.472825 -0.462397 0.661634 -0.353363 
time: 1403636662.113555, t: 5.532688 -4.434701 -1.141811 q: -0.474313 -0.463104 0.660319 -0.352904 
wait for imu ... 
time: 1403636662.213556, t: 5.560846 -4.425596 -1.130879 q: -0.476573 -0.467688 0.659275 -0.345692 
wait for imu ... 
time: 1403636662.313555, t: 5.589315 -4.412415 -1.125753 q: -0.479449 -0.472467 0.658051 -0.337449 
time: 1403636662.413555, t: 5.621059 -4.396739 -1.126259 q: -0.478702 -0.475876 0.659541 -0.330747 
time: 1403636662.513556, t: 5.654939 -4.383837 -1.133756 q: -0.472622 -0.479046 0.664701 -0.324525 
time: 1403636662.613555, t: 5.689574 -4.366193 -1.143106 q: -0.464901 -0.476755 0.670757 -0.326582 
time: 1403636662.713556, t: 5.726858 -4.356042 -1.157824 q: -0.457162 -0.467282 0.677020 -0.338075 
wait for imu ... 
time: 1403636662.813555, t: 5.759507 -4.344162 -1.174997 q: -0.454353 -0.460156 0.679538 -0.346478 
time: 1403636662.913555, t: 5.788542 -4.331947 -1.196680 q: -0.451008 -0.461305 0.682290 -0.343903 
wait for imu ... 
time: 1403636663.013556, t: 5.813215 -4.319769 -1.219933 q: -0.444719 -0.461828 0.686989 -0.342032 
wait for imu ... 
time: 1403636663.113555, t: 5.831676 -4.308728 -1.238944 q: -0.437126 -0.459002 0.692321 -0.344862 
time: 1403636663.213556, t: 5.840668 -4.300016 -1.252385 q: -0.436478 -0.461080 0.693368 -0.340783 
wait for imu ... 
time: 1403636663.313555, t: 5.841884 -4.294323 -1.265196 q: -0.446101 -0.472122 0.687193 -0.325362 
time: 1403636663.413555, t: 5.840320 -4.292489 -1.285709 q: -0.450433 -0.481923 0.684124 -0.311183 
wait for imu ... 
time: 1403636663.513556, t: 5.835852 -4.298555 -1.312001 q: -0.449834 -0.488507 0.684208 -0.301447 
time: 1403636663.613555, t: 5.834261 -4.311999 -1.342701 q: -0.448534 -0.491529 0.684699 -0.297329 
wait for imu ... 
time: 1403636663.713556, t: 5.832270 -4.337120 -1.373636 q: -0.450289 -0.494930 0.682909 -0.293118 
time: 1403636663.813555, t: 5.835650 -4.368069 -1.399281 q: -0.459138 -0.499617 0.675527 -0.288511 
wait for imu ... 
time: 1403636663.913555, t: 5.841234 -4.415251 -1.416245 q: -0.469046 -0.502453 0.666989 -0.287510 
time: 1403636664.013556, t: 5.855223 -4.470113 -1.425341 q: -0.481814 -0.503380 0.656137 -0.289737 
time: 1403636664.113555, t: 5.879398 -4.529539 -1.427935 q: -0.485158 -0.500765 0.652129 -0.297629 
wait for imu ... 
time: 1403636664.213556, t: 5.913728 -4.593833 -1.428302 q: -0.484835 -0.494847 0.650688 -0.310914 
time: 1403636664.313555, t: 5.954378 -4.659972 -1.431822 q: -0.484183 -0.489973 0.648953 -0.323036 
time: 1403636664.413555, t: 6.000459 -4.724905 -1.451908 q: -0.482705 -0.488347 0.647450 -0.330639 
wait for imu ... 
wait for imu ... 
time: 1403636664.513556, t: 6.050720 -4.787844 -1.484034 q: -0.481028 -0.488140 0.645787 -0.336587 
time: 1403636664.613555, t: 6.105939 -4.848168 -1.517328 q: -0.476026 -0.485991 0.645929 -0.346391 
time: 1403636664.713556, t: 6.163660 -4.906061 -1.544358 q: -0.470624 -0.485503 0.646528 -0.353273 
wait for imu ... 
time: 1403636664.813555, t: 6.223155 -4.960850 -1.563485 q: -0.469690 -0.492200 0.644592 -0.348758 
time: 1403636664.913555, t: 6.284866 -5.015697 -1.574818 q: -0.467335 -0.494632 0.643549 -0.350402 
wait for imu ... 
time: 1403636665.013556, t: 6.348398 -5.068041 -1.580749 q: -0.460506 -0.498150 0.646256 -0.349477 
wait for imu ... 
time: 1403636665.113555, t: 6.413304 -5.116521 -1.578001 q: -0.452798 -0.502402 0.649975 -0.346553 
time: 1403636665.213556, t: 6.477961 -5.163229 -1.568432 q: -0.446957 -0.502702 0.652748 -0.348482 
time: 1403636665.313555, t: 6.540768 -5.210940 -1.554362 q: -0.446416 -0.495943 0.652410 -0.359325 
time: 1403636665.413555, t: 6.601395 -5.259879 -1.541087 q: -0.448767 -0.495422 0.650536 -0.360510 
time: 1403636665.513556, t: 6.659427 -5.307570 -1.529663 q: -0.453468 -0.501018 0.648126 -0.351113 
time: 1403636665.613555, t: 6.717860 -5.353799 -1.516498 q: -0.457967 -0.505996 0.645906 -0.342112 
wait for imu ... 
time: 1403636665.713556, t: 6.779900 -5.401848 -1.503850 q: -0.461602 -0.506277 0.644836 -0.338811 
time: 1403636665.813555, t: 6.844456 -5.451885 -1.488974 q: -0.466265 -0.502860 0.643181 -0.340657 
wait for imu ... 
time: 1403636665.913555, t: 6.910928 -5.500381 -1.472386 q: -0.462182 -0.491997 0.647265 -0.354083 
wait for imu ... 
time: 1403636666.013556, t: 6.976762 -5.547091 -1.458131 q: -0.455840 -0.484221 0.652758 -0.362832 
wait for imu ... 
time: 1403636666.113555, t: 7.038075 -5.591697 -1.448251 q: -0.455481 -0.482975 0.653457 -0.363684 
time: 1403636666.213556, t: 7.098763 -5.632040 -1.444244 q: -0.460781 -0.484971 0.650128 -0.360303 
wait for imu ... 
time: 1403636666.313555, t: 7.159435 -5.668902 -1.445417 q: -0.461510 -0.483718 0.649533 -0.362123 
time: 1403636666.413555, t: 7.219647 -5.700644 -1.449780 q: -0.458224 -0.481203 0.650976 -0.367020 
wait for imu ... 
time: 1403636666.513556, t: 7.277087 -5.726983 -1.451597 q: -0.453590 -0.481938 0.653006 -0.368205 
wait for imu ... 
time: 1403636666.613555, t: 7.332177 -5.747722 -1.445310 q: -0.451580 -0.487749 0.653500 -0.362096 
wait for imu ... 
time: 1403636666.713556, t: 7.386791 -5.766715 -1.433523 q: -0.450177 -0.495665 0.653363 -0.353234 
time: 1403636666.813555, t: 7.442684 -5.787068 -1.418163 q: -0.444889 -0.500939 0.655826 -0.347889 
wait for imu ... 
time: 1403636666.913555, t: 7.497668 -5.809522 -1.406742 q: -0.430101 -0.499983 0.665067 -0.350308 
time: 1403636667.013556, t: 7.548333 -5.834471 -1.401992 q: -0.418772 -0.495984 0.672104 -0.356240 
wait for imu ... 
time: 1403636667.113555, t: 7.590297 -5.863063 -1.399360 q: -0.426901 -0.494998 0.666319 -0.358820 
time: 1403636667.213556, t: 7.626970 -5.894353 -1.400095 q: -0.446057 -0.496293 0.652840 -0.358506 
wait for imu ... 
time: 1403636667.313555, t: 7.662011 -5.926423 -1.406334 q: -0.458952 -0.499202 0.643229 -0.355551 
time: 1403636667.413555, t: 7.699262 -5.957469 -1.419353 q: -0.461736 -0.500372 0.640840 -0.354615 
wait for imu ... 
time: 1403636667.513556, t: 7.737254 -5.986522 -1.435250 q: -0.456528 -0.503875 0.643877 -0.350878 
time: 1403636667.613555, t: 7.778001 -6.015112 -1.450055 q: -0.444613 -0.504404 0.652053 -0.350318 
time: 1403636667.713556, t: 7.819023 -6.042134 -1.456008 q: -0.436586 -0.502744 0.657257 -0.353063 
wait for imu ... 
time: 1403636667.813555, t: 7.857644 -6.070204 -1.453366 q: -0.436129 -0.500575 0.657794 -0.355700 
time: 1403636667.913555, t: 7.893546 -6.098136 -1.449198 q: -0.435884 -0.498625 0.658614 -0.357220 
wait for imu ... 
time: 1403636668.013556, t: 7.926596 -6.127211 -1.448308 q: -0.436148 -0.498363 0.659134 -0.356303 
wait for imu ... 
time: 1403636668.113555, t: 7.956128 -6.158969 -1.453606 q: -0.440816 -0.499405 0.657489 -0.352114 
time: 1403636668.213556, t: 7.984636 -6.191365 -1.466327 q: -0.443974 -0.501159 0.657174 -0.346193 
wait for imu ... 
time: 1403636668.313555, t: 8.012728 -6.227229 -1.482474 q: -0.446184 -0.502030 0.657887 -0.340690 
time: 1403636668.413555, t: 8.043100 -6.263062 -1.501935 q: -0.448636 -0.500576 0.658110 -0.339176 
wait for imu ... 
time: 1403636668.513556, t: 8.073519 -6.303927 -1.523508 q: -0.452136 -0.498435 0.657622 -0.338628 
time: 1403636668.613555, t: 8.105817 -6.344712 -1.546933 q: -0.453284 -0.496972 0.658472 -0.337589 
wait for imu ... 
time: 1403636668.713556, t: 8.138643 -6.388330 -1.570173 q: -0.456733 -0.497502 0.657693 -0.333656 
wait for imu ... 
time: 1403636668.813555, t: 8.173149 -6.437029 -1.591938 q: -0.465996 -0.499199 0.652371 -0.328723 
wait for imu ... 
time: 1403636668.913555, t: 8.212994 -6.485639 -1.609226 q: -0.476189 -0.501421 0.645327 -0.324614 
time: 1403636669.013556, t: 8.259318 -6.532042 -1.618794 q: -0.475948 -0.496056 0.645739 -0.332299 
wait for imu ... 
time: 1403636669.113555, t: 8.311785 -6.576349 -1.620430 q: -0.473556 -0.489407 0.647934 -0.341184 
wait for imu ... 
time: 1403636669.213556, t: 8.368707 -6.619626 -1.622965 q: -0.472725 -0.485924 0.649268 -0.344761 
wait for imu ... 
time: 1403636669.313555, t: 8.424395 -6.656330 -1.627954 q: -0.473422 -0.485252 0.649363 -0.344572 
time: 1403636669.413555, t: 8.485200 -6.692864 -1.639164 q: -0.473209 -0.484182 0.649877 -0.345401 
time: 1403636669.513556, t: 8.547011 -6.726247 -1.654449 q: -0.476155 -0.482135 0.647372 -0.348901 
wait for imu ... 
time: 1403636669.613555, t: 8.611283 -6.759087 -1.670931 q: -0.482524 -0.479515 0.642246 -0.353209 
time: 1403636669.713556, t: 8.679750 -6.788420 -1.685038 q: -0.488788 -0.476323 0.636692 -0.358924 
wait for imu ... 
time: 1403636669.813555, t: 8.750145 -6.811444 -1.693826 q: -0.484371 -0.471114 0.638551 -0.368359 
wait for imu ... 
time: 1403636669.913555, t: 8.822656 -6.825109 -1.696567 q: -0.464326 -0.460634 0.650814 -0.385564 
time: 1403636670.013556, t: 8.889346 -6.830009 -1.693528 q: -0.448807 -0.456723 0.660688 -0.391751 
time: 1403636670.113555, t: 8.947773 -6.824882 -1.685311 q: -0.438814 -0.456102 0.665658 -0.395364 
wait for imu ... 
time: 1403636670.213556, t: 8.996660 -6.810841 -1.672384 q: -0.433496 -0.451126 0.664221 -0.409118 
wait for imu ... 
time: 1403636670.313555, t: 9.033528 -6.787003 -1.662108 q: -0.428404 -0.445456 0.661438 -0.424898 
time: 1403636670.413555, t: 9.055449 -6.750858 -1.658876 q: -0.419523 -0.447582 0.659827 -0.433934 
wait for imu ... 
time: 1403636670.513556, t: 9.070242 -6.710132 -1.657174 q: -0.407684 -0.454293 0.656895 -0.442606 
wait for imu ... 
time: 1403636670.613555, t: 9.067622 -6.659451 -1.648526 q: -0.396824 -0.466246 0.649269 -0.451215 
wait for imu ... 
time: 1403636670.713556, t: 9.044611 -6.601163 -1.632076 q: -0.388065 -0.481200 0.637816 -0.459394 
wait for imu ... 
time: 1403636670.913555, t: 8.941613 -6.463353 -1.592994 q: -0.360336 -0.506524 0.612239 -0.488625 
time: 1403636671.013556, t: 8.858384 -6.384228 -1.571985 q: -0.343390 -0.518557 0.594594 -0.509548 
wait for imu ... 
time: 1403636671.113555, t: 8.756954 -6.293048 -1.537471 q: -0.333992 -0.539752 0.571237 -0.520390 
time: 1403636671.213556, t: 8.627862 -6.196657 -1.496412 q: 0.325431 0.565100 -0.549332 0.522486 
wait for imu ... 
time: 1403636671.313555, t: 8.475880 -6.095333 -1.451731 q: 0.322298 0.593577 -0.530939 0.511757 
wait for imu ... 
time: 1403636671.413555, t: 8.308708 -5.992662 -1.408212 q: 0.328292 0.627828 -0.509570 0.488257 
time: 1403636671.513556, t: 8.138061 -5.890319 -1.370198 q: 0.324901 0.656762 -0.492342 0.469789 
time: 1403636671.613555, t: 7.969131 -5.789696 -1.337485 q: 0.314108 0.676799 -0.483565 0.457651 
wait for imu ... 
time: 1403636671.713556, t: 7.803172 -5.695698 -1.311315 q: 0.303764 0.689872 -0.480173 0.448596 
time: 1403636671.813555, t: 7.641947 -5.612679 -1.290101 q: 0.298312 0.698690 -0.478224 0.440617 
time: 1403636671.913555, t: 7.488797 -5.538674 -1.269261 q: 0.292695 0.705635 -0.480298 0.430955 
wait for imu ... 
time: 1403636672.013556, t: 7.344162 -5.476663 -1.242780 q: 0.291000 0.713515 -0.481899 0.417120 
time: 1403636672.113555, t: 7.212433 -5.430199 -1.205818 q: 0.301393 0.718755 -0.475992 0.407413 
time: 1403636672.213556, t: 7.096159 -5.397577 -1.160544 q: 0.312036 0.720153 -0.470866 0.402863 
wait for imu ... 
wait for imu ... 
time: 1403636672.413555, t: 6.912471 -5.371216 -1.076154 q: 0.336049 0.717777 -0.457700 0.402961 
wait for imu ... 
time: 1403636672.513556, t: 6.844390 -5.370421 -1.049372 q: 0.348545 0.706188 -0.450114 0.420965 
time: 1403636672.613555, t: 6.790082 -5.370441 -1.038261 q: 0.350199 0.688961 -0.449603 0.447828 
time: 1403636672.713556, t: 6.743694 -5.369665 -1.047565 q: 0.344706 0.678442 -0.454155 0.463290 
wait for imu ... 
time: 1403636672.813555, t: 6.703679 -5.368000 -1.074360 q: 0.331586 0.680678 -0.461597 0.462230 
time: 1403636672.913555, t: 6.668148 -5.366274 -1.098242 q: 0.324190 0.686874 -0.456955 0.462922 
time: 1403636673.013556, t: 6.641711 -5.367916 -1.116167 q: 0.317472 0.695820 -0.445503 0.465373 
wait for imu ... 
time: 1403636673.113555, t: 6.618243 -5.367474 -1.125412 q: 0.310161 0.706284 -0.433003 0.466339 
wait for imu ... 
time: 1403636673.213556, t: 6.600476 -5.372374 -1.126787 q: 0.297501 0.719412 -0.427468 0.459577 
wait for imu ... 
time: 1403636673.313555, t: 6.589583 -5.378882 -1.121816 q: 0.286708 0.731243 -0.424070 0.450829 
wait for imu ... 
time: 1403636673.413555, t: 6.588928 -5.392077 -1.113646 q: 0.281287 0.736811 -0.420421 0.448590 
wait for imu ... 
time: 1403636673.513556, t: 6.596354 -5.413908 -1.109695 q: 0.279846 0.737778 -0.416497 0.451552 
wait for imu ... 
time: 1403636673.613555, t: 6.612785 -5.436710 -1.107931 q: 0.283361 0.734418 -0.410735 0.460036 
wait for imu ... 
time: 1403636673.713556, t: 6.638202 -5.467930 -1.113633 q: 0.288643 0.728186 -0.404626 0.471920 
wait for imu ... 
time: 1403636673.813555, t: 6.668603 -5.496442 -1.118515 q: 0.294173 0.721533 -0.398712 0.483612 
wait for imu ... 
time: 1403636673.913555, t: 6.703802 -5.522816 -1.121769 q: 0.297090 0.721258 -0.395546 0.484838 
wait for imu ... 
time: 1403636674.013556, t: 6.745622 -5.549027 -1.122545 q: 0.295722 0.721737 -0.396323 0.484326 
time: 1403636674.113555, t: 6.791151 -5.571977 -1.123776 q: 0.293832 0.721432 -0.397647 0.484846 
wait for imu ... 
time: 1403636674.213556, t: 6.840370 -5.592433 -1.131390 q: 0.292945 0.718965 -0.398419 0.488400 
wait for imu ... 
time: 1403636674.313555, t: 6.895601 -5.613691 -1.149394 q: 0.286520 0.713639 -0.403432 0.495852 
time: 1403636674.413555, t: 6.951226 -5.631566 -1.170525 q: 0.273750 0.710612 -0.408239 0.503421 
time: 1403636674.513556, t: 7.008137 -5.651296 -1.200354 q: 0.261933 0.710353 -0.405247 0.512412 
wait for imu ... 
