/SLAM-Hive/slam_hive_results/mapping_results/2836/2044_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720469710.014916195]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720469710.016526559]: init begins[0m
[31m[ERROR] [1720469710.017549810]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c6a7a4da-3d66-11ef-9728-0242ac110005/roslaunch-245861cf72e5-117.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://245861cf72e5:35739/[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] [1720469711.121664241]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720469711.122573627]: 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] [1720469711.128626699]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720469711.128814007]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720469711.128841784]: ROW: 192 COL: 300 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720469711.129078901]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720469711.129324800]: 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://245861cf72e5:11311/[0m
]2;roscore http://245861cf72e5:11311/
[1msetting /run_id to c6a7a4da-3d66-11ef-9728-0242ac110005[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] [1720469720.167149361]: 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: 316832863.54 
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 ... 
[33m[ WARN] [1720469723.464242526]: gyroscope bias initial calibration -0.0108189  0.0417367  0.0669305[0m
[0m[ INFO] [1720469723.482818659]: Initialization finish![0m
time: 1403636859.701667, t: 0.020685 -0.073572 0.233594 q: -0.034268 0.818922 0.034161 0.571862 
wait for imu ... 
time: 1403636859.801666, t: 0.028668 -0.077163 0.280643 q: -0.025869 0.812781 0.033894 0.581007 
wait for imu ... 
wait for imu ... 
time: 1403636859.901666, t: 0.035728 -0.078360 0.319902 q: -0.018603 0.809381 0.034519 0.585973 
time: 1403636860.001667, t: 0.037931 -0.080196 0.347407 q: -0.016421 0.808467 0.032940 0.587390 
wait for imu ... 
time: 1403636860.101666, t: 0.041397 -0.084960 0.352466 q: -0.014779 0.810810 0.028840 0.584412 
time: 1403636860.201667, t: 0.042516 -0.091543 0.339472 q: -0.015742 0.815180 0.025846 0.578416 
wait for imu ... 
time: 1403636860.301666, t: 0.042883 -0.096314 0.295415 q: -0.021135 0.822978 0.022857 0.567220 
time: 1403636860.401666, t: 0.040206 -0.100900 0.241319 q: -0.023087 0.834942 0.018492 0.549542 
time: 1403636860.501667, t: 0.035056 -0.104747 0.188953 q: -0.025837 0.847473 0.014158 0.530021 
wait for imu ... 
time: 1403636860.601666, t: 0.016899 -0.102769 0.146651 q: -0.028712 0.856138 0.011168 0.515829 
time: 1403636860.701667, t: 0.013024 -0.104111 0.113728 q: -0.031921 0.859424 0.013453 0.510088 
wait for imu ... 
wait for imu ... 
time: 1403636860.801666, t: 0.004018 -0.103993 0.104071 q: -0.026789 0.858734 0.019121 0.511364 
time: 1403636860.901666, t: -0.000569 -0.103776 0.122600 q: -0.023081 0.857859 0.024741 0.512771 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636861.001667, t: 0.000375 -0.104244 0.167172 q: -0.021691 0.855453 0.028657 0.516631 
wait for imu ... 
wait for imu ... 
time: 1403636861.101666, t: 0.004581 -0.104788 0.225229 q: -0.020817 0.847914 0.028546 0.528955 
wait for imu ... 
wait for imu ... 
time: 1403636861.201667, t: 0.009647 -0.105403 0.287467 q: -0.019397 0.835659 0.028271 0.548177 
wait for imu ... 
wait for imu ... 
time: 1403636861.301666, t: 0.013861 -0.106372 0.349224 q: -0.019655 0.821829 0.027722 0.568720 
wait for imu ... 
time: 1403636861.401666, t: 0.016310 -0.108061 0.399287 q: -0.020213 0.810483 0.024151 0.584914 
time: 1403636861.501667, t: 0.019066 -0.110862 0.422810 q: -0.019324 0.803475 0.021487 0.594637 
time: 1403636861.601666, t: 0.020284 -0.112979 0.413033 q: -0.017401 0.804262 0.020301 0.593673 
wait for imu ... 
wait for imu ... 
time: 1403636861.701667, t: 0.020837 -0.113513 0.375477 q: -0.019004 0.810736 0.020796 0.584733 
wait for imu ... 
