/SLAM-Hive/slam_hive_results/mapping_results/2812/2020_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720464283.846733951]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720464283.848517967]: init begins[0m
[31m[ERROR] [1720464283.849496387]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/24688cea-3d5a-11ef-b409-0242ac110005/roslaunch-748144c3b10e-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://748144c3b10e:35857/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[1mROS_MASTER_URI=http://748144c3b10e:11311/[0m
]2;roscore http://748144c3b10e:11311/
[1msetting /run_id to 24688cea-3d5a-11ef-b409-0242ac110005[0m
[0m[ INFO] [1720464285.002588891]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720464285.005079607]: 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] [1720464285.012156284]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720464285.012405005]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720464285.012442627]: 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] [1720464285.012697395]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720464285.013004048]: 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] [1720464293.969060570]: 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: 316827715.25 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
[0m[ INFO] [1720464297.275580705]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464297.474823237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464297.710361104]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464297.899542969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464298.093272484]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464298.302501539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720464298.506598396]: 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!
[33m[ WARN] [1720464298.922880828]: gyroscope bias initial calibration -0.00473085    0.018444   0.0781821[0m
[0m[ INFO] [1720464298.944863879]: Initialization finish![0m
time: 1403636583.463556, t: -0.002491 -0.021263 -0.113295 q: 0.016128 0.804790 -0.019585 0.593018 
time: 1403636583.663555, t: -0.010826 -0.023345 -0.246375 q: 0.015245 0.817614 -0.015590 0.575353 
time: 1403636583.863555, t: -0.018857 -0.018640 -0.361827 q: 0.005545 0.840065 -0.021317 0.542039 
time: 1403636584.063555, t: -0.024045 -0.016622 -0.414388 q: 0.004350 0.845618 -0.009256 0.533691 
time: 1403636584.263556, t: -0.019933 -0.015195 -0.360991 q: -0.000169 0.844661 -0.005156 0.535276 
time: 1403636584.463556, t: -0.007159 -0.016107 -0.237164 q: 0.011494 0.839523 -0.003780 0.543189 
time: 1403636584.663555, t: 0.007455 -0.016059 -0.088866 q: 0.019021 0.822014 -0.011359 0.569037 
time: 1403636584.863555, t: 0.012067 -0.013009 0.031089 q: 0.025611 0.800601 -0.019930 0.598318 
time: 1403636585.063555, t: 0.009563 -0.008962 0.063681 q: 0.024693 0.797261 -0.028251 0.602468 
time: 1403636585.263556, t: 0.009190 -0.010002 -0.005031 q: 0.033330 0.804025 -0.031403 0.592829 
time: 1403636585.463556, t: 0.005540 -0.019706 -0.111860 q: 0.040479 0.812526 -0.022839 0.581070 
time: 1403636585.663555, t: -0.012516 -0.025150 -0.200978 q: 0.022153 0.826780 -0.010463 0.561991 
time: 1403636585.863555, t: -0.035334 -0.026136 -0.235691 q: -0.001015 0.844479 -0.010530 0.535485 
wait for imu ... 
time: 1403636586.063555, t: -0.048727 -0.028022 -0.236462 q: 0.000278 0.867244 -0.021683 0.497411 
time: 1403636586.263556, t: -0.062522 -0.021111 -0.227131 q: 0.008164 0.885260 -0.037059 0.463546 
time: 1403636586.463556, t: -0.083455 -0.018221 -0.223730 q: 0.005627 0.902977 -0.045251 0.427263 
wait for imu ... 
time: 1403636586.663555, t: -0.097403 -0.029490 -0.217283 q: 0.003721 0.911302 -0.042842 0.409486 
time: 1403636586.863555, t: -0.092293 -0.047281 -0.213544 q: -0.001551 0.905480 -0.039423 0.422551 
time: 1403636587.063555, t: -0.083382 -0.052881 -0.214719 q: -0.003707 0.903668 -0.028803 0.427248 
time: 1403636587.263556, t: -0.073744 -0.068135 -0.214105 q: -0.003544 0.907357 -0.024902 0.419608 
time: 1403636587.463556, t: -0.060029 -0.109851 -0.215535 q: -0.003437 0.908967 -0.031391 0.415670 
wait for imu ... 
time: 1403636587.663555, t: -0.050001 -0.177475 -0.214968 q: -0.003413 0.908502 -0.041021 0.415848 
time: 1403636587.863555, t: -0.042599 -0.254268 -0.210775 q: 0.002031 0.903356 -0.056121 0.425199 
time: 1403636588.063555, t: -0.041883 -0.321871 -0.217294 q: 0.013423 0.909079 -0.069476 0.410570 
time: 1403636588.263556, t: -0.040335 -0.363079 -0.226655 q: 0.013083 0.911180 -0.070613 0.405702 
time: 1403636588.463556, t: -0.040901 -0.367753 -0.228628 q: 0.008288 0.909017 -0.071377 0.410518 
time: 1403636588.663555, t: -0.046469 -0.338764 -0.222126 q: 0.010937 0.909038 -0.070779 0.410513 
time: 1403636588.863555, t: -0.055041 -0.281732 -0.220447 q: 0.004163 0.911359 -0.064389 0.406524 
time: 1403636589.063555, t: -0.063389 -0.201661 -0.214687 q: -0.003594 0.909755 -0.054776 0.411500 
wait for imu ... 
time: 1403636589.263556, t: -0.071023 -0.110223 -0.205034 q: -0.008613 0.907531 -0.045084 0.417469 
time: 1403636589.463556, t: -0.076947 -0.014432 -0.204463 q: -0.011676 0.910363 -0.033854 0.412259 
time: 1403636589.663555, t: -0.082990 0.080748 -0.208641 q: -0.014648 0.908484 -0.027799 0.416737 
time: 1403636589.863555, t: -0.089950 0.167987 -0.216250 q: -0.023391 0.910637 -0.017828 0.412159 
time: 1403636590.063555, t: -0.093112 0.230450 -0.224386 q: -0.036670 0.911255 -0.007406 0.410139 
time: 1403636590.263556, t: -0.097607 0.255810 -0.222385 q: -0.041774 0.906967 -0.001753 0.419121 
time: 1403636590.463556, t: -0.106403 0.229138 -0.214696 q: -0.032615 0.908304 -0.004878 0.417008 
time: 1403636590.663555, t: -0.112861 0.162147 -0.205919 q: -0.021184 0.906369 -0.010955 0.421813 
time: 1403636590.863555, t: -0.110222 0.074781 -0.206771 q: -0.018433 0.909525 -0.020338 0.414741 
time: 1403636591.063555, t: -0.101495 -0.020606 -0.211091 q: -0.018439 0.910775 -0.023687 0.411810 
time: 1403636591.263556, t: -0.091079 -0.107042 -0.215296 q: -0.020879 0.911210 -0.027524 0.410491 
wait for imu ... 
time: 1403636591.463556, t: -0.081298 -0.165907 -0.228356 q: -0.017723 0.912488 -0.035003 0.407219 
time: 1403636591.663555, t: -0.067701 -0.198822 -0.243318 q: -0.000044 0.903507 -0.049988 0.425649 
time: 1403636591.863555, t: -0.054529 -0.212284 -0.244693 q: 0.018716 0.884686 -0.060894 0.461813 
time: 1403636592.063555, t: -0.036515 -0.227753 -0.245188 q: 0.026010 0.883822 -0.081229 0.459983 
time: 1403636592.263556, t: 0.003071 -0.253760 -0.249481 q: 0.030850 0.889998 -0.099088 0.443998 
time: 1403636592.463556, t: 0.062110 -0.259414 -0.250699 q: 0.018684 0.895252 -0.094787 0.434959 
time: 1403636592.663555, t: 0.131583 -0.228091 -0.250535 q: 0.001269 0.890322 -0.063251 0.450915 
time: 1403636592.863555, t: 0.183322 -0.156163 -0.253976 q: -0.029939 0.890911 -0.021333 0.452687 
time: 1403636593.063555, t: 0.183501 -0.045172 -0.259169 q: -0.068680 0.894237 0.024578 0.441610 
wait for imu ... 
time: 1403636593.263556, t: 0.126911 0.075260 -0.257357 q: -0.105731 0.892043 0.058694 0.435471 
time: 1403636593.463556, t: 0.038631 0.149871 -0.258567 q: -0.116103 0.893964 0.070327 0.427087 
time: 1403636593.663555, t: -0.056144 0.153770 -0.270144 q: -0.106657 0.901177 0.048619 0.417302 
time: 1403636593.863555, t: -0.135615 0.092378 -0.281249 q: -0.075737 0.907675 -0.006547 0.412732 
time: 1403636594.063555, t: -0.175145 -0.007305 -0.283582 q: -0.026214 0.899207 -0.074746 0.430293 
time: 1403636594.263556, t: -0.168031 -0.119844 -0.284058 q: 0.012512 0.894794 -0.124802 0.428499 
time: 1403636594.463556, t: -0.090433 -0.227727 -0.288400 q: 0.039341 0.890376 -0.136348 0.432541 
time: 1403636594.663555, t: 0.005175 -0.294919 -0.291664 q: 0.040163 0.881524 -0.134510 0.450787 
time: 1403636594.863555, t: 0.088359 -0.264934 -0.296294 q: 0.021406 0.880715 -0.107130 0.460875 
time: 1403636595.063555, t: 0.139707 -0.134967 -0.301974 q: -0.017578 0.882521 -0.041265 0.468129 
time: 1403636595.263556, t: 0.135897 0.016248 -0.308171 q: -0.066874 0.886153 0.019653 0.458121 
time: 1403636595.463556, t: 0.093096 0.098362 -0.312975 q: -0.092567 0.887046 0.051959 0.449311 
time: 1403636595.663555, t: 0.017199 0.069772 -0.315940 q: -0.090687 0.891070 0.053980 0.441425 
time: 1403636595.863555, t: -0.043062 -0.029695 -0.327659 q: -0.053666 0.894958 0.023461 0.442290 
time: 1403636596.063555, t: -0.102185 -0.133792 -0.338764 q: -0.012741 0.898929 -0.026622 0.437099 
time: 1403636596.263556, t: -0.169393 -0.151995 -0.335919 q: 0.001980 0.898973 -0.058480 0.434079 
time: 1403636596.463556, t: -0.239843 -0.085828 -0.308615 q: 0.003883 0.894559 -0.060849 0.442772 
time: 1403636596.663555, t: -0.302445 -0.021184 -0.292526 q: 0.005916 0.893280 -0.051403 0.446512 
wait for imu ... 
