/SLAM-Hive/slam_hive_results/mapping_results/2806/2014_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720462876.597352613]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720462876.598479623]: init begins[0m
[31m[ERROR] [1720462876.599522856]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/dd9e8a56-3d56-11ef-96c1-0242ac110005/roslaunch-3b2326c91651-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://3b2326c91651:44481/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://3b2326c91651:11311/[0m
]2;roscore http://3b2326c91651:11311/
[1msetting /run_id to dd9e8a56-3d56-11ef-96c1-0242ac110005[0m
[0m[ INFO] [1720462877.753054429]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720462877.755943980]: 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] [1720462877.761982147]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720462877.762185769]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720462877.762209592]: ROW: 192 COL: 300 [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] [1720462877.762385405]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720462877.762654517]: 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 [228][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720462886.725224816]: 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: 316826308.01 
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
wait for imu ... 
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720462889.212429652]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720462889.387462327]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720462889.696640566]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720462889.941665625]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720462890.182422688]: gyroscope bias initial calibration -0.00805366   0.0232065   0.0707627[0m
[0m[ INFO] [1720462890.201410295]: Initialization finish![0m
time: 1403636581.913555, t: 0.009538 -0.022242 -0.032654 q: -0.005074 0.817599 -0.006464 0.575730 
time: 1403636582.013556, t: -0.002032 -0.017683 -0.096948 q: -0.001551 0.825052 -0.012030 0.564927 
wait for imu ... 
time: 1403636582.113555, t: -0.007984 -0.015938 -0.150294 q: -0.000295 0.834744 -0.011106 0.550527 
time: 1403636582.213556, t: -0.013964 -0.013437 -0.176873 q: -0.003393 0.841739 -0.008725 0.539803 
wait for imu ... 
wait for imu ... 
time: 1403636582.313555, t: -0.010416 -0.009760 -0.162554 q: -0.004533 0.844621 -0.007588 0.535291 
wait for imu ... 
time: 1403636582.413555, t: -0.006478 -0.005407 -0.108071 q: -0.005280 0.839946 -0.007958 0.542586 
time: 1403636582.513556, t: -0.003407 -0.003731 -0.047434 q: -0.003280 0.832023 -0.007362 0.554682 
time: 1403636582.613555, t: -0.000676 -0.003997 0.019476 q: 0.002125 0.827421 -0.007940 0.561522 
time: 1403636582.713556, t: 0.001509 -0.005754 0.086841 q: 0.005200 0.824681 -0.010518 0.565477 
wait for imu ... 
time: 1403636582.813555, t: 0.009811 -0.006406 0.151747 q: 0.007880 0.820049 -0.017530 0.571971 
time: 1403636582.913555, t: 0.014744 -0.008901 0.213070 q: 0.011801 0.811280 -0.026108 0.583956 
time: 1403636583.013556, t: 0.016948 -0.009928 0.259868 q: 0.014760 0.801284 -0.028713 0.597412 
wait for imu ... 
time: 1403636583.113555, t: 0.015836 -0.010888 0.279441 q: 0.016933 0.796745 -0.027271 0.603463 
time: 1403636583.213556, t: 0.015470 -0.012108 0.265049 q: 0.021363 0.797504 -0.025289 0.602405 
time: 1403636583.313555, t: 0.016126 -0.013570 0.223794 q: 0.020050 0.800004 -0.023518 0.599198 
time: 1403636583.413555, t: 0.016609 -0.017446 0.166216 q: 0.017005 0.802903 -0.021715 0.595471 
wait for imu ... 
time: 1403636583.513556, t: 0.016496 -0.020526 0.097707 q: 0.015121 0.806867 -0.017333 0.590285 
time: 1403636583.613555, t: 0.013534 -0.024059 0.026930 q: 0.018568 0.812552 -0.015766 0.582380 
wait for imu ... 
time: 1403636583.713556, t: 0.008455 -0.026035 -0.041287 q: 0.011115 0.823292 -0.017346 0.567245 
time: 1403636583.813555, t: -0.000325 -0.028793 -0.100420 q: 0.004750 0.835137 -0.021086 0.549617 
wait for imu ... 
time: 1403636583.913555, t: -0.008426 -0.031857 -0.147415 q: 0.006526 0.842031 -0.019027 0.539053 
wait for imu ... 
time: 1403636584.013556, t: -0.016012 -0.032191 -0.176296 q: 0.006007 0.844529 -0.012664 0.535327 
wait for imu ... 
time: 1403636584.113555, t: -0.020895 -0.029433 -0.178382 q: 0.001454 0.844556 -0.008628 0.535396 
time: 1403636584.213556, t: -0.019528 -0.026621 -0.146101 q: 0.000738 0.844604 -0.006837 0.535348 
time: 1403636584.313555, t: -0.019087 -0.027444 -0.097369 q: 0.000766 0.842573 -0.006684 0.538539 
wait for imu ... 
time: 1403636584.413555, t: -0.009071 -0.025191 -0.032555 q: 0.008755 0.840734 -0.006198 0.541342 
time: 1403636584.513556, t: 0.000420 -0.026098 0.040706 q: 0.015428 0.836169 -0.006466 0.548216 
wait for imu ... 
wait for imu ... 
time: 1403636584.613555, t: 0.011839 -0.024825 0.116426 q: 0.018680 0.827545 -0.010636 0.560987 
wait for imu ... 
time: 1403636584.713556, t: 0.020306 -0.022036 0.186691 q: 0.024203 0.815285 -0.016094 0.578330 
time: 1403636584.813555, t: 0.024179 -0.018457 0.246599 q: 0.028948 0.804382 -0.020146 0.593064 
wait for imu ... 
time: 1403636584.913555, t: 0.026614 -0.013727 0.288788 q: 0.027297 0.797450 -0.023725 0.602300 
time: 1403636585.013556, t: 0.028273 -0.011923 0.304139 q: 0.026737 0.796035 -0.028878 0.603969 
wait for imu ... 
time: 1403636585.113555, t: 0.031261 -0.012004 0.290063 q: 0.027092 0.798352 -0.031368 0.600763 
time: 1403636585.213556, t: 0.032069 -0.014897 0.251862 q: 0.030911 0.801701 -0.034575 0.595923 
time: 1403636585.313555, t: 0.031306 -0.021722 0.203265 q: 0.038621 0.805213 -0.032849 0.590814 
wait for imu ... 
time: 1403636585.413555, t: 0.029199 -0.028324 0.150049 q: 0.043653 0.809065 -0.028330 0.585411 
time: 1403636585.513556, t: 0.025499 -0.030842 0.096865 q: 0.040729 0.815038 -0.022372 0.577541 
time: 1403636585.613555, t: 0.014602 -0.031852 0.051487 q: 0.030782 0.822116 -0.014803 0.568294 
time: 1403636585.713556, t: 0.002368 -0.033109 0.021014 q: 0.017389 0.830169 -0.011357 0.557124 
wait for imu ... 
time: 1403636585.813555, t: -0.014246 -0.035364 0.003867 q: 0.005967 0.838663 -0.012120 0.544484 
time: 1403636585.913555, t: -0.029405 -0.034790 -0.000902 q: -0.002756 0.848437 -0.014079 0.529102 
wait for imu ... 
time: 1403636586.013556, t: -0.040127 -0.033856 -0.001576 q: -0.001995 0.860093 -0.020642 0.509716 
time: 1403636586.113555, t: -0.048584 -0.032182 0.002191 q: 0.007850 0.871497 -0.030919 0.489363 
time: 1403636586.213556, t: -0.055463 -0.026021 0.008894 q: 0.012150 0.879944 -0.039920 0.473241 
wait for imu ... 
time: 1403636586.313555, t: -0.064816 -0.020511 0.014373 q: 0.011527 0.888850 -0.045061 0.455832 
time: 1403636586.413555, t: -0.074860 -0.018802 0.016635 q: 0.009756 0.897862 -0.050558 0.437256 
wait for imu ... 
time: 1403636586.513556, t: -0.085722 -0.020547 0.018373 q: 0.009951 0.905784 -0.050298 0.420626 
time: 1403636586.613555, t: -0.092113 -0.026263 0.021963 q: 0.008136 0.910326 -0.047933 0.411027 
wait for imu ... 
time: 1403636586.713556, t: -0.091985 -0.036009 0.025804 q: 0.006965 0.909578 -0.048091 0.412681 
time: 1403636586.813555, t: -0.088594 -0.045284 0.028009 q: 0.003061 0.906331 -0.046690 0.419969 
wait for imu ... 
wait for imu ... 
time: 1403636586.913555, t: -0.084477 -0.051128 0.027649 q: 0.002742 0.903793 -0.042679 0.425828 
wait for imu ... 
time: 1403636587.013556, t: -0.079240 -0.053418 0.027383 q: 0.001451 0.902759 -0.036752 0.428571 
wait for imu ... 
time: 1403636587.113555, t: -0.073980 -0.055670 0.028209 q: 0.001307 0.904475 -0.032768 0.425264 
time: 1403636587.213556, t: -0.068614 -0.063148 0.028533 q: 0.001411 0.906482 -0.030598 0.421132 
wait for imu ... 
time: 1403636587.313555, t: -0.062874 -0.076844 0.028047 q: 0.001424 0.907344 -0.032655 0.419116 
time: 1403636587.413555, t: -0.056304 -0.097761 0.027770 q: 0.002198 0.908160 -0.035920 0.417074 
wait for imu ... 
time: 1403636587.513556, t: -0.052299 -0.125152 0.027986 q: 0.001235 0.909075 -0.040448 0.414662 
wait for imu ... 
time: 1403636587.613555, t: -0.049100 -0.158821 0.028912 q: 0.001557 0.909105 -0.045156 0.414110 
time: 1403636587.713556, t: -0.045496 -0.196149 0.031548 q: 0.003503 0.906579 -0.051515 0.418866 
time: 1403636587.813555, t: -0.042553 -0.234277 0.034446 q: 0.006775 0.903462 -0.059418 0.424476 
wait for imu ... 
time: 1403636587.913555, t: -0.041181 -0.271394 0.034132 q: 0.010395 0.903291 -0.066114 0.423776 
time: 1403636588.013556, t: -0.041935 -0.305660 0.031608 q: 0.017700 0.906742 -0.072621 0.415008 
time: 1403636588.113555, t: -0.042246 -0.334081 0.027755 q: 0.019877 0.909821 -0.078298 0.407062 
time: 1403636588.213556, t: -0.042313 -0.355077 0.023980 q: 0.020272 0.910873 -0.077957 0.404749 
wait for imu ... 
time: 1403636588.313555, t: -0.042409 -0.366831 0.020916 q: 0.017892 0.909914 -0.077958 0.407011 
wait for imu ... 
time: 1403636588.413555, t: -0.042863 -0.369455 0.018848 q: 0.015142 0.908593 -0.078082 0.410039 
wait for imu ... 
time: 1403636588.513556, t: -0.044738 -0.363562 0.018284 q: 0.016830 0.908613 -0.078871 0.409778 
wait for imu ... 
time: 1403636588.613555, t: -0.046551 -0.348794 0.021384 q: 0.018076 0.908494 -0.078879 0.409988 
time: 1403636588.713556, t: -0.050161 -0.326238 0.024805 q: 0.015687 0.908705 -0.077402 0.409899 
time: 1403636588.813555, t: -0.054115 -0.297739 0.025288 q: 0.012876 0.910329 -0.073238 0.407152 
time: 1403636588.913555, t: -0.056968 -0.262676 0.025146 q: 0.008818 0.910899 -0.070112 0.406534 
time: 1403636589.013556, t: -0.060324 -0.222372 0.027109 q: 0.005490 0.910184 -0.065106 0.409020 
wait for imu ... 
time: 1403636589.113555, t: -0.063967 -0.178949 0.031378 q: 0.002368 0.908370 -0.058666 0.414025 
wait for imu ... 
time: 1403636589.213556, t: -0.066349 -0.133221 0.036765 q: -0.000086 0.907033 -0.054405 0.417530 
wait for imu ... 
time: 1403636589.313555, t: -0.068421 -0.085639 0.039435 q: -0.002312 0.907953 -0.049162 0.416172 
time: 1403636589.413555, t: -0.069640 -0.037461 0.038860 q: -0.004341 0.909950 -0.043479 0.412410 
wait for imu ... 
time: 1403636589.513556, t: -0.070233 0.009962 0.036916 q: -0.004860 0.909918 -0.039882 0.412837 
time: 1403636589.613555, t: -0.070925 0.056776 0.033670 q: -0.006483 0.908919 -0.036758 0.415298 
wait for imu ... 
time: 1403636589.713556, t: -0.073288 0.102445 0.030124 q: -0.007887 0.908168 -0.033387 0.417199 
wait for imu ... 
time: 1403636589.813555, t: -0.074558 0.144699 0.024564 q: -0.013452 0.909236 -0.028164 0.415109 
wait for imu ... 
time: 1403636589.913555, t: -0.075459 0.181211 0.018537 q: -0.019170 0.911990 -0.021844 0.409181 
wait for imu ... 
time: 1403636590.013556, t: -0.072833 0.209396 0.011858 q: -0.027087 0.912529 -0.016816 0.407768 
wait for imu ... 
time: 1403636590.113555, t: -0.071972 0.231002 0.010486 q: -0.031645 0.909894 -0.012409 0.413447 
wait for imu ... 
time: 1403636590.213556, t: -0.068594 0.239980 0.009585 q: -0.034910 0.907454 -0.009665 0.418588 
time: 1403636590.313555, t: -0.072702 0.241547 0.011943 q: -0.032999 0.907517 -0.008162 0.418637 
wait for imu ... 
time: 1403636590.413555, t: -0.074359 0.228348 0.013347 q: -0.028631 0.908386 -0.009997 0.417032 
wait for imu ... 
time: 1403636590.513556, t: -0.078969 0.204385 0.017094 q: -0.022326 0.907853 -0.013054 0.418489 
wait for imu ... 
time: 1403636590.613555, t: -0.083252 0.172835 0.022373 q: -0.016690 0.906581 -0.015801 0.421405 
time: 1403636590.713556, t: -0.086676 0.135166 0.027285 q: -0.012237 0.906291 -0.019664 0.422019 
wait for imu ... 
time: 1403636590.813555, t: -0.090282 0.092814 0.029632 q: -0.011685 0.907905 -0.024461 0.418299 
wait for imu ... 
time: 1403636590.913555, t: -0.089528 0.046823 0.028663 q: -0.012156 0.910195 -0.028524 0.413018 
wait for imu ... 
time: 1403636591.013556, t: -0.086698 -0.000072 0.026525 q: -0.011614 0.910660 -0.029907 0.411909 
wait for imu ... 
time: 1403636591.113555, t: -0.082453 -0.045362 0.025343 q: -0.014615 0.909974 -0.029882 0.413329 
time: 1403636591.213556, t: -0.078764 -0.088532 0.024397 q: -0.016338 0.910134 -0.032137 0.412743 
wait for imu ... 
time: 1403636591.313555, t: -0.074121 -0.126732 0.020651 q: -0.015523 0.911208 -0.034720 0.410188 
time: 1403636591.413555, t: -0.069966 -0.155903 0.013935 q: -0.013622 0.911893 -0.038768 0.408365 
wait for imu ... 
time: 1403636591.513556, t: -0.064725 -0.177642 0.005148 q: -0.011913 0.911381 -0.042026 0.409239 
time: 1403636591.613555, t: -0.058817 -0.195950 -0.002228 q: -0.001984 0.906911 -0.051149 0.418200 
time: 1403636591.713556, t: -0.049003 -0.204634 -0.009092 q: 0.008019 0.898087 -0.057851 0.435923 
time: 1403636591.813555, t: -0.041677 -0.212077 -0.010894 q: 0.018057 0.888166 -0.063117 0.454809 
wait for imu ... 
time: 1403636591.913555, t: -0.034999 -0.217356 -0.010889 q: 0.024809 0.880977 -0.070028 0.467290 
wait for imu ... 
time: 1403636592.013556, t: -0.026543 -0.224379 -0.011717 q: 0.027081 0.881709 -0.080092 0.464156 
time: 1403636592.113555, t: -0.011850 -0.236217 -0.013148 q: 0.030516 0.883980 -0.092625 0.457240 
wait for imu ... 
time: 1403636592.213556, t: 0.007897 -0.249883 -0.015195 q: 0.032970 0.887128 -0.102316 0.448829 
wait for imu ... 
time: 1403636592.313555, t: 0.031737 -0.260712 -0.016612 q: 0.032551 0.890799 -0.104903 0.440924 
wait for imu ... 
time: 1403636592.413555, t: 0.060514 -0.264114 -0.017320 q: 0.025273 0.893772 -0.103685 0.435641 
time: 1403636592.513556, t: 0.093639 -0.258297 -0.015810 q: 0.016391 0.893767 -0.094119 0.438239 
time: 1403636592.613555, t: 0.128350 -0.242578 -0.014785 q: 0.007477 0.890790 -0.077817 0.447641 
wait for imu ... 
time: 1403636592.813555, t: 0.189000 -0.182607 -0.016264 q: -0.016899 0.889606 -0.037539 0.454871 
wait for imu ... 
time: 1403636592.913555, t: 0.205292 -0.135239 -0.019639 q: -0.037678 0.891637 -0.014767 0.450940 
wait for imu ... 
time: 1403636593.013556, t: 0.206028 -0.078927 -0.022177 q: -0.057588 0.893529 0.008281 0.445220 
wait for imu ... 
time: 1403636593.113555, t: 0.191012 -0.017289 -0.022103 q: -0.074375 0.894089 0.031895 0.440517 
wait for imu ... 
time: 1403636593.213556, t: 0.161354 0.044357 -0.019213 q: -0.093616 0.892849 0.048517 0.437839 
wait for imu ... 
time: 1403636593.313555, t: 0.122427 0.099580 -0.016429 q: -0.110644 0.892064 0.058936 0.434172 
wait for imu ... 
time: 1403636593.413555, t: 0.076007 0.137971 -0.016495 q: -0.115671 0.893176 0.064933 0.429697 
time: 1403636593.513556, t: 0.027025 0.156927 -0.019863 q: -0.112086 0.895015 0.063822 0.426980 
wait for imu ... 
time: 1403636593.613555, t: -0.021020 0.157917 -0.026356 q: -0.107746 0.898582 0.053108 0.422044 
wait for imu ... 
time: 1403636593.713556, t: -0.067282 0.142653 -0.034395 q: -0.100432 0.903830 0.034400 0.414513 
time: 1403636593.813555, t: -0.108193 0.112205 -0.041297 q: -0.084580 0.907513 0.006344 0.411371 
wait for imu ... 
time: 1403636593.913555, t: -0.140786 0.070199 -0.045959 q: -0.063416 0.905910 -0.028379 0.417732 
time: 1403636594.013556, t: -0.160898 0.018050 -0.047922 q: -0.038025 0.901038 -0.062529 0.427522 
time: 1403636594.113555, t: -0.170432 -0.037337 -0.047436 q: -0.013743 0.896634 -0.094457 0.432361 
time: 1403636594.213556, t: -0.166265 -0.094416 -0.051439 q: 0.005706 0.894528 -0.120332 0.430474 
wait for imu ... 
time: 1403636594.313555, t: -0.143617 -0.151526 -0.056801 q: 0.022140 0.893383 -0.135323 0.427861 
time: 1403636594.413555, t: -0.110820 -0.209395 -0.059849 q: 0.035996 0.891138 -0.141509 0.429596 
time: 1403636594.513556, t: -0.068176 -0.261648 -0.060862 q: 0.045075 0.886852 -0.139563 0.438159 
time: 1403636594.613555, t: -0.014192 -0.294156 -0.064698 q: 0.045073 0.882051 -0.139560 0.447748 
time: 1403636594.713556, t: 0.036355 -0.306084 -0.063951 q: 0.041105 0.879594 -0.136990 0.453716 
time: 1403636594.813555, t: 0.078322 -0.289589 -0.063184 q: 0.031471 0.879507 -0.123016 0.458632 
time: 1403636594.913555, t: 0.114929 -0.244582 -0.064398 q: 0.018519 0.880003 -0.098719 0.464226 
wait for imu ... 
time: 1403636595.013556, t: 0.139895 -0.176848 -0.066616 q: -0.001614 0.880988 -0.065282 0.468611 
time: 1403636595.113555, t: 0.149767 -0.098650 -0.068371 q: -0.025785 0.883370 -0.029606 0.467029 
time: 1403636595.213556, t: 0.146872 -0.021997 -0.071659 q: -0.050663 0.885554 0.000510 0.461764 
wait for imu ... 
time: 1403636595.413555, t: 0.108434 0.081700 -0.073904 q: -0.085034 0.887009 0.041653 0.451940 
wait for imu ... 
time: 1403636595.513556, t: 0.079197 0.094981 -0.074733 q: -0.090457 0.888032 0.047680 0.448268 
time: 1403636595.613555, t: 0.047999 0.081811 -0.077081 q: -0.090212 0.890209 0.049923 0.443732 
wait for imu ... 
time: 1403636595.713556, t: 0.015828 0.046130 -0.080510 q: -0.081552 0.892710 0.043223 0.441078 
wait for imu ... 
time: 1403636595.813555, t: -0.015350 -0.003812 -0.085214 q: -0.061667 0.894569 0.028173 0.441758 
wait for imu ... 
time: 1403636595.913555, t: -0.043579 -0.060505 -0.091936 q: -0.039425 0.895833 0.005241 0.442607 
wait for imu ... 
time: 1403636596.013556, t: -0.074936 -0.113144 -0.096846 q: -0.018730 0.897809 -0.019295 0.439563 
wait for imu ... 
time: 1403636596.113555, t: -0.107529 -0.149791 -0.099634 q: -0.002201 0.899440 -0.043572 0.434861 
time: 1403636596.213556, t: -0.140525 -0.158890 -0.099276 q: 0.004982 0.899280 -0.059039 0.433341 
time: 1403636596.313555, t: -0.175938 -0.140808 -0.091917 q: 0.004308 0.897498 -0.067054 0.435869 
wait for imu ... 
time: 1403636596.413555, t: -0.218189 -0.107349 -0.077761 q: 0.005775 0.895203 -0.068192 0.440374 
wait for imu ... 
time: 1403636596.513556, t: -0.255640 -0.068483 -0.063774 q: 0.006987 0.892908 -0.062716 0.445795 
time: 1403636596.613555, t: -0.283780 -0.033838 -0.054747 q: 0.008409 0.892222 -0.057407 0.447854 
wait for imu ... 
time: 1403636596.713556, t: -0.302038 -0.008648 -0.048597 q: 0.007957 0.893501 -0.055270 0.445575 
wait for imu ... 
time: 1403636596.813555, t: -0.302367 0.002240 -0.047784 q: 0.008957 0.892518 -0.050686 0.448066 
time: 1403636596.913555, t: -0.280633 0.000380 -0.049801 q: 0.012993 0.889999 -0.046488 0.453400 
wait for imu ... 
time: 1403636597.013556, t: -0.238173 -0.010884 -0.052873 q: 0.017011 0.891083 -0.044690 0.451313 
time: 1403636597.113555, t: -0.180926 -0.026473 -0.057884 q: 0.015230 0.896257 -0.042530 0.441229 
time: 1403636597.213556, t: -0.114757 -0.043694 -0.058984 q: 0.008165 0.900214 -0.032777 0.434135 
wait for imu ... 
time: 1403636597.313555, t: -0.045220 -0.058403 -0.054993 q: 0.000717 0.900238 -0.018781 0.434992 
wait for imu ... 
time: 1403636597.413555, t: 0.025416 -0.067730 -0.050941 q: -0.007506 0.898348 -0.003190 0.439208 
wait for imu ... 
time: 1403636597.513556, t: 0.086837 -0.068792 -0.048446 q: -0.016607 0.896262 0.015355 0.442947 
wait for imu ... 
time: 1403636597.613555, t: 0.129443 -0.058688 -0.048669 q: -0.033269 0.892311 0.032362 0.449029 
time: 1403636597.713556, t: 0.147866 -0.038172 -0.051053 q: -0.051573 0.886912 0.047894 0.456545 
wait for imu ... 
time: 1403636597.813555, t: 0.143212 -0.014364 -0.053324 q: -0.063163 0.881797 0.060738 0.463418 
time: 1403636597.913555, t: 0.117865 0.006926 -0.055826 q: -0.066523 0.878642 0.072615 0.467215 
wait for imu ... 
time: 1403636598.013556, t: 0.078474 0.020794 -0.059039 q: -0.066169 0.879188 0.081298 0.464802 
wait for imu ... 
time: 1403636598.113555, t: 0.034006 0.028285 -0.065096 q: -0.066557 0.883599 0.082562 0.456077 
time: 1403636598.213556, t: -0.009599 0.026890 -0.074064 q: -0.062608 0.891765 0.080987 0.440768 
time: 1403636598.313555, t: -0.040340 0.020620 -0.087775 q: -0.055690 0.899574 0.079878 0.425776 
time: 1403636598.413555, t: -0.053689 0.009558 -0.101938 q: -0.046606 0.903022 0.077399 0.419987 
wait for imu ... 
time: 1403636598.513556, t: -0.045755 -0.002301 -0.117128 q: -0.043006 0.901922 0.077080 0.422784 
wait for imu ... 
time: 1403636598.613555, t: -0.020020 -0.012775 -0.130845 q: -0.048047 0.896040 0.080246 0.434009 
wait for imu ... 
time: 1403636598.713556, t: 0.014355 -0.021615 -0.144732 q: -0.057537 0.887283 0.085731 0.449521 
time: 1403636598.813555, t: 0.049630 -0.028561 -0.163371 q: -0.069634 0.875713 0.091131 0.469012 
wait for imu ... 
time: 1403636598.913555, t: 0.080064 -0.035485 -0.185925 q: -0.076704 0.864234 0.091056 0.488800 
time: 1403636599.013556, t: 0.104131 -0.042049 -0.209304 q: -0.077430 0.855536 0.091837 0.503616 
wait for imu ... 
time: 1403636599.113555, t: 0.121604 -0.046099 -0.226479 q: -0.085620 0.845525 0.091679 0.518990 
time: 1403636599.213556, t: 0.135826 -0.048254 -0.237759 q: -0.092550 0.829716 0.091053 0.542877 
wait for imu ... 
time: 1403636599.313555, t: 0.149078 -0.049517 -0.246793 q: -0.096599 0.813444 0.086009 0.567080 
time: 1403636599.413555, t: 0.159598 -0.050684 -0.256557 q: -0.093842 0.804970 0.082679 0.579984 
wait for imu ... 
time: 1403636599.513556, t: 0.167274 -0.051233 -0.265334 q: -0.086932 0.805301 0.077953 0.581254 
wait for imu ... 
time: 1403636599.613555, t: 0.171760 -0.052187 -0.274628 q: -0.083059 0.809697 0.072015 0.576460 
time: 1403636599.713556, t: 0.174898 -0.053078 -0.282834 q: -0.081044 0.810656 0.069940 0.575654 
wait for imu ... 
time: 1403636599.813555, t: 0.176283 -0.055636 -0.283370 q: -0.082552 0.800407 0.069918 0.589614 
time: 1403636599.913555, t: 0.175108 -0.057211 -0.284657 q: -0.085075 0.795409 0.068102 0.596195 
wait for imu ... 
wait for imu ... 
time: 1403636600.013556, t: 0.175544 -0.058446 -0.286064 q: -0.085031 0.796593 0.064766 0.594992 
time: 1403636600.113555, t: 0.175374 -0.060470 -0.287161 q: -0.089331 0.794532 0.061820 0.597426 
wait for imu ... 
time: 1403636600.213556, t: 0.175014 -0.060938 -0.287393 q: -0.089240 0.794396 0.061933 0.597608 
wait for imu ... 
time: 1403636600.313555, t: 0.174798 -0.061023 -0.287401 q: -0.089794 0.794537 0.061543 0.597378 
wait for imu ... 
time: 1403636600.413555, t: 0.174433 -0.061226 -0.287166 q: -0.090100 0.794500 0.061143 0.597422 
wait for imu ... 
time: 1403636600.613555, t: 0.174396 -0.061184 -0.287031 q: -0.090201 0.794603 0.060518 0.597333 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.713556, t: 0.174495 -0.061287 -0.287088 q: -0.089873 0.794778 0.060504 0.597152 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.813555, t: 0.174483 -0.061313 -0.287076 q: -0.089587 0.794806 0.060453 0.597162 
time: 1403636600.913555, t: 0.174530 -0.061307 -0.287077 q: -0.089526 0.794887 0.060318 0.597077 
time: 1403636601.013556, t: 0.174498 -0.061341 -0.287058 q: -0.089290 0.794982 0.060228 0.596996 
wait for imu ... 
time: 1403636601.113555, t: 0.174513 -0.061305 -0.287040 q: -0.089238 0.795042 0.060068 0.596939 
time: 1403636601.213556, t: 0.174480 -0.061308 -0.287030 q: -0.089149 0.795079 0.059987 0.596911 
time: 1403636601.313555, t: 0.174487 -0.061327 -0.287028 q: -0.089054 0.795131 0.059888 0.596867 
time: 1403636601.413555, t: 0.174506 -0.061303 -0.287038 q: -0.089036 0.795182 0.059698 0.596820 
time: 1403636601.513556, t: 0.174498 -0.061323 -0.287045 q: -0.088972 0.795176 0.059545 0.596852 
wait for imu ... 
time: 1403636601.613555, t: 0.174518 -0.061297 -0.287075 q: -0.088941 0.795214 0.059394 0.596822 
wait for imu ... 
time: 1403636601.713556, t: 0.174521 -0.061303 -0.287120 q: -0.088864 0.795218 0.059295 0.596838 
time: 1403636601.813555, t: 0.174582 -0.061305 -0.287141 q: -0.088862 0.795268 0.059252 0.596776 
time: 1403636601.913555, t: 0.174601 -0.061303 -0.287125 q: -0.088721 0.795279 0.059137 0.596794 
time: 1403636602.013556, t: 0.174590 -0.061293 -0.287102 q: -0.088611 0.795300 0.059061 0.596790 
wait for imu ... 
time: 1403636602.113555, t: 0.174607 -0.061287 -0.287091 q: -0.088552 0.795362 0.058957 0.596726 
time: 1403636602.213556, t: 0.174626 -0.061280 -0.287096 q: -0.088462 0.795380 0.058883 0.596723 
time: 1403636602.313555, t: 0.174614 -0.061297 -0.287097 q: -0.088356 0.795439 0.058869 0.596660 
wait for imu ... 
time: 1403636602.413555, t: 0.174622 -0.061320 -0.287119 q: -0.088319 0.795450 0.058865 0.596652 
time: 1403636602.513556, t: 0.174612 -0.061331 -0.287116 q: -0.088168 0.795484 0.058813 0.596635 
time: 1403636602.613555, t: 0.174615 -0.061344 -0.287107 q: -0.088074 0.795527 0.058802 0.596592 
time: 1403636602.713556, t: 0.174619 -0.061329 -0.287114 q: -0.088010 0.795535 0.058720 0.596599 
wait for imu ... 
time: 1403636602.813555, t: 0.174584 -0.061329 -0.287125 q: -0.087887 0.795547 0.058674 0.596605 
time: 1403636602.913555, t: 0.174588 -0.061333 -0.287111 q: -0.087809 0.795572 0.058662 0.596585 
time: 1403636603.013556, t: 0.174601 -0.061322 -0.287117 q: -0.087683 0.795576 0.058607 0.596603 
wait for imu ... 
time: 1403636603.113555, t: 0.174591 -0.061305 -0.287119 q: -0.087586 0.795578 0.058571 0.596618 
wait for imu ... 
wait for imu ... 
time: 1403636603.213556, t: 0.174579 -0.061307 -0.287103 q: -0.087572 0.795636 0.058511 0.596549 
wait for imu ... 
time: 1403636603.313555, t: 0.174600 -0.061306 -0.287119 q: -0.087504 0.795631 0.058500 0.596567 
time: 1403636603.413555, t: 0.174597 -0.061301 -0.287130 q: -0.087434 0.795616 0.058459 0.596601 
wait for imu ... 
time: 1403636603.513556, t: 0.174594 -0.061274 -0.287107 q: -0.087343 0.795684 0.058414 0.596528 
time: 1403636603.613555, t: 0.174596 -0.061275 -0.287104 q: -0.087307 0.795710 0.058394 0.596501 
time: 1403636603.713556, t: 0.174587 -0.061264 -0.287098 q: -0.087250 0.795730 0.058337 0.596489 
time: 1403636603.813555, t: 0.174569 -0.061278 -0.287099 q: -0.087198 0.795783 0.058319 0.596426 
time: 1403636603.913555, t: 0.174542 -0.061258 -0.287131 q: -0.087231 0.795767 0.058241 0.596450 
time: 1403636604.013556, t: 0.174568 -0.061250 -0.287118 q: -0.087221 0.795749 0.058181 0.596482 
time: 1403636604.113555, t: 0.174587 -0.061264 -0.287126 q: -0.087165 0.795752 0.058164 0.596488 
time: 1403636604.213556, t: 0.174566 -0.061261 -0.287125 q: -0.087068 0.795770 0.058163 0.596478 
time: 1403636604.313555, t: 0.174583 -0.061274 -0.287116 q: -0.087025 0.795792 0.058114 0.596459 
time: 1403636604.413555, t: 0.174574 -0.061275 -0.287106 q: -0.086978 0.795832 0.058132 0.596412 
time: 1403636604.513556, t: 0.174593 -0.061280 -0.287115 q: -0.086893 0.795819 0.058106 0.596444 
wait for imu ... 
