/SLAM-Hive/slam_hive_results/mapping_results/2835/2043_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720469510.471041415]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720469510.474968513]: init begins[0m
[31m[ERROR] [1720469510.476053771]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4fb82eda-3d66-11ef-9308-0242ac110005/roslaunch-9ea6c2584e94-117.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://9ea6c2584e94:37727/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1720469511.579400650]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720469511.581191137]: 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] [1720469511.589215164]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720469511.589414891]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720469511.589442792]: ROW: 240 COL: 376 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720469511.589609681]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720469511.589891481]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://9ea6c2584e94:11311/[0m
]2;roscore http://9ea6c2584e94:11311/
[1msetting /run_id to 4fb82eda-3d66-11ef-9308-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720469520.631088731]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316832664.00 
wait for imu ... 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[33m[ WARN] [1720469523.947337442]: gyroscope bias initial calibration -0.00581776   0.0405263   0.0871846[0m
[0m[ INFO] [1720469523.971086962]: Initialization finish![0m
time: 1403636859.701667, t: 0.022244 -0.069878 0.242885 q: -0.036992 0.817829 0.048463 0.572223 
time: 1403636859.801666, t: 0.029609 -0.072458 0.297043 q: -0.028312 0.811544 0.048531 0.581584 
wait for imu ... 
time: 1403636859.901666, t: 0.035774 -0.071525 0.344641 q: -0.020476 0.808007 0.049219 0.586757 
time: 1403636860.001667, t: 0.037094 -0.070985 0.376291 q: -0.018144 0.807013 0.048125 0.588289 
wait for imu ... 
time: 1403636860.101666, t: 0.036941 -0.073316 0.378328 q: -0.016707 0.809116 0.044682 0.585710 
wait for imu ... 
time: 1403636860.201667, t: 0.034546 -0.079449 0.355596 q: -0.018606 0.813208 0.042831 0.580097 
time: 1403636860.301666, t: 0.032758 -0.082641 0.308433 q: -0.024018 0.820972 0.040479 0.569025 
wait for imu ... 
time: 1403636860.401666, t: 0.025872 -0.087755 0.252143 q: -0.026249 0.832717 0.036810 0.551850 
time: 1403636860.501667, t: 0.019984 -0.090505 0.195220 q: -0.029071 0.845149 0.032994 0.532719 
time: 1403636860.601666, t: 0.014326 -0.092646 0.149861 q: -0.033793 0.854445 0.031670 0.517473 
wait for imu ... 
wait for imu ... 
time: 1403636860.701667, t: 0.008642 -0.094024 0.118963 q: -0.038073 0.857528 0.034581 0.511859 
wait for imu ... 
time: 1403636860.801666, t: 0.001930 -0.098502 0.110169 q: -0.035442 0.856577 0.041469 0.513127 
time: 1403636860.901666, t: 0.000368 -0.099825 0.128787 q: -0.033402 0.855519 0.047843 0.514473 
wait for imu ... 
time: 1403636861.001667, t: 0.001749 -0.100103 0.172729 q: -0.033273 0.853099 0.052149 0.518069 
wait for imu ... 
wait for imu ... 
time: 1403636861.101666, t: 0.005681 -0.100421 0.230564 q: -0.033785 0.845557 0.052182 0.530254 
wait for imu ... 
time: 1403636861.201667, t: 0.011066 -0.101004 0.292969 q: -0.033654 0.833363 0.051840 0.549259 
wait for imu ... 
wait for imu ... 
time: 1403636861.301666, t: 0.015308 -0.101678 0.354655 q: -0.034977 0.819558 0.051067 0.569643 
wait for imu ... 
wait for imu ... 
time: 1403636861.401666, t: 0.017433 -0.104014 0.404745 q: -0.036477 0.808249 0.047367 0.585799 
time: 1403636861.501667, t: 0.018576 -0.107076 0.429075 q: -0.036106 0.801171 0.044612 0.595677 
time: 1403636861.601666, t: 0.018886 -0.110012 0.420239 q: -0.034362 0.801938 0.043586 0.594823 
wait for imu ... 
time: 1403636861.701667, t: 0.020497 -0.110765 0.382705 q: -0.035837 0.808448 0.044392 0.585796 
time: 1403636861.801666, t: 0.019213 -0.110844 0.330867 q: -0.035097 0.815346 0.046943 0.576000 
time: 1403636861.901666, t: 0.015954 -0.108916 0.274391 q: -0.038449 0.823252 0.048734 0.564272 
time: 1403636862.001667, t: 0.011865 -0.105777 0.216219 q: -0.042318 0.834917 0.048296 0.546617 
wait for imu ... 
wait for imu ... 
time: 1403636862.101666, t: 0.008393 -0.101411 0.163562 q: -0.045644 0.844204 0.046090 0.532083 
wait for imu ... 
wait for imu ... 
time: 1403636862.201667, t: 0.007534 -0.097497 0.125260 q: -0.048396 0.849015 0.047023 0.524042 
wait for imu ... 
time: 1403636862.301666, t: 0.005309 -0.097718 0.112255 q: -0.043032 0.852628 0.052603 0.518080 
time: 1403636862.401666, t: 0.005686 -0.098019 0.131796 q: -0.041542 0.855642 0.055902 0.512861 
wait for imu ... 
wait for imu ... 
time: 1403636862.601666, t: 0.014085 -0.100961 0.240369 q: -0.029463 0.847535 0.054570 0.527103 
time: 1403636862.701667, t: 0.019807 -0.102100 0.308199 q: -0.021402 0.839694 0.052051 0.540135 
wait for imu ... 
wait for imu ... 
time: 1403636862.801666, t: 0.023486 -0.101719 0.376593 q: -0.023153 0.834883 0.045024 0.548095 
wait for imu ... 
time: 1403636862.901666, t: 0.024882 -0.101484 0.440969 q: -0.026313 0.831828 0.036369 0.553216 
time: 1403636863.001667, t: 0.021767 -0.102589 0.485408 q: -0.031260 0.826249 0.032771 0.561482 
time: 1403636863.101666, t: 0.019391 -0.104321 0.494900 q: -0.025328 0.820154 0.037171 0.570372 
time: 1403636863.201667, t: 0.018132 -0.105895 0.470346 q: -0.017326 0.817683 0.042642 0.573826 
time: 1403636863.301666, t: 0.017294 -0.105929 0.419637 q: -0.011538 0.819114 0.046179 0.571653 
wait for imu ... 
time: 1403636863.401666, t: 0.016498 -0.106200 0.356550 q: -0.005628 0.821396 0.045758 0.568492 
wait for imu ... 
wait for imu ... 
time: 1403636863.501667, t: 0.014765 -0.105607 0.287978 q: -0.005865 0.826348 0.041100 0.561627 
wait for imu ... 
wait for imu ... 
time: 1403636863.601666, t: 0.009877 -0.105006 0.220218 q: -0.017854 0.834442 0.038344 0.549470 
time: 1403636863.701667, t: 0.005821 -0.104707 0.161290 q: -0.027728 0.843075 0.035849 0.535883 
time: 1403636863.801666, t: 0.005262 -0.105009 0.122658 q: -0.031934 0.851085 0.032892 0.523023 
time: 1403636864.001667, t: 0.002682 -0.108412 0.148412 q: -0.035413 0.857581 0.037488 0.511757 
wait for imu ... 
wait for imu ... 
time: 1403636864.101666, t: 0.004026 -0.108906 0.207612 q: -0.033835 0.853896 0.042598 0.517593 
wait for imu ... 
wait for imu ... 
time: 1403636864.201667, t: 0.007288 -0.109493 0.280022 q: -0.025742 0.849240 0.044647 0.525486 
wait for imu ... 
wait for imu ... 
time: 1403636864.301666, t: 0.010602 -0.107530 0.350236 q: -0.024542 0.846175 0.044469 0.530479 
wait for imu ... 
wait for imu ... 
time: 1403636864.401666, t: 0.012830 -0.104452 0.411680 q: -0.026470 0.842300 0.041918 0.536724 
time: 1403636864.501667, t: 0.015082 -0.102692 0.463078 q: -0.028492 0.832514 0.034255 0.552209 
wait for imu ... 
wait for imu ... 
time: 1403636864.601666, t: 0.017327 -0.099760 0.491761 q: -0.033048 0.821073 0.028404 0.569157 
wait for imu ... 
wait for imu ... 
time: 1403636864.701667, t: 0.016395 -0.099014 0.488459 q: -0.027455 0.815632 0.031478 0.577061 
wait for imu ... 
wait for imu ... 
time: 1403636864.801666, t: 0.015392 -0.100353 0.455026 q: -0.021863 0.818339 0.036713 0.573146 
wait for imu ... 
time: 1403636864.901666, t: 0.014245 -0.100182 0.401298 q: -0.020107 0.823733 0.037382 0.565387 
wait for imu ... 
time: 1403636865.001667, t: 0.014369 -0.101010 0.340814 q: -0.013398 0.830097 0.036745 0.556246 
time: 1403636865.101666, t: 0.015492 -0.101434 0.279052 q: -0.012720 0.837354 0.036177 0.545315 
time: 1403636865.201667, t: 0.016920 -0.100275 0.223485 q: -0.027791 0.842914 0.027579 0.536623 
wait for imu ... 
time: 1403636865.301666, t: 0.017234 -0.099561 0.180355 q: -0.041480 0.845416 0.021928 0.532044 
wait for imu ... 
time: 1403636865.401666, t: 0.018168 -0.099639 0.153159 q: -0.040781 0.846498 0.021682 0.530384 
wait for imu ... 
time: 1403636865.501667, t: 0.018775 -0.100025 0.147045 q: -0.033479 0.850997 0.027956 0.523356 
wait for imu ... 
wait for imu ... 
time: 1403636865.601666, t: 0.019949 -0.098309 0.169831 q: -0.030264 0.856410 0.033875 0.514295 
time: 1403636865.701667, t: 0.020122 -0.093544 0.216879 q: -0.034348 0.855822 0.036807 0.514815 
wait for imu ... 
time: 1403636865.801666, t: 0.021951 -0.089024 0.278179 q: -0.037247 0.849172 0.036156 0.525558 
wait for imu ... 
time: 1403636865.901666, t: 0.024516 -0.086235 0.346121 q: -0.040076 0.839327 0.033434 0.541116 
wait for imu ... 
wait for imu ... 
time: 1403636866.001667, t: 0.025929 -0.084502 0.414514 q: -0.043825 0.825486 0.029927 0.561922 
wait for imu ... 
wait for imu ... 
time: 1403636866.101666, t: 0.025027 -0.083618 0.476063 q: -0.042666 0.809858 0.026214 0.584484 
wait for imu ... 
wait for imu ... 
time: 1403636866.201667, t: 0.021598 -0.083960 0.518797 q: -0.039044 0.799753 0.026980 0.598450 
time: 1403636866.301666, t: 0.018456 -0.084944 0.531038 q: -0.032992 0.799109 0.028708 0.599593 
wait for imu ... 
time: 1403636866.401666, t: 0.018151 -0.084975 0.512316 q: -0.024811 0.805310 0.030092 0.591570 
time: 1403636866.501667, t: 0.019308 -0.085368 0.469414 q: -0.021398 0.812030 0.031595 0.582367 
wait for imu ... 
time: 1403636866.601666, t: 0.020845 -0.087923 0.413744 q: -0.018545 0.818537 0.031937 0.573266 
wait for imu ... 
wait for imu ... 
time: 1403636866.801666, t: 0.015187 -0.097488 0.319677 q: -0.017409 0.831635 0.036038 0.553879 
time: 1403636866.901666, t: 0.008155 -0.100552 0.285075 q: -0.029293 0.838072 0.038448 0.543415 
wait for imu ... 
time: 1403636867.001667, t: 0.002224 -0.102324 0.257123 q: -0.038492 0.846706 0.038322 0.529282 
time: 1403636867.101666, t: -0.004818 -0.103837 0.240180 q: -0.039043 0.852892 0.038302 0.519214 
wait for imu ... 
time: 1403636867.201667, t: -0.014000 -0.103807 0.232844 q: -0.045955 0.856065 0.040694 0.513210 
time: 1403636867.301666, t: -0.024894 -0.102855 0.232719 q: -0.054923 0.858156 0.046935 0.508280 
wait for imu ... 
time: 1403636867.401666, t: -0.032496 -0.103488 0.236345 q: -0.054957 0.861607 0.049334 0.502175 
wait for imu ... 
time: 1403636867.501667, t: -0.040329 -0.103020 0.242881 q: -0.050528 0.868368 0.050041 0.490795 
time: 1403636867.601666, t: -0.049768 -0.103795 0.244750 q: -0.044311 0.883462 0.053732 0.463297 
wait for imu ... 
wait for imu ... 
time: 1403636867.701667, t: -0.060528 -0.105129 0.241062 q: -0.042848 0.907266 0.054369 0.414821 
optimize pose graph 
wait for imu ... 
wait for imu ... 
time: 1403636867.801666, t: -0.070953 -0.107665 0.235379 q: -0.038199 0.931000 0.052335 0.359223 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636867.901666, t: -0.076741 -0.109679 0.233710 q: -0.034809 0.943644 0.046756 0.325788 
time: 1403636868.001667, t: -0.077022 -0.108622 0.237524 q: -0.035044 0.944312 0.042128 0.324456 
time: 1403636868.101666, t: -0.077184 -0.107059 0.243410 q: -0.036062 0.939138 0.041120 0.339159 
wait for imu ... 
time: 1403636868.201667, t: -0.080606 -0.105834 0.246833 q: -0.038646 0.935309 0.041284 0.349283 
wait for imu ... 
wait for imu ... 
time: 1403636868.301666, t: -0.085786 -0.103954 0.247605 q: -0.040875 0.935306 0.039789 0.349211 
wait for imu ... 
wait for imu ... 
time: 1403636868.401666, t: -0.093624 -0.099471 0.247694 q: -0.042557 0.936577 0.036459 0.345953 
time: 1403636868.501667, t: -0.101748 -0.092959 0.249443 q: -0.040638 0.934240 0.033877 0.352699 
wait for imu ... 
time: 1403636868.601666, t: -0.109231 -0.086965 0.254699 q: -0.036942 0.930771 0.029131 0.362564 
time: 1403636868.701667, t: -0.116933 -0.082883 0.259476 q: -0.035295 0.930988 0.026646 0.362361 
wait for imu ... 
time: 1403636868.801666, t: -0.125872 -0.078594 0.260913 q: -0.034902 0.933712 0.031590 0.354916 
time: 1403636868.901666, t: -0.131254 -0.074909 0.261677 q: -0.031002 0.934495 0.036198 0.352772 
time: 1403636869.001667, t: -0.132797 -0.069847 0.263049 q: -0.033268 0.932211 0.038072 0.358366 
time: 1403636869.101666, t: -0.133155 -0.066076 0.264437 q: -0.039278 0.930320 0.039423 0.362502 
time: 1403636869.201667, t: -0.133412 -0.063045 0.263369 q: -0.042466 0.929819 0.041769 0.363164 
wait for imu ... 
time: 1403636869.301666, t: -0.132589 -0.061801 0.261781 q: -0.042605 0.929895 0.043709 0.362725 
time: 1403636869.401666, t: -0.130982 -0.061187 0.260600 q: -0.044046 0.929688 0.044560 0.362979 
time: 1403636869.501667, t: -0.129131 -0.063058 0.259705 q: -0.044437 0.929624 0.044469 0.363108 
wait for imu ... 
time: 1403636869.601666, t: -0.125942 -0.071927 0.258589 q: -0.044025 0.929767 0.043686 0.362886 
time: 1403636869.701667, t: -0.120346 -0.090664 0.257375 q: -0.042241 0.931295 0.042647 0.359286 
wait for imu ... 
time: 1403636869.801666, t: -0.110909 -0.118242 0.256671 q: -0.039838 0.932385 0.039181 0.357123 
wait for imu ... 
time: 1403636869.901666, t: -0.097213 -0.153584 0.257679 q: -0.036412 0.930929 0.032212 0.361949 
wait for imu ... 
time: 1403636870.001667, t: -0.081313 -0.195223 0.258253 q: -0.033419 0.929144 0.024528 0.367386 
wait for imu ... 
time: 1403636870.101666, t: -0.064286 -0.241865 0.257838 q: -0.029527 0.930128 0.015869 0.365701 
time: 1403636870.201667, t: -0.046414 -0.291525 0.258323 q: -0.022446 0.932503 0.011224 0.360290 
time: 1403636870.301666, t: -0.027534 -0.340912 0.259165 q: -0.019774 0.932191 0.007139 0.361357 
wait for imu ... 
time: 1403636870.401666, t: -0.009167 -0.389961 0.259745 q: -0.015010 0.929444 0.002649 0.368649 
time: 1403636870.501667, t: 0.005984 -0.434197 0.256420 q: -0.012376 0.928932 -0.002597 0.370033 
time: 1403636870.601666, t: 0.016477 -0.469769 0.251362 q: -0.009286 0.931753 -0.009342 0.362854 
time: 1403636870.701667, t: 0.025476 -0.499184 0.248258 q: -0.001598 0.932790 -0.013595 0.360162 
wait for imu ... 
time: 1403636870.801666, t: 0.033798 -0.517755 0.245068 q: -0.004213 0.929520 -0.018102 0.368304 
time: 1403636870.901666, t: 0.037329 -0.529696 0.240809 q: -0.007862 0.925538 -0.019547 0.378067 
wait for imu ... 
time: 1403636871.001667, t: 0.038016 -0.534308 0.236215 q: -0.012902 0.923551 -0.021427 0.382659 
time: 1403636871.101666, t: 0.036907 -0.534470 0.231067 q: -0.014346 0.926327 -0.025235 0.375601 
time: 1403636871.201667, t: 0.035265 -0.530052 0.229663 q: -0.007561 0.930131 -0.027708 0.366103 
time: 1403636871.301666, t: 0.032602 -0.518020 0.233213 q: -0.007127 0.930055 -0.028943 0.366210 
time: 1403636871.401666, t: 0.027293 -0.497434 0.236763 q: -0.006421 0.929580 -0.024689 0.367737 
time: 1403636871.501667, t: 0.020230 -0.465868 0.239583 q: -0.008120 0.929231 -0.020559 0.368837 
time: 1403636871.601666, t: 0.011071 -0.425267 0.242466 q: -0.010510 0.929765 -0.018441 0.367540 
wait for imu ... 
time: 1403636871.701667, t: 0.000290 -0.376719 0.246091 q: -0.018027 0.930734 -0.015714 0.364914 
wait for imu ... 
time: 1403636871.801666, t: -0.010688 -0.323269 0.248995 q: -0.025792 0.930967 -0.011220 0.364018 
time: 1403636871.901666, t: -0.021088 -0.267719 0.250449 q: -0.029415 0.930376 -0.004158 0.365402 
wait for imu ... 
time: 1403636872.001667, t: -0.029654 -0.208639 0.250231 q: -0.038157 0.928039 0.001548 0.370520 
time: 1403636872.101666, t: -0.037569 -0.150175 0.248169 q: -0.047825 0.925351 0.008154 0.375994 
time: 1403636872.201667, t: -0.047840 -0.095699 0.245805 q: -0.051965 0.924791 0.014525 0.376630 
wait for imu ... 
time: 1403636872.301666, t: -0.056821 -0.047945 0.240515 q: -0.056866 0.926908 0.022305 0.370283 
time: 1403636872.401666, t: -0.062989 -0.009896 0.234488 q: -0.060941 0.929375 0.029892 0.362843 
wait for imu ... 
time: 1403636872.501667, t: -0.066848 0.013663 0.231465 q: -0.063619 0.929975 0.034461 0.360434 
time: 1403636872.601666, t: -0.066210 0.021591 0.230844 q: -0.065303 0.928603 0.039126 0.363181 
time: 1403636872.701667, t: -0.067467 0.019483 0.233203 q: -0.064345 0.926679 0.042021 0.367912 
time: 1403636872.801666, t: -0.067040 0.006944 0.235265 q: -0.060193 0.926749 0.041442 0.368505 
wait for imu ... 
time: 1403636872.901666, t: -0.060776 -0.018860 0.234876 q: -0.057990 0.927971 0.036394 0.366309 
wait for imu ... 
time: 1403636873.001667, t: -0.050245 -0.058239 0.232968 q: -0.052779 0.928783 0.030713 0.365558 
time: 1403636873.101666, t: -0.038220 -0.107264 0.231266 q: -0.047868 0.928936 0.025298 0.366260 
wait for imu ... 
time: 1403636873.201667, t: -0.023840 -0.162656 0.230117 q: -0.044160 0.929899 0.017911 0.364714 
time: 1403636873.301666, t: -0.008222 -0.222031 0.229753 q: -0.039762 0.930748 0.009454 0.363370 
time: 1403636873.401666, t: 0.006433 -0.282235 0.228527 q: -0.035481 0.931352 0.002374 0.362378 
time: 1403636873.501667, t: 0.018429 -0.340425 0.225952 q: -0.032269 0.932228 -0.003912 0.360410 
wait for imu ... 
time: 1403636873.601666, t: 0.026972 -0.394167 0.222057 q: -0.025050 0.933943 -0.010954 0.356375 
time: 1403636873.701667, t: 0.032506 -0.438119 0.216654 q: -0.019501 0.935317 -0.016975 0.352865 
time: 1403636873.801666, t: 0.035011 -0.470042 0.211591 q: -0.018956 0.936385 -0.018312 0.349984 
wait for imu ... 
time: 1403636873.901666, t: 0.036161 -0.487375 0.207023 q: -0.019159 0.936320 -0.020643 0.350017 
wait for imu ... 
time: 1403636874.001667, t: 0.036661 -0.493472 0.203921 q: -0.017251 0.935686 -0.023639 0.351619 
time: 1403636874.101666, t: 0.036212 -0.491860 0.202879 q: -0.016620 0.935670 -0.024741 0.351616 
wait for imu ... 
time: 1403636874.201667, t: 0.035236 -0.481528 0.203878 q: -0.017274 0.936310 -0.023708 0.349946 
time: 1403636874.301666, t: 0.032250 -0.461112 0.206147 q: -0.018726 0.937218 -0.018949 0.347724 
wait for imu ... 
time: 1403636874.401666, t: 0.028462 -0.426536 0.207661 q: -0.024313 0.937896 -0.013321 0.345807 
time: 1403636874.501667, t: 0.023852 -0.380624 0.209570 q: -0.029617 0.937219 -0.007982 0.347391 
time: 1403636874.601666, t: 0.017070 -0.327748 0.211826 q: -0.032532 0.935596 -0.002322 0.351564 
wait for imu ... 
wait for imu ... 
time: 1403636874.701667, t: 0.008091 -0.267900 0.212538 q: -0.038899 0.934374 0.005033 0.354127 
time: 1403636874.801666, t: -0.000484 -0.207767 0.210818 q: -0.044885 0.933924 0.011403 0.354460 
wait for imu ... 
time: 1403636874.901666, t: -0.008284 -0.151230 0.207167 q: -0.053662 0.934320 0.015471 0.352032 
time: 1403636875.001667, t: -0.014076 -0.104578 0.204022 q: -0.059081 0.933626 0.019062 0.352830 
time: 1403636875.101666, t: -0.013806 -0.069558 0.201517 q: -0.057338 0.928984 0.014018 0.365384 
wait for imu ... 
time: 1403636875.201667, t: -0.015746 -0.042419 0.199016 q: -0.049404 0.922198 -0.002515 0.383541 
wait for imu ... 
time: 1403636875.301666, t: -0.023662 -0.019872 0.195863 q: -0.042280 0.917608 -0.026826 0.394320 
time: 1403636875.401666, t: -0.034806 -0.003189 0.191039 q: -0.041570 0.916357 -0.053812 0.394544 
wait for imu ... 
time: 1403636875.501667, t: -0.057105 0.006870 0.187967 q: -0.044763 0.917261 -0.073705 0.388839 
wait for imu ... 
time: 1403636875.601666, t: -0.089697 0.005095 0.185791 q: -0.048060 0.918514 -0.088185 0.382421 
time: 1403636875.701667, t: -0.126268 -0.009928 0.185409 q: -0.044448 0.918025 -0.100922 0.380880 
time: 1403636875.801666, t: -0.163561 -0.034719 0.184547 q: -0.033663 0.916134 -0.116056 0.382227 
time: 1403636875.901666, t: -0.200066 -0.065769 0.183551 q: -0.021230 0.915503 -0.134005 0.378742 
time: 1403636876.001667, t: -0.230551 -0.104597 0.184741 q: -0.006418 0.913094 -0.156312 0.376544 
time: 1403636876.101666, t: -0.252629 -0.151155 0.188830 q: 0.014505 0.907313 -0.178554 0.380384 
time: 1403636876.201667, t: -0.261245 -0.200646 0.192901 q: 0.031791 0.900718 -0.198744 0.384964 
time: 1403636876.301666, t: -0.257221 -0.251758 0.193148 q: 0.043325 0.897285 -0.215117 0.383050 
wait for imu ... 
time: 1403636876.401666, t: -0.238576 -0.304722 0.190852 q: 0.052056 0.896544 -0.227619 0.376415 
time: 1403636876.501667, t: -0.205645 -0.358037 0.189713 q: 0.064269 0.895257 -0.232482 0.374614 
wait for imu ... 
time: 1403636876.601666, t: -0.157906 -0.407943 0.190720 q: 0.073816 0.892430 -0.226650 0.383079 
time: 1403636876.701667, t: -0.099987 -0.443751 0.192152 q: 0.076012 0.890658 -0.213369 0.394239 
wait for imu ... 
time: 1403636876.801666, t: -0.038176 -0.462082 0.194555 q: 0.071635 0.891975 -0.192977 0.402504 
time: 1403636876.901666, t: 0.023302 -0.455232 0.196193 q: 0.063962 0.894370 -0.166176 0.410361 
time: 1403636877.001667, t: 0.080145 -0.430221 0.196616 q: 0.048761 0.895959 -0.135604 0.420108 
time: 1403636877.101666, t: 0.130424 -0.386756 0.194342 q: 0.027798 0.898349 -0.099042 0.427068 
time: 1403636877.201667, t: 0.169209 -0.325744 0.191332 q: 0.003426 0.900945 -0.059082 0.429880 
time: 1403636877.301666, t: 0.191874 -0.252496 0.192996 q: -0.020676 0.902374 -0.022373 0.429875 
wait for imu ... 
time: 1403636877.401666, t: 0.198373 -0.175737 0.193223 q: -0.041976 0.902983 0.013986 0.427391 
time: 1403636877.501667, t: 0.186851 -0.101050 0.189457 q: -0.062100 0.903901 0.044453 0.420868 
wait for imu ... 