time: 1403636674.613555, t: 7.062814 -5.672849 -1.233600 q: 0.255239 0.713547 -0.397552 0.517356 
time: 1403636674.713556, t: 7.112948 -5.693450 -1.270645 q: 0.250646 0.717390 -0.390292 0.519808 
wait for imu ... 
time: 1403636674.813555, t: 7.159649 -5.715593 -1.312103 q: 0.240590 0.726528 -0.389123 0.512695 
wait for imu ... 
time: 1403636674.913555, t: 7.202833 -5.739034 -1.349096 q: 0.231316 0.735795 -0.390019 0.502975 
time: 1403636675.013556, t: 7.244680 -5.768776 -1.377189 q: 0.225051 0.742814 -0.391174 0.494533 
wait for imu ... 
time: 1403636675.113555, t: 7.286580 -5.805340 -1.393513 q: 0.226275 0.748627 -0.388947 0.486906 
wait for imu ... 
time: 1403636675.213556, t: 7.332892 -5.851526 -1.400085 q: 0.237835 0.754526 -0.380139 0.479186 
time: 1403636675.313555, t: 7.386437 -5.905764 -1.399694 q: 0.248718 0.756903 -0.372987 0.475519 
wait for imu ... 
time: 1403636675.413555, t: 7.453226 -5.965822 -1.393668 q: 0.258589 0.752425 -0.363635 0.484518 
wait for imu ... 
time: 1403636675.513556, t: 7.526084 -6.026070 -1.389589 q: 0.262156 0.749407 -0.351444 0.496136 
wait for imu ... 
time: 1403636675.613555, t: 7.604747 -6.084295 -1.392417 q: 0.265682 0.748415 -0.337459 0.505380 
time: 1403636675.713556, t: 7.687334 -6.137206 -1.401592 q: 0.262385 0.748698 -0.325816 0.514246 
wait for imu ... 
time: 1403636675.813555, t: 7.773710 -6.183102 -1.416742 q: 0.247136 0.746622 -0.318218 0.529355 
wait for imu ... 
time: 1403636675.913555, t: 7.861231 -6.223801 -1.438853 q: 0.218809 0.745829 -0.316279 0.543902 
time: 1403636676.013556, t: 7.945048 -6.262169 -1.466188 q: 0.192594 0.751915 -0.310088 0.548977 
wait for imu ... 
time: 1403636676.113555, t: 8.023915 -6.301049 -1.496273 q: 0.180174 0.762297 -0.293661 0.547909 
wait for imu ... 
time: 1403636676.213556, t: 8.099503 -6.339784 -1.526617 q: 0.180368 0.774631 -0.266721 0.544310 
wait for imu ... 
time: 1403636676.313555, t: 8.174444 -6.377635 -1.559126 q: 0.180852 0.787869 -0.237005 0.538872 
time: 1403636676.413555, t: 8.252512 -6.411662 -1.587694 q: 0.179490 0.796893 -0.207387 0.538271 
wait for imu ... 
time: 1403636676.513556, t: 8.333391 -6.436502 -1.609632 q: 0.164946 0.803673 -0.187837 0.540019 
time: 1403636676.613555, t: 8.418763 -6.455468 -1.624231 q: 0.143399 0.805649 -0.176806 0.546906 
wait for imu ... 
time: 1403636676.713556, t: 8.507845 -6.472387 -1.629889 q: 0.126312 0.805279 -0.170726 0.553555 
wait for imu ... 
time: 1403636676.813555, t: 8.596954 -6.487678 -1.628029 q: 0.112412 0.804303 -0.168234 0.558711 
time: 1403636676.913555, t: 8.684390 -6.501565 -1.620303 q: 0.100754 0.804312 -0.166121 0.561547 
wait for imu ... 
time: 1403636677.013556, t: 8.769529 -6.517527 -1.619708 q: 0.097646 0.804180 -0.162936 0.563215 
time: 1403636677.113555, t: 8.850138 -6.532689 -1.633944 q: 0.105845 0.804906 -0.155473 0.562807 
wait for imu ... 
time: 1403636677.213556, t: 8.932111 -6.548653 -1.660765 q: 0.113375 0.804658 -0.150372 0.563081 
time: 1403636677.313555, t: 9.015168 -6.560893 -1.687852 q: 0.116235 0.801318 -0.144855 0.568678 
wait for imu ... 
time: 1403636677.413555, t: 9.098702 -6.570399 -1.710209 q: 0.114543 0.795729 -0.134762 0.579254 
wait for imu ... 
time: 1403636677.513556, t: 9.183308 -6.575326 -1.722120 q: 0.106147 0.790486 -0.124643 0.590194 
wait for imu ... 
time: 1403636677.613555, t: 9.261104 -6.575135 -1.727296 q: 0.091857 0.789485 -0.114062 0.596041 
wait for imu ... 
time: 1403636677.713556, t: 9.328683 -6.569679 -1.725147 q: 0.072734 0.792452 -0.103322 0.596702 
wait for imu ... 
time: 1403636677.813555, t: 9.389463 -6.562542 -1.719516 q: 0.050136 0.799679 -0.091324 0.591321 
time: 1403636677.913555, t: 9.443732 -6.555241 -1.710672 q: 0.023028 0.808245 -0.078897 0.583082 
wait for imu ... 
time: 1403636678.013556, t: 9.495051 -6.552220 -1.698739 q: 0.003449 0.814496 -0.060374 0.577009 
time: 1403636678.113555, t: 9.544948 -6.555219 -1.689319 q: -0.004774 0.816130 -0.038324 0.576576 
wait for imu ... 
time: 1403636678.213556, t: 9.590491 -6.562382 -1.684703 q: -0.004659 0.816590 -0.017379 0.576938 
wait for imu ... 
time: 1403636678.313555, t: 9.635285 -6.571580 -1.683892 q: -0.007394 0.816448 0.000407 0.577371 
time: 1403636678.413555, t: 9.678116 -6.578331 -1.678773 q: -0.018676 0.816655 0.013862 0.576657 
wait for imu ... 
time: 1403636678.513556, t: 9.721418 -6.585325 -1.667947 q: -0.028619 0.817345 0.029408 0.574685 
time: 1403636678.613555, t: 9.764418 -6.592286 -1.651915 q: -0.040837 0.816128 0.046816 0.574522 
wait for imu ... 
time: 1403636678.713556, t: 9.805322 -6.599063 -1.636494 q: -0.046614 0.813676 0.072945 0.574836 
wait for imu ... 
time: 1403636678.813555, t: 9.845426 -6.604667 -1.627468 q: -0.048165 0.810606 0.104646 0.574149 
wait for imu ... 
time: 1403636678.913555, t: 9.882378 -6.606292 -1.625448 q: -0.048224 0.807338 0.133048 0.572868 
wait for imu ... 
time: 1403636679.013556, t: 9.917303 -6.600642 -1.628513 q: -0.057067 0.804133 0.153344 0.571489 
wait for imu ... 
time: 1403636679.113555, t: 9.950523 -6.587977 -1.635620 q: -0.074771 0.799456 0.168037 0.571877 
wait for imu ... 
time: 1403636679.213556, t: 9.979325 -6.568794 -1.645758 q: -0.102739 0.793616 0.177408 0.572839 
wait for imu ... 
time: 1403636679.313555, t: 10.003311 -6.545976 -1.653138 q: -0.131049 0.787551 0.188329 0.571946 
time: 1403636679.413555, t: 10.023539 -6.523250 -1.653771 q: -0.152202 0.781833 0.205273 0.568714 
wait for imu ... 
time: 1403636679.513556, t: 10.037985 -6.502836 -1.646616 q: -0.168563 0.776962 0.224105 0.563643 
wait for imu ... 
time: 1403636679.613555, t: 10.051602 -6.484104 -1.633919 q: -0.180050 0.773804 0.239229 0.558193 
time: 1403636679.713556, t: 10.057690 -6.470151 -1.613127 q: -0.186787 0.772844 0.250795 0.552200 
time: 1403636679.813555, t: 10.063595 -6.459922 -1.585720 q: -0.189153 0.768304 0.259256 0.553819 
time: 1403636680.013556, t: 10.076441 -6.438273 -1.510140 q: -0.179366 0.757490 0.272148 0.565661 
time: 1403636680.113555, t: 10.072141 -6.429042 -1.466066 q: -0.165425 0.753481 0.280806 0.571007 
wait for imu ... 
time: 1403636680.213556, t: 10.061456 -6.417275 -1.426757 q: -0.161739 0.752969 0.281619 0.572336 
wait for imu ... 
time: 1403636680.313555, t: 10.043728 -6.402137 -1.392285 q: -0.158761 0.750867 0.281306 0.576074 
time: 1403636680.413555, t: 10.015200 -6.384032 -1.366101 q: -0.146589 0.752985 0.286003 0.574219 
time: 1403636680.513556, t: 9.978902 -6.360809 -1.345787 q: -0.139033 0.756065 0.287550 0.571271 
time: 1403636680.613555, t: 9.931199 -6.330593 -1.332236 q: -0.141592 0.759276 0.282678 0.568810 
time: 1403636680.713556, t: 9.877476 -6.292604 -1.324035 q: -0.145040 0.762411 0.277677 0.566205 
time: 1403636680.813555, t: 9.816707 -6.248065 -1.319878 q: -0.159018 0.768803 0.266010 0.559370 
time: 1403636680.913555, t: 9.754200 -6.199977 -1.320909 q: -0.176153 0.777020 0.252516 0.549040 
wait for imu ... 
time: 1403636681.013556, t: 9.691512 -6.152541 -1.328725 q: -0.180126 0.787371 0.248662 0.534573 
wait for imu ... 
time: 1403636681.113555, t: 9.631197 -6.106186 -1.341118 q: -0.175853 0.794888 0.251194 0.523574 
time: 1403636681.213556, t: 9.576418 -6.059802 -1.352114 q: -0.170973 0.790873 0.255009 0.529395 
time: 1403636681.313555, t: 9.526509 -6.009047 -1.359603 q: -0.169326 0.781100 0.257398 0.543101 
time: 1403636681.413555, t: 9.478237 -5.956197 -1.361509 q: -0.172527 0.774345 0.256127 0.552290 
time: 1403636681.513556, t: 9.428042 -5.903393 -1.357308 q: -0.177217 0.771681 0.254287 0.555374 
wait for imu ... 
time: 1403636681.613555, t: 9.377121 -5.851851 -1.352100 q: -0.176112 0.770722 0.257205 0.555713 
time: 1403636681.713556, t: 9.327627 -5.800025 -1.350587 q: -0.174985 0.769657 0.260017 0.556237 
wait for imu ... 
time: 1403636681.813555, t: 9.276053 -5.748423 -1.352225 q: -0.175068 0.768550 0.261852 0.556880 
time: 1403636681.913555, t: 9.223203 -5.696474 -1.352449 q: -0.177226 0.767310 0.262474 0.557615 
wait for imu ... 
time: 1403636682.013556, t: 9.165855 -5.643748 -1.345540 q: -0.180537 0.767297 0.262246 0.556676 
wait for imu ... 
time: 1403636682.113555, t: 9.105849 -5.592163 -1.330254 q: -0.183746 0.767440 0.261637 0.555716 
time: 1403636682.213556, t: 9.043122 -5.543280 -1.311951 q: -0.185510 0.769477 0.261496 0.552369 
wait for imu ... 
time: 1403636682.313555, t: 8.980577 -5.495462 -1.298471 q: -0.185200 0.775415 0.261819 0.543952 
time: 1403636682.413555, t: 8.919563 -5.447373 -1.291426 q: -0.184127 0.780999 0.261874 0.536245 
time: 1403636682.513556, t: 8.861159 -5.398412 -1.286424 q: -0.183069 0.777806 0.260959 0.541668 
wait for imu ... 
time: 1403636682.613555, t: 8.803727 -5.349523 -1.286045 q: -0.180902 0.772994 0.260726 0.549342 
time: 1403636682.713556, t: 8.746223 -5.299108 -1.288214 q: -0.181222 0.770224 0.258338 0.554234 
wait for imu ... 
wait for imu ... 
time: 1403636682.813555, t: 8.687054 -5.249289 -1.287355 q: -0.182605 0.768306 0.254860 0.558039 
time: 1403636682.913555, t: 8.626805 -5.202036 -1.280930 q: -0.177996 0.767033 0.255924 0.560786 
wait for imu ... 
time: 1403636683.013556, t: 8.563241 -5.153851 -1.268840 q: -0.172501 0.766565 0.258718 0.561859 
time: 1403636683.113555, t: 8.498032 -5.104958 -1.257843 q: -0.172740 0.766560 0.258565 0.561864 
wait for imu ... 
time: 1403636683.213556, t: 8.428098 -5.055530 -1.254450 q: -0.176195 0.768334 0.257168 0.559002 
time: 1403636683.313555, t: 8.357041 -5.006396 -1.256544 q: -0.179354 0.769218 0.256656 0.557012 
time: 1403636683.413555, t: 8.283393 -4.958366 -1.262897 q: -0.181995 0.769630 0.256769 0.555533 
time: 1403636683.513556, t: 8.209010 -4.910182 -1.271399 q: -0.183747 0.769719 0.257576 0.554458 
wait for imu ... 
time: 1403636683.613555, t: 8.137586 -4.866252 -1.286309 q: -0.184699 0.770311 0.258413 0.552928 
wait for imu ... 
time: 1403636683.813555, t: 7.993841 -4.782832 -1.316765 q: -0.185850 0.775918 0.260755 0.543523 
wait for imu ... 
time: 1403636683.913555, t: 7.923202 -4.743961 -1.323180 q: -0.186761 0.777062 0.262414 0.540772 
time: 1403636684.013556, t: 7.856472 -4.701620 -1.320589 q: -0.189360 0.775674 0.262468 0.541833 
wait for imu ... 
time: 1403636684.113555, t: 7.789656 -4.659273 -1.308899 q: -0.190875 0.772964 0.263692 0.544573 
wait for imu ... 
time: 1403636684.213556, t: 7.721807 -4.615977 -1.291790 q: -0.192863 0.771089 0.264739 0.546021 
time: 1403636684.313555, t: 7.650971 -4.572454 -1.270623 q: -0.194774 0.768475 0.265537 0.548635 
wait for imu ... 
time: 1403636684.413555, t: 7.579018 -4.531096 -1.253946 q: -0.196350 0.766240 0.266158 0.550893 
wait for imu ... 
time: 1403636684.513556, t: 7.506561 -4.491069 -1.244664 q: -0.200791 0.765864 0.264507 0.550610 
time: 1403636684.613555, t: 7.434585 -4.456541 -1.239330 q: -0.204651 0.765131 0.262618 0.551112 
time: 1403636684.713556, t: 7.362669 -4.425549 -1.240891 q: -0.206341 0.764160 0.262320 0.551970 
wait for imu ... 
time: 1403636684.813555, t: 7.291265 -4.398544 -1.248330 q: -0.206275 0.763457 0.262613 0.552827 
time: 1403636684.913555, t: 7.223644 -4.375750 -1.261587 q: -0.202652 0.762576 0.265224 0.554136 
wait for imu ... 
time: 1403636685.013556, t: 7.152434 -4.358660 -1.274881 q: -0.193912 0.762471 0.270637 0.554789 
wait for imu ... 
time: 1403636685.113555, t: 7.084782 -4.339617 -1.281454 q: -0.189860 0.763791 0.272165 0.553627 
time: 1403636685.213556, t: 7.010822 -4.324067 -1.283101 q: -0.186338 0.766835 0.272298 0.550541 
wait for imu ... 
time: 1403636685.313555, t: 6.934534 -4.305571 -1.278107 q: -0.179855 0.768791 0.273658 0.549294 
time: 1403636685.413555, t: 6.859129 -4.284184 -1.268049 q: -0.177601 0.769573 0.272344 0.549586 
time: 1403636685.513556, t: 6.782061 -4.259886 -1.262466 q: -0.179484 0.770914 0.268714 0.548881 
time: 1403636685.613555, t: 6.706171 -4.237336 -1.263233 q: -0.181623 0.772038 0.265678 0.548074 
wait for imu ... 
time: 1403636685.713556, t: 6.630351 -4.212351 -1.270590 q: -0.179974 0.771042 0.265818 0.549949 
time: 1403636685.813555, t: 6.553647 -4.187527 -1.280478 q: -0.177384 0.769455 0.267397 0.552243 
time: 1403636685.913555, t: 6.477160 -4.162015 -1.295504 q: -0.176885 0.768739 0.267795 0.553208 
wait for imu ... 
time: 1403636686.013556, t: 6.400738 -4.137000 -1.313327 q: -0.181756 0.771216 0.265113 0.549460 
time: 1403636686.113555, t: 6.319638 -4.109068 -1.325165 q: -0.185851 0.774379 0.262901 0.544683 
time: 1403636686.213556, t: 6.245296 -4.083097 -1.329285 q: -0.186951 0.775048 0.261837 0.543867 
wait for imu ... 
time: 1403636686.313555, t: 6.171921 -4.056361 -1.326873 q: -0.188192 0.776783 0.260556 0.541574 
wait for imu ... 
time: 1403636686.413555, t: 6.098997 -4.029352 -1.319120 q: -0.188159 0.777976 0.260385 0.539953 
wait for imu ... 
time: 1403636686.513556, t: 6.028408 -4.003043 -1.314424 q: -0.188905 0.779752 0.260146 0.537240 
time: 1403636686.613555, t: 5.959333 -3.978001 -1.314796 q: -0.187434 0.779579 0.261880 0.537163 
wait for imu ... 
time: 1403636686.713556, t: 5.893411 -3.950606 -1.320337 q: -0.187337 0.779190 0.262293 0.537560 
time: 1403636686.813555, t: 5.831830 -3.922445 -1.325853 q: -0.188644 0.777190 0.261979 0.540145 
time: 1403636686.913555, t: 5.770494 -3.894257 -1.328092 q: -0.191409 0.775713 0.261060 0.541738 
time: 1403636687.013556, t: 5.709438 -3.866672 -1.321051 q: -0.193191 0.774497 0.260657 0.543038 
wait for imu ... 