time: 1403636596.863555, t: -0.301550 0.005198 -0.294345 q: 0.009010 0.891617 -0.042783 0.450675 
wait for imu ... 
time: 1403636597.063555, t: -0.212214 -0.014719 -0.302289 q: 0.015649 0.893953 -0.038603 0.446220 
time: 1403636597.263556, t: -0.089136 -0.046678 -0.299898 q: 0.002399 0.900895 -0.021286 0.433508 
time: 1403636597.463556, t: 0.053148 -0.062924 -0.292944 q: -0.013990 0.897476 0.010295 0.440721 
time: 1403636597.663555, t: 0.140650 -0.037994 -0.294058 q: -0.044864 0.889563 0.045299 0.452341 
time: 1403636597.863555, t: 0.139102 0.008739 -0.298292 q: -0.067274 0.879644 0.071478 0.465395 
time: 1403636598.063555, t: 0.058295 0.034405 -0.308027 q: -0.068193 0.880407 0.087782 0.461008 
time: 1403636598.263556, t: -0.025399 0.030122 -0.326389 q: -0.061090 0.895647 0.086634 0.431949 
time: 1403636598.463556, t: -0.058490 0.003197 -0.352792 q: -0.045643 0.902474 0.082837 0.420232 
time: 1403636598.663555, t: -0.006039 -0.018526 -0.380795 q: -0.054271 0.891450 0.088228 0.441121 
time: 1403636598.863555, t: 0.058975 -0.033493 -0.418217 q: -0.076394 0.868849 0.097236 0.479386 
time: 1403636599.063555, t: 0.111764 -0.043618 -0.463460 q: -0.082962 0.850310 0.096485 0.510666 
time: 1403636599.263556, t: 0.143805 -0.047099 -0.486329 q: -0.097302 0.820481 0.093234 0.555563 
time: 1403636599.463556, t: 0.162501 -0.048974 -0.505571 q: -0.092436 0.803339 0.086563 0.581900 
time: 1403636599.663555, t: 0.173119 -0.050393 -0.530898 q: -0.083753 0.810716 0.075930 0.574421 
time: 1403636599.863555, t: 0.171037 -0.054146 -0.533857 q: -0.086544 0.795931 0.073654 0.594625 
time: 1403636600.063555, t: 0.169592 -0.057446 -0.535467 q: -0.090386 0.795794 0.068166 0.594891 
time: 1403636600.263556, t: 0.170549 -0.059411 -0.536986 q: -0.092862 0.793815 0.066798 0.597304 
time: 1403636600.463556, t: 0.170854 -0.059750 -0.537934 q: -0.094024 0.793928 0.065765 0.597087 
time: 1403636600.663555, t: 0.170787 -0.060015 -0.538108 q: -0.093499 0.794070 0.065781 0.596979 
time: 1403636600.863555, t: 0.170576 -0.059863 -0.538161 q: -0.093522 0.794269 0.065592 0.596731 
time: 1403636601.063555, t: 0.170217 -0.060202 -0.538114 q: -0.093327 0.794427 0.065472 0.596565 
time: 1403636601.263556, t: 0.170152 -0.060258 -0.538084 q: -0.093130 0.794550 0.065382 0.596441 
time: 1403636601.463556, t: 0.170184 -0.060331 -0.538124 q: -0.092827 0.794646 0.065289 0.596371 
time: 1403636601.663555, t: 0.170221 -0.060420 -0.538179 q: -0.092548 0.794646 0.065192 0.596425 
time: 1403636601.863555, t: 0.170225 -0.060470 -0.538209 q: -0.092417 0.794706 0.065147 0.596370 
time: 1403636602.063555, t: 0.170195 -0.060551 -0.538225 q: -0.092155 0.794792 0.065155 0.596295 
time: 1403636602.263556, t: 0.170195 -0.060573 -0.538197 q: -0.091894 0.794867 0.065152 0.596236 
time: 1403636602.463556, t: 0.170200 -0.060586 -0.538211 q: -0.091958 0.794898 0.065020 0.596199 
time: 1403636602.663555, t: 0.170195 -0.060596 -0.538186 q: -0.091798 0.794996 0.064967 0.596099 
wait for imu ... 
time: 1403636602.863555, t: 0.170172 -0.060595 -0.538192 q: -0.091701 0.795016 0.064871 0.596097 
time: 1403636603.063555, t: 0.170150 -0.060602 -0.538191 q: -0.091582 0.795050 0.064849 0.596073 
time: 1403636603.263556, t: 0.170138 -0.060632 -0.538185 q: -0.091441 0.795100 0.064829 0.596030 
time: 1403636603.463556, t: 0.170125 -0.060643 -0.538191 q: -0.091290 0.795104 0.064833 0.596048 
time: 1403636603.663555, t: 0.170132 -0.060653 -0.538179 q: -0.091161 0.795187 0.064816 0.595958 
time: 1403636603.863555, t: 0.170131 -0.060676 -0.538178 q: -0.091108 0.795192 0.064762 0.595965 
wait for imu ... 
wait for imu ... 
time: 1403636604.063555, t: 0.170117 -0.060709 -0.538206 q: -0.091027 0.795234 0.064759 0.595922 
time: 1403636604.263556, t: 0.170105 -0.060724 -0.538209 q: -0.091008 0.795248 0.064734 0.595909 
time: 1403636604.463556, t: 0.170095 -0.060743 -0.538208 q: -0.090897 0.795297 0.064743 0.595859 
time: 1403636604.663555, t: 0.170111 -0.060738 -0.538219 q: -0.090856 0.795314 0.064683 0.595850 
time: 1403636604.863555, t: 0.170101 -0.060742 -0.538193 q: -0.090736 0.795361 0.064705 0.595803 
time: 1403636605.063555, t: 0.170111 -0.060760 -0.538188 q: -0.090726 0.795430 0.064689 0.595714 
time: 1403636605.263556, t: 0.170111 -0.060767 -0.538205 q: -0.090667 0.795423 0.064635 0.595738 
time: 1403636605.463556, t: 0.170110 -0.060784 -0.538199 q: -0.090623 0.795462 0.064602 0.595697 
time: 1403636605.663555, t: 0.170110 -0.060802 -0.538195 q: -0.090545 0.795502 0.064602 0.595655 
wait for imu ... 
time: 1403636605.863555, t: 0.169578 -0.060696 -0.537976 q: -0.090400 0.795513 0.064552 0.595667 
time: 1403636606.063555, t: 0.169632 -0.060717 -0.537999 q: -0.090393 0.795574 0.064592 0.595582 
time: 1403636606.263556, t: 0.169620 -0.060711 -0.538000 q: -0.090282 0.795584 0.064565 0.595589 
wait for imu ... 
time: 1403636606.463556, t: 0.169608 -0.060724 -0.538013 q: -0.090243 0.795602 0.064524 0.595576 
time: 1403636606.663555, t: 0.169609 -0.060726 -0.538035 q: -0.090167 0.795591 0.064500 0.595605 
wait for imu ... 
time: 1403636606.863555, t: 0.169609 -0.060754 -0.538029 q: -0.090152 0.795623 0.064527 0.595561 
wait for imu ... 
time: 1403636607.063555, t: 0.169605 -0.060759 -0.538017 q: -0.090053 0.795669 0.064500 0.595517 
time: 1403636607.263556, t: 0.169598 -0.060768 -0.538002 q: -0.089966 0.795713 0.064485 0.595474 
time: 1403636607.463556, t: 0.169591 -0.060794 -0.537996 q: -0.089926 0.795741 0.064490 0.595442 
wait for imu ... 
time: 1403636607.663555, t: 0.169571 -0.060781 -0.537980 q: -0.089774 0.795777 0.064465 0.595419 
time: 1403636607.863555, t: 0.169568 -0.060797 -0.537976 q: -0.089784 0.795810 0.064422 0.595379 
wait for imu ... 
time: 1403636608.063555, t: 0.169565 -0.060783 -0.537971 q: -0.089695 0.795836 0.064404 0.595359 
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time: 1403636608.863555, t: 0.169529 -0.060823 -0.537973 q: -0.089524 0.795882 0.064336 0.595330 
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time: 1403636609.263556, t: 0.169530 -0.060850 -0.537997 q: -0.089540 0.795857 0.064304 0.595365 
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wait for imu ... 
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time: 1403636614.863555, t: 0.170024 -0.060640 -0.538637 q: -0.093056 0.793993 0.065857 0.597142 
time: 1403636615.063555, t: 0.170024 -0.060616 -0.538644 q: -0.093057 0.793941 0.065805 0.597217 
time: 1403636615.263556, t: 0.170027 -0.060611 -0.538621 q: -0.093046 0.793925 0.065880 0.597231 
time: 1403636615.463556, t: 0.170021 -0.060604 -0.538618 q: -0.092964 0.793960 0.065864 0.597199 
time: 1403636615.663555, t: 0.170016 -0.060586 -0.538608 q: -0.092958 0.793982 0.065843 0.597173 
time: 1403636615.863555, t: 0.170017 -0.060584 -0.538607 q: -0.092968 0.794001 0.065845 0.597146 
time: 1403636616.063555, t: 0.170017 -0.060589 -0.538608 q: -0.092928 0.794004 0.065904 0.597142 
time: 1403636616.263556, t: 0.170019 -0.060568 -0.538610 q: -0.092839 0.793973 0.065908 0.597197 
time: 1403636616.463556, t: 0.170029 -0.060593 -0.538615 q: -0.092908 0.793970 0.065909 0.597190 
time: 1403636616.663555, t: 0.170032 -0.060599 -0.538612 q: -0.092922 0.793975 0.065902 0.597182 
time: 1403636616.863555, t: 0.170044 -0.060626 -0.538608 q: -0.093015 0.793978 0.065927 0.597160 
time: 1403636617.063555, t: 0.170025 -0.060616 -0.538606 q: -0.092966 0.793952 0.065912 0.597204 
wait for imu ... 