time: 1403636604.613555, t: 0.174587 -0.061271 -0.287145 q: -0.086835 0.795822 0.058067 0.596452 
time: 1403636604.713556, t: 0.174602 -0.061293 -0.287136 q: -0.086821 0.795845 0.058085 0.596422 
time: 1403636604.813555, t: 0.174595 -0.061281 -0.287123 q: -0.086718 0.795867 0.058106 0.596406 
time: 1403636604.913555, t: 0.174615 -0.061280 -0.287118 q: -0.086686 0.795907 0.058052 0.596361 
time: 1403636605.013556, t: 0.174595 -0.061287 -0.287110 q: -0.086654 0.795925 0.058036 0.596344 
wait for imu ... 
time: 1403636605.113555, t: 0.174600 -0.061291 -0.287117 q: -0.086568 0.795923 0.058058 0.596356 
time: 1403636605.213556, t: 0.174606 -0.061293 -0.287120 q: -0.086569 0.795949 0.057986 0.596329 
wait for imu ... 
time: 1403636605.313555, t: 0.174609 -0.061302 -0.287127 q: -0.086507 0.795942 0.057989 0.596347 
time: 1403636605.413555, t: 0.174590 -0.061286 -0.287122 q: -0.086499 0.795967 0.057934 0.596321 
wait for imu ... 
time: 1403636605.513556, t: 0.174602 -0.061292 -0.287117 q: -0.086496 0.796002 0.057897 0.596278 
wait for imu ... 
time: 1403636605.613555, t: 0.174624 -0.061290 -0.287114 q: -0.086440 0.796015 0.057879 0.596270 
time: 1403636605.713556, t: 0.174078 -0.061146 -0.286890 q: -0.086413 0.795986 0.057895 0.596311 
wait for imu ... 
time: 1403636605.813555, t: 0.174348 -0.061287 -0.286885 q: -0.086289 0.796035 0.057785 0.596274 
time: 1403636605.913555, t: 0.174348 -0.061256 -0.286878 q: -0.086249 0.796101 0.057719 0.596198 
wait for imu ... 
wait for imu ... 
time: 1403636606.013556, t: 0.174362 -0.061232 -0.286931 q: -0.086171 0.796087 0.057678 0.596232 
time: 1403636606.113555, t: 0.174334 -0.061211 -0.286917 q: -0.086123 0.796106 0.057602 0.596221 
wait for imu ... 
time: 1403636606.213556, t: 0.174410 -0.061236 -0.287023 q: -0.086026 0.796078 0.057565 0.596276 
wait for imu ... 
time: 1403636606.313555, t: 0.174420 -0.061250 -0.287003 q: -0.085931 0.796115 0.057470 0.596250 
wait for imu ... 
wait for imu ... 
time: 1403636606.513556, t: 0.174397 -0.061224 -0.286990 q: -0.085878 0.796129 0.057349 0.596250 
time: 1403636606.613555, t: 0.174412 -0.061233 -0.287007 q: -0.085770 0.796119 0.057336 0.596280 
time: 1403636606.713556, t: 0.174408 -0.061217 -0.287014 q: -0.085735 0.796124 0.057335 0.596280 
time: 1403636606.813555, t: 0.174398 -0.061222 -0.286992 q: -0.085702 0.796157 0.057316 0.596241 
time: 1403636606.913555, t: 0.174390 -0.061223 -0.286969 q: -0.085647 0.796195 0.057294 0.596200 
wait for imu ... 
time: 1403636607.013556, t: 0.174385 -0.061213 -0.286962 q: -0.085617 0.796196 0.057240 0.596209 
time: 1403636607.113555, t: 0.174369 -0.061222 -0.286943 q: -0.085602 0.796216 0.057245 0.596184 
wait for imu ... 
time: 1403636607.213556, t: 0.174373 -0.061222 -0.286932 q: -0.085530 0.796259 0.057215 0.596140 
time: 1403636607.313555, t: 0.174387 -0.061164 -0.286912 q: -0.085422 0.796296 0.057096 0.596117 
time: 1403636607.413555, t: 0.174347 -0.061162 -0.286885 q: -0.085414 0.796312 0.057071 0.596099 
time: 1403636607.513556, t: 0.174356 -0.061175 -0.286883 q: -0.085394 0.796301 0.057057 0.596119 
wait for imu ... 
time: 1403636607.613555, t: 0.174360 -0.061184 -0.286886 q: -0.085275 0.796316 0.057032 0.596118 
wait for imu ... 
time: 1403636607.713556, t: 0.174359 -0.061181 -0.286883 q: -0.085244 0.796372 0.056985 0.596052 
time: 1403636607.813555, t: 0.174391 -0.061186 -0.286894 q: -0.085209 0.796384 0.056978 0.596042 
time: 1403636607.913555, t: 0.174389 -0.061183 -0.286917 q: -0.085218 0.796392 0.056896 0.596038 
wait for imu ... 
time: 1403636608.013556, t: 0.174366 -0.061166 -0.286884 q: -0.085122 0.796420 0.056893 0.596014 
wait for imu ... 
time: 1403636608.213556, t: 0.174391 -0.061178 -0.286892 q: -0.085096 0.796436 0.056817 0.596004 
time: 1403636608.313555, t: 0.174408 -0.061195 -0.286911 q: -0.085095 0.796431 0.056812 0.596010 
wait for imu ... 
time: 1403636608.413555, t: 0.174420 -0.061196 -0.286907 q: -0.085078 0.796450 0.056789 0.595990 
time: 1403636608.513556, t: 0.174419 -0.061205 -0.286907 q: -0.085089 0.796452 0.056762 0.595988 
time: 1403636608.613555, t: 0.174419 -0.061201 -0.286908 q: -0.085022 0.796436 0.056761 0.596020 
time: 1403636608.713556, t: 0.174399 -0.061182 -0.286899 q: -0.084913 0.796445 0.056746 0.596025 
time: 1403636608.813555, t: 0.174394 -0.061182 -0.286878 q: -0.084899 0.796479 0.056738 0.595982 
wait for imu ... 
time: 1403636608.913555, t: 0.174395 -0.061189 -0.286879 q: -0.084899 0.796499 0.056715 0.595957 
time: 1403636609.013556, t: 0.174377 -0.061185 -0.286871 q: -0.084871 0.796514 0.056683 0.595944 
wait for imu ... 
time: 1403636609.113555, t: 0.174393 -0.061189 -0.286886 q: -0.084899 0.796504 0.056691 0.595952 
wait for imu ... 
time: 1403636609.213556, t: 0.174399 -0.061194 -0.286905 q: -0.084935 0.796477 0.056652 0.595988 
time: 1403636609.313555, t: 0.174401 -0.061193 -0.286904 q: -0.084893 0.796491 0.056669 0.595973 
wait for imu ... 
time: 1403636609.413555, t: 0.174391 -0.061176 -0.286884 q: -0.084866 0.796516 0.056633 0.595947 
wait for imu ... 
time: 1403636609.613555, t: 0.174391 -0.061177 -0.286887 q: -0.084835 0.796529 0.056588 0.595939 
wait for imu ... 
time: 1403636609.713556, t: 0.174388 -0.061195 -0.286886 q: -0.084799 0.796524 0.056588 0.595950 
time: 1403636609.813555, t: 0.174370 -0.061197 -0.286881 q: -0.084882 0.796615 0.056555 0.595819 
wait for imu ... 
wait for imu ... 
time: 1403636609.913555, t: 0.174396 -0.061198 -0.286873 q: -0.084882 0.796583 0.056515 0.595867 
time: 1403636610.013556, t: 0.174410 -0.061201 -0.286870 q: -0.084853 0.796582 0.056484 0.595875 
wait for imu ... 
time: 1403636610.113555, t: 0.174400 -0.061202 -0.286879 q: -0.084895 0.796577 0.056445 0.595879 
time: 1403636610.213556, t: 0.174401 -0.061197 -0.286871 q: -0.084862 0.796591 0.056418 0.595867 
wait for imu ... 
time: 1403636610.313555, t: 0.174405 -0.061200 -0.286875 q: -0.084816 0.796609 0.056406 0.595851 
wait for imu ... 
time: 1403636610.413555, t: 0.174429 -0.061205 -0.286867 q: -0.084737 0.796618 0.056445 0.595847 
wait for imu ... 
time: 1403636610.513556, t: 0.174417 -0.061203 -0.286876 q: -0.084724 0.796645 0.056458 0.595812 
time: 1403636610.613555, t: 0.174410 -0.061187 -0.286853 q: -0.084654 0.796653 0.056439 0.595812 
time: 1403636610.713556, t: 0.174419 -0.061178 -0.286834 q: -0.084653 0.796684 0.056449 0.595770 
time: 1403636610.813555, t: 0.174514 -0.061202 -0.286785 q: -0.084557 0.796790 0.056555 0.595632 
time: 1403636610.913555, t: 0.174537 -0.061244 -0.286793 q: -0.084525 0.796770 0.056636 0.595655 
wait for imu ... 
time: 1403636611.013556, t: 0.174529 -0.061210 -0.286824 q: -0.084610 0.796683 0.056513 0.595771 
wait for imu ... 
time: 1403636611.113555, t: 0.174579 -0.061254 -0.286909 q: -0.084596 0.796716 0.056531 0.595727 
time: 1403636611.213556, t: 0.174508 -0.061245 -0.286947 q: -0.084440 0.796723 0.056622 0.595731 
time: 1403636611.313555, t: 0.174541 -0.061247 -0.286980 q: -0.084497 0.796684 0.056516 0.595785 
time: 1403636611.413555, t: 0.174518 -0.061179 -0.286954 q: -0.084929 0.796630 0.056416 0.595806 
time: 1403636611.513556, t: 0.174697 -0.061850 -0.287321 q: -0.083919 0.796607 0.056653 0.595957 
wait for imu ... 
time: 1403636611.613555, t: 0.174911 -0.061742 -0.287516 q: -0.084339 0.796580 0.056579 0.595941 
time: 1403636611.713556, t: 0.174717 -0.061846 -0.287259 q: -0.084165 0.796478 0.056538 0.596106 
time: 1403636611.813555, t: 0.174634 -0.061737 -0.287365 q: -0.084947 0.796555 0.056084 0.595935 
wait for imu ... 
time: 1403636611.913555, t: 0.174477 -0.061870 -0.287400 q: -0.084360 0.796432 0.056570 0.596137 
time: 1403636612.013556, t: 0.174644 -0.061605 -0.287399 q: -0.085194 0.796325 0.056131 0.596202 
wait for imu ... 
time: 1403636612.113555, t: 0.174670 -0.061514 -0.287414 q: -0.085542 0.796486 0.055903 0.595960 
time: 1403636612.213556, t: 0.174723 -0.061571 -0.287541 q: -0.085412 0.796515 0.056061 0.595925 
time: 1403636612.313555, t: 0.174602 -0.061532 -0.287474 q: -0.085615 0.796403 0.055831 0.596066 
time: 1403636612.413555, t: 0.174305 -0.061523 -0.287400 q: -0.085144 0.796353 0.056075 0.596178 
time: 1403636612.513556, t: 0.174531 -0.061667 -0.287376 q: -0.084957 0.796387 0.056212 0.596146 
wait for imu ... 
wait for imu ... 
time: 1403636612.613555, t: 0.174465 -0.061821 -0.287326 q: -0.084568 0.796372 0.056321 0.596211 
wait for imu ... 
time: 1403636612.713556, t: 0.174478 -0.061778 -0.287316 q: -0.084584 0.796421 0.056272 0.596148 
wait for imu ... 
time: 1403636612.813555, t: 0.174493 -0.061810 -0.287321 q: -0.084253 0.796449 0.056310 0.596155 
time: 1403636612.913555, t: 0.174507 -0.061884 -0.287287 q: -0.084061 0.796468 0.056459 0.596142 
wait for imu ... 
time: 1403636613.013556, t: 0.174546 -0.061881 -0.287273 q: -0.083993 0.796404 0.056387 0.596244 
time: 1403636613.113555, t: 0.174499 -0.061922 -0.287307 q: -0.083906 0.796458 0.056539 0.596169 
wait for imu ... 
time: 1403636613.213556, t: 0.174516 -0.061933 -0.287324 q: -0.083868 0.796410 0.056375 0.596254 
time: 1403636613.313555, t: 0.174592 -0.062025 -0.287404 q: -0.084032 0.796336 0.056276 0.596339 
time: 1403636613.413555, t: 0.174580 -0.062039 -0.287391 q: -0.083998 0.796402 0.056303 0.596254 
time: 1403636613.513556, t: 0.174554 -0.062041 -0.287440 q: -0.084003 0.796367 0.056187 0.596310 
time: 1403636613.613555, t: 0.174530 -0.062085 -0.287429 q: -0.084067 0.796401 0.056136 0.596261 
wait for imu ... 
time: 1403636613.713556, t: 0.174561 -0.062034 -0.287452 q: -0.084229 0.796396 0.055996 0.596257 
time: 1403636613.813555, t: 0.174539 -0.061999 -0.287456 q: -0.084262 0.796413 0.055931 0.596236 
time: 1403636613.913555, t: 0.174543 -0.061991 -0.287452 q: -0.084288 0.796459 0.055982 0.596167 
time: 1403636614.013556, t: 0.174529 -0.061997 -0.287465 q: -0.084411 0.796471 0.055913 0.596140 
wait for imu ... 
time: 1403636614.113555, t: 0.174503 -0.061995 -0.287458 q: -0.084391 0.796435 0.055966 0.596186 
time: 1403636614.213556, t: 0.174486 -0.062001 -0.287440 q: -0.084404 0.796478 0.055968 0.596126 
time: 1403636614.313555, t: 0.174496 -0.061987 -0.287467 q: -0.084406 0.796464 0.055890 0.596152 
time: 1403636614.413555, t: 0.174504 -0.062004 -0.287455 q: -0.084431 0.796482 0.055805 0.596133 
time: 1403636614.513556, t: 0.174514 -0.062037 -0.287435 q: -0.084392 0.796429 0.055835 0.596206 
wait for imu ... 
time: 1403636614.613555, t: 0.174520 -0.062075 -0.287426 q: -0.084380 0.796484 0.055906 0.596127 
time: 1403636614.713556, t: 0.174542 -0.062019 -0.287406 q: -0.084344 0.796475 0.055935 0.596141 
time: 1403636614.813555, t: 0.174524 -0.062068 -0.287373 q: -0.084214 0.796505 0.055921 0.596121 
wait for imu ... 
wait for imu ... 
time: 1403636614.913555, t: 0.174548 -0.062049 -0.287417 q: -0.084154 0.796497 0.055901 0.596142 
time: 1403636615.013556, t: 0.174561 -0.062034 -0.287408 q: -0.084159 0.796463 0.055851 0.596192 
wait for imu ... 
time: 1403636615.113555, t: 0.174564 -0.062023 -0.287454 q: -0.084077 0.796500 0.055950 0.596145 
time: 1403636615.213556, t: 0.174619 -0.062067 -0.287360 q: -0.084028 0.796487 0.055977 0.596166 
time: 1403636615.313555, t: 0.174720 -0.062155 -0.287213 q: -0.083992 0.796510 0.055968 0.596141 
time: 1403636615.413555, t: 0.174818 -0.062353 -0.286653 q: -0.083974 0.796481 0.055932 0.596186 
wait for imu ... 
time: 1403636615.513556, t: 0.174943 -0.062651 -0.286261 q: -0.083987 0.796483 0.055920 0.596183 
wait for imu ... 
time: 1403636615.613555, t: 0.175175 -0.062974 -0.285868 q: -0.083934 0.796519 0.055916 0.596143 
wait for imu ... 
time: 1403636615.713556, t: 0.175205 -0.063230 -0.285260 q: -0.083958 0.796559 0.055923 0.596085 
time: 1403636615.813555, t: 0.175433 -0.063677 -0.284641 q: -0.083948 0.796503 0.055882 0.596165 
wait for imu ... 
time: 1403636615.913555, t: 0.175541 -0.064153 -0.283727 q: -0.083918 0.796546 0.055887 0.596112 
time: 1403636616.013556, t: 0.175912 -0.064595 -0.282811 q: -0.083949 0.796567 0.055859 0.596082 
wait for imu ... 
time: 1403636616.113555, t: 0.176314 -0.065242 -0.281744 q: -0.083970 0.796543 0.055800 0.596117 
time: 1403636616.213556, t: 0.176801 -0.065892 -0.280624 q: -0.083952 0.796564 0.055808 0.596090 
time: 1403636616.313555, t: 0.177328 -0.066896 -0.279466 q: -0.083942 0.796551 0.055819 0.596107 
time: 1403636616.413555, t: 0.177931 -0.067932 -0.278284 q: -0.083992 0.796566 0.055801 0.596082 
time: 1403636616.513556, t: 0.178454 -0.068679 -0.276797 q: -0.083980 0.796545 0.055755 0.596117 
time: 1403636616.613555, t: 0.179066 -0.069424 -0.275118 q: -0.083959 0.796592 0.055782 0.596054 
time: 1403636616.713556, t: 0.179978 -0.070084 -0.273408 q: -0.083993 0.796604 0.055780 0.596033 
time: 1403636616.813555, t: 0.181058 -0.070840 -0.271661 q: -0.084037 0.796624 0.055770 0.596001 
wait for imu ... 
time: 1403636616.913555, t: 0.182266 -0.071638 -0.269903 q: -0.084028 0.796636 0.055742 0.595989 
time: 1403636617.013556, t: 0.183340 -0.072610 -0.268067 q: -0.084033 0.796642 0.055771 0.595978 
time: 1403636617.113555, t: 0.184368 -0.073767 -0.266212 q: -0.083994 0.796647 0.055779 0.595975 
time: 1403636617.213556, t: 0.185799 -0.074793 -0.264357 q: -0.084031 0.796640 0.055793 0.595978 
wait for imu ... 
time: 1403636617.313555, t: 0.187167 -0.075748 -0.262311 q: -0.084003 0.796662 0.055782 0.595955 
wait for imu ... 
time: 1403636617.413555, t: 0.188693 -0.076677 -0.260192 q: -0.084005 0.796696 0.055782 0.595909 
time: 1403636617.513556, t: 0.190600 -0.078056 -0.258181 q: -0.084020 0.796708 0.055798 0.595889 
time: 1403636617.613555, t: 0.192344 -0.079379 -0.255891 q: -0.084011 0.796740 0.055824 0.595845 
time: 1403636617.713556, t: 0.193751 -0.080979 -0.253305 q: -0.084043 0.796717 0.055815 0.595871 
wait for imu ... 
time: 1403636617.813555, t: 0.195379 -0.082241 -0.250619 q: -0.084042 0.796737 0.055783 0.595848 
time: 1403636617.913555, t: 0.197248 -0.082688 -0.247779 q: -0.084009 0.796759 0.055763 0.595826 
time: 1403636618.013556, t: 0.199164 -0.083041 -0.244724 q: -0.083994 0.796761 0.055750 0.595827 
wait for imu ... 
time: 1403636618.113555, t: 0.201752 -0.084183 -0.241811 q: -0.083985 0.796764 0.055750 0.595823 
time: 1403636618.213556, t: 0.203758 -0.085710 -0.238684 q: -0.083951 0.796783 0.055810 0.595797 
wait for imu ... 
time: 1403636618.313555, t: 0.205274 -0.087034 -0.235216 q: -0.083967 0.796794 0.055790 0.595782 
time: 1403636618.413555, t: 0.208146 -0.088548 -0.232216 q: -0.083973 0.796764 0.055762 0.595824 
wait for imu ... 
time: 1403636618.513556, t: 0.213559 -0.092466 -0.230376 q: -0.084207 0.796751 0.056071 0.595780 
time: 1403636618.613555, t: 0.219315 -0.117789 -0.244097 q: -0.084344 0.796732 0.056014 0.595791 
wait for imu ... 
time: 1403636618.713556, t: 0.216877 -0.126629 -0.256370 q: -0.084078 0.796735 0.055651 0.595859 
wait for imu ... 
time: 1403636618.813555, t: 0.203933 -0.128495 -0.271483 q: -0.084162 0.796642 0.055762 0.595961 
wait for imu ... 
time: 1403636618.913555, t: 0.196558 -0.126361 -0.276496 q: -0.084339 0.796564 0.055906 0.596027 
time: 1403636619.013556, t: 0.198520 -0.128348 -0.275616 q: -0.084324 0.796575 0.055836 0.596020 
wait for imu ... 
time: 1403636619.113555, t: 0.195587 -0.129312 -0.276821 q: -0.084169 0.796590 0.055651 0.596039 
wait for imu ... 
time: 1403636619.213556, t: 0.197439 -0.130124 -0.276214 q: -0.083876 0.796635 0.055413 0.596043 
time: 1403636619.313555, t: 0.197020 -0.129406 -0.277092 q: -0.083728 0.796624 0.055513 0.596070 
wait for imu ... 
time: 1403636619.413555, t: 0.199953 -0.127847 -0.278417 q: -0.083933 0.796538 0.055791 0.596129 
time: 1403636619.513556, t: 0.199783 -0.129825 -0.278121 q: -0.083792 0.796625 0.055546 0.596055 
wait for imu ... 
time: 1403636619.613555, t: 0.205446 -0.119684 -0.279056 q: -0.083525 0.796622 0.055474 0.596104 
wait for imu ... 
time: 1403636619.713556, t: 0.204743 -0.127917 -0.281197 q: -0.083517 0.796608 0.055490 0.596122 
time: 1403636619.813555, t: 0.206226 -0.128243 -0.281191 q: -0.083533 0.796583 0.055436 0.596157 
time: 1403636619.913555, t: 0.210601 -0.129448 -0.280253 q: -0.083613 0.796560 0.055347 0.596186 
wait for imu ... 
wait for imu ... 
time: 1403636620.013556, t: 0.209776 -0.129473 -0.280628 q: -0.083666 0.796603 0.055386 0.596117 
wait for imu ... 
time: 1403636620.113555, t: 0.207228 -0.132680 -0.283518 q: -0.083610 0.796539 0.055478 0.596202 
time: 1403636620.213556, t: 0.206456 -0.133966 -0.284533 q: -0.083615 0.796552 0.055538 0.596178 
time: 1403636620.313555, t: 0.206818 -0.136105 -0.285630 q: -0.083610 0.796571 0.055472 0.596159 
time: 1403636620.413555, t: 0.210428 -0.138227 -0.286426 q: -0.083662 0.796607 0.055584 0.596094 
time: 1403636620.513556, t: 0.206719 -0.139158 -0.286795 q: -0.083668 0.796579 0.055499 0.596138 
wait for imu ... 
time: 1403636620.613555, t: 0.208084 -0.141562 -0.286619 q: -0.083701 0.796617 0.055511 0.596082 
wait for imu ... 
time: 1403636620.713556, t: 0.207530 -0.142817 -0.287124 q: -0.083655 0.796593 0.055565 0.596116 
time: 1403636620.813555, t: 0.208043 -0.144400 -0.288009 q: -0.083750 0.796620 0.055584 0.596065 
time: 1403636620.913555, t: 0.208193 -0.146391 -0.288273 q: -0.083800 0.796611 0.055554 0.596073 
wait for imu ... 
time: 1403636621.013556, t: 0.208357 -0.148232 -0.288487 q: -0.083770 0.796683 0.055553 0.595980 
time: 1403636621.113555, t: 0.210523 -0.150061 -0.287650 q: -0.083881 0.796632 0.055578 0.596030 
wait for imu ... 
time: 1403636621.213556, t: 0.211500 -0.150899 -0.287446 q: -0.083808 0.796585 0.055680 0.596094 
wait for imu ... 
time: 1403636621.313555, t: 0.210414 -0.153098 -0.289091 q: -0.083778 0.796622 0.055711 0.596046 
wait for imu ... 
time: 1403636621.413555, t: 0.212055 -0.154605 -0.288517 q: -0.083852 0.796652 0.055693 0.595997 
wait for imu ... 
time: 1403636621.513556, t: 0.213305 -0.154389 -0.287507 q: -0.083777 0.796639 0.055767 0.596018 
time: 1403636621.613555, t: 0.212828 -0.158246 -0.287996 q: -0.083793 0.796666 0.055764 0.595980 
time: 1403636621.713556, t: 0.214276 -0.160793 -0.286799 q: -0.083804 0.796664 0.055822 0.595977 
wait for imu ... 
time: 1403636621.813555, t: 0.213462 -0.158706 -0.285069 q: -0.083742 0.796664 0.055877 0.595980 
wait for imu ... 
time: 1403636621.913555, t: 0.213012 -0.161672 -0.286242 q: -0.083704 0.796689 0.055876 0.595951 
time: 1403636622.013556, t: 0.216094 -0.164355 -0.286249 q: -0.083638 0.796685 0.055907 0.595963 
time: 1403636622.113555, t: 0.217259 -0.158622 -0.285760 q: -0.083621 0.796697 0.055857 0.595954 
time: 1403636622.213556, t: 0.212466 -0.151386 -0.277434 q: -0.083682 0.796729 0.055849 0.595903 
time: 1403636622.313555, t: 0.208445 -0.139964 -0.274450 q: -0.083542 0.796794 0.055851 0.595836 
time: 1403636622.413555, t: 0.208801 -0.139292 -0.273112 q: -0.083582 0.796847 0.055874 0.595758 
time: 1403636622.513556, t: 0.209035 -0.138846 -0.272994 q: -0.083602 0.796841 0.055893 0.595760 
wait for imu ... 
time: 1403636622.613555, t: 0.208570 -0.142445 -0.271592 q: -0.083574 0.796834 0.055929 0.595771 
time: 1403636622.713556, t: 0.210042 -0.143470 -0.271383 q: -0.083720 0.796801 0.055871 0.595800 
time: 1403636622.813555, t: 0.211967 -0.144363 -0.270408 q: -0.083724 0.796813 0.055833 0.595787 
time: 1403636622.913555, t: 0.213042 -0.143838 -0.271070 q: -0.083700 0.796671 0.055644 0.595998 
wait for imu ... 
time: 1403636623.013556, t: 0.217613 -0.148353 -0.267382 q: -0.083690 0.796602 0.055565 0.596098 
time: 1403636623.113555, t: 0.216684 -0.145135 -0.266514 q: -0.083784 0.796661 0.055480 0.596015 
wait for imu ... 
time: 1403636623.213556, t: 0.215363 -0.145140 -0.264323 q: -0.083754 0.796719 0.055542 0.595936 
time: 1403636623.313555, t: 0.215867 -0.145418 -0.264900 q: -0.083704 0.796664 0.055552 0.596015 
wait for imu ... 
time: 1403636623.413555, t: 0.217818 -0.150015 -0.262307 q: -0.083811 0.796682 0.055537 0.595978 
time: 1403636623.513556, t: 0.218819 -0.150042 -0.261536 q: -0.083851 0.796694 0.055428 0.595966 
time: 1403636623.613555, t: 0.221002 -0.149255 -0.260169 q: -0.083852 0.796815 0.055241 0.595821 
time: 1403636623.713556, t: 0.221842 -0.148516 -0.260293 q: -0.083761 0.796824 0.055180 0.595827 
wait for imu ... 
time: 1403636623.813555, t: 0.222869 -0.152043 -0.259018 q: -0.083546 0.797045 0.054826 0.595594 
time: 1403636623.913555, t: 0.225489 -0.154752 -0.262703 q: -0.083386 0.796937 0.054619 0.595781 
time: 1403636624.013556, t: 0.229541 -0.161673 -0.260627 q: -0.083318 0.796909 0.054518 0.595837 
time: 1403636624.113555, t: 0.232368 -0.165728 -0.257772 q: -0.082743 0.797267 0.053886 0.595496 
time: 1403636624.213556, t: 0.234370 -0.170078 -0.254480 q: -0.082694 0.797421 0.053482 0.595333 
wait for imu ... 
time: 1403636624.313555, t: 0.224072 -0.159423 -0.272546 q: -0.081300 0.799055 0.053305 0.593346 
wait for imu ... 
time: 1403636624.413555, t: 0.210522 -0.139024 -0.283703 q: -0.077516 0.804141 0.052480 0.587021 
time: 1403636624.513556, t: 0.198298 -0.137177 -0.280179 q: -0.074586 0.809915 0.050698 0.579573 
time: 1403636624.613555, t: 0.193193 -0.144797 -0.279443 q: -0.070789 0.812589 0.050452 0.576319 
time: 1403636624.713556, t: 0.188298 -0.155501 -0.280278 q: -0.064469 0.811408 0.053814 0.578415 
time: 1403636624.813555, t: 0.180707 -0.169234 -0.280708 q: -0.055982 0.811955 0.060093 0.577913 
wait for imu ... 
time: 1403636624.913555, t: 0.170183 -0.184515 -0.275540 q: -0.043396 0.817778 0.069886 0.569624 
time: 1403636625.013556, t: 0.156627 -0.198329 -0.261165 q: -0.032651 0.824422 0.078348 0.559575 
time: 1403636625.113555, t: 0.144053 -0.208867 -0.239344 q: -0.029498 0.830700 0.081573 0.549921 
wait for imu ... 
time: 1403636625.213556, t: 0.136180 -0.213708 -0.212283 q: -0.037047 0.831616 0.076991 0.548739 
time: 1403636625.313555, t: 0.133203 -0.216799 -0.186059 q: -0.043273 0.827492 0.073803 0.554921 
wait for imu ... 
time: 1403636625.513556, t: 0.135241 -0.218306 -0.186361 q: -0.046252 0.829403 0.074604 0.551711 
wait for imu ... 
time: 1403636625.613555, t: 0.139390 -0.216886 -0.191215 q: -0.045785 0.829823 0.076475 0.550863 
time: 1403636625.713556, t: 0.147944 -0.212345 -0.180832 q: -0.046726 0.827025 0.077206 0.554874 
wait for imu ... 
time: 1403636625.813555, t: 0.159873 -0.206003 -0.153755 q: -0.048073 0.821022 0.077283 0.563594 
wait for imu ... 
time: 1403636625.913555, t: 0.174967 -0.197367 -0.112211 q: -0.051360 0.815434 0.075906 0.571548 
time: 1403636626.013556, t: 0.190108 -0.187656 -0.064007 q: -0.053411 0.812345 0.075135 0.575845 
wait for imu ... 
time: 1403636626.113555, t: 0.202554 -0.179190 -0.017766 q: -0.061766 0.811395 0.070151 0.576977 
time: 1403636626.213556, t: 0.213626 -0.173108 0.024003 q: -0.070117 0.810787 0.064890 0.577492 
time: 1403636626.313555, t: 0.223824 -0.169932 0.054029 q: -0.073474 0.810526 0.063042 0.577646 
time: 1403636626.413555, t: 0.232800 -0.171109 0.069072 q: -0.072235 0.809953 0.064453 0.578450 
wait for imu ... 
time: 1403636626.513556, t: 0.241834 -0.175463 0.074950 q: -0.067612 0.807228 0.068831 0.582300 
wait for imu ... 
time: 1403636626.613555, t: 0.248608 -0.183319 0.075851 q: -0.062894 0.802729 0.074230 0.588353 
wait for imu ... 
time: 1403636626.713556, t: 0.251094 -0.192098 0.073279 q: -0.060700 0.801120 0.078114 0.590271 
time: 1403636626.813555, t: 0.249258 -0.201363 0.066784 q: -0.061134 0.804023 0.080367 0.585962 
time: 1403636626.913555, t: 0.244301 -0.211962 0.057069 q: -0.061070 0.808535 0.082230 0.579465 
wait for imu ... 
time: 1403636627.013556, t: 0.237065 -0.223120 0.045019 q: -0.059853 0.813714 0.083831 0.572067 
wait for imu ... 
time: 1403636627.113555, t: 0.229804 -0.233925 0.034658 q: -0.059114 0.818739 0.084737 0.564793 
wait for imu ... 
time: 1403636627.213556, t: 0.224086 -0.243334 0.036612 q: -0.059690 0.816475 0.084985 0.567964 
wait for imu ... 
time: 1403636627.313555, t: 0.219212 -0.251848 0.049557 q: -0.061465 0.812144 0.084606 0.574009 
wait for imu ... 
time: 1403636627.413555, t: 0.214341 -0.260987 0.070472 q: -0.063522 0.811113 0.083647 0.575382 
time: 1403636627.513556, t: 0.208462 -0.271600 0.096203 q: -0.064368 0.811465 0.079885 0.575326 
wait for imu ... 
time: 1403636627.613555, t: 0.200706 -0.284604 0.109833 q: -0.060639 0.813424 0.072931 0.573887 
wait for imu ... 