time: 1403636877.601666, t: 0.159424 -0.037168 0.184837 q: -0.079619 0.906546 0.064011 0.409558 
time: 1403636877.701667, t: 0.119800 0.009950 0.180293 q: -0.093424 0.909685 0.074635 0.397713 
time: 1403636877.801666, t: 0.069226 0.041202 0.177306 q: -0.100277 0.913266 0.075009 0.387639 
wait for imu ... 
time: 1403636877.901666, t: 0.018537 0.055821 0.172768 q: -0.099044 0.917888 0.066075 0.378557 
wait for imu ... 
time: 1403636878.001667, t: -0.034771 0.054522 0.168415 q: -0.090257 0.922951 0.052066 0.370546 
wait for imu ... 
time: 1403636878.101666, t: -0.083699 0.040315 0.162667 q: -0.075754 0.926293 0.032118 0.367710 
wait for imu ... 
time: 1403636878.201667, t: -0.126176 0.013494 0.157133 q: -0.060392 0.926907 0.007205 0.370331 
time: 1403636878.301666, t: -0.158493 -0.028623 0.151875 q: -0.048325 0.925863 -0.019228 0.374264 
time: 1403636878.501667, t: -0.197875 -0.137702 0.147070 q: -0.022140 0.921964 -0.072924 0.379704 
time: 1403636878.601666, t: -0.196832 -0.200757 0.150229 q: -0.004418 0.919308 -0.095909 0.381648 
time: 1403636878.701667, t: -0.181213 -0.263076 0.156941 q: 0.014207 0.915791 -0.113494 0.385026 
time: 1403636878.801666, t: -0.155256 -0.321873 0.167374 q: 0.029472 0.911448 -0.124781 0.390928 
wait for imu ... 
time: 1403636878.901666, t: -0.119865 -0.373549 0.176266 q: 0.035984 0.909008 -0.131397 0.393883 
time: 1403636879.001667, t: -0.077500 -0.411646 0.179049 q: 0.036848 0.909301 -0.133892 0.392285 
wait for imu ... 
time: 1403636879.101666, t: -0.029245 -0.437845 0.183677 q: 0.035097 0.908186 -0.134124 0.394939 
wait for imu ... 
wait for imu ... 
time: 1403636879.201667, t: 0.018760 -0.451950 0.191348 q: 0.031955 0.903290 -0.129436 0.407790 
wait for imu ... 
time: 1403636879.301666, t: 0.065255 -0.450190 0.200206 q: 0.029128 0.898575 -0.118427 0.421533 
time: 1403636879.401666, t: 0.105673 -0.431005 0.207428 q: 0.022235 0.896266 -0.098636 0.431837 
time: 1403636879.501667, t: 0.137392 -0.395553 0.213613 q: 0.008513 0.896342 -0.071529 0.437472 
time: 1403636879.601666, t: 0.156740 -0.349050 0.218905 q: -0.007787 0.898159 -0.044367 0.437357 
time: 1403636879.701667, t: 0.164291 -0.294080 0.226895 q: -0.027487 0.899293 -0.023438 0.435852 
wait for imu ... 
time: 1403636879.801666, t: 0.152403 -0.235842 0.233931 q: -0.045294 0.901126 -0.004999 0.431155 
time: 1403636879.901666, t: 0.131159 -0.181255 0.235547 q: -0.056772 0.904514 0.009185 0.422549 
time: 1403636880.001667, t: 0.097190 -0.138523 0.235279 q: -0.063411 0.908226 0.017646 0.413272 
wait for imu ... 
time: 1403636880.101666, t: 0.055743 -0.114797 0.236292 q: -0.065758 0.910841 0.021935 0.406895 
time: 1403636880.201667, t: 0.010718 -0.112788 0.239050 q: -0.060905 0.911556 0.017690 0.406256 
wait for imu ... 
time: 1403636880.301666, t: -0.033566 -0.129285 0.239039 q: -0.047676 0.910288 0.001543 0.411219 
time: 1403636880.401666, t: -0.078077 -0.153830 0.240614 q: -0.028835 0.908027 -0.020057 0.417437 
wait for imu ... 
time: 1403636880.501667, t: -0.125207 -0.176222 0.248223 q: -0.009090 0.905480 -0.041707 0.422237 
wait for imu ... 
time: 1403636880.601666, t: -0.172453 -0.186555 0.256730 q: 0.006876 0.904855 -0.059692 0.421458 
time: 1403636880.701667, t: -0.218216 -0.181097 0.263182 q: 0.014024 0.907479 -0.071058 0.413806 
wait for imu ... 
time: 1403636880.801666, t: -0.257282 -0.160086 0.267997 q: 0.012941 0.910609 -0.075950 0.406023 
time: 1403636880.901666, t: -0.283338 -0.128358 0.270154 q: 0.004440 0.911663 -0.071638 0.404621 
wait for imu ... 
time: 1403636881.001667, t: -0.294571 -0.091128 0.271225 q: -0.004235 0.908943 -0.060770 0.412446 
time: 1403636881.101666, t: -0.290594 -0.052572 0.272471 q: -0.012227 0.904224 -0.044046 0.424605 
wait for imu ... 
time: 1403636881.201667, t: -0.273680 -0.014313 0.272548 q: -0.027553 0.900530 -0.023237 0.433298 
time: 1403636881.301666, t: -0.247993 0.016660 0.274870 q: -0.044230 0.898156 -0.000229 0.437446 
time: 1403636881.401666, t: -0.211492 0.034396 0.278296 q: -0.052754 0.896534 0.019692 0.439381 
wait for imu ... 
wait for imu ... 
time: 1403636881.501667, t: -0.164774 0.037034 0.280268 q: -0.053010 0.893974 0.035025 0.443592 
time: 1403636881.601666, t: -0.113491 0.025070 0.281608 q: -0.049574 0.890448 0.047634 0.449862 
wait for imu ... 
time: 1403636881.701667, t: -0.059796 -0.002063 0.280566 q: -0.045808 0.888372 0.058971 0.453011 
time: 1403636881.801666, t: -0.006240 -0.040799 0.275735 q: -0.039912 0.889184 0.062868 0.451449 
time: 1403636881.901666, t: 0.040026 -0.086569 0.268232 q: -0.035091 0.891086 0.054998 0.449121 
time: 1403636882.001667, t: 0.073040 -0.136396 0.261140 q: -0.032161 0.892750 0.042662 0.447373 
wait for imu ... 
time: 1403636882.101666, t: 0.091648 -0.187574 0.251787 q: -0.028501 0.892661 0.030475 0.448792 
wait for imu ... 
time: 1403636882.201667, t: 0.094960 -0.232120 0.238055 q: -0.022331 0.891435 0.020364 0.452139 
time: 1403636882.301666, t: 0.082741 -0.263531 0.222661 q: -0.015974 0.888813 0.013429 0.457794 
time: 1403636882.401666, t: 0.062553 -0.276685 0.206084 q: -0.017774 0.886502 0.013022 0.462201 
time: 1403636882.501667, t: 0.042891 -0.272894 0.189857 q: -0.027105 0.884789 0.016200 0.464920 
wait for imu ... 
time: 1403636882.601666, t: 0.033283 -0.258364 0.176652 q: -0.038148 0.881271 0.023058 0.470505 
wait for imu ... 
time: 1403636882.701667, t: 0.038215 -0.237404 0.165885 q: -0.050618 0.870934 0.032601 0.487697 
wait for imu ... 
time: 1403636882.801666, t: 0.053909 -0.214816 0.152412 q: -0.069015 0.854201 0.049277 0.512981 
time: 1403636882.901666, t: 0.074167 -0.193443 0.133415 q: -0.086509 0.838428 0.068537 0.533721 
wait for imu ... 
time: 1403636883.001667, t: 0.092968 -0.173211 0.109859 q: -0.104505 0.831018 0.087734 0.539250 
wait for imu ... 
time: 1403636883.101666, t: 0.110788 -0.155004 0.084667 q: -0.116611 0.828271 0.106135 0.537684 
wait for imu ... 
time: 1403636883.201667, t: 0.127452 -0.139793 0.061299 q: -0.119370 0.822430 0.121103 0.542857 
wait for imu ... 
time: 1403636883.301666, t: 0.140564 -0.126699 0.039457 q: -0.123401 0.815849 0.130923 0.549565 
time: 1403636883.401666, t: 0.150903 -0.117217 0.022224 q: -0.128873 0.812028 0.135505 0.552848 
time: 1403636883.501667, t: 0.158462 -0.111267 0.011228 q: -0.134520 0.806626 0.140532 0.558130 
time: 1403636883.601666, t: 0.163001 -0.107436 0.005021 q: -0.140214 0.799039 0.147059 0.565907 
wait for imu ... 
time: 1403636883.701667, t: 0.166754 -0.104750 -0.000066 q: -0.143657 0.795225 0.155256 0.568221 
wait for imu ... 
wait for imu ... 
time: 1403636883.801666, t: 0.169425 -0.103325 -0.003354 q: -0.146333 0.794211 0.159252 0.567851 
time: 1403636883.901666, t: 0.171854 -0.102202 -0.007493 q: -0.154311 0.792911 0.160283 0.567265 
time: 1403636884.001667, t: 0.173772 -0.101834 -0.009692 q: -0.155959 0.790064 0.163355 0.569904 
time: 1403636884.101666, t: 0.174450 -0.102751 -0.011048 q: -0.162028 0.785622 0.164694 0.573953 
time: 1403636884.201667, t: 0.174219 -0.103889 -0.010946 q: -0.159865 0.781873 0.166974 0.578997 
time: 1403636884.301666, t: 0.173073 -0.103507 -0.010455 q: -0.159390 0.779471 0.166353 0.582535 
wait for imu ... 
time: 1403636884.401666, t: 0.172745 -0.103146 -0.010469 q: -0.160546 0.779088 0.165677 0.582922 
wait for imu ... 
time: 1403636884.601666, t: 0.172615 -0.103233 -0.010359 q: -0.160159 0.778915 0.166022 0.583161 
time: 1403636884.701667, t: 0.172714 -0.103293 -0.010422 q: -0.160089 0.779181 0.165945 0.582847 
wait for imu ... 
time: 1403636884.801666, t: 0.172779 -0.103371 -0.010424 q: -0.159866 0.779229 0.165942 0.582845 
time: 1403636884.901666, t: 0.172781 -0.103389 -0.010408 q: -0.159911 0.779262 0.165876 0.582807 
wait for imu ... 
time: 1403636885.001667, t: 0.172769 -0.103384 -0.010377 q: -0.160053 0.779355 0.165769 0.582674 
wait for imu ... 
time: 1403636885.101666, t: 0.172709 -0.103373 -0.010353 q: -0.160135 0.779378 0.165594 0.582670 
time: 1403636885.201667, t: 0.172709 -0.103369 -0.010334 q: -0.160159 0.779457 0.165488 0.582589 
time: 1403636885.301666, t: 0.172730 -0.103396 -0.010328 q: -0.160089 0.779474 0.165504 0.582581 
wait for imu ... 
time: 1403636885.401666, t: 0.172777 -0.103407 -0.010346 q: -0.159976 0.779485 0.165437 0.582616 
time: 1403636885.501667, t: 0.172821 -0.103412 -0.010362 q: -0.159945 0.779496 0.165421 0.582615 
time: 1403636885.601666, t: 0.172815 -0.103432 -0.010344 q: -0.159874 0.779519 0.165395 0.582610 
time: 1403636885.701667, t: 0.172891 -0.103404 -0.010368 q: -0.159962 0.779636 0.165332 0.582448 
time: 1403636885.801666, t: 0.172910 -0.103407 -0.010362 q: -0.159903 0.779634 0.165340 0.582465 
time: 1403636885.901666, t: 0.172893 -0.103381 -0.010366 q: -0.159968 0.779708 0.165283 0.582364 
time: 1403636886.001667, t: 0.172885 -0.103370 -0.010362 q: -0.160024 0.779693 0.165245 0.582379 
time: 1403636886.101666, t: 0.172880 -0.103396 -0.010362 q: -0.159858 0.779712 0.165291 0.582387 
wait for imu ... 
time: 1403636886.201667, t: 0.172883 -0.103409 -0.010370 q: -0.159739 0.779726 0.165333 0.582388 
time: 1403636886.301666, t: 0.172877 -0.103413 -0.010360 q: -0.159696 0.779715 0.165362 0.582406 
wait for imu ... 
time: 1403636886.401666, t: 0.172871 -0.103393 -0.010366 q: -0.159818 0.779727 0.165304 0.582373 
time: 1403636886.501667, t: 0.172870 -0.103391 -0.010364 q: -0.159828 0.779724 0.165306 0.582374 
time: 1403636886.601666, t: 0.172874 -0.103394 -0.010381 q: -0.159800 0.779733 0.165313 0.582368 
time: 1403636886.701667, t: 0.172890 -0.103402 -0.010385 q: -0.159780 0.779747 0.165323 0.582351 
time: 1403636886.801666, t: 0.172882 -0.103411 -0.010377 q: -0.159788 0.779734 0.165350 0.582359 
time: 1403636886.901666, t: 0.172892 -0.103406 -0.010382 q: -0.159849 0.779771 0.165337 0.582296 
time: 1403636887.001667, t: 0.172889 -0.103396 -0.010383 q: -0.159716 0.779759 0.165386 0.582335 
time: 1403636887.101666, t: 0.172889 -0.103414 -0.010393 q: -0.159767 0.779766 0.165375 0.582315 
wait for imu ... 
time: 1403636887.201667, t: 0.172886 -0.103418 -0.010391 q: -0.159799 0.779795 0.165346 0.582275 
time: 1403636887.301666, t: 0.172899 -0.103432 -0.010404 q: -0.159794 0.779810 0.165304 0.582268 
time: 1403636887.401666, t: 0.172902 -0.103421 -0.010389 q: -0.159690 0.779830 0.165368 0.582252 
time: 1403636887.501667, t: 0.172908 -0.103425 -0.010401 q: -0.159673 0.779851 0.165384 0.582224 
time: 1403636887.601666, t: 0.172890 -0.103406 -0.010397 q: -0.159742 0.779828 0.165331 0.582251 
time: 1403636887.701667, t: 0.172885 -0.103397 -0.010410 q: -0.159784 0.779841 0.165313 0.582228 
time: 1403636887.801666, t: 0.172896 -0.103397 -0.010406 q: -0.159799 0.779875 0.165312 0.582179 
time: 1403636887.901666, t: 0.172898 -0.103389 -0.010399 q: -0.159752 0.779907 0.165308 0.582149 
time: 1403636888.001667, t: 0.172917 -0.103400 -0.010407 q: -0.159715 0.779956 0.165301 0.582095 
time: 1403636888.101666, t: 0.172915 -0.103413 -0.010407 q: -0.159742 0.779939 0.165306 0.582110 
wait for imu ... 
time: 1403636888.201667, t: 0.172908 -0.103431 -0.010431 q: -0.159775 0.779937 0.165282 0.582109 
time: 1403636888.301666, t: 0.172921 -0.103438 -0.010435 q: -0.159779 0.779925 0.165292 0.582122 
time: 1403636888.401666, t: 0.172931 -0.103450 -0.010441 q: -0.159706 0.779962 0.165322 0.582083 
wait for imu ... 
time: 1403636888.501667, t: 0.172940 -0.103454 -0.010433 q: -0.159697 0.779991 0.165296 0.582055 
time: 1403636888.601666, t: 0.172781 -0.103449 -0.010393 q: -0.159689 0.779939 0.165235 0.582144 
wait for imu ... 
time: 1403636888.701667, t: 0.172714 -0.103399 -0.010359 q: -0.159713 0.779787 0.165335 0.582313 
time: 1403636888.801666, t: 0.172719 -0.103270 -0.010325 q: -0.159720 0.779755 0.165542 0.582294 
time: 1403636888.901666, t: 0.172659 -0.103235 -0.010338 q: -0.159699 0.779974 0.165236 0.582095 
time: 1403636889.001667, t: 0.172685 -0.103196 -0.010270 q: -0.160004 0.779834 0.165366 0.582161 
wait for imu ... 
time: 1403636889.101666, t: 0.172645 -0.103266 -0.010276 q: -0.159699 0.779927 0.165098 0.582197 
time: 1403636889.201667, t: 0.172767 -0.103301 -0.010323 q: -0.159742 0.779994 0.165023 0.582116 
time: 1403636889.301666, t: 0.172807 -0.103330 -0.010386 q: -0.159718 0.779999 0.164895 0.582153 
time: 1403636889.401666, t: 0.172738 -0.103318 -0.010321 q: -0.159880 0.779895 0.165224 0.582153 
time: 1403636889.501667, t: 0.172833 -0.103354 -0.010366 q: -0.159549 0.779947 0.165154 0.582195 
time: 1403636889.601666, t: 0.172974 -0.103453 -0.010286 q: -0.159342 0.779946 0.165006 0.582295 
time: 1403636889.701667, t: 0.172923 -0.103535 -0.010311 q: -0.159427 0.779783 0.165166 0.582445 
time: 1403636889.801666, t: 0.172851 -0.103490 -0.010313 q: -0.159499 0.779757 0.165277 0.582428 
time: 1403636889.901666, t: 0.172880 -0.103507 -0.010301 q: -0.159394 0.779895 0.164927 0.582371 
time: 1403636890.101666, t: 0.172986 -0.103605 -0.010207 q: -0.159299 0.780063 0.164406 0.582320 
time: 1403636890.201667, t: 0.172889 -0.103465 -0.010105 q: -0.159741 0.779666 0.164939 0.582580 
time: 1403636890.301666, t: 0.172962 -0.103385 -0.010227 q: -0.159784 0.779991 0.165340 0.582018 
wait for imu ... 
time: 1403636890.401666, t: 0.173013 -0.103488 -0.010278 q: -0.159305 0.780230 0.164724 0.582004 
time: 1403636890.501667, t: 0.173048 -0.103537 -0.010216 q: -0.159314 0.779785 0.164507 0.582660 
time: 1403636890.601666, t: 0.172909 -0.103407 -0.010242 q: -0.159475 0.779536 0.165311 0.582722 
wait for imu ... 
time: 1403636890.701667, t: 0.172887 -0.103434 -0.010317 q: -0.159478 0.779997 0.165384 0.582082 
wait for imu ... 
time: 1403636890.801666, t: 0.172659 -0.103466 -0.010185 q: -0.159127 0.779981 0.164591 0.582425 
time: 1403636890.901666, t: 0.172719 -0.103451 -0.010100 q: -0.159305 0.779788 0.164738 0.582593 
time: 1403636891.001667, t: 0.172670 -0.103457 -0.010220 q: -0.159541 0.779834 0.164847 0.582435 
time: 1403636891.101666, t: 0.172815 -0.103511 -0.010236 q: -0.159440 0.779873 0.164884 0.582401 
time: 1403636891.201667, t: 0.172877 -0.103524 -0.010216 q: -0.159427 0.779835 0.164943 0.582438 
time: 1403636891.301666, t: 0.172902 -0.103576 -0.010269 q: -0.159476 0.779853 0.164994 0.582387 
time: 1403636891.401666, t: 0.172918 -0.103571 -0.010245 q: -0.159452 0.779806 0.164974 0.582462 
time: 1403636891.501667, t: 0.172955 -0.103564 -0.010199 q: -0.159533 0.779819 0.165011 0.582411 
time: 1403636891.601666, t: 0.172893 -0.103618 -0.010193 q: -0.159556 0.779862 0.165024 0.582344 
wait for imu ... 
time: 1403636891.701667, t: 0.172909 -0.103600 -0.010192 q: -0.159534 0.779857 0.164967 0.582373 
time: 1403636891.801666, t: 0.172882 -0.103598 -0.010174 q: -0.159577 0.779843 0.164980 0.582376 
time: 1403636891.901666, t: 0.172844 -0.103624 -0.010183 q: -0.159613 0.779829 0.165006 0.582377 
time: 1403636892.001667, t: 0.172884 -0.103616 -0.010178 q: -0.159531 0.779844 0.164990 0.582384 
time: 1403636892.101666, t: 0.172935 -0.103628 -0.010180 q: -0.159555 0.779847 0.165015 0.582366 
time: 1403636892.201667, t: 0.172901 -0.103642 -0.010212 q: -0.159512 0.779846 0.165019 0.582378 
wait for imu ... 
time: 1403636892.301666, t: 0.173006 -0.103718 -0.010229 q: -0.159199 0.779868 0.165142 0.582399 
time: 1403636892.401666, t: 0.172958 -0.103653 -0.010189 q: -0.159364 0.779868 0.164845 0.582439 
time: 1403636892.501667, t: 0.172918 -0.103612 -0.010171 q: -0.159393 0.779803 0.164910 0.582500 
time: 1403636892.601666, t: 0.172830 -0.103627 -0.010160 q: -0.159420 0.779808 0.164943 0.582477 
time: 1403636892.701667, t: 0.172908 -0.103624 -0.010169 q: -0.159385 0.779809 0.164970 0.582477 
wait for imu ... 
time: 1403636892.801666, t: 0.172943 -0.103618 -0.010143 q: -0.159382 0.779783 0.165085 0.582479 
time: 1403636892.901666, t: 0.172954 -0.103655 -0.010205 q: -0.159389 0.779888 0.165028 0.582353 
wait for imu ... 
time: 1403636893.001667, t: 0.172967 -0.103644 -0.010203 q: -0.159327 0.779806 0.165076 0.582466 
time: 1403636893.101666, t: 0.172971 -0.103618 -0.010195 q: -0.159331 0.779794 0.165050 0.582490 
wait for imu ... 
time: 1403636893.201667, t: 0.172911 -0.103641 -0.010214 q: -0.159375 0.779807 0.165002 0.582473 
time: 1403636893.301666, t: 0.172902 -0.103612 -0.010249 q: -0.159394 0.779815 0.164988 0.582461 
time: 1403636893.401666, t: 0.172910 -0.103618 -0.010202 q: -0.159370 0.779856 0.165000 0.582410 
time: 1403636893.501667, t: 0.172931 -0.103635 -0.010213 q: -0.159351 0.779843 0.164998 0.582432 
time: 1403636893.601666, t: 0.172952 -0.103621 -0.010226 q: -0.159291 0.779846 0.164990 0.582447 
wait for imu ... 
time: 1403636893.701667, t: 0.172934 -0.103618 -0.010219 q: -0.159307 0.779828 0.165083 0.582441 
wait for imu ... 
time: 1403636893.801666, t: 0.172915 -0.103604 -0.010212 q: -0.159331 0.779874 0.165040 0.582385 
time: 1403636893.901666, t: 0.172899 -0.103616 -0.010217 q: -0.159382 0.779884 0.165006 0.582367 
time: 1403636894.001667, t: 0.172893 -0.103605 -0.010211 q: -0.159398 0.779904 0.164962 0.582348 
wait for imu ... 
time: 1403636894.101666, t: 0.172877 -0.103605 -0.010213 q: -0.159341 0.779928 0.164942 0.582337 
time: 1403636894.201667, t: 0.172920 -0.103630 -0.010237 q: -0.159377 0.779888 0.164955 0.582377 
wait for imu ... 
time: 1403636894.301666, t: 0.172907 -0.103615 -0.010243 q: -0.159363 0.779850 0.164929 0.582439 
time: 1403636894.401666, t: 0.172904 -0.103629 -0.010248 q: -0.159343 0.779900 0.164961 0.582368 
wait for imu ... 
time: 1403636894.501667, t: 0.172906 -0.103616 -0.010225 q: -0.159395 0.779880 0.164989 0.582374 
time: 1403636894.601666, t: 0.172905 -0.103603 -0.010242 q: -0.159325 0.779902 0.164908 0.582387 
time: 1403636894.701667, t: 0.172874 -0.103640 -0.010279 q: -0.159422 0.779827 0.164915 0.582458 
time: 1403636894.801666, t: 0.172920 -0.103642 -0.010320 q: -0.159371 0.779858 0.164894 0.582436 
time: 1403636894.901666, t: 0.173015 -0.103685 -0.010293 q: -0.159147 0.779841 0.164838 0.582537 
wait for imu ... 
time: 1403636895.001667, t: 0.172999 -0.103687 -0.010323 q: -0.159222 0.779825 0.164901 0.582519 
time: 1403636895.101666, t: 0.173013 -0.103665 -0.010295 q: -0.159262 0.779860 0.164902 0.582461 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636895.201667, t: 0.172977 -0.103677 -0.010297 q: -0.159224 0.779811 0.164830 0.582557 
time: 1403636895.301666, t: 0.172938 -0.103620 -0.010265 q: -0.159222 0.779794 0.164853 0.582574 
time: 1403636895.401666, t: 0.172903 -0.103607 -0.010261 q: -0.159136 0.779821 0.164896 0.582550 
time: 1403636895.501667, t: 0.172944 -0.103629 -0.010267 q: -0.159170 0.779758 0.164928 0.582616 
wait for imu ... 
time: 1403636895.601666, t: 0.172928 -0.103628 -0.010236 q: -0.159152 0.779826 0.164906 0.582536 
wait for imu ... 
time: 1403636895.701667, t: 0.172933 -0.103638 -0.010240 q: -0.159124 0.779780 0.164938 0.582596 
time: 1403636895.801666, t: 0.172909 -0.103633 -0.010221 q: -0.159039 0.779702 0.164981 0.582712 
time: 1403636895.901666, t: 0.172935 -0.103624 -0.010230 q: -0.159080 0.779701 0.165099 0.582669 
time: 1403636896.001667, t: 0.172871 -0.103614 -0.010173 q: -0.159039 0.779751 0.165155 0.582596 
wait for imu ... 
time: 1403636896.101666, t: 0.173053 -0.103656 -0.010206 q: -0.159079 0.780258 0.165208 0.581891 
time: 1403636896.201667, t: 0.173304 -0.103735 -0.010358 q: -0.159129 0.780949 0.165224 0.580946 
wait for imu ... 
time: 1403636896.301666, t: 0.173265 -0.103721 -0.010332 q: -0.159003 0.780833 0.165435 0.581077 
time: 1403636896.401666, t: 0.173082 -0.103673 -0.010275 q: -0.158912 0.780409 0.165520 0.581646 
wait for imu ... 
time: 1403636896.501667, t: 0.173091 -0.103685 -0.010252 q: -0.158884 0.780121 0.165575 0.582024 
time: 1403636896.601666, t: 0.173096 -0.103722 -0.010280 q: -0.158866 0.780108 0.165576 0.582047 
wait for imu ... 
time: 1403636896.701667, t: 0.173277 -0.103791 -0.010355 q: -0.158937 0.780331 0.165705 0.581691 
time: 1403636896.901666, t: 0.173426 -0.103902 -0.010480 q: -0.158948 0.780333 0.166162 0.581556 
time: 1403636897.001667, t: 0.173206 -0.103822 -0.010369 q: -0.159261 0.779750 0.166183 0.582245 
time: 1403636897.101666, t: 0.172525 -0.103896 -0.010021 q: -0.160106 0.779114 0.168300 0.582256 
time: 1403636897.201667, t: 0.171237 -0.104316 -0.010159 q: -0.161842 0.778985 0.171168 0.581112 
wait for imu ... 