time: 1403636687.113555, t: 5.649368 -3.840660 -1.307904 q: -0.194405 0.774374 0.260049 0.543072 
time: 1403636687.213556, t: 5.588546 -3.815114 -1.294671 q: -0.194683 0.773147 0.260279 0.544607 
time: 1403636687.313555, t: 5.532998 -3.791261 -1.284986 q: -0.194899 0.772169 0.260952 0.545595 
time: 1403636687.413555, t: 5.474197 -3.768048 -1.283647 q: -0.194151 0.770043 0.261950 0.548381 
wait for imu ... 
time: 1403636687.513556, t: 5.420622 -3.747678 -1.286135 q: -0.194492 0.769069 0.262094 0.549557 
time: 1403636687.613555, t: 5.368615 -3.728633 -1.296610 q: -0.197181 0.768607 0.261217 0.549662 
time: 1403636687.713556, t: 5.319570 -3.712780 -1.313796 q: -0.199992 0.767792 0.260352 0.550196 
wait for imu ... 
time: 1403636687.813555, t: 5.274825 -3.699627 -1.339045 q: -0.200159 0.768015 0.261118 0.549461 
time: 1403636687.913555, t: 5.234622 -3.689218 -1.372089 q: -0.199203 0.768166 0.262323 0.549023 
wait for imu ... 
time: 1403636688.013556, t: 5.192556 -3.678636 -1.408370 q: -0.195562 0.767428 0.265136 0.550012 
wait for imu ... 
time: 1403636688.113555, t: 5.149385 -3.667911 -1.444948 q: -0.190134 0.766470 0.269211 0.551269 
wait for imu ... 
time: 1403636688.213556, t: 5.100117 -3.655994 -1.474571 q: -0.189337 0.766688 0.269916 0.550896 
wait for imu ... 
time: 1403636688.313555, t: 5.052307 -3.646059 -1.496715 q: -0.192869 0.767322 0.268017 0.549714 
time: 1403636688.413555, t: 5.001415 -3.636340 -1.515517 q: -0.195304 0.768692 0.266898 0.547481 
wait for imu ... 
time: 1403636688.513556, t: 4.948683 -3.625462 -1.538191 q: -0.191463 0.768243 0.269567 0.548158 
time: 1403636688.613555, t: 4.895904 -3.614424 -1.564782 q: -0.183496 0.767319 0.275188 0.549383 
wait for imu ... 
time: 1403636688.713556, t: 4.842958 -3.600209 -1.595451 q: -0.180345 0.766309 0.278458 0.550188 
wait for imu ... 
time: 1403636688.813555, t: 4.789101 -3.583743 -1.627773 q: -0.181825 0.766417 0.279777 0.548880 
wait for imu ... 
time: 1403636688.913555, t: 4.733826 -3.563625 -1.653743 q: -0.185983 0.766654 0.283589 0.545188 
wait for imu ... 
time: 1403636689.013556, t: 4.676217 -3.541783 -1.671233 q: -0.192991 0.767460 0.286515 0.540064 
wait for imu ... 
time: 1403636689.113555, t: 4.619735 -3.516721 -1.681060 q: -0.200977 0.768084 0.288899 0.534970 
wait for imu ... 
time: 1403636689.213556, t: 4.563131 -3.489982 -1.685331 q: -0.206226 0.768798 0.292404 0.530019 
wait for imu ... 
time: 1403636689.313555, t: 4.509817 -3.462191 -1.680048 q: -0.210151 0.769056 0.295424 0.526416 
wait for imu ... 
time: 1403636689.413555, t: 4.460307 -3.432223 -1.666618 q: -0.212244 0.767764 0.298399 0.525784 
time: 1403636689.513556, t: 4.411904 -3.399875 -1.647393 q: -0.214216 0.767451 0.299759 0.524667 
wait for imu ... 
time: 1403636689.613555, t: 4.365171 -3.369730 -1.620999 q: -0.215579 0.769669 0.300423 0.520463 
time: 1403636689.713556, t: 4.324877 -3.340764 -1.593096 q: -0.219317 0.774400 0.298120 0.513157 
wait for imu ... 
time: 1403636689.813555, t: 4.292614 -3.311956 -1.569592 q: -0.224632 0.779946 0.293335 0.505153 
time: 1403636689.913555, t: 4.268837 -3.278849 -1.551141 q: -0.232707 0.780872 0.286074 0.504230 
time: 1403636690.013556, t: 4.254663 -3.246624 -1.537415 q: -0.235870 0.779954 0.281665 0.506657 
wait for imu ... 
time: 1403636690.113555, t: 4.250975 -3.215694 -1.530124 q: -0.229409 0.779907 0.284648 0.508028 
time: 1403636690.213556, t: 4.255231 -3.185655 -1.523196 q: -0.219066 0.779304 0.290356 0.510283 
time: 1403636690.313555, t: 4.262743 -3.156110 -1.506844 q: -0.214655 0.778171 0.292631 0.512583 
wait for imu ... 
time: 1403636690.413555, t: 4.276945 -3.124637 -1.486182 q: -0.212185 0.777457 0.293443 0.514226 
time: 1403636690.513556, t: 4.298170 -3.087327 -1.468194 q: -0.216928 0.776769 0.289765 0.515372 
time: 1403636690.613555, t: 4.323508 -3.049513 -1.455189 q: -0.225144 0.777705 0.283539 0.513898 
wait for imu ... 
time: 1403636690.713556, t: 4.353379 -3.015002 -1.446167 q: -0.237935 0.777258 0.274279 0.513836 
time: 1403636690.813555, t: 4.388624 -2.985243 -1.452609 q: -0.253793 0.776084 0.262594 0.514127 
time: 1403636690.913555, t: 4.431165 -2.963827 -1.469914 q: -0.264519 0.770351 0.255090 0.521074 
time: 1403636691.013556, t: 4.480814 -2.954412 -1.484509 q: -0.275005 0.760312 0.247992 0.533665 
time: 1403636691.113555, t: 4.535113 -2.960803 -1.492576 q: -0.279032 0.751192 0.246505 0.545057 
wait for imu ... 
time: 1403636691.213556, t: 4.590544 -2.983595 -1.490730 q: -0.271475 0.741805 0.253373 0.558417 
time: 1403636691.313555, t: 4.642950 -3.023024 -1.482687 q: -0.254156 0.735082 0.267305 0.568865 
time: 1403636691.413555, t: 4.690951 -3.072907 -1.469891 q: -0.242216 0.737836 0.278644 0.565055 
wait for imu ... 
time: 1403636691.513556, t: 4.736286 -3.128761 -1.450606 q: -0.237190 0.747192 0.285619 0.551242 
wait for imu ... 
time: 1403636691.613555, t: 4.779286 -3.190212 -1.420577 q: -0.234579 0.751827 0.290820 0.543279 
time: 1403636691.713556, t: 4.822360 -3.255744 -1.385151 q: -0.223708 0.753122 0.300336 0.540889 
time: 1403636691.813555, t: 4.860430 -3.323120 -1.353307 q: -0.218459 0.752728 0.305265 0.540822 
wait for imu ... 
time: 1403636691.913555, t: 4.895197 -3.390815 -1.330238 q: -0.221923 0.753620 0.303419 0.539207 
time: 1403636692.013556, t: 4.930051 -3.457992 -1.311998 q: -0.228738 0.749537 0.298851 0.544574 
time: 1403636692.113555, t: 4.960820 -3.526590 -1.294607 q: -0.228981 0.749820 0.298376 0.544342 
time: 1403636692.213556, t: 4.992032 -3.595152 -1.272647 q: -0.221337 0.749642 0.302987 0.545202 
wait for imu ... 
time: 1403636692.313555, t: 5.017484 -3.664242 -1.243272 q: -0.219953 0.751283 0.303115 0.543431 
time: 1403636692.413555, t: 5.038193 -3.735514 -1.206504 q: -0.220935 0.753430 0.301433 0.540989 
wait for imu ... 
time: 1403636692.513556, t: 5.058088 -3.806011 -1.162642 q: -0.214135 0.753253 0.304743 0.542114 
wait for imu ... 
time: 1403636692.613555, t: 5.074886 -3.874533 -1.111669 q: -0.214230 0.753883 0.303602 0.541841 
wait for imu ... 
time: 1403636692.713556, t: 5.087986 -3.940675 -1.057131 q: -0.211144 0.755532 0.303816 0.540634 
time: 1403636692.813555, t: 5.101391 -4.004984 -1.006710 q: -0.194535 0.757034 0.313513 0.539227 
time: 1403636692.913555, t: 5.112004 -4.060555 -0.961161 q: -0.183176 0.757602 0.320296 0.538421 
wait for imu ... 
time: 1403636693.013556, t: 5.120768 -4.108175 -0.919691 q: -0.185579 0.759932 0.318740 0.535227 
wait for imu ... 
time: 1403636693.113555, t: 5.126936 -4.146066 -0.882480 q: -0.192873 0.759568 0.314124 0.535895 
time: 1403636693.213556, t: 5.130060 -4.180176 -0.852465 q: -0.198340 0.760650 0.311345 0.533982 
wait for imu ... 
time: 1403636693.313555, t: 5.133236 -4.205641 -0.829326 q: -0.202344 0.766118 0.309396 0.525733 
time: 1403636693.413555, t: 5.136773 -4.230829 -0.809984 q: -0.206184 0.771175 0.307866 0.517684 
time: 1403636693.513556, t: 5.145172 -4.249966 -0.795232 q: -0.207576 0.777546 0.307486 0.507727 
time: 1403636693.613555, t: 5.156104 -4.266734 -0.784425 q: -0.206016 0.783288 0.309337 0.498325 
time: 1403636693.713556, t: 5.175200 -4.275805 -0.774284 q: -0.206415 0.784054 0.309602 0.496789 
time: 1403636693.813555, t: 5.201088 -4.278743 -0.765589 q: -0.208859 0.777727 0.308886 0.506072 
time: 1403636693.913555, t: 5.230096 -4.280249 -0.757882 q: -0.214674 0.769285 0.305799 0.518269 
wait for imu ... 
time: 1403636694.013556, t: 5.262882 -4.277236 -0.753116 q: -0.219496 0.760310 0.303227 0.530852 
time: 1403636694.113555, t: 5.294951 -4.275893 -0.750877 q: -0.222268 0.755011 0.301980 0.537924 
wait for imu ... 
time: 1403636694.213556, t: 5.324699 -4.275320 -0.747634 q: -0.223653 0.752191 0.301392 0.541619 
wait for imu ... 
time: 1403636694.313555, t: 5.352110 -4.275439 -0.740879 q: -0.222705 0.753058 0.302922 0.539949 
time: 1403636694.413555, t: 5.379561 -4.274977 -0.729568 q: -0.222151 0.756499 0.303704 0.534904 
time: 1403636694.513556, t: 5.405947 -4.274594 -0.718486 q: -0.219792 0.758619 0.304722 0.532290 
time: 1403636694.613555, t: 5.431888 -4.273933 -0.711891 q: -0.218844 0.759741 0.304917 0.530967 
wait for imu ... 
time: 1403636694.713556, t: 5.458172 -4.272846 -0.711508 q: -0.217688 0.759171 0.304914 0.532258 
time: 1403636694.813555, t: 5.482645 -4.269701 -0.717481 q: -0.219839 0.757661 0.301713 0.535342 
time: 1403636694.913555, t: 5.506129 -4.268057 -0.730024 q: -0.228207 0.760042 0.294765 0.532326 
wait for imu ... 
time: 1403636695.013556, t: 5.529439 -4.268615 -0.742977 q: -0.232872 0.762293 0.290205 0.529586 
time: 1403636695.113555, t: 5.556602 -4.271319 -0.756205 q: -0.227451 0.762458 0.292339 0.530529 
time: 1403636695.213556, t: 5.584180 -4.275778 -0.759345 q: -0.222242 0.762176 0.293701 0.532387 
time: 1403636695.313555, t: 5.612988 -4.282365 -0.755731 q: -0.217437 0.760915 0.295078 0.535405 
wait for imu ... 
time: 1403636695.413555, t: 5.638814 -4.289341 -0.744965 q: -0.214792 0.760568 0.294931 0.537045 
time: 1403636695.513556, t: 5.664218 -4.296344 -0.733865 q: -0.211242 0.759524 0.295892 0.539396 
wait for imu ... 
time: 1403636695.613555, t: 5.688691 -4.300985 -0.724148 q: -0.207963 0.758385 0.296650 0.541850 
time: 1403636695.713556, t: 5.711736 -4.306218 -0.720917 q: -0.204797 0.757532 0.297564 0.543746 
time: 1403636695.813555, t: 5.732257 -4.308397 -0.722233 q: -0.206686 0.759250 0.295036 0.542009 
time: 1403636695.913555, t: 5.752580 -4.312148 -0.727487 q: -0.206700 0.760346 0.294008 0.541025 
time: 1403636696.013556, t: 5.770040 -4.315051 -0.737066 q: -0.207690 0.763688 0.292412 0.536787 
time: 1403636696.113555, t: 5.788040 -4.316918 -0.750168 q: -0.203262 0.767740 0.294165 0.531721 
wait for imu ... 
time: 1403636696.213556, t: 5.809314 -4.315237 -0.763830 q: -0.197249 0.768892 0.297169 0.530649 
time: 1403636696.313555, t: 5.825097 -4.314347 -0.780018 q: -0.197719 0.765257 0.296511 0.536069 
wait for imu ... 
time: 1403636696.413555, t: 5.843771 -4.306758 -0.794211 q: -0.204521 0.757013 0.290867 0.548178 
time: 1403636696.513556, t: 5.854733 -4.302632 -0.806216 q: -0.209404 0.754168 0.286505 0.552536 
time: 1403636696.713556, t: 5.867461 -4.300437 -0.814149 q: -0.210839 0.757526 0.284390 0.548474 
time: 1403636696.813555, t: 5.870542 -4.301899 -0.816044 q: -0.209275 0.758784 0.285072 0.546978 
time: 1403636696.913555, t: 5.871650 -4.304624 -0.822304 q: -0.206706 0.759144 0.286883 0.546508 
wait for imu ... 
time: 1403636697.013556, t: 5.870954 -4.307095 -0.832169 q: -0.195408 0.756653 0.294559 0.550025 
time: 1403636697.113555, t: 5.865439 -4.307788 -0.840721 q: -0.183521 0.754176 0.302173 0.553380 
wait for imu ... 
time: 1403636697.213556, t: 5.853759 -4.301289 -0.841697 q: -0.176167 0.751996 0.306597 0.556296 
time: 1403636697.313555, t: 5.830632 -4.292298 -0.833902 q: -0.176883 0.753675 0.305473 0.554412 
wait for imu ... 
time: 1403636697.413555, t: 5.802382 -4.273202 -0.817899 q: -0.186233 0.759341 0.298547 0.547346 
time: 1403636697.513556, t: 5.768012 -4.255962 -0.793382 q: -0.192890 0.764437 0.293653 0.540553 
time: 1403636697.613555, t: 5.734317 -4.234581 -0.762804 q: -0.190623 0.767240 0.288295 0.540270 
wait for imu ... 
time: 1403636697.713556, t: 5.701561 -4.213263 -0.737344 q: -0.181995 0.771337 0.276826 0.543400 
wait for imu ... 
time: 1403636697.813555, t: 5.669026 -4.191394 -0.720001 q: -0.168899 0.777657 0.260427 0.546718 
time: 1403636697.913555, t: 5.633443 -4.168711 -0.705733 q: -0.158802 0.782828 0.243660 0.550084 
wait for imu ... 
time: 1403636698.013556, t: 5.597300 -4.143769 -0.697764 q: -0.151922 0.787142 0.229433 0.551985 
wait for imu ... 
time: 1403636698.113555, t: 5.560308 -4.117280 -0.695376 q: -0.147044 0.789536 0.219475 0.553933 
wait for imu ... 
time: 1403636698.213556, t: 5.522995 -4.088627 -0.697675 q: -0.143854 0.791214 0.211488 0.555480 
time: 1403636698.313555, t: 5.486954 -4.056946 -0.705355 q: -0.136776 0.793974 0.201819 0.556927 
time: 1403636698.413555, t: 5.448741 -4.029788 -0.715634 q: -0.126530 0.797174 0.188657 0.559386 
time: 1403636698.513556, t: 5.412852 -3.997902 -0.730817 q: -0.113934 0.801744 0.172923 0.560645 
time: 1403636698.613555, t: 5.376547 -3.967528 -0.748079 q: -0.100744 0.805912 0.153606 0.562816 
wait for imu ... 
time: 1403636698.713556, t: 5.340325 -3.934994 -0.769805 q: -0.087598 0.810456 0.130936 0.564219 
wait for imu ... 
time: 1403636698.813555, t: 5.306422 -3.899944 -0.795985 q: -0.072398 0.814662 0.106631 0.565433 
time: 1403636698.913555, t: 5.275215 -3.863082 -0.823218 q: -0.057669 0.817751 0.080613 0.566974 
wait for imu ... 
time: 1403636699.013556, t: 5.245496 -3.825639 -0.845275 q: -0.043840 0.820120 0.054956 0.567857 
time: 1403636699.113555, t: 5.217746 -3.787173 -0.860279 q: -0.030624 0.820994 0.028772 0.569388 
wait for imu ... 
time: 1403636699.213556, t: 5.190208 -3.749236 -0.867525 q: -0.020033 0.821648 -0.000440 0.569643 
wait for imu ... 
time: 1403636699.313555, t: 5.163321 -3.714427 -0.868390 q: -0.008295 0.822521 -0.030788 0.567840 
wait for imu ... 
time: 1403636699.413555, t: 5.140358 -3.684030 -0.863323 q: 0.004277 0.822445 -0.059084 0.565751 
time: 1403636699.513556, t: 5.122333 -3.659466 -0.855364 q: 0.017759 0.821609 -0.083770 0.563583 
time: 1403636699.613555, t: 5.106246 -3.638863 -0.852434 q: 0.029922 0.819431 -0.108207 0.562075 
wait for imu ... 
time: 1403636699.713556, t: 5.091154 -3.624094 -0.854742 q: 0.043741 0.815783 -0.131259 0.561566 
time: 1403636699.813555, t: 5.073334 -3.618113 -0.859402 q: 0.063021 0.812339 -0.144339 0.561516 
wait for imu ... 