time: 1403636627.713556, t: 0.192694 -0.296836 0.106396 q: -0.054780 0.818545 0.066680 0.567923 
time: 1403636627.813555, t: 0.186029 -0.310177 0.094232 q: -0.046055 0.825847 0.058389 0.558969 
time: 1403636627.913555, t: 0.182791 -0.324559 0.082158 q: -0.036855 0.832229 0.049789 0.550960 
wait for imu ... 
time: 1403636628.013556, t: 0.185917 -0.337749 0.077830 q: -0.029551 0.834620 0.044017 0.548269 
wait for imu ... 
time: 1403636628.113555, t: 0.196426 -0.348934 0.086234 q: -0.026115 0.830047 0.038785 0.555730 
time: 1403636628.213556, t: 0.209748 -0.358375 0.104503 q: -0.027050 0.820308 0.032903 0.570334 
time: 1403636628.413555, t: 0.235820 -0.377062 0.151871 q: -0.035998 0.813194 0.022127 0.580457 
wait for imu ... 
time: 1403636628.513556, t: 0.247621 -0.390041 0.171336 q: -0.038472 0.813397 0.020907 0.580058 
wait for imu ... 
time: 1403636628.613555, t: 0.257135 -0.406794 0.184511 q: -0.041357 0.814059 0.020532 0.578944 
wait for imu ... 
time: 1403636628.713556, t: 0.265516 -0.426976 0.191040 q: -0.039753 0.814169 0.021648 0.578861 
wait for imu ... 
time: 1403636628.813555, t: 0.270118 -0.453180 0.191862 q: -0.030393 0.817732 0.021147 0.574408 
wait for imu ... 
time: 1403636628.913555, t: 0.276173 -0.480465 0.189689 q: -0.021408 0.822822 0.017909 0.567614 
time: 1403636629.013556, t: 0.280903 -0.507980 0.195633 q: -0.015888 0.826612 0.014505 0.562362 
wait for imu ... 
time: 1403636629.113555, t: 0.284281 -0.535314 0.210888 q: -0.011248 0.827869 0.010777 0.560705 
wait for imu ... 
time: 1403636629.213556, t: 0.292433 -0.563198 0.224971 q: -0.005592 0.827561 0.002662 0.561342 
wait for imu ... 
time: 1403636629.313555, t: 0.304235 -0.590750 0.233951 q: -0.001395 0.825284 -0.006525 0.564679 
time: 1403636629.413555, t: 0.318865 -0.617507 0.237921 q: -0.001718 0.822117 -0.016025 0.569090 
wait for imu ... 
time: 1403636629.513556, t: 0.333727 -0.645769 0.235352 q: -0.001085 0.818644 -0.029694 0.573532 
time: 1403636629.613555, t: 0.348380 -0.677752 0.224782 q: 0.006512 0.820255 -0.043333 0.570317 
wait for imu ... 
time: 1403636629.713556, t: 0.363407 -0.713358 0.207698 q: 0.019477 0.825314 -0.057338 0.561418 
time: 1403636629.813555, t: 0.381269 -0.752081 0.185935 q: 0.034602 0.828487 -0.073510 0.554083 
time: 1403636629.913555, t: 0.404130 -0.791758 0.161059 q: 0.047977 0.829233 -0.090870 0.549376 
wait for imu ... 
time: 1403636630.013556, t: 0.429768 -0.831398 0.143057 q: 0.058385 0.828230 -0.103638 0.547618 
wait for imu ... 
time: 1403636630.113555, t: 0.454872 -0.869228 0.132377 q: 0.065900 0.823621 -0.111972 0.552058 
wait for imu ... 
wait for imu ... 
time: 1403636630.213556, t: 0.482936 -0.908449 0.130900 q: 0.071984 0.814989 -0.117237 0.562909 
time: 1403636630.313555, t: 0.513344 -0.946674 0.135300 q: 0.075676 0.808997 -0.120217 0.570390 
wait for imu ... 
time: 1403636630.413555, t: 0.542392 -0.985798 0.144817 q: 0.077066 0.809992 -0.121086 0.568605 
time: 1403636630.513556, t: 0.575324 -1.020016 0.161094 q: 0.078547 0.812886 -0.119014 0.564697 
wait for imu ... 
time: 1403636630.613555, t: 0.612793 -1.049641 0.182749 q: 0.081275 0.814867 -0.113661 0.562554 
wait for imu ... 
time: 1403636630.713556, t: 0.651397 -1.085187 0.197527 q: 0.081087 0.816900 -0.108684 0.560614 
time: 1403636630.813555, t: 0.690112 -1.115044 0.207971 q: 0.076541 0.817582 -0.107747 0.560439 
wait for imu ... 
time: 1403636630.913555, t: 0.729005 -1.144258 0.211270 q: 0.071438 0.817628 -0.107726 0.561050 
time: 1403636631.013556, t: 0.769448 -1.176511 0.207641 q: 0.067933 0.817489 -0.107723 0.561687 
wait for imu ... 
time: 1403636631.113555, t: 0.810612 -1.209681 0.199108 q: 0.066274 0.815946 -0.106697 0.564318 
time: 1403636631.213556, t: 0.850641 -1.243758 0.191838 q: 0.065224 0.813982 -0.105551 0.567484 
time: 1403636631.313555, t: 0.890260 -1.278545 0.183713 q: 0.064483 0.813185 -0.104542 0.568897 
time: 1403636631.413555, t: 0.930098 -1.313921 0.171970 q: 0.064022 0.813196 -0.103437 0.569135 
wait for imu ... 
time: 1403636631.513556, t: 0.968740 -1.349889 0.155543 q: 0.064712 0.813547 -0.101297 0.568939 
time: 1403636631.613555, t: 1.008860 -1.385667 0.138594 q: 0.065879 0.813782 -0.098722 0.568923 
wait for imu ... 
time: 1403636631.713556, t: 1.052288 -1.420755 0.124067 q: 0.065796 0.814635 -0.096589 0.568077 
wait for imu ... 
time: 1403636631.813555, t: 1.094137 -1.453476 0.116562 q: 0.065535 0.814890 -0.094876 0.568030 
wait for imu ... 
time: 1403636631.913555, t: 1.138832 -1.485783 0.116162 q: 0.066662 0.815868 -0.093062 0.566794 
wait for imu ... 
time: 1403636632.013556, t: 1.183323 -1.516319 0.118371 q: 0.066870 0.815911 -0.092790 0.566752 
wait for imu ... 
time: 1403636632.113555, t: 1.226141 -1.545382 0.121711 q: 0.068587 0.814168 -0.091553 0.569249 
time: 1403636632.213556, t: 1.267870 -1.570585 0.123055 q: 0.072908 0.813484 -0.089700 0.569984 
time: 1403636632.313555, t: 1.309437 -1.592348 0.119461 q: 0.072197 0.812719 -0.091765 0.570837 
wait for imu ... 
time: 1403636632.413555, t: 1.349375 -1.611063 0.108853 q: 0.071819 0.812883 -0.093292 0.570403 
wait for imu ... 
time: 1403636632.513556, t: 1.388498 -1.627140 0.091813 q: 0.064909 0.816405 -0.097061 0.565551 
wait for imu ... 
time: 1403636632.613555, t: 1.428684 -1.642090 0.071167 q: 0.051525 0.822411 -0.098569 0.557915 
time: 1403636632.713556, t: 1.474120 -1.656191 0.048057 q: 0.037762 0.826636 -0.091644 0.553938 
time: 1403636632.813555, t: 1.522536 -1.675322 0.031486 q: 0.025514 0.828255 -0.074701 0.554763 
time: 1403636632.913555, t: 1.575429 -1.696802 0.023628 q: 0.018941 0.825588 -0.048882 0.561832 
wait for imu ... 
time: 1403636633.013556, t: 1.630317 -1.718150 0.021483 q: 0.014313 0.823441 -0.026668 0.566594 
time: 1403636633.113555, t: 1.683994 -1.738841 0.022592 q: 0.008810 0.822809 -0.011175 0.568139 
wait for imu ... 
time: 1403636633.213556, t: 1.738465 -1.757730 0.019227 q: 0.003836 0.822749 -0.001534 0.568390 
wait for imu ... 
time: 1403636633.313555, t: 1.791152 -1.774889 0.010056 q: -0.001967 0.824328 0.002077 0.566105 
time: 1403636633.413555, t: 1.845673 -1.792050 -0.003650 q: -0.007903 0.826525 0.001309 0.562843 
wait for imu ... 
time: 1403636633.513556, t: 1.901736 -1.809027 -0.020961 q: -0.010978 0.828439 -0.000581 0.559971 
time: 1403636633.613555, t: 1.961250 -1.827706 -0.043782 q: -0.011378 0.830640 -0.002968 0.556686 
wait for imu ... 
time: 1403636633.713556, t: 2.025629 -1.846421 -0.057006 q: -0.009333 0.831336 -0.005530 0.555664 
wait for imu ... 
time: 1403636633.813555, t: 2.091832 -1.866277 -0.062901 q: -0.008471 0.830890 -0.008797 0.556302 
wait for imu ... 
time: 1403636633.913555, t: 2.159220 -1.885945 -0.060427 q: -0.010988 0.829596 -0.014549 0.558067 
time: 1403636634.013556, t: 2.227836 -1.906458 -0.057393 q: -0.015452 0.827303 -0.021738 0.561122 
wait for imu ... 
time: 1403636634.113555, t: 2.300536 -1.929115 -0.057169 q: -0.016099 0.827301 -0.024132 0.561010 
wait for imu ... 
time: 1403636634.213556, t: 2.377473 -1.955262 -0.052929 q: -0.012953 0.828910 -0.020824 0.558844 
time: 1403636634.313555, t: 2.458346 -1.984862 -0.041637 q: -0.007382 0.827164 -0.014874 0.561716 
wait for imu ... 
time: 1403636634.413555, t: 2.544255 -2.016369 -0.030482 q: -0.003560 0.822094 -0.009795 0.569256 
wait for imu ... 
time: 1403636634.513556, t: 2.627464 -2.046806 -0.025396 q: -0.001716 0.818489 -0.006114 0.574488 
wait for imu ... 
time: 1403636634.613555, t: 2.710204 -2.076590 -0.027639 q: -0.001401 0.816544 -0.002141 0.577277 
time: 1403636634.713556, t: 2.787526 -2.104054 -0.034170 q: -0.003657 0.815940 0.005972 0.578094 
wait for imu ... 
time: 1403636634.813555, t: 2.862919 -2.129356 -0.039942 q: -0.007820 0.818214 0.012652 0.574721 
wait for imu ... 
time: 1403636634.913555, t: 2.932723 -2.152814 -0.039526 q: -0.012327 0.820206 0.018191 0.571646 
time: 1403636635.013556, t: 3.001585 -2.175582 -0.032502 q: -0.014851 0.821708 0.024351 0.569194 
wait for imu ... 
time: 1403636635.113555, t: 3.071742 -2.197437 -0.025470 q: -0.016418 0.823282 0.029130 0.566647 
wait for imu ... 
time: 1403636635.213556, t: 3.140871 -2.218373 -0.024748 q: -0.018900 0.824604 0.031514 0.564516 
wait for imu ... 
time: 1403636635.313555, t: 3.215892 -2.238661 -0.028354 q: -0.024032 0.825936 0.030998 0.562398 
time: 1403636635.413555, t: 3.288786 -2.256940 -0.033623 q: -0.029671 0.827606 0.028728 0.559788 
wait for imu ... 
time: 1403636635.513556, t: 3.365065 -2.275374 -0.034204 q: -0.033554 0.827687 0.026120 0.559577 
time: 1403636635.613555, t: 3.440188 -2.294611 -0.028445 q: -0.035097 0.827348 0.024802 0.560042 
wait for imu ... 
time: 1403636635.713556, t: 3.517567 -2.315787 -0.018251 q: -0.035484 0.826111 0.023136 0.561913 
time: 1403636635.813555, t: 3.597446 -2.337497 0.001143 q: -0.040121 0.821980 0.018346 0.567804 
time: 1403636635.913555, t: 3.676788 -2.361804 0.027162 q: -0.045252 0.821307 0.012802 0.568545 
wait for imu ... 
time: 1403636636.013556, t: 3.755241 -2.390819 0.054852 q: -0.043036 0.826379 0.012888 0.561320 
wait for imu ... 
time: 1403636636.113555, t: 3.829342 -2.422974 0.079122 q: -0.034324 0.830165 0.018073 0.556167 
wait for imu ... 
time: 1403636636.213556, t: 3.907863 -2.455420 0.106013 q: -0.026871 0.826363 0.023236 0.562017 
time: 1403636636.313555, t: 3.985947 -2.487214 0.140381 q: -0.022269 0.819587 0.026324 0.571916 
wait for imu ... 
time: 1403636636.413555, t: 4.061954 -2.518599 0.176733 q: -0.020365 0.810501 0.027816 0.584722 
time: 1403636636.513556, t: 4.133986 -2.549827 0.205808 q: -0.017460 0.804541 0.030057 0.592879 
time: 1403636636.613555, t: 4.200632 -2.578450 0.226617 q: -0.010657 0.803269 0.034859 0.594499 
wait for imu ... 
time: 1403636636.713556, t: 4.260385 -2.604106 0.239622 q: -0.003118 0.803427 0.040002 0.594049 
time: 1403636636.813555, t: 4.318436 -2.627221 0.242777 q: 0.004589 0.803752 0.045904 0.593173 
wait for imu ... 
time: 1403636636.913555, t: 4.374179 -2.643352 0.238919 q: 0.005758 0.806401 0.047642 0.589419 
wait for imu ... 
time: 1403636637.013556, t: 4.429242 -2.653137 0.230577 q: -0.006348 0.809561 0.041239 0.585552 
wait for imu ... 
time: 1403636637.113555, t: 4.484621 -2.663038 0.220498 q: -0.016891 0.812253 0.035727 0.581966 
time: 1403636637.213556, t: 4.541043 -2.670608 0.205852 q: -0.020664 0.817022 0.034119 0.575226 
wait for imu ... 
time: 1403636637.313555, t: 4.595170 -2.676660 0.193788 q: -0.022182 0.820343 0.034486 0.570399 
time: 1403636637.413555, t: 4.650868 -2.680407 0.189738 q: -0.022942 0.821923 0.035373 0.568036 
wait for imu ... 
time: 1403636637.513556, t: 4.704929 -2.683493 0.194710 q: -0.023798 0.823214 0.036532 0.566055 
time: 1403636637.613555, t: 4.755113 -2.685514 0.204199 q: -0.026131 0.824154 0.036689 0.564571 
wait for imu ... 
time: 1403636637.713556, t: 4.805392 -2.685591 0.221948 q: -0.027045 0.824215 0.037142 0.564410 
wait for imu ... 
time: 1403636637.813555, t: 4.863966 -2.685879 0.245359 q: -0.027259 0.822148 0.038359 0.567326 
time: 1403636637.913555, t: 4.921498 -2.684223 0.275845 q: -0.027886 0.820011 0.039028 0.570334 
time: 1403636638.013556, t: 4.980382 -2.683099 0.299713 q: -0.028565 0.817436 0.039377 0.573961 
wait for imu ... 
time: 1403636638.113555, t: 5.037691 -2.682920 0.307213 q: -0.029629 0.815085 0.039741 0.577217 
wait for imu ... 
time: 1403636638.213556, t: 5.091630 -2.683453 0.303305 q: -0.030564 0.813917 0.040304 0.578776 
time: 1403636638.313555, t: 5.140331 -2.684463 0.294235 q: -0.032358 0.814581 0.040012 0.577763 
wait for imu ... 
time: 1403636638.413555, t: 5.181699 -2.686149 0.275589 q: -0.040628 0.823713 0.034804 0.564478 
time: 1403636638.513556, t: 5.220725 -2.688798 0.252013 q: -0.048093 0.834046 0.030209 0.548763 
wait for imu ... 
time: 1403636638.613555, t: 5.263153 -2.693820 0.233399 q: -0.047577 0.837765 0.031085 0.543066 
wait for imu ... 
time: 1403636638.713556, t: 5.315041 -2.701566 0.227520 q: -0.040260 0.835154 0.036968 0.547293 
wait for imu ... 
time: 1403636638.813555, t: 5.374490 -2.710101 0.231819 q: -0.037212 0.829557 0.040117 0.555734 
wait for imu ... 
time: 1403636638.913555, t: 5.435316 -2.719159 0.242614 q: -0.039516 0.825193 0.039118 0.562107 
wait for imu ... 
time: 1403636639.013556, t: 5.497535 -2.729599 0.257262 q: -0.046526 0.823574 0.034835 0.564223 
wait for imu ... 
time: 1403636639.113555, t: 5.563574 -2.742037 0.267653 q: -0.056107 0.822928 0.028605 0.564645 
time: 1403636639.213556, t: 5.630675 -2.758164 0.266420 q: -0.062331 0.823438 0.024259 0.563450 
wait for imu ... 
time: 1403636639.313555, t: 5.700986 -2.779519 0.250215 q: -0.059463 0.824142 0.026279 0.562640 
time: 1403636639.413555, t: 5.773769 -2.805051 0.229106 q: -0.048673 0.824646 0.034015 0.562523 
time: 1403636639.513556, t: 5.851774 -2.831877 0.202659 q: -0.037495 0.823898 0.042030 0.563932 
wait for imu ... 
time: 1403636639.613555, t: 5.928712 -2.858605 0.173235 q: -0.026631 0.821490 0.050129 0.567391 
time: 1403636639.713556, t: 6.004689 -2.883492 0.145733 q: -0.026749 0.817175 0.050886 0.573516 
time: 1403636639.813555, t: 6.077131 -2.905644 0.123588 q: -0.031457 0.813898 0.047826 0.578181 
wait for imu ... 
time: 1403636639.913555, t: 6.147091 -2.927666 0.110416 q: -0.036342 0.812854 0.045245 0.579569 
time: 1403636640.013556, t: 6.212426 -2.950781 0.104301 q: -0.037748 0.812166 0.045430 0.580429 
time: 1403636640.113555, t: 6.283185 -2.972226 0.108162 q: -0.038726 0.811443 0.052752 0.580757 
wait for imu ... 
time: 1403636640.313555, t: 6.416403 -3.013322 0.132205 q: -0.047571 0.811307 0.067040 0.578812 
time: 1403636640.413555, t: 6.479403 -3.033401 0.139211 q: -0.050251 0.810856 0.072606 0.578546 
wait for imu ... 
time: 1403636640.513556, t: 6.538492 -3.053897 0.139337 q: -0.052385 0.811211 0.076380 0.577372 
wait for imu ... 
time: 1403636640.613555, t: 6.594237 -3.074541 0.134277 q: -0.054117 0.810839 0.079021 0.577380 
wait for imu ... 
time: 1403636640.713556, t: 6.646382 -3.093330 0.124599 q: -0.055335 0.810816 0.080678 0.577067 
wait for imu ... 
time: 1403636640.813555, t: 6.694499 -3.111682 0.113947 q: -0.056087 0.812236 0.082132 0.574787 
wait for imu ... 
time: 1403636640.913555, t: 6.739813 -3.129231 0.106488 q: -0.056324 0.813481 0.083482 0.572806 
wait for imu ... 
time: 1403636641.013556, t: 6.781370 -3.145210 0.105554 q: -0.055821 0.813292 0.084000 0.573048 
wait for imu ... 
time: 1403636641.113555, t: 6.819761 -3.159154 0.102403 q: -0.056060 0.812197 0.083200 0.574692 
wait for imu ... 
time: 1403636641.213556, t: 6.859289 -3.171584 0.096288 q: -0.055393 0.811827 0.082797 0.575337 
time: 1403636641.313555, t: 6.891654 -3.182825 0.081071 q: -0.059349 0.811602 0.079246 0.575760 
time: 1403636641.413555, t: 6.928076 -3.193927 0.065241 q: -0.065822 0.812273 0.074021 0.574805 
time: 1403636641.513556, t: 6.960386 -3.207460 0.044720 q: -0.064812 0.811936 0.073951 0.575404 
wait for imu ... 
time: 1403636641.613555, t: 6.992577 -3.223313 0.027740 q: -0.060965 0.811967 0.076166 0.575493 
wait for imu ... 
time: 1403636641.713556, t: 7.023925 -3.239215 0.019235 q: -0.058157 0.811631 0.077583 0.576067 
wait for imu ... 
time: 1403636641.813555, t: 7.052736 -3.254273 0.020854 q: -0.056844 0.811537 0.077763 0.576307 
wait for imu ... 
time: 1403636641.913555, t: 7.087785 -3.269382 0.028120 q: -0.055772 0.811133 0.076631 0.577131 
time: 1403636642.013556, t: 7.122090 -3.283754 0.041831 q: -0.052126 0.810775 0.070354 0.578772 
wait for imu ... 
time: 1403636642.113555, t: 7.150441 -3.297633 0.059635 q: -0.046273 0.810556 0.062588 0.580465 
wait for imu ... 
time: 1403636642.213556, t: 7.175559 -3.310390 0.073242 q: -0.041642 0.810188 0.056565 0.581947 
wait for imu ... 
time: 1403636642.313555, t: 7.197370 -3.322430 0.079873 q: -0.038267 0.810210 0.049923 0.582754 
time: 1403636642.413555, t: 7.216367 -3.334477 0.080306 q: -0.033178 0.809820 0.041232 0.584287 
wait for imu ... 
time: 1403636642.513556, t: 7.231773 -3.346288 0.074385 q: -0.029081 0.810875 0.034776 0.583461 
wait for imu ... 
time: 1403636642.613555, t: 7.243178 -3.357216 0.062369 q: -0.025935 0.815311 0.030455 0.577640 
time: 1403636642.713556, t: 7.251984 -3.368391 0.044751 q: -0.023979 0.820238 0.027428 0.570862 
time: 1403636642.813555, t: 7.260834 -3.380514 0.030491 q: -0.023664 0.823921 0.025642 0.565630 
wait for imu ... 
time: 1403636642.913555, t: 7.270297 -3.392908 0.024988 q: -0.024156 0.825883 0.024831 0.562776 
wait for imu ... 
time: 1403636643.013556, t: 7.282354 -3.405687 0.027294 q: -0.025124 0.825838 0.024190 0.562828 
time: 1403636643.113555, t: 7.299190 -3.420240 0.033517 q: -0.026100 0.821226 0.023924 0.569503 
wait for imu ... 
time: 1403636643.213556, t: 7.316812 -3.435272 0.034118 q: -0.027562 0.817875 0.023381 0.574260 
time: 1403636643.313555, t: 7.335152 -3.450198 0.028284 q: -0.027869 0.817491 0.023960 0.574767 
time: 1403636643.413555, t: 7.354237 -3.465351 0.022879 q: -0.028410 0.820069 0.024406 0.571038 
wait for imu ... 
time: 1403636643.613555, t: 7.406168 -3.496807 0.033899 q: -0.028989 0.828364 0.026378 0.558818 
time: 1403636643.713556, t: 7.435338 -3.513837 0.049171 q: -0.028840 0.831696 0.028734 0.553737 
wait for imu ... 
time: 1403636643.813555, t: 7.466873 -3.531600 0.069010 q: -0.027393 0.834096 0.030764 0.550079 
wait for imu ... 
time: 1403636643.913555, t: 7.502922 -3.549139 0.084250 q: -0.027093 0.836690 0.031728 0.546085 
wait for imu ... 
time: 1403636644.013556, t: 7.544433 -3.566021 0.093957 q: -0.025619 0.838242 0.032782 0.543709 
wait for imu ... 
time: 1403636644.113555, t: 7.590436 -3.580716 0.099232 q: -0.025227 0.839135 0.032891 0.542341 
wait for imu ... 
time: 1403636644.213556, t: 7.643424 -3.595667 0.100370 q: -0.027141 0.835432 0.031448 0.548022 
wait for imu ... 
time: 1403636644.313555, t: 7.703102 -3.610111 0.098110 q: -0.037482 0.826853 0.023611 0.560671 
time: 1403636644.413555, t: 7.764802 -3.626811 0.089881 q: -0.045597 0.819095 0.017198 0.571584 
wait for imu ... 
time: 1403636644.513556, t: 7.823973 -3.647411 0.072604 q: -0.052327 0.813216 0.012077 0.579479 
wait for imu ... 
time: 1403636644.613555, t: 7.881985 -3.672672 0.046674 q: -0.056765 0.810628 0.008908 0.582736 
wait for imu ... 
time: 1403636644.713556, t: 7.935483 -3.703835 0.013381 q: -0.046853 0.809634 0.015594 0.584854 
time: 1403636644.813555, t: 7.983584 -3.739964 -0.026319 q: -0.031230 0.809837 0.025946 0.585248 
wait for imu ... 
time: 1403636644.913555, t: 8.031014 -3.777651 -0.068934 q: -0.023079 0.812508 0.029880 0.581726 
time: 1403636645.013556, t: 8.072517 -3.812304 -0.106728 q: -0.021816 0.818552 0.029510 0.573259 
wait for imu ... 
time: 1403636645.113555, t: 8.111864 -3.846701 -0.136677 q: -0.023568 0.831540 0.026825 0.554316 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636645.213556, t: 8.153443 -3.880822 -0.158472 q: -0.022884 0.842146 0.026272 0.538122 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636645.313555, t: 8.207627 -3.913671 -0.169953 q: -0.022192 0.844385 0.026340 0.534629 
wait for imu ... 
time: 1403636645.413555, t: 8.270875 -3.945465 -0.177279 q: -0.020917 0.839192 0.026511 0.542786 
wait for imu ... 
time: 1403636645.513556, t: 8.343289 -3.975982 -0.188761 q: -0.020599 0.835263 0.026187 0.548840 
time: 1403636645.613555, t: 8.422502 -4.004053 -0.205808 q: -0.019497 0.833455 0.025848 0.551639 
wait for imu ... 
time: 1403636645.713556, t: 8.504752 -4.030402 -0.221975 q: -0.018396 0.831993 0.026512 0.553846 
time: 1403636645.813555, t: 8.590051 -4.054653 -0.232143 q: -0.020039 0.831192 0.025655 0.555031 
time: 1403636645.913555, t: 8.679533 -4.078782 -0.232257 q: -0.021527 0.831931 0.024490 0.553920 
wait for imu ... 
time: 1403636646.013556, t: 8.775109 -4.104227 -0.222177 q: -0.021912 0.827003 0.018402 0.561468 
time: 1403636646.113555, t: 8.868029 -4.132553 -0.205535 q: -0.020511 0.823328 0.004272 0.567179 
wait for imu ... 
time: 1403636646.213556, t: 8.961199 -4.164791 -0.188930 q: -0.013662 0.819546 -0.015960 0.572629 
time: 1403636646.313555, t: 9.053760 -4.201737 -0.177598 q: -0.003185 0.814525 -0.041031 0.578666 
wait for imu ... 
time: 1403636646.413555, t: 9.139719 -4.244053 -0.172061 q: 0.011961 0.808784 -0.065738 0.584297 
wait for imu ... 
time: 1403636646.513556, t: 9.219386 -4.288994 -0.168059 q: 0.032448 0.801771 -0.080979 0.591230 
time: 1403636646.613555, t: 9.292046 -4.334841 -0.163280 q: 0.047468 0.798934 -0.092203 0.592410 
wait for imu ... 
time: 1403636646.713556, t: 9.363576 -4.379047 -0.151060 q: 0.058361 0.800640 -0.099711 0.587900 
wait for imu ... 
time: 1403636646.913555, t: 9.491771 -4.461235 -0.101570 q: 0.067385 0.800555 -0.108784 0.585438 
wait for imu ... 
time: 1403636647.013556, t: 9.546925 -4.499312 -0.074987 q: 0.069188 0.802206 -0.110350 0.582667 
time: 1403636647.113555, t: 9.600538 -4.537042 -0.056186 q: 0.069826 0.806059 -0.110277 0.577263 
time: 1403636647.213556, t: 9.651305 -4.574971 -0.041914 q: 0.069518 0.809163 -0.109669 0.573057 
wait for imu ... 
time: 1403636647.313555, t: 9.702284 -4.613591 -0.031359 q: 0.066712 0.808604 -0.109506 0.574210 
time: 1403636647.413555, t: 9.751951 -4.652024 -0.023661 q: 0.064143 0.806691 -0.109005 0.577281 
time: 1403636647.513556, t: 9.794234 -4.689715 -0.020723 q: 0.060399 0.803711 -0.108361 0.581944 
wait for imu ... 
time: 1403636647.613555, t: 9.836259 -4.729919 -0.018346 q: 0.054874 0.798076 -0.109409 0.589994 
wait for imu ... 
time: 1403636647.713556, t: 9.875716 -4.773635 -0.013122 q: 0.056482 0.798019 -0.110189 0.589775 
wait for imu ... 
time: 1403636647.813555, t: 9.911020 -4.819416 -0.003306 q: 0.060922 0.799965 -0.110158 0.586694 
time: 1403636647.913555, t: 9.940314 -4.865314 0.001947 q: 0.066879 0.800473 -0.115263 0.584367 
wait for imu ... 
time: 1403636648.013556, t: 9.964343 -4.910687 -0.002167 q: 0.075947 0.799128 -0.126404 0.582794 
wait for imu ... 
time: 1403636648.113555, t: 9.981669 -4.957502 -0.014956 q: 0.088531 0.796774 -0.143899 0.580177 
wait for imu ... 
time: 1403636648.213556, t: 9.995417 -5.005234 -0.031265 q: 0.103680 0.792636 -0.164524 0.577850 
wait for imu ... 
time: 1403636648.313555, t: 10.006319 -5.053117 -0.052623 q: 0.119030 0.787585 -0.187249 0.574874 
time: 1403636648.413555, t: 10.014163 -5.101606 -0.076661 q: 0.135829 0.781803 -0.209335 0.571414 
wait for imu ... 
wait for imu ... 
time: 1403636648.513556, t: 10.015811 -5.149378 -0.103443 q: 0.151851 0.775629 -0.232445 0.566842 
time: 1403636648.613555, t: 10.019575 -5.197681 -0.127093 q: 0.165065 0.769893 -0.250828 0.563119 
wait for imu ... 
time: 1403636648.713556, t: 10.013324 -5.240689 -0.144557 q: 0.175936 0.768385 -0.262857 0.556360 
wait for imu ... 
time: 1403636648.813555, t: 10.009641 -5.285084 -0.157495 q: 0.179997 0.771813 -0.272134 0.545755 
wait for imu ... 
time: 1403636648.913555, t: 10.006058 -5.328457 -0.160815 q: 0.180832 0.778022 -0.278281 0.533424 
wait for imu ... 
time: 1403636649.013556, t: 10.005169 -5.374557 -0.152824 q: 0.181905 0.780767 -0.279952 0.528149 
time: 1403636649.113555, t: 10.009104 -5.421564 -0.133705 q: 0.185590 0.775481 -0.276886 0.536208 
time: 1403636649.213556, t: 10.016128 -5.466927 -0.106363 q: 0.188893 0.767922 -0.272494 0.548053 
time: 1403636649.313555, t: 10.025233 -5.511693 -0.075794 q: 0.189593 0.764958 -0.268522 0.553886 
time: 1403636649.413555, t: 10.032397 -5.552238 -0.039407 q: 0.186868 0.768062 -0.265977 0.551740 
time: 1403636649.513556, t: 10.038628 -5.593570 0.000472 q: 0.183407 0.771379 -0.262913 0.549739 
wait for imu ... 
time: 1403636649.613555, t: 10.041614 -5.633024 0.047072 q: 0.180450 0.768568 -0.261225 0.555430 
wait for imu ... 
time: 1403636649.713556, t: 10.040718 -5.675358 0.089858 q: 0.180459 0.763408 -0.265685 0.560406 
wait for imu ... 
time: 1403636649.813555, t: 10.033879 -5.714164 0.125142 q: 0.186479 0.759836 -0.270738 0.560870 
wait for imu ... 
time: 1403636649.913555, t: 10.024701 -5.752321 0.152767 q: 0.192242 0.756993 -0.274640 0.560872 
time: 1403636650.013556, t: 10.015592 -5.787972 0.171181 q: 0.197169 0.755586 -0.277630 0.559585 
time: 1403636650.113555, t: 10.006096 -5.824373 0.178689 q: 0.200730 0.753008 -0.282891 0.559160 
wait for imu ... 
time: 1403636650.213556, t: 9.990321 -5.858090 0.180863 q: 0.209178 0.748979 -0.293822 0.555827 
wait for imu ... 
wait for imu ... 
time: 1403636650.413555, t: 9.947069 -5.919253 0.174386 q: 0.233572 0.736396 -0.332592 0.540877 
time: 1403636650.513556, t: 9.919477 -5.945098 0.166978 q: 0.246730 0.730519 -0.354250 0.529125 
wait for imu ... 
time: 1403636650.613555, t: 9.890298 -5.967604 0.154942 q: 0.255722 0.725768 -0.371996 0.519121 
wait for imu ... 
time: 1403636650.713556, t: 9.860860 -5.987919 0.140314 q: 0.263335 0.721751 -0.383811 0.512269 
wait for imu ... 