time: 1403636861.801666, t: 0.019529 -0.113458 0.323483 q: -0.018517 0.817690 0.023071 0.574898 
time: 1403636861.901666, t: 0.015737 -0.111189 0.267139 q: -0.022184 0.825565 0.024547 0.563336 
time: 1403636862.001667, t: 0.011493 -0.107370 0.209062 q: -0.026472 0.837161 0.023621 0.545804 
time: 1403636862.101666, t: 0.005774 -0.103319 0.156731 q: -0.030159 0.846297 0.021062 0.531440 
wait for imu ... 
wait for imu ... 
time: 1403636862.201667, t: 0.001667 -0.100669 0.118875 q: -0.033121 0.851039 0.021761 0.523606 
wait for imu ... 
wait for imu ... 
time: 1403636862.301666, t: -0.000831 -0.100302 0.106127 q: -0.027558 0.854885 0.026986 0.517382 
time: 1403636862.401666, t: -0.000322 -0.100778 0.125996 q: -0.026009 0.858075 0.030015 0.511987 
wait for imu ... 
wait for imu ... 
time: 1403636862.501667, t: 0.002020 -0.101263 0.173710 q: -0.024415 0.856095 0.030308 0.515350 
wait for imu ... 
wait for imu ... 
time: 1403636862.601666, t: 0.008455 -0.104308 0.235817 q: -0.012978 0.850134 0.028604 0.525629 
time: 1403636862.701667, t: 0.014814 -0.106179 0.303865 q: -0.004446 0.842275 0.026282 0.538389 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636862.801666, t: 0.020404 -0.105680 0.372389 q: -0.005665 0.837319 0.019239 0.546347 
wait for imu ... 
wait for imu ... 
time: 1403636862.901666, t: 0.024178 -0.104760 0.436401 q: -0.008298 0.834031 0.010471 0.551556 
wait for imu ... 
wait for imu ... 
time: 1403636863.001667, t: 0.023546 -0.104441 0.480087 q: -0.012697 0.828388 0.006861 0.559969 
time: 1403636863.101666, t: 0.024364 -0.105602 0.488444 q: -0.006383 0.822508 0.011363 0.568604 
time: 1403636863.201667, t: 0.023959 -0.106638 0.462561 q: 0.001834 0.820130 0.016826 0.571927 
time: 1403636863.301666, t: 0.022937 -0.106504 0.410661 q: 0.007637 0.821529 0.020235 0.569757 
wait for imu ... 
time: 1403636863.401666, t: 0.020616 -0.107299 0.347427 q: 0.013511 0.823670 0.019658 0.566567 
wait for imu ... 
wait for imu ... 
time: 1403636863.501667, t: 0.017443 -0.106582 0.279000 q: 0.013190 0.828319 0.014739 0.559907 
wait for imu ... 
wait for imu ... 
time: 1403636863.601666, t: 0.010371 -0.106433 0.211623 q: 0.000919 0.836203 0.011579 0.548298 
time: 1403636863.701667, t: 0.003356 -0.107102 0.153374 q: -0.009327 0.844678 0.008704 0.535122 
time: 1403636863.801666, t: -0.000705 -0.108241 0.115513 q: -0.013606 0.852512 0.005256 0.522504 
wait for imu ... 
time: 1403636863.901666, t: -0.003653 -0.110372 0.110406 q: -0.014345 0.858177 0.006380 0.513114 
time: 1403636864.001667, t: -0.004206 -0.111589 0.142307 q: -0.016652 0.859321 0.009165 0.511083 
wait for imu ... 
wait for imu ... 
time: 1403636864.101666, t: -0.002894 -0.112139 0.201942 q: -0.014549 0.855866 0.014165 0.516799 
wait for imu ... 
time: 1403636864.201667, t: 0.000844 -0.112729 0.274788 q: -0.005919 0.851269 0.016195 0.524446 
wait for imu ... 
wait for imu ... 
time: 1403636864.301666, t: 0.005696 -0.110674 0.344987 q: -0.004298 0.848220 0.015959 0.529386 
wait for imu ... 
time: 1403636864.401666, t: 0.009766 -0.107489 0.406605 q: -0.005780 0.844263 0.013390 0.535731 
time: 1403636864.501667, t: 0.013865 -0.104523 0.457471 q: -0.006835 0.834179 0.005894 0.551420 
time: 1403636864.601666, t: 0.018393 -0.100205 0.485065 q: -0.010497 0.822530 0.000345 0.568625 
wait for imu ... 