time: 1403636699.913555, t: 5.061816 -3.613263 -0.869168 q: 0.076475 0.807949 -0.152750 0.563948 
time: 1403636700.013556, t: 5.049622 -3.610778 -0.881214 q: 0.081411 0.805065 -0.159641 0.565470 
time: 1403636700.113555, t: 5.035663 -3.615761 -0.895881 q: 0.082408 0.803737 -0.163363 0.566153 
time: 1403636700.213556, t: 5.020920 -3.621161 -0.914486 q: 0.083593 0.803006 -0.164559 0.566669 
time: 1403636700.313555, t: 5.006456 -3.627540 -0.938817 q: 0.083904 0.803525 -0.167991 0.564877 
wait for imu ... 
time: 1403636700.413555, t: 4.991076 -3.638498 -0.969931 q: 0.084657 0.803405 -0.177123 0.562140 
time: 1403636700.513556, t: 4.973857 -3.655172 -1.005117 q: 0.092684 0.799522 -0.183373 0.564401 
wait for imu ... 
time: 1403636700.613555, t: 4.957198 -3.675362 -1.042598 q: 0.103717 0.794846 -0.188229 0.567479 
wait for imu ... 
time: 1403636700.713556, t: 4.939145 -3.698687 -1.082474 q: 0.116302 0.790875 -0.195948 0.567975 
wait for imu ... 
time: 1403636700.813555, t: 4.921299 -3.722153 -1.118072 q: 0.125289 0.788694 -0.202134 0.566927 
wait for imu ... 
time: 1403636700.913555, t: 4.903396 -3.744434 -1.146943 q: 0.129387 0.790457 -0.207424 0.561616 
wait for imu ... 
time: 1403636701.013556, t: 4.887477 -3.766559 -1.167977 q: 0.130640 0.793662 -0.210690 0.555557 
time: 1403636701.113555, t: 4.869451 -3.788105 -1.182152 q: 0.129412 0.799139 -0.212176 0.547368 
time: 1403636701.213556, t: 4.851711 -3.812147 -1.186973 q: 0.129456 0.802346 -0.209996 0.543493 
wait for imu ... 
time: 1403636701.313555, t: 4.835019 -3.838351 -1.183791 q: 0.128151 0.804026 -0.207490 0.542280 
time: 1403636701.413555, t: 4.824160 -3.867388 -1.177937 q: 0.127431 0.803296 -0.204407 0.544697 
wait for imu ... 
time: 1403636701.513556, t: 4.815200 -3.897868 -1.170471 q: 0.127628 0.799858 -0.199838 0.551364 
time: 1403636701.613555, t: 4.807666 -3.929173 -1.162839 q: 0.127292 0.796795 -0.195231 0.557495 
time: 1403636701.713556, t: 4.800719 -3.959948 -1.157077 q: 0.127621 0.794902 -0.192256 0.561143 
wait for imu ... 
time: 1403636701.813555, t: 4.788636 -3.991789 -1.155454 q: 0.128710 0.793802 -0.197110 0.560768 
time: 1403636701.913555, t: 4.783050 -4.023512 -1.158882 q: 0.134450 0.792037 -0.207938 0.557998 
wait for imu ... 
time: 1403636702.013556, t: 4.770562 -4.056106 -1.167611 q: 0.142786 0.788290 -0.222573 0.555583 
wait for imu ... 
time: 1403636702.113555, t: 4.758043 -4.087931 -1.180582 q: 0.153278 0.782466 -0.240969 0.553341 
wait for imu ... 
time: 1403636702.213556, t: 4.745148 -4.120538 -1.198219 q: 0.165621 0.776194 -0.259408 0.550272 
wait for imu ... 
wait for imu ... 
time: 1403636702.413555, t: 4.722316 -4.182405 -1.248811 q: 0.184608 0.773277 -0.280869 0.537657 
wait for imu ... 
time: 1403636702.513556, t: 4.712988 -4.212481 -1.279367 q: 0.191802 0.773490 -0.286262 0.531958 
time: 1403636702.613555, t: 4.707319 -4.243420 -1.315890 q: 0.196103 0.774060 -0.289502 0.527791 
wait for imu ... 
time: 1403636702.713556, t: 4.707056 -4.270119 -1.356524 q: 0.199381 0.775592 -0.290788 0.523590 
wait for imu ... 
time: 1403636702.813555, t: 4.711234 -4.296832 -1.400941 q: 0.200024 0.777077 -0.291585 0.520692 
wait for imu ... 
time: 1403636702.913555, t: 4.720969 -4.324979 -1.446782 q: 0.199329 0.778416 -0.292069 0.518682 
time: 1403636703.013556, t: 4.734133 -4.356801 -1.485678 q: 0.197461 0.777075 -0.292293 0.521276 
time: 1403636703.113555, t: 4.751331 -4.386413 -1.518302 q: 0.194323 0.772957 -0.293651 0.527774 
time: 1403636703.213556, t: 4.771766 -4.421681 -1.540474 q: 0.187455 0.765830 -0.296735 0.538807 
wait for imu ... 
time: 1403636703.313555, t: 4.790175 -4.458050 -1.557355 q: 0.179475 0.759588 -0.301328 0.547737 
time: 1403636703.413555, t: 4.804148 -4.494725 -1.569207 q: 0.182469 0.758304 -0.298665 0.549981 
time: 1403636703.513556, t: 4.814914 -4.535476 -1.573845 q: 0.191825 0.762886 -0.291524 0.544263 
time: 1403636703.613555, t: 4.825151 -4.577443 -1.572173 q: 0.196422 0.767067 -0.287532 0.538843 
wait for imu ... 
time: 1403636703.713556, t: 4.834797 -4.618923 -1.568464 q: 0.196298 0.769352 -0.286433 0.536209 
time: 1403636703.813555, t: 4.845685 -4.657887 -1.567472 q: 0.194057 0.767752 -0.286412 0.539322 
time: 1403636703.913555, t: 4.857062 -4.697253 -1.571912 q: 0.190070 0.765009 -0.287134 0.544232 
wait for imu ... 
time: 1403636704.013556, t: 4.867609 -4.734234 -1.578814 q: 0.186834 0.763898 -0.287446 0.546743 
wait for imu ... 
time: 1403636704.113555, t: 4.875296 -4.769391 -1.590709 q: 0.184115 0.764645 -0.287248 0.546725 
time: 1403636704.213556, t: 4.884031 -4.806498 -1.609119 q: 0.183684 0.769223 -0.285736 0.541213 
time: 1403636704.313555, t: 4.891206 -4.845190 -1.628434 q: 0.184891 0.773452 -0.283687 0.535825 
wait for imu ... 
time: 1403636704.413555, t: 4.901269 -4.885844 -1.640095 q: 0.185248 0.776115 -0.282346 0.532550 
time: 1403636704.513556, t: 4.913370 -4.925924 -1.642770 q: 0.187004 0.779577 -0.280310 0.527935 
time: 1403636704.613555, t: 4.929181 -4.969841 -1.640827 q: 0.186413 0.782309 -0.280053 0.524226 
time: 1403636704.713556, t: 4.948456 -5.012968 -1.640686 q: 0.186628 0.786137 -0.279383 0.518752 
time: 1403636704.813555, t: 4.972337 -5.060072 -1.648453 q: 0.184941 0.789951 -0.279151 0.513662 
wait for imu ... 
time: 1403636704.913555, t: 5.001261 -5.105808 -1.661117 q: 0.181712 0.793720 -0.279481 0.508802 
time: 1403636705.013556, t: 5.039414 -5.157647 -1.680889 q: 0.181003 0.796884 -0.278447 0.504659 
time: 1403636705.113555, t: 5.084171 -5.209991 -1.698591 q: 0.183458 0.795223 -0.275498 0.508000 
wait for imu ... 
time: 1403636705.213556, t: 5.138935 -5.266554 -1.717411 q: 0.189326 0.786461 -0.270340 0.522064 
time: 1403636705.313555, t: 5.198297 -5.323836 -1.731330 q: 0.193067 0.780621 -0.266684 0.531258 
wait for imu ... 
time: 1403636705.413555, t: 5.260761 -5.381209 -1.739526 q: 0.192902 0.779961 -0.266315 0.532471 
time: 1403636705.513556, t: 5.326152 -5.435898 -1.747785 q: 0.190619 0.783075 -0.268524 0.527591 
wait for imu ... 
time: 1403636705.613555, t: 5.394378 -5.487916 -1.759158 q: 0.189217 0.785673 -0.269777 0.523580 
time: 1403636705.713556, t: 5.466962 -5.544375 -1.775426 q: 0.189403 0.785222 -0.270174 0.523983 
time: 1403636705.813555, t: 5.543750 -5.600498 -1.795129 q: 0.188058 0.781322 -0.271113 0.529781 
wait for imu ... 
time: 1403636705.913555, t: 5.623464 -5.661399 -1.810685 q: 0.184345 0.775593 -0.273084 0.538421 
wait for imu ... 
time: 1403636706.013556, t: 5.702967 -5.719286 -1.817195 q: 0.175639 0.769883 -0.277806 0.547041 
wait for imu ... 
time: 1403636706.113555, t: 5.778741 -5.776659 -1.816836 q: 0.165982 0.765031 -0.282867 0.554223 
wait for imu ... 
time: 1403636706.313555, t: 5.916302 -5.896830 -1.830089 q: 0.182293 0.769906 -0.268116 0.549661 
time: 1403636706.413555, t: 5.982641 -5.954567 -1.847367 q: 0.188626 0.774657 -0.262316 0.543615 
wait for imu ... 
time: 1403636706.513556, t: 6.049017 -6.012239 -1.865428 q: 0.191742 0.778298 -0.259133 0.538830 
wait for imu ... 
time: 1403636706.613555, t: 6.114106 -6.066947 -1.876088 q: 0.192295 0.780169 -0.258626 0.536163 
wait for imu ... 
time: 1403636706.713556, t: 6.184460 -6.120783 -1.884212 q: 0.192472 0.782222 -0.259185 0.532829 
time: 1403636706.813555, t: 6.256838 -6.173735 -1.886281 q: 0.190780 0.784804 -0.261708 0.528389 
wait for imu ... 
time: 1403636706.913555, t: 6.332475 -6.225723 -1.883738 q: 0.190246 0.785500 -0.264296 0.526255 
time: 1403636707.013556, t: 6.411304 -6.277304 -1.876832 q: 0.192204 0.783283 -0.265706 0.528134 
wait for imu ... 
time: 1403636707.113555, t: 6.490859 -6.327415 -1.869048 q: 0.195261 0.779834 -0.266381 0.531764 
time: 1403636707.213556, t: 6.574120 -6.376849 -1.862002 q: 0.197275 0.779004 -0.268849 0.530995 
wait for imu ... 
time: 1403636707.313555, t: 6.660263 -6.424257 -1.848710 q: 0.200050 0.779141 -0.270614 0.528855 
time: 1403636707.413555, t: 6.751802 -6.470383 -1.826694 q: 0.200840 0.779359 -0.272782 0.527118 
wait for imu ... 
time: 1403636707.513556, t: 6.845825 -6.513635 -1.796235 q: 0.200840 0.779559 -0.274286 0.526040 
time: 1403636707.613555, t: 6.945899 -6.559472 -1.762898 q: 0.197757 0.779528 -0.277344 0.525651 
wait for imu ... 
time: 1403636707.713556, t: 7.044645 -6.598826 -1.735119 q: 0.188218 0.778648 -0.284058 0.526871 
time: 1403636707.813555, t: 7.148138 -6.644701 -1.719758 q: 0.183465 0.777754 -0.286881 0.528335 
wait for imu ... 
time: 1403636707.913555, t: 7.250530 -6.690400 -1.714569 q: 0.182172 0.775895 -0.285917 0.532026 
wait for imu ... 
time: 1403636708.013556, t: 7.349283 -6.738388 -1.719220 q: 0.183561 0.775273 -0.282008 0.534536 
wait for imu ... 
time: 1403636708.113555, t: 7.446182 -6.786563 -1.733843 q: 0.186454 0.774926 -0.276426 0.536949 
wait for imu ... 
time: 1403636708.213556, t: 7.539980 -6.832722 -1.754123 q: 0.186695 0.773950 -0.273088 0.539972 
time: 1403636708.313555, t: 7.626161 -6.876601 -1.782203 q: 0.179326 0.770095 -0.276125 0.546398 
wait for imu ... 
time: 1403636708.413555, t: 7.708702 -6.920717 -1.809664 q: 0.167680 0.765215 -0.282848 0.553467 
time: 1403636708.513556, t: 7.786102 -6.969881 -1.829970 q: 0.162766 0.762360 -0.285371 0.557564 
time: 1403636708.613555, t: 7.862425 -7.024601 -1.842107 q: 0.168249 0.761757 -0.281691 0.558632 
wait for imu ... 
time: 1403636708.713556, t: 7.933932 -7.081176 -1.853968 q: 0.182109 0.763786 -0.273331 0.555659 
time: 1403636708.813555, t: 8.008659 -7.139480 -1.868980 q: 0.196517 0.764812 -0.265164 0.553291 
time: 1403636708.913555, t: 8.071805 -7.189371 -1.889378 q: 0.203562 0.763919 -0.263705 0.552676 
wait for imu ... 
time: 1403636709.013556, t: 8.132832 -7.233284 -1.905442 q: 0.208298 0.760914 -0.264465 0.554689 
time: 1403636709.113555, t: 8.196943 -7.274434 -1.912800 q: 0.213190 0.758446 -0.265098 0.555907 
time: 1403636709.213556, t: 8.252319 -7.304363 -1.914922 q: 0.214298 0.759818 -0.268205 0.552104 
time: 1403636709.313555, t: 8.322608 -7.335500 -1.910807 q: 0.214039 0.763669 -0.270642 0.545664 
time: 1403636709.413555, t: 8.383378 -7.356842 -1.907967 q: 0.214552 0.766560 -0.271248 0.541089 
time: 1403636709.513556, t: 8.447513 -7.374812 -1.910520 q: 0.214512 0.767777 -0.271305 0.539349 
time: 1403636709.613555, t: 8.511173 -7.388569 -1.921887 q: 0.213467 0.769417 -0.271662 0.537242 
time: 1403636709.713556, t: 8.581758 -7.399276 -1.935241 q: 0.213093 0.770753 -0.270649 0.535985 
time: 1403636709.813555, t: 8.649641 -7.404365 -1.946909 q: 0.211954 0.771356 -0.269142 0.536328 
time: 1403636709.913555, t: 8.723227 -7.407172 -1.956331 q: 0.210923 0.771279 -0.268013 0.537410 
wait for imu ... 
time: 1403636710.013556, t: 8.799675 -7.405112 -1.959534 q: 0.209656 0.771175 -0.266772 0.538671 
time: 1403636710.113555, t: 8.876953 -7.398831 -1.959663 q: 0.209000 0.770960 -0.264719 0.540244 
time: 1403636710.213556, t: 8.959793 -7.392428 -1.964713 q: 0.208305 0.771204 -0.262283 0.541351 
time: 1403636710.313555, t: 9.038297 -7.378390 -1.978900 q: 0.200373 0.769605 -0.263994 0.545771 
wait for imu ... 
time: 1403636710.413555, t: 9.123999 -7.364946 -1.997991 q: 0.184783 0.768197 -0.267811 0.551367 
wait for imu ... 
time: 1403636710.513556, t: 9.209023 -7.349936 -2.022561 q: 0.168811 0.769294 -0.265942 0.555846 
time: 1403636710.613555, t: 9.290036 -7.335574 -2.049319 q: 0.157116 0.771243 -0.259016 0.559830 
wait for imu ... 
time: 1403636710.713556, t: 9.364618 -7.321483 -2.080062 q: 0.148838 0.774460 -0.246506 0.563288 
time: 1403636710.813555, t: 9.432768 -7.310205 -2.108527 q: 0.144502 0.778995 -0.227530 0.566142 
wait for imu ... 
time: 1403636710.913555, t: 9.494757 -7.300227 -2.130724 q: 0.141609 0.785679 -0.204995 0.566244 
wait for imu ... 
time: 1403636711.013556, t: 9.553792 -7.289802 -2.146801 q: 0.141254 0.791627 -0.183854 0.565307 
time: 1403636711.113555, t: 9.608940 -7.278548 -2.157919 q: 0.139252 0.794511 -0.169912 0.566119 
wait for imu ... 
time: 1403636711.213556, t: 9.662031 -7.263173 -2.166289 q: 0.137975 0.795240 -0.161195 0.567955 
wait for imu ... 
time: 1403636711.313555, t: 9.712889 -7.242878 -2.172244 q: 0.134164 0.794786 -0.158235 0.570330 
wait for imu ... 
time: 1403636711.413555, t: 9.763656 -7.218568 -2.173829 q: 0.129534 0.790710 -0.159242 0.576750 
time: 1403636711.513556, t: 9.811161 -7.189782 -2.168854 q: 0.128597 0.782093 -0.159946 0.588396 
time: 1403636711.613555, t: 9.856052 -7.157300 -2.162223 q: 0.134101 0.777115 -0.158315 0.594176 
time: 1403636711.713556, t: 9.896587 -7.119463 -2.155290 q: 0.139209 0.776882 -0.157807 0.593440 
wait for imu ... 
time: 1403636711.813555, t: 9.928148 -7.075202 -2.146706 q: 0.138218 0.778378 -0.161348 0.590754 
time: 1403636711.913555, t: 9.953916 -7.024580 -2.137213 q: 0.129727 0.781944 -0.169362 0.585705 
time: 1403636712.013556, t: 9.971696 -6.972284 -2.122921 q: 0.119112 0.784505 -0.178467 0.581820 
wait for imu ... 
time: 1403636712.113555, t: 9.977792 -6.921089 -2.101853 q: 0.110997 0.784549 -0.184800 0.581388 
wait for imu ... 
time: 1403636712.213556, t: 9.979592 -6.873446 -2.076937 q: 0.111632 0.784919 -0.180502 0.582117 
wait for imu ... 
time: 1403636712.313555, t: 9.978482 -6.827018 -2.046940 q: 0.115402 0.787294 -0.164336 0.582962 
time: 1403636712.413555, t: 9.979873 -6.777805 -2.013918 q: 0.115656 0.789600 -0.147129 0.584387 
wait for imu ... 
time: 1403636712.513556, t: 9.967542 -6.730828 -1.976716 q: 0.112546 0.790439 -0.133119 0.587213 
time: 1403636712.613555, t: 9.954467 -6.678209 -1.938778 q: 0.105856 0.789577 -0.124072 0.591581 
wait for imu ... 
time: 1403636712.713556, t: 9.939292 -6.620799 -1.905750 q: 0.097384 0.786478 -0.118909 0.598189 
wait for imu ... 