time: 1403636650.813555, t: 9.831834 -6.005675 0.129664 q: 0.268771 0.717352 -0.391806 0.509564 
wait for imu ... 
time: 1403636650.913555, t: 9.803357 -6.024197 0.129636 q: 0.275483 0.711644 -0.394034 0.512259 
wait for imu ... 
time: 1403636651.013556, t: 9.776216 -6.042230 0.134895 q: 0.279949 0.707065 -0.393667 0.516444 
time: 1403636651.113555, t: 9.749643 -6.060311 0.145366 q: 0.281060 0.705404 -0.392475 0.519012 
time: 1403636651.213556, t: 9.722404 -6.075842 0.159876 q: 0.279212 0.707383 -0.391741 0.517870 
time: 1403636651.313555, t: 9.694081 -6.088088 0.178720 q: 0.275819 0.711537 -0.391016 0.514534 
wait for imu ... 
time: 1403636651.413555, t: 9.664466 -6.093560 0.196916 q: 0.272239 0.715155 -0.390013 0.512182 
wait for imu ... 
time: 1403636651.513556, t: 9.636268 -6.106699 0.207392 q: 0.269657 0.717031 -0.387292 0.512989 
time: 1403636651.613555, t: 9.605576 -6.111511 0.211696 q: 0.269718 0.714845 -0.383288 0.518979 
time: 1403636651.713556, t: 9.574540 -6.122092 0.210028 q: 0.268319 0.712175 -0.381291 0.524813 
wait for imu ... 
time: 1403636651.813555, t: 9.541788 -6.125883 0.204461 q: 0.265494 0.706674 -0.387287 0.529277 
wait for imu ... 
time: 1403636651.913555, t: 9.502179 -6.125137 0.195290 q: 0.267609 0.698287 -0.398588 0.530950 
wait for imu ... 
time: 1403636652.013556, t: 9.454649 -6.123780 0.180491 q: 0.276795 0.688302 -0.413383 0.527958 
time: 1403636652.113555, t: 9.401474 -6.122421 0.160250 q: 0.293230 0.680014 -0.431400 0.515258 
wait for imu ... 
time: 1403636652.213556, t: 9.342632 -6.118616 0.137865 q: 0.312552 0.670124 -0.454351 0.496800 
time: 1403636652.313555, t: 9.277850 -6.107403 0.109498 q: 0.327902 0.658752 -0.481896 0.475712 
wait for imu ... 
time: 1403636652.413555, t: 9.211223 -6.095389 0.076904 q: 0.339778 0.646951 -0.507486 0.456578 
wait for imu ... 
time: 1403636652.513556, t: 9.146961 -6.085902 0.046822 q: 0.347144 0.636549 -0.526515 0.443935 
wait for imu ... 
time: 1403636652.613555, t: 9.083076 -6.079995 0.024661 q: 0.350102 0.630822 -0.541171 0.432002 
time: 1403636652.713556, t: 9.021207 -6.079887 0.012229 q: 0.353666 0.629410 -0.548898 0.421278 
wait for imu ... 
time: 1403636652.813555, t: 8.961595 -6.084980 0.011443 q: 0.355494 0.627352 -0.552496 0.418093 
wait for imu ... 
time: 1403636652.913555, t: 8.904481 -6.097216 0.019336 q: 0.358162 0.625270 -0.552253 0.419253 
time: 1403636653.013556, t: 8.850846 -6.115742 0.034459 q: 0.361341 0.624304 -0.549324 0.421806 
time: 1403636653.113555, t: 8.801861 -6.138208 0.041317 q: 0.364719 0.623607 -0.544597 0.426039 
wait for imu ... 
time: 1403636653.213556, t: 8.754545 -6.167383 0.037580 q: 0.369319 0.621812 -0.537888 0.433163 
time: 1403636653.313555, t: 8.706587 -6.193585 0.029044 q: 0.374411 0.619935 -0.530071 0.441045 
wait for imu ... 
time: 1403636653.413555, t: 8.666511 -6.223707 0.035118 q: 0.374681 0.621205 -0.525008 0.445067 
time: 1403636653.513556, t: 8.632054 -6.252885 0.047145 q: 0.372514 0.624081 -0.522198 0.446169 
wait for imu ... 
time: 1403636653.613555, t: 8.595562 -6.278481 0.063839 q: 0.370383 0.625326 -0.519972 0.448792 
wait for imu ... 
time: 1403636653.713556, t: 8.556347 -6.301985 0.080275 q: 0.371755 0.624869 -0.515921 0.452948 
time: 1403636653.813555, t: 8.517751 -6.320439 0.091170 q: 0.373131 0.624132 -0.513057 0.456075 
time: 1403636653.913555, t: 8.480540 -6.333103 0.093789 q: 0.374303 0.623909 -0.511586 0.457071 
time: 1403636654.013556, t: 8.442407 -6.340651 0.089837 q: 0.369814 0.624163 -0.514508 0.457099 
wait for imu ... 
time: 1403636654.113555, t: 8.406457 -6.345513 0.079095 q: 0.367352 0.622730 -0.517313 0.457872 
time: 1403636654.213556, t: 8.368807 -6.343994 0.070604 q: 0.370798 0.617436 -0.521547 0.457461 
time: 1403636654.313555, t: 8.331073 -6.341737 0.067932 q: 0.377352 0.612596 -0.528519 0.450555 
wait for imu ... 
time: 1403636654.413555, t: 8.291362 -6.330633 0.073101 q: 0.383865 0.605981 -0.539583 0.440777 
time: 1403636654.513556, t: 8.251706 -6.317401 0.084703 q: 0.392431 0.596555 -0.552079 0.430499 
time: 1403636654.613555, t: 8.209759 -6.305994 0.100273 q: 0.399470 0.586414 -0.565740 0.420097 
wait for imu ... 
time: 1403636654.713556, t: 8.171306 -6.292778 0.111601 q: -0.401275 -0.577942 0.578571 -0.412574 
time: 1403636654.813555, t: 8.133639 -6.281081 0.116991 q: -0.404584 -0.572322 0.586594 -0.405793 
wait for imu ... 
time: 1403636654.913555, t: 8.098774 -6.270187 0.115615 q: -0.408609 -0.567816 0.591318 -0.401207 
wait for imu ... 
time: 1403636655.013556, t: 8.065064 -6.259547 0.110451 q: -0.417131 -0.561092 0.590272 -0.403431 
time: 1403636655.113555, t: 8.032977 -6.247026 0.099805 q: -0.422808 -0.555254 0.589049 -0.407367 
time: 1403636655.213556, t: 7.999036 -6.232255 0.087200 q: -0.426244 -0.551289 0.587795 -0.410967 
wait for imu ... 
time: 1403636655.313555, t: 7.963468 -6.212267 0.073871 q: -0.429029 -0.545732 0.589980 -0.412351 
time: 1403636655.413555, t: 7.927496 -6.185271 0.061194 q: -0.431691 -0.538269 0.594984 -0.412193 
wait for imu ... 
time: 1403636655.513556, t: 7.889973 -6.151744 0.057025 q: -0.436108 -0.531354 0.600912 -0.407894 
wait for imu ... 
time: 1403636655.613555, t: 7.853311 -6.108280 0.056271 q: -0.434361 -0.526175 0.614176 -0.396558 
wait for imu ... 
time: 1403636655.713556, t: 7.814318 -6.061194 0.050723 q: -0.430212 -0.520401 0.628518 -0.386091 
wait for imu ... 
time: 1403636655.813555, t: 7.773941 -6.013993 0.032461 q: -0.430625 -0.512987 0.639872 -0.376789 
wait for imu ... 
time: 1403636655.913555, t: 7.731076 -5.966875 0.001753 q: -0.433769 -0.500804 0.652303 -0.368159 
wait for imu ... 
time: 1403636656.013556, t: 7.685571 -5.921638 -0.029505 q: -0.439793 -0.486967 0.662661 -0.361007 
time: 1403636656.113555, t: 7.636912 -5.876364 -0.052872 q: -0.446183 -0.477794 0.669351 -0.352991 
wait for imu ... 
time: 1403636656.213556, t: 7.586755 -5.832688 -0.066241 q: -0.450812 -0.473938 0.673638 -0.344040 
time: 1403636656.313555, t: 7.533508 -5.789393 -0.067966 q: -0.452214 -0.471820 0.676916 -0.338634 
wait for imu ... 
time: 1403636656.413555, t: 7.478861 -5.751923 -0.059233 q: -0.452079 -0.471069 0.678761 -0.336158 
time: 1403636656.513556, t: 7.422994 -5.721708 -0.041581 q: -0.452111 -0.471767 0.678818 -0.335020 
wait for imu ... 
time: 1403636656.613555, t: 7.367962 -5.697644 -0.022258 q: -0.454812 -0.473042 0.675818 -0.335630 
time: 1403636656.713556, t: 7.315111 -5.680403 -0.004091 q: -0.462156 -0.470357 0.668927 -0.343092 
time: 1403636656.813555, t: 7.260452 -5.662142 0.006892 q: -0.470461 -0.468454 0.661023 -0.349665 
wait for imu ... 
time: 1403636656.913555, t: 7.206258 -5.644427 0.008965 q: -0.475281 -0.469273 0.655593 -0.352262 
time: 1403636657.013556, t: 7.152495 -5.622941 0.001864 q: -0.475786 -0.468819 0.653218 -0.356571 
wait for imu ... 
wait for imu ... 
time: 1403636657.113555, t: 7.098948 -5.595182 -0.012853 q: -0.474200 -0.467599 0.652680 -0.361241 
time: 1403636657.213556, t: 7.048071 -5.560536 -0.027707 q: -0.470860 -0.466307 0.653772 -0.365281 
wait for imu ... 
time: 1403636657.313555, t: 6.996957 -5.518422 -0.037511 q: -0.465948 -0.467751 0.656914 -0.364095 
wait for imu ... 
time: 1403636657.413555, t: 6.943044 -5.473588 -0.042957 q: -0.458492 -0.468846 0.662386 -0.362233 
time: 1403636657.513556, t: 6.892241 -5.426697 -0.051854 q: -0.450161 -0.470687 0.668458 -0.359128 
wait for imu ... 
time: 1403636657.613555, t: 6.837830 -5.379105 -0.064885 q: -0.447267 -0.472114 0.670896 -0.356313 
wait for imu ... 
time: 1403636657.713556, t: 6.781252 -5.331573 -0.081045 q: -0.447541 -0.471483 0.671081 -0.356456 
time: 1403636657.813555, t: 6.721434 -5.283478 -0.101147 q: -0.447566 -0.467768 0.673711 -0.356359 
time: 1403636657.913555, t: 6.656044 -5.235120 -0.124497 q: -0.441864 -0.463249 0.679848 -0.357719 
wait for imu ... 
time: 1403636658.013556, t: 6.586345 -5.186896 -0.142299 q: -0.439548 -0.461852 0.683262 -0.355871 
time: 1403636658.113555, t: 6.511175 -5.137912 -0.150268 q: -0.444261 -0.465030 0.681792 -0.348624 
wait for imu ... 
time: 1403636658.213556, t: 6.432686 -5.090415 -0.151730 q: -0.449805 -0.468295 0.679693 -0.341163 
time: 1403636658.313555, t: 6.353951 -5.046332 -0.155942 q: -0.454535 -0.471624 0.677646 -0.334312 
time: 1403636658.413555, t: 6.275488 -5.006342 -0.164943 q: -0.456264 -0.473412 0.677359 -0.329984 
wait for imu ... 
time: 1403636658.513556, t: 6.197759 -4.968894 -0.176542 q: -0.459032 -0.476335 0.676068 -0.324540 
wait for imu ... 
time: 1403636658.613555, t: 6.122137 -4.932925 -0.189539 q: -0.463593 -0.479809 0.673223 -0.318803 
time: 1403636658.713556, t: 6.048951 -4.902242 -0.203135 q: -0.466586 -0.480920 0.671323 -0.316763 
wait for imu ... 
time: 1403636658.813555, t: 5.978815 -4.877579 -0.219039 q: -0.473350 -0.482036 0.666660 -0.314874 
wait for imu ... 
time: 1403636658.913555, t: 5.915780 -4.857009 -0.236584 q: -0.478219 -0.479398 0.663494 -0.318214 
wait for imu ... 
time: 1403636659.013556, t: 5.859387 -4.843779 -0.258441 q: -0.478343 -0.473697 0.663512 -0.326423 
wait for imu ... 
time: 1403636659.113555, t: 5.805103 -4.828215 -0.284701 q: -0.480648 -0.469418 0.661737 -0.332759 
wait for imu ... 
time: 1403636659.213556, t: 5.751642 -4.809293 -0.315290 q: -0.481946 -0.467247 0.660498 -0.336378 
wait for imu ... 
time: 1403636659.313555, t: 5.698194 -4.786028 -0.345300 q: -0.479918 -0.468058 0.661592 -0.336001 
wait for imu ... 
time: 1403636659.413555, t: 5.651886 -4.761311 -0.369402 q: -0.474956 -0.471431 0.664954 -0.331671 
time: 1403636659.513556, t: 5.609593 -4.738105 -0.386854 q: -0.471850 -0.474700 0.667181 -0.326935 
wait for imu ... 
time: 1403636659.613555, t: 5.569173 -4.715354 -0.400584 q: -0.472458 -0.473919 0.667095 -0.327367 
time: 1403636659.713556, t: 5.533005 -4.693245 -0.417538 q: -0.475825 -0.472203 0.665603 -0.328005 
wait for imu ... 
time: 1403636659.813555, t: 5.501493 -4.672032 -0.440972 q: -0.478259 -0.470648 0.664957 -0.328010 
wait for imu ... 
time: 1403636659.913555, t: 5.472129 -4.650742 -0.469972 q: -0.477271 -0.469798 0.666660 -0.327210 
time: 1403636660.013556, t: 5.442869 -4.628320 -0.504883 q: -0.472532 -0.471959 0.671054 -0.321954 
time: 1403636660.113555, t: 5.417209 -4.610011 -0.544129 q: -0.467449 -0.473999 0.675616 -0.316796 
time: 1403636660.213556, t: 5.394487 -4.594105 -0.585604 q: -0.464760 -0.475065 0.677829 -0.314419 
wait for imu ... 
time: 1403636660.313555, t: 5.373688 -4.581876 -0.627099 q: -0.460522 -0.477383 0.681176 -0.309877 
time: 1403636660.413555, t: 5.354101 -4.576294 -0.664071 q: -0.451539 -0.481730 0.687460 -0.302402 
time: 1403636660.513556, t: 5.337334 -4.579737 -0.691148 q: -0.449337 -0.483295 0.688761 -0.300217 
wait for imu ... 
time: 1403636660.613555, t: 5.319598 -4.588652 -0.717096 q: -0.457895 -0.480787 0.682733 -0.305042 
wait for imu ... 
time: 1403636660.713556, t: 5.303691 -4.604761 -0.746199 q: -0.471374 -0.477804 0.672907 -0.310974 
wait for imu ... 
time: 1403636660.813555, t: 5.290719 -4.621879 -0.781084 q: -0.484036 -0.477833 0.663306 -0.312104 
time: 1403636660.913555, t: 5.284549 -4.640845 -0.821227 q: -0.492079 -0.479158 0.656979 -0.310878 
time: 1403636661.013556, t: 5.284945 -4.659226 -0.867768 q: -0.491322 -0.476298 0.657198 -0.315965 
wait for imu ... 
time: 1403636661.113555, t: 5.290933 -4.678212 -0.917843 q: -0.489330 -0.472219 0.658532 -0.322336 
time: 1403636661.213556, t: 5.302659 -4.697219 -0.969233 q: -0.488106 -0.468647 0.659418 -0.327553 
time: 1403636661.313555, t: 5.319570 -4.712978 -1.014118 q: -0.486595 -0.467031 0.660454 -0.330012 
wait for imu ... 
time: 1403636661.413555, t: 5.341027 -4.725858 -1.051669 q: -0.486658 -0.466758 0.660278 -0.330657 
time: 1403636661.513556, t: 5.365339 -4.736669 -1.080942 q: -0.484874 -0.466751 0.661407 -0.331030 
wait for imu ... 
time: 1403636661.613555, t: 5.393624 -4.744186 -1.101768 q: -0.480832 -0.466304 0.663890 -0.332584 
time: 1403636661.713556, t: 5.424359 -4.749472 -1.113991 q: -0.481044 -0.465302 0.663213 -0.335022 
time: 1403636661.813555, t: 5.456635 -4.751832 -1.118704 q: -0.477503 -0.460045 0.665152 -0.343399 
time: 1403636661.913555, t: 5.488074 -4.749260 -1.114707 q: -0.476497 -0.457588 0.665154 -0.348042 
time: 1403636662.013556, t: 5.518137 -4.744319 -1.103168 q: -0.476436 -0.457556 0.664491 -0.349433 
wait for imu ... 
time: 1403636662.113555, t: 5.547032 -4.736162 -1.086373 q: -0.477804 -0.458276 0.663231 -0.349014 
time: 1403636662.213556, t: 5.576397 -4.724997 -1.072664 q: -0.480011 -0.462947 0.662118 -0.341861 
wait for imu ... 
time: 1403636662.313555, t: 5.606691 -4.709315 -1.065881 q: -0.482838 -0.467793 0.660852 -0.333634 
time: 1403636662.413555, t: 5.639473 -4.692242 -1.065046 q: -0.482024 -0.471158 0.662386 -0.326967 
time: 1403636662.513556, t: 5.674883 -4.674827 -1.071673 q: -0.475929 -0.474323 0.667495 -0.320873 
time: 1403636662.613555, t: 5.712620 -4.658378 -1.081724 q: -0.468255 -0.471972 0.673596 -0.322875 
time: 1403636662.713556, t: 5.749690 -4.646675 -1.095548 q: -0.460504 -0.462577 0.679749 -0.334513 
wait for imu ... 
time: 1403636662.813555, t: 5.784197 -4.634825 -1.113213 q: -0.457740 -0.455500 0.682208 -0.342909 
time: 1403636662.913555, t: 5.813728 -4.621606 -1.135553 q: -0.454373 -0.456668 0.684922 -0.340414 
wait for imu ... 
time: 1403636663.013556, t: 5.839154 -4.608613 -1.160459 q: -0.448028 -0.457182 0.689634 -0.338615 
wait for imu ... 
time: 1403636663.113555, t: 5.858316 -4.597571 -1.180458 q: -0.440436 -0.454358 0.694922 -0.341552 
wait for imu ... 
time: 1403636663.213556, t: 5.868608 -4.588033 -1.193409 q: -0.439748 -0.456436 0.695963 -0.337526 
time: 1403636663.313555, t: 5.870835 -4.580326 -1.206715 q: -0.449236 -0.467510 0.689831 -0.322110 
wait for imu ... 
time: 1403636663.413555, t: 5.869001 -4.578337 -1.227718 q: -0.453379 -0.477374 0.686830 -0.307939 
wait for imu ... 
time: 1403636663.513556, t: 5.866691 -4.583413 -1.254644 q: -0.452732 -0.483919 0.686981 -0.298184 
time: 1403636663.613555, t: 5.864486 -4.598015 -1.284486 q: -0.451327 -0.486925 0.687550 -0.294079 
wait for imu ... 
time: 1403636663.713556, t: 5.863083 -4.623579 -1.314075 q: -0.453057 -0.490262 0.685862 -0.289786 
time: 1403636663.813555, t: 5.864363 -4.657515 -1.338599 q: -0.461807 -0.494983 0.678595 -0.285018 
wait for imu ... 
time: 1403636663.913555, t: 5.870937 -4.702445 -1.355209 q: -0.471734 -0.497840 0.670072 -0.283945 
time: 1403636664.013556, t: 5.885122 -4.755944 -1.364164 q: -0.484519 -0.498853 0.659191 -0.286102 
time: 1403636664.113555, t: 5.911194 -4.813729 -1.368013 q: -0.488003 -0.496262 0.655114 -0.293943 
wait for imu ... 
time: 1403636664.213556, t: 5.945929 -4.877405 -1.365371 q: -0.487833 -0.490317 0.653645 -0.307175 
wait for imu ... 
time: 1403636664.313555, t: 5.986598 -4.943634 -1.365138 q: -0.487300 -0.485397 0.651916 -0.319272 
time: 1403636664.413555, t: 6.031617 -5.008352 -1.382372 q: -0.485840 -0.483780 0.650416 -0.326918 
wait for imu ... 
wait for imu ... 
time: 1403636664.513556, t: 6.081251 -5.071370 -1.412264 q: -0.484195 -0.483619 0.648726 -0.332899 
wait for imu ... 
time: 1403636664.613555, t: 6.135777 -5.133766 -1.443907 q: -0.479229 -0.481512 0.648893 -0.342672 
time: 1403636664.713556, t: 6.193766 -5.193245 -1.471516 q: -0.473856 -0.481070 0.649468 -0.349604 
time: 1403636664.813555, t: 6.253181 -5.249464 -1.491259 q: -0.472859 -0.487819 0.647554 -0.345125 
wait for imu ... 
time: 1403636664.913555, t: 6.315600 -5.303414 -1.502576 q: -0.470543 -0.490272 0.646462 -0.346857 
time: 1403636665.013556, t: 6.379849 -5.354735 -1.507772 q: -0.463724 -0.493799 0.649163 -0.345990 
wait for imu ... 
time: 1403636665.113555, t: 6.445614 -5.401149 -1.505590 q: -0.456011 -0.498038 0.652873 -0.343174 
wait for imu ... 
time: 1403636665.213556, t: 6.513001 -5.448643 -1.495789 q: -0.450246 -0.498310 0.655694 -0.345009 
time: 1403636665.313555, t: 6.578365 -5.498364 -1.482233 q: -0.449806 -0.491567 0.655372 -0.355701 
wait for imu ... 
time: 1403636665.413555, t: 6.641596 -5.551330 -1.469921 q: -0.452175 -0.491068 0.653561 -0.356716 
wait for imu ... 
time: 1403636665.513556, t: 6.700765 -5.601120 -1.458112 q: -0.456770 -0.496727 0.651190 -0.347240 
time: 1403636665.613555, t: 6.760818 -5.651299 -1.446320 q: -0.461151 -0.501756 0.649022 -0.338160 
wait for imu ... 
time: 1403636665.713556, t: 6.822331 -5.702999 -1.434118 q: -0.464639 -0.502182 0.647923 -0.334842 
time: 1403636665.813555, t: 6.885557 -5.754552 -1.418769 q: -0.469206 -0.498934 0.646156 -0.336737 
wait for imu ... 
time: 1403636665.913555, t: 6.950398 -5.804873 -1.402164 q: -0.465126 -0.488210 0.650082 -0.350288 
wait for imu ... 
time: 1403636666.113555, t: 7.073165 -5.899026 -1.378455 q: -0.458308 -0.479398 0.656062 -0.360159 
time: 1403636666.213556, t: 7.135321 -5.940697 -1.373808 q: -0.463629 -0.481383 0.652728 -0.356743 
wait for imu ... 
time: 1403636666.313555, t: 7.197882 -5.980054 -1.374324 q: -0.464407 -0.480112 0.652123 -0.358544 
time: 1403636666.413555, t: 7.256456 -6.013103 -1.379759 q: -0.461058 -0.477670 0.653498 -0.363588 
wait for imu ... 
time: 1403636666.513556, t: 7.314051 -6.042614 -1.381932 q: -0.456354 -0.478438 0.655534 -0.364846 
time: 1403636666.613555, t: 7.368183 -6.064693 -1.375879 q: -0.454218 -0.484293 0.656015 -0.358875 
wait for imu ... 
time: 1403636666.713556, t: 7.420697 -6.084994 -1.364352 q: -0.452654 -0.492274 0.655884 -0.350124 
wait for imu ... 
time: 1403636666.813555, t: 7.474014 -6.105145 -1.350136 q: -0.447265 -0.497577 0.658312 -0.344958 
wait for imu ... 
time: 1403636666.913555, t: 7.526738 -6.128044 -1.340440 q: -0.432449 -0.496614 0.667514 -0.347544 
wait for imu ... 
time: 1403636667.013556, t: 7.575019 -6.153687 -1.336402 q: -0.421120 -0.492627 0.674502 -0.353586 
wait for imu ... 
time: 1403636667.113555, t: 7.616071 -6.183880 -1.334335 q: -0.429269 -0.491665 0.668687 -0.356160 
time: 1403636667.213556, t: 7.651777 -6.216449 -1.335358 q: -0.448421 -0.493031 0.655200 -0.355741 
time: 1403636667.313555, t: 7.685832 -6.249231 -1.341564 q: -0.461303 -0.495972 0.645589 -0.352741 
time: 1403636667.413555, t: 7.722114 -6.279959 -1.354062 q: -0.464096 -0.497177 0.643175 -0.351788 
wait for imu ... 
time: 1403636667.513556, t: 7.760228 -6.308038 -1.369388 q: -0.458927 -0.500671 0.646202 -0.348049 
wait for imu ... 
time: 1403636667.613555, t: 7.800009 -6.336270 -1.384315 q: -0.447032 -0.501167 0.654385 -0.347527 
time: 1403636667.713556, t: 7.840332 -6.364930 -1.389898 q: -0.439012 -0.499499 0.659615 -0.350252 
wait for imu ... 
time: 1403636667.813555, t: 7.878108 -6.393557 -1.386980 q: -0.438555 -0.497344 0.660122 -0.352927 
time: 1403636667.913555, t: 7.914038 -6.421361 -1.381809 q: -0.438333 -0.495384 0.660896 -0.354507 
wait for imu ... 
time: 1403636668.013556, t: 7.946943 -6.449989 -1.380036 q: -0.438607 -0.495135 0.661384 -0.353604 
wait for imu ... 
time: 1403636668.113555, t: 7.977599 -6.481099 -1.385486 q: -0.443297 -0.496170 0.659706 -0.349417 
wait for imu ... 
time: 1403636668.213556, t: 8.006271 -6.514197 -1.397142 q: -0.446429 -0.497921 0.659431 -0.343404 
wait for imu ... 
time: 1403636668.313555, t: 8.034724 -6.549735 -1.413820 q: -0.448636 -0.498764 0.660138 -0.337902 
wait for imu ... 
time: 1403636668.413555, t: 8.064089 -6.587265 -1.434097 q: -0.451066 -0.497289 0.660408 -0.336311 
time: 1403636668.513556, t: 8.093053 -6.627990 -1.456568 q: -0.454553 -0.495184 0.659868 -0.335782 
time: 1403636668.613555, t: 8.126715 -6.671746 -1.480555 q: -0.455713 -0.493677 0.660779 -0.334634 
wait for imu ... 
time: 1403636668.713556, t: 8.158814 -6.717849 -1.503584 q: -0.459125 -0.494223 0.660023 -0.330632 
wait for imu ... 
time: 1403636668.813555, t: 8.193078 -6.765564 -1.525566 q: -0.468365 -0.496034 0.654616 -0.325672 
wait for imu ... 
time: 1403636668.913555, t: 8.234178 -6.814446 -1.542042 q: -0.478564 -0.498374 0.647492 -0.321486 
wait for imu ... 
time: 1403636669.013556, t: 8.281578 -6.862532 -1.551661 q: -0.478392 -0.493022 0.647885 -0.329112 
time: 1403636669.113555, t: 8.336075 -6.906615 -1.553808 q: -0.476091 -0.486434 0.649979 -0.338004 
wait for imu ... 
time: 1403636669.213556, t: 8.393273 -6.947162 -1.554602 q: -0.475287 -0.483036 0.651188 -0.341661 
wait for imu ... 
time: 1403636669.313555, t: 8.453228 -6.985852 -1.561031 q: -0.476001 -0.482442 0.651228 -0.341430 
time: 1403636669.413555, t: 8.512136 -7.018835 -1.568553 q: -0.475738 -0.481508 0.651649 -0.342313 
time: 1403636669.513556, t: 8.574078 -7.050262 -1.580418 q: -0.478693 -0.479466 0.649109 -0.345865 
wait for imu ... 
time: 1403636669.613555, t: 8.638237 -7.077448 -1.593658 q: -0.485081 -0.476926 0.643914 -0.350161 
time: 1403636669.713556, t: 8.706186 -7.102163 -1.604727 q: -0.491350 -0.473789 0.638326 -0.355864 
wait for imu ... 
time: 1403636669.813555, t: 8.776718 -7.121327 -1.611750 q: -0.486957 -0.468574 0.640171 -0.365366 
wait for imu ... 
time: 1403636669.913555, t: 8.849803 -7.130171 -1.610691 q: -0.467026 -0.458014 0.652425 -0.382688 
time: 1403636670.013556, t: 8.917714 -7.132246 -1.606352 q: -0.451533 -0.454063 0.662286 -0.389000 
time: 1403636670.113555, t: 8.979006 -7.124562 -1.595407 q: -0.441578 -0.453390 0.667288 -0.392649 
wait for imu ... 
time: 1403636670.213556, t: 9.032202 -7.109295 -1.579968 q: -0.436347 -0.448401 0.665894 -0.406353 
wait for imu ... 
time: 1403636670.313555, t: 9.074932 -7.085818 -1.568197 q: -0.431369 -0.442717 0.663166 -0.422058 
wait for imu ... 
time: 1403636670.413555, t: 9.104408 -7.052449 -1.564260 q: -0.422588 -0.444785 0.661688 -0.430993 
wait for imu ... 
time: 1403636670.513556, t: 9.118371 -7.008899 -1.562068 q: -0.410596 -0.451625 0.658732 -0.439907 
wait for imu ... 
time: 1403636670.613555, t: 9.115329 -6.956880 -1.553120 q: -0.399595 -0.463731 0.651123 -0.448683 
wait for imu ... 
time: 1403636670.713556, t: 9.089796 -6.896478 -1.536118 q: -0.390644 -0.478887 0.639660 -0.457055 
wait for imu ... 
time: 1403636670.813555, t: 9.045658 -6.830063 -1.514746 q: -0.379174 -0.492976 0.627168 -0.468895 
time: 1403636670.913555, t: 8.985112 -6.756753 -1.496796 q: -0.362794 -0.504512 0.614192 -0.486432 
wait for imu ... 
time: 1403636671.013556, t: 8.904849 -6.676493 -1.474937 q: -0.345970 -0.516600 0.596665 -0.507365 
wait for imu ... 
time: 1403636671.113555, t: 8.798682 -6.589135 -1.443073 q: -0.336480 -0.537953 0.573503 -0.518153 
time: 1403636671.213556, t: 8.667680 -6.495987 -1.403517 q: 0.327861 0.563351 -0.551864 0.520182 
wait for imu ... 
time: 1403636671.313555, t: 8.514810 -6.398278 -1.360410 q: 0.324684 0.591815 -0.533787 0.509320 
wait for imu ... 
time: 1403636671.413555, t: 8.347640 -6.298896 -1.317779 q: 0.330567 0.626071 -0.512739 0.485654 
time: 1403636671.513556, t: 8.176804 -6.200773 -1.280652 q: 0.327061 0.654990 -0.495858 0.467060 
time: 1403636671.613555, t: 8.007250 -6.104753 -1.249947 q: 0.316199 0.674979 -0.487399 0.454823 
wait for imu ... 
time: 1403636671.713556, t: 7.840730 -6.015649 -1.224313 q: 0.305810 0.687995 -0.484255 0.445690 
time: 1403636671.813555, t: 7.679047 -5.935574 -1.203603 q: 0.300294 0.696828 -0.482335 0.437730 
time: 1403636671.913555, t: 7.524449 -5.865911 -1.183279 q: 0.294608 0.703757 -0.484465 0.428050 
wait for imu ... 
time: 1403636672.013556, t: 7.378176 -5.809956 -1.155910 q: 0.292860 0.711594 -0.486186 0.414115 
time: 1403636672.113555, t: 7.243380 -5.774415 -1.118153 q: 0.303227 0.716788 -0.480569 0.404132 
time: 1403636672.213556, t: 7.123813 -5.750826 -1.072244 q: 0.313849 0.718215 -0.475526 0.399426 
wait for imu ... 
time: 1403636672.313555, t: 7.021447 -5.736871 -1.027303 q: 0.322097 0.717563 -0.472352 0.397795 
wait for imu ... 
time: 1403636672.413555, t: 6.936406 -5.734005 -0.988312 q: 0.337895 0.716027 -0.462118 0.399475 
time: 1403636672.513556, t: 6.868145 -5.739482 -0.962869 q: 0.350562 0.704525 -0.454466 0.417386 
time: 1403636672.613555, t: 6.815733 -5.746761 -0.952559 q: 0.352508 0.687323 -0.453929 0.444155 
time: 1403636672.713556, t: 6.768509 -5.754699 -0.963221 q: 0.347170 0.676784 -0.458431 0.459649 
wait for imu ... 
time: 1403636672.813555, t: 6.725610 -5.755227 -0.989907 q: 0.334098 0.678901 -0.465847 0.458759 
time: 1403636672.913555, t: 6.690288 -5.756628 -1.015611 q: 0.326797 0.685037 -0.461228 0.459562 
wait for imu ... 