wait for imu ... 
time: 1403636864.701667, t: 0.020358 -0.098609 0.480560 q: -0.004494 0.817204 0.003538 0.576320 
wait for imu ... 
time: 1403636864.801666, t: 0.020140 -0.099155 0.444810 q: 0.001097 0.820000 0.008571 0.572299 
wait for imu ... 
wait for imu ... 
time: 1403636864.901666, t: 0.019692 -0.098281 0.389451 q: 0.002700 0.825319 0.008921 0.564589 
time: 1403636865.001667, t: 0.019923 -0.098212 0.328017 q: 0.009294 0.831526 0.007883 0.555352 
time: 1403636865.101666, t: 0.018738 -0.099571 0.267030 q: 0.009573 0.838588 0.006972 0.544637 
wait for imu ... 
time: 1403636865.201667, t: 0.016387 -0.100579 0.213261 q: -0.005904 0.843749 -0.001833 0.536703 
wait for imu ... 
wait for imu ... 
time: 1403636865.301666, t: 0.012509 -0.102807 0.171517 q: -0.019841 0.845976 -0.007583 0.532797 
wait for imu ... 
wait for imu ... 
time: 1403636865.401666, t: 0.012757 -0.103771 0.144500 q: -0.018978 0.847103 -0.007975 0.531030 
wait for imu ... 
wait for imu ... 
time: 1403636865.501667, t: 0.013758 -0.103290 0.138387 q: -0.011464 0.851911 -0.002125 0.523556 
wait for imu ... 
time: 1403636865.601666, t: 0.015187 -0.102091 0.161454 q: -0.008423 0.857585 0.003482 0.514262 
wait for imu ... 
wait for imu ... 
time: 1403636865.701667, t: 0.015713 -0.097610 0.209109 q: -0.012353 0.857142 0.006348 0.514893 
wait for imu ... 
time: 1403636865.801666, t: 0.017852 -0.093120 0.271024 q: -0.014684 0.850493 0.005856 0.525750 
wait for imu ... 
wait for imu ... 
time: 1403636865.901666, t: 0.021035 -0.090464 0.339425 q: -0.016803 0.840571 0.003440 0.541430 
wait for imu ... 
time: 1403636866.001667, t: 0.023925 -0.088579 0.408036 q: -0.019596 0.826638 0.000402 0.562392 
wait for imu ... 
wait for imu ... 
time: 1403636866.101666, t: 0.024740 -0.086639 0.469428 q: -0.017347 0.810877 -0.002814 0.584953 
wait for imu ... 
wait for imu ... 
time: 1403636866.201667, t: 0.022138 -0.086869 0.512310 q: -0.013138 0.800779 -0.001690 0.598813 
time: 1403636866.301666, t: 0.019383 -0.087459 0.524510 q: -0.006898 0.800148 -0.000008 0.599762 
wait for imu ... 
wait for imu ... 
time: 1403636866.401666, t: 0.018774 -0.088537 0.505040 q: 0.001035 0.806314 0.001083 0.591486 
wait for imu ... 
wait for imu ... 
time: 1403636866.501667, t: 0.019922 -0.089413 0.460712 q: 0.004254 0.813051 0.002217 0.582173 
wait for imu ... 
time: 1403636866.601666, t: 0.020144 -0.093479 0.404555 q: 0.006825 0.819495 0.002229 0.573041 
wait for imu ... 
wait for imu ... 
time: 1403636866.701667, t: 0.018973 -0.099511 0.352125 q: 0.010974 0.826746 0.002089 0.562465 
wait for imu ... 
wait for imu ... 
time: 1403636866.801666, t: 0.012640 -0.103255 0.310633 q: 0.007511 0.832662 0.005594 0.553702 
time: 1403636866.901666, t: 0.005203 -0.105676 0.276199 q: -0.004532 0.839236 0.007598 0.543696 
wait for imu ... 
wait for imu ... 
time: 1403636867.001667, t: -0.002820 -0.107176 0.248448 q: -0.014133 0.847822 0.007001 0.530046 
wait for imu ... 
time: 1403636867.101666, t: -0.010589 -0.107820 0.231497 q: -0.014948 0.854012 0.006616 0.519996 
wait for imu ... 