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wait for imu ... 
time: 1403636617.463556, t: 0.170034 -0.060584 -0.538606 q: -0.092902 0.793992 0.065926 0.597159 
time: 1403636617.663555, t: 0.170032 -0.060592 -0.538618 q: -0.092956 0.793988 0.065883 0.597162 
time: 1403636617.863555, t: 0.170030 -0.060580 -0.538619 q: -0.092921 0.793968 0.065873 0.597194 
time: 1403636618.063555, t: 0.170039 -0.060576 -0.538620 q: -0.092916 0.793974 0.065868 0.597187 
time: 1403636618.263556, t: 0.170031 -0.060579 -0.538616 q: -0.092877 0.793955 0.065933 0.597212 
time: 1403636618.463556, t: 0.170043 -0.060581 -0.538633 q: -0.092876 0.793939 0.065893 0.597238 
time: 1403636618.663555, t: 0.169932 -0.060535 -0.538594 q: -0.092974 0.793948 0.065972 0.597202 
time: 1403636618.863555, t: 0.169982 -0.060565 -0.538646 q: -0.093107 0.793930 0.065801 0.597224 
time: 1403636619.063555, t: 0.169945 -0.060530 -0.538711 q: -0.093303 0.794014 0.065812 0.597080 
time: 1403636619.263556, t: 0.170001 -0.060498 -0.538834 q: -0.093052 0.794003 0.065395 0.597180 
time: 1403636619.463556, t: 0.170040 -0.060513 -0.538815 q: -0.093369 0.793958 0.065777 0.597148 
time: 1403636619.663555, t: 0.170067 -0.060589 -0.538807 q: -0.093134 0.793988 0.065635 0.597160 
wait for imu ... 
time: 1403636619.863555, t: 0.169997 -0.060591 -0.538817 q: -0.093204 0.793995 0.065495 0.597156 
wait for imu ... 
time: 1403636620.063555, t: 0.170000 -0.060610 -0.538807 q: -0.093160 0.794002 0.065577 0.597144 
time: 1403636620.263556, t: 0.169999 -0.060623 -0.538795 q: -0.093143 0.794028 0.065627 0.597107 
time: 1403636620.463556, t: 0.170110 -0.060611 -0.538810 q: -0.093063 0.793994 0.065650 0.597162 
time: 1403636620.663555, t: 0.170034 -0.060641 -0.538795 q: -0.093085 0.794044 0.065582 0.597100 
time: 1403636620.863555, t: 0.169988 -0.060691 -0.538795 q: -0.093173 0.794026 0.065615 0.597107 
time: 1403636621.063555, t: 0.169943 -0.060758 -0.538699 q: -0.092669 0.793997 0.065829 0.597200 
time: 1403636621.263556, t: 0.170044 -0.060693 -0.538777 q: -0.092925 0.793999 0.065905 0.597149 
time: 1403636621.463556, t: 0.170009 -0.060721 -0.538760 q: -0.092996 0.793964 0.065796 0.597197 
time: 1403636621.663555, t: 0.170017 -0.060790 -0.538750 q: -0.092797 0.794055 0.065665 0.597121 
wait for imu ... 
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time: 1403636622.063555, t: 0.170056 -0.060712 -0.538804 q: -0.092896 0.794055 0.065573 0.597116 
time: 1403636622.263556, t: 0.170073 -0.060737 -0.538801 q: -0.092922 0.794115 0.065680 0.597020 
time: 1403636622.463556, t: 0.170049 -0.060782 -0.538767 q: -0.092896 0.794173 0.065651 0.596950 
time: 1403636622.663555, t: 0.170076 -0.060706 -0.538880 q: -0.092782 0.794029 0.065434 0.597183 
time: 1403636622.863555, t: 0.170058 -0.060696 -0.538872 q: -0.092719 0.793995 0.065278 0.597255 
time: 1403636623.063555, t: 0.170844 -0.061358 -0.539180 q: -0.092691 0.793895 0.065114 0.597411 
time: 1403636623.263556, t: 0.173717 -0.061095 -0.541984 q: -0.092528 0.794032 0.065080 0.597257 
wait for imu ... 
time: 1403636623.463556, t: 0.176170 -0.061293 -0.544569 q: -0.092500 0.793906 0.064992 0.597439 
time: 1403636623.663555, t: 0.173236 -0.059200 -0.549067 q: -0.092257 0.794094 0.064841 0.597243 
time: 1403636623.863555, t: 0.178974 -0.060031 -0.552821 q: -0.091875 0.794153 0.064038 0.597310 
time: 1403636624.063555, t: 0.183286 -0.059392 -0.556443 q: -0.091506 0.794236 0.063703 0.597293 
time: 1403636624.263556, t: 0.185579 -0.059678 -0.559970 q: -0.090901 0.794908 0.062933 0.596571 
time: 1403636624.463556, t: 0.179477 -0.066820 -0.554246 q: -0.084971 0.804518 0.061297 0.584614 
time: 1403636624.663555, t: 0.171430 -0.083782 -0.548736 q: -0.076992 0.809044 0.061058 0.579476 
time: 1403636624.863555, t: 0.142853 -0.110793 -0.542928 q: -0.058981 0.811207 0.074426 0.576997 
time: 1403636625.063555, t: 0.116354 -0.137699 -0.513383 q: -0.037820 0.824884 0.090654 0.556703 
time: 1403636625.263556, t: 0.098883 -0.149908 -0.460207 q: -0.048470 0.826664 0.085019 0.554120 
time: 1403636625.463556, t: 0.096127 -0.153256 -0.444150 q: -0.053826 0.825648 0.084374 0.555238 
time: 1403636625.663555, t: 0.109112 -0.151133 -0.453204 q: -0.053698 0.826042 0.087218 0.554223 
time: 1403636625.863555, t: 0.131653 -0.138456 -0.398039 q: -0.058079 0.814718 0.086496 0.570420 
wait for imu ... 
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time: 1403636626.263556, t: 0.184617 -0.098114 -0.228382 q: -0.080287 0.808000 0.073024 0.579100 
time: 1403636626.463556, t: 0.202454 -0.098329 -0.197574 q: -0.078008 0.806630 0.076036 0.580931 
time: 1403636626.663555, t: 0.211156 -0.118467 -0.192792 q: -0.069480 0.798066 0.086107 0.592325 
time: 1403636626.863555, t: 0.204422 -0.140849 -0.204102 q: -0.069533 0.803229 0.090796 0.584589 
time: 1403636627.063555, t: 0.192486 -0.162345 -0.224974 q: -0.067197 0.813196 0.093486 0.570488 
time: 1403636627.263556, t: 0.181407 -0.181482 -0.221475 q: -0.067683 0.811345 0.094024 0.572973 
time: 1403636627.463556, t: 0.171437 -0.199400 -0.180182 q: -0.072153 0.807873 0.091059 0.577792 
time: 1403636627.663555, t: 0.159727 -0.221952 -0.154113 q: -0.065815 0.812889 0.078740 0.573306 
time: 1403636627.863555, t: 0.149859 -0.247063 -0.177829 q: -0.048551 0.826887 0.062174 0.556808 
time: 1403636628.063555, t: 0.158905 -0.269993 -0.188627 q: -0.034576 0.831468 0.049987 0.552237 
time: 1403636628.263556, t: 0.187809 -0.286573 -0.157398 q: -0.036832 0.814929 0.037677 0.577161 
time: 1403636628.463556, t: 0.211909 -0.308015 -0.113580 q: -0.045044 0.811265 0.029721 0.582183 
time: 1403636628.663555, t: 0.230655 -0.341532 -0.088110 q: -0.049628 0.812197 0.029344 0.580527 
time: 1403636628.863555, t: 0.247238 -0.387997 -0.088096 q: -0.033109 0.818534 0.028152 0.572812 
time: 1403636629.063555, t: 0.255937 -0.441988 -0.073295 q: -0.021390 0.825863 0.020624 0.563087 
time: 1403636629.263556, t: 0.263118 -0.499221 -0.042946 q: -0.010073 0.824999 0.006206 0.565010 
time: 1403636629.463556, t: 0.283963 -0.556033 -0.031994 q: -0.008832 0.818417 -0.015049 0.574359 
time: 1403636629.663555, t: 0.305041 -0.623431 -0.052047 q: 0.005984 0.821493 -0.042959 0.568567 
time: 1403636629.863555, t: 0.337042 -0.704777 -0.091335 q: 0.035147 0.828085 -0.075299 0.554410 
wait for imu ... 
time: 1403636630.063555, t: 0.380931 -0.789455 -0.130144 q: 0.055821 0.825733 -0.101396 0.552058 
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time: 1403636630.663555, t: 0.576512 -1.012353 -0.087560 q: 0.074615 0.815306 -0.103607 0.564779 
time: 1403636630.863555, t: 0.629274 -1.102330 -0.071679 q: 0.067086 0.816560 -0.100353 0.564498 
time: 1403636631.063555, t: 0.720975 -1.163486 -0.074040 q: 0.059830 0.816009 -0.099613 0.566240 
time: 1403636631.263556, t: 0.836745 -1.217089 -0.087744 q: 0.057825 0.812724 -0.097057 0.571590 
time: 1403636631.463556, t: 0.941958 -1.286054 -0.111721 q: 0.055879 0.813151 -0.094248 0.571647 
time: 1403636631.663555, t: 1.040988 -1.356786 -0.146840 q: 0.056953 0.814312 -0.089015 0.570726 
time: 1403636631.863555, t: 1.134108 -1.420575 -0.165361 q: 0.057496 0.815179 -0.085519 0.569968 
time: 1403636632.063555, t: 1.225449 -1.477191 -0.165233 q: 0.058967 0.814849 -0.084400 0.570457 
time: 1403636632.263556, t: 1.310332 -1.522801 -0.165619 q: 0.064486 0.812641 -0.082779 0.573240 
wait for imu ... 