time: 1403636673.013556, t: 6.656665 -5.754683 -1.033645 q: 0.320106 0.693931 -0.449691 0.462352 
time: 1403636673.113555, t: 6.630527 -5.754396 -1.044057 q: 0.312850 0.704399 -0.437195 0.463473 
wait for imu ... 
time: 1403636673.213556, t: 6.609276 -5.757118 -1.046434 q: 0.300231 0.717464 -0.431668 0.456912 
time: 1403636673.313555, t: 6.597211 -5.762236 -1.043623 q: 0.289479 0.729243 -0.428294 0.448297 
wait for imu ... 
time: 1403636673.413555, t: 6.595692 -5.773997 -1.035422 q: 0.284108 0.734801 -0.424668 0.446103 
wait for imu ... 
time: 1403636673.513556, t: 6.604449 -5.792062 -1.031221 q: 0.282850 0.735695 -0.420797 0.449086 
wait for imu ... 
time: 1403636673.613555, t: 6.621325 -5.816411 -1.030902 q: 0.286433 0.732378 -0.414997 0.457554 
wait for imu ... 
time: 1403636673.713556, t: 6.645875 -5.845597 -1.033292 q: 0.291852 0.726154 -0.408844 0.469435 
time: 1403636673.813555, t: 6.675227 -5.873916 -1.036104 q: 0.297421 0.719571 -0.402829 0.481131 
wait for imu ... 
time: 1403636673.913555, t: 6.709568 -5.898711 -1.036453 q: 0.300346 0.719303 -0.399608 0.482399 
wait for imu ... 
time: 1403636674.013556, t: 6.750232 -5.922471 -1.033964 q: 0.298960 0.719764 -0.400336 0.481968 
time: 1403636674.113555, t: 6.797870 -5.944947 -1.036229 q: 0.297220 0.719414 -0.401704 0.482429 
wait for imu ... 
time: 1403636674.213556, t: 6.849962 -5.965631 -1.044600 q: 0.296491 0.716931 -0.402501 0.485897 
wait for imu ... 
time: 1403636674.313555, t: 6.905252 -5.984460 -1.060591 q: 0.290146 0.711560 -0.407428 0.493458 
time: 1403636674.413555, t: 6.962681 -6.001103 -1.083359 q: 0.277538 0.708485 -0.412223 0.501092 
time: 1403636674.513556, t: 7.020473 -6.017685 -1.111299 q: 0.265864 0.708225 -0.409198 0.510186 
wait for imu ... 
time: 1403636674.613555, t: 7.075124 -6.034194 -1.145408 q: 0.259283 0.711416 -0.401471 0.515247 
time: 1403636674.713556, t: 7.127140 -6.052580 -1.183191 q: 0.254773 0.715292 -0.394278 0.517680 
wait for imu ... 
time: 1403636674.813555, t: 7.174969 -6.071709 -1.225261 q: 0.244732 0.724417 -0.393202 0.510606 
time: 1403636675.013556, t: 7.262931 -6.122159 -1.289594 q: 0.229074 0.740736 -0.395388 0.492447 
wait for imu ... 
time: 1403636675.113555, t: 7.303924 -6.158845 -1.306311 q: 0.230119 0.746607 -0.393150 0.484826 
wait for imu ... 
time: 1403636675.213556, t: 7.347800 -6.204805 -1.312867 q: 0.241446 0.752624 -0.384226 0.477107 
time: 1403636675.313555, t: 7.401470 -6.260348 -1.312587 q: 0.252251 0.755049 -0.377095 0.473360 
wait for imu ... 
time: 1403636675.413555, t: 7.462887 -6.319457 -1.304727 q: 0.261964 0.750681 -0.367554 0.482449 
wait for imu ... 
time: 1403636675.513556, t: 7.533959 -6.379638 -1.300093 q: 0.265536 0.747739 -0.355301 0.494104 
time: 1403636675.613555, t: 7.611457 -6.437018 -1.302985 q: 0.269084 0.746815 -0.341291 0.503371 
time: 1403636675.713556, t: 7.693971 -6.488916 -1.311921 q: 0.265888 0.747167 -0.329636 0.512235 
wait for imu ... 
wait for imu ... 
time: 1403636675.913555, t: 7.865273 -6.572714 -1.346528 q: 0.222474 0.744464 -0.319938 0.542142 
wait for imu ... 
time: 1403636676.013556, t: 7.947237 -6.608842 -1.372030 q: 0.196290 0.750651 -0.313700 0.547343 
wait for imu ... 
time: 1403636676.113555, t: 8.023256 -6.645519 -1.399382 q: 0.183829 0.761192 -0.297231 0.546303 
wait for imu ... 
time: 1403636676.213556, t: 8.098071 -6.686042 -1.427778 q: 0.183893 0.773757 -0.270290 0.542612 
wait for imu ... 
time: 1403636676.413555, t: 8.256056 -6.760619 -1.487796 q: 0.183039 0.796392 -0.211150 0.536351 
wait for imu ... 
time: 1403636676.513556, t: 8.340235 -6.788083 -1.509895 q: 0.168450 0.803321 -0.191653 0.538116 
time: 1403636676.613555, t: 8.427879 -6.811188 -1.525364 q: 0.146771 0.805432 -0.180566 0.545099 
time: 1403636676.713556, t: 8.520272 -6.830203 -1.531065 q: 0.129711 0.805147 -0.174493 0.551784 
wait for imu ... 
time: 1403636676.813555, t: 8.611702 -6.848191 -1.531043 q: 0.115777 0.804233 -0.171901 0.557005 
time: 1403636676.913555, t: 8.702632 -6.864218 -1.524849 q: 0.104125 0.804295 -0.169776 0.559861 
time: 1403636677.013556, t: 8.791600 -6.882042 -1.525382 q: 0.101015 0.804186 -0.166621 0.561532 
time: 1403636677.113555, t: 8.877712 -6.899427 -1.539640 q: 0.109222 0.804969 -0.159245 0.561013 
wait for imu ... 
time: 1403636677.213556, t: 8.961813 -6.916812 -1.566100 q: 0.116750 0.804747 -0.154083 0.561257 
time: 1403636677.313555, t: 9.046704 -6.931012 -1.594522 q: 0.119538 0.801471 -0.148395 0.566864 
wait for imu ... 
time: 1403636677.413555, t: 9.133960 -6.942586 -1.616700 q: 0.117851 0.795989 -0.138141 0.577434 
time: 1403636677.513556, t: 9.221196 -6.947678 -1.629289 q: 0.109384 0.790836 -0.127891 0.588437 
wait for imu ... 
time: 1403636677.613555, t: 9.300411 -6.946476 -1.635096 q: 0.095130 0.789881 -0.117282 0.594376 
wait for imu ... 
time: 1403636677.713556, t: 9.373708 -6.941403 -1.633732 q: 0.076072 0.792926 -0.106574 0.595083 
wait for imu ... 
time: 1403636677.813555, t: 9.440484 -6.934053 -1.627693 q: 0.053505 0.800253 -0.094673 0.589719 
wait for imu ... 
time: 1403636677.913555, t: 9.499498 -6.926669 -1.618493 q: 0.026351 0.808907 -0.082312 0.581550 
wait for imu ... 
time: 1403636678.013556, t: 9.553835 -6.923759 -1.605667 q: 0.006629 0.815258 -0.063805 0.575534 
time: 1403636678.113555, t: 9.604808 -6.926711 -1.595491 q: -0.001752 0.816982 -0.041654 0.575154 
time: 1403636678.213556, t: 9.651350 -6.934639 -1.591578 q: -0.001826 0.817499 -0.020558 0.575560 
wait for imu ... 
time: 1403636678.313555, t: 9.694729 -6.943524 -1.590739 q: -0.004742 0.817375 -0.002627 0.576081 
time: 1403636678.413555, t: 9.735738 -6.952033 -1.586014 q: -0.016307 0.817576 0.011063 0.575483 
time: 1403636678.513556, t: 9.777252 -6.960518 -1.574728 q: -0.026493 0.818267 0.026833 0.573601 
time: 1403636678.613555, t: 9.816875 -6.968186 -1.556929 q: -0.038943 0.817054 0.044421 0.573526 
wait for imu ... 
time: 1403636678.713556, t: 9.856572 -6.976183 -1.540788 q: -0.044887 0.814677 0.070698 0.573836 
time: 1403636678.813555, t: 9.894719 -6.982724 -1.530154 q: -0.046612 0.811685 0.102507 0.573138 
wait for imu ... 
time: 1403636678.913555, t: 9.933553 -6.985082 -1.527275 q: -0.046749 0.808518 0.130899 0.571821 
wait for imu ... 
time: 1403636679.013556, t: 9.971804 -6.979652 -1.530329 q: -0.055583 0.805400 0.151127 0.570440 
wait for imu ... 
time: 1403636679.113555, t: 10.009199 -6.965756 -1.537116 q: -0.073154 0.800817 0.165662 0.570874 
time: 1403636679.213556, t: 10.040441 -6.945061 -1.548277 q: -0.100974 0.795039 0.174898 0.571951 
wait for imu ... 
time: 1403636679.313555, t: 10.065787 -6.920876 -1.556637 q: -0.129172 0.789014 0.185734 0.571205 
time: 1403636679.413555, t: 10.087171 -6.895302 -1.557074 q: -0.150154 0.783402 0.202500 0.568092 
wait for imu ... 
time: 1403636679.513556, t: 10.103502 -6.871665 -1.550618 q: -0.166360 0.778648 0.221165 0.563132 
wait for imu ... 
time: 1403636679.613555, t: 10.118318 -6.850065 -1.538541 q: -0.177783 0.775583 0.236181 0.557748 
wait for imu ... 
time: 1403636679.713556, t: 10.127441 -6.833111 -1.520835 q: -0.184427 0.774700 0.247636 0.551818 
time: 1403636679.813555, t: 10.134093 -6.821048 -1.495567 q: -0.186797 0.770178 0.256111 0.553480 
time: 1403636679.913555, t: 10.142061 -6.809955 -1.461973 q: -0.185466 0.762796 0.262131 0.561277 
wait for imu ... 
time: 1403636680.013556, t: 10.147930 -6.799301 -1.423725 q: -0.177171 0.759284 0.269140 0.565386 
time: 1403636680.113555, t: 10.146217 -6.788983 -1.382052 q: -0.163216 0.755274 0.277790 0.570750 
wait for imu ... 
time: 1403636680.213556, t: 10.133760 -6.776961 -1.344691 q: -0.159497 0.754666 0.278537 0.572239 
wait for imu ... 
time: 1403636680.313555, t: 10.113703 -6.761617 -1.312197 q: -0.156466 0.752507 0.278166 0.576087 
wait for imu ... 
time: 1403636680.413555, t: 10.084316 -6.743592 -1.287688 q: -0.144309 0.754624 0.282818 0.574223 
wait for imu ... 
wait for imu ... 
time: 1403636680.513556, t: 10.045069 -6.721455 -1.269063 q: -0.136790 0.757638 0.284306 0.571352 
wait for imu ... 
time: 1403636680.613555, t: 9.998187 -6.690101 -1.255406 q: -0.139334 0.760841 0.279354 0.568918 
time: 1403636680.713556, t: 9.944098 -6.650646 -1.245772 q: -0.142715 0.763942 0.274254 0.566400 
wait for imu ... 
time: 1403636680.813555, t: 9.882032 -6.606191 -1.241150 q: -0.156726 0.770222 0.262533 0.559707 
time: 1403636680.913555, t: 9.817490 -6.558716 -1.240311 q: -0.173926 0.778323 0.248998 0.549512 
wait for imu ... 
time: 1403636681.013556, t: 9.753336 -6.511842 -1.246149 q: -0.177996 0.788611 0.245149 0.535082 
wait for imu ... 
time: 1403636681.113555, t: 9.692720 -6.465166 -1.256784 q: -0.173759 0.796106 0.247721 0.524077 
time: 1403636681.213556, t: 9.638440 -6.416405 -1.267263 q: -0.168730 0.792133 0.251557 0.529881 
time: 1403636681.313555, t: 9.588708 -6.365299 -1.275072 q: -0.167040 0.782372 0.254005 0.543575 
wait for imu ... 
time: 1403636681.413555, t: 9.539378 -6.313146 -1.278489 q: -0.170234 0.775572 0.252800 0.552812 
wait for imu ... 
time: 1403636681.513556, t: 9.487338 -6.261898 -1.275877 q: -0.175003 0.772828 0.250977 0.555988 
time: 1403636681.613555, t: 9.434663 -6.211642 -1.271645 q: -0.173983 0.771802 0.253951 0.556381 
wait for imu ... 
time: 1403636681.713556, t: 9.381322 -6.162269 -1.270820 q: -0.172959 0.770611 0.256821 0.557034 
wait for imu ... 
time: 1403636681.813555, t: 9.328409 -6.111862 -1.272234 q: -0.173059 0.769448 0.258738 0.557722 
wait for imu ... 
time: 1403636681.913555, t: 9.272152 -6.060843 -1.271690 q: -0.175148 0.768186 0.259342 0.558529 
wait for imu ... 
time: 1403636682.013556, t: 9.214241 -6.007790 -1.263993 q: -0.178381 0.768187 0.259112 0.557611 
wait for imu ... 
time: 1403636682.113555, t: 9.154480 -5.955348 -1.248853 q: -0.181517 0.768363 0.258508 0.556636 
time: 1403636682.213556, t: 9.093489 -5.904777 -1.229616 q: -0.183212 0.770475 0.258352 0.553224 
wait for imu ... 
time: 1403636682.313555, t: 9.031279 -5.855577 -1.216166 q: -0.182857 0.776459 0.258609 0.544790 
time: 1403636682.413555, t: 8.970114 -5.805408 -1.208622 q: -0.181726 0.782100 0.258579 0.537060 
time: 1403636682.513556, t: 8.912145 -5.754585 -1.203667 q: -0.180585 0.778939 0.257667 0.542450 
wait for imu ... 
time: 1403636682.613555, t: 8.854881 -5.704501 -1.202937 q: -0.178367 0.774135 0.257480 0.550094 
time: 1403636682.713556, t: 8.795849 -5.653007 -1.205466 q: -0.178625 0.771355 0.255126 0.554991 
wait for imu ... 
wait for imu ... 
time: 1403636682.813555, t: 8.736669 -5.602794 -1.204356 q: -0.180021 0.769408 0.251732 0.558781 
time: 1403636682.913555, t: 8.676665 -5.553490 -1.197177 q: -0.175358 0.768165 0.252832 0.561469 
time: 1403636683.013556, t: 8.611820 -5.506079 -1.183690 q: -0.169939 0.767666 0.255700 0.562518 
wait for imu ... 
time: 1403636683.113555, t: 8.545195 -5.458408 -1.171820 q: -0.170246 0.767623 0.255605 0.562528 
wait for imu ... 
time: 1403636683.213556, t: 8.474644 -5.408225 -1.167277 q: -0.173729 0.769389 0.254254 0.559654 
time: 1403636683.313555, t: 8.401457 -5.359160 -1.167870 q: -0.176895 0.770275 0.253709 0.557689 
time: 1403636683.413555, t: 8.327893 -5.312331 -1.173911 q: -0.179619 0.770672 0.253881 0.556189 
time: 1403636683.513556, t: 8.254300 -5.265511 -1.184765 q: -0.181494 0.770753 0.254700 0.555092 
wait for imu ... 
time: 1403636683.613555, t: 8.181990 -5.221618 -1.198861 q: -0.182552 0.771344 0.255516 0.553547 
time: 1403636683.713556, t: 8.107769 -5.178607 -1.216273 q: -0.183296 0.773879 0.256666 0.549214 
wait for imu ... 
time: 1403636683.813555, t: 8.037245 -5.138061 -1.228971 q: -0.183928 0.776963 0.257831 0.544080 
time: 1403636683.913555, t: 7.966523 -5.097130 -1.235642 q: -0.184840 0.778138 0.259425 0.541326 
time: 1403636684.013556, t: 7.897477 -5.054830 -1.234066 q: -0.187442 0.776751 0.259374 0.542447 
time: 1403636684.113555, t: 7.829182 -5.012050 -1.221970 q: -0.188929 0.774052 0.260499 0.545243 
wait for imu ... 
time: 1403636684.213556, t: 7.759166 -4.970255 -1.204460 q: -0.190908 0.772155 0.261485 0.546769 
time: 1403636684.313555, t: 7.688313 -4.930998 -1.181804 q: -0.192905 0.769503 0.262318 0.549401 
wait for imu ... 
time: 1403636684.413555, t: 7.620289 -4.893237 -1.163344 q: -0.194566 0.767256 0.262989 0.551633 
wait for imu ... 
time: 1403636684.513556, t: 7.549079 -4.855128 -1.152358 q: -0.198990 0.766875 0.261315 0.551381 
time: 1403636684.613555, t: 7.478187 -4.818265 -1.146042 q: -0.202705 0.766204 0.259342 0.551891 
time: 1403636684.713556, t: 7.408610 -4.785410 -1.145760 q: -0.204312 0.765306 0.258998 0.552705 
wait for imu ... 
time: 1403636684.813555, t: 7.338744 -4.758096 -1.151769 q: -0.204240 0.764638 0.259300 0.553515 
time: 1403636684.913555, t: 7.270103 -4.735921 -1.164520 q: -0.200537 0.763745 0.261960 0.554847 
time: 1403636685.013556, t: 7.198560 -4.719294 -1.177644 q: -0.191809 0.763678 0.267385 0.555437 
wait for imu ... 
time: 1403636685.113555, t: 7.128837 -4.703449 -1.184039 q: -0.187724 0.764990 0.268932 0.554279 
time: 1403636685.213556, t: 7.056665 -4.688159 -1.183641 q: -0.184218 0.768092 0.269027 0.551111 
wait for imu ... 
time: 1403636685.313555, t: 6.984822 -4.671768 -1.177630 q: -0.177769 0.770105 0.270401 0.549745 
time: 1403636685.413555, t: 6.910707 -4.650783 -1.166939 q: -0.175393 0.770912 0.269072 0.550030 
time: 1403636685.513556, t: 6.836014 -4.627134 -1.160946 q: -0.177256 0.772292 0.265399 0.549281 
wait for imu ... 
time: 1403636685.613555, t: 6.760041 -4.601842 -1.161539 q: -0.179225 0.773445 0.262299 0.548508 
wait for imu ... 
time: 1403636685.713556, t: 6.684386 -4.576030 -1.167886 q: -0.177444 0.772464 0.262432 0.550402 
wait for imu ... 
time: 1403636685.813555, t: 6.605381 -4.548959 -1.179066 q: -0.174775 0.770889 0.264009 0.552705 
time: 1403636685.913555, t: 6.524163 -4.521258 -1.194139 q: -0.174128 0.770152 0.264399 0.553750 
wait for imu ... 
time: 1403636686.013556, t: 6.442595 -4.492671 -1.211988 q: -0.178864 0.772604 0.261666 0.550111 
wait for imu ... 
time: 1403636686.113555, t: 6.362195 -4.464369 -1.224617 q: -0.183014 0.775738 0.259508 0.545336 
time: 1403636686.213556, t: 6.282924 -4.435351 -1.227810 q: -0.184004 0.776404 0.258427 0.544569 
wait for imu ... 
time: 1403636686.313555, t: 6.204581 -4.406978 -1.226426 q: -0.185180 0.778098 0.257175 0.542341 
wait for imu ... 
time: 1403636686.413555, t: 6.129513 -4.379245 -1.219021 q: -0.185143 0.779268 0.257044 0.540732 
wait for imu ... 
time: 1403636686.513556, t: 6.056536 -4.352346 -1.214019 q: -0.185866 0.781031 0.256831 0.538036 
wait for imu ... 
time: 1403636686.613555, t: 5.990058 -4.325228 -1.215696 q: -0.184403 0.780869 0.258630 0.537913 
wait for imu ... 
time: 1403636686.713556, t: 5.924671 -4.297485 -1.223542 q: -0.184368 0.780443 0.259101 0.538315 
wait for imu ... 
time: 1403636686.813555, t: 5.863609 -4.269350 -1.231323 q: -0.185708 0.778422 0.258868 0.540888 
time: 1403636686.913555, t: 5.803964 -4.240498 -1.232570 q: -0.188487 0.776937 0.257983 0.542482 
wait for imu ... 
time: 1403636687.013556, t: 5.743090 -4.212147 -1.225627 q: -0.190289 0.775672 0.257660 0.543815 
wait for imu ... 
time: 1403636687.113555, t: 5.690209 -4.186959 -1.212419 q: -0.191652 0.775496 0.257235 0.543788 
wait for imu ... 
time: 1403636687.213556, t: 5.635959 -4.162020 -1.199315 q: -0.192022 0.774240 0.257622 0.545262 
time: 1403636687.313555, t: 5.576601 -4.136639 -1.191729 q: -0.192166 0.773210 0.258336 0.546333 
time: 1403636687.413555, t: 5.526130 -4.114648 -1.188295 q: -0.191567 0.771079 0.259485 0.549005 
wait for imu ... 
time: 1403636687.513556, t: 5.475883 -4.093000 -1.192666 q: -0.191934 0.770081 0.259700 0.550174 
wait for imu ... 
time: 1403636687.613555, t: 5.421693 -4.072127 -1.204206 q: -0.194581 0.769604 0.258821 0.550326 
time: 1403636687.713556, t: 5.370170 -4.054473 -1.224502 q: -0.197381 0.768716 0.258031 0.550942 
wait for imu ... 
time: 1403636687.813555, t: 5.317365 -4.039232 -1.250236 q: -0.197520 0.768866 0.258829 0.550308 
wait for imu ... 
time: 1403636687.913555, t: 5.270021 -4.026054 -1.282422 q: -0.196552 0.768970 0.260095 0.549911 
wait for imu ... 
time: 1403636688.113555, t: 5.169205 -4.003228 -1.352455 q: -0.187565 0.767144 0.267146 0.552216 
time: 1403636688.213556, t: 5.118518 -3.993018 -1.381615 q: -0.186893 0.767305 0.267976 0.551818 
wait for imu ... 
time: 1403636688.313555, t: 5.070387 -3.982567 -1.403889 q: -0.190479 0.767906 0.266161 0.550633 
time: 1403636688.413555, t: 5.017556 -3.970731 -1.423262 q: -0.192871 0.769266 0.265051 0.548433 
wait for imu ... 
time: 1403636688.513556, t: 4.965825 -3.958568 -1.446587 q: -0.189037 0.768815 0.267766 0.549080 
wait for imu ... 
time: 1403636688.613555, t: 4.913439 -3.946495 -1.474270 q: -0.181087 0.767882 0.273460 0.550258 
time: 1403636688.713556, t: 4.860558 -3.931414 -1.506694 q: -0.177994 0.766852 0.276815 0.551026 
wait for imu ... 
time: 1403636688.813555, t: 4.804516 -3.914199 -1.540523 q: -0.179505 0.766926 0.278188 0.549740 
wait for imu ... 
time: 1403636688.913555, t: 4.747739 -3.893146 -1.569401 q: -0.183728 0.767136 0.282102 0.546045 
wait for imu ... 
time: 1403636689.013556, t: 4.687645 -3.869435 -1.590430 q: -0.190759 0.767930 0.285109 0.540932 
wait for imu ... 
time: 1403636689.113555, t: 4.628739 -3.842145 -1.603412 q: -0.198769 0.768537 0.287581 0.535854 
wait for imu ... 
time: 1403636689.213556, t: 4.572779 -3.813069 -1.607816 q: -0.204042 0.769244 0.291206 0.530876 
wait for imu ... 
time: 1403636689.313555, t: 4.520691 -3.784150 -1.603004 q: -0.208088 0.769459 0.294399 0.527220 
wait for imu ... 
time: 1403636689.413555, t: 4.473733 -3.754284 -1.589258 q: -0.210344 0.768102 0.297579 0.526518 
time: 1403636689.513556, t: 4.426688 -3.723338 -1.568916 q: -0.212514 0.767720 0.299101 0.525341 
wait for imu ... 
time: 1403636689.613555, t: 4.385987 -3.694342 -1.539583 q: -0.214061 0.769921 0.299911 0.521011 
time: 1403636689.713556, t: 4.349097 -3.665320 -1.510938 q: -0.217935 0.774641 0.297704 0.513623 
wait for imu ... 
time: 1403636689.813555, t: 4.318252 -3.633481 -1.488389 q: -0.223246 0.780232 0.292925 0.505563 
time: 1403636689.913555, t: 4.298824 -3.601323 -1.467816 q: -0.231501 0.781124 0.285807 0.504547 
time: 1403636690.013556, t: 4.286281 -3.567023 -1.453212 q: -0.234656 0.780212 0.281430 0.506955 
wait for imu ... 
time: 1403636690.113555, t: 4.282514 -3.537058 -1.442292 q: -0.228295 0.780096 0.284504 0.508320 
wait for imu ... 
time: 1403636690.213556, t: 4.286136 -3.506478 -1.434273 q: -0.217941 0.779469 0.290243 0.510578 
time: 1403636690.313555, t: 4.296529 -3.474366 -1.419840 q: -0.213475 0.778351 0.292544 0.512850 
wait for imu ... 
time: 1403636690.413555, t: 4.313486 -3.439754 -1.401691 q: -0.210980 0.777660 0.293373 0.514456 
time: 1403636690.513556, t: 4.333635 -3.403955 -1.381646 q: -0.215849 0.776926 0.289751 0.515595 
wait for imu ... 
time: 1403636690.613555, t: 4.357190 -3.369117 -1.367581 q: -0.224236 0.777770 0.283627 0.514148 
wait for imu ... 
time: 1403636690.713556, t: 4.387187 -3.335676 -1.362078 q: -0.237108 0.777277 0.274478 0.514084 
wait for imu ... 
time: 1403636690.813555, t: 4.422311 -3.306848 -1.370330 q: -0.253056 0.776076 0.262861 0.514367 
time: 1403636690.913555, t: 4.464339 -3.286142 -1.389481 q: -0.263826 0.770303 0.255386 0.521351 
time: 1403636691.013556, t: 4.512821 -3.276964 -1.405227 q: -0.274321 0.760220 0.248323 0.533994 
wait for imu ... 
time: 1403636691.213556, t: 4.621812 -3.309167 -1.411881 q: -0.270973 0.741641 0.253790 0.558689 
wait for imu ... 
time: 1403636691.313555, t: 4.674430 -3.347963 -1.403382 q: -0.253686 0.734921 0.267726 0.569084 
wait for imu ... 
time: 1403636691.413555, t: 4.721825 -3.398518 -1.390311 q: -0.241794 0.737680 0.279039 0.565244 
time: 1403636691.513556, t: 4.763004 -3.457170 -1.369971 q: -0.236801 0.747002 0.285960 0.551488 
time: 1403636691.613555, t: 4.805084 -3.518891 -1.340674 q: -0.234156 0.751694 0.291083 0.543505 
wait for imu ... 
time: 1403636691.713556, t: 4.846722 -3.584373 -1.305426 q: -0.223227 0.753016 0.300535 0.541124 
wait for imu ... 
time: 1403636691.813555, t: 4.882975 -3.652195 -1.272435 q: -0.217956 0.752603 0.305482 0.541078 
wait for imu ... 
time: 1403636691.913555, t: 4.919196 -3.719308 -1.249963 q: -0.221416 0.753510 0.303666 0.539430 
wait for imu ... 
time: 1403636692.013556, t: 4.954456 -3.786093 -1.232969 q: -0.228183 0.749422 0.299097 0.544831 
wait for imu ... 
time: 1403636692.113555, t: 4.985402 -3.854407 -1.216816 q: -0.228346 0.749713 0.298589 0.544640 
wait for imu ... 
time: 1403636692.213556, t: 5.015900 -3.922873 -1.195660 q: -0.220654 0.749518 0.303170 0.545548 
wait for imu ... 
time: 1403636692.313555, t: 5.039169 -3.992263 -1.166345 q: -0.219216 0.751147 0.303259 0.543835 
time: 1403636692.413555, t: 5.059755 -4.063225 -1.130175 q: -0.220213 0.753308 0.301592 0.541364 
wait for imu ... 
time: 1403636692.513556, t: 5.077396 -4.132170 -1.085547 q: -0.213302 0.753158 0.304853 0.542513 
wait for imu ... 
time: 1403636692.613555, t: 5.093085 -4.197773 -1.035328 q: -0.213270 0.753840 0.303663 0.542245 
wait for imu ... 
time: 1403636692.713556, t: 5.105064 -4.261727 -0.982432 q: -0.210141 0.755477 0.303935 0.541035 
time: 1403636692.813555, t: 5.118907 -4.324592 -0.933231 q: -0.193604 0.756952 0.313739 0.539545 
wait for imu ... 
time: 1403636692.913555, t: 5.127659 -4.377260 -0.887957 q: -0.182188 0.757523 0.320540 0.538721 
time: 1403636693.013556, t: 5.133320 -4.418999 -0.846441 q: -0.184376 0.759934 0.318875 0.535560 
wait for imu ... 
time: 1403636693.113555, t: 5.136780 -4.453515 -0.809170 q: -0.191607 0.759592 0.314242 0.536244 
time: 1403636693.213556, t: 5.140302 -4.484571 -0.779028 q: -0.197131 0.760716 0.311524 0.534231 
wait for imu ... 
time: 1403636693.313555, t: 5.144617 -4.512010 -0.756533 q: -0.201360 0.766116 0.309724 0.525920 
wait for imu ... 
time: 1403636693.413555, t: 5.147485 -4.535840 -0.737486 q: -0.205249 0.771194 0.308228 0.517811 
time: 1403636693.513556, t: 5.153381 -4.557530 -0.721702 q: -0.206763 0.777514 0.307906 0.507852 
wait for imu ... 
time: 1403636693.613555, t: 5.164912 -4.575689 -0.709351 q: -0.205373 0.783251 0.309863 0.498322 
time: 1403636693.713556, t: 5.183039 -4.587979 -0.699105 q: -0.205966 0.783929 0.310280 0.496749 
wait for imu ... 
time: 1403636693.813555, t: 5.206531 -4.593407 -0.689896 q: -0.208522 0.777519 0.309679 0.506046 
wait for imu ... 
time: 1403636693.913555, t: 5.234603 -4.594366 -0.683812 q: -0.214335 0.769095 0.306591 0.518223 
wait for imu ... 
time: 1403636694.013556, t: 5.264918 -4.591313 -0.681086 q: -0.219240 0.760070 0.304099 0.530803 
time: 1403636694.113555, t: 5.294546 -4.588064 -0.681156 q: -0.222022 0.754768 0.302873 0.537866 
wait for imu ... 
time: 1403636694.213556, t: 5.323728 -4.585361 -0.678017 q: -0.223435 0.751960 0.302341 0.541501 
wait for imu ... 
time: 1403636694.313555, t: 5.350761 -4.583634 -0.670875 q: -0.222533 0.752812 0.303936 0.539793 
wait for imu ... 
time: 1403636694.413555, t: 5.376024 -4.582901 -0.659446 q: -0.222010 0.756216 0.304747 0.534770 
wait for imu ... 
time: 1403636694.513556, t: 5.400644 -4.582668 -0.649484 q: -0.219732 0.758278 0.305812 0.532177 
wait for imu ... 
time: 1403636694.613555, t: 5.424964 -4.581746 -0.644489 q: -0.218835 0.759353 0.306057 0.530871 
wait for imu ... 
time: 1403636694.713556, t: 5.449377 -4.579372 -0.645144 q: -0.217661 0.758749 0.306136 0.532170 
wait for imu ... 
time: 1403636694.813555, t: 5.472565 -4.576936 -0.649676 q: -0.219874 0.757208 0.302953 0.535267 
time: 1403636694.913555, t: 5.495183 -4.574804 -0.660663 q: -0.228245 0.759588 0.296032 0.532255 
wait for imu ... 
time: 1403636695.013556, t: 5.518323 -4.575258 -0.674231 q: -0.232928 0.761812 0.291549 0.529515 
wait for imu ... 
time: 1403636695.113555, t: 5.544751 -4.578318 -0.685108 q: -0.227563 0.761976 0.293662 0.530444 
time: 1403636695.213556, t: 5.572108 -4.583281 -0.689950 q: -0.222414 0.761628 0.295152 0.532297 
wait for imu ... 
time: 1403636695.313555, t: 5.599672 -4.589869 -0.685626 q: -0.217654 0.760385 0.296485 0.535293 
wait for imu ... 
time: 1403636695.413555, t: 5.625827 -4.596731 -0.675631 q: -0.215030 0.760038 0.296361 0.536912 
time: 1403636695.513556, t: 5.651626 -4.603294 -0.663370 q: -0.211550 0.759060 0.297358 0.539122 
wait for imu ... 
time: 1403636695.613555, t: 5.674771 -4.609407 -0.655356 q: -0.208360 0.757841 0.298173 0.541623 
wait for imu ... 