wait for imu ... 
time: 1403636867.201667, t: -0.020097 -0.107356 0.223858 q: -0.021963 0.857320 0.008781 0.514241 
time: 1403636867.301666, t: -0.030946 -0.105509 0.223142 q: -0.030873 0.859718 0.014722 0.509623 
wait for imu ... 
time: 1403636867.401666, t: -0.038569 -0.105301 0.227408 q: -0.030992 0.863282 0.016813 0.503488 
wait for imu ... 
wait for imu ... 
time: 1403636867.501667, t: -0.045564 -0.104256 0.233552 q: -0.026894 0.870085 0.017093 0.491871 
wait for imu ... 
time: 1403636867.601666, t: -0.054133 -0.104247 0.235267 q: -0.021646 0.885288 0.020001 0.464109 
wait for imu ... 
wait for imu ... 
time: 1403636867.701667, t: -0.064860 -0.104535 0.231678 q: -0.021899 0.909068 0.019320 0.415623 
wait for imu ... 
wait for imu ... 
time: 1403636867.801666, t: -0.076027 -0.106190 0.226319 q: -0.019316 0.932643 0.015968 0.359930 
wait for imu ... 
wait for imu ... 
time: 1403636867.901666, t: -0.082097 -0.107730 0.224572 q: -0.017141 0.945012 0.009613 0.326444 
time: 1403636868.001667, t: -0.082886 -0.106903 0.228797 q: -0.017348 0.945476 0.004874 0.325194 
time: 1403636868.101666, t: -0.082740 -0.105252 0.234615 q: -0.017714 0.940284 0.004045 0.339905 
wait for imu ... 
time: 1403636868.201667, t: -0.086242 -0.103849 0.238370 q: -0.019853 0.936492 0.004345 0.350099 
wait for imu ... 
wait for imu ... 
time: 1403636868.301666, t: -0.091580 -0.101241 0.239273 q: -0.021975 0.936422 0.002753 0.350177 
wait for imu ... 
time: 1403636868.401666, t: -0.098771 -0.096051 0.239219 q: -0.023728 0.937550 -0.000683 0.347040 
time: 1403636868.501667, t: -0.105962 -0.089020 0.240873 q: -0.021581 0.935104 -0.003156 0.353702 
wait for imu ... time: 1403636868.601666, t: -0.112289 -0.082567 0.245649 q: -0.017450 0.931408 -0.007747 0.363476 wait for imu ... 
time: 1403636868.701667, t: -0.119271 -0.077872 0.249905 q: -0.015731 0.931478 -0.010295 0.363313 
wait for imu ... 
time: 1403636868.801666, t: -0.126727 -0.073133 0.250827 q: -0.015562 0.934389 -0.005538 0.355871 
wait for imu ... 
time: 1403636868.901666, t: -0.131512 -0.069340 0.252100 q: -0.011735 0.935354 -0.000940 0.353516 
time: 1403636869.001667, t: -0.133091 -0.064152 0.253909 q: -0.013670 0.933166 0.001014 0.359183 
wait for imu ... 
time: 1403636869.101666, t: -0.133470 -0.060230 0.255263 q: -0.019408 0.931359 0.002459 0.363577 
wait for imu ... 
time: 1403636869.201667, t: -0.133695 -0.057170 0.254125 q: -0.022475 0.930985 0.004829 0.364334 
wait for imu ... 
time: 1403636869.301666, t: -0.132522 -0.056056 0.252475 q: -0.022580 0.931164 0.006792 0.363838 
time: 1403636869.401666, t: -0.130873 -0.055667 0.251210 q: -0.023954 0.930992 0.007640 0.364171 
time: 1403636869.501667, t: -0.129308 -0.057615 0.250365 q: -0.024304 0.930917 0.007549 0.364342 
wait for imu ... 
time: 1403636869.601666, t: -0.127014 -0.066335 0.249556 q: -0.023810 0.931059 0.006748 0.364028 
time: 1403636869.701667, t: -0.123381 -0.085020 0.248607 q: -0.022142 0.932522 0.005621 0.360390 
wait for imu ... 
time: 1403636869.801666, t: -0.116615 -0.112821 0.248281 q: -0.019723 0.933462 0.002056 0.358128 
wait for imu ... 