time: 1403636712.813555, t: 9.917399 -6.561908 -1.879369 q: 0.091033 0.786737 -0.115088 0.599594 
time: 1403636712.913555, t: 9.891903 -6.499536 -1.857648 q: 0.087694 0.789963 -0.113185 0.596203 
time: 1403636713.013556, t: 9.861483 -6.436282 -1.840785 q: 0.088708 0.793362 -0.110972 0.591940 
wait for imu ... 
time: 1403636713.113555, t: 9.825390 -6.370727 -1.821969 q: 0.085200 0.792980 -0.111677 0.592833 
time: 1403636713.213556, t: 9.784758 -6.302534 -1.797500 q: 0.082227 0.794699 -0.112385 0.590814 
wait for imu ... 
time: 1403636713.313555, t: 9.740502 -6.234438 -1.764302 q: 0.081585 0.797051 -0.112836 0.587640 
time: 1403636713.413555, t: 9.696265 -6.167557 -1.724528 q: 0.079565 0.798457 -0.114707 0.585644 
time: 1403636713.513556, t: 9.648397 -6.100434 -1.678949 q: 0.076646 0.799191 -0.117660 0.584444 
wait for imu ... 
time: 1403636713.613555, t: 9.600986 -6.034842 -1.635094 q: 0.072031 0.800027 -0.122584 0.582874 
time: 1403636713.713556, t: 9.548499 -5.970447 -1.596964 q: 0.067679 0.801179 -0.127621 0.580728 
wait for imu ... 
time: 1403636713.813555, t: 9.498148 -5.911549 -1.564344 q: 0.064448 0.801856 -0.132101 0.579157 
optimize pose graph 
time: 1403636713.913555, t: 9.442464 -5.855838 -1.537904 q: 0.067181 0.802154 -0.132774 0.578279 
wait for imu ... 
time: 1403636714.013556, t: 9.386543 -5.806353 -1.518511 q: 0.071541 0.803140 -0.132127 0.576533 
time: 1403636714.113555, t: 9.328414 -5.759379 -1.501971 q: 0.078294 0.803110 -0.130444 0.576080 
wait for imu ... 
time: 1403636714.213556, t: 9.269739 -5.718853 -1.492776 q: 0.080939 0.802011 -0.131195 0.577075 
wait for imu ... 
time: 1403636714.313555, t: 9.208125 -5.679742 -1.488230 q: 0.078099 0.800507 -0.135386 0.578584 
time: 1403636714.413555, t: 9.146655 -5.637892 -1.485021 q: 0.078390 0.802951 -0.137487 0.574649 
wait for imu ... 
time: 1403636714.513556, t: 9.087132 -5.605855 -1.490671 q: 0.075418 0.808721 -0.135474 0.567388 
time: 1403636714.613555, t: 9.029156 -5.571546 -1.496005 q: 0.067891 0.814206 -0.128703 0.562045 
wait for imu ... 
time: 1403636714.713556, t: 8.973150 -5.543063 -1.503469 q: 0.059696 0.818537 -0.114533 0.559745 
time: 1403636714.813555, t: 8.920640 -5.518309 -1.502569 q: 0.050789 0.821864 -0.093289 0.559693 
wait for imu ... 
time: 1403636714.913555, t: 8.872953 -5.494465 -1.491051 q: 0.041269 0.824087 -0.068154 0.560831 
wait for imu ... 
time: 1403636715.013556, t: 8.829310 -5.471140 -1.471601 q: 0.029305 0.826337 -0.045742 0.560549 
wait for imu ... 
time: 1403636715.113555, t: 8.791062 -5.449629 -1.445111 q: 0.020937 0.828187 -0.027072 0.559405 
wait for imu ... 
time: 1403636715.213556, t: 8.756530 -5.428165 -1.415117 q: 0.013948 0.828910 -0.015231 0.559001 
time: 1403636715.313555, t: 8.724773 -5.406115 -1.388645 q: 0.006913 0.827280 -0.009456 0.561668 
wait for imu ... 
time: 1403636715.413555, t: 8.703125 -5.386924 -1.368902 q: 0.000281 0.824313 -0.008274 0.566074 
time: 1403636715.513556, t: 8.681190 -5.368344 -1.358529 q: -0.009211 0.820342 -0.012392 0.571665 
wait for imu ... 
time: 1403636715.613555, t: 8.659344 -5.351557 -1.355547 q: -0.019047 0.818394 -0.018833 0.574033 
time: 1403636715.713556, t: 8.639461 -5.340172 -1.356259 q: -0.013812 0.812394 -0.016761 0.582704 
time: 1403636715.813555, t: 8.617008 -5.331835 -1.357517 q: -0.004340 0.806464 -0.012924 0.591127 
time: 1403636715.913555, t: 8.594553 -5.325489 -1.353155 q: 0.002511 0.801327 -0.010689 0.598125 
wait for imu ... 
time: 1403636716.013556, t: 8.565675 -5.319120 -1.344513 q: 0.005174 0.798877 -0.011859 0.601356 
time: 1403636716.113555, t: 8.531194 -5.313802 -1.331072 q: 0.005258 0.799944 -0.014954 0.599865 
wait for imu ... 
time: 1403636716.213556, t: 8.491780 -5.309237 -1.316137 q: 0.003913 0.806818 -0.019749 0.590458 
time: 1403636716.313555, t: 8.446832 -5.304294 -1.298599 q: 0.005374 0.811343 -0.023189 0.584086 
wait for imu ... 
time: 1403636716.413555, t: 8.403122 -5.300974 -1.291388 q: 0.006748 0.813156 -0.026276 0.581413 
time: 1403636716.513556, t: 8.359046 -5.298787 -1.290629 q: 0.008802 0.813509 -0.028193 0.580802 
wait for imu ... 
time: 1403636716.613555, t: 8.314836 -5.295613 -1.291135 q: 0.010718 0.813250 -0.024647 0.581294 
wait for imu ... 
time: 1403636716.713556, t: 8.271971 -5.295495 -1.304430 q: 0.006829 0.813104 -0.017295 0.581821 
time: 1403636716.813555, t: 8.225665 -5.291986 -1.315476 q: -0.001181 0.812880 -0.007117 0.582387 
time: 1403636716.913555, t: 8.181199 -5.291648 -1.331490 q: -0.012787 0.813216 0.007162 0.581778 
wait for imu ... 
time: 1403636717.013556, t: 8.133650 -5.289398 -1.338775 q: -0.025638 0.813338 0.026691 0.580614 
wait for imu ... 
time: 1403636717.113555, t: 8.085377 -5.286925 -1.338362 q: -0.038506 0.812889 0.046897 0.579250 
wait for imu ... 
time: 1403636717.213556, t: 8.035756 -5.286640 -1.334027 q: -0.046850 0.812042 0.063431 0.578247 
time: 1403636717.313555, t: 7.985250 -5.287308 -1.327598 q: -0.047409 0.811125 0.078746 0.577605 
wait for imu ... 
time: 1403636717.413555, t: 7.935367 -5.286940 -1.319489 q: -0.041996 0.809158 0.092720 0.578707 
time: 1403636717.513556, t: 7.884620 -5.282653 -1.314779 q: -0.041399 0.808438 0.098779 0.578755 
time: 1403636717.613555, t: 7.833175 -5.274313 -1.317150 q: -0.047697 0.808625 0.097135 0.578287 
time: 1403636717.713556, t: 7.780510 -5.259853 -1.324684 q: -0.050596 0.808022 0.095172 0.579208 
wait for imu ... 
time: 1403636717.813555, t: 7.726953 -5.243078 -1.338175 q: -0.048841 0.808135 0.100119 0.578367 
time: 1403636717.913555, t: 7.671142 -5.219736 -1.346319 q: -0.051083 0.807529 0.109691 0.577283 
wait for imu ... 
time: 1403636718.013556, t: 7.615527 -5.190810 -1.348315 q: -0.057527 0.805733 0.122214 0.576670 
time: 1403636718.113555, t: 7.558726 -5.154271 -1.341088 q: -0.071830 0.804032 0.134553 0.574690 
time: 1403636718.213556, t: 7.499120 -5.114118 -1.335115 q: -0.089114 0.802632 0.145535 0.571541 
time: 1403636718.313555, t: 7.438718 -5.073227 -1.336295 q: -0.103025 0.801864 0.154172 0.568006 
wait for imu ... 
time: 1403636718.413555, t: 7.376710 -5.030917 -1.345447 q: -0.115526 0.800582 0.164237 0.564578 
wait for imu ... 
time: 1403636718.513556, t: 7.314294 -4.986510 -1.360125 q: -0.129631 0.798234 0.174514 0.561750 
wait for imu ... 
time: 1403636718.613555, t: 7.252718 -4.942728 -1.380285 q: -0.143315 0.796848 0.181748 0.558087 
wait for imu ... 
time: 1403636718.713556, t: 7.195488 -4.901208 -1.404287 q: -0.157321 0.796749 0.185333 0.553256 
wait for imu ... 
time: 1403636718.813555, t: 7.143387 -4.864311 -1.430958 q: -0.160809 0.794884 0.193024 0.552306 
wait for imu ... 
time: 1403636718.913555, t: 7.095860 -4.831425 -1.455251 q: -0.155282 0.792054 0.203713 0.554111 
wait for imu ... 
time: 1403636719.013556, t: 7.049940 -4.801015 -1.471790 q: -0.150707 0.789232 0.211061 0.556644 
time: 1403636719.113555, t: 7.005854 -4.771423 -1.479178 q: -0.149850 0.785841 0.213882 0.560584 
time: 1403636719.213556, t: 6.960529 -4.739641 -1.478124 q: -0.151713 0.781987 0.212888 0.565825 
wait for imu ... 
time: 1403636719.313555, t: 6.913473 -4.710060 -1.481807 q: -0.154938 0.779237 0.209719 0.569913 
wait for imu ... 
time: 1403636719.413555, t: 6.862271 -4.679073 -1.488999 q: -0.156346 0.777446 0.207151 0.572907 
wait for imu ... 
time: 1403636719.513556, t: 6.813036 -4.656184 -1.507039 q: -0.157696 0.777591 0.204469 0.573304 
time: 1403636719.613555, t: 6.762303 -4.631407 -1.525000 q: -0.157458 0.781525 0.202274 0.568781 
wait for imu ... 
time: 1403636719.713556, t: 6.713004 -4.610111 -1.538760 q: -0.154457 0.786309 0.201078 0.563408 
wait for imu ... 
time: 1403636719.813555, t: 6.660557 -4.586787 -1.543495 q: -0.152251 0.789772 0.198527 0.560059 
wait for imu ... 
time: 1403636719.913555, t: 6.609001 -4.566776 -1.540336 q: -0.151064 0.791261 0.195622 0.559301 
time: 1403636720.013556, t: 6.555372 -4.549538 -1.536523 q: -0.149025 0.792943 0.193973 0.558040 
wait for imu ... 
time: 1403636720.113555, t: 6.502794 -4.533178 -1.542311 q: -0.148239 0.793716 0.193235 0.557404 
time: 1403636720.213556, t: 6.453059 -4.519589 -1.551086 q: -0.148420 0.794583 0.192676 0.556315 
time: 1403636720.313555, t: 6.407219 -4.507438 -1.567657 q: -0.149493 0.794467 0.192237 0.556345 
time: 1403636720.413555, t: 6.364875 -4.495460 -1.583375 q: -0.150226 0.794282 0.192959 0.556161 
wait for imu ... 
time: 1403636720.513556, t: 6.323495 -4.488497 -1.600814 q: -0.152017 0.794702 0.193387 0.554924 
time: 1403636720.613555, t: 6.285687 -4.483801 -1.610753 q: -0.152511 0.794750 0.194958 0.554170 
wait for imu ... 
time: 1403636720.713556, t: 6.248822 -4.480944 -1.613944 q: -0.153870 0.793833 0.195162 0.555036 
time: 1403636720.813555, t: 6.213693 -4.477365 -1.609530 q: -0.151416 0.795225 0.191308 0.555060 
wait for imu ... 
time: 1403636720.913555, t: 6.180589 -4.476235 -1.606322 q: -0.143916 0.797351 0.183622 0.556599 
time: 1403636721.013556, t: 6.150159 -4.475970 -1.608344 q: -0.138242 0.798490 0.172019 0.560101 
time: 1403636721.113555, t: 6.122418 -4.476115 -1.616695 q: -0.131868 0.799615 0.158903 0.563894 
wait for imu ... 
time: 1403636721.213556, t: 6.094634 -4.481263 -1.626011 q: -0.122448 0.800467 0.144489 0.568667 
time: 1403636721.313555, t: 6.067087 -4.488323 -1.631399 q: -0.115072 0.801011 0.132140 0.572432 
time: 1403636721.413555, t: 6.035533 -4.496969 -1.628399 q: -0.107253 0.801794 0.123595 0.574759 
wait for imu ... 
time: 1403636721.513556, t: 6.001222 -4.507186 -1.620544 q: -0.100136 0.803565 0.116777 0.574995 
wait for imu ... 
time: 1403636721.613555, t: 5.967241 -4.520057 -1.616137 q: -0.091361 0.805830 0.109044 0.574805 
wait for imu ... 
time: 1403636721.713556, t: 5.933612 -4.532067 -1.617276 q: -0.084293 0.806909 0.103624 0.575373 
wait for imu ... 
time: 1403636721.813555, t: 5.898522 -4.544368 -1.624644 q: -0.079352 0.807449 0.100921 0.575798 
wait for imu ... 
time: 1403636721.913555, t: 5.863992 -4.556596 -1.636696 q: -0.078424 0.807249 0.099105 0.576521 
time: 1403636722.013556, t: 5.830459 -4.567796 -1.649611 q: -0.073110 0.806672 0.103016 0.577341 
time: 1403636722.113555, t: 5.795700 -4.577450 -1.655097 q: -0.070826 0.806445 0.106385 0.577332 
time: 1403636722.213556, t: 5.759539 -4.586068 -1.653550 q: -0.074103 0.806941 0.106207 0.576259 
wait for imu ... 
wait for imu ... 
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: 5.722465 -4.592819 -1.647105 q: -0.078220 0.807189 0.105814 0.575440 
wait for imu ... 
time: 1403636722.413555, t: 5.686423 -4.599609 -1.644652 q: -0.078009 0.807811 0.104746 0.574791 
time: 1403636722.513556, t: 5.647089 -4.607451 -1.646442 q: -0.075584 0.807920 0.100551 0.575710 
time: 1403636722.613555, t: 5.608757 -4.612867 -1.652796 q: -0.071765 0.808440 0.098177 0.575878 
wait for imu ... 
time: 1403636722.713556, t: 5.571956 -4.617427 -1.662160 q: -0.068725 0.808668 0.096488 0.576214 
time: 1403636722.813555, t: 5.532338 -4.620562 -1.670839 q: -0.065456 0.809409 0.096369 0.575574 
wait for imu ... 
time: 1403636722.913555, t: 5.492910 -4.622614 -1.674547 q: -0.064784 0.809629 0.095489 0.575488 
time: 1403636723.013556, t: 5.449718 -4.623847 -1.670248 q: -0.067507 0.809880 0.093743 0.575108 
time: 1403636723.113555, t: 5.409573 -4.623200 -1.660537 q: -0.070525 0.809490 0.091836 0.575602 
time: 1403636723.213556, t: 5.371372 -4.622224 -1.651719 q: -0.070912 0.809602 0.091163 0.575505 
wait for imu ... 
time: 1403636723.313555, t: 5.335975 -4.622927 -1.648366 q: -0.067557 0.809755 0.092911 0.575413 
wait for imu ... 
time: 1403636723.413555, t: 5.294765 -4.621804 -1.651673 q: -0.061654 0.809624 0.090601 0.576628 
time: 1403636723.513556, t: 5.253802 -4.620636 -1.655116 q: -0.053614 0.806850 0.083292 0.582393 
wait for imu ... 
time: 1403636723.613555, t: 5.225677 -4.614870 -1.645891 q: -0.052134 0.800476 0.071025 0.592853 
time: 1403636723.713556, t: 5.191365 -4.609003 -1.638122 q: -0.048022 0.802657 0.063088 0.591148 
wait for imu ... 
time: 1403636723.813555, t: 5.153033 -4.601960 -1.627301 q: -0.044758 0.808738 0.056146 0.583770 
time: 1403636723.913555, t: 5.109013 -4.595405 -1.622579 q: -0.042843 0.813319 0.050812 0.578010 
wait for imu ... 
time: 1403636724.013556, t: 5.066544 -4.588494 -1.621183 q: -0.039832 0.818578 0.045939 0.571168 
time: 1403636724.113555, t: 5.025700 -4.582665 -1.623904 q: -0.033130 0.823119 0.037599 0.565653 
wait for imu ... 
time: 1403636724.213556, t: 4.982815 -4.579133 -1.631169 q: -0.024215 0.824373 0.025551 0.564951 
wait for imu ... 
time: 1403636724.313555, t: 4.942233 -4.576706 -1.641001 q: -0.012380 0.823871 0.011274 0.566530 
wait for imu ... 
time: 1403636724.413555, t: 4.905799 -4.574829 -1.649681 q: -0.000380 0.820917 -0.004025 0.571034 
time: 1403636724.613555, t: 4.832470 -4.568442 -1.649571 q: 0.015982 0.815943 -0.024174 0.577405 
wait for imu ... 
time: 1403636724.713556, t: 4.805143 -4.562615 -1.638523 q: 0.019769 0.815360 -0.029539 0.577863 
wait for imu ... 
time: 1403636724.813555, t: 4.779257 -4.554252 -1.619722 q: 0.021429 0.816128 -0.032640 0.576550 
time: 1403636724.913555, t: 4.750857 -4.543697 -1.595069 q: 0.019339 0.817202 -0.034659 0.574982 
wait for imu ... 
time: 1403636725.013556, t: 4.728500 -4.533907 -1.563017 q: 0.013798 0.817869 -0.036725 0.574066 
time: 1403636725.113555, t: 4.701098 -4.524212 -1.523790 q: 0.009172 0.817905 -0.037800 0.574037 
time: 1403636725.213556, t: 4.676134 -4.516538 -1.482392 q: 0.007367 0.818477 -0.037252 0.573282 
wait for imu ... 
time: 1403636725.313555, t: 4.656349 -4.512000 -1.446385 q: 0.008261 0.819127 -0.035291 0.572466 
wait for imu ... 