time: 1403636632.463556, t: 1.387510 -1.556223 -0.187297 q: 0.061746 0.814132 -0.087822 0.570670 
time: 1403636632.663555, t: 1.464281 -1.580150 -0.227074 q: 0.037862 0.824420 -0.088704 0.557701 
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time: 1403636633.263556, t: 1.745684 -1.686593 -0.260968 q: -0.003868 0.821866 0.007272 0.569621 
time: 1403636633.463556, t: 1.847587 -1.716695 -0.287943 q: -0.014758 0.825938 0.006762 0.563528 
time: 1403636633.663555, t: 1.961438 -1.748258 -0.323396 q: -0.014437 0.829954 0.002165 0.557642 
time: 1403636633.863555, t: 2.093146 -1.784389 -0.336000 q: -0.013104 0.828760 -0.004866 0.559429 
wait for imu ... 
time: 1403636634.063555, t: 2.235300 -1.821505 -0.334733 q: -0.020127 0.825770 -0.018057 0.563359 
time: 1403636634.263556, t: 2.382489 -1.870220 -0.325439 q: -0.014169 0.827415 -0.011638 0.561291 
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time: 1403636635.463556, t: 3.250954 -2.155966 -0.312105 q: -0.035186 0.825711 0.034132 0.561959 
time: 1403636635.663555, t: 3.391691 -2.194369 -0.298308 q: -0.039641 0.825209 0.030153 0.562628 
time: 1403636635.863555, t: 3.552188 -2.239480 -0.263386 q: -0.047134 0.819052 0.022041 0.571355 
time: 1403636636.063555, t: 3.712171 -2.299353 -0.211104 q: -0.043522 0.827212 0.022112 0.559766 
time: 1403636636.263556, t: 3.869656 -2.365489 -0.155665 q: -0.028905 0.821349 0.032116 0.568788 
time: 1403636636.463556, t: 4.032647 -2.434863 -0.090073 q: -0.025492 0.804977 0.035062 0.591720 
time: 1403636636.663555, t: 4.168256 -2.495346 -0.050107 q: -0.012091 0.802091 0.044402 0.595427 
time: 1403636636.863555, t: 4.281572 -2.538697 -0.044026 q: 0.002933 0.803118 0.055353 0.593236 
time: 1403636637.063555, t: 4.385126 -2.555642 -0.060838 q: -0.017447 0.809294 0.044523 0.585454 
time: 1403636637.263556, t: 4.483053 -2.569381 -0.091708 q: -0.026799 0.817437 0.040724 0.573951 
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wait for imu ... 
time: 1403636637.663555, t: 4.682137 -2.568093 -0.074069 q: -0.031578 0.823269 0.042880 0.565148 
wait for imu ... 
time: 1403636637.863555, t: 4.787157 -2.567897 -0.023338 q: -0.032126 0.819786 0.044974 0.569997 
wait for imu ... 
time: 1403636638.063555, t: 4.896759 -2.561844 0.027312 q: -0.033729 0.815041 0.045767 0.576607 
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wait for imu ... 
time: 1403636638.663555, t: 5.172973 -2.563395 -0.053313 q: -0.047634 0.835750 0.040368 0.545548 
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time: 1403636639.863555, t: 5.980672 -2.785153 -0.164964 q: -0.038691 0.812078 0.052121 0.579927 
time: 1403636640.063555, t: 6.113127 -2.832680 -0.176625 q: -0.043099 0.810808 0.053838 0.581235 
time: 1403636640.263556, t: 6.236314 -2.877191 -0.154165 q: -0.050075 0.809938 0.070682 0.580083 
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time: 1403636640.663555, t: 6.481402 -2.960280 -0.144026 q: -0.059102 0.809127 0.085714 0.578337 
time: 1403636640.863555, t: 6.577254 -2.997450 -0.156574 q: -0.060217 0.811812 0.088488 0.574025 
wait for imu ... 
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time: 1403636641.463556, t: 6.818742 -3.081998 -0.201744 q: -0.070195 0.811028 0.078551 0.575444 
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time: 1403636641.863555, t: 6.939328 -3.140323 -0.237326 q: -0.060740 0.809867 0.083080 0.577515 
time: 1403636642.063555, t: 7.006024 -3.168006 -0.214584 q: -0.053781 0.809500 0.071305 0.580286 
time: 1403636642.263556, t: 7.065182 -3.192414 -0.192613 q: -0.044173 0.809144 0.058824 0.582988 
time: 1403636642.463556, t: 7.108337 -3.215308 -0.195938 q: -0.034779 0.809159 0.042872 0.584990 
time: 1403636642.663555, t: 7.141931 -3.236075 -0.223880 q: -0.028831 0.817192 0.033694 0.574658 
time: 1403636642.863555, t: 7.165302 -3.256568 -0.252795 q: -0.027525 0.824223 0.029665 0.564818 
time: 1403636643.063555, t: 7.193023 -3.278998 -0.248971 q: -0.028863 0.823094 0.028653 0.566447 
time: 1403636643.263556, t: 7.227653 -3.306058 -0.244975 q: -0.031272 0.816520 0.027798 0.575798 
time: 1403636643.463556, t: 7.263531 -3.335478 -0.249965 q: -0.032506 0.821310 0.028532 0.568840 
time: 1403636643.663555, t: 7.308529 -3.368685 -0.231877 q: -0.032336 0.829207 0.031871 0.557095 
time: 1403636643.863555, t: 7.368839 -3.406510 -0.194273 q: -0.030723 0.834784 0.035337 0.548584 
time: 1403636644.063555, t: 7.448137 -3.444411 -0.170365 q: -0.029034 0.837763 0.037079 0.543999 
time: 1403636644.463556, t: 7.683131 -3.511996 -0.183906 q: -0.051631 0.815474 0.019196 0.576166 
time: 1403636644.663555, t: 7.803624 -3.563502 -0.234973 q: -0.056870 0.809514 0.015188 0.584142 
time: 1403636644.863555, t: 7.909601 -3.636529 -0.311362 q: -0.029143 0.810320 0.032815 0.584342 
time: 1403636645.063555, t: 8.003194 -3.710336 -0.384350 q: -0.026459 0.824552 0.031540 0.564287 
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time: 1403636645.663555, t: 8.372527 -3.903681 -0.469593 q: -0.022548 0.832102 0.029460 0.553380 
time: 1403636645.863555, t: 8.545354 -3.959603 -0.490410 q: -0.024257 0.831105 0.028258 0.554867 
time: 1403636646.063555, t: 8.734643 -4.014078 -0.467950 q: -0.026160 0.824638 0.015012 0.564856 
time: 1403636646.263556, t: 8.925445 -4.078577 -0.437979 q: -0.012534 0.817103 -0.025308 0.575800 
time: 1403636646.463556, t: 9.113130 -4.160214 -0.428999 q: 0.018795 0.805071 -0.072017 0.588491 
time: 1403636646.663555, t: 9.276644 -4.245377 -0.421610 q: 0.051443 0.799933 -0.093494 0.590525 
time: 1403636646.863555, t: 9.413702 -4.327695 -0.382170 q: 0.064080 0.800206 -0.105284 0.586923 
time: 1403636647.063555, t: 9.535307 -4.406473 -0.339601 q: 0.066938 0.803726 -0.108141 0.581248 
time: 1403636647.263556, t: 9.635297 -4.482490 -0.313520 q: 0.066046 0.809068 -0.107694 0.573976 
time: 1403636647.463556, t: 9.732887 -4.561047 -0.303470 q: 0.059879 0.805357 -0.107181 0.579936 
time: 1403636647.663555, t: 9.822574 -4.645232 -0.295681 q: 0.052990 0.797074 -0.108854 0.591621 
time: 1403636647.863555, t: 9.900226 -4.740850 -0.273334 q: 0.061316 0.800447 -0.111188 0.585800 
time: 1403636648.063555, t: 9.955273 -4.839969 -0.275621 q: 0.079777 0.797808 -0.133387 0.582534 
time: 1403636648.263556, t: 9.984798 -4.939545 -0.307079 q: 0.109054 0.789847 -0.174969 0.577612 
time: 1403636648.463556, t: 9.996825 -5.036976 -0.353961 q: 0.142041 0.778722 -0.220564 0.569883 
time: 1403636648.663555, t: 9.989440 -5.128572 -0.398599 q: 0.169085 0.768242 -0.257540 0.561148 
wait for imu ... 