time: 1403636695.713556, t: 5.696648 -4.612964 -0.652421 q: -0.205155 0.757037 0.299075 0.543470 
time: 1403636695.813555, t: 5.716288 -4.615081 -0.655166 q: -0.207062 0.758747 0.296628 0.541701 
time: 1403636695.913555, t: 5.732402 -4.618721 -0.662235 q: -0.207037 0.759800 0.295586 0.540803 
wait for imu ... 
time: 1403636696.013556, t: 5.749188 -4.621250 -0.672702 q: -0.208044 0.763134 0.294036 0.536551 
wait for imu ... 
time: 1403636696.113555, t: 5.769452 -4.619951 -0.686902 q: -0.203624 0.767175 0.295872 0.531451 
time: 1403636696.213556, t: 5.786796 -4.620584 -0.702288 q: -0.197699 0.768219 0.299026 0.530414 
wait for imu ... 
time: 1403636696.313555, t: 5.810254 -4.615077 -0.718124 q: -0.198255 0.764599 0.298463 0.535727 
time: 1403636696.413555, t: 5.823872 -4.611170 -0.732502 q: -0.205221 0.756245 0.292894 0.547897 
wait for imu ... 
time: 1403636696.513556, t: 5.842734 -4.603507 -0.744794 q: -0.210194 0.753436 0.288607 0.552140 
wait for imu ... 
time: 1403636696.613555, t: 5.852264 -4.600283 -0.752782 q: -0.210836 0.754931 0.287564 0.550395 
wait for imu ... 
time: 1403636696.713556, t: 5.857240 -4.600363 -0.754246 q: -0.211788 0.756653 0.286606 0.548160 
time: 1403636696.813555, t: 5.859418 -4.602049 -0.756267 q: -0.210275 0.757869 0.287332 0.546680 
time: 1403636696.913555, t: 5.857181 -4.606293 -0.763886 q: -0.207724 0.758186 0.289119 0.546274 
wait for imu ... 
time: 1403636697.013556, t: 5.855776 -4.609736 -0.774763 q: -0.196488 0.755646 0.296818 0.549809 
time: 1403636697.113555, t: 5.851119 -4.611862 -0.784397 q: -0.184693 0.753120 0.304475 0.553167 
wait for imu ... 
time: 1403636697.213556, t: 5.843330 -4.607055 -0.782711 q: -0.177459 0.750942 0.308967 0.555999 
wait for imu ... 
time: 1403636697.313555, t: 5.823104 -4.597756 -0.773683 q: -0.178158 0.752667 0.307844 0.554062 
wait for imu ... 
time: 1403636697.413555, t: 5.794271 -4.583109 -0.758916 q: -0.187612 0.758314 0.300975 0.546970 
time: 1403636697.513556, t: 5.762084 -4.564749 -0.734395 q: -0.194188 0.763459 0.296133 0.540118 
time: 1403636697.613555, t: 5.731400 -4.543648 -0.702969 q: -0.191957 0.766363 0.290764 0.539719 
wait for imu ... 
time: 1403636697.713556, t: 5.700363 -4.522556 -0.676876 q: -0.183358 0.770565 0.279292 0.542776 
time: 1403636697.813555, t: 5.666459 -4.500539 -0.659692 q: -0.170206 0.776933 0.262899 0.546158 
time: 1403636697.913555, t: 5.633528 -4.477053 -0.645657 q: -0.160152 0.782179 0.246188 0.549490 
time: 1403636698.013556, t: 5.599852 -4.450313 -0.637028 q: -0.153270 0.786551 0.232027 0.551370 
wait for imu ... 
time: 1403636698.113555, t: 5.562945 -4.421859 -0.635168 q: -0.148336 0.788994 0.222051 0.553333 
wait for imu ... 
time: 1403636698.213556, t: 5.526099 -4.391345 -0.638611 q: -0.145150 0.790713 0.214067 0.554870 
time: 1403636698.313555, t: 5.488169 -4.362544 -0.646830 q: -0.138163 0.793466 0.204408 0.556363 
time: 1403636698.413555, t: 5.453086 -4.333895 -0.659199 q: -0.127969 0.796743 0.191352 0.558756 
wait for imu ... 
time: 1403636698.513556, t: 5.415235 -4.302423 -0.673776 q: -0.115403 0.801358 0.175586 0.560068 
time: 1403636698.613555, t: 5.378735 -4.269589 -0.691114 q: -0.102170 0.805604 0.156216 0.562281 
wait for imu ... 
wait for imu ... 
time: 1403636698.713556, t: 5.343882 -4.234394 -0.712360 q: -0.088977 0.810241 0.133558 0.563697 
wait for imu ... 
time: 1403636698.813555, t: 5.309107 -4.198376 -0.737858 q: -0.073746 0.814503 0.109244 0.564988 
time: 1403636698.913555, t: 5.275727 -4.160250 -0.765580 q: -0.058938 0.817625 0.083194 0.566652 
wait for imu ... 
time: 1403636699.013556, t: 5.242843 -4.121775 -0.787976 q: -0.045049 0.820010 0.057521 0.567666 
wait for imu ... 
time: 1403636699.113555, t: 5.212181 -4.080902 -0.802495 q: -0.031730 0.820912 0.031351 0.569310 
time: 1403636699.213556, t: 5.182771 -4.040538 -0.809864 q: -0.021045 0.821612 0.002168 0.569655 
wait for imu ... 
time: 1403636699.313555, t: 5.155451 -4.003258 -0.811565 q: -0.009251 0.822561 -0.028131 0.567905 
wait for imu ... 
time: 1403636699.413555, t: 5.132567 -3.969750 -0.808217 q: 0.003342 0.822567 -0.056342 0.565860 
wait for imu ... 
time: 1403636699.513556, t: 5.113164 -3.941611 -0.800662 q: 0.016904 0.821784 -0.080998 0.563759 
time: 1403636699.613555, t: 5.095190 -3.919194 -0.797046 q: 0.029090 0.819664 -0.105391 0.562315 
wait for imu ... 
time: 1403636699.713556, t: 5.076858 -3.902451 -0.799857 q: 0.042883 0.816048 -0.128373 0.561914 
time: 1403636699.813555, t: 5.059053 -3.892265 -0.806260 q: 0.062159 0.812641 -0.141377 0.561928 
wait for imu ... 
time: 1403636699.913555, t: 5.043521 -3.887202 -0.814728 q: 0.075494 0.808241 -0.149714 0.564476 
time: 1403636700.013556, t: 5.029519 -3.885102 -0.827336 q: 0.080243 0.805386 -0.156535 0.566048 
time: 1403636700.113555, t: 5.013125 -3.886677 -0.844353 q: 0.081283 0.804050 -0.160192 0.566777 
time: 1403636700.213556, t: 4.998647 -3.893691 -0.865627 q: 0.082231 0.803366 -0.161204 0.567322 
time: 1403636700.313555, t: 4.980299 -3.900620 -0.891127 q: 0.082457 0.803896 -0.164551 0.565575 
wait for imu ... 
time: 1403636700.413555, t: 4.964127 -3.917591 -0.924054 q: 0.082917 0.803874 -0.173471 0.562866 
time: 1403636700.513556, t: 4.949859 -3.937363 -0.960671 q: 0.090801 0.800097 -0.179569 0.565115 
time: 1403636700.613555, t: 4.933626 -3.957922 -0.999183 q: 0.101847 0.795459 -0.184390 0.568219 
wait for imu ... 
time: 1403636700.713556, t: 4.912697 -3.979950 -1.039767 q: 0.114463 0.791490 -0.192125 0.568796 
wait for imu ... 
time: 1403636700.813555, t: 4.892653 -4.001681 -1.076314 q: 0.123480 0.789330 -0.198324 0.567783 
wait for imu ... 
time: 1403636700.913555, t: 4.870120 -4.022820 -1.105693 q: 0.127564 0.791115 -0.203556 0.562520 
wait for imu ... 
wait for imu ... 
time: 1403636701.013556, t: 4.847032 -4.044538 -1.126974 q: 0.128741 0.794341 -0.206717 0.556521 
time: 1403636701.113555, t: 4.824231 -4.065789 -1.142289 q: 0.127489 0.799844 -0.208138 0.548338 
time: 1403636701.213556, t: 4.806028 -4.089961 -1.147495 q: 0.127472 0.803089 -0.205956 0.544409 
wait for imu ... 
time: 1403636701.313555, t: 4.791493 -4.115799 -1.144143 q: 0.126174 0.804817 -0.203502 0.543081 
wait for imu ... 
time: 1403636701.413555, t: 4.780424 -4.143119 -1.135490 q: 0.125518 0.804083 -0.200451 0.545449 
time: 1403636701.513556, t: 4.773583 -4.172540 -1.124759 q: 0.125714 0.800664 -0.195922 0.552039 
time: 1403636701.613555, t: 4.769243 -4.202874 -1.114728 q: 0.125357 0.797637 -0.191343 0.558076 
time: 1403636701.713556, t: 4.764836 -4.233520 -1.107408 q: 0.125609 0.795783 -0.188345 0.561674 
wait for imu ... 
time: 1403636701.813555, t: 4.760501 -4.265838 -1.106608 q: 0.126630 0.794786 -0.193237 0.561195 
wait for imu ... 
time: 1403636701.913555, t: 4.753752 -4.298230 -1.111763 q: 0.132273 0.793081 -0.204051 0.558470 
wait for imu ... 
time: 1403636702.013556, t: 4.748143 -4.330533 -1.121476 q: 0.140639 0.789451 -0.218767 0.555994 
time: 1403636702.113555, t: 4.740346 -4.362303 -1.136478 q: 0.151169 0.783723 -0.237240 0.553754 
wait for imu ... 
time: 1403636702.213556, t: 4.730405 -4.394018 -1.155296 q: 0.163576 0.777528 -0.255706 0.550734 
wait for imu ... 
wait for imu ... 
time: 1403636702.313555, t: 4.721462 -4.425017 -1.180378 q: 0.173150 0.775179 -0.269365 0.544572 
wait for imu ... 
time: 1403636702.413555, t: 4.715264 -4.456355 -1.209024 q: 0.182644 0.774717 -0.277169 0.538175 
wait for imu ... 
time: 1403636702.513556, t: 4.711686 -4.487707 -1.241787 q: 0.189850 0.774958 -0.282629 0.532464 
time: 1403636702.613555, t: 4.712141 -4.518799 -1.279658 q: 0.194187 0.775528 -0.285916 0.528298 
wait for imu ... 
time: 1403636702.713556, t: 4.718639 -4.549134 -1.321833 q: 0.197342 0.777121 -0.287136 0.524111 
wait for imu ... 
time: 1403636702.813555, t: 4.727048 -4.580277 -1.367030 q: 0.197821 0.778674 -0.287776 0.521266 
wait for imu ... 
time: 1403636702.913555, t: 4.736053 -4.611076 -1.412533 q: 0.196997 0.780051 -0.288079 0.519349 
wait for imu ... 
time: 1403636703.013556, t: 4.748730 -4.642611 -1.451930 q: 0.195115 0.778680 -0.288243 0.522019 
time: 1403636703.113555, t: 4.764705 -4.674154 -1.484255 q: 0.191815 0.774624 -0.289450 0.528568 
time: 1403636703.213556, t: 4.782863 -4.707577 -1.507458 q: 0.184902 0.767474 -0.292496 0.539667 
time: 1403636703.313555, t: 4.802155 -4.743766 -1.524933 q: 0.176861 0.761271 -0.297058 0.548583 
time: 1403636703.413555, t: 4.817551 -4.781933 -1.536060 q: 0.179786 0.760028 -0.294319 0.550827 
wait for imu ... 
time: 1403636703.513556, t: 4.829931 -4.822847 -1.540687 q: 0.189153 0.764612 -0.287082 0.545136 
wait for imu ... 
time: 1403636703.613555, t: 4.840403 -4.863773 -1.538709 q: 0.193787 0.768774 -0.282974 0.539777 
wait for imu ... 
time: 1403636703.713556, t: 4.849498 -4.903229 -1.533428 q: 0.193666 0.771058 -0.281775 0.537183 
time: 1403636703.813555, t: 4.860369 -4.942500 -1.533037 q: 0.191382 0.769442 -0.281715 0.540341 
time: 1403636703.913555, t: 4.871544 -4.980372 -1.535950 q: 0.187367 0.766751 -0.282347 0.545221 
time: 1403636704.013556, t: 4.880487 -5.016953 -1.542631 q: 0.184066 0.765636 -0.282571 0.547791 
wait for imu ... 
time: 1403636704.113555, t: 4.888231 -5.053701 -1.554120 q: 0.181221 0.766469 -0.282219 0.547757 
wait for imu ... 
time: 1403636704.213556, t: 4.895357 -5.092030 -1.571117 q: 0.180753 0.771066 -0.280577 0.542275 
time: 1403636704.313555, t: 4.902984 -5.131979 -1.589045 q: 0.181927 0.775355 -0.278388 0.536868 
wait for imu ... 
time: 1403636704.413555, t: 4.913256 -5.174081 -1.600861 q: 0.182226 0.778035 -0.276986 0.533604 
time: 1403636704.513556, t: 4.925151 -5.215561 -1.603199 q: 0.183987 0.781474 -0.274888 0.529040 
wait for imu ... 
time: 1403636704.613555, t: 4.940494 -5.257211 -1.599763 q: 0.183475 0.784194 -0.274594 0.525334 
wait for imu ... 
time: 1403636704.713556, t: 4.959663 -5.299392 -1.599590 q: 0.183735 0.788014 -0.273871 0.519875 
time: 1403636704.813555, t: 4.986808 -5.340822 -1.605716 q: 0.182485 0.791750 -0.273861 0.514618 
wait for imu ... 
time: 1403636704.913555, t: 5.015045 -5.388118 -1.617910 q: 0.178993 0.795581 -0.273972 0.509855 
wait for imu ... 
time: 1403636705.013556, t: 5.052584 -5.436963 -1.635075 q: 0.178314 0.798733 -0.272881 0.505733 
wait for imu ... 
time: 1403636705.113555, t: 5.098564 -5.491598 -1.653982 q: 0.180602 0.797126 -0.269818 0.509089 
time: 1403636705.213556, t: 5.152284 -5.549129 -1.671203 q: 0.186195 0.788358 -0.264587 0.523275 
time: 1403636705.313555, t: 5.212610 -5.606723 -1.681531 q: 0.189851 0.782508 -0.260923 0.532500 
time: 1403636705.413555, t: 5.275928 -5.663088 -1.687523 q: 0.189642 0.781868 -0.260496 0.533723 
wait for imu ... 
wait for imu ... 
time: 1403636705.513556, t: 5.343090 -5.717192 -1.691405 q: 0.187408 0.785018 -0.262635 0.528817 
time: 1403636705.613555, t: 5.413497 -5.769619 -1.699998 q: 0.186017 0.787682 -0.263803 0.524751 
wait for imu ... 
time: 1403636705.713556, t: 5.487887 -5.822641 -1.713742 q: 0.186251 0.787244 -0.264179 0.525135 
time: 1403636705.813555, t: 5.566963 -5.876657 -1.730178 q: 0.184849 0.783407 -0.265118 0.530864 
wait for imu ... 
time: 1403636705.913555, t: 5.649225 -5.930549 -1.742592 q: 0.181198 0.777700 -0.267137 0.539433 
wait for imu ... 
time: 1403636706.013556, t: 5.734539 -5.984940 -1.748416 q: 0.172470 0.772080 -0.271948 0.547897 
time: 1403636706.113555, t: 5.814267 -6.039509 -1.747289 q: 0.162686 0.767319 -0.277044 0.554978 
time: 1403636706.213556, t: 5.889917 -6.097337 -1.748428 q: 0.169479 0.768030 -0.270474 0.555203 
time: 1403636706.313555, t: 5.961253 -6.154681 -1.757912 q: 0.178961 0.772149 -0.262210 0.550458 
time: 1403636706.413555, t: 6.029843 -6.211269 -1.774222 q: 0.185239 0.776876 -0.256261 0.544500 
wait for imu ... 
time: 1403636706.513556, t: 6.098460 -6.267067 -1.791522 q: 0.188317 0.780526 -0.252893 0.539779 
wait for imu ... 
time: 1403636706.613555, t: 6.165006 -6.320433 -1.803448 q: 0.188769 0.782408 -0.252225 0.537202 
wait for imu ... 
time: 1403636706.713556, t: 6.236576 -6.371362 -1.808909 q: 0.188957 0.784478 -0.252666 0.533900 
wait for imu ... 
time: 1403636706.813555, t: 6.308728 -6.421958 -1.807946 q: 0.187199 0.787119 -0.255017 0.529497 
wait for imu ... 
time: 1403636706.913555, t: 6.386864 -6.471798 -1.807668 q: 0.186643 0.787828 -0.257514 0.527426 
time: 1403636707.013556, t: 6.467240 -6.520172 -1.801092 q: 0.188594 0.785615 -0.258894 0.529354 
wait for imu ... 
time: 1403636707.113555, t: 6.552233 -6.568709 -1.794160 q: 0.191654 0.782185 -0.259577 0.532987 
time: 1403636707.213556, t: 6.640377 -6.616448 -1.786347 q: 0.193682 0.781392 -0.262049 0.532207 
wait for imu ... 
time: 1403636707.313555, t: 6.728771 -6.662118 -1.771853 q: 0.196414 0.781577 -0.263764 0.530083 
time: 1403636707.413555, t: 6.825831 -6.709286 -1.753054 q: 0.197071 0.781831 -0.265896 0.528397 
wait for imu ... 
time: 1403636707.513556, t: 6.928186 -6.755483 -1.725244 q: 0.196917 0.782103 -0.267348 0.527318 
wait for imu ... 
time: 1403636707.613555, t: 7.036920 -6.802007 -1.693418 q: 0.193774 0.782125 -0.270434 0.526876 
wait for imu ... 
time: 1403636707.713556, t: 7.145824 -6.848301 -1.668338 q: 0.183928 0.781390 -0.277025 0.528069 
wait for imu ... 
time: 1403636707.813555, t: 7.250111 -6.895780 -1.654619 q: 0.178919 0.780532 -0.279722 0.529636 
wait for imu ... 
time: 1403636707.913555, t: 7.357702 -6.944404 -1.651131 q: 0.177410 0.778680 -0.278707 0.533391 
wait for imu ... 
time: 1403636708.013556, t: 7.464974 -6.995860 -1.656874 q: 0.178650 0.778043 -0.274778 0.535939 
wait for imu ... 
time: 1403636708.113555, t: 7.575590 -7.049507 -1.670794 q: 0.181464 0.777678 -0.269208 0.538345 
wait for imu ... 
time: 1403636708.213556, t: 7.685073 -7.102271 -1.689912 q: 0.181606 0.776689 -0.265921 0.541350 
time: 1403636708.313555, t: 7.785362 -7.150681 -1.714740 q: 0.174224 0.772822 -0.269054 0.547724 
wait for imu ... 
time: 1403636708.413555, t: 7.880515 -7.200632 -1.740590 q: 0.162433 0.767979 -0.275846 0.554736 
time: 1403636708.513556, t: 7.969527 -7.253777 -1.761175 q: 0.157497 0.765084 -0.278511 0.558814 
wait for imu ... 
time: 1403636708.613555, t: 8.051623 -7.310873 -1.773965 q: 0.162905 0.764406 -0.274852 0.560001 
time: 1403636708.813555, t: 8.201271 -7.427672 -1.803535 q: 0.191075 0.767318 -0.258141 0.555046 
wait for imu ... 
time: 1403636708.913555, t: 8.273265 -7.481762 -1.824163 q: 0.198081 0.766469 -0.256642 0.554458 
wait for imu ... 
time: 1403636709.013556, t: 8.342485 -7.530917 -1.841226 q: 0.202720 0.763543 -0.257379 0.556473 
time: 1403636709.113555, t: 8.412155 -7.573979 -1.850685 q: 0.207619 0.761063 -0.258069 0.557743 
wait for imu ... 
time: 1403636709.213556, t: 8.480649 -7.610658 -1.853330 q: 0.208762 0.762548 -0.261148 0.553842 
time: 1403636709.313555, t: 8.544174 -7.639057 -1.850389 q: 0.208466 0.766312 -0.263474 0.547622 
time: 1403636709.413555, t: 8.609836 -7.661595 -1.847181 q: 0.209061 0.769189 -0.264012 0.543083 
time: 1403636709.513556, t: 8.673874 -7.676518 -1.849230 q: 0.209173 0.770319 -0.264076 0.541404 
wait for imu ... 
time: 1403636709.613555, t: 8.735784 -7.685675 -1.858351 q: 0.208290 0.771905 -0.264370 0.539338 
wait for imu ... 
time: 1403636709.713556, t: 8.800869 -7.691418 -1.871054 q: 0.207945 0.773146 -0.263364 0.538185 
time: 1403636709.813555, t: 8.871252 -7.693654 -1.883982 q: 0.206938 0.773691 -0.261932 0.538489 
time: 1403636709.913555, t: 8.945206 -7.693452 -1.893080 q: 0.205935 0.773570 -0.260852 0.539571 
wait for imu ... 
time: 1403636710.013556, t: 9.018862 -7.689227 -1.894121 q: 0.204534 0.773494 -0.259429 0.540897 
time: 1403636710.113555, t: 9.095739 -7.679444 -1.892807 q: 0.203888 0.773218 -0.257439 0.542484 
time: 1403636710.213556, t: 9.175142 -7.668142 -1.898078 q: 0.203124 0.773472 -0.254802 0.543652 
time: 1403636710.313555, t: 9.256052 -7.652296 -1.913315 q: 0.195123 0.771916 -0.256513 0.547973 
wait for imu ... 
time: 1403636710.413555, t: 9.338435 -7.633272 -1.933711 q: 0.179460 0.770571 -0.260178 0.553463 
wait for imu ... 
time: 1403636710.513556, t: 9.418564 -7.613250 -1.957832 q: 0.163394 0.771699 -0.258132 0.557809 
wait for imu ... 
time: 1403636710.613555, t: 9.497697 -7.594734 -1.986122 q: 0.151642 0.773608 -0.251084 0.561686 
wait for imu ... 
time: 1403636710.713556, t: 9.574032 -7.576358 -2.017967 q: 0.143394 0.776695 -0.238509 0.565064 
time: 1403636710.813555, t: 9.641858 -7.559727 -2.047066 q: 0.139103 0.780999 -0.219444 0.567922 
wait for imu ... 
time: 1403636710.913555, t: 9.704802 -7.546748 -2.069272 q: 0.136156 0.787451 -0.196770 0.568035 
wait for imu ... 
time: 1403636711.013556, t: 9.763220 -7.536371 -2.085171 q: 0.135559 0.793226 -0.175446 0.567128 
wait for imu ... 
time: 1403636711.113555, t: 9.818840 -7.524486 -2.095100 q: 0.133417 0.795997 -0.161418 0.567920 
wait for imu ... 
time: 1403636711.213556, t: 9.873268 -7.506679 -2.101905 q: 0.132138 0.796662 -0.152687 0.569698 
wait for imu ... 
time: 1403636711.313555, t: 9.926022 -7.487827 -2.106896 q: 0.128139 0.796259 -0.149679 0.571969 
wait for imu ... 
time: 1403636711.413555, t: 9.977477 -7.462861 -2.107907 q: 0.123417 0.792233 -0.150762 0.578279 
time: 1403636711.513556, t: 10.025735 -7.434839 -2.102340 q: 0.122297 0.783648 -0.151580 0.589884 
wait for imu ... 
time: 1403636711.613555, t: 10.072898 -7.402877 -2.095814 q: 0.127764 0.778685 -0.150062 0.595658 
time: 1403636711.713556, t: 10.114636 -7.362761 -2.090008 q: 0.132970 0.778440 -0.149580 0.594959 
wait for imu ... 
time: 1403636711.813555, t: 10.146775 -7.316754 -2.081680 q: 0.132068 0.779967 -0.153113 0.592255 
time: 1403636711.913555, t: 10.168297 -7.264539 -2.070154 q: 0.123589 0.783579 -0.161056 0.587189 
wait for imu ... 
time: 1403636712.013556, t: 10.178266 -7.212779 -2.053873 q: 0.112864 0.786209 -0.170024 0.583292 
wait for imu ... 
time: 1403636712.113555, t: 10.182252 -7.162684 -2.033008 q: 0.104706 0.786344 -0.176247 0.582784 
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time: 1403636712.213556, t: 10.184208 -7.116740 -2.007996 q: 0.105214 0.786713 -0.171827 0.583513 
wait for imu ... 
time: 1403636712.313555, t: 10.184946 -7.069568 -1.978610 q: 0.109012 0.788922 -0.155568 0.584395 
time: 1403636712.413555, t: 10.180494 -7.022339 -1.945775 q: 0.109083 0.791024 -0.138185 0.585907 
wait for imu ... 
time: 1403636712.513556, t: 10.171387 -6.973353 -1.908674 q: 0.105983 0.791731 -0.124078 0.588671 
time: 1403636712.613555, t: 10.157147 -6.921787 -1.869924 q: 0.099116 0.790787 -0.114875 0.592989 
wait for imu ... 
time: 1403636712.713556, t: 10.139633 -6.865346 -1.837015 q: 0.090495 0.787605 -0.109644 0.599556 
wait for imu ... 
time: 1403636712.813555, t: 10.119235 -6.805340 -1.810356 q: 0.084210 0.787813 -0.105835 0.600881 
wait for imu ... 
time: 1403636712.913555, t: 10.093667 -6.742048 -1.789189 q: 0.080990 0.790998 -0.103899 0.597467 
time: 1403636713.013556, t: 10.065131 -6.676683 -1.772117 q: 0.082196 0.794380 -0.101737 0.593173 
wait for imu ... 
time: 1403636713.113555, t: 10.030914 -6.608477 -1.752166 q: 0.078844 0.793989 -0.102558 0.594010 
time: 1403636713.213556, t: 9.990496 -6.538814 -1.725845 q: 0.075986 0.795700 -0.103360 0.591949 
wait for imu ... 
time: 1403636713.313555, t: 9.945705 -6.470572 -1.693602 q: 0.075346 0.798038 -0.103718 0.588813 
time: 1403636713.413555, t: 9.900832 -6.401345 -1.652245 q: 0.073421 0.799461 -0.105622 0.586784 
time: 1403636713.513556, t: 9.854053 -6.331704 -1.606496 q: 0.070599 0.800243 -0.108614 0.585517 
wait for imu ... 
time: 1403636713.613555, t: 9.804249 -6.263478 -1.561201 q: 0.066070 0.801123 -0.113513 0.583910 
wait for imu ... 
time: 1403636713.713556, t: 9.751800 -6.197363 -1.522143 q: 0.061754 0.802332 -0.118590 0.581710 
wait for imu ... 
time: 1403636713.813555, t: 9.697985 -6.136243 -1.489074 q: 0.058570 0.803019 -0.123030 0.580167 
wait for imu ... 
time: 1403636713.913555, t: 9.642161 -6.079042 -1.461405 q: 0.061275 0.803313 -0.123745 0.579328 
wait for imu ... 
time: 1403636714.013556, t: 9.586630 -6.028605 -1.439174 q: 0.065635 0.804309 -0.123127 0.577598 
time: 1403636714.113555, t: 9.528489 -5.981536 -1.421577 q: 0.072283 0.804252 -0.121442 0.577239 
wait for imu ... 
time: 1403636714.213556, t: 9.469082 -5.935966 -1.407822 q: 0.075020 0.803161 -0.122324 0.578222 
time: 1403636714.313555, t: 9.408389 -5.892927 -1.399077 q: 0.072215 0.801734 -0.126577 0.579643 
wait for imu ... 
time: 1403636714.413555, t: 9.346988 -5.854409 -1.395916 q: 0.072340 0.804229 -0.128548 0.575725 
wait for imu ... 
time: 1403636714.513556, t: 9.285029 -5.817524 -1.398222 q: 0.069507 0.809966 -0.126497 0.568438 
wait for imu ... 
time: 1403636714.613555, t: 9.226582 -5.787132 -1.405887 q: 0.061810 0.815425 -0.119536 0.563004 
time: 1403636714.713556, t: 9.176252 -5.763176 -1.416043 q: 0.053535 0.819695 -0.105214 0.560504 
time: 1403636714.813555, t: 9.129308 -5.740388 -1.417315 q: 0.044615 0.822846 -0.083904 0.560263 
time: 1403636714.913555, t: 9.083320 -5.718326 -1.409136 q: 0.034988 0.824793 -0.058651 0.561295 
wait for imu ... 
time: 1403636715.013556, t: 9.042950 -5.697684 -1.393009 q: 0.022976 0.826812 -0.036184 0.560843 
wait for imu ... 
time: 1403636715.113555, t: 9.004823 -5.677846 -1.367217 q: 0.014513 0.828461 -0.017416 0.559588 
wait for imu ... 
time: 1403636715.213556, t: 8.972317 -5.659351 -1.339031 q: 0.007451 0.829070 -0.005501 0.559069 
time: 1403636715.313555, t: 8.943309 -5.640663 -1.314329 q: 0.000305 0.827399 0.000280 0.561615 
wait for imu ... 
time: 1403636715.413555, t: 8.919387 -5.621496 -1.296327 q: -0.006434 0.824392 0.001471 0.565981 
wait for imu ... 
time: 1403636715.513556, t: 8.898885 -5.603087 -1.287477 q: -0.015943 0.820479 -0.002748 0.571447 
time: 1403636715.613555, t: 8.877840 -5.588664 -1.286184 q: -0.025884 0.818588 -0.009145 0.573725 
time: 1403636715.713556, t: 8.856755 -5.579683 -1.288406 q: -0.020856 0.812533 -0.007043 0.582499 
time: 1403636715.813555, t: 8.833687 -5.574075 -1.290773 q: -0.011565 0.806547 -0.003265 0.591048 
time: 1403636715.913555, t: 8.807351 -5.569189 -1.286721 q: -0.004870 0.801327 -0.000985 0.598205 
time: 1403636716.013556, t: 8.778186 -5.564323 -1.277485 q: -0.002260 0.798859 -0.002146 0.601511 
wait for imu ... 
time: 1403636716.113555, t: 8.743840 -5.560808 -1.264977 q: -0.002174 0.799919 -0.005206 0.600081 
wait for imu ... 
time: 1403636716.213556, t: 8.702579 -5.557208 -1.247994 q: -0.003411 0.806812 -0.009848 0.590716 
wait for imu ... 
time: 1403636716.313555, t: 8.656594 -5.554165 -1.231928 q: -0.001903 0.811352 -0.013232 0.584405 
time: 1403636716.413555, t: 8.608891 -5.552321 -1.221530 q: -0.000527 0.813158 -0.016248 0.581816 
wait for imu ... 
time: 1403636716.513556, t: 8.561027 -5.551282 -1.218720 q: 0.001506 0.813522 -0.018115 0.581250 
wait for imu ... 
time: 1403636716.613555, t: 8.514133 -5.550037 -1.222801 q: 0.003348 0.813204 -0.014581 0.581786 
wait for imu ... 
time: 1403636716.713556, t: 8.466319 -5.549237 -1.232756 q: -0.000513 0.812959 -0.007216 0.582275 
wait for imu ... 
time: 1403636716.813555, t: 8.417916 -5.548298 -1.247823 q: -0.008620 0.812622 0.002967 0.582720 
time: 1403636716.913555, t: 8.370024 -5.547004 -1.261430 q: -0.020131 0.812793 0.017274 0.581948 
wait for imu ... 
time: 1403636717.013556, t: 8.321980 -5.545720 -1.268493 q: -0.032944 0.812697 0.036819 0.580589 
wait for imu ... 
time: 1403636717.113555, t: 8.272063 -5.544389 -1.267091 q: -0.045791 0.812017 0.057044 0.579032 
time: 1403636717.213556, t: 8.221681 -5.544798 -1.259653 q: -0.054077 0.811001 0.073566 0.577877 
time: 1403636717.313555, t: 8.168770 -5.547024 -1.251285 q: -0.054612 0.809906 0.088962 0.577196 
wait for imu ... 
time: 1403636717.413555, t: 8.115984 -5.548229 -1.242198 q: -0.049219 0.807748 0.103002 0.578369 
time: 1403636717.513556, t: 8.060046 -5.544923 -1.237121 q: -0.048582 0.806929 0.109109 0.578446 
time: 1403636717.613555, t: 8.004470 -5.537523 -1.238494 q: -0.054845 0.807135 0.107504 0.577899 
wait for imu ... 
time: 1403636717.713556, t: 7.950363 -5.525291 -1.246337 q: -0.057758 0.806593 0.105546 0.578733 
wait for imu ... 
time: 1403636717.813555, t: 7.892354 -5.509468 -1.257828 q: -0.055939 0.806632 0.110524 0.577927 
wait for imu ... 
time: 1403636717.913555, t: 7.834403 -5.487231 -1.264943 q: -0.058100 0.805944 0.120069 0.576768 
wait for imu ... 
time: 1403636718.013556, t: 7.771462 -5.459274 -1.265340 q: -0.064505 0.803960 0.132627 0.576106 
wait for imu ... 