time: 1403636725.413555, t: 4.634505 -4.507861 -1.415155 q: 0.010536 0.819053 -0.033075 0.572667 
time: 1403636725.513556, t: 4.615210 -4.504996 -1.390466 q: 0.012501 0.819130 -0.031536 0.572604 
wait for imu ... 
time: 1403636725.613555, t: 4.598194 -4.502781 -1.372017 q: 0.014745 0.819503 -0.030424 0.572077 
wait for imu ... 
time: 1403636725.713556, t: 4.583155 -4.502008 -1.360047 q: 0.014594 0.818364 -0.030954 0.573680 
time: 1403636725.813555, t: 4.566592 -4.498536 -1.352942 q: 0.014695 0.818441 -0.030501 0.573592 
wait for imu ... 
time: 1403636726.013556, t: 4.533975 -4.492074 -1.351468 q: 0.010217 0.819089 -0.031596 0.572705 
wait for imu ... 
time: 1403636726.113555, t: 4.517951 -4.489129 -1.355757 q: 0.011269 0.818651 -0.029551 0.573420 
time: 1403636726.213556, t: 4.502064 -4.485628 -1.363506 q: 0.011518 0.817094 -0.027945 0.575712 
time: 1403636726.313555, t: 4.488420 -4.481319 -1.372338 q: 0.011505 0.816748 -0.026157 0.576287 
time: 1403636726.413555, t: 4.474611 -4.477449 -1.373894 q: 0.011363 0.815748 -0.024374 0.577783 
wait for imu ... 
time: 1403636726.513556, t: 4.457754 -4.471453 -1.362802 q: 0.007813 0.814908 -0.025075 0.578995 
time: 1403636726.613555, t: 4.444842 -4.468859 -1.352221 q: -0.006347 0.813396 -0.033036 0.580736 
time: 1403636726.713556, t: 4.431547 -4.470345 -1.337235 q: -0.014098 0.811662 -0.037233 0.582769 
time: 1403636726.813555, t: 4.409515 -4.475572 -1.310357 q: -0.006678 0.810972 -0.031138 0.584217 
wait for imu ... 
time: 1403636726.913555, t: 4.395341 -4.482663 -1.280212 q: -0.000284 0.810898 -0.021611 0.584788 
time: 1403636727.013556, t: 4.385389 -4.493019 -1.247101 q: 0.001208 0.810923 -0.015892 0.584936 
wait for imu ... 
time: 1403636727.113555, t: 4.357153 -4.501951 -1.206815 q: 0.003470 0.810933 -0.011302 0.585019 
time: 1403636727.213556, t: 4.342974 -4.511286 -1.177982 q: 0.007384 0.811802 -0.006501 0.583850 
wait for imu ... 
time: 1403636727.313555, t: 4.326266 -4.516521 -1.154365 q: 0.011719 0.812477 -0.002451 0.582870 
time: 1403636727.413555, t: 4.287393 -4.518455 -1.131334 q: 0.013226 0.813412 -0.001010 0.581537 
time: 1403636727.613555, t: 4.245473 -4.515604 -1.096520 q: 0.008207 0.810762 -0.004246 0.585303 
time: 1403636727.713556, t: 4.221615 -4.510979 -1.070716 q: 0.006705 0.811518 -0.005363 0.584264 
wait for imu ... 
time: 1403636727.813555, t: 4.197396 -4.506249 -1.037629 q: 0.008722 0.812182 -0.003602 0.583328 
wait for imu ... 
time: 1403636727.913555, t: 4.151468 -4.496604 -0.993631 q: 0.017462 0.812369 0.001708 0.582879 
time: 1403636728.013556, t: 4.126585 -4.483778 -0.961081 q: 0.017487 0.812607 0.001559 0.582548 
time: 1403636728.113555, t: 4.099571 -4.469221 -0.934797 q: 0.012913 0.811912 -0.001742 0.583634 
time: 1403636728.213556, t: 4.068596 -4.451115 -0.913076 q: 0.010058 0.810618 -0.004236 0.585474 
time: 1403636728.313555, t: 4.019007 -4.431000 -0.888646 q: 0.007918 0.810267 -0.006321 0.585973 
wait for imu ... 
time: 1403636728.413555, t: 3.985334 -4.408847 -0.880245 q: 0.004789 0.810788 -0.008581 0.585257 
time: 1403636728.513556, t: 3.950614 -4.387121 -0.874510 q: -0.006716 0.810766 -0.016945 0.585087 
wait for imu ... 
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wait for imu ... 
time: 1403636728.713556, t: 3.855780 -4.346203 -0.861277 q: -0.010208 0.811005 -0.006730 0.584912 
time: 1403636728.813555, t: 3.817336 -4.329150 -0.851678 q: -0.010797 0.811214 0.010369 0.584558 
wait for imu ... 
time: 1403636728.913555, t: 3.763583 -4.310184 -0.833081 q: -0.014656 0.809966 0.025421 0.585743 
wait for imu ... 
time: 1403636729.013556, t: 3.715425 -4.289342 -0.817277 q: -0.020144 0.808184 0.035723 0.587500 
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time: 1403636729.113555, t: 3.671725 -4.268663 -0.807481 q: -0.024456 0.806202 0.043647 0.589521 
wait for imu ... 
time: 1403636729.213556, t: 3.623614 -4.247223 -0.801983 q: -0.027526 0.807307 0.048442 0.587495 
time: 1403636729.313555, t: 3.573590 -4.224698 -0.803377 q: -0.031354 0.807978 0.050295 0.586225 
time: 1403636729.413555, t: 3.522036 -4.203553 -0.806387 q: -0.033115 0.807403 0.051545 0.586811 
wait for imu ... 
time: 1403636729.513556, t: 3.470334 -4.179278 -0.806826 q: -0.033959 0.807239 0.052190 0.586931 
time: 1403636729.613555, t: 3.414422 -4.155691 -0.799468 q: -0.034741 0.808084 0.052327 0.585709 
wait for imu ... 
time: 1403636729.713556, t: 3.357864 -4.129698 -0.787266 q: -0.036124 0.808332 0.051331 0.585372 
wait for imu ... 
time: 1403636729.813555, t: 3.298943 -4.105374 -0.772422 q: -0.035380 0.810747 0.050838 0.582110 
time: 1403636729.913555, t: 3.241607 -4.078993 -0.763538 q: -0.035872 0.813505 0.049477 0.578338 
time: 1403636730.013556, t: 3.183082 -4.053424 -0.758520 q: -0.035379 0.815476 0.049456 0.575588 
wait for imu ... 
time: 1403636730.113555, t: 3.127368 -4.027471 -0.757161 q: -0.035964 0.816324 0.049940 0.574307 
time: 1403636730.213556, t: 3.069785 -4.000844 -0.760863 q: -0.036182 0.816898 0.049979 0.573472 
wait for imu ... 
time: 1403636730.313555, t: 3.017778 -3.975727 -0.767780 q: -0.038190 0.816670 0.049379 0.573718 
time: 1403636730.413555, t: 2.961981 -3.950090 -0.778842 q: -0.038043 0.817631 0.050359 0.572273 
time: 1403636730.513556, t: 2.914326 -3.925489 -0.786804 q: -0.037405 0.821859 0.051560 0.566118 
time: 1403636730.613555, t: 2.866756 -3.899346 -0.786082 q: -0.038460 0.825901 0.051320 0.560156 
wait for imu ... 
time: 1403636730.713556, t: 2.835353 -3.874057 -0.776102 q: -0.039299 0.827356 0.051308 0.557947 
time: 1403636730.813555, t: 2.806258 -3.849194 -0.756302 q: -0.038675 0.828173 0.052255 0.556689 
time: 1403636730.913555, t: 2.771468 -3.820576 -0.733297 q: -0.043239 0.829163 0.048590 0.555210 
time: 1403636731.013556, t: 2.744699 -3.794645 -0.714212 q: -0.051873 0.827972 0.041883 0.556791 
wait for imu ... 
time: 1403636731.113555, t: 2.725736 -3.771313 -0.699903 q: -0.061189 0.821353 0.034355 0.566087 
time: 1403636731.213556, t: 2.708351 -3.752380 -0.689466 q: -0.061407 0.816134 0.033245 0.573628 
wait for imu ... 
time: 1403636731.313555, t: 2.695174 -3.740563 -0.684420 q: -0.053240 0.812886 0.037895 0.578745 
wait for imu ... 
time: 1403636731.413555, t: 2.682090 -3.731744 -0.684274 q: -0.044970 0.812867 0.042938 0.579122 
time: 1403636731.513556, t: 2.669483 -3.725111 -0.688581 q: -0.044561 0.813030 0.043139 0.578910 
wait for imu ... 
time: 1403636731.613555, t: 2.657058 -3.721204 -0.698107 q: -0.050958 0.813421 0.038990 0.578126 
wait for imu ... 
time: 1403636731.713556, t: 2.644648 -3.721158 -0.710753 q: -0.052720 0.813433 0.037862 0.578025 
time: 1403636731.813555, t: 2.634486 -3.725135 -0.728077 q: -0.048504 0.813440 0.041050 0.578167 
wait for imu ... 
time: 1403636731.913555, t: 2.624002 -3.730764 -0.747586 q: -0.045489 0.813199 0.044202 0.578519 
wait for imu ... 
time: 1403636732.013556, t: 2.612699 -3.737081 -0.769625 q: -0.045233 0.812546 0.045238 0.579375 
time: 1403636732.113555, t: 2.600166 -3.743982 -0.796454 q: -0.045436 0.811525 0.045817 0.580744 
time: 1403636732.213556, t: 2.586702 -3.751327 -0.826017 q: -0.044724 0.810444 0.047194 0.582196 
time: 1403636732.313555, t: 2.566390 -3.759186 -0.847966 q: -0.044780 0.809325 0.048343 0.583653 
wait for imu ... 
time: 1403636732.413555, t: 2.548456 -3.767577 -0.864296 q: -0.038914 0.808428 0.052700 0.584939 
time: 1403636732.513556, t: 2.530564 -3.775409 -0.871393 q: -0.025972 0.804501 0.062236 0.590111 
time: 1403636732.613555, t: 2.504755 -3.779289 -0.871978 q: -0.017160 0.800203 0.069128 0.595485 
wait for imu ... 
time: 1403636732.713556, t: 2.477942 -3.777894 -0.869658 q: -0.021767 0.797928 0.066984 0.598624 
time: 1403636732.813555, t: 2.438140 -3.769962 -0.858646 q: -0.030835 0.797816 0.061765 0.598935 
wait for imu ... 
time: 1403636732.913555, t: 2.396460 -3.761281 -0.849977 q: -0.033880 0.798569 0.060228 0.597924 
time: 1403636733.013556, t: 2.344960 -3.749468 -0.846471 q: -0.035359 0.801595 0.060121 0.593785 
time: 1403636733.113555, t: 2.297062 -3.737305 -0.843422 q: -0.035756 0.805631 0.060498 0.588234 
time: 1403636733.213556, t: 2.241417 -3.722315 -0.831480 q: -0.033364 0.806326 0.062745 0.587187 
time: 1403636733.313555, t: 2.189803 -3.704171 -0.815348 q: -0.034605 0.807158 0.063018 0.585941 
wait for imu ... 
time: 1403636733.413555, t: 2.130049 -3.684647 -0.793731 q: -0.038086 0.810061 0.061926 0.581821 
time: 1403636733.513556, t: 2.072143 -3.663297 -0.766477 q: -0.040527 0.812505 0.060449 0.578393 
time: 1403636733.613555, t: 2.019482 -3.640058 -0.741250 q: -0.040656 0.814212 0.060847 0.575938 
time: 1403636733.713556, t: 1.962587 -3.618350 -0.721575 q: -0.041941 0.815678 0.060200 0.573834 
time: 1403636733.813555, t: 1.911859 -3.594679 -0.707592 q: -0.041750 0.817027 0.060538 0.571891 
time: 1403636733.913555, t: 1.854714 -3.571778 -0.699066 q: -0.040584 0.816806 0.061800 0.572155 
time: 1403636734.013556, t: 1.803589 -3.547755 -0.692016 q: -0.037093 0.813491 0.064084 0.576845 
time: 1403636734.113555, t: 1.749352 -3.523215 -0.689338 q: -0.037873 0.810976 0.062381 0.580510 
time: 1403636734.213556, t: 1.695664 -3.495822 -0.684575 q: -0.039571 0.810538 0.061114 0.581143 
time: 1403636734.313555, t: 1.643465 -3.467232 -0.671727 q: -0.042776 0.810945 0.060090 0.580455 
time: 1403636734.413555, t: 1.586735 -3.439031 -0.654300 q: -0.045468 0.812768 0.059399 0.577765 
time: 1403636734.513556, t: 1.534999 -3.410547 -0.631257 q: -0.046648 0.814782 0.059972 0.574767 
time: 1403636734.613555, t: 1.480205 -3.382444 -0.613442 q: -0.047669 0.817214 0.060631 0.571150 
time: 1403636734.713556, t: 1.426256 -3.356276 -0.601037 q: -0.046928 0.818565 0.062610 0.569061 
time: 1403636734.813555, t: 1.374877 -3.328651 -0.594996 q: -0.046935 0.818837 0.064268 0.568483 
wait for imu ... 
time: 1403636734.913555, t: 1.326610 -3.304386 -0.593333 q: -0.048518 0.818948 0.065005 0.568106 
wait for imu ... 
time: 1403636735.013556, t: 1.281667 -3.276957 -0.597881 q: -0.048532 0.818899 0.065659 0.568100 
time: 1403636735.113555, t: 1.239036 -3.253312 -0.603975 q: -0.050027 0.818589 0.064641 0.568534 
time: 1403636735.213556, t: 1.196335 -3.226652 -0.607761 q: -0.051510 0.819346 0.063126 0.567481 
time: 1403636735.313555, t: 1.157526 -3.200596 -0.602613 q: -0.052993 0.821053 0.060612 0.565146 
time: 1403636735.413555, t: 1.124305 -3.176055 -0.584584 q: -0.052463 0.820891 0.058316 0.565672 
time: 1403636735.513556, t: 1.088441 -3.149477 -0.556858 q: -0.050772 0.819819 0.055344 0.567676 
time: 1403636735.613555, t: 1.055683 -3.123475 -0.523478 q: -0.047817 0.818360 0.053336 0.570225 
wait for imu ... 
time: 1403636735.713556, t: 1.024802 -3.099375 -0.491876 q: -0.045831 0.818710 0.050975 0.570101 
time: 1403636735.813555, t: 0.984766 -3.072554 -0.469002 q: -0.044342 0.818853 0.049166 0.570173 
time: 1403636735.913555, t: 0.961259 -3.051193 -0.447428 q: -0.043873 0.818176 0.048676 0.571222 
wait for imu ... 
time: 1403636736.013556, t: 0.935619 -3.029001 -0.431091 q: -0.043410 0.817311 0.050790 0.572310 
time: 1403636736.113555, t: 0.910687 -3.006107 -0.410712 q: -0.048181 0.815147 0.057198 0.574406 
time: 1403636736.213556, t: 0.887428 -2.984267 -0.381517 q: -0.056030 0.812039 0.067320 0.576993 
wait for imu ... 
time: 1403636736.313555, t: 0.859906 -2.962255 -0.357187 q: -0.062262 0.810279 0.077596 0.577538 
wait for imu ... 
time: 1403636736.413555, t: 0.837407 -2.941861 -0.333385 q: -0.066195 0.809298 0.086151 0.577264 
wait for imu ... 
time: 1403636736.513556, t: 0.812408 -2.922209 -0.313085 q: -0.063287 0.807483 0.096376 0.578513 
wait for imu ... 
time: 1403636736.613555, t: 0.787057 -2.902280 -0.300187 q: -0.059972 0.805925 0.104392 0.579647 
wait for imu ... 
time: 1403636736.713556, t: 0.761367 -2.879153 -0.292356 q: -0.059875 0.804629 0.107881 0.580817 
time: 1403636736.813555, t: 0.734689 -2.854579 -0.289918 q: -0.059876 0.804243 0.110466 0.580865 
wait for imu ... 
time: 1403636736.913555, t: 0.708825 -2.824180 -0.292371 q: -0.061624 0.804552 0.111613 0.580036 
wait for imu ... 
time: 1403636737.013556, t: 0.677531 -2.791587 -0.295193 q: -0.067939 0.805088 0.109952 0.578902 
wait for imu ... 
time: 1403636737.113555, t: 0.648314 -2.757811 -0.302564 q: -0.076115 0.804716 0.107712 0.578823 
time: 1403636737.213556, t: 0.614985 -2.723410 -0.314763 q: -0.079911 0.804871 0.108501 0.577949 
wait for imu ... 
time: 1403636737.313555, t: 0.583961 -2.685094 -0.331569 q: -0.082794 0.806502 0.109565 0.575060 
time: 1403636737.413555, t: 0.545650 -2.650904 -0.340762 q: -0.084768 0.808694 0.111309 0.571348 
time: 1403636737.513556, t: 0.515169 -2.613847 -0.344590 q: -0.084708 0.810871 0.113835 0.567763 
time: 1403636737.613555, t: 0.477981 -2.579300 -0.338731 q: -0.088511 0.812240 0.112581 0.565471 
wait for imu ... 
time: 1403636737.713556, t: 0.454174 -2.540107 -0.329883 q: -0.094120 0.814427 0.109082 0.562095 
time: 1403636737.813555, t: 0.420961 -2.510897 -0.311189 q: -0.098258 0.815518 0.106109 0.560372 
wait for imu ... 
time: 1403636737.913555, t: 0.406502 -2.480589 -0.284530 q: -0.099409 0.815917 0.104407 0.559907 
time: 1403636738.013556, t: 0.387422 -2.463643 -0.250227 q: -0.099147 0.815662 0.103332 0.560524 
time: 1403636738.113555, t: 0.370230 -2.453500 -0.210276 q: -0.095120 0.814970 0.104616 0.561989 
time: 1403636738.213556, t: 0.381024 -2.444207 -0.172126 q: -0.091901 0.813670 0.104835 0.564362 
time: 1403636738.313555, t: 0.366743 -2.434853 -0.143159 q: -0.090137 0.813765 0.104089 0.564648 
time: 1403636738.413555, t: 0.386616 -2.432949 -0.120566 q: -0.089110 0.814446 0.102640 0.564095 
wait for imu ... 