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time: 1403636649.063555, t: 9.985813 -5.318079 -0.400678 q: 0.182766 0.778514 -0.279859 0.531217 
time: 1403636649.263556, t: 10.007153 -5.423358 -0.345248 q: 0.189258 0.764868 -0.271304 0.552767 
time: 1403636649.463556, t: 10.025312 -5.521700 -0.273731 q: 0.184503 0.770281 -0.266062 0.549397 
time: 1403636649.663555, t: 10.035036 -5.611225 -0.179125 q: 0.179622 0.765066 -0.264296 0.559069 
time: 1403636649.863555, t: 10.034614 -5.705080 -0.103814 q: 0.189274 0.757548 -0.274581 0.561160 
wait for imu ... 
time: 1403636650.063555, t: 10.021887 -5.785773 -0.061700 q: 0.198531 0.753661 -0.281630 0.559701 
time: 1403636650.263556, t: 9.989198 -5.851678 -0.057417 q: 0.215444 0.745029 -0.304378 0.553054 
wait for imu ... 
time: 1403636650.463556, t: 9.939644 -5.906846 -0.077472 q: 0.241391 0.731808 -0.346343 0.535009 
time: 1403636650.663555, t: 9.881125 -5.950853 -0.110545 q: 0.260382 0.721778 -0.381532 0.515432 
time: 1403636650.863555, t: 9.815528 -5.988513 -0.130809 q: 0.273420 0.712761 -0.396710 0.509739 
time: 1403636651.063555, t: 9.749506 -6.022596 -0.114765 q: 0.283052 0.703731 -0.396467 0.517164 
time: 1403636651.263556, t: 9.686221 -6.050187 -0.082752 q: 0.280577 0.706420 -0.395090 0.515898 
time: 1403636651.463556, t: 9.624115 -6.072071 -0.044310 q: 0.273281 0.713641 -0.392662 0.511713 
time: 1403636651.663555, t: 9.557357 -6.089682 -0.032750 q: 0.272693 0.710435 -0.385387 0.521917 
time: 1403636651.863555, t: 9.485400 -6.098125 -0.041760 q: 0.269140 0.699494 -0.395853 0.530634 
wait for imu ... 
time: 1403636652.063555, t: 9.392392 -6.099461 -0.070574 q: 0.287053 0.680823 -0.425846 0.522241 
time: 1403636652.263556, t: 9.276090 -6.091962 -0.117222 q: 0.323723 0.660879 -0.471078 0.486341 
time: 1403636652.463556, t: 9.147946 -6.068618 -0.180803 q: 0.346696 0.637761 -0.521126 0.448877 
time: 1403636652.663555, t: 9.019601 -6.056707 -0.221541 q: 0.353785 0.626250 -0.549752 0.424759 
time: 1403636652.863555, t: 8.899152 -6.069933 -0.222563 q: 0.359110 0.622316 -0.556653 0.417014 
time: 1403636653.063555, t: 8.789545 -6.109779 -0.197198 q: 0.366134 0.620706 -0.550252 0.421773 
time: 1403636653.263556, t: 8.690834 -6.171656 -0.205249 q: 0.374516 0.616908 -0.537416 0.436287 
time: 1403636653.463556, t: 8.601788 -6.234647 -0.200298 q: 0.376279 0.619129 -0.526977 0.444283 
time: 1403636653.663555, t: 8.515491 -6.288426 -0.165307 q: 0.373506 0.621799 -0.521154 0.449731 
time: 1403636653.863555, t: 8.431998 -6.326545 -0.140147 q: 0.376881 0.620394 -0.515393 0.455458 
time: 1403636654.063555, t: 8.350390 -6.345276 -0.144556 q: 0.370458 0.620282 -0.519608 0.456090 
time: 1403636654.263556, t: 8.266026 -6.347714 -0.158536 q: 0.376696 0.611582 -0.528325 0.452704 
time: 1403636654.463556, t: 8.184609 -6.331752 -0.148916 q: 0.389987 0.597590 -0.549797 0.434189 
wait for imu ... 
time: 1403636654.663555, t: 8.102055 -6.307210 -0.118586 q: 0.402236 0.577480 -0.576901 0.414618 
time: 1403636654.863555, t: 8.028924 -6.279163 -0.106426 q: -0.408982 -0.565994 0.592935 -0.401014 
time: 1403636655.063555, t: 7.961271 -6.250184 -0.119803 q: -0.423210 -0.553589 0.592828 -0.403717 
time: 1403636655.263556, t: 7.897408 -6.215427 -0.145948 q: -0.430272 -0.544264 0.591958 -0.410156 
time: 1403636655.463556, t: 7.829198 -6.162781 -0.173052 q: -0.437008 -0.530604 0.600655 -0.408285 
time: 1403636655.663555, t: 7.757071 -6.083300 -0.184837 q: -0.434887 -0.518584 0.625248 -0.388599 
time: 1403636655.863555, t: 7.679138 -5.990940 -0.226286 q: -0.434184 -0.502904 0.649445 -0.369855 
time: 1403636656.063555, t: 7.587706 -5.899763 -0.289068 q: -0.445662 -0.476540 0.669732 -0.354618 
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time: 1403636656.463556, t: 7.360946 -5.724680 -0.296827 q: -0.454530 -0.465592 0.682426 -0.333049 
time: 1403636656.663555, t: 7.246722 -5.664881 -0.255514 q: -0.460227 -0.467076 0.676415 -0.335400 
wait for imu ... 
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wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
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time: 1403636657.263556, t: 6.942190 -5.509134 -0.268119 q: -0.470962 -0.462003 0.658503 -0.362108 
time: 1403636657.463556, t: 6.838818 -5.421770 -0.283855 q: -0.456802 -0.465084 0.668740 -0.357512 
time: 1403636657.663555, t: 6.728843 -5.331491 -0.311829 q: -0.449565 -0.467463 0.674228 -0.353252 
time: 1403636657.863555, t: 6.607902 -5.241803 -0.353416 q: -0.447610 -0.460491 0.679650 -0.354499 
wait for imu ... 
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time: 1403636658.263556, t: 6.329226 -5.063099 -0.399799 q: -0.455352 -0.465531 0.681477 -0.333954 
time: 1403636658.463556, t: 6.169448 -4.987201 -0.420965 q: -0.459701 -0.469918 0.680168 -0.324382 
time: 1403636658.663555, t: 6.018115 -4.922343 -0.450667 q: -0.466876 -0.475781 0.675773 -0.314626 
time: 1403636658.863555, t: 5.875858 -4.871095 -0.485307 q: -0.478649 -0.477005 0.667689 -0.312334 
time: 1403636659.063555, t: 5.753753 -4.823006 -0.530392 q: -0.482209 -0.466317 0.665337 -0.327643 
time: 1403636659.263556, t: 5.648143 -4.779611 -0.590705 q: -0.483942 -0.462330 0.663652 -0.334091 
time: 1403636659.463556, t: 5.561863 -4.735908 -0.641457 q: -0.474319 -0.468855 0.670152 -0.325718 
time: 1403636659.663555, t: 5.463601 -4.670306 -0.666208 q: -0.476522 -0.468241 0.669456 -0.324817 
wait for imu ... 
time: 1403636659.863555, t: 5.391599 -4.621931 -0.711651 q: -0.480668 -0.464876 0.668581 -0.325343 
time: 1403636660.063555, t: 5.335505 -4.578689 -0.778691 q: -0.472105 -0.467970 0.676772 -0.316387 
time: 1403636660.263556, t: 5.294888 -4.551255 -0.857307 q: -0.465292 -0.471021 0.682662 -0.309218 
time: 1403636660.463556, t: 5.255587 -4.533492 -0.921378 q: -0.451655 -0.477672 0.692209 -0.297797 
time: 1403636660.663555, t: 5.223610 -4.548219 -0.968510 q: -0.467177 -0.474059 0.681093 -0.305165 
time: 1403636660.863555, t: 5.207765 -4.581705 -1.032973 q: -0.491596 -0.473791 0.662793 -0.307508 
time: 1403636661.063555, t: 5.204458 -4.606152 -1.117714 q: -0.493119 -0.468968 0.661229 -0.315720 
time: 1403636661.263556, t: 5.228767 -4.635785 -1.209183 q: -0.489460 -0.462819 0.663728 -0.325105 
time: 1403636661.463556, t: 5.271352 -4.658189 -1.278240 q: -0.488810 -0.461470 0.663830 -0.327779 
time: 1403636661.663555, t: 5.325121 -4.671444 -1.316642 q: -0.482999 -0.460780 0.667063 -0.330789 
time: 1403636661.863555, t: 5.385037 -4.677124 -1.326941 q: -0.479222 -0.453675 0.668420 -0.343132 
time: 1403636662.063555, t: 5.442708 -4.670782 -1.306497 q: -0.479854 -0.452942 0.667081 -0.345813 
time: 1403636662.263556, t: 5.499609 -4.654468 -1.283147 q: -0.484473 -0.461057 0.664406 -0.333583 
time: 1403636662.463556, t: 5.560620 -4.630233 -1.285155 q: -0.481377 -0.468070 0.668392 -0.320059 
time: 1403636662.663555, t: 5.630908 -4.607574 -1.306671 q: -0.465857 -0.462224 0.680903 -0.325109 
wait for imu ... 
time: 1403636663.063555, t: 5.746449 -4.570153 -1.391616 q: -0.446172 -0.450550 0.696156 -0.336604 
time: 1403636663.263556, t: 5.766592 -4.555477 -1.419532 q: -0.447583 -0.456957 0.696030 -0.326193 
time: 1403636663.463556, t: 5.765562 -4.553229 -1.458355 q: -0.455321 -0.475593 0.690572 -0.299338 
time: 1403636663.663555, t: 5.759255 -4.582068 -1.516357 q: -0.453046 -0.482584 0.691600 -0.289054 
time: 1403636663.863555, t: 5.761234 -4.649203 -1.567353 q: -0.469538 -0.491932 0.677683 -0.279790 
time: 1403636664.063555, t: 5.786490 -4.757346 -1.588985 q: -0.489448 -0.492977 0.660408 -0.285088 
time: 1403636664.263556, t: 5.847340 -4.892418 -1.586954 q: -0.490260 -0.482550 0.656389 -0.309748 
time: 1403636664.463556, t: 5.941213 -5.023264 -1.621943 q: -0.487374 -0.478660 0.653774 -0.325470 
time: 1403636664.663555, t: 6.052997 -5.145466 -1.680759 q: -0.480574 -0.475767 0.652390 -0.342172 
time: 1403636664.863555, t: 6.171997 -5.257737 -1.715487 q: -0.475276 -0.483919 0.650823 -0.341122 
time: 1403636665.063555, t: 6.299862 -5.356508 -1.718617 q: -0.463292 -0.490061 0.655545 -0.339796 
wait for imu ... 
time: 1403636665.263556, t: 6.430726 -5.456919 -1.696228 q: -0.452602 -0.487952 0.660885 -0.346821 
time: 1403636665.463556, t: 6.554769 -5.556214 -1.665536 q: -0.458108 -0.487027 0.656888 -0.348481 
time: 1403636665.663555, t: 6.678279 -5.651744 -1.637893 q: -0.466312 -0.495872 0.653262 -0.331532 
time: 1403636665.863555, t: 6.813572 -5.760972 -1.611507 q: -0.472131 -0.486682 0.652015 -0.339277 
time: 1403636666.063555, t: 6.953584 -5.862827 -1.584850 q: -0.461635 -0.471798 0.661252 -0.356435 
wait for imu ... 