time: 1403636897.301666, t: 0.169458 -0.107481 -0.010836 q: -0.161002 0.779950 0.170231 0.580325 
time: 1403636897.401666, t: 0.164899 -0.115753 -0.011373 q: -0.155624 0.783460 0.167819 0.577761 
wait for imu ... 
wait for imu ... 
time: 1403636897.501667, t: 0.157594 -0.127495 -0.012089 q: -0.147178 0.788812 0.166015 0.573195 
wait for imu ... 
time: 1403636897.601666, t: 0.147911 -0.141569 -0.011642 q: -0.137366 0.796915 0.165333 0.564555 
wait for imu ... 
time: 1403636897.701667, t: 0.137070 -0.157630 -0.006584 q: -0.124156 0.806948 0.169120 0.552103 
time: 1403636897.801666, t: 0.126519 -0.173112 0.005357 q: -0.115112 0.814599 0.174039 0.541191 
wait for imu ... 
time: 1403636897.901666, t: 0.118643 -0.186537 0.023394 q: -0.111149 0.819508 0.177474 0.533437 
time: 1403636898.001667, t: 0.117083 -0.196857 0.045454 q: -0.112860 0.814089 0.178967 0.540825 
wait for imu ... 
time: 1403636898.101666, t: 0.118275 -0.203722 0.060013 q: -0.118002 0.807907 0.179206 0.548860 
time: 1403636898.201667, t: 0.120444 -0.208819 0.071862 q: -0.121500 0.804586 0.180582 0.552512 
wait for imu ... 
time: 1403636898.301666, t: 0.124948 -0.210869 0.085640 q: -0.123318 0.803490 0.183058 0.552889 
wait for imu ... 
time: 1403636898.401666, t: 0.130574 -0.211620 0.103035 q: -0.125500 0.802909 0.185896 0.552294 
time: 1403636898.501667, t: 0.137281 -0.210775 0.123417 q: -0.128676 0.802975 0.188349 0.550634 
wait for imu ... 
time: 1403636898.601666, t: 0.145274 -0.208625 0.144447 q: -0.130009 0.802664 0.190953 0.549877 
wait for imu ... 
time: 1403636898.701667, t: 0.154878 -0.205318 0.162901 q: -0.130323 0.802597 0.193528 0.549000 
time: 1403636898.801666, t: 0.166325 -0.200224 0.179333 q: -0.132770 0.802411 0.194353 0.548394 
time: 1403636898.901666, t: 0.179237 -0.193827 0.193748 q: -0.136118 0.803458 0.193532 0.546326 
wait for imu ... 
time: 1403636899.001667, t: 0.194675 -0.186869 0.206221 q: -0.142132 0.804837 0.189546 0.544159 
time: 1403636899.101666, t: 0.213926 -0.180304 0.216396 q: -0.143045 0.805354 0.181114 0.546022 
wait for imu ... 
time: 1403636899.201667, t: 0.236147 -0.177134 0.227420 q: -0.135260 0.804151 0.170579 0.553126 
wait for imu ... 
time: 1403636899.301666, t: 0.260114 -0.175847 0.237264 q: -0.125604 0.801137 0.153548 0.564647 
time: 1403636899.401666, t: 0.283627 -0.178404 0.245867 q: -0.109989 0.799791 0.133678 0.574776 
wait for imu ... 
time: 1403636899.501667, t: 0.303999 -0.183258 0.252115 q: -0.099525 0.803889 0.112083 0.575581 
wait for imu ... 
time: 1403636899.601666, t: 0.321788 -0.189984 0.257153 q: -0.093240 0.811302 0.095401 0.569205 
time: 1403636899.701667, t: 0.340592 -0.198886 0.262578 q: -0.088168 0.815637 0.083950 0.565610 
time: 1403636899.801666, t: 0.361187 -0.210859 0.267313 q: -0.081200 0.818743 0.077885 0.563028 
wait for imu ... 
time: 1403636899.901666, t: 0.383456 -0.225976 0.270419 q: -0.071810 0.818885 0.077674 0.564125 
wait for imu ... 
time: 1403636900.001667, t: 0.407436 -0.242108 0.270827 q: -0.065503 0.815353 0.078388 0.569882 
time: 1403636900.101666, t: 0.432882 -0.257316 0.270481 q: -0.063798 0.810227 0.078411 0.577334 
time: 1403636900.201667, t: 0.454093 -0.273759 0.277382 q: -0.062915 0.806309 0.079592 0.582729 
wait for imu ... 
time: 1403636900.301666, t: 0.472915 -0.289947 0.292658 q: -0.062072 0.806850 0.081928 0.581746 
time: 1403636900.401666, t: 0.488893 -0.306183 0.315935 q: -0.063758 0.811438 0.084214 0.574814 
time: 1403636900.501667, t: 0.504552 -0.321710 0.341041 q: -0.064736 0.815049 0.087874 0.569019 
wait for imu ... 
time: 1403636900.601666, t: 0.521760 -0.338348 0.359383 q: -0.066856 0.816879 0.090134 0.565787 
time: 1403636900.701667, t: 0.533909 -0.355143 0.374428 q: -0.068528 0.821400 0.091716 0.558743 
time: 1403636900.801666, t: 0.552705 -0.371404 0.380159 q: -0.072066 0.825267 0.092280 0.552472 
time: 1403636900.901666, t: 0.572739 -0.387627 0.384193 q: -0.080285 0.823810 0.088409 0.554143 
wait for imu ... 
time: 1403636901.001667, t: 0.596515 -0.407184 0.382699 q: -0.085680 0.820933 0.085422 0.558060 
time: 1403636901.101666, t: 0.625127 -0.428476 0.377876 q: -0.089939 0.819572 0.083010 0.559752 
time: 1403636901.201667, t: 0.657661 -0.455767 0.370758 q: -0.091207 0.818604 0.082214 0.561080 
time: 1403636901.301666, t: 0.691795 -0.483713 0.367489 q: -0.087311 0.817753 0.084827 0.562548 
wait for imu ... 
time: 1403636901.401666, t: 0.728456 -0.517135 0.369872 q: -0.083571 0.817212 0.087223 0.563536 
time: 1403636901.501667, t: 0.766988 -0.551803 0.379331 q: -0.078244 0.816287 0.090652 0.565099 
time: 1403636901.601666, t: 0.806594 -0.587249 0.388570 q: -0.074630 0.815509 0.092858 0.566351 
wait for imu ... 
time: 1403636901.701667, t: 0.844788 -0.622314 0.390918 q: -0.073989 0.813620 0.092868 0.569143 
wait for imu ... 
time: 1403636901.801666, t: 0.884944 -0.658978 0.388022 q: -0.075148 0.813119 0.092144 0.569824 
wait for imu ... 
time: 1403636901.901666, t: 0.922497 -0.697978 0.381803 q: -0.074653 0.812982 0.092975 0.569950 
time: 1403636902.001667, t: 0.961504 -0.734775 0.368043 q: -0.073534 0.812606 0.094443 0.570390 
wait for imu ... 
wait for imu ... 
time: 1403636902.101666, t: 1.001126 -0.775904 0.361116 q: -0.073698 0.811813 0.095731 0.571283 
time: 1403636902.201667, t: 1.038663 -0.810830 0.356958 q: -0.073225 0.811925 0.096955 0.570977 
time: 1403636902.301666, t: 1.076232 -0.851216 0.357840 q: -0.075775 0.812294 0.094671 0.570503 
time: 1403636902.401666, t: 1.111401 -0.886654 0.347161 q: -0.076092 0.813152 0.092703 0.569561 
wait for imu ... 
time: 1403636902.501667, t: 1.146577 -0.929267 0.326289 q: -0.073254 0.813950 0.092414 0.568840 
wait for imu ... 
time: 1403636902.601666, t: 1.182433 -0.964742 0.297484 q: -0.066692 0.813865 0.093645 0.569567 
time: 1403636902.701667, t: 1.219015 -1.006099 0.277894 q: -0.061801 0.812811 0.094117 0.571543 
wait for imu ... 
time: 1403636902.801666, t: 1.249575 -1.041565 0.265320 q: -0.061362 0.812327 0.092345 0.572566 
time: 1403636902.901666, t: 1.279027 -1.075027 0.261081 q: -0.063554 0.810044 0.092125 0.575589 
wait for imu ... 
time: 1403636903.001667, t: 1.307674 -1.105156 0.261660 q: -0.065122 0.809981 0.093051 0.575354 
wait for imu ... 
time: 1403636903.101666, t: 1.335674 -1.136585 0.269634 q: -0.067366 0.810325 0.094143 0.574433 
wait for imu ... 
time: 1403636903.201667, t: 1.367063 -1.167181 0.287489 q: -0.069378 0.811036 0.095486 0.572966 
time: 1403636903.301666, t: 1.396267 -1.198925 0.309290 q: -0.069601 0.812363 0.098214 0.570593 
wait for imu ... 
time: 1403636903.401666, t: 1.427871 -1.236751 0.328463 q: -0.068185 0.812945 0.101554 0.569349 
time: 1403636903.501667, t: 1.455059 -1.266018 0.343351 q: -0.067735 0.813116 0.103270 0.568850 
wait for imu ... 
time: 1403636903.601666, t: 1.480002 -1.291855 0.352109 q: -0.068355 0.813468 0.104116 0.568118 
wait for imu ... 
time: 1403636903.701667, t: 1.507518 -1.319428 0.350912 q: -0.071830 0.816676 0.102593 0.563343 
time: 1403636903.801666, t: 1.533951 -1.344179 0.347996 q: -0.075856 0.819304 0.100451 0.559371 
time: 1403636903.901666, t: 1.567056 -1.369607 0.348413 q: -0.080164 0.819741 0.097746 0.558609 
wait for imu ... 
time: 1403636904.001667, t: 1.603316 -1.397282 0.356039 q: -0.083998 0.818102 0.095352 0.560858 
wait for imu ... 
time: 1403636904.101666, t: 1.640955 -1.425857 0.372023 q: -0.086705 0.816207 0.093461 0.563519 
time: 1403636904.201667, t: 1.678498 -1.455991 0.394754 q: -0.089577 0.815837 0.091305 0.563958 
time: 1403636904.301666, t: 1.717423 -1.489306 0.418165 q: -0.089334 0.815084 0.090454 0.565221 
wait for imu ... 
time: 1403636904.401666, t: 1.752580 -1.522283 0.441139 q: -0.087313 0.813951 0.090353 0.567182 
time: 1403636904.501667, t: 1.788623 -1.557608 0.456259 q: -0.084155 0.813546 0.091298 0.568090 
time: 1403636904.601666, t: 1.825593 -1.595420 0.468372 q: -0.079999 0.813330 0.092626 0.568783 
time: 1403636904.701667, t: 1.864820 -1.634657 0.477616 q: -0.075495 0.813605 0.093492 0.568864 
time: 1403636904.801666, t: 1.904520 -1.674907 0.485968 q: -0.071745 0.813452 0.094035 0.569479 
time: 1403636904.901666, t: 1.949728 -1.714981 0.493741 q: -0.067268 0.813890 0.094933 0.569250 
wait for imu ... 
time: 1403636905.001667, t: 1.987980 -1.755294 0.494683 q: -0.064062 0.813886 0.094904 0.569631 
wait for imu ... 
time: 1403636905.101666, t: 2.031827 -1.791724 0.495865 q: -0.061123 0.813528 0.094428 0.570543 
time: 1403636905.201667, t: 2.069086 -1.828180 0.496113 q: -0.058775 0.813057 0.093683 0.571584 
wait for imu ... 
time: 1403636905.301666, t: 2.116644 -1.863154 0.506025 q: -0.055681 0.814144 0.093545 0.570367 
time: 1403636905.401666, t: 2.156561 -1.891097 0.515603 q: -0.053806 0.816891 0.093183 0.566666 
wait for imu ... 
time: 1403636905.501667, t: 2.192677 -1.916826 0.534822 q: -0.053661 0.817177 0.098619 0.565346 
time: 1403636905.601666, t: 2.228328 -1.938195 0.550412 q: -0.053691 0.816516 0.105209 0.565110 
wait for imu ... 
time: 1403636905.701667, t: 2.263765 -1.957589 0.559182 q: -0.058332 0.816754 0.107739 0.563828 
wait for imu ... 
wait for imu ... 
time: 1403636905.801666, t: 2.296348 -1.975683 0.561073 q: -0.063876 0.816667 0.108657 0.563178 
wait for imu ... 
time: 1403636905.901666, t: 2.329882 -1.991238 0.557718 q: -0.067325 0.817368 0.109884 0.561518 
time: 1403636906.001667, t: 2.368216 -2.005348 0.547692 q: -0.069216 0.819524 0.111503 0.557815 
time: 1403636906.101666, t: 2.417818 -2.022689 0.537102 q: -0.067958 0.821157 0.114867 0.554877 
time: 1403636906.201667, t: 2.456971 -2.029622 0.529541 q: -0.068890 0.820128 0.116082 0.556029 
wait for imu ... 
time: 1403636906.301666, t: 2.501907 -2.034329 0.528366 q: -0.072704 0.814731 0.115129 0.563624 
time: 1403636906.401666, t: 2.553346 -2.041882 0.535519 q: -0.078939 0.811165 0.111366 0.568662 
time: 1403636906.601666, t: 2.641628 -2.049555 0.551200 q: -0.095913 0.814285 0.098824 0.563892 
time: 1403636906.701667, t: 2.685619 -2.059258 0.554453 q: -0.090819 0.814229 0.102098 0.564234 
time: 1403636906.801666, t: 2.728894 -2.069227 0.551168 q: -0.082644 0.813381 0.107820 0.565647 
time: 1403636906.901666, t: 2.774351 -2.080265 0.543851 q: -0.078105 0.813401 0.112303 0.565391 
wait for imu ... 
wait for imu ... 
time: 1403636907.001667, t: 2.818086 -2.089658 0.539920 q: -0.076059 0.813092 0.115843 0.565399 
time: 1403636907.101666, t: 2.861966 -2.098034 0.542055 q: -0.076402 0.813534 0.117592 0.564356 
time: 1403636907.201667, t: 2.909296 -2.104363 0.544755 q: -0.075765 0.816347 0.119642 0.559931 
time: 1403636907.301666, t: 2.957160 -2.108726 0.538928 q: -0.077343 0.819531 0.120257 0.554910 
time: 1403636907.401666, t: 3.004318 -2.111560 0.532322 q: -0.083065 0.820887 0.117771 0.552607 
time: 1403636907.501667, t: 3.059040 -2.112744 0.533894 q: -0.089035 0.821450 0.114677 0.551490 
time: 1403636907.601666, t: 3.111198 -2.116140 0.543819 q: -0.094056 0.821798 0.111674 0.550754 
time: 1403636907.701667, t: 3.171380 -2.119200 0.560327 q: -0.097126 0.821843 0.109529 0.550586 
time: 1403636907.801666, t: 3.230090 -2.126062 0.582984 q: -0.098974 0.821581 0.108314 0.550887 
time: 1403636907.901666, t: 3.300499 -2.134436 0.597490 q: -0.099474 0.820396 0.108144 0.552594 
time: 1403636908.001667, t: 3.368046 -2.145253 0.598534 q: -0.094189 0.816332 0.112825 0.558571 
wait for imu ... 
time: 1403636908.101666, t: 3.447184 -2.155789 0.592018 q: -0.089201 0.812517 0.118582 0.563735 
time: 1403636908.201667, t: 3.527102 -2.165086 0.591151 q: -0.088298 0.809838 0.121876 0.567021 
wait for imu ... 
time: 1403636908.301666, t: 3.598020 -2.176292 0.593158 q: -0.088538 0.808970 0.124554 0.567639 
time: 1403636908.401666, t: 3.669906 -2.186248 0.592042 q: -0.089348 0.809368 0.126610 0.566489 
wait for imu ... 
time: 1403636908.501667, t: 3.737674 -2.196070 0.585468 q: -0.090702 0.810273 0.128481 0.564556 
wait for imu ... 
time: 1403636908.601666, t: 3.799987 -2.206228 0.576037 q: -0.091919 0.810529 0.130365 0.563559 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636908.701667, t: 3.866589 -2.215093 0.570747 q: -0.092657 0.811680 0.132386 0.561305 
wait for imu ... 
wait for imu ... 
time: 1403636908.801666, t: 3.931615 -2.223934 0.575307 q: -0.095176 0.814342 0.132453 0.556996 
time: 1403636908.901666, t: 3.998432 -2.231301 0.587132 q: -0.096438 0.817313 0.132439 0.552411 
time: 1403636909.001667, t: 4.068671 -2.238820 0.605881 q: -0.098414 0.817904 0.132228 0.551238 
time: 1403636909.101666, t: 4.139592 -2.244612 0.624058 q: -0.100895 0.818602 0.130355 0.550199 
wait for imu ... 
time: 1403636909.201667, t: 4.217370 -2.253064 0.640599 q: -0.101495 0.818811 0.129481 0.549984 
time: 1403636909.301666, t: 4.295409 -2.258247 0.648864 q: -0.101406 0.819406 0.128493 0.549346 
time: 1403636909.401666, t: 4.378059 -2.267017 0.657750 q: -0.099945 0.818021 0.128277 0.551722 
wait for imu ... 
time: 1403636909.501667, t: 4.460908 -2.273170 0.658529 q: -0.096814 0.814892 0.128820 0.556762 
wait for imu ... 
time: 1403636909.601666, t: 4.546208 -2.281785 0.654090 q: -0.097488 0.813828 0.126659 0.558692 
wait for imu ... 
time: 1403636909.701667, t: 4.627082 -2.289844 0.643817 q: -0.100870 0.811952 0.122557 0.561729 
time: 1403636909.801666, t: 4.711710 -2.299071 0.629452 q: -0.096446 0.806975 0.124352 0.569233 
wait for imu ... 
time: 1403636909.901666, t: 4.795170 -2.310078 0.612943 q: -0.083335 0.802525 0.132432 0.575735 
time: 1403636910.001667, t: 4.872592 -2.319909 0.591589 q: -0.071903 0.796994 0.139644 0.583207 
time: 1403636910.101666, t: 4.949662 -2.324359 0.567590 q: -0.073277 0.796133 0.138990 0.584366 
wait for imu ... 
time: 1403636910.201667, t: 5.020505 -2.327078 0.545862 q: -0.081572 0.801532 0.134357 0.576924 
time: 1403636910.301666, t: 5.083084 -2.327057 0.531999 q: -0.086707 0.805658 0.131944 0.570953 
wait for imu ... 
time: 1403636910.401666, t: 5.146231 -2.328515 0.530015 q: -0.089392 0.808405 0.131491 0.566746 
time: 1403636910.501667, t: 5.208086 -2.326226 0.531504 q: -0.090471 0.808937 0.132748 0.565522 
time: 1403636910.601666, t: 5.277521 -2.326173 0.534481 q: -0.089648 0.809170 0.134651 0.564868 
wait for imu ... 
time: 1403636910.701667, t: 5.337680 -2.319593 0.529918 q: -0.089762 0.809205 0.135269 0.564652 
time: 1403636910.801666, t: 5.412075 -2.320329 0.517267 q: -0.091451 0.809730 0.134648 0.563776 
wait for imu ... 
time: 1403636910.901666, t: 5.471671 -2.315331 0.502350 q: -0.094425 0.810488 0.133041 0.562577 
wait for imu ... 
time: 1403636911.001667, t: 5.543747 -2.313765 0.485225 q: -0.100786 0.804737 0.129508 0.570499 
time: 1403636911.101666, t: 5.604228 -2.307524 0.473948 q: -0.103639 0.797471 0.127785 0.580491 
wait for imu ... 
time: 1403636911.301666, t: 5.725668 -2.311044 0.462702 q: -0.097563 0.806303 0.132158 0.568235 
time: 1403636911.401666, t: 5.780355 -2.313705 0.470920 q: -0.094663 0.807712 0.133976 0.566296 
wait for imu ... 
time: 1403636911.501667, t: 5.832551 -2.314702 0.485502 q: -0.092848 0.808362 0.134296 0.565593 
time: 1403636911.601666, t: 5.877776 -2.314683 0.497787 q: -0.092164 0.808789 0.134512 0.565042 
wait for imu ... 
time: 1403636911.701667, t: 5.929586 -2.313375 0.505507 q: -0.091962 0.808825 0.134314 0.565071 
time: 1403636911.801666, t: 5.979422 -2.312126 0.506996 q: -0.095917 0.809468 0.130650 0.564350 
wait for imu ... 
time: 1403636911.901666, t: 6.040421 -2.307830 0.502533 q: -0.102959 0.812187 0.124861 0.560501 
time: 1403636912.001667, t: 6.087080 -2.312279 0.492945 q: -0.105660 0.814075 0.122052 0.557872 
wait for imu ... 
time: 1403636912.101666, t: 6.151636 -2.312831 0.481942 q: -0.102990 0.814172 0.122595 0.558111 
time: 1403636912.201667, t: 6.206070 -2.317297 0.473368 q: -0.100184 0.812657 0.124364 0.560433 
wait for imu ... 
time: 1403636912.301666, t: 6.261742 -2.324046 0.471565 q: -0.096378 0.810800 0.126575 0.563288 
time: 1403636912.401666, t: 6.324553 -2.328421 0.477469 q: -0.095387 0.810904 0.126282 0.563373 
time: 1403636912.501667, t: 6.378947 -2.337514 0.479951 q: -0.100634 0.811402 0.122054 0.562675 
wait for imu ... 
time: 1403636912.601666, t: 6.442906 -2.344245 0.476720 q: -0.101339 0.811860 0.120182 0.562290 
time: 1403636912.701667, t: 6.499785 -2.354374 0.467455 q: -0.105959 0.812253 0.115831 0.561784 
wait for imu ... 
time: 1403636912.801666, t: 6.562632 -2.365516 0.452964 q: -0.110339 0.812197 0.112133 0.561772 
time: 1403636912.901666, t: 6.618315 -2.384172 0.437250 q: -0.107111 0.811278 0.113827 0.563381 
time: 1403636913.001667, t: 6.678134 -2.402659 0.415759 q: -0.101365 0.807382 0.117597 0.569236 
time: 1403636913.101666, t: 6.738976 -2.423307 0.394554 q: -0.097329 0.804205 0.120240 0.573867 
time: 1403636913.201667, t: 6.800063 -2.444840 0.373357 q: -0.094594 0.801593 0.122172 0.577559 
time: 1403636913.301666, t: 6.852747 -2.471330 0.363558 q: -0.093476 0.802088 0.123327 0.576808 
wait for imu ... 
time: 1403636913.401666, t: 6.898764 -2.498483 0.357736 q: -0.097300 0.805771 0.121019 0.571507 
time: 1403636913.501667, t: 6.947521 -2.526067 0.360644 q: -0.101256 0.808469 0.118123 0.567603 
wait for imu ... 
time: 1403636913.601666, t: 6.999410 -2.553618 0.357828 q: -0.097924 0.808811 0.119726 0.567364 
time: 1403636913.701667, t: 7.049793 -2.580919 0.350067 q: -0.094761 0.809102 0.120900 0.567237 
wait for imu ... 
time: 1403636913.801666, t: 7.105623 -2.611462 0.333610 q: -0.093521 0.808604 0.121624 0.567997 
time: 1403636913.901666, t: 7.155526 -2.640938 0.327991 q: -0.092268 0.807935 0.122453 0.568976 
time: 1403636914.001667, t: 7.211325 -2.669557 0.324158 q: -0.091603 0.807440 0.123435 0.569573 
wait for imu ... 
time: 1403636914.101666, t: 7.262157 -2.699701 0.331393 q: -0.094582 0.807436 0.121600 0.569486 
time: 1403636914.201667, t: 7.314329 -2.730103 0.332720 q: -0.096520 0.807917 0.120034 0.568812 
time: 1403636914.301666, t: 7.364404 -2.762340 0.333452 q: -0.094758 0.808558 0.120792 0.568035 
time: 1403636914.401666, t: 7.415099 -2.794841 0.328393 q: -0.091052 0.807549 0.122890 0.569624 
time: 1403636914.501667, t: 7.459041 -2.826342 0.327987 q: -0.088307 0.807300 0.124514 0.570056 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636914.601666, t: 7.509137 -2.857656 0.333637 q: -0.087319 0.807125 0.124941 0.570363 
time: 1403636914.701667, t: 7.550476 -2.889394 0.348281 q: -0.087204 0.806002 0.124621 0.572036 
wait for imu ... 
time: 1403636914.801666, t: 7.589630 -2.918799 0.364836 q: -0.085886 0.805379 0.124376 0.573166 
time: 1403636914.901666, t: 7.633919 -2.950173 0.375723 q: -0.084890 0.806446 0.123959 0.571903 
wait for imu ... 
time: 1403636915.001667, t: 7.669082 -2.980675 0.379161 q: -0.083827 0.808613 0.123387 0.569116 
time: 1403636915.101666, t: 7.705127 -3.008202 0.378809 q: -0.082602 0.810247 0.123402 0.566964 
wait for imu ... 
time: 1403636915.201667, t: 7.748076 -3.038073 0.371975 q: -0.081348 0.812688 0.123416 0.563639 
time: 1403636915.301666, t: 7.785306 -3.061958 0.360133 q: -0.079783 0.817514 0.123715 0.556776 
time: 1403636915.401666, t: 7.827051 -3.085343 0.345640 q: -0.078751 0.821133 0.124491 0.551400 
wait for imu ... 
time: 1403636915.501667, t: 7.871308 -3.107130 0.334158 q: -0.082326 0.819447 0.122133 0.553907 
time: 1403636915.601666, t: 7.916530 -3.123610 0.328915 q: -0.091863 0.814303 0.115754 0.561314 
wait for imu ... 
time: 1403636915.701667, t: 7.966004 -3.142087 0.331111 q: -0.100385 0.810824 0.110498 0.565930 
wait for imu ... 
time: 1403636915.801666, t: 8.012822 -3.165254 0.341800 q: -0.102269 0.809185 0.109902 0.568051 
time: 1403636915.901666, t: 8.062756 -3.192196 0.360763 q: -0.102672 0.808211 0.110533 0.569242 
time: 1403636916.001667, t: 8.107422 -3.218911 0.380948 q: -0.096648 0.807190 0.115228 0.570812 
wait for imu ... 
time: 1403636916.101666, t: 8.150407 -3.247257 0.397075 q: -0.088226 0.806384 0.121640 0.571983 
time: 1403636916.201667, t: 8.194130 -3.277986 0.406869 q: -0.084216 0.806432 0.125439 0.571700 
wait for imu ... 