time: 1403636869.901666, t: -0.105978 -0.149046 0.249446 q: -0.016047 0.931700 -0.004899 0.362842 
wait for imu ... 
time: 1403636870.001667, t: -0.093479 -0.191653 0.250411 q: -0.012753 0.929580 -0.012520 0.368186 
time: 1403636870.101666, t: -0.079733 -0.238854 0.250293 q: -0.008894 0.930189 -0.021211 0.366359 
time: 1403636870.201667, t: -0.065192 -0.289331 0.251153 q: -0.002015 0.932324 -0.025966 0.360684 
wait for imu ... 
time: 1403636870.301666, t: -0.050923 -0.339540 0.253032 q: 0.000659 0.931815 -0.030046 0.361687 
time: 1403636870.401666, t: -0.037337 -0.389611 0.254017 q: 0.005699 0.928820 -0.034410 0.368887 
wait for imu ... 
time: 1403636870.501667, t: -0.026513 -0.433794 0.251476 q: 0.008434 0.928073 -0.039692 0.370182 
time: 1403636870.601666, t: -0.018165 -0.470529 0.246338 q: 0.011211 0.930621 -0.046618 0.362829 
wait for imu ... 
time: 1403636870.701667, t: -0.013122 -0.501212 0.243032 q: 0.018726 0.931393 -0.050939 0.359946 
time: 1403636870.801666, t: -0.005891 -0.520835 0.238876 q: 0.016427 0.927968 -0.055271 0.368171 
time: 1403636870.901666, t: -0.002459 -0.534945 0.234820 q: 0.013108 0.923993 -0.056519 0.377982 
time: 1403636871.001667, t: -0.001660 -0.539169 0.229824 q: 0.008282 0.921980 -0.058333 0.382729 
wait for imu ... 
time: 1403636871.101666, t: -0.002867 -0.538637 0.224684 q: 0.006540 0.924611 -0.062348 0.375718 
wait for imu ... 
time: 1403636871.201667, t: -0.004774 -0.534214 0.224195 q: 0.012930 0.928289 -0.065052 0.365896 
time: 1403636871.301666, t: -0.006650 -0.522263 0.227851 q: 0.013372 0.928169 -0.066309 0.365959 
time: 1403636871.401666, t: -0.010155 -0.501351 0.231796 q: 0.014094 0.927901 -0.062072 0.367353 
time: 1403636871.501667, t: -0.014456 -0.469498 0.234403 q: 0.012374 0.927754 -0.057958 0.368458 
time: 1403636871.601666, t: -0.020007 -0.428612 0.236339 q: 0.009833 0.928394 -0.055817 0.367250 
time: 1403636871.701667, t: -0.027075 -0.379837 0.239801 q: 0.002164 0.929508 -0.053093 0.364955 
wait for imu ... 
time: 1403636871.801666, t: -0.033735 -0.325987 0.242888 q: -0.005620 0.929969 -0.048619 0.364365 
time: 1403636871.901666, t: -0.038740 -0.270144 0.243781 q: -0.009170 0.929721 -0.041527 0.365800 
time: 1403636872.001667, t: -0.042107 -0.210883 0.243627 q: -0.017671 0.927692 -0.035703 0.371216 
time: 1403636872.101666, t: -0.045133 -0.151888 0.241570 q: -0.027063 0.925339 -0.028956 0.377063 
time: 1403636872.201667, t: -0.048319 -0.098999 0.237676 q: -0.031250 0.925083 -0.022487 0.377808 
time: 1403636872.301666, t: -0.053213 -0.050948 0.232273 q: -0.036374 0.927529 -0.014797 0.371684 
wait for imu ... 
wait for imu ... 
time: 1403636872.401666, t: -0.057708 -0.011998 0.227423 q: -0.040700 0.930289 -0.007315 0.364490 
time: 1403636872.501667, t: -0.061672 0.013746 0.225665 q: -0.043388 0.931076 -0.002765 0.362226 
wait for imu ... 
time: 1403636872.601666, t: -0.064160 0.024680 0.227403 q: -0.044900 0.929902 0.001981 0.365052 
time: 1403636872.701667, t: -0.065700 0.022560 0.229762 q: -0.043773 0.928118 0.004970 0.369671 
wait for imu ... 
time: 1403636872.801666, t: -0.064823 0.008917 0.231276 q: -0.039660 0.928142 0.004402 0.370082 
wait for imu ... 