time: 1403636718.113555, t: 7.708847 -5.424226 -1.259234 q: -0.078780 0.802054 0.145018 0.573997 
time: 1403636718.213556, t: 7.645132 -5.385153 -1.253085 q: -0.095995 0.800513 0.156016 0.570634 
time: 1403636718.313555, t: 7.577646 -5.345078 -1.254023 q: -0.109805 0.799638 0.164633 0.566937 
wait for imu ... 
time: 1403636718.413555, t: 7.512120 -5.302688 -1.263072 q: -0.122178 0.798277 0.174625 0.563323 
wait for imu ... 
time: 1403636718.513556, t: 7.442471 -5.258655 -1.278622 q: -0.136181 0.795815 0.184828 0.560332 
wait for imu ... 
time: 1403636718.613555, t: 7.380532 -5.214872 -1.298265 q: -0.149807 0.794412 0.192026 0.556411 
wait for imu ... 
time: 1403636718.713556, t: 7.322080 -5.172420 -1.321572 q: -0.163733 0.794362 0.195543 0.551311 
time: 1403636718.813555, t: 7.267454 -5.134889 -1.347922 q: -0.167206 0.792438 0.203161 0.550282 
wait for imu ... 
time: 1403636718.913555, t: 7.217272 -5.101409 -1.374095 q: -0.161731 0.789481 0.213795 0.552136 
time: 1403636719.013556, t: 7.169848 -5.071809 -1.393989 q: -0.157335 0.786535 0.221152 0.554707 
time: 1403636719.113555, t: 7.126779 -5.041566 -1.405381 q: -0.156574 0.783136 0.223926 0.558606 
wait for imu ... 
time: 1403636719.213556, t: 7.083671 -5.011769 -1.408756 q: -0.158627 0.779301 0.222975 0.563747 
wait for imu ... 
time: 1403636719.313555, t: 7.037342 -4.982933 -1.413681 q: -0.161950 0.776615 0.219755 0.567759 
time: 1403636719.413555, t: 6.987618 -4.954363 -1.425046 q: -0.163493 0.774850 0.217256 0.570681 
wait for imu ... 
time: 1403636719.513556, t: 6.929574 -4.926855 -1.442745 q: -0.164601 0.775065 0.214351 0.571169 
time: 1403636719.613555, t: 6.870078 -4.902815 -1.462384 q: -0.164315 0.779004 0.212209 0.566675 
wait for imu ... 
time: 1403636719.713556, t: 6.814420 -4.882978 -1.475147 q: -0.161317 0.783753 0.211073 0.561388 
wait for imu ... 
time: 1403636719.813555, t: 6.756362 -4.864364 -1.478755 q: -0.159196 0.787173 0.208621 0.558115 
wait for imu ... 
time: 1403636719.913555, t: 6.698863 -4.848235 -1.475464 q: -0.158110 0.788650 0.205763 0.557399 
time: 1403636720.013556, t: 6.642322 -4.834719 -1.472023 q: -0.156172 0.790327 0.204176 0.556152 
wait for imu ... 
time: 1403636720.113555, t: 6.588579 -4.821347 -1.474643 q: -0.155402 0.791113 0.203494 0.555500 
wait for imu ... 
time: 1403636720.213556, t: 6.536586 -4.808705 -1.484684 q: -0.155623 0.792016 0.202950 0.554349 
wait for imu ... 
time: 1403636720.313555, t: 6.486526 -4.796972 -1.497149 q: -0.156642 0.791941 0.202472 0.554345 
wait for imu ... 
time: 1403636720.413555, t: 6.439950 -4.786618 -1.514410 q: -0.157479 0.791758 0.203249 0.554084 
wait for imu ... 
time: 1403636720.513556, t: 6.394641 -4.778242 -1.531688 q: -0.159203 0.792199 0.203663 0.552807 
wait for imu ... 
time: 1403636720.613555, t: 6.350516 -4.772518 -1.543706 q: -0.159714 0.792238 0.205220 0.552027 
wait for imu ... 
time: 1403636720.713556, t: 6.310489 -4.768711 -1.546726 q: -0.161099 0.791327 0.205403 0.552863 
time: 1403636720.813555, t: 6.273838 -4.766059 -1.543314 q: -0.158660 0.792791 0.201583 0.552878 
wait for imu ... 
time: 1403636720.913555, t: 6.239702 -4.765322 -1.539524 q: -0.151207 0.795002 0.193968 0.554513 
wait for imu ... 
time: 1403636721.013556, t: 6.206673 -4.764923 -1.541116 q: -0.145468 0.796330 0.182342 0.558077 
time: 1403636721.113555, t: 6.176285 -4.766789 -1.548531 q: -0.139215 0.797591 0.169300 0.561966 
wait for imu ... 
time: 1403636721.213556, t: 6.146852 -4.771481 -1.558344 q: -0.129837 0.798646 0.154899 0.566845 
wait for imu ... 
time: 1403636721.313555, t: 6.122016 -4.779393 -1.565442 q: -0.122579 0.799374 0.142645 0.570639 
time: 1403636721.413555, t: 6.092580 -4.789441 -1.563363 q: -0.114861 0.800289 0.134190 0.573008 
wait for imu ... 
time: 1403636721.513556, t: 6.060647 -4.800713 -1.557057 q: -0.107775 0.802134 0.127463 0.573340 
time: 1403636721.613555, t: 6.027014 -4.814246 -1.553263 q: -0.098999 0.804487 0.119790 0.573280 
wait for imu ... 
time: 1403636721.713556, t: 5.994189 -4.828414 -1.555548 q: -0.092024 0.805623 0.114487 0.573930 
wait for imu ... 
wait for imu ... 
time: 1403636721.813555, t: 5.959980 -4.842085 -1.563449 q: -0.087101 0.806196 0.111844 0.574414 
wait for imu ... 
time: 1403636721.913555, t: 5.925830 -4.854978 -1.575374 q: -0.086153 0.806018 0.110053 0.575153 
wait for imu ... 
time: 1403636722.013556, t: 5.891553 -4.866829 -1.587879 q: -0.080832 0.805361 0.113884 0.576099 
time: 1403636722.113555, t: 5.856551 -4.876896 -1.594797 q: -0.078501 0.805075 0.117278 0.576141 
time: 1403636722.213556, t: 5.818416 -4.886299 -1.594715 q: -0.081825 0.805571 0.117057 0.575028 
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 ... 
wait for imu ... 
time: 1403636722.313555, t: 5.776747 -4.896943 -1.589256 q: -0.086063 0.805781 0.116743 0.574179 
wait for imu ... 
time: 1403636722.413555, t: 5.738212 -4.905846 -1.586298 q: -0.085854 0.806409 0.115690 0.573541 
wait for imu ... 
time: 1403636722.513556, t: 5.700109 -4.914856 -1.588748 q: -0.083459 0.806598 0.111490 0.574459 
wait for imu ... 
time: 1403636722.613555, t: 5.661143 -4.923377 -1.595823 q: -0.079718 0.807151 0.109176 0.574659 
time: 1403636722.713556, t: 5.622765 -4.930025 -1.605684 q: -0.076634 0.807375 0.107539 0.575072 
wait for imu ... 
wait for imu ... 
time: 1403636722.813555, t: 5.581338 -4.935969 -1.615646 q: -0.073354 0.808090 0.107477 0.574507 
wait for imu ... 
time: 1403636722.913555, t: 5.539801 -4.939381 -1.618082 q: -0.072606 0.808322 0.106640 0.574431 
wait for imu ... 
time: 1403636723.013556, t: 5.497055 -4.941219 -1.615186 q: -0.075281 0.808593 0.104911 0.574025 
time: 1403636723.113555, t: 5.457755 -4.940170 -1.606951 q: -0.078250 0.808229 0.102978 0.574489 
wait for imu ... 
time: 1403636723.213556, t: 5.418805 -4.939750 -1.601332 q: -0.078622 0.808336 0.102306 0.574408 
wait for imu ... 
time: 1403636723.313555, t: 5.382735 -4.938491 -1.599262 q: -0.075163 0.808477 0.104042 0.574361 
wait for imu ... 
time: 1403636723.413555, t: 5.348628 -4.937712 -1.600661 q: -0.069353 0.808401 0.101757 0.575608 
wait for imu ... 
time: 1403636723.513556, t: 5.313886 -4.937077 -1.602806 q: -0.061451 0.805744 0.094446 0.581446 
time: 1403636723.613555, t: 5.279334 -4.933757 -1.599052 q: -0.060125 0.799511 0.082170 0.591958 
wait for imu ... 
time: 1403636723.713556, t: 5.242482 -4.929941 -1.590008 q: -0.056041 0.801830 0.074334 0.590257 
wait for imu ... 
time: 1403636723.813555, t: 5.205527 -4.924067 -1.577855 q: -0.052729 0.808056 0.067525 0.582843 
time: 1403636723.913555, t: 5.169024 -4.917816 -1.568622 q: -0.050784 0.812741 0.062247 0.577060 
wait for imu ... 
time: 1403636724.013556, t: 5.129267 -4.912955 -1.565386 q: -0.047752 0.818122 0.057472 0.570170 
wait for imu ... 
time: 1403636724.113555, t: 5.087275 -4.910674 -1.566800 q: -0.041067 0.822794 0.049241 0.564712 
wait for imu ... 
time: 1403636724.213556, t: 5.044753 -4.910248 -1.572465 q: -0.032218 0.824232 0.037264 0.564105 
time: 1403636724.313555, t: 5.005433 -4.909143 -1.581868 q: -0.020408 0.823964 0.022967 0.565809 
wait for imu ... 
time: 1403636724.413555, t: 4.969333 -4.907923 -1.591167 q: -0.008450 0.821241 0.007632 0.570468 
wait for imu ... 
time: 1403636724.513556, t: 4.937968 -4.905169 -1.595129 q: 0.001205 0.818396 -0.004155 0.574638 
time: 1403636724.613555, t: 4.905098 -4.900805 -1.592721 q: 0.007931 0.816595 -0.012567 0.577020 
wait for imu ... 
time: 1403636724.713556, t: 4.877621 -4.894114 -1.583261 q: 0.011764 0.816078 -0.017949 0.577543 
wait for imu ... 
time: 1403636724.813555, t: 4.850753 -4.885294 -1.565523 q: 0.013471 0.816880 -0.021050 0.576267 
wait for imu ... 
time: 1403636724.913555, t: 4.824820 -4.875077 -1.541172 q: 0.011360 0.817990 -0.023059 0.574658 
wait for imu ... 
time: 1403636725.013556, t: 4.795898 -4.864079 -1.509766 q: 0.005940 0.818646 -0.025137 0.573718 
time: 1403636725.113555, t: 4.774994 -4.855067 -1.471509 q: 0.001222 0.818722 -0.026187 0.573592 
time: 1403636725.213556, t: 4.752016 -4.848680 -1.430915 q: -0.000632 0.819265 -0.025595 0.572844 
time: 1403636725.313555, t: 4.732844 -4.841903 -1.394008 q: 0.000350 0.819893 -0.023644 0.572028 
wait for imu ... 
time: 1403636725.413555, t: 4.712139 -4.840377 -1.363631 q: 0.002540 0.819776 -0.021320 0.572282 
wait for imu ... 
time: 1403636725.513556, t: 4.692239 -4.839223 -1.339955 q: 0.004439 0.819813 -0.019711 0.572275 
wait for imu ... 
time: 1403636725.613555, t: 4.671350 -4.838555 -1.322646 q: 0.006648 0.820133 -0.018540 0.571834 
time: 1403636725.713556, t: 4.651563 -4.837418 -1.311277 q: 0.006459 0.818995 -0.019035 0.573448 
wait for imu ... 
time: 1403636725.813555, t: 4.631946 -4.835961 -1.304734 q: 0.006487 0.819033 -0.018576 0.573408 
wait for imu ... 
time: 1403636725.913555, t: 4.611295 -4.832465 -1.301004 q: 0.003858 0.819838 -0.019696 0.572243 
wait for imu ... 
time: 1403636726.013556, t: 4.592104 -4.829118 -1.299363 q: 0.002134 0.819616 -0.019872 0.572564 
wait for imu ... 
wait for imu ... 
time: 1403636726.113555, t: 4.575378 -4.826084 -1.301308 q: 0.003215 0.819122 -0.017913 0.573331 
wait for imu ... 
time: 1403636726.213556, t: 4.560356 -4.823835 -1.307275 q: 0.003427 0.817523 -0.016349 0.575653 
time: 1403636726.313555, t: 4.548106 -4.821794 -1.318843 q: 0.003351 0.817146 -0.014500 0.576238 
wait for imu ... 
time: 1403636726.413555, t: 4.534105 -4.818781 -1.317272 q: 0.003208 0.816092 -0.012765 0.577772 
time: 1403636726.513556, t: 4.525083 -4.815187 -1.314001 q: -0.000457 0.815315 -0.013284 0.578865 
wait for imu ... 
time: 1403636726.613555, t: 4.515787 -4.812663 -1.303885 q: -0.014660 0.813918 -0.021234 0.580407 
wait for imu ... 
time: 1403636726.713556, t: 4.499934 -4.814475 -1.283527 q: -0.022482 0.812199 -0.025434 0.582391 
time: 1403636726.813555, t: 4.480478 -4.820571 -1.257641 q: -0.015141 0.811460 -0.019320 0.583892 
time: 1403636726.913555, t: 4.467366 -4.827369 -1.228662 q: -0.008731 0.811244 -0.009759 0.584561 
time: 1403636727.013556, t: 4.441436 -4.836955 -1.192992 q: -0.007223 0.811043 -0.004064 0.584928 
wait for imu ... 
time: 1403636727.113555, t: 4.416062 -4.845465 -1.156765 q: -0.004932 0.811016 0.000586 0.585003 
time: 1403636727.213556, t: 4.390283 -4.853491 -1.126452 q: -0.000962 0.811744 0.005356 0.583988 
wait for imu ... 
time: 1403636727.313555, t: 4.365384 -4.858559 -1.102369 q: 0.003385 0.812339 0.009399 0.583100 
time: 1403636727.413555, t: 4.342270 -4.860282 -1.082167 q: 0.004934 0.813447 0.011002 0.581515 
wait for imu ... 
time: 1403636727.513556, t: 4.315832 -4.859407 -1.063856 q: 0.004120 0.812464 0.010552 0.582901 
time: 1403636727.613555, t: 4.287412 -4.856830 -1.041763 q: -0.000201 0.810812 0.007691 0.585256 
wait for imu ... 
time: 1403636727.713556, t: 4.257641 -4.853139 -1.013840 q: -0.001808 0.811588 0.006671 0.584189 
wait for imu ... 
time: 1403636727.813555, t: 4.229910 -4.848025 -0.977909 q: 0.000157 0.812246 0.008527 0.583253 
time: 1403636727.913555, t: 4.202668 -4.839142 -0.939592 q: 0.008849 0.812536 0.014046 0.582675 
wait for imu ... 
time: 1403636728.013556, t: 4.173577 -4.827996 -0.903649 q: 0.008816 0.812796 0.013841 0.582318 
wait for imu ... 
time: 1403636728.113555, t: 4.143672 -4.813087 -0.874283 q: 0.004208 0.812171 0.010517 0.583309 
wait for imu ... 
time: 1403636728.213556, t: 4.111366 -4.797140 -0.850064 q: 0.001221 0.810943 0.008003 0.585069 
time: 1403636728.313555, t: 4.078695 -4.779033 -0.832561 q: -0.001005 0.810744 0.006166 0.585368 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636728.413555, t: 4.045524 -4.758871 -0.821689 q: -0.004159 0.811327 0.003890 0.584565 
time: 1403636728.513556, t: 4.010943 -4.738537 -0.816322 q: -0.015696 0.811445 -0.004449 0.584201 
wait for imu ... 
time: 1403636728.613555, t: 3.973882 -4.719913 -0.814383 q: -0.022142 0.811479 -0.005952 0.583931 
wait for imu ... 
time: 1403636728.713556, t: 3.935194 -4.704489 -0.811607 q: -0.019338 0.811619 0.006020 0.583836 
wait for imu ... 
time: 1403636728.813555, t: 3.896934 -4.689574 -0.802853 q: -0.019971 0.811530 0.023167 0.583510 
wait for imu ... 
time: 1403636728.913555, t: 3.856433 -4.674003 -0.788288 q: -0.023924 0.810068 0.038294 0.584595 
wait for imu ... 
time: 1403636729.013556, t: 3.815495 -4.657961 -0.775205 q: -0.029543 0.808123 0.048654 0.586256 
wait for imu ... 
time: 1403636729.113555, t: 3.773044 -4.640665 -0.767319 q: -0.033968 0.805993 0.056591 0.588234 
wait for imu ... 
time: 1403636729.213556, t: 3.728708 -4.622389 -0.765544 q: -0.037040 0.807026 0.061427 0.586143 
time: 1403636729.313555, t: 3.682216 -4.602439 -0.768013 q: -0.040830 0.807669 0.063255 0.584810 
wait for imu ... 
time: 1403636729.413555, t: 3.632678 -4.581158 -0.772518 q: -0.042479 0.807056 0.064392 0.585414 
wait for imu ... 
time: 1403636729.513556, t: 3.580435 -4.559737 -0.772968 q: -0.043285 0.806853 0.065044 0.585563 
time: 1403636729.613555, t: 3.526818 -4.537759 -0.766792 q: -0.043991 0.807682 0.065091 0.584362 
wait for imu ... 
time: 1403636729.713556, t: 3.470224 -4.515256 -0.754961 q: -0.045354 0.807919 0.064120 0.584036 
wait for imu ... 
time: 1403636729.813555, t: 3.414958 -4.493140 -0.742096 q: -0.044538 0.810335 0.063637 0.580795 
time: 1403636729.913555, t: 3.358727 -4.470790 -0.734085 q: -0.044985 0.813090 0.062419 0.577031 
wait for imu ... 
time: 1403636730.013556, t: 3.301297 -4.448359 -0.729967 q: -0.044481 0.815037 0.062449 0.574314 
wait for imu ... 
time: 1403636730.113555, t: 3.247142 -4.425561 -0.729679 q: -0.045071 0.815871 0.063051 0.573017 
wait for imu ... 
time: 1403636730.213556, t: 3.193213 -4.402218 -0.733484 q: -0.045318 0.816435 0.063136 0.572183 
wait for imu ... 
time: 1403636730.313555, t: 3.139780 -4.378846 -0.741048 q: -0.047295 0.816180 0.062591 0.572447 
time: 1403636730.413555, t: 3.085819 -4.354534 -0.751584 q: -0.047083 0.817102 0.063566 0.571040 
time: 1403636730.513556, t: 3.034186 -4.330924 -0.759602 q: -0.046270 0.821263 0.064827 0.564963 
wait for imu ... 
time: 1403636730.613555, t: 2.987119 -4.306129 -0.757570 q: -0.047238 0.825288 0.064653 0.559007 
wait for imu ... 
wait for imu ... 
time: 1403636730.713556, t: 2.947021 -4.280532 -0.745362 q: -0.047975 0.826699 0.064612 0.556859 
time: 1403636730.813555, t: 2.910114 -4.254333 -0.723856 q: -0.047236 0.827475 0.065508 0.555664 
wait for imu ... 
time: 1403636730.913555, t: 2.873655 -4.227506 -0.700515 q: -0.051819 0.828516 0.061878 0.554119 
time: 1403636731.013556, t: 2.838920 -4.199873 -0.681857 q: -0.060418 0.827391 0.055102 0.555642 
wait for imu ... 
time: 1403636731.113555, t: 2.812437 -4.175069 -0.666890 q: -0.069812 0.820889 0.047499 0.564811 
time: 1403636731.213556, t: 2.794038 -4.156386 -0.657125 q: -0.070203 0.815679 0.046363 0.572354 
wait for imu ... 
time: 1403636731.313555, t: 2.777521 -4.144458 -0.650940 q: -0.062134 0.812373 0.051074 0.577564 
wait for imu ... 
time: 1403636731.413555, t: 2.762922 -4.135229 -0.650933 q: -0.053886 0.812287 0.056246 0.578033 
wait for imu ... 
time: 1403636731.513556, t: 2.748655 -4.128821 -0.656331 q: -0.053552 0.812455 0.056521 0.577802 
time: 1403636731.613555, t: 2.734709 -4.124277 -0.665382 q: -0.059975 0.812917 0.052521 0.576897 
time: 1403636731.713556, t: 2.718593 -4.121151 -0.677482 q: -0.061681 0.812931 0.051380 0.576800 
time: 1403636731.813555, t: 2.709034 -4.125640 -0.695568 q: -0.057596 0.812898 0.054670 0.576967 
time: 1403636731.913555, t: 2.694531 -4.129109 -0.715077 q: -0.054562 0.812579 0.057835 0.577402 
wait for imu ... 
time: 1403636732.013556, t: 2.687101 -4.137713 -0.740037 q: -0.054467 0.811962 0.058949 0.578166 
time: 1403636732.113555, t: 2.672111 -4.143113 -0.766969 q: -0.054661 0.810905 0.059532 0.579570 
time: 1403636732.213556, t: 2.657798 -4.150468 -0.796463 q: -0.054013 0.809727 0.061052 0.581117 
wait for imu ... 
wait for imu ... 
time: 1403636732.313555, t: 2.647145 -4.159769 -0.821738 q: -0.054098 0.808681 0.062159 0.582447 
wait for imu ... 
time: 1403636732.413555, t: 2.626647 -4.166567 -0.837787 q: -0.048213 0.807676 0.066500 0.583877 
wait for imu ... 
time: 1403636732.513556, t: 2.608450 -4.175763 -0.843818 q: -0.035422 0.803595 0.075993 0.589241 
time: 1403636732.613555, t: 2.576693 -4.179941 -0.843031 q: -0.026717 0.799127 0.082840 0.594828 
wait for imu ... 
time: 1403636732.713556, t: 2.548013 -4.180304 -0.837395 q: -0.031398 0.796831 0.080803 0.597951 
wait for imu ... 
time: 1403636732.813555, t: 2.513540 -4.174151 -0.826119 q: -0.040480 0.796850 0.075525 0.598070 
wait for imu ... 
time: 1403636732.913555, t: 2.474171 -4.165987 -0.817022 q: -0.043472 0.797585 0.074033 0.597065 
wait for imu ... 
wait for imu ... 
time: 1403636733.013556, t: 2.430795 -4.156324 -0.814473 q: -0.044941 0.800673 0.073938 0.592821 
time: 1403636733.113555, t: 2.384440 -4.145744 -0.813546 q: -0.045237 0.804662 0.074446 0.587307 
time: 1403636733.213556, t: 2.331599 -4.134460 -0.805647 q: -0.042935 0.805321 0.076730 0.586283 
time: 1403636733.313555, t: 2.275378 -4.118713 -0.789965 q: -0.044143 0.806067 0.077093 0.585118 
wait for imu ... 
time: 1403636733.413555, t: 2.217068 -4.100856 -0.769071 q: -0.047557 0.809012 0.075987 0.580916 
wait for imu ... 
time: 1403636733.513556, t: 2.158023 -4.081272 -0.744221 q: -0.049945 0.811466 0.074556 0.577468 
wait for imu ... 
time: 1403636733.613555, t: 2.098669 -4.061448 -0.720829 q: -0.050107 0.813074 0.075222 0.575101 
wait for imu ... 
time: 1403636733.713556, t: 2.040150 -4.040853 -0.702809 q: -0.051398 0.814550 0.074613 0.572974 
time: 1403636733.813555, t: 1.982362 -4.019628 -0.690913 q: -0.051229 0.815841 0.075225 0.571069 
time: 1403636733.913555, t: 1.925450 -3.998502 -0.683281 q: -0.050128 0.815594 0.076454 0.571356 
time: 1403636734.013556, t: 1.869836 -3.976683 -0.678279 q: -0.046810 0.812203 0.078837 0.576125 
wait for imu ... 
time: 1403636734.113555, t: 1.814154 -3.950960 -0.678595 q: -0.047559 0.809716 0.077045 0.579795 
wait for imu ... 
time: 1403636734.213556, t: 1.759795 -3.926806 -0.672507 q: -0.049369 0.809302 0.075783 0.580388 
time: 1403636734.313555, t: 1.700959 -3.899084 -0.663354 q: -0.052524 0.809695 0.074836 0.579685 
wait for imu ... 
time: 1403636734.413555, t: 1.645754 -3.874522 -0.642133 q: -0.055306 0.811560 0.074190 0.576895 
time: 1403636734.513556, t: 1.586436 -3.847844 -0.621834 q: -0.056407 0.813542 0.074805 0.573909 
wait for imu ... 
time: 1403636734.613555, t: 1.533136 -3.823044 -0.601707 q: -0.057447 0.815980 0.075537 0.570238 
time: 1403636734.713556, t: 1.477651 -3.796434 -0.589896 q: -0.056580 0.817310 0.077455 0.568158 
time: 1403636734.813555, t: 1.422574 -3.771245 -0.582548 q: -0.056628 0.817510 0.079144 0.567633 
wait for imu ... 
time: 1403636734.913555, t: 1.369490 -3.745792 -0.580462 q: -0.058147 0.817584 0.079870 0.567271 
wait for imu ... 
time: 1403636735.013556, t: 1.320176 -3.720458 -0.581863 q: -0.058252 0.817516 0.080466 0.567274 
wait for imu ... 
time: 1403636735.113555, t: 1.273493 -3.695532 -0.586631 q: -0.059723 0.817225 0.079502 0.567676 
wait for imu ... 
time: 1403636735.213556, t: 1.229188 -3.671587 -0.589081 q: -0.061282 0.818021 0.077997 0.566570 
time: 1403636735.313555, t: 1.188411 -3.647673 -0.583172 q: -0.062807 0.819771 0.075524 0.564204 
time: 1403636735.413555, t: 1.151523 -3.622926 -0.564935 q: -0.062274 0.819654 0.073354 0.564720 
wait for imu ... 
time: 1403636735.513556, t: 1.116605 -3.599031 -0.537829 q: -0.060697 0.818655 0.070362 0.566718 
time: 1403636735.613555, t: 1.081160 -3.573546 -0.505411 q: -0.057778 0.817230 0.068271 0.569329 
wait for imu ... 
time: 1403636735.713556, t: 1.044450 -3.547719 -0.475613 q: -0.055721 0.817604 0.065813 0.569287 
wait for imu ... 
time: 1403636735.813555, t: 1.010231 -3.522156 -0.450987 q: -0.054185 0.817792 0.064094 0.569361 
time: 1403636735.913555, t: 0.977072 -3.497582 -0.431161 q: -0.053687 0.817079 0.063526 0.570494 
wait for imu ... 
time: 1403636736.013556, t: 0.947171 -3.473647 -0.415094 q: -0.053235 0.816175 0.065617 0.571593 
time: 1403636736.113555, t: 0.922443 -3.450427 -0.393017 q: -0.058060 0.813915 0.072029 0.573570 
wait for imu ... 
time: 1403636736.213556, t: 0.895699 -3.426907 -0.366636 q: -0.065984 0.810654 0.082100 0.575974 
time: 1403636736.313555, t: 0.870248 -3.403927 -0.336993 q: -0.072210 0.808735 0.092420 0.576360 
wait for imu ... 
time: 1403636736.413555, t: 0.844324 -3.382757 -0.311129 q: -0.076139 0.807598 0.101115 0.575989 
wait for imu ... 
time: 1403636736.513556, t: 0.827067 -3.360876 -0.293127 q: -0.073146 0.805679 0.111349 0.577176 
wait for imu ... 
time: 1403636736.613555, t: 0.802303 -3.337379 -0.279776 q: -0.069721 0.803957 0.119298 0.578412 
wait for imu ... 
time: 1403636736.713556, t: 0.776326 -3.311353 -0.271495 q: -0.069588 0.802616 0.122751 0.579567 
time: 1403636736.813555, t: 0.747845 -3.280555 -0.268003 q: -0.069433 0.802170 0.125212 0.579676 
wait for imu ... 
time: 1403636736.913555, t: 0.717250 -3.246993 -0.268204 q: -0.071105 0.802480 0.126333 0.578800 
wait for imu ... 
time: 1403636737.013556, t: 0.684866 -3.210863 -0.270778 q: -0.077336 0.803057 0.124622 0.577571 
wait for imu ... 
time: 1403636737.113555, t: 0.650260 -3.172152 -0.277105 q: -0.085448 0.802719 0.122330 0.577388 
wait for imu ... 
time: 1403636737.213556, t: 0.613874 -3.134232 -0.289108 q: -0.089191 0.802864 0.123098 0.576456 
wait for imu ... 
time: 1403636737.313555, t: 0.576072 -3.097976 -0.307086 q: -0.092144 0.804410 0.124238 0.573585 
time: 1403636737.413555, t: 0.537794 -3.063810 -0.322720 q: -0.094111 0.806557 0.126045 0.569843 
wait for imu ... 
time: 1403636737.513556, t: 0.499176 -3.029640 -0.329488 q: -0.094122 0.808644 0.128682 0.566283 
time: 1403636737.613555, t: 0.460456 -2.994096 -0.328139 q: -0.097884 0.810034 0.127447 0.563934 
wait for imu ... 
time: 1403636737.713556, t: 0.422559 -2.959541 -0.320647 q: -0.103652 0.812206 0.124130 0.560508 
time: 1403636737.813555, t: 0.388500 -2.928642 -0.304791 q: -0.107756 0.813352 0.121187 0.558714 
wait for imu ... 
time: 1403636737.913555, t: 0.361709 -2.903590 -0.277953 q: -0.109182 0.813719 0.119718 0.558218 
time: 1403636738.013556, t: 0.337138 -2.885002 -0.245930 q: -0.109031 0.813447 0.118753 0.558851 
time: 1403636738.113555, t: 0.315196 -2.871219 -0.208254 q: -0.105086 0.812709 0.120112 0.560388 
wait for imu ... 
time: 1403636738.213556, t: 0.324316 -2.871730 -0.163446 q: -0.102490 0.811411 0.120720 0.562614 
time: 1403636738.313555, t: 0.340011 -2.871379 -0.127923 q: -0.101008 0.811730 0.120236 0.562526 
wait for imu ... 
time: 1403636738.413555, t: 0.347480 -2.865516 -0.102229 q: -0.100040 0.812477 0.118798 0.561926 
wait for imu ... 
time: 1403636738.513556, t: 0.353767 -2.858185 -0.085653 q: -0.096605 0.814109 0.114560 0.561044 
time: 1403636738.613555, t: 0.359292 -2.851913 -0.077700 q: -0.090838 0.817585 0.104399 0.558931 
time: 1403636738.713556, t: 0.358728 -2.849929 -0.074998 q: -0.082572 0.819354 0.088919 0.560299 
time: 1403636738.813555, t: 0.368542 -2.850938 -0.080984 q: -0.073438 0.818361 0.068707 0.565837 
wait for imu ... 
time: 1403636738.913555, t: 0.378100 -2.855249 -0.094189 q: -0.063599 0.817352 0.045255 0.570827 
time: 1403636739.013556, t: 0.385652 -2.861440 -0.111972 q: -0.053860 0.817115 0.018731 0.573647 
time: 1403636739.113555, t: 0.394326 -2.873839 -0.135141 q: -0.038762 0.817221 -0.006473 0.574983 
wait for imu ... 
time: 1403636739.213556, t: 0.403399 -2.890715 -0.161442 q: -0.015757 0.817118 -0.026840 0.575629 
time: 1403636739.313555, t: 0.412904 -2.911033 -0.190599 q: 0.010152 0.816249 -0.045537 0.575813 
wait for imu ... 
time: 1403636739.413555, t: 0.419754 -2.935119 -0.217559 q: 0.035094 0.815129 -0.063115 0.574761 
wait for imu ... 
time: 1403636739.513556, t: 0.425669 -2.958307 -0.236984 q: 0.053441 0.813577 -0.083135 0.572997 
wait for imu ... 
time: 1403636739.613555, t: 0.432952 -2.979688 -0.246600 q: 0.062485 0.810799 -0.102688 0.572849 
wait for imu ... 
time: 1403636739.713556, t: 0.440474 -3.000455 -0.250567 q: 0.070332 0.809558 -0.114272 0.571500 
time: 1403636739.813555, t: 0.449999 -3.019979 -0.256760 q: 0.071121 0.808346 -0.123696 0.571155 
wait for imu ... 
time: 1403636739.913555, t: 0.461414 -3.040161 -0.268171 q: 0.072760 0.808136 -0.127509 0.570406 
wait for imu ... 
time: 1403636740.013556, t: 0.473318 -3.060756 -0.284575 q: 0.074752 0.808404 -0.127426 0.569787 
time: 1403636740.113555, t: 0.481975 -3.082944 -0.304610 q: 0.078098 0.808731 -0.123479 0.569744 
wait for imu ... 
time: 1403636740.213556, t: 0.490604 -3.105371 -0.327941 q: 0.083696 0.808985 -0.116733 0.570010 
wait for imu ... 
time: 1403636740.313555, t: 0.495987 -3.126404 -0.354921 q: 0.084319 0.808289 -0.113130 0.571630 
wait for imu ... 
time: 1403636740.413555, t: 0.500091 -3.144827 -0.385886 q: 0.077780 0.807365 -0.114102 0.573666 
time: 1403636740.513556, t: 0.500506 -3.161104 -0.420233 q: 0.072012 0.806366 -0.114849 0.575672 
time: 1403636740.613555, t: 0.504324 -3.175975 -0.449950 q: 0.070278 0.806012 -0.113056 0.576736 
wait for imu ... 
time: 1403636740.713556, t: 0.497306 -3.190970 -0.472464 q: 0.066357 0.807879 -0.113395 0.574517 
wait for imu ... 
time: 1403636740.813555, t: 0.490312 -3.207087 -0.490733 q: 0.065182 0.809833 -0.111655 0.572237 
wait for imu ... 
time: 1403636740.913555, t: 0.483744 -3.223293 -0.512030 q: 0.066831 0.808765 -0.108656 0.574132 
time: 1403636741.013556, t: 0.477640 -3.239526 -0.539829 q: 0.076755 0.807562 -0.100717 0.576029 
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time: 1403636741.213556, t: 0.463784 -3.263237 -0.617848 q: 0.088034 0.802511 -0.107099 0.580307 
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time: 1403636741.313555, t: 0.455603 -3.267572 -0.666113 q: 0.083472 0.801442 -0.119271 0.580084 
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time: 1403636741.513556, t: 0.435395 -3.275342 -0.759079 q: 0.080139 0.811257 -0.134566 0.563323 
wait for imu ... 
time: 1403636741.613555, t: 0.426747 -3.281036 -0.796026 q: 0.079682 0.815322 -0.138159 0.556608 
wait for imu ... 
time: 1403636741.713556, t: 0.420752 -3.288727 -0.824506 q: 0.081131 0.816095 -0.138202 0.555255 
time: 1403636741.813555, t: 0.420011 -3.299520 -0.845431 q: 0.084162 0.813691 -0.134978 0.559111 
wait for imu ... 