time: 1403636916.301666, t: 8.237403 -3.308324 0.418125 q: -0.086016 0.806660 0.124797 0.571249 
time: 1403636916.401666, t: 8.275012 -3.336262 0.433529 q: -0.084929 0.807299 0.125303 0.570399 
time: 1403636916.501667, t: 8.315997 -3.364931 0.447769 q: -0.078185 0.807521 0.121057 0.571964 
wait for imu ... 
time: 1403636916.601666, t: 8.353823 -3.393275 0.457320 q: -0.068063 0.808721 0.111368 0.573528 
wait for imu ... 
time: 1403636916.701667, t: 8.392758 -3.418454 0.460682 q: -0.059545 0.810072 0.101049 0.574480 
time: 1403636916.801666, t: 8.431085 -3.440980 0.459688 q: -0.054509 0.810669 0.091950 0.575664 
wait for imu ... 
time: 1403636916.901666, t: 8.465265 -3.460696 0.453742 q: -0.049060 0.811286 0.086458 0.576137 
wait for imu ... 
time: 1403636917.001667, t: 8.499790 -3.476058 0.442872 q: -0.045976 0.811344 0.082528 0.576885 
wait for imu ... 
time: 1403636917.101666, t: 8.532471 -3.489264 0.425862 q: -0.046715 0.811968 0.078066 0.576568 
time: 1403636917.201667, t: 8.560851 -3.500829 0.405759 q: -0.048251 0.812461 0.072406 0.576486 
wait for imu ... 
time: 1403636917.301666, t: 8.590536 -3.511911 0.379039 q: -0.042631 0.812581 0.063092 0.577854 
time: 1403636917.401666, t: 8.616132 -3.525692 0.349395 q: -0.029769 0.812876 0.049254 0.579586 
wait for imu ... 
time: 1403636917.501667, t: 8.643827 -3.536959 0.312671 q: -0.017566 0.813581 0.032562 0.580274 
wait for imu ... 
time: 1403636917.601666, t: 8.671345 -3.547335 0.281075 q: -0.010301 0.813587 0.018308 0.581063 
wait for imu ... 
time: 1403636917.701667, t: 8.691392 -3.556263 0.256484 q: -0.004305 0.812900 0.007908 0.582333 
time: 1403636917.801666, t: 8.711819 -3.564287 0.239567 q: 0.002104 0.812414 -0.000138 0.583077 
wait for imu ... 
time: 1403636917.901666, t: 8.730665 -3.569819 0.232715 q: 0.007958 0.811727 -0.005847 0.583954 
time: 1403636918.001667, t: 8.744576 -3.572963 0.230364 q: 0.011872 0.812337 -0.009569 0.582988 
wait for imu ... 
time: 1403636918.101666, t: 8.754951 -3.574076 0.224650 q: 0.015679 0.813308 -0.010861 0.581521 
time: 1403636918.201667, t: 8.766089 -3.574602 0.214077 q: 0.019085 0.814645 -0.009978 0.579560 
wait for imu ... 
time: 1403636918.301666, t: 8.773587 -3.572466 0.207880 q: 0.021312 0.815417 -0.008480 0.578420 
time: 1403636918.401666, t: 8.781200 -3.568291 0.206481 q: 0.021597 0.821403 -0.007341 0.569891 
time: 1403636918.501667, t: 8.790714 -3.560485 0.212638 q: 0.021701 0.827298 -0.006064 0.561311 
wait for imu ... 
time: 1403636918.601666, t: 8.804682 -3.549524 0.226435 q: 0.021204 0.829045 -0.004281 0.558764 
wait for imu ... 
time: 1403636918.701667, t: 8.823526 -3.535870 0.249564 q: 0.018198 0.827605 -0.003265 0.561006 
wait for imu ... 
time: 1403636918.801666, t: 8.846801 -3.518945 0.279405 q: 0.005105 0.824683 -0.009623 0.565491 
time: 1403636918.901666, t: 8.870404 -3.501793 0.316180 q: -0.007687 0.818940 -0.018508 0.573530 
wait for imu ... 
time: 1403636919.001667, t: 8.896238 -3.488980 0.355637 q: -0.013286 0.814313 -0.030064 0.579495 
time: 1403636919.101666, t: 8.922969 -3.481377 0.398398 q: -0.014574 0.811655 -0.038789 0.582665 
wait for imu ... 
time: 1403636919.201667, t: 8.947282 -3.481072 0.442230 q: -0.012097 0.810053 -0.043873 0.584589 
wait for imu ... 
time: 1403636919.301666, t: 8.968458 -3.487486 0.486488 q: -0.007961 0.809515 -0.046837 0.585173 
time: 1403636919.401666, t: 8.985830 -3.499580 0.525882 q: -0.001110 0.808924 -0.049361 0.585836 
time: 1403636919.501667, t: 8.997783 -3.515724 0.559992 q: 0.011046 0.808673 -0.046744 0.586294 
wait for imu ... 
time: 1403636919.601666, t: 9.008518 -3.535901 0.586239 q: 0.022933 0.808565 -0.042633 0.586412 
time: 1403636919.701667, t: 9.015713 -3.557708 0.604571 q: 0.029187 0.807574 -0.040608 0.587642 
wait for imu ... 
time: 1403636919.801666, t: 9.020387 -3.577898 0.615519 q: 0.028989 0.806735 -0.041852 0.588716 
time: 1403636919.901666, t: 9.020982 -3.596745 0.621073 q: 0.027239 0.806161 -0.043455 0.589470 
time: 1403636920.001667, t: 9.019721 -3.616405 0.618580 q: 0.022502 0.804898 -0.046168 0.591186 
time: 1403636920.101666, t: 9.014133 -3.635849 0.611514 q: 0.016472 0.803568 -0.049330 0.592937 
wait for imu ... 
time: 1403636920.201667, t: 9.004956 -3.657660 0.599593 q: 0.011045 0.802818 -0.051778 0.593869 
time: 1403636920.301666, t: 8.992176 -3.683322 0.584054 q: 0.016304 0.803145 -0.046942 0.593708 
wait for imu ... 
time: 1403636920.401666, t: 8.976461 -3.712266 0.564692 q: 0.024756 0.803484 -0.040158 0.593455 
time: 1403636920.501667, t: 8.950769 -3.737668 0.548631 q: 0.029987 0.806031 -0.035694 0.590035 
wait for imu ... 
time: 1403636920.601666, t: 8.924839 -3.764602 0.540535 q: 0.031224 0.809819 -0.034316 0.584843 
time: 1403636920.701667, t: 8.894579 -3.786217 0.541917 q: 0.031583 0.814315 -0.034557 0.578532 
wait for imu ... 
time: 1403636920.801666, t: 8.869023 -3.810394 0.549213 q: 0.031281 0.818264 -0.035298 0.572905 
time: 1403636920.901666, t: 8.840759 -3.829137 0.565631 q: 0.030408 0.820348 -0.036306 0.569901 
time: 1403636921.001667, t: 8.815811 -3.848802 0.585756 q: 0.030754 0.820766 -0.036817 0.569246 
time: 1403636921.101666, t: 8.791952 -3.864659 0.601382 q: 0.030692 0.820400 -0.037726 0.569717 
time: 1403636921.201667, t: 8.771253 -3.878723 0.612235 q: 0.031504 0.818945 -0.037848 0.571756 
time: 1403636921.301666, t: 8.751323 -3.891200 0.617759 q: 0.031889 0.813077 -0.037851 0.580048 
wait for imu ... 
time: 1403636921.401666, t: 8.732068 -3.902601 0.618031 q: 0.027407 0.808812 -0.041261 0.585977 
wait for imu ... 
time: 1403636921.501667, t: 8.708238 -3.912904 0.612852 q: 0.020808 0.807495 -0.046185 0.587695 
time: 1403636921.601666, t: 8.680038 -3.923207 0.599227 q: 0.015157 0.810593 -0.050864 0.583200 
wait for imu ... 
time: 1403636921.701667, t: 8.651616 -3.935628 0.579362 q: 0.014281 0.819838 -0.052455 0.570009 
wait for imu ... 
time: 1403636921.801666, t: 8.628874 -3.949713 0.558089 q: 0.017406 0.828814 -0.051391 0.556887 
time: 1403636921.901666, t: 8.611024 -3.966744 0.538506 q: 0.021788 0.829398 -0.049789 0.556008 
time: 1403636922.001667, t: 8.598530 -3.985044 0.518885 q: 0.027539 0.823315 -0.048738 0.564817 
time: 1403636922.101666, t: 8.584960 -4.004110 0.498387 q: 0.034261 0.817049 -0.049941 0.573379 
wait for imu ... 
time: 1403636922.201667, t: 8.572938 -4.020983 0.482430 q: 0.039912 0.814149 -0.052690 0.576881 
wait for imu ... 
time: 1403636922.301666, t: 8.561017 -4.036038 0.472743 q: 0.045326 0.818117 -0.055393 0.570580 
time: 1403636922.401666, t: 8.548969 -4.050322 0.467411 q: 0.048147 0.821663 -0.059160 0.564847 
wait for imu ... 
time: 1403636922.501667, t: 8.539358 -4.064825 0.458051 q: 0.052357 0.824908 -0.064974 0.559074 
time: 1403636922.601666, t: 8.533759 -4.078189 0.443452 q: 0.058535 0.825774 -0.073852 0.556073 
time: 1403636922.701667, t: 8.530041 -4.090889 0.425900 q: 0.066104 0.820066 -0.080986 0.562639 
time: 1403636922.801666, t: 8.527408 -4.100441 0.408815 q: 0.067875 0.810458 -0.089373 0.574946 
wait for imu ... 
time: 1403636922.901666, t: 8.522534 -4.107886 0.395059 q: 0.063655 0.803638 -0.098847 0.583389 
time: 1403636923.001667, t: 8.514239 -4.114577 0.388354 q: 0.057858 0.799370 -0.107337 0.588335 
wait for imu ... 
time: 1403636923.101666, t: 8.503981 -4.123435 0.383857 q: 0.059428 0.798672 -0.112622 0.588140 
time: 1403636923.201667, t: 8.490406 -4.133995 0.372955 q: 0.066118 0.799938 -0.120373 0.584156 
wait for imu ... 
time: 1403636923.301666, t: 8.471029 -4.147450 0.359256 q: 0.077785 0.804292 -0.126629 0.575351 
wait for imu ... 
time: 1403636923.401666, t: 8.450084 -4.161392 0.339735 q: 0.087148 0.810093 -0.131574 0.564662 
wait for imu ... 
time: 1403636923.501667, t: 8.429563 -4.176290 0.316077 q: 0.092327 0.816290 -0.136649 0.553600 
time: 1403636923.601666, t: 8.413624 -4.191696 0.294231 q: 0.094013 0.822467 -0.140922 0.543001 
time: 1403636923.701667, t: 8.403490 -4.208000 0.281945 q: 0.096213 0.825361 -0.142787 0.537712 
time: 1403636923.801666, t: 8.401892 -4.225108 0.281192 q: 0.098054 0.824793 -0.143275 0.538121 
time: 1403636923.901666, t: 8.408861 -4.240280 0.283225 q: 0.098910 0.824961 -0.142948 0.537794 
time: 1403636924.001667, t: 8.425505 -4.255053 0.288795 q: 0.100193 0.825177 -0.141315 0.537656 
time: 1403636924.101666, t: 8.448015 -4.269178 0.283617 q: 0.101198 0.824660 -0.140231 0.538545 
time: 1403636924.201667, t: 8.476988 -4.283267 0.274503 q: 0.102038 0.823542 -0.138260 0.540602 
time: 1403636924.301666, t: 8.509229 -4.298845 0.261929 q: 0.101207 0.822286 -0.137421 0.542879 
time: 1403636924.401666, t: 8.549724 -4.311431 0.258054 q: 0.094342 0.820279 -0.141058 0.546209 
wait for imu ... 
time: 1403636924.501667, t: 8.593254 -4.325261 0.266974 q: 0.087212 0.814720 -0.144845 0.554658 
time: 1403636924.601666, t: 8.640051 -4.342206 0.276915 q: 0.079093 0.808536 -0.148885 0.563779 
wait for imu ... 
time: 1403636924.801666, t: 8.729282 -4.387281 0.290045 q: 0.067308 0.798851 -0.153104 0.577811 
time: 1403636924.901666, t: 8.771238 -4.417133 0.285174 q: 0.066207 0.794781 -0.154041 0.583276 
time: 1403636925.001667, t: 8.807667 -4.452494 0.271619 q: 0.070961 0.793509 -0.159721 0.582921 
time: 1403636925.101666, t: 8.836472 -4.493551 0.249759 q: 0.083207 0.794827 -0.161204 0.579085 
time: 1403636925.201667, t: 8.861227 -4.535825 0.223567 q: 0.099339 0.798899 -0.158126 0.571741 
time: 1403636925.301666, t: 8.884529 -4.578691 0.193706 q: 0.109797 0.805546 -0.157101 0.560677 
time: 1403636925.401666, t: 8.906956 -4.621226 0.159216 q: 0.114992 0.813732 -0.158562 0.547243 
time: 1403636925.501667, t: 8.935195 -4.663469 0.126925 q: 0.116805 0.819430 -0.161084 0.537534 
time: 1403636925.601666, t: 8.968177 -4.704521 0.101203 q: 0.117197 0.824541 -0.163485 0.528838 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636925.701667, t: 9.009687 -4.745355 0.084682 q: 0.116942 0.827600 -0.165581 0.523437 
time: 1403636925.801666, t: 9.062208 -4.786828 0.079261 q: 0.118830 0.828147 -0.165376 0.522209 
time: 1403636925.901666, t: 9.123815 -4.827397 0.082679 q: 0.120911 0.822003 -0.164129 0.531746 
time: 1403636926.001667, t: 9.192485 -4.867231 0.092026 q: 0.125096 0.811339 -0.160812 0.547923 
time: 1403636926.101666, t: 9.265874 -4.905673 0.097192 q: 0.122848 0.799620 -0.161666 0.565138 
time: 1403636926.201667, t: 9.336784 -4.940786 0.094000 q: 0.115964 0.791424 -0.165092 0.577013 
time: 1403636926.301666, t: 9.405224 -4.974366 0.082786 q: 0.109374 0.787200 -0.168280 0.583126 
time: 1403636926.401666, t: 9.466563 -5.006276 0.063966 q: 0.102228 0.784739 -0.171179 0.586883 
time: 1403636926.601666, t: 9.567119 -5.070859 0.019979 q: 0.100929 0.788550 -0.168149 0.582862 
time: 1403636926.701667, t: 9.607804 -5.104808 0.007421 q: 0.104113 0.791598 -0.164607 0.579170 
time: 1403636926.801666, t: 9.642745 -5.138198 0.001990 q: 0.103942 0.795058 -0.169028 0.573156 
time: 1403636926.901666, t: 9.678348 -5.173651 0.002401 q: 0.104411 0.796335 -0.180162 0.567883 
time: 1403636927.001667, t: 9.709950 -5.213192 0.003960 q: 0.109329 0.794066 -0.194911 0.565257 
wait for imu ... 
time: 1403636927.101666, t: 9.741753 -5.257234 -0.001149 q: 0.120010 0.790313 -0.210425 0.562782 
time: 1403636927.201667, t: 9.769347 -5.304132 -0.011041 q: 0.132850 0.785160 -0.228624 0.560005 
wait for imu ... 
time: 1403636927.301666, t: 9.795198 -5.354278 -0.026791 q: 0.148889 0.779998 -0.246305 0.555670 
time: 1403636927.401666, t: 9.812341 -5.402497 -0.047184 q: 0.163799 0.780553 -0.258201 0.545196 
time: 1403636927.501667, t: 9.827702 -5.449432 -0.072043 q: 0.172513 0.785815 -0.267697 0.530163 
time: 1403636927.601666, t: 9.848304 -5.498965 -0.096807 q: 0.177185 0.790928 -0.275682 0.516758 
time: 1403636927.701667, t: 9.876453 -5.551784 -0.114502 q: 0.182036 0.792770 -0.280022 0.509869 
time: 1403636927.801666, t: 9.914405 -5.609618 -0.123425 q: 0.183084 0.792124 -0.283812 0.508400 
time: 1403636927.901666, t: 9.956664 -5.668728 -0.124334 q: 0.183671 0.790697 -0.285317 0.509565 
time: 1403636928.001667, t: 10.005630 -5.730764 -0.129576 q: 0.184452 0.789026 -0.285498 0.511768 
wait for imu ... 
time: 1403636928.101666, t: 10.059532 -5.796307 -0.136547 q: 0.186675 0.785718 -0.283399 0.517190 
time: 1403636928.201667, t: 10.118248 -5.862882 -0.146659 q: 0.188395 0.779000 -0.281086 0.527880 
time: 1403636928.301666, t: 10.179319 -5.930614 -0.159761 q: 0.187056 0.771155 -0.280183 0.540210 
wait for imu ... 
time: 1403636928.401666, t: 10.238704 -5.997726 -0.177867 q: 0.187264 0.765551 -0.278001 0.549163 
wait for imu ... 
time: 1403636928.601666, t: 10.346921 -6.126189 -0.213776 q: 0.190285 0.765595 -0.273416 0.550363 
time: 1403636928.701667, t: 10.398358 -6.187408 -0.223045 q: 0.190011 0.771590 -0.272741 0.542363 
time: 1403636928.801666, t: 10.450733 -6.247882 -0.225272 q: 0.189741 0.777208 -0.272280 0.534612 
wait for imu ... 
time: 1403636928.901666, t: 10.502477 -6.305645 -0.219257 q: 0.189920 0.779447 -0.272018 0.531412 
wait for imu ... 
time: 1403636929.001667, t: 10.557974 -6.365032 -0.202320 q: 0.190654 0.773492 -0.271281 0.540156 
time: 1403636929.101666, t: 10.611022 -6.419660 -0.177893 q: 0.185947 0.764455 -0.274319 0.552975 
wait for imu ... 
time: 1403636929.201667, t: 10.660854 -6.473219 -0.148702 q: 0.180476 0.759809 -0.277824 0.559404 
time: 1403636929.301666, t: 10.705364 -6.524313 -0.120726 q: 0.174247 0.759421 -0.281535 0.560050 
wait for imu ... 
time: 1403636929.401666, t: 10.743838 -6.575027 -0.098333 q: 0.173032 0.760103 -0.281235 0.559652 
time: 1403636929.501667, t: 10.780524 -6.630784 -0.082186 q: 0.175990 0.762603 -0.277901 0.556987 
wait for imu ... 
time: 1403636929.601666, t: 10.812129 -6.685537 -0.071765 q: 0.182544 0.765385 -0.272223 0.553857 
time: 1403636929.701667, t: 10.842479 -6.741119 -0.066629 q: 0.188693 0.767490 -0.266938 0.551450 
wait for imu ... 
time: 1403636929.801666, t: 10.868917 -6.790546 -0.067701 q: 0.191838 0.768888 -0.264181 0.549743 
time: 1403636929.901666, t: 10.893931 -6.837870 -0.071765 q: 0.190473 0.767858 -0.264575 0.551465 
wait for imu ... 
time: 1403636930.001667, t: 10.918116 -6.879109 -0.074762 q: 0.186429 0.766121 -0.267202 0.553991 
time: 1403636930.101666, t: 10.941315 -6.922602 -0.067930 q: 0.183667 0.766305 -0.268888 0.553843 
wait for imu ... 
time: 1403636930.201667, t: 10.962303 -6.964923 -0.053756 q: 0.180322 0.765982 -0.271595 0.554069 
time: 1403636930.301666, t: 10.981480 -7.005631 -0.038480 q: 0.177457 0.767214 -0.273735 0.552233 
time: 1403636930.401666, t: 10.997527 -7.049280 -0.010972 q: 0.179958 0.767154 -0.272314 0.552210 
wait for imu ... 
time: 1403636930.501667, t: 11.011072 -7.091988 0.010702 q: 0.185798 0.767889 -0.268665 0.551039 
time: 1403636930.601666, t: 11.022357 -7.133171 0.024889 q: 0.188051 0.767763 -0.266833 0.551341 
wait for imu ... 
time: 1403636930.701667, t: 11.034151 -7.171653 0.029225 q: 0.183851 0.766331 -0.269560 0.553420 
time: 1403636930.801666, t: 11.036919 -7.205381 0.031360 q: 0.175907 0.764537 -0.274794 0.555904 
wait for imu ... 
time: 1403636930.901666, t: 11.040101 -7.242806 0.027464 q: 0.171465 0.762239 -0.279320 0.558186 
time: 1403636931.001667, t: 11.039409 -7.284782 0.018847 q: 0.167726 0.758202 -0.290035 0.559355 
wait for imu ... 
time: 1403636931.101666, t: 11.032225 -7.328574 0.008807 q: 0.175059 0.754051 -0.297488 0.558805 
wait for imu ... 
time: 1403636931.201667, t: 11.020472 -7.377220 0.005043 q: 0.191251 0.750445 -0.296753 0.558742 
time: 1403636931.301666, t: 10.996510 -7.419584 0.009006 q: 0.204284 0.745346 -0.295811 0.561447 
wait for imu ... 
time: 1403636931.401666, t: 10.971442 -7.463002 0.018436 q: 0.214326 0.744010 -0.294815 0.559998 
time: 1403636931.501667, t: 10.944173 -7.502307 0.033467 q: 0.225525 0.746362 -0.291251 0.554306 
time: 1403636931.601666, t: 10.915138 -7.534289 0.052784 q: 0.236278 0.749169 -0.286818 0.548319 
wait for imu ... 
time: 1403636931.701667, t: 10.885771 -7.558112 0.069357 q: 0.241948 0.749673 -0.284686 0.546264 
wait for imu ... 
time: 1403636931.801666, t: 10.856891 -7.576190 0.076529 q: 0.231758 0.751083 -0.293001 0.544346 
time: 1403636931.901666, t: 10.824217 -7.585754 0.077051 q: 0.222703 0.753135 -0.300132 0.541398 
wait for imu ... 
time: 1403636932.001667, t: 10.795304 -7.595536 0.072708 q: 0.217738 0.753716 -0.304336 0.540261 
time: 1403636932.101666, t: 10.762153 -7.601898 0.062008 q: 0.217448 0.751072 -0.305023 0.543662 
time: 1403636932.201667, t: 10.733480 -7.607753 0.049769 q: 0.220009 0.748126 -0.304423 0.547019 
time: 1403636932.301666, t: 10.696480 -7.608038 0.042158 q: 0.230598 0.746120 -0.298940 0.548420 
time: 1403636932.401666, t: 10.659605 -7.602161 0.041770 q: 0.240489 0.745647 -0.294602 0.547161 
time: 1403636932.501667, t: 10.628383 -7.592172 0.048624 q: 0.245611 0.743945 -0.297036 0.545885 
wait for imu ... 
time: 1403636932.601666, t: 10.591719 -7.571973 0.062159 q: 0.248556 0.741096 -0.308475 0.542070 
time: 1403636932.701667, t: 10.550882 -7.546304 0.083207 q: 0.249796 0.735177 -0.324868 0.539979 
wait for imu ... 
time: 1403636932.801666, t: 10.513290 -7.515295 0.111696 q: 0.254132 0.729863 -0.336870 0.537806 
time: 1403636932.901666, t: 10.473398 -7.478283 0.142555 q: 0.258241 0.727154 -0.347149 0.532959 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636933.001667, t: 10.432908 -7.438798 0.164052 q: 0.261247 0.726038 -0.355459 0.527511 
wait for imu ... 
time: 1403636933.101666, t: 10.391657 -7.397287 0.170202 q: 0.266379 0.723005 -0.364976 0.522589 
wait for imu ... 
time: 1403636933.201667, t: 10.350062 -7.353595 0.164542 q: 0.266468 0.724027 -0.374827 0.514086 
wait for imu ... 
time: 1403636933.301666, t: 10.309289 -7.307809 0.151027 q: 0.262266 0.732466 -0.384680 0.496721 
wait for imu ... 
time: 1403636933.401666, t: 10.272620 -7.263468 0.136003 q: 0.257375 0.736845 -0.391434 0.487440 
time: 1403636933.501667, t: 10.239507 -7.223322 0.121110 q: 0.258921 0.733979 -0.391761 0.490671 
time: 1403636933.601666, t: 10.209281 -7.186430 0.107562 q: 0.262422 0.729357 -0.389194 0.497696 
time: 1403636933.701667, t: 10.181573 -7.151613 0.098904 q: 0.265823 0.725398 -0.385611 0.504420 
time: 1403636933.801666, t: 10.154949 -7.118851 0.098854 q: 0.268705 0.722019 -0.381613 0.510742 
time: 1403636933.901666, t: 10.129722 -7.084641 0.104358 q: 0.268244 0.718206 -0.381412 0.516479 
time: 1403636934.001667, t: 10.102750 -7.051393 0.114698 q: 0.269064 0.714693 -0.387190 0.516626 
time: 1403636934.101666, t: 10.074299 -7.017187 0.118796 q: 0.275314 0.708815 -0.397974 0.513224 
time: 1403636934.201667, t: 10.042617 -6.982910 0.107910 q: 0.287525 0.700291 -0.412195 0.506968 
wait for imu ... 
time: 1403636934.301666, t: 10.009577 -6.947436 0.088767 q: 0.300846 0.689559 -0.429356 0.499653 
wait for imu ... 
time: 1403636934.401666, t: 9.974809 -6.909553 0.066869 q: 0.310562 0.674955 -0.451353 0.494234 
wait for imu ... 
time: 1403636934.501667, t: 9.938280 -6.869882 0.049329 q: 0.318931 0.659806 -0.474710 0.487431 
wait for imu ... 
time: 1403636934.601666, t: 9.898090 -6.829705 0.040038 q: 0.331457 0.645810 -0.494683 0.477865 
time: 1403636934.701667, t: 9.853168 -6.787864 0.040715 q: 0.341916 0.635184 -0.511766 0.466616 
time: 1403636934.801666, t: 9.806618 -6.746406 0.050652 q: 0.351271 0.632244 -0.521925 0.452184 
wait for imu ... 
time: 1403636934.901666, t: 9.760813 -6.707087 0.068156 q: 0.357250 0.632216 -0.528325 0.439940 
wait for imu ... 
time: 1403636935.001667, t: 9.715878 -6.666905 0.092690 q: 0.360443 0.631961 -0.531657 0.433644 
wait for imu ... 
time: 1403636935.101666, t: 9.670592 -6.630168 0.123831 q: 0.364793 0.629245 -0.529808 0.436211 
time: 1403636935.201667, t: 9.627518 -6.595531 0.158772 q: 0.365550 0.624451 -0.527701 0.444934 
time: 1403636935.301666, t: 9.587617 -6.563137 0.190397 q: 0.363407 0.622655 -0.526446 0.450655 
wait for imu ... 