time: 1403636872.901666, t: -0.060530 -0.018125 0.230766 q: -0.037563 0.929109 -0.000655 0.367892 
wait for imu ... 
time: 1403636873.001667, t: -0.053673 -0.059064 0.229097 q: -0.032459 0.929630 -0.006344 0.367007 
time: 1403636873.101666, t: -0.045293 -0.109636 0.227637 q: -0.027493 0.929524 -0.011739 0.367548 
wait for imu ... 
time: 1403636873.201667, t: -0.035250 -0.166077 0.226506 q: -0.023784 0.930148 -0.019185 0.365911 
time: 1403636873.301666, t: -0.024450 -0.226479 0.226345 q: -0.019425 0.930595 -0.027673 0.364486 
time: 1403636873.401666, t: -0.014638 -0.287714 0.225721 q: -0.015142 0.930877 -0.034756 0.363362 
wait for imu ... 
time: 1403636873.501667, t: -0.007623 -0.346409 0.223499 q: -0.011949 0.931460 -0.041049 0.361323 
wait for imu ... 
time: 1403636873.601666, t: -0.003053 -0.399712 0.219965 q: -0.004795 0.932855 -0.048152 0.356988 
time: 1403636873.701667, t: 0.000319 -0.444504 0.214749 q: 0.000546 0.933979 -0.054197 0.353194 
wait for imu ... 
time: 1403636873.901666, t: -0.000786 -0.495661 0.206375 q: 0.000692 0.934831 -0.057866 0.350346 
time: 1403636874.001667, t: -0.001631 -0.502830 0.203944 q: 0.002631 0.934065 -0.060826 0.351874 
time: 1403636874.101666, t: -0.001696 -0.499828 0.202400 q: 0.003346 0.934015 -0.061941 0.351807 
wait for imu ... 
time: 1403636874.201667, t: -0.001582 -0.489479 0.202810 q: 0.002682 0.934724 -0.060953 0.350097 
wait for imu ... 
time: 1403636874.301666, t: -0.002451 -0.468651 0.204822 q: 0.001164 0.935847 -0.056257 0.347885 
wait for imu ... 
time: 1403636874.401666, t: -0.002943 -0.433866 0.205546 q: -0.004513 0.936793 -0.050689 0.346164 
wait for imu ... 
time: 1403636874.501667, t: -0.003390 -0.387670 0.206659 q: -0.009757 0.936359 -0.045325 0.347968 
time: 1403636874.601666, t: -0.005565 -0.334235 0.208539 q: -0.012507 0.934992 -0.039575 0.352233 
wait for imu ... 
wait for imu ... 
time: 1403636874.701667, t: -0.009670 -0.273567 0.209117 q: -0.018752 0.934114 -0.032208 0.355025 
wait for imu ... 
time: 1403636874.801666, t: -0.013074 -0.212770 0.206097 q: -0.024676 0.933959 -0.025852 0.355588 
wait for imu ... 
time: 1403636874.901666, t: -0.015610 -0.156057 0.200538 q: -0.033566 0.934578 -0.021822 0.353498 
time: 1403636875.001667, t: -0.016659 -0.109604 0.196126 q: -0.038961 0.934087 -0.018215 0.354446 
time: 1403636875.101666, t: -0.013078 -0.074385 0.192645 q: -0.036669 0.929227 -0.023028 0.366964 
time: 1403636875.201667, t: -0.010209 -0.047288 0.188909 q: -0.027930 0.921765 -0.039179 0.384751 
wait for imu ... 
time: 1403636875.301666, t: -0.013588 -0.024348 0.183988 q: -0.020352 0.916134 -0.063207 0.395335 
wait for imu ... 
time: 1403636875.401666, t: -0.022721 -0.006969 0.179009 q: -0.019632 0.913729 -0.090093 0.395724 
time: 1403636875.501667, t: -0.043517 0.004257 0.175659 q: -0.023080 0.913790 -0.110008 0.390324 
wait for imu ... 
time: 1403636875.601666, t: -0.075349 0.004504 0.173650 q: -0.026668 0.914458 -0.124537 0.384117 
time: 1403636875.701667, t: -0.112908 -0.006706 0.173340 q: -0.023119 0.913419 -0.137239 0.382487 
time: 1403636875.801666, t: -0.151795 -0.026514 0.172778 q: -0.012281 0.910861 -0.152264 0.383403 
time: 1403636876.001667, t: -0.225255 -0.091458 0.174643 q: 0.014476 0.905985 -0.192275 0.376845 
wait for imu ... 