time: 1403636738.513556, t: 0.378556 -2.425726 -0.104026 q: -0.085709 0.815885 0.098281 0.563317 
time: 1403636738.613555, t: 0.376621 -2.420582 -0.094802 q: -0.080047 0.819114 0.087986 0.561162 
time: 1403636738.713556, t: 0.378867 -2.419688 -0.091826 q: -0.071762 0.820634 0.072453 0.562282 
time: 1403636738.813555, t: 0.402550 -2.424955 -0.098383 q: -0.062468 0.819277 0.052235 0.567587 
wait for imu ... 
time: 1403636738.913555, t: 0.421709 -2.430558 -0.113429 q: -0.052434 0.817875 0.028767 0.572279 
time: 1403636739.013556, t: 0.432576 -2.439292 -0.130107 q: -0.042682 0.817160 0.002221 0.574824 
time: 1403636739.113555, t: 0.444702 -2.453091 -0.152760 q: -0.027485 0.816826 -0.023003 0.575769 
wait for imu ... 
time: 1403636739.213556, t: 0.458227 -2.473263 -0.181111 q: -0.004485 0.816375 -0.043371 0.575874 
time: 1403636739.313555, t: 0.469293 -2.495516 -0.212985 q: 0.021361 0.815154 -0.062038 0.575517 
wait for imu ... 
time: 1403636739.413555, t: 0.473611 -2.523090 -0.243463 q: 0.046163 0.813668 -0.079564 0.574006 
wait for imu ... 
time: 1403636739.513556, t: 0.478426 -2.548723 -0.264176 q: 0.064443 0.811742 -0.099578 0.571845 
wait for imu ... 
time: 1403636739.613555, t: 0.483756 -2.571346 -0.275083 q: 0.073482 0.808557 -0.119169 0.571520 
wait for imu ... 
time: 1403636739.713556, t: 0.489398 -2.592901 -0.280547 q: 0.081330 0.807073 -0.130826 0.570003 
time: 1403636739.813555, t: 0.496583 -2.613518 -0.288366 q: 0.082119 0.805652 -0.140316 0.569642 
wait for imu ... 
time: 1403636739.913555, t: 0.505324 -2.634564 -0.301216 q: 0.083765 0.805344 -0.144225 0.568862 
time: 1403636740.013556, t: 0.513066 -2.657410 -0.318212 q: 0.085693 0.805574 -0.144134 0.568272 
time: 1403636740.113555, t: 0.518993 -2.679354 -0.339826 q: 0.089122 0.805958 -0.140343 0.568149 
time: 1403636740.213556, t: 0.525800 -2.702809 -0.364748 q: 0.094773 0.806337 -0.133627 0.568315 
time: 1403636740.313555, t: 0.530978 -2.723684 -0.392457 q: 0.095584 0.805726 -0.130104 0.569861 
time: 1403636740.413555, t: 0.531059 -2.740858 -0.424098 q: 0.089285 0.804751 -0.131212 0.572003 
wait for imu ... 
time: 1403636740.513556, t: 0.536670 -2.757803 -0.459274 q: 0.083701 0.803796 -0.132026 0.574000 
time: 1403636740.613555, t: 0.539209 -2.774203 -0.489893 q: 0.082011 0.803474 -0.130257 0.575097 
wait for imu ... 
time: 1403636740.713556, t: 0.538969 -2.790365 -0.514058 q: 0.078165 0.805398 -0.130723 0.572831 
wait for imu ... 
time: 1403636740.813555, t: 0.530840 -2.805731 -0.533839 q: 0.077079 0.807365 -0.129197 0.570551 
wait for imu ... 
time: 1403636740.913555, t: 0.531776 -2.823035 -0.556910 q: 0.078853 0.806428 -0.126217 0.572299 
time: 1403636741.013556, t: 0.523517 -2.838121 -0.585256 q: 0.088849 0.805383 -0.118321 0.573989 
time: 1403636741.113555, t: 0.520247 -2.853098 -0.620509 q: 0.098611 0.803413 -0.115263 0.575776 
time: 1403636741.213556, t: 0.508877 -2.861543 -0.663790 q: 0.100136 0.800207 -0.124470 0.578056 
wait for imu ... 
time: 1403636741.313555, t: 0.502254 -2.867879 -0.711839 q: 0.095450 0.798899 -0.136465 0.577950 
wait for imu ... 
time: 1403636741.413555, t: 0.485370 -2.867878 -0.758137 q: 0.092058 0.802269 -0.146351 0.571376 
time: 1403636741.513556, t: 0.471917 -2.871196 -0.800315 q: 0.091768 0.808304 -0.151835 0.561400 
wait for imu ... 
time: 1403636741.613555, t: 0.457232 -2.873837 -0.834774 q: 0.091206 0.812242 -0.155511 0.554761 
wait for imu ... 
time: 1403636741.713556, t: 0.448033 -2.880256 -0.863026 q: 0.092684 0.812996 -0.155518 0.553409 
time: 1403636741.813555, t: 0.444022 -2.890736 -0.884530 q: 0.095834 0.810616 -0.152252 0.557258 
time: 1403636741.913555, t: 0.441733 -2.902587 -0.906810 q: 0.100546 0.808804 -0.146309 0.560643 
wait for imu ... 
time: 1403636742.013556, t: 0.439528 -2.913755 -0.935634 q: 0.106671 0.809619 -0.138269 0.560375 
wait for imu ... 
time: 1403636742.213556, t: 0.445645 -2.930752 -0.994405 q: 0.097140 0.817285 -0.136939 0.551232 
wait for imu ... 
time: 1403636742.313555, t: 0.456797 -2.937580 -1.014744 q: 0.090258 0.816477 -0.137696 0.553406 
time: 1403636742.413555, t: 0.465778 -2.944915 -1.027076 q: 0.087525 0.811975 -0.136542 0.560706 
wait for imu ... 
time: 1403636742.513556, t: 0.483773 -2.952226 -1.032611 q: 0.086270 0.809485 -0.135047 0.564849 
time: 1403636742.613555, t: 0.499176 -2.959654 -1.035684 q: 0.085777 0.807907 -0.133232 0.567608 
time: 1403636742.713556, t: 0.515536 -2.969593 -1.040095 q: 0.085054 0.805025 -0.131800 0.572127 
time: 1403636742.813555, t: 0.529272 -2.977788 -1.058840 q: 0.084615 0.803153 -0.130406 0.575135 
time: 1403636742.913555, t: 0.540787 -2.985811 -1.081554 q: 0.082357 0.802213 -0.130099 0.576842 
time: 1403636743.013556, t: 0.548818 -2.995956 -1.109757 q: 0.083472 0.803057 -0.132999 0.574841 
time: 1403636743.113555, t: 0.556889 -3.005922 -1.151323 q: 0.083976 0.810287 -0.141121 0.562555 
wait for imu ... 
time: 1403636743.213556, t: 0.566512 -3.016206 -1.188480 q: 0.084179 0.820358 -0.148362 0.545816 
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time: 1403636743.313555, t: 0.576463 -3.029868 -1.214307 q: 0.085519 0.826360 -0.153132 0.535132 
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time: 1403636743.413555, t: 0.595810 -3.045780 -1.231628 q: 0.084684 0.826782 -0.157239 0.533418 
wait for imu ... 
time: 1403636743.513556, t: 0.621666 -3.065881 -1.243590 q: 0.086770 0.822496 -0.157848 0.539496 
time: 1403636743.613555, t: 0.654290 -3.088670 -1.261376 q: 0.091121 0.816914 -0.155524 0.547869 
time: 1403636743.713556, t: 0.691155 -3.112852 -1.285560 q: 0.096143 0.812307 -0.152432 0.554688 
wait for imu ... 
time: 1403636743.813555, t: 0.730264 -3.138340 -1.315424 q: 0.101523 0.806876 -0.154761 0.560975 
wait for imu ... 
time: 1403636743.913555, t: 0.770792 -3.163426 -1.350628 q: 0.104964 0.801999 -0.160274 0.565767 
wait for imu ... 
time: 1403636744.013556, t: 0.812295 -3.187517 -1.391728 q: 0.108680 0.798776 -0.163428 0.568716 
wait for imu ... 
time: 1403636744.113555, t: 0.853566 -3.211077 -1.439464 q: 0.115493 0.796409 -0.168184 0.569305 
time: 1403636744.213556, t: 0.893072 -3.232055 -1.492734 q: 0.118952 0.793362 -0.175626 0.570599 
wait for imu ... 
time: 1403636744.313555, t: 0.930799 -3.252562 -1.552631 q: 0.119076 0.790555 -0.182584 0.572283 
time: 1403636744.413555, t: 0.966747 -3.272054 -1.617208 q: 0.115559 0.788973 -0.189135 0.573058 
time: 1403636744.513556, t: 1.002098 -3.290349 -1.687636 q: 0.107941 0.787216 -0.195466 0.574833 
wait for imu ... 
time: 1403636744.613555, t: 1.032291 -3.310907 -1.761105 q: 0.104065 0.784860 -0.197296 0.578135 
time: 1403636744.713556, t: 1.060673 -3.337155 -1.839391 q: 0.105655 0.783015 -0.195224 0.581044 
time: 1403636744.813555, t: 1.081134 -3.361069 -1.915400 q: 0.113779 0.783972 -0.189614 0.580077 
wait for imu ... 
time: 1403636744.913555, t: 1.096809 -3.384527 -1.985005 q: 0.118974 0.788303 -0.185633 0.574425 
wait for imu ... 
time: 1403636745.013556, t: 1.107111 -3.410184 -2.046618 q: 0.117947 0.793040 -0.183951 0.568629 
time: 1403636745.113555, t: 1.116667 -3.433354 -2.098207 q: 0.115216 0.798568 -0.181754 0.562121 
wait for imu ... 
time: 1403636745.213556, t: 1.125000 -3.456522 -2.142284 q: 0.111497 0.800689 -0.179140 0.560692 
wait for imu ... 
time: 1403636745.313555, t: 1.136371 -3.480073 -2.182842 q: 0.109912 0.801807 -0.174153 0.560978 
time: 1403636745.413555, t: 1.152292 -3.503854 -2.214385 q: 0.110749 0.797399 -0.168249 0.568842 
time: 1403636745.513556, t: 1.163652 -3.526766 -2.232082 q: 0.112090 0.793530 -0.165924 0.574643 
time: 1403636745.613555, t: 1.175598 -3.548081 -2.244790 q: 0.113613 0.791509 -0.167837 0.576572 
time: 1403636745.713556, t: 1.186934 -3.566932 -2.252537 q: 0.117669 0.790046 -0.171044 0.576824 
time: 1403636745.813555, t: 1.199674 -3.583362 -2.247449 q: 0.123949 0.790164 -0.174463 0.574318 
time: 1403636745.913555, t: 1.208775 -3.596055 -2.236998 q: 0.131531 0.789548 -0.177846 0.572437 
time: 1403636746.013556, t: 1.223059 -3.606025 -2.221499 q: 0.140864 0.789540 -0.179971 0.569556 
time: 1403636746.113555, t: 1.234910 -3.611822 -2.201017 q: 0.148558 0.790173 -0.181700 0.566165 
wait for imu ... 
time: 1403636746.213556, t: 1.245535 -3.611263 -2.174461 q: 0.152752 0.788150 -0.183389 0.567322 
time: 1403636746.313555, t: 1.253418 -3.603790 -2.143941 q: 0.156127 0.780010 -0.183924 0.577391 
wait for imu ... 
time: 1403636746.413555, t: 1.265132 -3.592150 -2.121307 q: 0.156444 0.774398 -0.184807 0.584533 
time: 1403636746.513556, t: 1.273311 -3.572429 -2.108237 q: 0.150149 0.778683 -0.188545 0.579274 
wait for imu ... 
time: 1403636746.613555, t: 1.278376 -3.547269 -2.105788 q: 0.139478 0.790477 -0.193193 0.564242 
time: 1403636746.713556, t: 1.279749 -3.519086 -2.106793 q: 0.124536 0.802641 -0.199284 0.548219 
wait for imu ... 
time: 1403636746.813555, t: 1.287589 -3.493362 -2.112556 q: 0.111643 0.806986 -0.204100 0.542819 
time: 1403636746.913555, t: 1.297547 -3.472953 -2.118001 q: 0.104619 0.806220 -0.205516 0.544819 
wait for imu ... 
time: 1403636747.013556, t: 1.311382 -3.458851 -2.117811 q: 0.104339 0.804597 -0.202859 0.548256 
wait for imu ... 
time: 1403636747.113555, t: 1.330637 -3.450583 -2.105585 q: 0.114817 0.801592 -0.194263 0.553651 
wait for imu ... 
time: 1403636747.213556, t: 1.355308 -3.444384 -2.085119 q: 0.124183 0.798008 -0.188034 0.558932 
time: 1403636747.313555, t: 1.381329 -3.436652 -2.054291 q: 0.130960 0.796204 -0.184663 0.561077 
wait for imu ... 
time: 1403636747.413555, t: 1.405863 -3.425691 -2.019858 q: 0.133944 0.794897 -0.184756 0.562195 
time: 1403636747.513556, t: 1.435154 -3.414943 -1.991941 q: 0.135251 0.794906 -0.187205 0.561058 
time: 1403636747.613555, t: 1.460602 -3.396403 -1.969600 q: 0.135092 0.795468 -0.190390 0.559225 
time: 1403636747.713556, t: 1.490970 -3.380262 -1.942427 q: 0.136141 0.795449 -0.192896 0.558137 
wait for imu ... 
time: 1403636747.813555, t: 1.523050 -3.360986 -1.907084 q: 0.137400 0.795469 -0.195374 0.556937 
time: 1403636747.913555, t: 1.555628 -3.342531 -1.863520 q: 0.131971 0.793065 -0.202274 0.559210 
time: 1403636748.013556, t: 1.590605 -3.323636 -1.817185 q: 0.120416 0.788179 -0.213390 0.564569 
time: 1403636748.113555, t: 1.616020 -3.300000 -1.779755 q: 0.115351 0.786371 -0.219859 0.565664 
time: 1403636748.213556, t: 1.645098 -3.284030 -1.746464 q: 0.114909 0.786655 -0.222454 0.564344 
time: 1403636748.313555, t: 1.674610 -3.276643 -1.718428 q: 0.126312 0.789479 -0.215104 0.560802 
time: 1403636748.413555, t: 1.702196 -3.271584 -1.695055 q: 0.138907 0.791746 -0.205672 0.558159 
wait for imu ... 
time: 1403636748.513556, t: 1.729751 -3.266623 -1.669695 q: 0.143877 0.791462 -0.201490 0.558828 
wait for imu ... 
time: 1403636748.613555, t: 1.753683 -3.260877 -1.641687 q: 0.140879 0.790127 -0.203775 0.560650 
time: 1403636748.713556, t: 1.781173 -3.255652 -1.604488 q: 0.133743 0.787757 -0.209444 0.563635 
wait for imu ... 
time: 1403636748.813555, t: 1.806330 -3.251834 -1.572653 q: 0.127276 0.786075 -0.215315 0.565267 
wait for imu ... 
time: 1403636748.913555, t: 1.823722 -3.251706 -1.549361 q: 0.124727 0.784141 -0.219895 0.566756 
time: 1403636749.013556, t: 1.846118 -3.251453 -1.526097 q: 0.125206 0.782686 -0.223665 0.567186 
time: 1403636749.113555, t: 1.861378 -3.256377 -1.509832 q: 0.120608 0.780248 -0.229961 0.569020 
wait for imu ... 
time: 1403636749.213556, t: 1.874846 -3.262778 -1.492393 q: 0.122127 0.779296 -0.231616 0.569329 
time: 1403636749.313555, t: 1.882979 -3.276457 -1.470509 q: 0.133813 0.780007 -0.226043 0.567968 
wait for imu ... 
time: 1403636749.413555, t: 1.887692 -3.293297 -1.444476 q: 0.142548 0.781491 -0.221153 0.565723 
time: 1403636749.513556, t: 1.889174 -3.309090 -1.412822 q: 0.150232 0.782843 -0.215866 0.563906 
time: 1403636749.613555, t: 1.890748 -3.321554 -1.376578 q: 0.157669 0.784179 -0.209778 0.562314 
wait for imu ... 
time: 1403636749.713556, t: 1.895787 -3.335059 -1.348488 q: 0.157471 0.784053 -0.208157 0.563147 
time: 1403636749.813555, t: 1.902732 -3.339761 -1.325278 q: 0.155607 0.780020 -0.207190 0.569586 
time: 1403636749.913555, t: 1.906363 -3.342966 -1.306891 q: 0.153002 0.775661 -0.205940 0.576654 
wait for imu ... 
time: 1403636750.013556, t: 1.908289 -3.353457 -1.296470 q: 0.150230 0.773687 -0.203344 0.580939 
wait for imu ... 
time: 1403636750.113555, t: 1.905937 -3.355526 -1.289646 q: 0.146898 0.774946 -0.201635 0.580709 
time: 1403636750.213556, t: 1.897456 -3.348052 -1.280146 q: 0.143627 0.777742 -0.200538 0.578164 
time: 1403636750.313555, t: 1.886712 -3.338642 -1.263932 q: 0.140567 0.781735 -0.199130 0.574003 
time: 1403636750.413555, t: 1.873320 -3.332230 -1.240808 q: 0.137292 0.784980 -0.197732 0.570841 
time: 1403636750.513556, t: 1.858737 -3.319229 -1.203450 q: 0.135508 0.786396 -0.194245 0.570515 
wait for imu ... 
time: 1403636750.613555, t: 1.843504 -3.307748 -1.159265 q: 0.133303 0.788097 -0.191101 0.569749 
wait for imu ... 
time: 1403636750.713556, t: 1.829511 -3.293624 -1.104092 q: 0.133224 0.789427 -0.187805 0.569022 
wait for imu ... 
time: 1403636750.813555, t: 1.811711 -3.278539 -1.049388 q: 0.132595 0.791051 -0.185719 0.567596 
time: 1403636750.913555, t: 1.796551 -3.263409 -0.982746 q: 0.133172 0.793047 -0.183680 0.565335 
time: 1403636751.013556, t: 1.780514 -3.245657 -0.915435 q: 0.135282 0.794795 -0.181911 0.562946 
wait for imu ... 
time: 1403636751.113555, t: 1.757229 -3.217397 -0.860930 q: 0.135542 0.794851 -0.182518 0.562608 
time: 1403636751.213556, t: 1.742909 -3.196250 -0.805764 q: 0.134808 0.798669 -0.184509 0.556697 
time: 1403636751.313555, t: 1.729250 -3.172324 -0.754188 q: 0.131315 0.802120 -0.188468 0.551216 
time: 1403636751.413555, t: 1.720042 -3.149235 -0.702038 q: 0.125566 0.799802 -0.194339 0.553879 
wait for imu ... 