time: 1403636935.401666, t: 9.545248 -6.530825 0.212402 q: 0.359771 0.622825 -0.525660 0.454240 
time: 1403636935.501667, t: 9.501982 -6.496450 0.229286 q: 0.357807 0.623842 -0.523905 0.456421 
time: 1403636935.601666, t: 9.457641 -6.463247 0.238058 q: 0.356069 0.624985 -0.522437 0.457895 
time: 1403636935.701667, t: 9.409533 -6.434813 0.238470 q: 0.355104 0.626329 -0.520560 0.458945 
wait for imu ... 
time: 1403636935.801666, t: 9.359508 -6.399875 0.233336 q: 0.351971 0.632063 -0.521030 0.452924 
time: 1403636935.901666, t: 9.309556 -6.367314 0.220329 q: 0.347902 0.638045 -0.522820 0.445558 
wait for imu ... 
time: 1403636936.001667, t: 9.258251 -6.346139 0.198590 q: 0.338545 0.644990 -0.528313 0.436189 
time: 1403636936.101666, t: 9.205974 -6.327024 0.175939 q: 0.333921 0.649060 -0.530903 0.430535 
wait for imu ... 
time: 1403636936.201667, t: 9.157262 -6.315456 0.152924 q: 0.336715 0.649490 -0.529373 0.429592 
wait for imu ... 
wait for imu ... 
time: 1403636936.301666, t: 9.108712 -6.308712 0.135386 q: 0.342955 0.646350 -0.525868 0.433677 
wait for imu ... 
time: 1403636936.401666, t: 9.060865 -6.303565 0.124374 q: 0.349010 0.641407 -0.522982 0.439635 
time: 1403636936.501667, t: 9.015827 -6.302064 0.122490 q: 0.354572 0.636004 -0.520409 0.446040 
wait for imu ... 
time: 1403636936.601666, t: 8.972608 -6.304598 0.125727 q: 0.357708 0.632378 -0.520286 0.448827 
wait for imu ... 
time: 1403636936.701667, t: 8.935675 -6.310800 0.123490 q: 0.358812 0.630602 -0.521833 0.448649 
time: 1403636936.801666, t: 8.891629 -6.312579 0.115276 q: 0.361042 0.630014 -0.522018 0.447469 
time: 1403636936.901666, t: 8.860043 -6.321649 0.107153 q: 0.363914 0.630694 -0.521765 0.444468 
time: 1403636937.001667, t: 8.818412 -6.324437 0.104484 q: 0.365999 0.631500 -0.521232 0.442233 
time: 1403636937.101666, t: 8.786924 -6.332996 0.111634 q: 0.366466 0.631484 -0.522051 0.440902 
time: 1403636937.201667, t: 8.749148 -6.335735 0.122594 q: 0.363785 0.629066 -0.524970 0.443106 
wait for imu ... 
time: 1403636937.301666, t: 8.717368 -6.344704 0.132019 q: 0.363214 0.628351 -0.526308 0.443001 
time: 1403636937.401666, t: 8.680720 -6.348931 0.135614 q: 0.363736 0.627355 -0.526897 0.443284 
wait for imu ... 
time: 1403636937.501667, t: 8.646094 -6.354271 0.133107 q: 0.364116 0.626754 -0.527455 0.443160 
wait for imu ... 
time: 1403636937.601666, t: 8.617925 -6.367052 0.124104 q: 0.365659 0.626349 -0.527458 0.442458 
time: 1403636937.701667, t: 8.585224 -6.372735 0.111089 q: 0.371118 0.628643 -0.524769 0.437833 
wait for imu ... 
time: 1403636937.801666, t: 8.556331 -6.379396 0.093022 q: 0.377400 0.630626 -0.521238 0.433810 
wait for imu ... 
time: 1403636937.901666, t: 8.534896 -6.389761 0.068680 q: 0.384796 0.627253 -0.517188 0.437038 
time: 1403636938.001667, t: 8.511863 -6.389856 0.042138 q: 0.393484 0.623528 -0.512451 0.440201 
time: 1403636938.101666, t: 8.496231 -6.390789 0.009850 q: 0.399188 0.617641 -0.511185 0.444811 
time: 1403636938.201667, t: 8.483110 -6.381416 -0.023743 q: 0.398886 0.608899 -0.516982 0.450401 
time: 1403636938.301666, t: 8.475625 -6.364363 -0.054973 q: 0.394027 0.600291 -0.525497 0.456341 
time: 1403636938.401666, t: 8.464215 -6.339900 -0.077916 q: 0.377795 0.591228 -0.540771 0.463990 
wait for imu ... 
time: 1403636938.501667, t: 8.447080 -6.307793 -0.097356 q: 0.362603 0.586115 -0.554742 0.466101 
time: 1403636938.601666, t: 8.421556 -6.274304 -0.107715 q: 0.356051 0.586629 -0.562220 0.461523 
wait for imu ... 
time: 1403636938.701667, t: 8.386150 -6.240589 -0.109948 q: 0.354873 0.586936 -0.564931 0.458720 
time: 1403636938.801666, t: 8.342542 -6.207985 -0.105993 q: 0.359335 0.589733 -0.563593 0.453273 
wait for imu ... 
time: 1403636938.901666, t: 8.292167 -6.178074 -0.100000 q: 0.366931 0.596238 -0.559278 0.443926 
wait for imu ... 
time: 1403636939.001667, t: 8.240304 -6.144559 -0.094002 q: 0.372614 0.602532 -0.556013 0.434699 
time: 1403636939.101666, t: 8.184522 -6.113318 -0.094051 q: 0.375195 0.605195 -0.553923 0.431436 
wait for imu ... 
time: 1403636939.201667, t: 8.129244 -6.084817 -0.098932 q: 0.377125 0.604668 -0.551401 0.433716 
time: 1403636939.301666, t: 8.074938 -6.059015 -0.109581 q: 0.377882 0.604168 -0.549361 0.436335 
time: 1403636939.401666, t: 8.018711 -6.032458 -0.121998 q: 0.377793 0.605201 -0.546983 0.437966 
wait for imu ... 
time: 1403636939.501667, t: 7.962900 -6.006525 -0.129237 q: 0.379394 0.605235 -0.543104 0.441349 
time: 1403636939.601666, t: 7.907321 -5.978615 -0.127624 q: 0.383868 0.603467 -0.537514 0.446711 
wait for imu ... 
time: 1403636939.701667, t: 7.850573 -5.947370 -0.118923 q: 0.384703 0.600186 -0.535438 0.452865 
time: 1403636939.801666, t: 7.793616 -5.911814 -0.112620 q: 0.386050 0.599947 -0.534051 0.453673 
wait for imu ... 
time: 1403636939.901666, t: 7.733867 -5.871431 -0.112620 q: 0.383437 0.600198 -0.536119 0.453116 
time: 1403636940.001667, t: 7.673517 -5.827172 -0.120279 q: 0.382082 0.596712 -0.541838 0.452061 
wait for imu ... 
time: 1403636940.101666, t: 7.613163 -5.779640 -0.132914 q: 0.383154 0.593318 -0.548940 0.447026 
wait for imu ... 
time: 1403636940.201667, t: 7.548903 -5.728006 -0.152428 q: 0.381598 0.590142 -0.556658 0.442998 
wait for imu ... 
time: 1403636940.301666, t: 7.478193 -5.674364 -0.173598 q: 0.382498 0.587065 -0.561176 0.440603 
time: 1403636940.401666, t: 7.405742 -5.620281 -0.197010 q: 0.384484 0.583726 -0.564250 0.439383 
wait for imu ... 
time: 1403636940.501667, t: 7.332246 -5.564426 -0.221356 q: 0.385830 0.581343 -0.566985 0.437839 
wait for imu ... 
time: 1403636940.601666, t: 7.257037 -5.507276 -0.240109 q: 0.383191 0.582612 -0.571867 0.432083 
time: 1403636940.701667, t: 7.180230 -5.451402 -0.250062 q: 0.382948 0.586795 -0.574336 0.423274 
wait for imu ... 
time: 1403636940.801666, t: 7.103421 -5.397620 -0.251929 q: 0.382028 0.590529 -0.576085 0.416480 
wait for imu ... 
time: 1403636940.901666, t: 7.027123 -5.345947 -0.245902 q: 0.383008 0.593449 -0.575987 0.411536 
wait for imu ... 
time: 1403636941.001667, t: 6.951155 -5.298819 -0.231951 q: 0.385030 0.593429 -0.574495 0.411764 
time: 1403636941.101666, t: 6.876579 -5.256494 -0.210471 q: 0.388120 0.592285 -0.572210 0.413688 
wait for imu ... 
time: 1403636941.201667, t: 6.803045 -5.217296 -0.187645 q: 0.389928 0.591305 -0.570120 0.416267 
wait for imu ... 
time: 1403636941.301666, t: 6.732481 -5.178688 -0.165120 q: 0.392157 0.589619 -0.567170 0.420571 
wait for imu ... 
time: 1403636941.401666, t: 6.661294 -5.141011 -0.147897 q: 0.393410 0.590145 -0.563747 0.423258 
wait for imu ... 
time: 1403636941.501667, t: 6.590858 -5.101277 -0.136761 q: 0.393747 0.591116 -0.560570 0.425801 
time: 1403636941.601666, t: 6.520787 -5.062298 -0.131697 q: 0.392705 0.593554 -0.558591 0.425973 
wait for imu ... 
time: 1403636941.701667, t: 6.452147 -5.022281 -0.130399 q: 0.391593 0.595635 -0.557214 0.425895 
wait for imu ... 
time: 1403636941.801666, t: 6.385352 -4.983592 -0.130562 q: 0.389714 0.597140 -0.556597 0.426317 
time: 1403636941.901666, t: 6.318941 -4.941006 -0.122958 q: 0.387144 0.598592 -0.556963 0.426145 
wait for imu ... 
time: 1403636942.001667, t: 6.257012 -4.902548 -0.111143 q: 0.384220 0.598871 -0.558092 0.426921 
wait for imu ... 
time: 1403636942.101666, t: 6.192951 -4.863692 -0.097253 q: 0.382208 0.597568 -0.559126 0.429194 
time: 1403636942.201667, t: 6.128573 -4.823273 -0.080631 q: 0.381488 0.595720 -0.559800 0.431519 
wait for imu ... 
time: 1403636942.301666, t: 6.061058 -4.783756 -0.073211 q: 0.380248 0.593605 -0.561469 0.433356 
time: 1403636942.401666, t: 5.994488 -4.743674 -0.072060 q: 0.378257 0.590305 -0.564195 0.436058 
wait for imu ... 
time: 1403636942.501667, t: 5.925925 -4.704953 -0.076716 q: 0.375910 0.588303 -0.567633 0.436330 
time: 1403636942.601666, t: 5.852704 -4.666175 -0.085186 q: 0.373515 0.588743 -0.570897 0.433525 
time: 1403636942.701667, t: 5.779458 -4.628254 -0.097344 q: 0.373538 0.591530 -0.572469 0.427599 
wait for imu ... 
time: 1403636942.801666, t: 5.702848 -4.591118 -0.111387 q: 0.375290 0.593054 -0.572654 0.423688 
wait for imu ... 
time: 1403636942.901666, t: 5.622167 -4.555894 -0.118019 q: 0.381703 0.591950 -0.569672 0.423523 
wait for imu ... 
time: 1403636943.001667, t: 5.543175 -4.522377 -0.116497 q: 0.386381 0.590861 -0.567670 0.423490 
time: 1403636943.101666, t: 5.464624 -4.489585 -0.105299 q: 0.391089 0.589121 -0.565638 0.424311 
wait for imu ... 
time: 1403636943.201667, t: 5.388704 -4.456566 -0.093515 q: 0.392835 0.586454 -0.565836 0.426123 
wait for imu ... 
time: 1403636943.301666, t: 5.312733 -4.420981 -0.086942 q: 0.395024 0.585546 -0.566007 0.425121 
time: 1403636943.401666, t: 5.237813 -4.383871 -0.085984 q: 0.397609 0.583878 -0.566299 0.424616 
time: 1403636943.501667, t: 5.162225 -4.345308 -0.091155 q: 0.399473 0.582929 -0.566580 0.423795 
wait for imu ... 
time: 1403636943.601666, t: 5.087096 -4.306124 -0.102335 q: 0.401863 0.582409 -0.566157 0.422814 
wait for imu ... 
time: 1403636943.701667, t: 5.014558 -4.265753 -0.118689 q: 0.403883 0.581502 -0.565638 0.422832 
time: 1403636943.801666, t: 4.944893 -4.224611 -0.141530 q: 0.405171 0.581742 -0.565622 0.421290 
wait for imu ... 
time: 1403636943.901666, t: 4.877582 -4.181513 -0.170589 q: 0.398912 0.586259 -0.565755 0.420822 
time: 1403636944.001667, t: 4.811768 -4.137887 -0.206383 q: 0.384970 0.598063 -0.566888 0.415640 
time: 1403636944.101666, t: 4.746702 -4.096519 -0.240945 q: 0.371546 0.610450 -0.568374 0.407743 
wait for imu ... 
time: 1403636944.201667, t: 4.682168 -4.061837 -0.266899 q: 0.363925 0.618866 -0.567282 0.403430 
wait for imu ... 
time: 1403636944.301666, t: 4.623387 -4.036590 -0.283091 q: 0.361078 0.621610 -0.564712 0.405369 
time: 1403636944.401666, t: 4.566231 -4.019448 -0.290123 q: 0.363917 0.619518 -0.559522 0.413155 
wait for imu ... 
time: 1403636944.501667, t: 4.512229 -4.007857 -0.289745 q: 0.374248 0.617175 -0.549990 0.420172 
time: 1403636944.601666, t: 4.461912 -3.998484 -0.282987 q: 0.388174 0.616701 -0.538400 0.423233 
wait for imu ... 
time: 1403636944.701667, t: 4.418012 -3.987640 -0.272482 q: 0.396057 0.619640 -0.528810 0.423729 
time: 1403636944.801666, t: 4.382041 -3.975546 -0.257590 q: 0.390752 0.619754 -0.527228 0.430405 
wait for imu ... 
time: 1403636944.901666, t: 4.350805 -3.960867 -0.236403 q: 0.385000 0.619380 -0.527020 0.436341 
wait for imu ... 
time: 1403636945.001667, t: 4.324191 -3.945494 -0.216616 q: 0.381537 0.619138 -0.526433 0.440416 
time: 1403636945.101666, t: 4.301699 -3.927272 -0.206875 q: 0.380563 0.619755 -0.524859 0.442266 
time: 1403636945.201667, t: 4.274564 -3.903904 -0.209998 q: 0.379579 0.620784 -0.523792 0.442933 
wait for imu ... 
time: 1403636945.301666, t: 4.253347 -3.880152 -0.215623 q: 0.379021 0.620991 -0.523292 0.443710 
time: 1403636945.401666, t: 4.230810 -3.853131 -0.215260 q: 0.379247 0.621634 -0.523112 0.442828 
wait for imu ... 
time: 1403636945.501667, t: 4.213779 -3.823542 -0.207654 q: 0.379629 0.620965 -0.523733 0.442706 
time: 1403636945.601666, t: 4.199375 -3.791253 -0.203896 q: 0.375999 0.622065 -0.527983 0.439197 
time: 1403636945.701667, t: 4.188186 -3.757695 -0.207081 q: 0.369343 0.627944 -0.534634 0.428296 
wait for imu ... 
time: 1403636945.801666, t: 4.182009 -3.727994 -0.218251 q: 0.363080 0.634342 -0.540648 0.416512 
wait for imu ... 
time: 1403636945.901666, t: 4.176999 -3.703008 -0.232027 q: 0.360843 0.634738 -0.544064 0.413393 
time: 1403636946.001667, t: 4.174685 -3.683941 -0.249070 q: 0.368643 0.629371 -0.540043 0.419939 
wait for imu ... 
time: 1403636946.101666, t: 4.175292 -3.668107 -0.271447 q: 0.375304 0.624181 -0.537005 0.425642 
time: 1403636946.201667, t: 4.180698 -3.652668 -0.300418 q: 0.377585 0.620942 -0.537386 0.427876 
wait for imu ... 
time: 1403636946.301666, t: 4.188127 -3.637359 -0.335316 q: 0.382391 0.617700 -0.535696 0.430412 
time: 1403636946.401666, t: 4.196179 -3.622156 -0.376106 q: 0.385549 0.614407 -0.535424 0.432639 
time: 1403636946.501667, t: 4.207150 -3.604456 -0.422171 q: 0.386589 0.612434 -0.536853 0.432739 
time: 1403636946.601666, t: 4.218843 -3.585246 -0.468407 q: 0.388220 0.610956 -0.537658 0.432368 
wait for imu ... 
time: 1403636946.701667, t: 4.234479 -3.559760 -0.508875 q: 0.382097 0.608368 -0.543587 0.434055 
time: 1403636946.801666, t: 4.247207 -3.536014 -0.543320 q: 0.367587 0.600353 -0.554890 0.443343 
time: 1403636946.901666, t: 4.257506 -3.509646 -0.573398 q: 0.357888 0.595581 -0.562406 0.448217 
wait for imu ... 
time: 1403636947.001667, t: 4.261148 -3.487178 -0.607490 q: 0.345919 0.589527 -0.570767 0.454999 
time: 1403636947.101666, t: 4.254309 -3.467199 -0.644287 q: 0.343475 0.589985 -0.572712 0.453810 
wait for imu ... 
time: 1403636947.201667, t: 4.236807 -3.448578 -0.678405 q: 0.351381 0.601285 -0.568207 0.438325 
time: 1403636947.301666, t: 4.214245 -3.433552 -0.706347 q: 0.356435 0.616373 -0.565325 0.416468 
wait for imu ... 
time: 1403636947.401666, t: 4.191904 -3.427920 -0.724350 q: 0.355808 0.626023 -0.565636 0.401934 
time: 1403636947.501667, t: 4.171921 -3.431121 -0.732922 q: 0.355791 0.626153 -0.566280 0.400839 
wait for imu ... 
time: 1403636947.601666, t: 4.153001 -3.445287 -0.732137 q: 0.359481 0.618963 -0.564872 0.410583 
wait for imu ... 
time: 1403636947.701667, t: 4.133825 -3.465656 -0.725212 q: 0.366174 0.616800 -0.560479 0.413929 
time: 1403636947.801666, t: 4.117270 -3.492805 -0.721409 q: 0.373171 0.619233 -0.555271 0.411056 
time: 1403636947.901666, t: 4.103147 -3.521392 -0.723215 q: 0.383105 0.623653 -0.547601 0.405487 
wait for imu ... 
time: 1403636948.001667, t: 4.092711 -3.551407 -0.732048 q: 0.383495 0.624993 -0.546425 0.404643 
wait for imu ... 
time: 1403636948.101666, t: 4.088661 -3.582815 -0.745331 q: 0.376038 0.625812 -0.550746 0.404517 
time: 1403636948.201667, t: 4.085887 -3.614103 -0.761306 q: 0.376774 0.627531 -0.548674 0.403985 
time: 1403636948.301666, t: 4.088314 -3.650289 -0.779840 q: 0.378715 0.628794 -0.545596 0.404374 
wait for imu ... 
time: 1403636948.401666, t: 4.095514 -3.689753 -0.801618 q: 0.381257 0.630838 -0.541737 0.403990 
time: 1403636948.501667, t: 4.108971 -3.731958 -0.825196 q: 0.387679 0.634680 -0.534596 0.401365 
time: 1403636948.601666, t: 4.133071 -3.772304 -0.847332 q: 0.400654 0.639068 -0.523031 0.396871 
wait for imu ... 
time: 1403636948.701667, t: 4.166324 -3.816176 -0.869694 q: 0.407238 0.639520 -0.515978 0.398672 
time: 1403636948.801666, t: 4.214955 -3.853650 -0.881393 q: 0.398440 0.632488 -0.521269 0.411682 
wait for imu ... 
time: 1403636948.901666, t: 4.268190 -3.894570 -0.886951 q: 0.387948 0.623893 -0.527179 0.427008 
time: 1403636949.001667, t: 4.327911 -3.931516 -0.887305 q: 0.378008 0.614072 -0.532574 0.443160 
wait for imu ... 
time: 1403636949.101666, t: 4.384210 -3.963433 -0.891824 q: 0.375676 0.611523 -0.532530 0.448685 
wait for imu ... 
time: 1403636949.201667, t: 4.437434 -3.994586 -0.902003 q: 0.376754 0.613265 -0.530365 0.447968 
time: 1403636949.301666, t: 4.489181 -4.022532 -0.917623 q: 0.377095 0.614990 -0.529237 0.446648 
time: 1403636949.401666, t: 4.539685 -4.048452 -0.937148 q: 0.373879 0.613247 -0.530454 0.450290 
time: 1403636949.501667, t: 4.589249 -4.068105 -0.963441 q: 0.371369 0.611096 -0.531744 0.453757 
time: 1403636949.601666, t: 4.635155 -4.085441 -0.986320 q: 0.367833 0.609359 -0.533577 0.456811 
time: 1403636949.701667, t: 4.679349 -4.102840 -1.003082 q: 0.364504 0.612328 -0.535989 0.452666 
time: 1403636949.801666, t: 4.716907 -4.118645 -1.011052 q: 0.362603 0.618092 -0.537133 0.444938 
time: 1403636949.901666, t: 4.753071 -4.130913 -1.013469 q: 0.357541 0.622610 -0.540750 0.438303 
wait for imu ... 
time: 1403636950.001667, t: 4.786973 -4.144685 -1.012438 q: 0.353270 0.625026 -0.543829 0.434503 
time: 1403636950.101666, t: 4.817769 -4.163447 -1.007261 q: 0.349440 0.626746 -0.546885 0.431274 
time: 1403636950.201667, t: 4.846841 -4.188404 -1.005249 q: 0.351676 0.628914 -0.546054 0.427337 
time: 1403636950.301666, t: 4.872986 -4.214439 -1.007258 q: 0.356323 0.629675 -0.543276 0.425904 
time: 1403636950.401666, t: 4.901004 -4.247525 -1.014045 q: 0.363062 0.628794 -0.538986 0.426964 
wait for imu ... 
time: 1403636950.501667, t: 4.929791 -4.282098 -1.024147 q: 0.372399 0.627977 -0.532704 0.428007 
wait for imu ... 
time: 1403636950.701667, t: 4.989523 -4.348053 -1.043045 q: 0.383236 0.627421 -0.524118 0.429853 
wait for imu ... 
time: 1403636950.801666, t: 5.027027 -4.380921 -1.046892 q: 0.380491 0.623444 -0.525270 0.436619 
wait for imu ... 
time: 1403636950.901666, t: 5.067314 -4.410722 -1.042938 q: 0.377311 0.621346 -0.526448 0.440929 
wait for imu ... 
time: 1403636951.001667, t: 5.109115 -4.438617 -1.031275 q: 0.375816 0.620409 -0.526636 0.443294 
time: 1403636951.101666, t: 5.153262 -4.463547 -1.012618 q: 0.369886 0.617557 -0.530380 0.447777 
time: 1403636951.201667, t: 5.195799 -4.488280 -0.997993 q: 0.361529 0.618811 -0.536294 0.445824 
wait for imu ... 
time: 1403636951.301666, t: 5.235571 -4.512775 -0.989966 q: 0.358009 0.624255 -0.539245 0.437436 
wait for imu ... 
time: 1403636951.401666, t: 5.272441 -4.537627 -0.987508 q: 0.354813 0.629904 -0.541659 0.428877 
time: 1403636951.501667, t: 5.310314 -4.569250 -0.990313 q: 0.354748 0.632671 -0.542184 0.424168 
wait for imu ... 
time: 1403636951.601666, t: 5.347718 -4.604698 -0.997960 q: 0.356920 0.634048 -0.541052 0.421728 
time: 1403636951.701667, t: 5.385160 -4.644423 -1.007123 q: 0.361531 0.633302 -0.538295 0.422449 
wait for imu ... 
time: 1403636951.801666, t: 5.423590 -4.684866 -1.006504 q: 0.366297 0.630594 -0.535157 0.426363 
time: 1403636951.901666, t: 5.466587 -4.733018 -0.999754 q: 0.373132 0.630063 -0.530354 0.427221 
time: 1403636952.001667, t: 5.511718 -4.781565 -0.992967 q: 0.378919 0.630968 -0.526439 0.425631 
wait for imu ... 
time: 1403636952.101666, t: 5.561100 -4.828700 -0.988097 q: 0.381173 0.629293 -0.525366 0.427421 
time: 1403636952.201667, t: 5.609246 -4.874616 -0.989877 q: 0.380153 0.625528 -0.526154 0.432852 
time: 1403636952.301666, t: 5.655720 -4.919177 -0.998583 q: 0.376433 0.620012 -0.528467 0.441141 
wait for imu ... 
time: 1403636952.401666, t: 5.699992 -4.963276 -1.015517 q: 0.373425 0.615276 -0.530309 0.448065 
wait for imu ... 
time: 1403636952.501667, t: 5.746775 -5.004969 -1.036676 q: 0.375940 0.615213 -0.528029 0.448739 
wait for imu ... 
time: 1403636952.601666, t: 5.791568 -5.043009 -1.061103 q: 0.379222 0.617176 -0.525178 0.446623 
wait for imu ... 
time: 1403636952.701667, t: 5.838682 -5.077050 -1.079885 q: 0.380644 0.617979 -0.523836 0.445878 
time: 1403636952.801666, t: 5.885710 -5.105804 -1.094920 q: 0.377580 0.621518 -0.526023 0.440964 
time: 1403636952.901666, t: 5.932366 -5.131940 -1.106832 q: 0.372090 0.624191 -0.530097 0.436957 
time: 1403636953.001667, t: 5.982879 -5.159845 -1.123509 q: 0.362609 0.624465 -0.537499 0.435490 
wait for imu ... 
time: 1403636953.101666, t: 6.032539 -5.186893 -1.144562 q: 0.354952 0.622235 -0.543398 0.437666 
time: 1403636953.201667, t: 6.077256 -5.216042 -1.171442 q: 0.352144 0.621788 -0.545587 0.437846 
time: 1403636953.301666, t: 6.120362 -5.246111 -1.199341 q: 0.352698 0.622574 -0.545071 0.436925 
time: 1403636953.401666, t: 6.156556 -5.281889 -1.220356 q: 0.356579 0.623947 -0.541702 0.436005 
wait for imu ... 
time: 1403636953.501667, t: 6.192606 -5.318967 -1.233654 q: 0.363817 0.625735 -0.535942 0.434578 
wait for imu ... 
time: 1403636953.601666, t: 6.225416 -5.356588 -1.240290 q: 0.367977 0.627850 -0.532087 0.432759 
time: 1403636953.701667, t: 6.257694 -5.393752 -1.238609 q: 0.369332 0.633509 -0.529582 0.426385 
time: 1403636953.801666, t: 6.291227 -5.432007 -1.226832 q: 0.372754 0.638692 -0.525642 0.420509 
wait for imu ... 