time: 1403636876.101666, t: -0.252618 -0.137060 0.180521 q: 0.035274 0.899203 -0.214120 0.379925 
time: 1403636876.201667, t: -0.266890 -0.186529 0.186158 q: 0.052478 0.891733 -0.233863 0.383883 
time: 1403636876.301666, t: -0.266319 -0.238437 0.187481 q: 0.063655 0.887677 -0.249931 0.381459 
wait for imu ... 
time: 1403636876.401666, t: -0.253072 -0.292815 0.185363 q: 0.071835 0.886445 -0.262274 0.374523 
time: 1403636876.501667, t: -0.226844 -0.348524 0.184172 q: 0.083697 0.884953 -0.266954 0.372274 
wait for imu ... 
time: 1403636876.601666, t: -0.183854 -0.399551 0.183536 q: 0.093481 0.882359 -0.260911 0.380301 
time: 1403636876.701667, t: -0.132757 -0.439365 0.186242 q: 0.095946 0.881156 -0.247457 0.391310 
wait for imu ... 
time: 1403636876.801666, t: -0.074005 -0.462466 0.189962 q: 0.091675 0.883384 -0.227017 0.399614 
wait for imu ... 
time: 1403636876.901666, t: -0.015611 -0.465415 0.194411 q: 0.083773 0.886926 -0.200162 0.407774 
time: 1403636877.001667, t: 0.043496 -0.446181 0.195234 q: 0.068607 0.889867 -0.169545 0.417952 
wait for imu ... 
time: 1403636877.101666, t: 0.097192 -0.406285 0.193338 q: 0.047612 0.893862 -0.133019 0.425500 
time: 1403636877.201667, t: 0.138083 -0.348284 0.192598 q: 0.023098 0.898119 -0.093101 0.429163 
wait for imu ... 
time: 1403636877.301666, t: 0.166174 -0.278405 0.193177 q: -0.001328 0.901072 -0.056403 0.429983 
time: 1403636877.401666, t: 0.177623 -0.203891 0.192419 q: -0.023025 0.903127 -0.020021 0.428287 
time: 1403636877.501667, t: 0.173897 -0.132103 0.190142 q: -0.043793 0.905279 0.010429 0.422426 
wait for imu ... 
time: 1403636877.601666, t: 0.148813 -0.067989 0.184372 q: -0.062053 0.908628 0.030002 0.411879 
wait for imu ... 
time: 1403636877.701667, t: 0.113240 -0.016992 0.180239 q: -0.076309 0.912208 0.040484 0.400517 
time: 1403636877.801666, t: 0.068725 0.017629 0.177034 q: -0.083626 0.915834 0.040719 0.390637 
wait for imu ... 
time: 1403636877.901666, t: 0.020474 0.035646 0.172128 q: -0.082803 0.920100 0.031636 0.381522 
wait for imu ... 
time: 1403636878.001667, t: -0.030230 0.038866 0.168384 q: -0.074250 0.924625 0.017400 0.373166 
time: 1403636878.101666, t: -0.076615 0.027309 0.161857 q: -0.059823 0.927208 -0.002703 0.369728 
wait for imu ... 
time: 1403636878.201667, t: -0.120868 0.005387 0.157426 q: -0.044280 0.926815 -0.027633 0.371873 
wait for imu ... 
time: 1403636878.301666, t: -0.159632 -0.026658 0.154024 q: -0.031818 0.924668 -0.054080 0.375568 
time: 1403636878.401666, t: -0.184706 -0.075002 0.150603 q: -0.021039 0.921635 -0.081959 0.378720 
time: 1403636878.501667, t: -0.200817 -0.130896 0.150730 q: -0.005509 0.918681 -0.107505 0.380049 
time: 1403636878.601666, t: -0.204214 -0.192168 0.154876 q: 0.012240 0.915082 -0.130338 0.381427 
wait for imu ... 