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wait for imu ... 
time: 1403636666.463556, t: 7.202813 -6.032456 -1.586372 q: -0.462797 -0.470311 0.659647 -0.359851 
time: 1403636666.663555, t: 7.305882 -6.088267 -1.577364 q: -0.458450 -0.481133 0.660352 -0.349672 
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time: 1403636667.063555, t: 7.489826 -6.186589 -1.535333 q: -0.425269 -0.484620 0.678857 -0.351344 
time: 1403636667.263556, t: 7.563550 -6.252058 -1.532002 q: -0.460172 -0.487803 0.654325 -0.349499 
time: 1403636667.463556, t: 7.635911 -6.315695 -1.555143 q: -0.465727 -0.492326 0.649305 -0.345132 
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time: 1403636667.863555, t: 7.791324 -6.439278 -1.579140 q: -0.442201 -0.489495 0.665596 -0.349049 
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time: 1403636668.263556, t: 7.911649 -6.575849 -1.607090 q: -0.451054 -0.491911 0.664829 -0.335525 
time: 1403636668.463556, t: 7.967432 -6.655958 -1.650356 q: -0.456698 -0.489244 0.665046 -0.331332 
wait for imu ... 
time: 1403636668.663555, t: 8.028680 -6.744924 -1.699608 q: -0.459878 -0.486649 0.666185 -0.328454 
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time: 1403636680.063555, t: 10.051739 -6.913649 -1.650994 q: -0.165552 0.759453 0.266722 0.569810 
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time: 1403636681.663555, t: 9.387939 -6.285515 -1.522529 q: -0.167789 0.773681 0.248082 0.558318 
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wait for imu ... 
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time: 1403636688.263556, t: 5.289353 -4.040232 -1.669529 q: -0.182092 0.770551 0.257635 0.553820 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636711.863555, t: 9.957714 -7.585566 -2.330268 q: 0.143360 0.778042 -0.175403 0.585945 
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time: 1403636712.463556, t: 10.010625 -7.288135 -2.187827 q: 0.123585 0.788321 -0.150361 0.583668 
time: 1403636712.663555, t: 9.989279 -7.179448 -2.108946 q: 0.110339 0.786628 -0.131948 0.592985 
time: 1403636712.863555, t: 9.948188 -7.060333 -2.051826 q: 0.098064 0.787096 -0.124594 0.596104 
time: 1403636713.063555, t: 9.880370 -6.938032 -2.014703 q: 0.096056 0.791876 -0.121652 0.590683 
time: 1403636713.263556, t: 9.801423 -6.801613 -1.965450 q: 0.089537 0.794968 -0.123107 0.587243 
time: 1403636713.463556, t: 9.711499 -6.664834 -1.885954 q: 0.086560 0.797422 -0.126163 0.583702 
time: 1403636713.663555, t: 9.612714 -6.531505 -1.798786 q: 0.077993 0.799312 -0.135068 0.580323 
time: 1403636713.863555, t: 9.502596 -6.410680 -1.738751 q: 0.072832 0.800130 -0.142967 0.577968 
time: 1403636714.063555, t: 9.390564 -6.304273 -1.699032 q: 0.084604 0.801286 -0.140116 0.575457 
time: 1403636714.263556, t: 9.275585 -6.209331 -1.676745 q: 0.087767 0.799311 -0.143398 0.576919 
time: 1403636714.463556, t: 9.152994 -6.129237 -1.676111 q: 0.085385 0.803977 -0.147197 0.569793 
time: 1403636714.663555, t: 9.030432 -6.058279 -1.687187 q: 0.072402 0.814863 -0.132235 0.559706 
time: 1403636714.863555, t: 8.928649 -6.003706 -1.684416 q: 0.054501 0.821915 -0.090522 0.559724 
time: 1403636715.063555, t: 8.845692 -5.961321 -1.651653 q: 0.031806 0.826805 -0.045899 0.559709 
wait for imu ... 
time: 1403636715.263556, t: 8.774113 -5.919472 -1.600929 q: 0.018089 0.828356 -0.021291 0.559506 
time: 1403636715.463556, t: 8.729435 -5.887551 -1.568058 q: 0.004022 0.822281 -0.018845 0.568756 
time: 1403636715.663555, t: 8.687986 -5.860924 -1.565917 q: -0.010732 0.815886 -0.028068 0.577432 
time: 1403636715.863555, t: 8.653938 -5.851063 -1.572169 q: 0.006094 0.803872 -0.021030 0.594399 
time: 1403636716.063555, t: 8.599070 -5.841827 -1.554851 q: 0.013700 0.799179 -0.021625 0.600547 
wait for imu ... 
time: 1403636716.263556, t: 8.520301 -5.829786 -1.522299 q: 0.012217 0.809068 -0.030476 0.586797 
time: 1403636716.463556, t: 8.429531 -5.820715 -1.502205 q: 0.015346 0.813571 -0.035956 0.580150 
time: 1403636716.863555, t: 8.253247 -5.805678 -1.536372 q: 0.001087 0.813248 -0.009369 0.581841 
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time: 1403636717.663555, t: 7.871973 -5.771254 -1.527960 q: -0.041840 0.809584 0.087969 0.578865 
time: 1403636717.863555, t: 7.763709 -5.731317 -1.552794 q: -0.042095 0.809394 0.096152 0.577810 
time: 1403636718.063555, t: 7.644698 -5.673154 -1.559137 q: -0.056071 0.806587 0.120730 0.575932 
time: 1403636718.263556, t: 7.526903 -5.591107 -1.552872 q: -0.089421 0.803902 0.142276 0.570529 
time: 1403636718.663555, t: 7.289067 -5.405160 -1.616139 q: -0.144312 0.798878 0.175194 0.557023 
wait for imu ... 
time: 1403636719.063555, t: 7.089486 -5.257984 -1.705824 q: -0.143363 0.790121 0.204570 0.559738 
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time: 1403636719.863555, t: 6.676461 -5.042080 -1.778703 q: -0.145164 0.792490 0.189065 0.561374 
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time: 1403636720.663555, t: 6.301673 -4.950937 -1.850184 q: -0.147724 0.796597 0.187409 0.555418 
time: 1403636720.863555, t: 6.231919 -4.949370 -1.850267 q: -0.141640 0.797881 0.180786 0.557352 
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time: 1403636721.863555, t: 5.941154 -5.021534 -1.881778 q: -0.073267 0.808090 0.092354 0.577143 
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time: 1403636722.663555, t: 5.645473 -5.079535 -1.906903 q: -0.064496 0.809715 0.089932 0.576293 
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time: 1403636723.263556, t: 5.413807 -5.081835 -1.904750 q: -0.064092 0.810906 0.084734 0.575451 
time: 1403636723.463556, t: 5.339984 -5.076362 -1.908756 q: -0.051016 0.809497 0.081167 0.579244 
time: 1403636723.663555, t: 5.267677 -5.067757 -1.905469 q: -0.044776 0.800839 0.059366 0.594245 
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time: 1403636724.263556, t: 5.025187 -5.026560 -1.901023 q: -0.013310 0.824806 0.011467 0.565143 
wait for imu ... 
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time: 1403636724.863555, t: 4.830307 -4.979314 -1.876091 q: 0.026956 0.816433 -0.040695 0.575374 
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time: 1403636726.663555, t: 4.517376 -4.896895 -1.604969 q: -0.007753 0.811400 -0.043718 0.582803 
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time: 1403636727.463556, t: 4.326417 -4.941860 -1.378706 q: 0.019391 0.813215 -0.006858 0.581599 
time: 1403636727.663555, t: 4.271110 -4.933581 -1.332545 q: 0.011513 0.810452 -0.012178 0.585565 
time: 1403636727.863555, t: 4.214798 -4.918054 -1.262555 q: 0.018560 0.812553 -0.007598 0.582543 
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time: 1403636728.263556, t: 4.087858 -4.851234 -1.145394 q: 0.014408 0.810316 -0.011923 0.585694 
time: 1403636728.463556, t: 4.009724 -4.804899 -1.120105 q: 0.004808 0.810599 -0.019216 0.585267 
time: 1403636728.663555, t: 3.929397 -4.762221 -1.114657 q: -0.006446 0.811266 -0.020353 0.584287 
time: 1403636728.863555, t: 3.851479 -4.725944 -1.094933 q: -0.007443 0.811410 0.011396 0.584318 
wait for imu ... 
time: 1403636729.063555, t: 3.767509 -4.687645 -1.066836 q: -0.016874 0.807611 0.033539 0.588519 
wait for imu ... 
time: 1403636729.263556, t: 3.676209 -4.647356 -1.061170 q: -0.025560 0.808597 0.042433 0.586273 
time: 1403636729.463556, t: 3.578005 -4.602251 -1.066731 q: -0.028319 0.807986 0.045402 0.586767 
time: 1403636729.663555, t: 3.472784 -4.554338 -1.053780 q: -0.029874 0.809175 0.045548 0.585038 
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wait for imu ... 
time: 1403636730.263556, t: 3.145125 -4.386607 -1.026166 q: -0.031060 0.817643 0.043608 0.573230 
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time: 1403636731.463556, t: 2.770688 -4.088049 -0.941172 q: -0.037606 0.813213 0.036710 0.579588 
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wait for imu ... 
time: 1403636731.863555, t: 2.725721 -4.085473 -0.990572 q: -0.040763 0.814254 0.035743 0.577971 
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time: 1403636732.663555, t: 2.585058 -4.145256 -1.129380 q: -0.012592 0.799683 0.062475 0.597030 
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wait for imu ... 