time: 1403636953.901666, t: 6.332931 -5.472978 -1.210640 q: 0.373056 0.639427 -0.523879 0.421323 
time: 1403636954.001667, t: 6.378288 -5.515265 -1.190591 q: 0.369729 0.637977 -0.525404 0.424542 
time: 1403636954.101666, t: 6.431379 -5.560685 -1.176810 q: 0.368559 0.636664 -0.526144 0.426609 
time: 1403636954.201667, t: 6.482480 -5.605559 -1.166450 q: 0.367625 0.635722 -0.526609 0.428244 
wait for imu ... 
time: 1403636954.301666, t: 6.539141 -5.656957 -1.160846 q: 0.366289 0.636702 -0.527769 0.426500 
time: 1403636954.401666, t: 6.597854 -5.709997 -1.151055 q: 0.364017 0.637466 -0.530300 0.424158 
wait for imu ... 
time: 1403636954.501667, t: 6.659654 -5.765458 -1.136153 q: 0.362498 0.637019 -0.532859 0.422922 
time: 1403636954.601666, t: 6.723940 -5.824986 -1.119482 q: 0.365005 0.636786 -0.533279 0.420581 
wait for imu ... 
time: 1403636954.701667, t: 6.790677 -5.886516 -1.113569 q: 0.369041 0.633683 -0.533377 0.421620 
time: 1403636954.801666, t: 6.859800 -5.949808 -1.122285 q: 0.373580 0.627874 -0.533504 0.426129 
wait for imu ... 
time: 1403636954.901666, t: 6.930593 -6.014110 -1.142272 q: 0.377567 0.622279 -0.534129 0.430021 
time: 1403636955.001667, t: 7.002122 -6.073560 -1.164921 q: 0.381520 0.617981 -0.535101 0.431519 
wait for imu ... 
time: 1403636955.101666, t: 7.072203 -6.128584 -1.189974 q: 0.384314 0.617038 -0.536977 0.428045 
time: 1403636955.201667, t: 7.140048 -6.179879 -1.209634 q: 0.387320 0.616010 -0.538605 0.424759 
wait for imu ... 
time: 1403636955.301666, t: 7.215239 -6.233950 -1.219863 q: 0.389337 0.612572 -0.541547 0.424146 
time: 1403636955.401666, t: 7.291803 -6.285133 -1.223737 q: 0.392066 0.609987 -0.543640 0.422676 
wait for imu ... 
time: 1403636955.501667, t: 7.370068 -6.334879 -1.229209 q: 0.394051 0.608770 -0.545309 0.420430 
wait for imu ... 
time: 1403636955.601666, t: 7.450102 -6.383326 -1.241113 q: 0.395242 0.607234 -0.546963 0.419384 
time: 1403636955.701667, t: 7.532329 -6.429397 -1.256088 q: 0.396412 0.606317 -0.548095 0.418125 
wait for imu ... 
time: 1403636955.801666, t: 7.615191 -6.474341 -1.267302 q: 0.397252 0.605902 -0.548690 0.417149 
wait for imu ... 
time: 1403636955.901666, t: 7.700949 -6.519562 -1.272104 q: 0.394034 0.603461 -0.552017 0.419344 
time: 1403636956.001667, t: 7.785680 -6.563659 -1.267166 q: 0.386404 0.597712 -0.558649 0.425844 
wait for imu ... 
time: 1403636956.101666, t: 7.866903 -6.607036 -1.253579 q: 0.378456 0.590506 -0.565392 0.434057 
time: 1403636956.201667, t: 7.942610 -6.648432 -1.237882 q: 0.374380 0.587018 -0.569433 0.437030 
time: 1403636956.301666, t: 8.011163 -6.687714 -1.228524 q: 0.376155 0.587591 -0.569587 0.434528 
wait for imu ... 
time: 1403636956.401666, t: 8.074926 -6.725299 -1.226782 q: 0.385936 0.593318 -0.563973 0.425396 
wait for imu ... 
time: 1403636956.601666, t: 8.205932 -6.797940 -1.240981 q: 0.393959 0.598159 -0.550018 0.429515 
time: 1403636956.701667, t: 8.272805 -6.829784 -1.257456 q: 0.381950 0.599404 -0.544372 0.445520 
time: 1403636956.801666, t: 8.331724 -6.855574 -1.273207 q: 0.363260 0.607591 -0.536790 0.459056 
time: 1403636956.901666, t: 8.385733 -6.876982 -1.282571 q: 0.345626 0.623082 -0.522776 0.467992 
wait for imu ... 
time: 1403636957.001667, t: 8.436313 -6.899006 -1.283557 q: 0.335463 0.641648 -0.500565 0.474539 
time: 1403636957.201667, t: 8.527413 -6.937855 -1.266161 q: 0.317582 0.678884 -0.451003 0.484618 
time: 1403636957.301666, t: 8.568804 -6.955935 -1.252776 q: 0.306826 0.690611 -0.434650 0.489892 
time: 1403636957.401666, t: 8.606168 -6.970454 -1.244443 q: 0.297767 0.698190 -0.423254 0.494694 
time: 1403636957.501667, t: 8.643747 -6.986140 -1.243454 q: 0.290988 0.702255 -0.416657 0.498559 
time: 1403636957.601666, t: 8.683297 -7.001923 -1.248849 q: 0.284102 0.705181 -0.411418 0.502734 
time: 1403636957.701667, t: 8.723355 -7.017933 -1.261930 q: 0.275602 0.709554 -0.403512 0.507696 
time: 1403636957.801666, t: 8.762439 -7.030359 -1.280452 q: 0.261632 0.717231 -0.391607 0.513588 
time: 1403636957.901666, t: 8.800191 -7.041056 -1.301814 q: 0.243645 0.727858 -0.372664 0.521518 
time: 1403636958.001667, t: 8.837115 -7.051114 -1.322081 q: 0.224683 0.739925 -0.348236 0.529868 
wait for imu ... 
time: 1403636958.101666, t: 8.868913 -7.060966 -1.334255 q: 0.206468 0.751917 -0.322715 0.536514 
time: 1403636958.201667, t: 8.899234 -7.071117 -1.336992 q: 0.191195 0.761614 -0.301381 0.540886 
wait for imu ... 
time: 1403636958.301666, t: 8.924463 -7.080263 -1.327515 q: 0.179164 0.768443 -0.281371 0.546100 
wait for imu ... 
time: 1403636958.401666, t: 8.944021 -7.091296 -1.311312 q: 0.170914 0.775899 -0.263057 0.547329 
time: 1403636958.501667, t: 8.960474 -7.102772 -1.289689 q: 0.165399 0.780897 -0.251083 0.547540 
wait for imu ... 
time: 1403636958.601666, t: 8.976244 -7.116940 -1.273439 q: 0.162481 0.783144 -0.244199 0.548318 
time: 1403636958.701667, t: 8.995295 -7.133969 -1.262227 q: 0.162351 0.784008 -0.240512 0.548752 
time: 1403636958.801666, t: 9.011182 -7.149825 -1.254403 q: 0.162589 0.784204 -0.239644 0.548780 
time: 1403636958.901666, t: 9.032269 -7.167367 -1.253395 q: 0.164324 0.784827 -0.240424 0.547028 
wait for imu ... 
time: 1403636959.001667, t: 9.051553 -7.183438 -1.256069 q: 0.167210 0.784444 -0.241749 0.546119 
time: 1403636959.101666, t: 9.073905 -7.198826 -1.265438 q: 0.168236 0.784570 -0.244664 0.544321 
wait for imu ... 
time: 1403636959.201667, t: 9.097796 -7.214339 -1.280135 q: 0.169451 0.783943 -0.247129 0.543734 
wait for imu ... 
time: 1403636959.301666, t: 9.127719 -7.231540 -1.302284 q: 0.175402 0.783663 -0.246488 0.542540 
time: 1403636959.401666, t: 9.152605 -7.245329 -1.327647 q: 0.181641 0.783901 -0.244574 0.541007 
wait for imu ... 
time: 1403636959.501667, t: 9.180623 -7.256352 -1.358675 q: 0.185927 0.782077 -0.243386 0.542724 
wait for imu ... 
time: 1403636959.601666, t: 9.214496 -7.264777 -1.391716 q: 0.182483 0.776356 -0.247491 0.550199 
time: 1403636959.701667, t: 9.242907 -7.271024 -1.416392 q: 0.180420 0.775954 -0.250700 0.549993 
wait for imu ... 
time: 1403636959.801666, t: 9.279300 -7.278467 -1.433929 q: 0.179202 0.777016 -0.253630 0.547544 
time: 1403636959.901666, t: 9.307506 -7.281186 -1.441916 q: 0.178695 0.777864 -0.255768 0.545507 
wait for imu ... 
time: 1403636960.001667, t: 9.336159 -7.283678 -1.442341 q: 0.178203 0.778075 -0.256994 0.544791 
time: 1403636960.101666, t: 9.366722 -7.287515 -1.439498 q: 0.178507 0.777784 -0.257090 0.545062 
time: 1403636960.201667, t: 9.395079 -7.290147 -1.432002 q: 0.181333 0.778495 -0.255341 0.543934 
time: 1403636960.301666, t: 9.424695 -7.292425 -1.428601 q: 0.189913 0.780593 -0.249448 0.540725 
time: 1403636960.401666, t: 9.456139 -7.292404 -1.429488 q: 0.194773 0.779903 -0.245625 0.541741 
wait for imu ... 
time: 1403636960.501667, t: 9.487415 -7.288223 -1.431233 q: 0.195974 0.778189 -0.239502 0.546493 
time: 1403636960.601666, t: 9.525239 -7.280425 -1.442647 q: 0.196209 0.777983 -0.231443 0.550162 
wait for imu ... 
time: 1403636960.701667, t: 9.560979 -7.266744 -1.454286 q: 0.188547 0.777476 -0.229538 0.554341 
time: 1403636960.801666, t: 9.594451 -7.246520 -1.470613 q: 0.174288 0.779384 -0.231456 0.555529 
wait for imu ... 
time: 1403636960.901666, t: 9.632004 -7.223557 -1.490867 q: 0.159909 0.783551 -0.224217 0.556959 
time: 1403636961.001667, t: 9.662767 -7.198871 -1.507737 q: 0.146301 0.788755 -0.206788 0.560089 
time: 1403636961.101666, t: 9.696840 -7.173950 -1.519800 q: 0.130335 0.793646 -0.185854 0.564444 
wait for imu ... 
time: 1403636961.201667, t: 9.729819 -7.146473 -1.524927 q: 0.113084 0.798657 -0.163208 0.568086 
wait for imu ... 
time: 1403636961.301666, t: 9.756334 -7.121914 -1.519828 q: 0.097499 0.803162 -0.140581 0.570667 
wait for imu ... 
time: 1403636961.401666, t: 9.785941 -7.095234 -1.508779 q: 0.086312 0.805656 -0.121712 0.573285 
wait for imu ... 
wait for imu ... 
time: 1403636961.501667, t: 9.811814 -7.069467 -1.490859 q: 0.076486 0.807664 -0.108934 0.574424 
wait for imu ... 
time: 1403636961.601666, t: 9.837483 -7.042382 -1.466215 q: 0.066328 0.809187 -0.096053 0.575839 
wait for imu ... 
time: 1403636961.701667, t: 9.862798 -7.015442 -1.434943 q: 0.055229 0.810150 -0.081789 0.577856 
wait for imu ... 
time: 1403636961.801666, t: 9.886752 -6.987415 -1.400285 q: 0.044887 0.811128 -0.065709 0.579429 
time: 1403636962.001667, t: 9.934891 -6.930797 -1.349288 q: 0.021920 0.813764 -0.029814 0.580016 
wait for imu ... 
time: 1403636962.101666, t: 9.957935 -6.902443 -1.332236 q: 0.008782 0.815304 -0.010874 0.578865 
wait for imu ... 
time: 1403636962.201667, t: 9.978998 -6.872628 -1.313779 q: -0.005055 0.815361 0.008694 0.578865 
wait for imu ... 
time: 1403636962.301666, t: 9.998736 -6.841827 -1.288826 q: -0.017721 0.813922 0.030431 0.579906 
wait for imu ... 
time: 1403636962.401666, t: 10.015741 -6.810067 -1.258687 q: -0.032366 0.812489 0.051623 0.579784 
wait for imu ... 
time: 1403636962.501667, t: 10.031004 -6.776897 -1.221812 q: -0.043901 0.810688 0.075019 0.578991 
wait for imu ... 
time: 1403636962.601666, t: 10.042421 -6.742316 -1.181638 q: -0.052923 0.808312 0.101170 0.577577 
wait for imu ... 
time: 1403636962.701667, t: 10.050810 -6.706934 -1.144885 q: -0.058586 0.805002 0.125572 0.576864 
wait for imu ... 
time: 1403636962.801666, t: 10.055693 -6.669397 -1.114663 q: -0.063688 0.802296 0.142309 0.576206 
wait for imu ... 
time: 1403636962.901666, t: 10.058525 -6.627721 -1.091274 q: -0.070507 0.800252 0.149945 0.576318 
time: 1403636963.001667, t: 10.060144 -6.580964 -1.073373 q: -0.081226 0.796868 0.148817 0.579877 
wait for imu ... 
time: 1403636963.101666, t: 10.057064 -6.531299 -1.059823 q: -0.088422 0.791517 0.145712 0.586898 
time: 1403636963.201667, t: 10.050936 -6.478605 -1.050238 q: -0.090082 0.791312 0.142793 0.587641 
time: 1403636963.301666, t: 10.037841 -6.427047 -1.049041 q: -0.093604 0.795968 0.137081 0.582136 
wait for imu ... 
time: 1403636963.401666, t: 10.021996 -6.376687 -1.050912 q: -0.095917 0.799513 0.130793 0.578336 
wait for imu ... 
time: 1403636963.501667, t: 10.006007 -6.326025 -1.054896 q: -0.091611 0.801110 0.128894 0.577249 
time: 1403636963.601666, t: 9.984339 -6.279142 -1.054833 q: -0.087441 0.801643 0.127097 0.577554 
time: 1403636963.701667, t: 9.966801 -6.227834 -1.047258 q: -0.082834 0.802446 0.124905 0.577596 
time: 1403636963.801666, t: 9.942068 -6.180617 -1.032078 q: -0.080140 0.803084 0.122501 0.577605 
wait for imu ... 
time: 1403636963.901666, t: 9.916996 -6.133070 -1.010242 q: -0.077825 0.802663 0.120769 0.578870 
time: 1403636964.001667, t: 9.889059 -6.085963 -0.982273 q: -0.076997 0.802470 0.119463 0.579519 
wait for imu ... 
time: 1403636964.101666, t: 9.867044 -6.036432 -0.948966 q: -0.076094 0.802232 0.119443 0.579972 
time: 1403636964.201667, t: 9.833543 -5.988240 -0.915545 q: -0.075703 0.800712 0.120075 0.581989 
wait for imu ... 
time: 1403636964.301666, t: 9.800087 -5.941138 -0.889437 q: -0.074424 0.800817 0.122049 0.581599 
time: 1403636964.401666, t: 9.762573 -5.893989 -0.869598 q: -0.074154 0.800178 0.123688 0.582166 
wait for imu ... 
time: 1403636964.501667, t: 9.725327 -5.844857 -0.855428 q: -0.072986 0.799513 0.127085 0.582496 
time: 1403636964.601666, t: 9.679945 -5.793216 -0.845421 q: -0.070665 0.797609 0.136318 0.583304 
time: 1403636964.701667, t: 9.634493 -5.739207 -0.840836 q: -0.073420 0.795807 0.148783 0.582378 
wait for imu ... 
time: 1403636964.801666, t: 9.583275 -5.679916 -0.840603 q: -0.077960 0.792315 0.165461 0.582049 
time: 1403636964.901666, t: 9.526442 -5.615829 -0.839966 q: -0.094953 0.787475 0.180130 0.581739 
time: 1403636965.001667, t: 9.464355 -5.548524 -0.833171 q: -0.111290 0.780858 0.199121 0.581572 
time: 1403636965.101666, t: 9.398501 -5.480797 -0.819471 q: -0.127487 0.777426 0.216338 0.576674 
wait for imu ... 
time: 1403636965.201667, t: 9.325276 -5.408930 -0.799352 q: -0.138664 0.778105 0.230407 0.567660 
wait for imu ... 
time: 1403636965.301666, t: 9.250956 -5.338035 -0.775304 q: -0.142996 0.785076 0.242347 0.551793 
wait for imu ... 
time: 1403636965.401666, t: 9.176672 -5.262678 -0.746096 q: -0.142546 0.796034 0.251344 0.531824 
wait for imu ... 
time: 1403636965.501667, t: 9.106445 -5.182520 -0.708241 q: -0.146545 0.804041 0.252323 0.518050 
wait for imu ... 
time: 1403636965.601666, t: 9.044038 -5.094741 -0.657793 q: -0.158206 0.800006 0.244887 0.524396 
wait for imu ... 
time: 1403636965.701667, t: 8.988966 -5.005911 -0.599513 q: -0.173290 0.790064 0.233557 0.539649 
wait for imu ... 
time: 1403636965.801666, t: 8.937846 -4.918820 -0.546548 q: -0.179369 0.783143 0.227073 0.550410 
wait for imu ... 
time: 1403636965.901666, t: 8.889267 -4.836723 -0.501682 q: -0.170818 0.778543 0.230250 0.558280 
time: 1403636966.001667, t: 8.839926 -4.757904 -0.464308 q: -0.162211 0.776289 0.233816 0.562488 
wait for imu ... 
time: 1403636966.101666, t: 8.787273 -4.677982 -0.433688 q: -0.157432 0.774865 0.234911 0.565346 
time: 1403636966.201667, t: 8.735942 -4.600884 -0.409657 q: -0.154721 0.774509 0.234657 0.566686 
time: 1403636966.301666, t: 8.680897 -4.525488 -0.393118 q: -0.154036 0.773796 0.233328 0.568393 
wait for imu ... 
time: 1403636966.401666, t: 8.622470 -4.450552 -0.384497 q: -0.163678 0.775043 0.224905 0.567393 
time: 1403636966.501667, t: 8.561216 -4.377122 -0.381251 q: -0.179089 0.777436 0.212076 0.564397 
wait for imu ... 
time: 1403636966.601666, t: 8.506055 -4.314357 -0.387547 q: -0.182751 0.778106 0.207195 0.564114 
time: 1403636966.701667, t: 8.447722 -4.263689 -0.399357 q: -0.171759 0.777807 0.212035 0.566177 
wait for imu ... 
time: 1403636966.801666, t: 8.388503 -4.212266 -0.406134 q: -0.163806 0.776418 0.215206 0.569236 
wait for imu ... 
time: 1403636966.901666, t: 8.325718 -4.167393 -0.408167 q: -0.164555 0.776924 0.212990 0.569162 
time: 1403636967.001667, t: 8.263856 -4.121899 -0.401849 q: -0.166713 0.777525 0.210216 0.568745 
wait for imu ... 
time: 1403636967.101666, t: 8.202309 -4.086475 -0.400947 q: -0.161709 0.777026 0.212519 0.570014 
time: 1403636967.201667, t: 8.139570 -4.049315 -0.404852 q: -0.157181 0.776710 0.214617 0.570925 
time: 1403636967.301666, t: 8.073134 -4.016473 -0.415400 q: -0.155227 0.776781 0.214902 0.571255 
time: 1403636967.401666, t: 8.003662 -3.983604 -0.423611 q: -0.152619 0.775791 0.215830 0.572951 
time: 1403636967.501667, t: 7.931849 -3.951620 -0.424392 q: -0.152859 0.775621 0.214844 0.573487 
wait for imu ... 
time: 1403636967.601666, t: 7.853841 -3.920358 -0.418734 q: -0.150674 0.775186 0.214943 0.574616 
time: 1403636967.701667, t: 7.773151 -3.890812 -0.413760 q: -0.148362 0.775446 0.215221 0.574763 
wait for imu ... 
time: 1403636967.801666, t: 7.689228 -3.859680 -0.425389 q: -0.148421 0.775303 0.214478 0.575218 
time: 1403636967.901666, t: 7.604009 -3.832864 -0.451352 q: -0.148327 0.774604 0.214476 0.576183 
wait for imu ... 
time: 1403636968.001667, t: 7.517911 -3.807251 -0.486682 q: -0.148686 0.774283 0.214387 0.576556 
time: 1403636968.101666, t: 7.426963 -3.783932 -0.524746 q: -0.151126 0.773567 0.213718 0.577131 
wait for imu ... 
time: 1403636968.201667, t: 7.334523 -3.761184 -0.562019 q: -0.153745 0.774619 0.212093 0.575625 
time: 1403636968.301666, t: 7.232665 -3.739054 -0.589934 q: -0.153359 0.775395 0.212450 0.574551 
time: 1403636968.401666, t: 7.132311 -3.720390 -0.610564 q: -0.152892 0.776405 0.212687 0.573222 
time: 1403636968.501667, t: 7.030004 -3.701512 -0.624728 q: -0.153286 0.777471 0.211860 0.571977 
time: 1403636968.601666, t: 6.923574 -3.687358 -0.631192 q: -0.151548 0.776983 0.213005 0.572677 
time: 1403636968.701667, t: 6.814847 -3.674010 -0.633386 q: -0.145552 0.776258 0.216758 0.573806 
time: 1403636968.801666, t: 6.704888 -3.658526 -0.638375 q: -0.141332 0.775785 0.219437 0.574483 
wait for imu ... 
time: 1403636968.901666, t: 6.589455 -3.640829 -0.643577 q: -0.143785 0.776473 0.217113 0.573827 
time: 1403636969.001667, t: 6.472328 -3.623667 -0.639548 q: -0.145896 0.777210 0.215520 0.572896 
time: 1403636969.101666, t: 6.353657 -3.601683 -0.631853 q: -0.150431 0.778425 0.212226 0.571300 
time: 1403636969.201667, t: 6.236006 -3.583402 -0.619177 q: -0.150244 0.783398 0.212125 0.564551 
wait for imu ... 
time: 1403636969.301666, t: 6.115137 -3.567300 -0.600967 q: -0.149308 0.790127 0.212378 0.555250 
time: 1403636969.401666, t: 5.995895 -3.549828 -0.574941 q: -0.145907 0.794338 0.213912 0.549527 
wait for imu ... 
time: 1403636969.501667, t: 5.880963 -3.532276 -0.546463 q: -0.143370 0.796893 0.214599 0.546218 
wait for imu ... 
time: 1403636969.601666, t: 5.772720 -3.514549 -0.521733 q: -0.142015 0.798605 0.214335 0.544172 
time: 1403636969.701667, t: 5.669704 -3.496128 -0.502661 q: -0.141786 0.798598 0.213637 0.544515 
time: 1403636969.801666, t: 5.565155 -3.474788 -0.490153 q: -0.140933 0.798689 0.213653 0.544598 
time: 1403636969.901666, t: 5.462064 -3.451336 -0.484058 q: -0.141394 0.799021 0.212861 0.544301 
wait for imu ... 
time: 1403636970.001667, t: 5.367637 -3.424794 -0.479197 q: -0.143802 0.796594 0.211544 0.547730 
wait for imu ... 
time: 1403636970.101666, t: 5.276878 -3.396894 -0.481257 q: -0.145506 0.790336 0.211253 0.556389 
time: 1403636970.201667, t: 5.186124 -3.368878 -0.486634 q: -0.147016 0.785642 0.210747 0.562795 
wait for imu ... 
time: 1403636970.301666, t: 5.096347 -3.341886 -0.492865 q: -0.147759 0.784143 0.211075 0.564566 
time: 1403636970.401666, t: 5.004273 -3.316241 -0.501428 q: -0.146614 0.788502 0.212289 0.558302 
wait for imu ... 
time: 1403636970.501667, t: 4.915931 -3.288384 -0.508031 q: -0.145933 0.794177 0.213439 0.549936 
wait for imu ... 
time: 1403636970.601666, t: 4.828063 -3.259648 -0.512039 q: -0.144443 0.798600 0.215451 0.543098 
wait for imu ... 
time: 1403636970.701667, t: 4.747439 -3.227269 -0.508158 q: -0.142631 0.802190 0.217966 0.537250 
time: 1403636970.801666, t: 4.668275 -3.190219 -0.496782 q: -0.141742 0.805843 0.219621 0.531313 
wait for imu ... 
time: 1403636970.901666, t: 4.596448 -3.149978 -0.486310 q: -0.140189 0.810732 0.221555 0.523426 
wait for imu ... 
time: 1403636971.001667, t: 4.534358 -3.104743 -0.481992 q: -0.143899 0.812956 0.219522 0.519813 
wait for imu ... 
time: 1403636971.101666, t: 4.479416 -3.056056 -0.481426 q: -0.154118 0.810914 0.212483 0.522988 
wait for imu ... 
time: 1403636971.201667, t: 4.428233 -3.005215 -0.486722 q: -0.166950 0.806584 0.203699 0.529204 
time: 1403636971.301666, t: 4.382913 -2.958163 -0.497772 q: -0.179473 0.802227 0.194701 0.535082 
wait for imu ... 
time: 1403636971.401666, t: 4.346871 -2.919049 -0.513328 q: -0.187847 0.800189 0.189395 0.537160 
wait for imu ... 
time: 1403636971.501667, t: 4.317868 -2.886608 -0.532976 q: -0.185278 0.799065 0.191916 0.538828 
time: 1403636971.601666, t: 4.293626 -2.859623 -0.556214 q: -0.178469 0.795335 0.197681 0.544531 
time: 1403636971.701667, t: 4.276670 -2.838813 -0.584365 q: -0.169167 0.789054 0.205342 0.553724 
wait for imu ... 
time: 1403636971.801666, t: 4.260282 -2.820580 -0.615538 q: -0.167568 0.784010 0.207632 0.560481 
wait for imu ... 
time: 1403636971.901666, t: 4.247263 -2.807494 -0.646997 q: -0.168415 0.781672 0.208379 0.563209 
time: 1403636972.001667, t: 4.225405 -2.795660 -0.672082 q: -0.168469 0.781653 0.209326 0.562867 
wait for imu ... 
time: 1403636972.101666, t: 4.208281 -2.789250 -0.690708 q: -0.167151 0.781404 0.210448 0.563187 
wait for imu ... 
time: 1403636972.201667, t: 4.187933 -2.785327 -0.703548 q: -0.168392 0.785008 0.209352 0.558192 
time: 1403636972.301666, t: 4.169766 -2.784398 -0.712486 q: -0.169785 0.790739 0.208145 0.550074 
time: 1403636972.401666, t: 4.154710 -2.785153 -0.707264 q: -0.166694 0.792866 0.209731 0.547347 
wait for imu ... 