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time: 1403636742.013556, t: 0.422843 -3.322772 -0.897803 q: 0.094907 0.812471 -0.120980 0.562358 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
time: 1403636742.613555, t: 0.477701 -3.370032 -1.004712 q: 0.073358 0.810665 -0.115522 0.569294 
time: 1403636742.713556, t: 0.492586 -3.378325 -1.012427 q: 0.072625 0.807719 -0.114149 0.573833 
wait for imu ... 
time: 1403636742.813555, t: 0.507171 -3.386356 -1.028261 q: 0.072036 0.805828 -0.112839 0.576818 
wait for imu ... 
time: 1403636742.913555, t: 0.520171 -3.394045 -1.054583 q: 0.069740 0.804899 -0.112528 0.578457 
time: 1403636743.013556, t: 0.530767 -3.402727 -1.088143 q: 0.070932 0.805840 -0.115323 0.576447 
wait for imu ... 
time: 1403636743.113555, t: 0.539898 -3.411551 -1.130055 q: 0.071740 0.813250 -0.123273 0.564164 
wait for imu ... 
time: 1403636743.213556, t: 0.548789 -3.423211 -1.163216 q: 0.072230 0.823450 -0.130288 0.547483 
wait for imu ... 
time: 1403636743.313555, t: 0.564361 -3.436326 -1.192465 q: 0.073875 0.829612 -0.134882 0.536743 
wait for imu ... 
time: 1403636743.413555, t: 0.585355 -3.451980 -1.210776 q: 0.073042 0.830114 -0.138871 0.535061 
wait for imu ... 
time: 1403636743.513556, t: 0.615256 -3.470261 -1.222442 q: 0.075066 0.825863 -0.139534 0.541153 
time: 1403636743.613555, t: 0.649550 -3.490305 -1.239489 q: 0.079299 0.820203 -0.137391 0.549639 
time: 1403636743.713556, t: 0.687108 -3.512029 -1.263917 q: 0.084194 0.815487 -0.134435 0.556615 
wait for imu ... 
time: 1403636743.813555, t: 0.726143 -3.534391 -1.293653 q: 0.089473 0.810078 -0.136880 0.563057 
wait for imu ... 
time: 1403636743.913555, t: 0.767485 -3.556496 -1.328337 q: 0.092872 0.805302 -0.142541 0.567931 
time: 1403636744.013556, t: 0.810838 -3.577514 -1.371784 q: 0.096585 0.802136 -0.145768 0.570964 
wait for imu ... 
time: 1403636744.113555, t: 0.854153 -3.598116 -1.420579 q: 0.103427 0.799868 -0.150564 0.571703 
wait for imu ... 
time: 1403636744.213556, t: 0.895957 -3.617837 -1.474931 q: 0.106779 0.796991 -0.158066 0.573078 
wait for imu ... 
time: 1403636744.313555, t: 0.934400 -3.635440 -1.535099 q: 0.106877 0.794335 -0.165027 0.574783 
time: 1403636744.413555, t: 0.974569 -3.653890 -1.602257 q: 0.103298 0.792926 -0.171547 0.575473 
time: 1403636744.513556, t: 1.011288 -3.671862 -1.672929 q: 0.095594 0.791331 -0.177845 0.577086 
time: 1403636744.613555, t: 1.046448 -3.693142 -1.746918 q: 0.091569 0.789071 -0.179694 0.580252 
time: 1403636744.713556, t: 1.075448 -3.716315 -1.824385 q: 0.093169 0.787177 -0.177645 0.583193 
wait for imu ... 
time: 1403636744.813555, t: 1.096959 -3.740823 -1.900807 q: 0.101192 0.788007 -0.171947 0.582443 
wait for imu ... 
time: 1403636744.913555, t: 1.111553 -3.764971 -1.970378 q: 0.106365 0.792225 -0.167764 0.576993 
wait for imu ... 
time: 1403636745.013556, t: 1.123821 -3.786834 -2.031726 q: 0.105583 0.796931 -0.166009 0.571135 
time: 1403636745.113555, t: 1.138279 -3.807934 -2.085808 q: 0.103124 0.802433 -0.163768 0.564488 
wait for imu ... 
time: 1403636745.213556, t: 1.152402 -3.828949 -2.132563 q: 0.099543 0.804524 -0.161171 0.562899 
wait for imu ... 
time: 1403636745.313555, t: 1.166719 -3.850825 -2.174028 q: 0.097977 0.805545 -0.156166 0.563126 
wait for imu ... 
time: 1403636745.413555, t: 1.180523 -3.873177 -2.204208 q: 0.098528 0.800965 -0.150316 0.571098 
time: 1403636745.513556, t: 1.194558 -3.894330 -2.224049 q: 0.099839 0.797055 -0.148147 0.576879 
time: 1403636745.613555, t: 1.205501 -3.913829 -2.237116 q: 0.101325 0.795028 -0.150143 0.578896 
wait for imu ... 
time: 1403636745.713556, t: 1.216573 -3.930593 -2.240349 q: 0.105475 0.793611 -0.153523 0.579212 
time: 1403636745.813555, t: 1.227092 -3.944917 -2.234907 q: 0.111876 0.793761 -0.156995 0.576871 
time: 1403636745.913555, t: 1.241050 -3.956523 -2.225399 q: 0.119718 0.793248 -0.160587 0.575011 
time: 1403636746.013556, t: 1.250294 -3.965365 -2.208203 q: 0.128854 0.793253 -0.162459 0.572498 
time: 1403636746.113555, t: 1.261831 -3.969024 -2.187176 q: 0.136601 0.793938 -0.164133 0.569265 
wait for imu ... 
time: 1403636746.213556, t: 1.270589 -3.967415 -2.159425 q: 0.140650 0.791963 -0.165767 0.570556 
wait for imu ... 
time: 1403636746.313555, t: 1.280764 -3.959691 -2.129091 q: 0.143774 0.783891 -0.166493 0.580624 
wait for imu ... 
time: 1403636746.413555, t: 1.288268 -3.947464 -2.105235 q: 0.143699 0.778290 -0.167360 0.587883 
time: 1403636746.513556, t: 1.292029 -3.928373 -2.091595 q: 0.137283 0.782674 -0.170826 0.582575 
wait for imu ... 
time: 1403636746.613555, t: 1.293345 -3.904281 -2.086764 q: 0.126815 0.794604 -0.175103 0.567328 
wait for imu ... 
time: 1403636746.713556, t: 1.295889 -3.877191 -2.088596 q: 0.112255 0.806955 -0.180877 0.550914 
wait for imu ... 
time: 1403636746.813555, t: 1.300821 -3.851681 -2.092065 q: 0.099419 0.811432 -0.185569 0.545214 
wait for imu ... 
time: 1403636746.913555, t: 1.313333 -3.830047 -2.096260 q: 0.092460 0.810767 -0.187046 0.546920 
time: 1403636747.013556, t: 1.328436 -3.814463 -2.096986 q: 0.092126 0.809123 -0.184401 0.550299 
wait for imu ... 
time: 1403636747.113555, t: 1.346575 -3.804840 -2.084677 q: 0.102418 0.805938 -0.175805 0.555938 
wait for imu ... 
time: 1403636747.213556, t: 1.370287 -3.797210 -2.064541 q: 0.111618 0.802215 -0.169572 0.561461 
time: 1403636747.313555, t: 1.396648 -3.787992 -2.033892 q: 0.118337 0.800329 -0.166217 0.563775 
wait for imu ... 
time: 1403636747.413555, t: 1.423000 -3.775966 -1.999245 q: 0.121277 0.799047 -0.166338 0.564931 
wait for imu ... 
time: 1403636747.513556, t: 1.450142 -3.760251 -1.970881 q: 0.122716 0.799054 -0.168856 0.563863 
time: 1403636747.613555, t: 1.477572 -3.740117 -1.946631 q: 0.122604 0.799710 -0.171966 0.562014 
wait for imu ... 
time: 1403636747.813555, t: 1.533861 -3.695099 -1.881313 q: 0.124959 0.799729 -0.176897 0.559934 
wait for imu ... 
time: 1403636747.913555, t: 1.568971 -3.673837 -1.836344 q: 0.119518 0.797526 -0.183859 0.562017 
wait for imu ... 
time: 1403636748.013556, t: 1.601981 -3.648950 -1.787535 q: 0.107915 0.792861 -0.195102 0.567152 
wait for imu ... 
time: 1403636748.113555, t: 1.634030 -3.628156 -1.744242 q: 0.102760 0.791309 -0.201467 0.568051 
time: 1403636748.313555, t: 1.693524 -3.602250 -1.677684 q: 0.113698 0.794374 -0.196398 0.563446 
time: 1403636748.413555, t: 1.725433 -3.595798 -1.653304 q: 0.126256 0.796493 -0.186808 0.561035 
wait for imu ... 
time: 1403636748.513556, t: 1.754552 -3.590977 -1.627850 q: 0.130994 0.796177 -0.182415 0.561843 
wait for imu ... 
time: 1403636748.613555, t: 1.782553 -3.584832 -1.597748 q: 0.127857 0.794967 -0.184560 0.563576 
wait for imu ... 
time: 1403636748.713556, t: 1.807953 -3.580004 -1.564745 q: 0.120356 0.792772 -0.190113 0.566467 
wait for imu ... 
time: 1403636748.813555, t: 1.833342 -3.575796 -1.534369 q: 0.113650 0.791282 -0.195877 0.567970 
wait for imu ... 
time: 1403636748.913555, t: 1.857847 -3.574376 -1.507843 q: 0.110986 0.789538 -0.200384 0.569348 
time: 1403636749.013556, t: 1.884220 -3.573991 -1.485083 q: 0.111468 0.788198 -0.204222 0.569748 
wait for imu ... 
time: 1403636749.113555, t: 1.906488 -3.577602 -1.465033 q: 0.106897 0.785925 -0.210585 0.571445 
wait for imu ... 
time: 1403636749.213556, t: 1.924559 -3.586560 -1.447389 q: 0.108300 0.785051 -0.212217 0.571778 
time: 1403636749.313555, t: 1.936501 -3.600143 -1.422774 q: 0.119923 0.785641 -0.206495 0.570742 
wait for imu ... 
time: 1403636749.413555, t: 1.941387 -3.617051 -1.394670 q: 0.128510 0.786988 -0.201332 0.568859 
time: 1403636749.513556, t: 1.945016 -3.633749 -1.363206 q: 0.136034 0.788252 -0.195843 0.567273 
time: 1403636749.613555, t: 1.948638 -3.649772 -1.331159 q: 0.143246 0.789509 -0.189507 0.565900 
wait for imu ... 
time: 1403636749.713556, t: 1.953604 -3.663529 -1.305179 q: 0.142885 0.789348 -0.187746 0.566802 
time: 1403636749.813555, t: 1.957944 -3.674275 -1.285933 q: 0.140546 0.785364 -0.186656 0.573245 
wait for imu ... 
time: 1403636749.913555, t: 1.961275 -3.681584 -1.272509 q: 0.137615 0.781009 -0.185425 0.580263 
wait for imu ... 
time: 1403636750.013556, t: 1.961939 -3.684621 -1.263647 q: 0.134945 0.778873 -0.182901 0.584546 
wait for imu ... 
time: 1403636750.113555, t: 1.960699 -3.683380 -1.257861 q: 0.131817 0.780068 -0.181235 0.584185 
wait for imu ... 
time: 1403636750.213556, t: 1.951546 -3.678038 -1.249977 q: 0.128571 0.782839 -0.180009 0.581576 
time: 1403636750.313555, t: 1.941519 -3.669132 -1.235974 q: 0.125694 0.786789 -0.178534 0.577312 
time: 1403636750.413555, t: 1.929191 -3.657848 -1.211715 q: 0.122722 0.789934 -0.177174 0.574067 
wait for imu ... 
time: 1403636750.513556, t: 1.915115 -3.644945 -1.176430 q: 0.120979 0.791254 -0.173662 0.573692 
wait for imu ... 
time: 1403636750.613555, t: 1.899536 -3.631645 -1.131694 q: 0.118818 0.792860 -0.170447 0.572890 
wait for imu ... 
time: 1403636750.713556, t: 1.883829 -3.618225 -1.079448 q: 0.118685 0.794086 -0.167093 0.572208 
wait for imu ... 
time: 1403636750.813555, t: 1.866595 -3.603307 -1.021654 q: 0.118044 0.795673 -0.164869 0.570778 
wait for imu ... 
time: 1403636750.913555, t: 1.845767 -3.585990 -0.957197 q: 0.118642 0.797546 -0.162749 0.568646 
time: 1403636751.013556, t: 1.827987 -3.568860 -0.891459 q: 0.120754 0.799258 -0.160870 0.566327 
wait for imu ... 
time: 1403636751.113555, t: 1.806092 -3.547723 -0.831432 q: 0.120753 0.799420 -0.161361 0.565958 
wait for imu ... 
time: 1403636751.213556, t: 1.786092 -3.524249 -0.778661 q: 0.120164 0.803240 -0.163248 0.560104 
time: 1403636751.313555, t: 1.768519 -3.498320 -0.729499 q: 0.116875 0.806774 -0.167181 0.554533 
wait for imu ... 
time: 1403636751.413555, t: 1.754519 -3.472884 -0.680725 q: 0.111083 0.804577 -0.173140 0.557081 
wait for imu ... 
time: 1403636751.513556, t: 1.743942 -3.449410 -0.631616 q: 0.104028 0.799874 -0.178671 0.563432 
wait for imu ... 
time: 1403636751.613555, t: 1.733117 -3.428088 -0.584153 q: 0.096742 0.797077 -0.178176 0.568826 
wait for imu ... 
time: 1403636751.713556, t: 1.724296 -3.410536 -0.541969 q: 0.089911 0.799541 -0.176075 0.567140 
wait for imu ... 
time: 1403636751.813555, t: 1.713292 -3.399288 -0.502559 q: 0.084197 0.805357 -0.173916 0.560415 
time: 1403636751.913555, t: 1.705057 -3.395100 -0.463830 q: 0.087523 0.811201 -0.166923 0.553560 
time: 1403636752.013556, t: 1.697820 -3.394663 -0.424312 q: 0.093629 0.814203 -0.159272 0.550400 
time: 1403636752.113555, t: 1.697095 -3.398066 -0.387475 q: 0.096539 0.813171 -0.155325 0.552546 
time: 1403636752.213556, t: 1.701437 -3.403021 -0.352944 q: 0.096575 0.808440 -0.149527 0.561016 
wait for imu ... 
time: 1403636752.313555, t: 1.708126 -3.409073 -0.318538 q: 0.091599 0.804026 -0.140553 0.570435 
wait for imu ... 
time: 1403636752.413555, t: 1.716022 -3.415430 -0.280280 q: 0.083244 0.801862 -0.127773 0.577721 
wait for imu ... 
time: 1403636752.513556, t: 1.722869 -3.420756 -0.237389 q: 0.072369 0.803987 -0.111533 0.579593 
time: 1403636752.613555, t: 1.727979 -3.424653 -0.196990 q: 0.060814 0.807850 -0.093179 0.578790 
wait for imu ... 
time: 1403636752.713556, t: 1.731399 -3.427848 -0.162666 q: 0.048004 0.811521 -0.074547 0.577557 
wait for imu ... 
time: 1403636752.813555, t: 1.734172 -3.431331 -0.134335 q: 0.036092 0.814121 -0.054093 0.577043 
wait for imu ... 
time: 1403636752.913555, t: 1.735619 -3.434330 -0.112712 q: 0.025614 0.815601 -0.031481 0.577190 
wait for imu ... 
time: 1403636753.013556, t: 1.736860 -3.435036 -0.097198 q: 0.016293 0.816689 -0.007088 0.576804 
wait for imu ... 
time: 1403636753.113555, t: 1.737159 -3.433442 -0.089156 q: 0.004826 0.817181 0.017043 0.576109 
wait for imu ... 
time: 1403636753.213556, t: 1.736797 -3.428086 -0.087467 q: -0.008456 0.816864 0.040757 0.575326 
time: 1403636753.313555, t: 1.735524 -3.419081 -0.091712 q: -0.018558 0.815255 0.066686 0.574951 
wait for imu ... 
time: 1403636753.413555, t: 1.732738 -3.405729 -0.098343 q: -0.032410 0.812301 0.084446 0.576182 
wait for imu ... 
time: 1403636753.513556, t: 1.728693 -3.388800 -0.100846 q: -0.047505 0.810870 0.092217 0.575959 
wait for imu ... 
wait for imu ... 
time: 1403636753.613555, t: 1.722322 -3.370028 -0.095399 q: -0.058293 0.809237 0.095831 0.576674 
time: 1403636753.713556, t: 1.712051 -3.351310 -0.085153 q: -0.063781 0.808803 0.096761 0.576547 
time: 1403636753.813555, t: 1.703468 -3.330577 -0.077820 q: -0.063559 0.807651 0.097916 0.577990 
wait for imu ... 
time: 1403636753.913555, t: 1.694150 -3.308824 -0.077229 q: -0.063356 0.807721 0.096179 0.578206 
time: 1403636754.013556, t: 1.682944 -3.285750 -0.079982 q: -0.061003 0.807272 0.094757 0.579320 
wait for imu ... 
time: 1403636754.113555, t: 1.670716 -3.261201 -0.077334 q: -0.060576 0.803661 0.091680 0.584855 
time: 1403636754.213556, t: 1.655252 -3.236217 -0.069069 q: -0.057261 0.800774 0.090247 0.589353 
wait for imu ... 
time: 1403636754.313555, t: 1.636439 -3.208154 -0.057295 q: -0.053685 0.800193 0.089110 0.590651 
wait for imu ... 
time: 1403636754.413555, t: 1.613627 -3.179897 -0.038918 q: -0.052428 0.800159 0.089909 0.590688 
time: 1403636754.513556, t: 1.585651 -3.149018 -0.018996 q: -0.055118 0.800476 0.094087 0.589362 
wait for imu ... 
time: 1403636754.613555, t: 1.556477 -3.112916 -0.008035 q: -0.058584 0.801506 0.103863 0.585977 
time: 1403636754.713556, t: 1.523914 -3.075687 -0.001829 q: -0.067680 0.800897 0.115428 0.583661 
wait for imu ... 
time: 1403636754.813555, t: 1.488657 -3.036069 -0.000330 q: -0.077812 0.798818 0.129084 0.582386 
time: 1403636754.913555, t: 1.451089 -2.997273 -0.004243 q: -0.086482 0.796823 0.139874 0.581403 
wait for imu ... 
time: 1403636755.013556, t: 1.409805 -2.958374 -0.011954 q: -0.092064 0.795706 0.149085 0.579785 
wait for imu ... 
time: 1403636755.113555, t: 1.364006 -2.920142 -0.018793 q: -0.097163 0.794826 0.154110 0.578845 
wait for imu ... 
time: 1403636755.213556, t: 1.311155 -2.879653 -0.021265 q: -0.101448 0.794837 0.156785 0.577374 
time: 1403636755.313555, t: 1.256530 -2.838581 -0.016005 q: -0.102329 0.799033 0.158965 0.570793 
time: 1403636755.413555, t: 1.199396 -2.794186 -0.004141 q: -0.101065 0.805454 0.160670 0.561439 
wait for imu ... 
time: 1403636755.513556, t: 1.148011 -2.749044 0.011850 q: -0.099710 0.808028 0.160774 0.557942 
wait for imu ... 
time: 1403636755.613555, t: 1.100608 -2.701222 0.024545 q: -0.096834 0.807062 0.161228 0.559714 
time: 1403636755.713556, t: 1.054116 -2.650955 0.032490 q: -0.097933 0.806220 0.158582 0.561490 
wait for imu ... 
time: 1403636755.813555, t: 1.010634 -2.600520 0.035621 q: -0.099865 0.804057 0.155747 0.565033 
wait for imu ... 
wait for imu ... 
time: 1403636755.913555, t: 0.964711 -2.548501 0.034158 q: -0.100992 0.801647 0.154299 0.568643 
time: 1403636756.013556, t: 0.921906 -2.498565 0.035985 q: -0.102959 0.800606 0.152937 0.570123 
wait for imu ... 
time: 1403636756.113555, t: 0.875624 -2.443189 0.042606 q: -0.102461 0.799483 0.153158 0.571726 
time: 1403636756.213556, t: 0.827050 -2.384946 0.055368 q: -0.102744 0.798013 0.153125 0.573735 
wait for imu ... 
time: 1403636756.313555, t: 0.776736 -2.327742 0.069863 q: -0.103699 0.797723 0.153181 0.573951 
time: 1403636756.413555, t: 0.722512 -2.268616 0.080136 q: -0.103287 0.796689 0.154498 0.575108 
time: 1403636756.513556, t: 0.666222 -2.210561 0.083731 q: -0.104803 0.796296 0.154719 0.575319 
wait for imu ... 
time: 1403636756.613555, t: 0.610005 -2.153511 0.081073 q: -0.105514 0.795619 0.155384 0.575945 
time: 1403636756.713556, t: 0.552486 -2.098292 0.078061 q: -0.107028 0.794572 0.155926 0.576964 
wait for imu ... 
time: 1403636756.813555, t: 0.489992 -2.045130 0.078862 q: -0.108618 0.793654 0.156295 0.577830 
wait for imu ... 
time: 1403636756.913555, t: 0.423745 -1.993777 0.085204 q: -0.109263 0.793724 0.157062 0.577404 
time: 1403636757.013556, t: 0.356970 -1.943911 0.098739 q: -0.110244 0.793670 0.157686 0.577122 
time: 1403636757.113555, t: 0.289473 -1.895487 0.110123 q: -0.112414 0.793715 0.157139 0.576791 
wait for imu ... 
time: 1403636757.213556, t: 0.221626 -1.847454 0.116898 q: -0.112948 0.793942 0.157081 0.576389 
time: 1403636757.313555, t: 0.150113 -1.802727 0.117536 q: -0.110427 0.794101 0.159651 0.575952 
wait for imu ... 
time: 1403636757.413555, t: 0.080985 -1.757381 0.114547 q: -0.109320 0.795508 0.161251 0.573772 
wait for imu ... 
time: 1403636757.513556, t: 0.005935 -1.710147 0.111524 q: -0.106733 0.797413 0.165620 0.570359 
time: 1403636757.613555, t: -0.067821 -1.660274 0.113973 q: -0.108182 0.801858 0.172820 0.561652 
wait for imu ... 
time: 1403636757.713556, t: -0.138653 -1.609254 0.123031 q: -0.110818 0.807592 0.180191 0.550496 
wait for imu ... 
time: 1403636757.913555, t: -0.280847 -1.492082 0.166256 q: -0.119737 0.811883 0.189074 0.539221 
time: 1403636758.013556, t: -0.347816 -1.427106 0.199642 q: -0.125888 0.805394 0.189764 0.547250 
time: 1403636758.113555, t: -0.398309 -1.365090 0.229506 q: -0.132093 0.797474 0.189187 0.557489 
time: 1403636758.213556, t: -0.456791 -1.299557 0.252621 q: -0.135866 0.791470 0.188591 0.565287 
wait for imu ... 
time: 1403636758.313555, t: -0.503540 -1.240714 0.267963 q: -0.139500 0.789282 0.187112 0.567945 
wait for imu ... 
time: 1403636758.413555, t: -0.554284 -1.181101 0.273250 q: -0.141690 0.794297 0.185951 0.560749 
time: 1403636758.513556, t: -0.610017 -1.121489 0.269742 q: -0.146470 0.806627 0.182461 0.542778 
time: 1403636758.613555, t: -0.666861 -1.060344 0.263757 q: -0.153745 0.818405 0.176829 0.524697 
time: 1403636758.713556, t: -0.701826 -1.008200 0.259892 q: -0.154576 0.816180 0.175341 0.528405 
wait for imu ... 
time: 1403636758.813555, t: -0.725481 -0.958778 0.253892 q: -0.152903 0.806562 0.175560 0.543375 
time: 1403636758.913555, t: -0.752035 -0.912732 0.245186 q: -0.147154 0.797794 0.179270 0.556536 
time: 1403636759.013556, t: -0.769053 -0.873415 0.231938 q: -0.144392 0.793479 0.181288 0.562740 
time: 1403636759.113555, t: -0.780496 -0.836359 0.214220 q: -0.153154 0.792271 0.175581 0.563935 
time: 1403636759.213556, t: -0.798397 -0.800126 0.194886 q: -0.171521 0.793676 0.163247 0.560365 
time: 1403636759.313555, t: -0.809616 -0.774712 0.171722 q: -0.181088 0.794397 0.157128 0.558078 
wait for imu ... 
time: 1403636759.413555, t: -0.817266 -0.762192 0.145074 q: -0.169059 0.792655 0.166491 0.561603 
wait for imu ... 
time: 1403636759.513556, t: -0.821382 -0.755818 0.115185 q: -0.156139 0.790427 0.176269 0.565486 
wait for imu ... 
time: 1403636759.613555, t: -0.829154 -0.753596 0.085527 q: -0.147482 0.788440 0.184013 0.568112 
time: 1403636759.713556, t: -0.838477 -0.753863 0.064580 q: -0.143105 0.788118 0.188329 0.568263 
wait for imu ... 
time: 1403636759.813555, t: -0.850907 -0.756640 0.057238 q: -0.143001 0.786891 0.189353 0.569648 
wait for imu ... 
time: 1403636759.913555, t: -0.864938 -0.758638 0.052296 q: -0.142455 0.790486 0.189856 0.564617 
time: 1403636760.013556, t: -0.882580 -0.762031 0.045463 q: -0.140697 0.796394 0.190865 0.556356 
time: 1403636760.113555, t: -0.899491 -0.765014 0.035184 q: -0.139856 0.801580 0.190929 0.549051 
time: 1403636760.213556, t: -0.913380 -0.766880 0.025226 q: -0.140481 0.801369 0.190309 0.549414 
wait for imu ... 
time: 1403636760.313555, t: -0.924166 -0.767794 0.014502 q: -0.144354 0.793482 0.187354 0.560755 
wait for imu ... 
time: 1403636760.413555, t: -0.935097 -0.770014 0.000375 q: -0.143116 0.788504 0.188322 0.567727 
wait for imu ... 
wait for imu ... 
time: 1403636760.513556, t: -0.947465 -0.772997 -0.017103 q: -0.140154 0.788374 0.190380 0.567961 
wait for imu ... 
time: 1403636760.613555, t: -0.961844 -0.775817 -0.035760 q: -0.136975 0.794187 0.193161 0.559638 
time: 1403636760.713556, t: -0.976408 -0.779696 -0.052327 q: -0.132825 0.797769 0.197026 0.554169 
wait for imu ... 
time: 1403636760.813555, t: -0.988624 -0.779999 -0.066217 q: -0.131146 0.795773 0.198969 0.556738 
time: 1403636760.913555, t: -1.001577 -0.778786 -0.078986 q: -0.130118 0.791359 0.200762 0.562597 
time: 1403636761.013556, t: -1.015608 -0.775938 -0.093822 q: -0.131447 0.793711 0.200628 0.559011 
wait for imu ... 
time: 1403636761.113555, t: -1.028139 -0.769503 -0.109529 q: -0.133687 0.800592 0.199595 0.548946 
time: 1403636761.213556, t: -1.042609 -0.760398 -0.124495 q: -0.131794 0.808516 0.201524 0.536955 
time: 1403636761.313555, t: -1.053018 -0.747393 -0.137483 q: -0.131472 0.811711 0.201817 0.532081 
wait for imu ... 
time: 1403636761.413555, t: -1.057695 -0.730681 -0.145564 q: -0.133834 0.806290 0.200580 0.540141 
wait for imu ... 
time: 1403636761.513556, t: -1.056983 -0.711917 -0.145168 q: -0.136202 0.797905 0.198532 0.552614 
wait for imu ... 
time: 1403636761.613555, t: -1.055641 -0.692161 -0.143112 q: -0.138639 0.791965 0.195969 0.561398 
time: 1403636761.713556, t: -1.054854 -0.672771 -0.140996 q: -0.147894 0.791145 0.188590 0.562717 
wait for imu ... 
time: 1403636761.813555, t: -1.053235 -0.655941 -0.136952 q: -0.156985 0.792165 0.181689 0.561088 
wait for imu ... 
time: 1403636761.913555, t: -1.051508 -0.642042 -0.131212 q: -0.158152 0.792990 0.180482 0.559983 
wait for imu ... 
time: 1403636762.013556, t: -1.049978 -0.634332 -0.123151 q: -0.147227 0.791549 0.187605 0.562654 
wait for imu ... 
time: 1403636762.113555, t: -1.051122 -0.629923 -0.112522 q: -0.128831 0.788232 0.199602 0.567673 
time: 1403636762.213556, t: -1.052828 -0.623320 -0.103603 q: -0.117457 0.790328 0.206712 0.564672 
wait for imu ... 
time: 1403636762.313555, t: -1.056803 -0.611799 -0.098963 q: -0.117836 0.799777 0.205857 0.551448 
wait for imu ... 
time: 1403636762.413555, t: -1.059699 -0.595555 -0.102676 q: -0.122500 0.806795 0.202232 0.541459 
time: 1403636762.513556, t: -1.059812 -0.574497 -0.114310 q: -0.141966 0.807858 0.188567 0.540050 
wait for imu ... 
time: 1403636762.613555, t: -1.056151 -0.552239 -0.133064 q: -0.166107 0.803966 0.171424 0.544666 
wait for imu ... 
time: 1403636762.713556, t: -1.048772 -0.535444 -0.160453 q: -0.171173 0.797834 0.168253 0.553038 
wait for imu ... 
time: 1403636762.813555, t: -1.038835 -0.527004 -0.195516 q: -0.158841 0.793822 0.177956 0.559418 
time: 1403636762.913555, t: -1.041612 -0.534555 -0.195314 q: -0.165953 0.768949 0.171048 0.593228 
time: 1403636763.013556, t: -1.052879 -0.553095 -0.204117 q: -0.142952 0.793674 0.168426 0.566815 
time: 1403636763.113555, t: -1.062182 -0.572131 -0.211895 q: -0.144258 0.791930 0.143427 0.575730 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -1.067702 -0.578102 -0.213282 q: -0.143171 0.790666 0.132014 0.580450 
wait for imu ... 
wait for imu ... 
time: 1403636763.413555, t: -1.071292 -0.582409 -0.217300 q: -0.144993 0.794864 0.131101 0.574440 
wait for imu ... 
time: 1403636763.513556, t: -1.078451 -0.585003 -0.221425 q: -0.144919 0.794699 0.131091 0.574689 
wait for imu ... 
time: 1403636763.613555, t: -1.081436 -0.586135 -0.225737 q: -0.144835 0.794806 0.131040 0.574573 
wait for imu ... 
time: 1403636763.713556, t: -1.086813 -0.589438 -0.228841 q: -0.144990 0.794817 0.130881 0.574556 
wait for imu ... 
time: 1403636763.813555, t: -1.092762 -0.593227 -0.230722 q: -0.145144 0.794788 0.130728 0.574591 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720463075.379294564]: Shutdown request received.[0m
[33m[ WARN] [1720463075.379335631]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720463075.380190561]: Shutdown request received.[0m
[33m[ WARN] [1720463075.380216625]: Reason given for shutdown: [user request][0m
killed