time: 1403636733.463556, t: 2.210247 -4.032063 -1.044916 q: -0.034785 0.812118 0.053636 0.579980 
time: 1403636733.663555, t: 2.100076 -3.983576 -0.998368 q: -0.036628 0.815854 0.053048 0.574653 
time: 1403636733.863555, t: 1.993535 -3.935506 -0.972953 q: -0.036474 0.818380 0.054093 0.570962 
time: 1403636734.063555, t: 1.888919 -3.883400 -0.965218 q: -0.031438 0.812912 0.057143 0.578722 
time: 1403636734.263556, t: 1.784269 -3.825905 -0.954967 q: -0.035663 0.810985 0.054165 0.581461 
time: 1403636734.463556, t: 1.675330 -3.767001 -0.919317 q: -0.040480 0.814652 0.053185 0.576086 
time: 1403636734.663555, t: 1.570331 -3.708475 -0.883120 q: -0.041742 0.819025 0.054998 0.569589 
time: 1403636734.863555, t: 1.470902 -3.653966 -0.869891 q: -0.042206 0.819690 0.058332 0.568264 
time: 1403636735.063555, t: 1.381551 -3.598958 -0.878394 q: -0.043997 0.819398 0.058880 0.568492 
time: 1403636735.263556, t: 1.301613 -3.545106 -0.883949 q: -0.047143 0.820901 0.055584 0.566401 
wait for imu ... 
time: 1403636735.463556, t: 1.232260 -3.491986 -0.850704 q: -0.047263 0.821062 0.050090 0.566670 
time: 1403636735.663555, t: 1.169987 -3.441785 -0.789394 q: -0.041006 0.818791 0.046111 0.570765 
time: 1403636735.863555, t: 1.110563 -3.392324 -0.741419 q: -0.038678 0.819045 0.042778 0.570824 
time: 1403636736.063555, t: 1.058361 -3.346514 -0.707769 q: -0.039616 0.817280 0.047751 0.572890 
time: 1403636736.263556, t: 1.005042 -3.301150 -0.654629 q: -0.054574 0.811870 0.066380 0.577480 
time: 1403636736.463556, t: 0.954176 -3.264257 -0.604054 q: -0.060352 0.809481 0.085301 0.577773 
time: 1403636736.663555, t: 0.906637 -3.227511 -0.584199 q: -0.055331 0.806222 0.100307 0.580416 
time: 1403636736.863555, t: 0.853223 -3.179661 -0.581268 q: -0.057091 0.805073 0.104381 0.581123 
time: 1403636737.063555, t: 0.789808 -3.116507 -0.588673 q: -0.066922 0.805937 0.103219 0.579079 
time: 1403636737.263556, t: 0.719120 -3.041672 -0.608895 q: -0.078142 0.806282 0.102153 0.577380 
time: 1403636737.463556, t: 0.650267 -2.969392 -0.628951 q: -0.080635 0.810960 0.106381 0.569671 
time: 1403636737.663555, t: 0.583062 -2.896418 -0.621303 q: -0.087060 0.814243 0.104928 0.564286 
time: 1403636737.863555, t: 0.522901 -2.830633 -0.587278 q: -0.094661 0.816678 0.098973 0.560608 
time: 1403636738.063555, t: 0.480190 -2.785892 -0.518398 q: -0.093263 0.816760 0.097257 0.561023 
time: 1403636738.263556, t: 0.464878 -2.759273 -0.444114 q: -0.086348 0.814583 0.098165 0.565121 
time: 1403636738.463556, t: 0.460261 -2.744027 -0.396412 q: -0.082671 0.815718 0.095385 0.564509 
wait for imu ... 
time: 1403636738.663555, t: 0.481096 -2.741650 -0.373820 q: -0.071102 0.820876 0.075136 0.561659 
time: 1403636738.863555, t: 0.512942 -2.748854 -0.379323 q: -0.053260 0.818670 0.034678 0.570737 
time: 1403636739.063555, t: 0.534770 -2.764929 -0.412760 q: -0.031966 0.817082 -0.017190 0.575378 
time: 1403636739.263556, t: 0.559847 -2.805918 -0.465775 q: 0.012949 0.815535 -0.058621 0.575585 
wait for imu ... 
time: 1403636739.463556, t: 0.579585 -2.856191 -0.523109 q: 0.061448 0.811894 -0.094498 0.572820 
wait for imu ... 
time: 1403636739.663555, t: 0.597210 -2.897669 -0.550146 q: 0.083053 0.807255 -0.130890 0.569482 
wait for imu ... 
time: 1403636739.863555, t: 0.617972 -2.935257 -0.568785 q: 0.087834 0.804431 -0.147986 0.568574 
time: 1403636740.063555, t: 0.639555 -2.979275 -0.603273 q: 0.091595 0.805028 -0.147608 0.567231 
time: 1403636740.263556, t: 0.655190 -3.023792 -0.652146 q: 0.101496 0.805784 -0.135432 0.567511 
time: 1403636740.463556, t: 0.661203 -3.058256 -0.717243 q: 0.091108 0.804206 -0.136454 0.571255 
time: 1403636740.663555, t: 0.658154 -3.095108 -0.779395 q: 0.084205 0.803257 -0.135298 0.573918 
time: 1403636740.863555, t: 0.656605 -3.128824 -0.821930 q: 0.080882 0.806165 -0.133342 0.570768 
time: 1403636741.063555, t: 0.646917 -3.164235 -0.880526 q: 0.099396 0.803901 -0.119372 0.574120 
time: 1403636741.263556, t: 0.628889 -3.186458 -0.965827 q: 0.101790 0.798307 -0.135435 0.577930 
time: 1403636741.663555, t: 0.578340 -3.203295 -1.133987 q: 0.095367 0.812304 -0.160360 0.552587 
time: 1403636741.863555, t: 0.562059 -3.221851 -1.176103 q: 0.101879 0.808398 -0.153922 0.558946 
time: 1403636742.063555, t: 0.557823 -3.243334 -1.234400 q: 0.110355 0.810709 -0.140727 0.557466 
time: 1403636742.263556, t: 0.568841 -3.258896 -1.290665 q: 0.096286 0.816821 -0.142970 0.550538 
time: 1403636742.463556, t: 0.590986 -3.273554 -1.317740 q: 0.090388 0.809760 -0.140634 0.562442 
time: 1403636742.663555, t: 0.621623 -3.290186 -1.328111 q: 0.089561 0.805679 -0.137111 0.569263 
time: 1403636742.863555, t: 0.652329 -3.306172 -1.358608 q: 0.087247 0.801807 -0.134777 0.575611 
time: 1403636743.063555, t: 0.671105 -3.324295 -1.424091 q: 0.087868 0.805129 -0.141165 0.569315 
time: 1403636743.263556, t: 0.689156 -3.347261 -1.496280 q: 0.089502 0.824039 -0.155003 0.537516 
time: 1403636743.463556, t: 0.733377 -3.381094 -1.532648 q: 0.089125 0.823868 -0.162229 0.535706 
time: 1403636743.663555, t: 0.796816 -3.426439 -1.566729 q: 0.097176 0.814332 -0.158276 0.549880 
time: 1403636743.863555, t: 0.872434 -3.476191 -1.624872 q: 0.105286 0.803411 -0.163068 0.562898 
time: 1403636744.063555, t: 0.951881 -3.525445 -1.706129 q: 0.116501 0.796695 -0.168731 0.568537 
time: 1403636744.263556, t: 1.028379 -3.569050 -1.809642 q: 0.122414 0.790525 -0.183389 0.571361 
time: 1403636744.463556, t: 1.097447 -3.606946 -1.937443 q: 0.116533 0.787321 -0.195691 0.572932 
time: 1403636744.663555, t: 1.156061 -3.649360 -2.083719 q: 0.107061 0.783011 -0.200595 0.578959 
time: 1403636744.863555, t: 1.198477 -3.701487 -2.236410 q: 0.120123 0.784802 -0.190691 0.577316 
time: 1403636745.063555, t: 1.224768 -3.749721 -2.360271 q: 0.120602 0.794898 -0.185891 0.564834 
time: 1403636745.263556, t: 1.253095 -3.797049 -2.456069 q: 0.113717 0.801223 -0.180228 0.559131 
time: 1403636745.463556, t: 1.287094 -3.847018 -2.522021 q: 0.115623 0.794961 -0.169133 0.571019 
time: 1403636745.663555, t: 1.314387 -3.889457 -2.549811 q: 0.118587 0.790330 -0.172709 0.575749 
time: 1403636745.863555, t: 1.333257 -3.922339 -2.540392 q: 0.131023 0.789561 -0.178895 0.572209 
time: 1403636746.063555, t: 1.356039 -3.943821 -2.507731 q: 0.147510 0.789000 -0.183753 0.567410 
time: 1403636746.263556, t: 1.378697 -3.943957 -2.456139 q: 0.156706 0.784606 -0.187024 0.569963 
time: 1403636746.463556, t: 1.393575 -3.917432 -2.408025 q: 0.156067 0.774953 -0.189335 0.582446 
time: 1403636746.663555, t: 1.399392 -3.866213 -2.399611 q: 0.135102 0.796307 -0.198428 0.555220 
wait for imu ... 
time: 1403636746.863555, t: 1.412368 -3.816653 -2.408264 q: 0.109633 0.806251 -0.208152 0.542782 
time: 1403636747.063555, t: 1.439707 -3.789531 -2.404030 q: 0.111547 0.802572 -0.201041 0.550471 
time: 1403636747.263556, t: 1.487158 -3.779690 -2.362860 q: 0.130301 0.796119 -0.188187 0.560180 
time: 1403636747.463556, t: 1.539695 -3.763586 -2.299000 q: 0.137576 0.794141 -0.187308 0.561541 
time: 1403636747.663555, t: 1.592540 -3.734416 -2.251288 q: 0.137606 0.795248 -0.193379 0.557897 
time: 1403636747.863555, t: 1.650416 -3.695127 -2.185626 q: 0.138947 0.794064 -0.199071 0.557249 
time: 1403636748.063555, t: 1.714799 -3.657747 -2.099282 q: 0.118510 0.786267 -0.219493 0.565298 
time: 1403636748.263556, t: 1.770868 -3.632997 -2.035399 q: 0.121547 0.787690 -0.220905 0.562113 
time: 1403636748.463556, t: 1.826120 -3.623876 -1.990929 q: 0.142896 0.791239 -0.205447 0.557954 
time: 1403636748.663555, t: 1.880696 -3.611853 -1.933943 q: 0.139631 0.788659 -0.207812 0.561547 
time: 1403636748.863555, t: 1.927062 -3.601308 -1.874498 q: 0.127804 0.784673 -0.219150 0.565622 
wait for imu ... 