time: 1403636972.501667, t: 4.144486 -2.787625 -0.693222 q: -0.163439 0.791746 0.211511 0.549262 
time: 1403636972.601666, t: 4.138190 -2.791387 -0.675217 q: -0.161157 0.789923 0.212387 0.552215 
time: 1403636972.701667, t: 4.130244 -2.794535 -0.658209 q: -0.158144 0.787716 0.213684 0.555728 
time: 1403636972.801666, t: 4.121207 -2.797957 -0.646633 q: -0.157382 0.787694 0.213586 0.556012 
time: 1403636972.901666, t: 4.109766 -2.802984 -0.636419 q: -0.155980 0.788162 0.213089 0.555935 
time: 1403636973.001667, t: 4.101674 -2.811214 -0.634754 q: -0.150715 0.791696 0.207831 0.554355 
time: 1403636973.101666, t: 4.090481 -2.820473 -0.635019 q: -0.144174 0.796351 0.198084 0.552993 
time: 1403636973.201667, t: 4.080773 -2.828884 -0.644094 q: -0.138464 0.799285 0.189838 0.553112 
wait for imu ... 
time: 1403636973.301666, t: 4.070691 -2.839074 -0.654152 q: -0.133100 0.799755 0.184062 0.555695 
wait for imu ... 
time: 1403636973.401666, t: 4.062612 -2.847032 -0.672085 q: -0.128988 0.800390 0.179870 0.557122 
wait for imu ... 
time: 1403636973.501667, t: 4.056674 -2.852432 -0.694074 q: -0.126758 0.801195 0.176398 0.557586 
time: 1403636973.601666, t: 4.051478 -2.856012 -0.719593 q: -0.124508 0.799636 0.174430 0.560940 
time: 1403636973.701667, t: 4.048650 -2.857708 -0.745687 q: -0.123411 0.798038 0.173304 0.563800 
time: 1403636973.801666, t: 4.042404 -2.859972 -0.766336 q: -0.122295 0.794987 0.173564 0.568256 
wait for imu ... 
time: 1403636973.901666, t: 4.035238 -2.861170 -0.780788 q: -0.122369 0.793850 0.173926 0.569717 
time: 1403636974.001667, t: 4.027835 -2.862210 -0.786992 q: -0.124453 0.795631 0.171632 0.567472 
time: 1403636974.101666, t: 4.018574 -2.864385 -0.790197 q: -0.123226 0.800124 0.163847 0.563712 
wait for imu ... 
time: 1403636974.201667, t: 4.011396 -2.868648 -0.794760 q: -0.114009 0.805655 0.150446 0.561505 
wait for imu ... 
time: 1403636974.301666, t: 4.009470 -2.873942 -0.803539 q: -0.097461 0.809422 0.133179 0.563561 
time: 1403636974.401666, t: 4.008216 -2.878790 -0.818596 q: -0.079844 0.811928 0.111543 0.567411 
wait for imu ... 
time: 1403636974.501667, t: 4.005027 -2.883999 -0.838818 q: -0.061994 0.812631 0.086473 0.572983 
time: 1403636974.601666, t: 4.000889 -2.889283 -0.863002 q: -0.042924 0.812829 0.060694 0.577740 
time: 1403636974.701667, t: 3.994853 -2.893687 -0.888052 q: -0.025505 0.815496 0.034806 0.577151 
wait for imu ... 
time: 1403636974.801666, t: 3.984952 -2.897223 -0.906994 q: -0.011703 0.819435 0.009166 0.572979 
time: 1403636974.901666, t: 3.974241 -2.900125 -0.917754 q: -0.003866 0.823836 -0.017499 0.566545 
wait for imu ... 
time: 1403636975.001667, t: 3.964553 -2.904332 -0.919956 q: 0.004599 0.826512 -0.041208 0.561390 
time: 1403636975.101666, t: 3.957363 -2.912924 -0.915176 q: 0.017117 0.824914 -0.058967 0.561913 
wait for imu ... 
time: 1403636975.201667, t: 3.955449 -2.923070 -0.911208 q: 0.030849 0.819835 -0.068743 0.567620 
wait for imu ... 
time: 1403636975.301666, t: 3.958256 -2.933169 -0.910586 q: 0.042026 0.814374 -0.073095 0.574183 
wait for imu ... 
time: 1403636975.401666, t: 3.962673 -2.940852 -0.916057 q: 0.048550 0.811352 -0.075023 0.577687 
time: 1403636975.501667, t: 3.966849 -2.947463 -0.929314 q: 0.050908 0.812439 -0.075824 0.575849 
wait for imu ... 
time: 1403636975.601666, t: 3.973558 -2.951248 -0.940832 q: 0.052045 0.816537 -0.074895 0.570044 
time: 1403636975.701667, t: 3.976031 -2.956377 -0.943824 q: 0.051157 0.819631 -0.072668 0.565957 
wait for imu ... 
time: 1403636975.801666, t: 3.988534 -2.956991 -0.937028 q: 0.049806 0.821992 -0.070590 0.562909 
time: 1403636975.901666, t: 3.999977 -2.960367 -0.925693 q: 0.053285 0.823257 -0.074288 0.560259 
wait for imu ... 
time: 1403636976.001667, t: 4.013030 -2.963164 -0.918820 q: 0.057473 0.821071 -0.086983 0.561224 
time: 1403636976.101666, t: 4.026516 -2.967892 -0.916661 q: 0.060329 0.813739 -0.107633 0.567983 
time: 1403636976.201667, t: 4.047323 -2.970998 -0.920658 q: 0.061976 0.805353 -0.133705 0.574185 
time: 1403636976.301666, t: 4.061244 -2.980137 -0.929666 q: 0.069153 0.798398 -0.159998 0.576350 
wait for imu ... 
time: 1403636976.401666, t: 4.071174 -2.995095 -0.943350 q: 0.082531 0.792348 -0.184783 0.575524 
time: 1403636976.501667, t: 4.075880 -3.016981 -0.960403 q: 0.102913 0.788318 -0.204134 0.571221 
time: 1403636976.601666, t: 4.077306 -3.042562 -0.981993 q: 0.125974 0.786738 -0.213946 0.565156 
wait for imu ... 
time: 1403636976.701667, t: 4.077763 -3.067677 -1.009593 q: 0.142631 0.785362 -0.220334 0.560639 
time: 1403636976.801666, t: 4.076045 -3.091691 -1.042919 q: 0.149981 0.784631 -0.227743 0.556769 
wait for imu ... 
time: 1403636976.901666, t: 4.075624 -3.115887 -1.079555 q: 0.149478 0.787291 -0.235080 0.550061 
wait for imu ... 
time: 1403636977.001667, t: 4.074831 -3.139954 -1.108344 q: 0.147126 0.788244 -0.240087 0.547159 
wait for imu ... 
time: 1403636977.101666, t: 4.075015 -3.166163 -1.126131 q: 0.144967 0.789376 -0.242137 0.545198 
wait for imu ... 
time: 1403636977.201667, t: 4.077601 -3.196085 -1.135021 q: 0.141966 0.790642 -0.242361 0.544052 
wait for imu ... 
time: 1403636977.301666, t: 4.079032 -3.227841 -1.138563 q: 0.140336 0.791231 -0.240326 0.544520 
wait for imu ... 
time: 1403636977.401666, t: 4.085636 -3.264035 -1.143404 q: 0.140933 0.789112 -0.235639 0.549467 
time: 1403636977.501667, t: 4.092133 -3.302349 -1.153192 q: 0.143439 0.786008 -0.229596 0.555790 
wait for imu ... 
time: 1403636977.601666, t: 4.098019 -3.341119 -1.168472 q: 0.143894 0.783086 -0.226156 0.561182 
wait for imu ... 
time: 1403636977.701667, t: 4.100130 -3.380283 -1.189013 q: 0.144480 0.782115 -0.225456 0.562665 
time: 1403636977.801666, t: 4.103055 -3.419160 -1.214706 q: 0.140595 0.782411 -0.232831 0.560228 
time: 1403636977.901666, t: 4.103550 -3.459134 -1.242336 q: 0.138409 0.782424 -0.238824 0.558228 
time: 1403636978.001667, t: 4.102245 -3.502104 -1.265015 q: 0.143013 0.780512 -0.239412 0.559490 
time: 1403636978.101666, t: 4.099631 -3.545852 -1.279998 q: 0.150182 0.780357 -0.237599 0.558601 
time: 1403636978.201667, t: 4.096359 -3.591230 -1.286226 q: 0.153767 0.781815 -0.237221 0.555740 
time: 1403636978.301666, t: 4.088894 -3.635674 -1.286526 q: 0.156254 0.784235 -0.236982 0.551724 
time: 1403636978.401666, t: 4.083286 -3.683680 -1.281939 q: 0.157038 0.787365 -0.237725 0.546701 
time: 1403636978.501667, t: 4.077986 -3.728677 -1.270153 q: 0.157175 0.792814 -0.238908 0.538205 
time: 1403636978.601666, t: 4.076134 -3.779048 -1.265731 q: 0.155892 0.798077 -0.241100 0.529756 
time: 1403636978.701667, t: 4.080356 -3.829945 -1.265100 q: 0.155611 0.801381 -0.242273 0.524287 
time: 1403636978.801666, t: 4.091236 -3.881147 -1.269714 q: 0.155573 0.803447 -0.243071 0.520755 
time: 1403636978.901666, t: 4.107857 -3.930705 -1.274198 q: 0.156732 0.800206 -0.242437 0.525670 
time: 1403636979.001667, t: 4.132770 -3.986542 -1.286438 q: 0.161244 0.792448 -0.239334 0.537350 
time: 1403636979.101666, t: 4.156941 -4.034786 -1.301846 q: 0.164984 0.784595 -0.236607 0.548824 
wait for imu ... 
time: 1403636979.201667, t: 4.184191 -4.085222 -1.327678 q: 0.166121 0.781711 -0.235557 0.553032 
time: 1403636979.501667, t: 4.271447 -4.218138 -1.394356 q: 0.159599 0.797124 -0.239569 0.530782 
time: 1403636979.601666, t: 4.309295 -4.266760 -1.404119 q: 0.158880 0.799131 -0.240536 0.527531 
time: 1403636979.701667, t: 4.349693 -4.313501 -1.402580 q: 0.161001 0.800270 -0.240671 0.525094 
time: 1403636979.801666, t: 4.398580 -4.359895 -1.398192 q: 0.162652 0.798942 -0.241514 0.526220 
wait for imu ... 
time: 1403636979.901666, t: 4.449373 -4.404218 -1.389117 q: 0.166112 0.793492 -0.241736 0.533236 
time: 1403636980.001667, t: 4.503860 -4.447823 -1.382338 q: 0.170278 0.789528 -0.241504 0.537891 
time: 1403636980.101666, t: 4.557184 -4.489229 -1.379629 q: 0.172592 0.787472 -0.242097 0.539898 
time: 1403636980.201667, t: 4.611931 -4.529918 -1.381307 q: 0.173180 0.785921 -0.243698 0.541246 
time: 1403636980.301666, t: 4.670881 -4.572096 -1.391955 q: 0.172464 0.783212 -0.245691 0.544491 
time: 1403636980.401666, t: 4.727691 -4.612043 -1.399968 q: 0.171847 0.778674 -0.246580 0.550757 
time: 1403636980.501667, t: 4.786990 -4.650556 -1.420339 q: 0.170388 0.774983 -0.247575 0.555946 
time: 1403636980.601666, t: 4.845148 -4.690725 -1.437495 q: 0.166046 0.772615 -0.249323 0.559762 
time: 1403636980.701667, t: 4.901471 -4.727686 -1.452123 q: 0.164850 0.771877 -0.248649 0.561430 
wait for imu ... 
time: 1403636980.801666, t: 4.952089 -4.762093 -1.460551 q: 0.167321 0.775521 -0.245477 0.557056 
time: 1403636980.901666, t: 5.003211 -4.794775 -1.465013 q: 0.168854 0.781249 -0.242600 0.549804 
time: 1403636981.001667, t: 5.054154 -4.826985 -1.464012 q: 0.170809 0.784609 -0.239764 0.545643 
wait for imu ... 
time: 1403636981.201667, t: 5.160912 -4.883360 -1.474664 q: 0.164717 0.781057 -0.244382 0.550541 
time: 1403636981.301666, t: 5.215007 -4.911324 -1.486810 q: 0.154896 0.775593 -0.252873 0.557241 
time: 1403636981.401666, t: 5.259361 -4.936768 -1.501366 q: 0.149039 0.771979 -0.258692 0.561173 
time: 1403636981.501667, t: 5.298302 -4.962864 -1.520513 q: 0.156179 0.774239 -0.256261 0.557218 
time: 1403636981.601666, t: 5.341010 -4.993854 -1.536983 q: 0.168236 0.779594 -0.250608 0.548748 
time: 1403636981.701667, t: 5.383211 -5.024378 -1.546941 q: 0.176253 0.783540 -0.247907 0.541795 
time: 1403636981.801666, t: 5.416063 -5.048191 -1.545878 q: 0.180036 0.786471 -0.248351 0.536071 
time: 1403636981.901666, t: 5.454869 -5.072852 -1.537010 q: 0.180978 0.790532 -0.250518 0.528722 
time: 1403636982.001667, t: 5.505897 -5.100749 -1.528483 q: 0.177873 0.795516 -0.255072 0.520051 
time: 1403636982.101666, t: 5.557120 -5.126872 -1.521149 q: 0.173408 0.799757 -0.259831 0.512646 
time: 1403636982.201667, t: 5.619002 -5.156991 -1.517326 q: 0.168801 0.801005 -0.264000 0.510099 
time: 1403636982.301666, t: 5.685620 -5.190088 -1.517704 q: 0.162877 0.798128 -0.268251 0.514299 
time: 1403636982.401666, t: 5.757565 -5.229187 -1.520378 q: 0.161005 0.791586 -0.269048 0.524482 
time: 1403636982.501667, t: 5.831289 -5.273178 -1.521858 q: 0.161535 0.782781 -0.267071 0.538362 
time: 1403636982.601666, t: 5.909348 -5.322582 -1.516917 q: 0.164195 0.778592 -0.263360 0.545414 
time: 1403636982.701667, t: 5.988666 -5.374555 -1.508897 q: 0.161559 0.779286 -0.263021 0.545373 
time: 1403636982.801666, t: 6.065871 -5.427712 -1.501075 q: 0.161441 0.783379 -0.260676 0.540650 
time: 1403636982.901666, t: 6.141757 -5.483665 -1.498019 q: 0.163165 0.786837 -0.258539 0.536118 
time: 1403636983.001667, t: 6.214895 -5.540314 -1.498915 q: 0.165733 0.786528 -0.255957 0.537022 
time: 1403636983.101666, t: 6.285933 -5.598965 -1.506158 q: 0.168381 0.782873 -0.253463 0.542692 
time: 1403636983.201667, t: 6.365531 -5.659986 -1.518060 q: 0.172880 0.781135 -0.250265 0.545260 
time: 1403636983.301666, t: 6.440069 -5.721136 -1.535443 q: 0.176637 0.779936 -0.247866 0.546865 
wait for imu ... 
time: 1403636983.401666, t: 6.516858 -5.780292 -1.556838 q: 0.179090 0.779062 -0.246858 0.547768 
time: 1403636983.501667, t: 6.591538 -5.840580 -1.575369 q: 0.178702 0.778994 -0.247914 0.547514 
time: 1403636983.601666, t: 6.663623 -5.889226 -1.594071 q: 0.180008 0.780994 -0.248914 0.543771 
time: 1403636983.701667, t: 6.742368 -5.941889 -1.599737 q: 0.179801 0.784516 -0.251066 0.537748 
time: 1403636983.801666, t: 6.817329 -5.990820 -1.595759 q: 0.181044 0.787287 -0.252008 0.532818 
time: 1403636983.901666, t: 6.892756 -6.037572 -1.585918 q: 0.181073 0.789541 -0.253643 0.528680 
time: 1403636984.001667, t: 6.971828 -6.083118 -1.572190 q: 0.180653 0.790605 -0.256063 0.526061 
time: 1403636984.101666, t: 7.052395 -6.124479 -1.552683 q: 0.180835 0.791294 -0.258190 0.523919 
time: 1403636984.201667, t: 7.137600 -6.168651 -1.539113 q: 0.183261 0.788630 -0.258366 0.526996 
time: 1403636984.301666, t: 7.225580 -6.211843 -1.533251 q: 0.186187 0.784411 -0.258057 0.532391 
time: 1403636984.401666, t: 7.313321 -6.252190 -1.533777 q: 0.187646 0.781409 -0.258733 0.535953 
time: 1403636984.501667, t: 7.401911 -6.291555 -1.540300 q: 0.189847 0.778896 -0.258459 0.538961 
time: 1403636984.601666, t: 7.492065 -6.329582 -1.551462 q: 0.190622 0.777985 -0.258145 0.540152 
wait for imu ... 
time: 1403636984.701667, t: 7.589419 -6.369323 -1.559073 q: 0.190972 0.777757 -0.257277 0.540770 
time: 1403636984.801666, t: 7.682726 -6.401579 -1.560537 q: 0.188081 0.776507 -0.258528 0.542978 
time: 1403636984.901666, t: 7.778215 -6.435911 -1.557919 q: 0.182702 0.775671 -0.261718 0.544479 
time: 1403636985.001667, t: 7.878789 -6.473155 -1.552838 q: 0.181012 0.775096 -0.262635 0.545421 
time: 1403636985.101666, t: 7.969505 -6.506690 -1.544662 q: 0.182153 0.775695 -0.261972 0.544508 
time: 1403636985.201667, t: 8.054078 -6.531404 -1.544638 q: 0.184918 0.776840 -0.260620 0.542589 
time: 1403636985.301666, t: 8.143590 -6.559602 -1.556314 q: 0.187258 0.776705 -0.259686 0.542427 
time: 1403636985.401666, t: 8.229728 -6.582266 -1.574526 q: 0.186765 0.778074 -0.256057 0.542361 
time: 1403636985.501667, t: 8.323961 -6.607956 -1.582774 q: 0.184212 0.781918 -0.246569 0.542102 
time: 1403636985.601666, t: 8.417835 -6.631785 -1.581691 q: 0.181353 0.784051 -0.237226 0.544149 
time: 1403636985.701667, t: 8.506313 -6.651137 -1.576049 q: 0.181258 0.785298 -0.228350 0.546177 
time: 1403636985.801666, t: 8.598218 -6.665627 -1.564774 q: 0.180643 0.784245 -0.221757 0.550592 
time: 1403636985.901666, t: 8.684711 -6.673843 -1.549252 q: 0.181741 0.774788 -0.215129 0.566033 
time: 1403636986.001667, t: 8.770758 -6.677095 -1.541072 q: 0.183818 0.763808 -0.209243 0.582259 
time: 1403636986.101666, t: 8.853559 -6.672587 -1.543961 q: 0.184089 0.763297 -0.207075 0.583618 
time: 1403636986.201667, t: 8.933108 -6.659089 -1.555269 q: 0.179613 0.771499 -0.209973 0.573097 
time: 1403636986.301666, t: 9.001789 -6.636374 -1.569581 q: 0.176035 0.780991 -0.212795 0.560163 
time: 1403636986.401666, t: 9.071474 -6.610230 -1.587648 q: 0.172061 0.785811 -0.215469 0.553597 
time: 1403636986.501667, t: 9.143227 -6.579693 -1.605853 q: 0.164656 0.786923 -0.220493 0.552290 
time: 1403636986.601666, t: 9.211437 -6.545784 -1.616741 q: 0.157815 0.786087 -0.224774 0.553749 
time: 1403636986.701667, t: 9.280787 -6.511930 -1.619683 q: 0.152863 0.785539 -0.228045 0.554579 
time: 1403636986.801666, t: 9.349260 -6.479642 -1.612605 q: 0.147390 0.784507 -0.231632 0.556033 
time: 1403636986.901666, t: 9.415463 -6.448983 -1.595564 q: 0.146408 0.783287 -0.232794 0.557523 
time: 1403636987.001667, t: 9.477487 -6.421377 -1.569295 q: 0.149121 0.782742 -0.231544 0.558092 
time: 1403636987.101666, t: 9.531767 -6.394737 -1.538110 q: 0.154740 0.782382 -0.229211 0.558029 
time: 1403636987.201667, t: 9.584049 -6.368392 -1.509591 q: 0.157583 0.781310 -0.228961 0.558837 
wait for imu ... 
time: 1403636987.401666, t: 9.681726 -6.313869 -1.473510 q: 0.158586 0.778337 -0.229205 0.562590 
time: 1403636987.501667, t: 9.728668 -6.286931 -1.462564 q: 0.159627 0.776457 -0.223727 0.567080 
wait for imu ... 
time: 1403636987.601666, t: 9.774738 -6.258707 -1.454953 q: 0.162142 0.774230 -0.217893 0.571666 
time: 1403636987.701667, t: 9.816026 -6.224407 -1.452467 q: 0.162184 0.773359 -0.214607 0.574070 
wait for imu ... 
time: 1403636987.801666, t: 9.852736 -6.186453 -1.446900 q: 0.159501 0.773521 -0.212969 0.575212 
time: 1403636987.901666, t: 9.882667 -6.145923 -1.435102 q: 0.154351 0.774387 -0.213852 0.575124 
wait for imu ... 
time: 1403636988.001667, t: 9.905407 -6.102435 -1.417923 q: 0.145331 0.776603 -0.218132 0.572874 
wait for imu ... 
time: 1403636988.101666, t: 9.927621 -6.058670 -1.402907 q: 0.136479 0.779237 -0.223967 0.569212 
time: 1403636988.201667, t: 9.945408 -6.018044 -1.392533 q: 0.130661 0.780190 -0.228514 0.567462 
time: 1403636988.301666, t: 9.958110 -5.981055 -1.385197 q: 0.127672 0.776497 -0.231487 0.571984 
time: 1403636988.401666, t: 9.964275 -5.947938 -1.376710 q: 0.128582 0.769973 -0.231564 0.580505 
time: 1403636988.501667, t: 9.965136 -5.917798 -1.359690 q: 0.131900 0.765703 -0.229355 0.586257 
wait for imu ... 
time: 1403636988.601666, t: 9.957386 -5.888095 -1.335760 q: 0.132482 0.763397 -0.228805 0.589340 
time: 1403636988.701667, t: 9.940760 -5.858503 -1.312552 q: 0.132292 0.762325 -0.229051 0.590674 
wait for imu ... 
time: 1403636988.801666, t: 9.912984 -5.831266 -1.294956 q: 0.133588 0.760593 -0.228043 0.593000 
wait for imu ... 
time: 1403636988.901666, t: 9.881350 -5.802979 -1.282972 q: 0.133222 0.758009 -0.228385 0.596251 
time: 1403636989.001667, t: 9.834827 -5.777817 -1.275753 q: 0.132465 0.755380 -0.229217 0.599427 
wait for imu ... 
time: 1403636989.101666, t: 9.781801 -5.751729 -1.274080 q: 0.132132 0.753576 -0.230320 0.601347 
time: 1403636989.201667, t: 9.712829 -5.727954 -1.272989 q: 0.132289 0.753563 -0.231223 0.600981 
wait for imu ... 
time: 1403636989.301666, t: 9.636672 -5.704972 -1.270637 q: 0.138404 0.759807 -0.228992 0.592537 
time: 1403636989.401666, t: 9.549754 -5.685459 -1.259615 q: 0.145228 0.769661 -0.226222 0.579098 
time: 1403636989.501667, t: 9.458862 -5.665171 -1.242444 q: 0.147245 0.777370 -0.226205 0.568195 
time: 1403636989.601666, t: 9.365121 -5.646219 -1.219280 q: 0.150286 0.781152 -0.225038 0.562648 
wait for imu ... 
time: 1403636989.701667, t: 9.270619 -5.626914 -1.198496 q: 0.154929 0.784158 -0.222155 0.558337 
wait for imu ... 
time: 1403636989.801666, t: 9.177170 -5.605934 -1.182751 q: 0.156826 0.785529 -0.221066 0.556309 
time: 1403636989.901666, t: 9.084480 -5.584417 -1.172687 q: 0.156305 0.783902 -0.221244 0.558675 
time: 1403636990.001667, t: 8.994636 -5.564146 -1.164854 q: 0.156041 0.779231 -0.221185 0.565268 
time: 1403636990.101666, t: 8.901549 -5.539435 -1.156697 q: 0.157133 0.775151 -0.220368 0.570866 
time: 1403636990.201667, t: 8.807802 -5.515515 -1.142678 q: 0.158435 0.774934 -0.218980 0.571334 
wait for imu ... 
time: 1403636990.301666, t: 8.711662 -5.486956 -1.121798 q: 0.158856 0.778351 -0.217770 0.567019 
time: 1403636990.401666, t: 8.614327 -5.455934 -1.095834 q: 0.158959 0.781740 -0.216301 0.562875 
time: 1403636990.501667, t: 8.517753 -5.424258 -1.073330 q: 0.155692 0.784633 -0.216462 0.559692 
wait for imu ... 
time: 1403636990.601666, t: 8.421633 -5.390590 -1.057265 q: 0.154232 0.786363 -0.215662 0.557975 
wait for imu ... 
time: 1403636990.701667, t: 8.327906 -5.356792 -1.046471 q: 0.153490 0.788588 -0.214365 0.555533 
wait for imu ... 
time: 1403636990.801666, t: 8.231668 -5.322571 -1.044818 q: 0.153459 0.789901 -0.212760 0.554292 
wait for imu ... 
time: 1403636990.901666, t: 8.138924 -5.286574 -1.048433 q: 0.152513 0.790260 -0.212264 0.554231 
time: 1403636991.001667, t: 8.049081 -5.252384 -1.056664 q: 0.153004 0.790350 -0.211435 0.554285 
time: 1403636991.101666, t: 7.959845 -5.217084 -1.068445 q: 0.153816 0.789928 -0.211047 0.554809 
wait for imu ... 
time: 1403636991.201667, t: 7.874960 -5.181427 -1.081767 q: 0.154992 0.789988 -0.211107 0.554374 
wait for imu ... 
time: 1403636991.301666, t: 7.788192 -5.143999 -1.089207 q: 0.154788 0.790389 -0.211836 0.553581 
time: 1403636991.401666, t: 7.703447 -5.103933 -1.089064 q: 0.154885 0.790851 -0.213129 0.552397 
wait for imu ... 
time: 1403636991.501667, t: 7.619884 -5.066745 -1.078612 q: 0.156046 0.791124 -0.213973 0.551351 
wait for imu ... 
time: 1403636991.601666, t: 7.540954 -5.026066 -1.059720 q: 0.154172 0.790284 -0.217370 0.551754 
wait for imu ... 