time: 1403636751.513556, t: 1.709024 -3.118387 -0.656463 q: 0.118906 0.794873 -0.199860 0.560441 
time: 1403636751.613555, t: 1.702914 -3.099114 -0.606797 q: 0.111745 0.792126 -0.199292 0.565979 
wait for imu ... 
time: 1403636751.713556, t: 1.694511 -3.076734 -0.565090 q: 0.105046 0.794580 -0.197390 0.564486 
wait for imu ... 
time: 1403636751.813555, t: 1.682960 -3.060954 -0.526079 q: 0.099286 0.800402 -0.195487 0.557928 
time: 1403636752.013556, t: 1.666638 -3.050662 -0.448326 q: 0.108681 0.809574 -0.181258 0.547654 
time: 1403636752.113555, t: 1.664552 -3.052262 -0.409803 q: 0.111716 0.808616 -0.177319 0.549743 
time: 1403636752.213556, t: 1.669752 -3.059351 -0.383021 q: 0.112009 0.804084 -0.171512 0.558109 
wait for imu ... 
time: 1403636752.313555, t: 1.671998 -3.061647 -0.345236 q: 0.107358 0.799846 -0.162415 0.567752 
wait for imu ... 
time: 1403636752.413555, t: 1.680526 -3.068387 -0.314124 q: 0.099263 0.798049 -0.149682 0.575204 
wait for imu ... 
time: 1403636752.513556, t: 1.688581 -3.072009 -0.275754 q: 0.088504 0.800634 -0.133562 0.577333 
time: 1403636752.613555, t: 1.696581 -3.078577 -0.238433 q: 0.076800 0.805042 -0.115267 0.576820 
wait for imu ... 
time: 1403636752.713556, t: 1.702250 -3.084588 -0.206047 q: 0.063818 0.809257 -0.096704 0.575916 
wait for imu ... 
time: 1403636752.813555, t: 1.703811 -3.088347 -0.178226 q: 0.051822 0.812379 -0.076303 0.575789 
wait for imu ... 
time: 1403636752.913555, t: 1.704117 -3.092210 -0.157322 q: 0.041248 0.814462 -0.053704 0.576252 
wait for imu ... 
time: 1403636753.013556, t: 1.704103 -3.093852 -0.142745 q: 0.031824 0.816191 -0.029356 0.576158 
wait for imu ... 
time: 1403636753.113555, t: 1.703588 -3.093366 -0.133292 q: 0.020245 0.817331 -0.005247 0.575789 
wait for imu ... 
time: 1403636753.213556, t: 1.703729 -3.087524 -0.129965 q: 0.006948 0.817661 0.018410 0.575363 
time: 1403636753.313555, t: 1.703749 -3.077907 -0.132721 q: -0.003133 0.816764 0.044305 0.575260 
wait for imu ... 
time: 1403636753.413555, t: 1.704023 -3.064124 -0.139649 q: -0.016909 0.814322 0.062066 0.576838 
wait for imu ... 
time: 1403636753.513556, t: 1.704642 -3.046243 -0.143740 q: -0.031941 0.813138 0.069792 0.576989 
wait for imu ... 
wait for imu ... 
time: 1403636753.613555, t: 1.703799 -3.026482 -0.140075 q: -0.042620 0.811642 0.073355 0.577963 
wait for imu ... 
time: 1403636753.713556, t: 1.699717 -3.005342 -0.132240 q: -0.047950 0.811280 0.074156 0.577950 
time: 1403636753.813555, t: 1.696214 -2.983001 -0.127643 q: -0.047597 0.810166 0.075266 0.579396 
time: 1403636753.913555, t: 1.688991 -2.961273 -0.128048 q: -0.047448 0.810151 0.073606 0.579644 
optimize pose graph 
time: 1403636754.013556, t: 1.682944 -2.937736 -0.133947 q: -0.045029 0.809660 0.072177 0.580702 
wait for imu ... 
time: 1403636754.113555, t: 1.673071 -2.914224 -0.132463 q: -0.044543 0.805923 0.069223 0.586269 
time: 1403636754.213556, t: 1.661504 -2.888822 -0.125712 q: -0.041128 0.803010 0.067851 0.590661 
time: 1403636754.313555, t: 1.644636 -2.861743 -0.113417 q: -0.037607 0.802357 0.066755 0.591906 
wait for imu ... 
time: 1403636754.413555, t: 1.629504 -2.830402 -0.098348 q: -0.036261 0.802413 0.067452 0.591835 
time: 1403636754.513556, t: 1.602833 -2.800281 -0.078437 q: -0.039058 0.802800 0.071673 0.590635 
time: 1403636754.613555, t: 1.574334 -2.766644 -0.065465 q: -0.042692 0.804042 0.081476 0.587414 
time: 1403636754.713556, t: 1.543585 -2.729092 -0.059709 q: -0.051826 0.803722 0.093028 0.585399 
wait for imu ... 
time: 1403636754.813555, t: 1.508859 -2.690758 -0.058522 q: -0.062034 0.801975 0.106774 0.584455 
time: 1403636754.913555, t: 1.471335 -2.650259 -0.061992 q: -0.070680 0.800248 0.117666 0.583748 
wait for imu ... 
time: 1403636755.013556, t: 1.430313 -2.609810 -0.068234 q: -0.076306 0.799369 0.126983 0.582290 
wait for imu ... 
time: 1403636755.113555, t: 1.386126 -2.567091 -0.074387 q: -0.081324 0.798616 0.132068 0.581513 
wait for imu ... 
time: 1403636755.213556, t: 1.337149 -2.522289 -0.075213 q: -0.085592 0.798723 0.134744 0.580138 
time: 1403636755.313555, t: 1.284310 -2.476877 -0.068223 q: -0.086625 0.802991 0.136787 0.573577 
time: 1403636755.413555, t: 1.231764 -2.432595 -0.054272 q: -0.085752 0.809469 0.138396 0.564139 
wait for imu ... 
time: 1403636755.513556, t: 1.183261 -2.385950 -0.036960 q: -0.084494 0.812061 0.138392 0.560593 
wait for imu ... 
time: 1403636755.613555, t: 1.137923 -2.338299 -0.022747 q: -0.081625 0.811113 0.138869 0.562271 
time: 1403636755.713556, t: 1.093691 -2.287004 -0.016925 q: -0.082714 0.810182 0.136279 0.564084 
wait for imu ... 
time: 1403636755.813555, t: 1.050023 -2.233902 -0.015546 q: -0.084505 0.807935 0.133457 0.567705 
wait for imu ... 
time: 1403636755.913555, t: 1.006029 -2.181227 -0.015396 q: -0.085556 0.805526 0.132039 0.571292 
time: 1403636756.013556, t: 0.964785 -2.124867 -0.017665 q: -0.087305 0.804473 0.130590 0.572842 
optimize pose graph 
wait for imu ... 
time: 1403636756.113555, t: 0.919938 -2.069986 -0.008449 q: -0.086853 0.803364 0.130866 0.574401 
time: 1403636756.213556, t: 0.877021 -2.012397 0.002891 q: -0.087189 0.801880 0.131000 0.576389 
wait for imu ... 
time: 1403636756.313555, t: 0.825593 -1.955764 0.019892 q: -0.088201 0.801568 0.131048 0.576660 
time: 1403636756.413555, t: 0.779326 -1.896893 0.029441 q: -0.087812 0.800596 0.132469 0.577744 
wait for imu ... 
time: 1403636756.513556, t: 0.722749 -1.840190 0.035366 q: -0.089389 0.800186 0.132692 0.578018 
time: 1403636756.613555, t: 0.676210 -1.782266 0.032517 q: -0.090027 0.799558 0.133420 0.578621 
time: 1403636756.713556, t: 0.618122 -1.727855 0.030966 q: -0.091517 0.798515 0.133885 0.579718 
time: 1403636756.813555, t: 0.570484 -1.672470 0.033071 q: -0.093002 0.797689 0.134296 0.580524 
wait for imu ... 
time: 1403636756.913555, t: 0.505320 -1.620749 0.040599 q: -0.093636 0.797790 0.134933 0.580135 
wait for imu ... 
time: 1403636757.013556, t: 0.436897 -1.569035 0.056017 q: -0.094592 0.797754 0.135430 0.579914 
time: 1403636757.113555, t: 0.374947 -1.518149 0.067115 q: -0.096746 0.797813 0.134857 0.579611 
wait for imu ... 
time: 1403636757.213556, t: 0.306559 -1.469468 0.075594 q: -0.097275 0.798019 0.134712 0.579272 
time: 1403636757.313555, t: 0.237238 -1.418532 0.078043 q: -0.094526 0.798344 0.137075 0.578725 
time: 1403636757.413555, t: 0.163724 -1.366739 0.074706 q: -0.093375 0.799795 0.138489 0.576567 
wait for imu ... 
time: 1403636757.513556, t: 0.090473 -1.315842 0.070217 q: -0.090863 0.801841 0.142705 0.573088 
time: 1403636757.613555, t: 0.021401 -1.263721 0.071146 q: -0.092562 0.806508 0.149750 0.564404 
wait for imu ... 
time: 1403636757.713556, t: -0.046943 -1.207830 0.079868 q: -0.095474 0.812461 0.156871 0.553339 
time: 1403636757.813555, t: -0.109598 -1.149306 0.096638 q: -0.099501 0.816480 0.162516 0.545022 
time: 1403636757.913555, t: -0.173550 -1.082706 0.123272 q: -0.104610 0.817047 0.165520 0.542305 
time: 1403636758.013556, t: -0.237358 -1.007218 0.155413 q: -0.110329 0.810610 0.166226 0.550552 
time: 1403636758.113555, t: -0.289434 -0.934316 0.184600 q: -0.115990 0.802698 0.165686 0.561045 
optimize pose graph 
time: 1403636758.213556, t: -0.335094 -0.866819 0.207424 q: -0.119575 0.796725 0.165307 0.568863 
wait for imu ... 
time: 1403636758.313555, t: -0.393364 -0.794296 0.222404 q: -0.122807 0.794426 0.163641 0.571863 
time: 1403636758.413555, t: -0.450147 -0.726360 0.227820 q: -0.125102 0.799322 0.162264 0.564894 
wait for imu ... 
time: 1403636758.513556, t: -0.500744 -0.661854 0.225401 q: -0.130338 0.811553 0.158428 0.547077 
time: 1403636758.613555, t: -0.545546 -0.599417 0.219777 q: -0.138156 0.823198 0.152538 0.529141 
time: 1403636758.713556, t: -0.581040 -0.539666 0.215894 q: -0.138664 0.820933 0.151043 0.532942 
wait for imu ... 
time: 1403636758.813555, t: -0.607869 -0.488937 0.209278 q: -0.136549 0.811250 0.151591 0.547949 
time: 1403636758.913555, t: -0.622761 -0.440914 0.201437 q: -0.130371 0.802688 0.155664 0.560772 
time: 1403636759.013556, t: -0.635634 -0.401580 0.186561 q: -0.127455 0.798432 0.157850 0.566872 
time: 1403636759.113555, t: -0.644053 -0.366645 0.167825 q: -0.136324 0.797024 0.152252 0.568320 
time: 1403636759.213556, t: -0.652841 -0.334738 0.146489 q: -0.155027 0.798047 0.140051 0.565219 
time: 1403636759.313555, t: -0.661928 -0.308739 0.122450 q: -0.164715 0.798587 0.133937 0.563195 
time: 1403636759.413555, t: -0.671081 -0.295189 0.095215 q: -0.152611 0.797106 0.143313 0.566386 
wait for imu ... 
time: 1403636759.513556, t: -0.675235 -0.289378 0.064945 q: -0.139644 0.795179 0.153158 0.569853 
wait for imu ... 
time: 1403636759.613555, t: -0.680606 -0.286386 0.034989 q: -0.130919 0.793467 0.160953 0.572158 
wait for imu ... 
time: 1403636759.713556, t: -0.689919 -0.284848 0.014160 q: -0.126498 0.793314 0.165238 0.572143 
time: 1403636759.813555, t: -0.702629 -0.285516 0.006325 q: -0.126367 0.792152 0.166268 0.573482 
time: 1403636759.913555, t: -0.717664 -0.286542 0.001080 q: -0.126010 0.795728 0.166670 0.568471 
time: 1403636760.013556, t: -0.734179 -0.287260 -0.007028 q: -0.124459 0.801703 0.167428 0.560135 
time: 1403636760.113555, t: -0.750713 -0.288245 -0.018280 q: -0.123803 0.806902 0.167245 0.552820 
wait for imu ... 
time: 1403636760.213556, t: -0.764144 -0.289012 -0.029392 q: -0.124551 0.806635 0.166618 0.553232 
optimize pose graph 
time: 1403636760.313555, t: -0.774075 -0.288704 -0.040796 q: -0.128098 0.798646 0.163791 0.564737 
wait for imu ... 
time: 1403636760.413555, t: -0.783540 -0.290345 -0.055459 q: -0.126755 0.793669 0.164951 0.571677 
wait for imu ... 
wait for imu ... 
time: 1403636760.513556, t: -0.795406 -0.294059 -0.072054 q: -0.123969 0.793526 0.167045 0.571877 
wait for imu ... 
time: 1403636760.613555, t: -0.807928 -0.295944 -0.090477 q: -0.121050 0.799413 0.169575 0.563499 
time: 1403636760.713556, t: -0.821869 -0.297968 -0.106935 q: -0.116866 0.803139 0.173173 0.557962 
time: 1403636760.813555, t: -0.833897 -0.297100 -0.120217 q: -0.115043 0.801207 0.175119 0.560505 
time: 1403636760.913555, t: -0.845563 -0.294982 -0.133186 q: -0.113975 0.796828 0.177061 0.566325 
time: 1403636761.013556, t: -0.859634 -0.289741 -0.148352 q: -0.115318 0.799157 0.176757 0.562857 
wait for imu ... 
time: 1403636761.113555, t: -0.874230 -0.281881 -0.163537 q: -0.117788 0.805942 0.175427 0.552999 
time: 1403636761.213556, t: -0.886853 -0.271383 -0.179060 q: -0.116296 0.813916 0.177115 0.540967 
wait for imu ... 
time: 1403636761.313555, t: -0.896258 -0.257900 -0.192007 q: -0.116150 0.817107 0.177283 0.536112 
wait for imu ... 
time: 1403636761.413555, t: -0.898857 -0.240814 -0.198848 q: -0.118121 0.811688 0.176095 0.544243 
wait for imu ... 
time: 1403636761.513556, t: -0.896701 -0.222053 -0.198988 q: -0.120049 0.803257 0.174208 0.556792 
wait for imu ... 
time: 1403636761.613555, t: -0.894838 -0.202682 -0.196979 q: -0.122150 0.797257 0.171722 0.565661 
time: 1403636761.713556, t: -0.892560 -0.183809 -0.193734 q: -0.131273 0.796249 0.164315 0.567235 
wait for imu ... 
time: 1403636761.813555, t: -0.891501 -0.166469 -0.189184 q: -0.140209 0.797081 0.157278 0.565921 
time: 1403636761.913555, t: -0.890008 -0.154112 -0.183191 q: -0.141395 0.797831 0.156034 0.564912 
wait for imu ... 
time: 1403636762.013556, t: -0.888766 -0.146902 -0.175110 q: -0.130290 0.796631 0.163144 0.567264 
wait for imu ... 
time: 1403636762.113555, t: -0.888590 -0.141943 -0.165144 q: -0.111694 0.793778 0.175194 0.571619 
time: 1403636762.213556, t: -0.891061 -0.135399 -0.155849 q: -0.100356 0.796109 0.182140 0.568299 
time: 1403636762.313555, t: -0.894769 -0.123471 -0.150999 q: -0.101053 0.805575 0.180902 0.555079 
wait for imu ... 
time: 1403636762.413555, t: -0.897890 -0.107092 -0.154584 q: -0.105911 0.812464 0.176996 0.545305 
time: 1403636762.513556, t: -0.897445 -0.085753 -0.165285 q: -0.125369 0.813160 0.163208 0.544441 
time: 1403636762.613555, t: -0.893013 -0.064097 -0.184069 q: -0.149309 0.808760 0.146112 0.549787 
wait for imu ... 
time: 1403636762.713556, t: -0.885354 -0.049675 -0.211828 q: -0.154182 0.802524 0.143190 0.558283 
wait for imu ... 
time: 1403636762.813555, t: -0.873799 -0.040596 -0.245616 q: -0.141478 0.798957 0.152971 0.564138 
time: 1403636762.913555, t: -0.875889 -0.049869 -0.246013 q: -0.147784 0.773858 0.147004 0.598074 
wait for imu ... 
time: 1403636763.013556, t: -0.888677 -0.068141 -0.255365 q: -0.125629 0.798487 0.143631 0.570969 
time: 1403636763.113555, t: -0.898648 -0.086471 -0.264269 q: -0.126584 0.795997 0.118625 0.579909 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -0.904496 -0.092383 -0.266475 q: -0.125264 0.794363 0.107208 0.584639 
wait for imu ... 
time: 1403636763.313555, t: -0.902602 -0.095290 -0.268221 q: -0.126692 0.797580 0.106294 0.580101 
wait for imu ... 
time: 1403636763.413555, t: -0.907950 -0.097965 -0.269962 q: -0.127268 0.798488 0.106152 0.578750 
wait for imu ... 
time: 1403636763.513556, t: -0.912402 -0.100627 -0.271365 q: -0.127279 0.798371 0.106155 0.578909 
wait for imu ... 
time: 1403636763.613555, t: -0.917485 -0.101378 -0.274154 q: -0.127032 0.798448 0.105964 0.578892 
wait for imu ... 
time: 1403636763.713556, t: -0.923342 -0.105215 -0.276048 q: -0.127249 0.798423 0.105796 0.578909 
wait for imu ... 
time: 1403636763.813555, t: -0.929343 -0.108988 -0.276557 q: -0.127461 0.798347 0.105648 0.578994 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720462843.570428278]: Shutdown request received.[0m
[33m[ WARN] [1720462843.570486770]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720462843.571406800]: Shutdown request received.[0m
[33m[ WARN] [1720462843.571431865]: Reason given for shutdown: [user request][0m
killed