time: 1403636749.063555, t: 1.967998 -3.600546 -1.832528 q: 0.125226 0.781086 -0.228427 0.567490 
time: 1403636749.263556, t: 1.994058 -3.616801 -1.799948 q: 0.130230 0.779163 -0.230448 0.568189 
time: 1403636749.463556, t: 2.003219 -3.647947 -1.749599 q: 0.148678 0.781367 -0.219977 0.564775 
time: 1403636749.663555, t: 2.009928 -3.675701 -1.688221 q: 0.160296 0.783983 -0.210100 0.561724 
time: 1403636749.863555, t: 2.018441 -3.694202 -1.646136 q: 0.155775 0.776808 -0.208394 0.573477 
time: 1403636750.063555, t: 2.023891 -3.704938 -1.626027 q: 0.150642 0.773188 -0.203942 0.581287 
time: 1403636750.263556, t: 2.014509 -3.697217 -1.605849 q: 0.144609 0.779728 -0.201132 0.575029 
time: 1403636750.463556, t: 1.992127 -3.679409 -1.554530 q: 0.138579 0.785836 -0.197510 0.569427 
wait for imu ... 
time: 1403636750.663555, t: 1.963175 -3.653817 -1.465182 q: 0.135918 0.788292 -0.190439 0.569082 
time: 1403636750.863555, t: 1.931198 -3.625730 -1.350689 q: 0.133962 0.791390 -0.186301 0.566611 
time: 1403636751.063555, t: 1.894885 -3.586953 -1.223550 q: 0.137520 0.794654 -0.183285 0.562157 
time: 1403636751.263556, t: 1.861883 -3.540356 -1.117898 q: 0.134755 0.800878 -0.187748 0.552437 
time: 1403636751.463556, t: 1.837223 -3.489632 -1.019482 q: 0.123495 0.797005 -0.199098 0.556680 
wait for imu ... 
time: 1403636751.663555, t: 1.816856 -3.444769 -0.926685 q: 0.109740 0.792169 -0.199414 0.566267 
time: 1403636751.863555, t: 1.792908 -3.414969 -0.847816 q: 0.101351 0.803715 -0.193649 0.553417 
time: 1403636752.063555, t: 1.776037 -3.405687 -0.772980 q: 0.111807 0.809252 -0.179883 0.547954 
time: 1403636752.263556, t: 1.776994 -3.408296 -0.704558 q: 0.111375 0.801836 -0.168277 0.562439 
time: 1403636752.463556, t: 1.786999 -3.413777 -0.628412 q: 0.094956 0.798889 -0.143011 0.576462 
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time: 1403636753.263556, t: 1.822575 -3.446088 -0.474361 q: 0.002060 0.817656 0.030505 0.574894 
time: 1403636753.463556, t: 1.827366 -3.425842 -0.487449 q: -0.024527 0.813832 0.066238 0.576792 
time: 1403636753.663555, t: 1.826422 -3.394212 -0.481001 q: -0.045326 0.811526 0.073823 0.577859 
time: 1403636753.863555, t: 1.817828 -3.358530 -0.472146 q: -0.046788 0.810018 0.074836 0.579725 
time: 1403636754.063555, t: 1.801802 -3.316501 -0.478295 q: -0.044497 0.808025 0.070513 0.583218 
time: 1403636754.263556, t: 1.775545 -3.266628 -0.464986 q: -0.038807 0.802495 0.067253 0.591585 
time: 1403636754.463556, t: 1.735388 -3.205061 -0.431622 q: -0.037140 0.802627 0.068835 0.591331 
time: 1403636754.663555, t: 1.677764 -3.132821 -0.407968 q: -0.045892 0.803822 0.086961 0.586687 
time: 1403636754.863555, t: 1.616133 -3.049144 -0.404433 q: -0.066536 0.801572 0.111783 0.583575 
time: 1403636755.063555, t: 1.541818 -2.963086 -0.417779 q: -0.078442 0.799177 0.128731 0.581885 
time: 1403636755.263556, t: 1.448133 -2.877018 -0.422802 q: -0.085247 0.800466 0.135365 0.577636 
time: 1403636755.463556, t: 1.349486 -2.786960 -0.402315 q: -0.084752 0.811785 0.137857 0.561086 
wait for imu ... 
time: 1403636755.663555, t: 1.261634 -2.689487 -0.378440 q: -0.081713 0.810780 0.136821 0.563240 
time: 1403636755.863555, t: 1.178040 -2.585922 -0.375362 q: -0.084434 0.807263 0.132193 0.568965 
time: 1403636756.063555, t: 1.094525 -2.476269 -0.374972 q: -0.087048 0.804126 0.129895 0.573525 
time: 1403636756.263556, t: 1.012671 -2.365212 -0.350735 q: -0.086968 0.801875 0.130754 0.576486 
time: 1403636756.463556, t: 0.921576 -2.249502 -0.330893 q: -0.087710 0.800516 0.132517 0.577858 
time: 1403636756.663555, t: 0.825866 -2.136292 -0.334504 q: -0.090113 0.799553 0.133602 0.578572 
time: 1403636756.863555, t: 0.718262 -2.030379 -0.330858 q: -0.093073 0.797910 0.134629 0.580131 
wait for imu ... 
time: 1403636757.063555, t: 0.601454 -1.930132 -0.305547 q: -0.096086 0.798376 0.134830 0.578951 
time: 1403636757.263556, t: 0.473361 -1.828648 -0.292585 q: -0.096250 0.798318 0.135788 0.578779 
time: 1403636757.463556, t: 0.335532 -1.731382 -0.299378 q: -0.091321 0.800970 0.140544 0.574766 
time: 1403636757.663555, t: 0.195274 -1.625651 -0.297968 q: -0.093403 0.809606 0.154071 0.558638 
time: 1403636757.863555, t: 0.062022 -1.505477 -0.263201 q: -0.102108 0.817396 0.164714 0.542501 
time: 1403636758.063555, t: -0.045600 -1.373531 -0.197323 q: -0.113223 0.806475 0.167231 0.555709 
time: 1403636758.263556, t: -0.141334 -1.243316 -0.150752 q: -0.121545 0.795430 0.165673 0.570149 
wait for imu ... 
time: 1403636758.463556, t: -0.252309 -1.117675 -0.139260 q: -0.127628 0.804712 0.162036 0.556681 
time: 1403636758.663555, t: -0.326663 -1.009158 -0.148466 q: -0.139628 0.824230 0.152849 0.527055 
time: 1403636758.863555, t: -0.368307 -0.907263 -0.159050 q: -0.135467 0.806147 0.154008 0.555029 
wait for imu ... 
time: 1403636759.063555, t: -0.416571 -0.826230 -0.188633 q: -0.130420 0.796960 0.157502 0.568365 
time: 1403636759.263556, t: -0.425193 -0.760003 -0.231980 q: -0.162766 0.798369 0.135757 0.563635 
time: 1403636759.463556, t: -0.442793 -0.732888 -0.286621 q: -0.146321 0.795656 0.148943 0.568628 
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time: 1403636760.263556, t: -0.521377 -0.730945 -0.399676 q: -0.125571 0.802384 0.166294 0.559248 
time: 1403636760.463556, t: -0.537133 -0.734860 -0.425516 q: -0.125496 0.792645 0.166646 0.572881 
time: 1403636760.663555, t: -0.558616 -0.742403 -0.457531 q: -0.118660 0.801305 0.172475 0.560431 
time: 1403636760.863555, t: -0.580308 -0.740352 -0.481333 q: -0.114146 0.798739 0.177046 0.563597 
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time: 1403636761.263556, t: -0.646650 -0.711968 -0.537861 q: -0.116720 0.816408 0.177642 0.536934 
time: 1403636761.463556, t: -0.656929 -0.678676 -0.546678 q: -0.118404 0.807150 0.176388 0.550796 
time: 1403636761.663555, t: -0.656313 -0.640503 -0.546216 q: -0.125574 0.796335 0.169698 0.566820 
time: 1403636761.863555, t: -0.650391 -0.608932 -0.536654 q: -0.142613 0.797334 0.156390 0.565210 
time: 1403636762.063555, t: -0.644203 -0.594340 -0.522197 q: -0.122209 0.795390 0.169147 0.569042 
time: 1403636762.263556, t: -0.644885 -0.579344 -0.506654 q: -0.099941 0.800749 0.183061 0.561517 
time: 1403636762.463556, t: -0.649909 -0.546301 -0.513865 q: -0.112535 0.814110 0.173171 0.542745 
time: 1403636762.663555, t: -0.636369 -0.505059 -0.552247 q: -0.156475 0.805625 0.142173 0.553418 
time: 1403636762.863555, t: -0.615141 -0.490677 -0.602865 q: -0.152603 0.780567 0.146674 0.588145 
time: 1403636763.063555, t: -0.631441 -0.519806 -0.615804 q: -0.126497 0.801294 0.129557 0.570212 
time: 1403636763.263556, t: -0.634418 -0.531809 -0.630084 q: -0.125620 0.799573 0.107680 0.577328 
time: 1403636763.463556, t: -0.638852 -0.540670 -0.630943 q: -0.126590 0.798459 0.107303 0.578727 
time: 1403636763.663555, t: -0.642607 -0.559289 -0.629581 q: -0.127706 0.798408 0.107512 0.578513 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720464482.605579823]: Shutdown request received.[0m
[33m[ WARN] [1720464482.605632400]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720464482.606511266]: Shutdown request received.[0m
[33m[ WARN] [1720464482.606553410]: Reason given for shutdown: [user request][0m
killed