time: 1403636991.701667, t: 7.462688 -4.988016 -1.036932 q: 0.148119 0.788857 -0.224278 0.552689 
time: 1403636991.801666, t: 7.382250 -4.949053 -1.006207 q: 0.143389 0.787305 -0.230702 0.553505 
wait for imu ... 
time: 1403636991.901666, t: 7.294106 -4.910663 -0.981069 q: 0.140740 0.786509 -0.235587 0.553258 
time: 1403636992.001667, t: 7.216768 -4.881128 -0.955153 q: 0.143383 0.786260 -0.236579 0.552509 
wait for imu ... 
time: 1403636992.101666, t: 7.128276 -4.850237 -0.940340 q: 0.152749 0.784714 -0.232563 0.553901 
time: 1403636992.201667, t: 7.040480 -4.823046 -0.930831 q: 0.159385 0.781673 -0.229759 0.557490 
wait for imu ... 
time: 1403636992.301666, t: 6.956349 -4.794153 -0.927341 q: 0.162911 0.780504 -0.229180 0.558346 
time: 1403636992.401666, t: 6.880048 -4.767653 -0.925861 q: 0.164665 0.782532 -0.230218 0.554552 
wait for imu ... 
time: 1403636992.501667, t: 6.803393 -4.740096 -0.927196 q: 0.165306 0.785429 -0.232211 0.549411 
time: 1403636992.601666, t: 6.730005 -4.711648 -0.916748 q: 0.167266 0.787045 -0.233257 0.546053 
wait for imu ... 
time: 1403636992.701667, t: 6.656088 -4.686574 -0.905364 q: 0.168578 0.787548 -0.234388 0.544438 
time: 1403636992.801666, t: 6.584990 -4.657154 -0.887120 q: 0.170400 0.788182 -0.235213 0.542594 
time: 1403636992.901666, t: 6.516844 -4.632108 -0.880311 q: 0.173308 0.787944 -0.235034 0.542096 
time: 1403636993.001667, t: 6.452468 -4.600895 -0.873638 q: 0.175096 0.786121 -0.235488 0.543968 
time: 1403636993.101666, t: 6.392845 -4.572572 -0.877635 q: 0.172275 0.782313 -0.237384 0.549507 
time: 1403636993.201667, t: 6.336128 -4.539228 -0.874652 q: 0.164905 0.780430 -0.234872 0.555491 
time: 1403636993.301666, t: 6.285393 -4.509629 -0.869618 q: 0.156213 0.781654 -0.226254 0.559842 
time: 1403636993.401666, t: 6.232839 -4.475720 -0.854361 q: 0.146033 0.784305 -0.213026 0.564056 
time: 1403636993.501667, t: 6.180088 -4.438753 -0.832163 q: 0.134149 0.788156 -0.197137 0.567407 
time: 1403636993.601666, t: 6.122913 -4.400708 -0.803689 q: 0.122606 0.792547 -0.179947 0.569611 
time: 1403636993.701667, t: 6.066264 -4.363859 -0.775531 q: 0.112354 0.797218 -0.166569 0.569275 
wait for imu ... 
time: 1403636993.801666, t: 6.010934 -4.329657 -0.752183 q: 0.105720 0.800615 -0.156684 0.568586 
wait for imu ... 
time: 1403636993.901666, t: 5.958131 -4.295747 -0.735725 q: 0.103096 0.802604 -0.148075 0.568570 
wait for imu ... 
time: 1403636994.001667, t: 5.902237 -4.261141 -0.723165 q: 0.100857 0.800545 -0.142836 0.573195 
wait for imu ... 
time: 1403636994.101666, t: 5.846714 -4.225994 -0.715528 q: 0.102687 0.795793 -0.137837 0.580663 
time: 1403636994.201667, t: 5.787834 -4.186676 -0.713975 q: 0.103830 0.790747 -0.134811 0.588018 
wait for imu ... 
time: 1403636994.301666, t: 5.728497 -4.150247 -0.715916 q: 0.104269 0.786205 -0.133621 0.594268 
time: 1403636994.401666, t: 5.658871 -4.105395 -0.721676 q: 0.105410 0.783535 -0.132869 0.597752 
time: 1403636994.501667, t: 5.590106 -4.061976 -0.729760 q: 0.105513 0.784180 -0.133489 0.596749 
time: 1403636994.601666, t: 5.513627 -4.011864 -0.732677 q: 0.101360 0.787366 -0.137075 0.592445 
time: 1403636994.701667, t: 5.432081 -3.959263 -0.729564 q: 0.094597 0.792848 -0.142932 0.584819 
time: 1403636994.801666, t: 5.354992 -3.912959 -0.722252 q: 0.085054 0.798394 -0.150718 0.576730 
wait for imu ... 
time: 1403636994.901666, t: 5.272852 -3.868007 -0.710972 q: 0.077817 0.800412 -0.156662 0.573360 
time: 1403636995.001667, t: 5.189312 -3.826347 -0.704552 q: 0.077663 0.798777 -0.157442 0.575444 
wait for imu ... 
time: 1403636995.101666, t: 5.106335 -3.788713 -0.701976 q: 0.084579 0.795663 -0.152182 0.580179 
time: 1403636995.201667, t: 5.018504 -3.747699 -0.698086 q: 0.090677 0.792930 -0.147001 0.584320 
wait for imu ... 
time: 1403636995.301666, t: 4.931556 -3.711173 -0.687478 q: 0.093941 0.791469 -0.143262 0.586709 
time: 1403636995.401666, t: 4.836596 -3.669048 -0.670434 q: 0.095863 0.793807 -0.140048 0.584009 
wait for imu ... 
time: 1403636995.501667, t: 4.741202 -3.628861 -0.646904 q: 0.094964 0.798474 -0.139384 0.577922 
time: 1403636995.601666, t: 4.640425 -3.583415 -0.616813 q: 0.094203 0.800218 -0.139163 0.575683 
wait for imu ... 
time: 1403636995.701667, t: 4.541310 -3.540621 -0.587366 q: 0.091854 0.800268 -0.140854 0.575581 
wait for imu ... 
wait for imu ... 
time: 1403636995.801666, t: 4.440605 -3.498518 -0.564144 q: 0.087131 0.800365 -0.144469 0.575285 
wait for imu ... 
time: 1403636995.901666, t: 4.343700 -3.459407 -0.547779 q: 0.079756 0.801603 -0.150099 0.573186 
time: 1403636996.001667, t: 4.242790 -3.420931 -0.537334 q: 0.076229 0.802724 -0.153318 0.571241 
wait for imu ... 
time: 1403636996.101666, t: 4.146963 -3.389359 -0.531232 q: 0.081353 0.804586 -0.150124 0.568758 
time: 1403636996.301666, t: 3.956391 -3.332104 -0.511956 q: 0.090590 0.806378 -0.142968 0.566664 
wait for imu ... 
time: 1403636996.401666, t: 3.866685 -3.304468 -0.489589 q: 0.088322 0.807404 -0.138394 0.566696 
time: 1403636996.501667, t: 3.777491 -3.275772 -0.461170 q: 0.083961 0.809028 -0.129093 0.567239 
time: 1403636996.601666, t: 3.683723 -3.244879 -0.427005 q: 0.077000 0.811498 -0.116138 0.567498 
wait for imu ... 
time: 1403636996.701667, t: 3.593375 -3.215633 -0.396026 q: 0.066856 0.814445 -0.099892 0.567655 
time: 1403636996.801666, t: 3.512101 -3.187972 -0.379845 q: 0.054197 0.817406 -0.082016 0.567612 
wait for imu ... 
time: 1403636996.901666, t: 3.427072 -3.158946 -0.377673 q: 0.038582 0.819817 -0.063754 0.567756 
time: 1403636997.001667, t: 3.345836 -3.129846 -0.381041 q: 0.023305 0.821682 -0.044130 0.567757 
time: 1403636997.101666, t: 3.261440 -3.099182 -0.387911 q: 0.009859 0.823172 -0.026057 0.567108 
time: 1403636997.201667, t: 3.178564 -3.069819 -0.398231 q: -0.000189 0.824237 -0.013040 0.566094 
time: 1403636997.301666, t: 3.104357 -3.043883 -0.412092 q: -0.006016 0.824769 -0.003187 0.565429 
time: 1403636997.401666, t: 3.030419 -3.018463 -0.421144 q: -0.008828 0.825337 0.003015 0.564563 
time: 1403636997.501667, t: 2.960639 -2.994151 -0.421194 q: -0.009888 0.824921 0.005949 0.565130 
wait for imu ... 
time: 1403636997.601666, t: 2.895240 -2.970591 -0.413761 q: -0.010074 0.825644 0.006234 0.564067 
time: 1403636997.701667, t: 2.839243 -2.949540 -0.398898 q: -0.008366 0.826070 0.006004 0.563473 
wait for imu ... 
time: 1403636997.801666, t: 2.788901 -2.926938 -0.375935 q: -0.005302 0.827205 0.005148 0.561851 
time: 1403636997.901666, t: 2.746017 -2.906169 -0.346602 q: -0.003177 0.827461 0.003573 0.561503 
wait for imu ... 
time: 1403636998.001667, t: 2.709673 -2.886471 -0.310339 q: -0.002133 0.827489 0.001376 0.561476 
time: 1403636998.101666, t: 2.686653 -2.868529 -0.270794 q: -0.001229 0.827844 -0.000850 0.560956 
time: 1403636998.201667, t: 2.665387 -2.851834 -0.230974 q: -0.002250 0.826646 -0.003989 0.562704 
wait for imu ... 
time: 1403636998.301666, t: 2.644969 -2.835340 -0.198901 q: -0.001226 0.827200 -0.005377 0.561881 
wait for imu ... 
time: 1403636998.401666, t: 2.627999 -2.817020 -0.171534 q: -0.001401 0.826893 -0.007002 0.562314 
time: 1403636998.501667, t: 2.609046 -2.799003 -0.148911 q: -0.001979 0.826670 -0.008949 0.562613 
wait for imu ... 
time: 1403636998.601666, t: 2.595218 -2.782552 -0.119922 q: -0.000476 0.823453 -0.008798 0.567316 
time: 1403636998.701667, t: 2.587960 -2.768170 -0.084135 q: 0.002611 0.815260 -0.007432 0.579042 
wait for imu ... 
time: 1403636998.801666, t: 2.569645 -2.752386 -0.041679 q: 0.005600 0.810037 -0.006524 0.586315 
time: 1403636998.901666, t: 2.561871 -2.739589 -0.003017 q: 0.011138 0.808447 -0.003249 0.588454 
wait for imu ... 
time: 1403636999.001667, t: 2.549797 -2.725180 0.029485 q: 0.014925 0.808829 -0.001536 0.587852 
time: 1403636999.101666, t: 2.531794 -2.705009 0.052539 q: 0.017886 0.809028 -0.000046 0.587498 
time: 1403636999.201667, t: 2.508336 -2.681547 0.071036 q: 0.019547 0.810682 0.000320 0.585160 
time: 1403636999.301666, t: 2.490402 -2.656743 0.085357 q: 0.018427 0.812427 -0.000993 0.582770 
time: 1403636999.401666, t: 2.461755 -2.627578 0.095607 q: 0.013722 0.813046 -0.004676 0.582019 
time: 1403636999.501667, t: 2.434797 -2.596090 0.099608 q: 0.010870 0.812723 -0.006963 0.582508 
time: 1403636999.601666, t: 2.411041 -2.565041 0.100509 q: 0.009264 0.810551 -0.008612 0.585531 
time: 1403636999.701667, t: 2.377926 -2.532880 0.096758 q: 0.008691 0.808628 -0.009590 0.588178 
time: 1403636999.801666, t: 2.345614 -2.500576 0.091015 q: 0.008726 0.808232 -0.010475 0.588706 
time: 1403636999.901666, t: 2.312300 -2.469178 0.083887 q: 0.010402 0.808396 -0.009789 0.588465 
time: 1403637000.001667, t: 2.266935 -2.433865 0.079664 q: 0.014557 0.808229 -0.007258 0.588643 
time: 1403637000.101666, t: 2.223253 -2.397847 0.080058 q: 0.016832 0.809195 -0.005499 0.587273 
wait for imu ... 
time: 1403637000.201667, t: 2.178001 -2.361491 0.089395 q: 0.015914 0.810906 -0.005586 0.584933 
time: 1403637000.301666, t: 2.129565 -2.321057 0.099840 q: 0.014694 0.812366 -0.006432 0.582927 
wait for imu ... 
time: 1403637000.401666, t: 2.086702 -2.279672 0.110397 q: 0.012511 0.811883 -0.007890 0.583632 
wait for imu ... 
time: 1403637000.501667, t: 2.039660 -2.237478 0.111533 q: 0.014585 0.811837 -0.006618 0.583664 
wait for imu ... 
time: 1403637000.601666, t: 1.996310 -2.193313 0.115149 q: 0.015344 0.812064 -0.006282 0.583332 
wait for imu ... 
time: 1403637000.701667, t: 1.946314 -2.148364 0.121416 q: 0.013224 0.811210 -0.007938 0.584551 
time: 1403637000.801666, t: 1.895784 -2.103409 0.135130 q: 0.013127 0.810594 -0.008559 0.585398 
wait for imu ... 
time: 1403637000.901666, t: 1.850530 -2.053009 0.155467 q: 0.012676 0.810765 -0.009673 0.585155 
time: 1403637001.001667, t: 1.796799 -2.008251 0.166495 q: 0.012829 0.810454 -0.010520 0.585568 
wait for imu ... 
time: 1403637001.101666, t: 1.741589 -1.960045 0.174413 q: 0.012526 0.810291 -0.011403 0.585782 
time: 1403637001.201667, t: 1.686027 -1.912860 0.176856 q: 0.011542 0.809636 -0.012589 0.586684 
wait for imu ... 
time: 1403637001.301666, t: 1.623432 -1.867293 0.183264 q: 0.010677 0.809801 -0.013440 0.586454 
wait for imu ... 
time: 1403637001.401666, t: 1.562172 -1.820338 0.198014 q: 0.008337 0.811136 -0.015422 0.584594 
wait for imu ... 
time: 1403637001.501667, t: 1.501311 -1.778930 0.219516 q: 0.008420 0.814193 -0.016414 0.580301 
time: 1403637001.601666, t: 1.438251 -1.733627 0.240312 q: 0.008857 0.815684 -0.017403 0.578168 
wait for imu ... 
time: 1403637001.701667, t: 1.376444 -1.691483 0.257304 q: 0.009236 0.815804 -0.018073 0.577972 
time: 1403637001.801666, t: 1.313579 -1.647289 0.267130 q: 0.008653 0.814902 -0.019447 0.579208 
wait for imu ... 
time: 1403637001.901666, t: 1.250600 -1.606619 0.270245 q: 0.009674 0.816422 -0.019358 0.577050 
wait for imu ... 
time: 1403637002.001667, t: 1.187058 -1.566901 0.269747 q: 0.010151 0.817259 -0.019226 0.575861 
wait for imu ... 
time: 1403637002.101666, t: 1.127164 -1.528996 0.264510 q: 0.010562 0.817894 -0.019450 0.574942 
time: 1403637002.201667, t: 1.069304 -1.487897 0.256582 q: 0.010351 0.818062 -0.019573 0.574704 
wait for imu ... 
time: 1403637002.301666, t: 1.008717 -1.449983 0.244261 q: 0.011680 0.818052 -0.018806 0.574719 
time: 1403637002.401666, t: 0.949810 -1.411260 0.236283 q: 0.013646 0.818483 -0.017048 0.574115 
wait for imu ... 
time: 1403637002.501667, t: 0.889079 -1.375307 0.233921 q: 0.015035 0.817917 -0.015766 0.574924 
time: 1403637002.601666, t: 0.832174 -1.334747 0.242888 q: 0.017694 0.817496 -0.013777 0.575498 
time: 1403637002.701667, t: 0.774334 -1.293881 0.259377 q: 0.018972 0.817788 -0.013709 0.575043 
wait for imu ... 
time: 1403637002.801666, t: 0.713828 -1.252520 0.273326 q: 0.019103 0.817576 -0.014710 0.575315 
time: 1403637003.001667, t: 0.607253 -1.165352 0.283221 q: 0.015800 0.817400 -0.019759 0.575515 
wait for imu ... 
time: 1403637003.101666, t: 0.550863 -1.121290 0.275667 q: 0.015709 0.817765 -0.021639 0.574931 
time: 1403637003.201667, t: 0.504402 -1.076846 0.267215 q: 0.016598 0.817355 -0.022819 0.575443 
wait for imu ... 
time: 1403637003.301666, t: 0.449877 -1.036836 0.256096 q: 0.016354 0.816266 -0.024390 0.576929 
wait for imu ... 
time: 1403637003.401666, t: 0.390898 -0.993360 0.252391 q: 0.016075 0.814961 -0.025512 0.578731 
time: 1403637003.501667, t: 0.333559 -0.952779 0.256980 q: 0.015375 0.813719 -0.027081 0.580424 
time: 1403637003.601666, t: 0.274383 -0.910825 0.267089 q: 0.014675 0.813968 -0.028308 0.580034 
time: 1403637003.801666, t: 0.146174 -0.825553 0.292633 q: 0.012811 0.814586 -0.029316 0.579160 
time: 1403637003.901666, t: 0.090952 -0.786190 0.297095 q: 0.014206 0.816365 -0.027032 0.576728 
wait for imu ... 
time: 1403637004.001667, t: 0.035489 -0.747824 0.295979 q: 0.014813 0.818941 -0.024226 0.573175 
wait for imu ... 
time: 1403637004.101666, t: -0.018254 -0.709662 0.287027 q: 0.015563 0.820972 -0.021832 0.570339 
wait for imu ... 
time: 1403637004.201667, t: -0.067430 -0.673689 0.274495 q: 0.015854 0.822138 -0.019905 0.568719 
time: 1403637004.301666, t: -0.115758 -0.636273 0.268717 q: 0.013568 0.822256 -0.019443 0.568623 
wait for imu ... 
time: 1403637004.401666, t: -0.159631 -0.596422 0.270119 q: 0.011354 0.821192 -0.021239 0.570143 
time: 1403637004.501667, t: -0.201721 -0.557474 0.282587 q: 0.011309 0.816915 -0.022826 0.576195 
time: 1403637004.601666, t: -0.244321 -0.518781 0.307758 q: 0.011005 0.814584 -0.025849 0.579365 
time: 1403637004.701667, t: -0.284842 -0.485179 0.337026 q: 0.002767 0.814277 -0.034920 0.579419 
wait for imu ... 
time: 1403637004.801666, t: -0.333993 -0.448976 0.357958 q: -0.003706 0.813967 -0.042884 0.579314 
wait for imu ... 
time: 1403637004.901666, t: -0.378245 -0.421062 0.362434 q: -0.005066 0.816813 -0.046588 0.574996 
time: 1403637005.001667, t: -0.420381 -0.396202 0.352928 q: -0.001281 0.821035 -0.046425 0.568985 
time: 1403637005.101666, t: -0.457296 -0.379824 0.335825 q: 0.006934 0.820897 -0.042378 0.569460 
time: 1403637005.201667, t: -0.495440 -0.362732 0.317744 q: 0.014151 0.819675 -0.038565 0.571353 
time: 1403637005.301666, t: -0.536813 -0.345258 0.297087 q: 0.017867 0.821513 -0.036180 0.568760 
time: 1403637005.401666, t: -0.574488 -0.329184 0.274584 q: 0.018896 0.822450 -0.034373 0.567484 
time: 1403637005.501667, t: -0.603258 -0.314373 0.253992 q: 0.020422 0.819407 -0.030625 0.572029 
time: 1403637005.601666, t: -0.635989 -0.297250 0.238853 q: 0.018360 0.818535 -0.029485 0.573406 
wait for imu ... 
time: 1403637005.701667, t: -0.671742 -0.280584 0.233527 q: 0.011801 0.822720 -0.031603 0.567445 
time: 1403637005.801666, t: -0.703170 -0.264812 0.239784 q: 0.008608 0.824385 -0.032407 0.565035 
time: 1403637005.901666, t: -0.731979 -0.249615 0.253513 q: 0.011868 0.822647 -0.029193 0.567679 
time: 1403637006.001667, t: -0.756346 -0.235545 0.265796 q: 0.014424 0.820128 -0.027399 0.571341 
time: 1403637006.101666, t: -0.775769 -0.222364 0.271973 q: 0.012559 0.818217 -0.028716 0.574054 
time: 1403637006.201667, t: -0.799585 -0.207386 0.276998 q: 0.011725 0.818215 -0.029240 0.574048 
time: 1403637006.301666, t: -0.819235 -0.194560 0.279372 q: 0.009186 0.822494 -0.031033 0.567852 
time: 1403637006.401666, t: -0.840014 -0.180588 0.280187 q: 0.007218 0.828989 -0.032443 0.558276 
wait for imu ... 
time: 1403637006.501667, t: -0.853516 -0.170718 0.277779 q: 0.001213 0.831728 -0.036469 0.553983 
time: 1403637006.601666, t: -0.859508 -0.163776 0.275239 q: -0.002604 0.827307 -0.034377 0.560691 
time: 1403637006.701667, t: -0.863291 -0.158723 0.271970 q: -0.004556 0.822349 -0.024055 0.568457 
time: 1403637006.801666, t: -0.865035 -0.155571 0.265575 q: -0.010548 0.818056 -0.010082 0.574953 
time: 1403637006.901666, t: -0.866438 -0.153311 0.255964 q: -0.022305 0.817871 0.005952 0.574938 
time: 1403637007.001667, t: -0.867682 -0.152443 0.245761 q: -0.032155 0.818691 0.028127 0.572643 
wait for imu ... 
time: 1403637007.101666, t: -0.867872 -0.153387 0.235903 q: -0.040140 0.816889 0.047163 0.573461 
time: 1403637007.201667, t: -0.870402 -0.154389 0.226189 q: -0.046768 0.814331 0.061431 0.575242 
wait for imu ... 
time: 1403637007.301666, t: -0.872740 -0.156398 0.216859 q: -0.048286 0.808842 0.073061 0.581468 
wait for imu ... 
time: 1403637007.401666, t: -0.877676 -0.157285 0.206300 q: -0.049266 0.805253 0.079736 0.585477 
time: 1403637007.501667, t: -0.886545 -0.156517 0.194143 q: -0.051050 0.806530 0.082411 0.583191 
time: 1403637007.601666, t: -0.897370 -0.154326 0.181200 q: -0.052059 0.811061 0.083020 0.576695 
time: 1403637007.701667, t: -0.910580 -0.150484 0.166130 q: -0.051362 0.819243 0.082566 0.565143 
time: 1403637007.801666, t: -0.922202 -0.145202 0.152844 q: -0.049179 0.822815 0.082337 0.560159 
wait for imu ... 
time: 1403637008.001667, t: -0.938587 -0.128883 0.133382 q: -0.059010 0.811739 0.070592 0.576728 
wait for imu ... 
time: 1403637008.101666, t: -0.948240 -0.121158 0.125297 q: -0.055388 0.813484 0.069673 0.574736 
wait for imu ... 
time: 1403637008.201667, t: -0.958293 -0.114027 0.117271 q: -0.050328 0.822622 0.069728 0.562048 
time: 1403637008.301666, t: -0.965975 -0.106259 0.112625 q: -0.044875 0.828760 0.070515 0.553326 
time: 1403637008.401666, t: -0.969066 -0.096291 0.112450 q: -0.042028 0.828983 0.069726 0.553317 
wait for imu ... 
time: 1403637008.501667, t: -0.967118 -0.084925 0.118270 q: -0.045425 0.821699 0.065167 0.564359 
time: 1403637008.601666, t: -0.963687 -0.073216 0.124651 q: -0.048420 0.815675 0.060661 0.573281 
wait for imu ... 
time: 1403637008.701667, t: -0.960550 -0.061621 0.126550 q: -0.053248 0.813754 0.055193 0.576127 
wait for imu ... 
time: 1403637008.801666, t: -0.957357 -0.052081 0.123917 q: -0.065297 0.817681 0.045117 0.570175 
time: 1403637008.901666, t: -0.952956 -0.047607 0.117179 q: -0.073034 0.822027 0.038858 0.563408 
time: 1403637009.001667, t: -0.943721 -0.052542 0.104862 q: -0.069820 0.822455 0.039816 0.563124 
wait for imu ... 
time: 1403637009.101666, t: -0.932708 -0.060188 0.089666 q: -0.057684 0.821093 0.046725 0.565946 
wait for imu ... 
time: 1403637009.201667, t: -0.921262 -0.070433 0.072879 q: -0.045810 0.819905 0.053910 0.568112 
wait for imu ... 
time: 1403637009.301666, t: -0.906918 -0.080848 0.054464 q: -0.029498 0.819618 0.064444 0.568510 
time: 1403637009.401666, t: -0.892715 -0.088304 0.040526 q: -0.043460 0.815530 0.065649 0.573335 
wait for imu ... 
wait for imu ... 
time: 1403637009.501667, t: -0.888700 -0.095959 0.035715 q: -0.057419 0.805614 0.079481 0.584270 
wait for imu ... 
time: 1403637009.601666, t: -0.886216 -0.100902 0.027469 q: -0.100518 0.783806 0.068177 0.609013 
wait for imu ... 
time: 1403637009.701667, t: -0.893681 -0.107701 0.026223 q: -0.089404 0.789818 0.055262 0.604269 
time: 1403637009.801666, t: -0.894102 -0.106927 0.025781 q: -0.089143 0.789178 0.052074 0.605425 
time: 1403637009.901666, t: -0.898313 -0.108138 0.026310 q: -0.089813 0.788767 0.053093 0.605773 
time: 1403637010.001667, t: -0.898076 -0.106121 0.026324 q: -0.089982 0.788699 0.053028 0.605843 
wait for imu ... 
time: 1403637010.101666, t: -0.897284 -0.106012 0.024560 q: -0.090864 0.788813 0.052758 0.605586 
wait for imu ... 
time: 1403637010.201667, t: -0.900391 -0.106589 0.025159 q: -0.091138 0.788767 0.052707 0.605609 
time: 1403637010.301666, t: -0.900865 -0.106447 0.025386 q: -0.091515 0.788986 0.052619 0.605275 
time: 1403637010.401666, t: -0.900588 -0.106619 0.025703 q: -0.091512 0.788975 0.052617 0.605289 
time: 1403637010.501667, t: -0.900478 -0.106833 0.025741 q: -0.091541 0.789088 0.052560 0.605143 

Done.
time: 1403637010.601666, t: -0.901300 -0.107790 0.026039 q: -0.091655 0.789190 0.052482 0.605000 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720469675.319218727]: Shutdown request received.[0m
[33m[ WARN] [1720469675.319251866]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720469675.320161371]: Shutdown request received.[0m
[33m[ WARN] [1720469675.320189530]: Reason given for shutdown: [user request][0m
killed