time: 1403636878.701667, t: -0.197512 -0.254477 0.162728 q: 0.030739 0.910785 -0.147675 0.384341 
time: 1403636878.801666, t: -0.178554 -0.314603 0.172569 q: 0.045966 0.905961 -0.158706 0.389789 
time: 1403636878.901666, t: -0.147500 -0.365341 0.179284 q: 0.052579 0.903254 -0.165206 0.392524 
time: 1403636879.001667, t: -0.110291 -0.404764 0.183223 q: 0.053214 0.903455 -0.167656 0.390934 
wait for imu ... 
time: 1403636879.101666, t: -0.062187 -0.437617 0.186158 q: 0.051218 0.902418 -0.167757 0.393543 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636879.201667, t: -0.014345 -0.454769 0.194653 q: 0.048540 0.897721 -0.162858 0.406470 
time: 1403636879.301666, t: 0.032739 -0.455995 0.202815 q: 0.046197 0.893445 -0.151652 0.420265 
wait for imu ... 
time: 1403636879.401666, t: 0.072258 -0.436522 0.210413 q: 0.039811 0.891878 -0.131806 0.430809 
time: 1403636879.501667, t: 0.106390 -0.403031 0.215367 q: 0.026332 0.893030 -0.104734 0.436846 
wait for imu ... 
time: 1403636879.601666, t: 0.129274 -0.357894 0.220323 q: 0.010072 0.895930 -0.077682 0.437234 
time: 1403636879.701667, t: 0.138988 -0.302266 0.227641 q: -0.009569 0.897888 -0.056827 0.436437 
wait for imu ... 
time: 1403636879.801666, t: 0.135264 -0.242340 0.233117 q: -0.027410 0.900549 -0.038545 0.432175 
wait for imu ... 
time: 1403636879.901666, t: 0.117957 -0.184862 0.235387 q: -0.039143 0.904496 -0.024525 0.423972 
time: 1403636880.001667, t: 0.086944 -0.138704 0.236037 q: -0.046144 0.908544 -0.016213 0.414917 
wait for imu ... 
time: 1403636880.101666, t: 0.047512 -0.112480 0.237653 q: -0.048853 0.911338 -0.011998 0.408575 
time: 1403636880.201667, t: 0.003232 -0.110343 0.239449 q: -0.044247 0.911885 -0.016195 0.407731 
wait for imu ... 
time: 1403636880.301666, t: -0.040499 -0.126634 0.239840 q: -0.030930 0.910025 -0.032239 0.412139 
time: 1403636880.401666, t: -0.086994 -0.147445 0.242411 q: -0.011771 0.906921 -0.053724 0.417696 
wait for imu ... 
time: 1403636880.501667, t: -0.134977 -0.167125 0.249323 q: 0.008130 0.903521 -0.075212 0.421813 
wait for imu ... 
time: 1403636880.601666, t: -0.183218 -0.175231 0.258316 q: 0.024013 0.902193 -0.093118 0.420476 
wait for imu ... 
time: 1403636880.701667, t: -0.229885 -0.167294 0.265719 q: 0.030842 0.904342 -0.104519 0.412662 
wait for imu ... 
time: 1403636880.801666, t: -0.268396 -0.145229 0.270472 q: 0.029338 0.907264 -0.109456 0.405006 
time: 1403636880.901666, t: -0.292596 -0.111453 0.273652 q: 0.020691 0.908473 -0.105123 0.403977 
wait for imu ... 
time: 1403636881.001667, t: -0.303058 -0.074528 0.276229 q: 0.012084 0.906172 -0.094033 0.412146 
time: 1403636881.101666, t: -0.297115 -0.036999 0.278647 q: 0.004382 0.902105 -0.077036 0.424562 
wait for imu ... 
time: 1403636881.201667, t: -0.280602 -0.000344 0.280329 q: -0.010756 0.899184 -0.056013 0.433837 
time: 1403636881.301666, t: -0.252751 0.028035 0.283309 q: -0.027366 0.897694 -0.032864 0.438539 
time: 1403636881.401666, t: -0.215135 0.042791 0.286377 q: -0.035842 0.896805 -0.012864 0.440785 
wait for imu ... 
wait for imu ... 
time: 1403636881.501667, t: -0.168019 0.041723 0.288882 q: -0.035889 0.894811 0.002596 0.444992 
time: 1403636881.601666, t: -0.115540 0.025232 0.289650 q: -0.032177 0.891768 0.015354 0.451085 
wait for imu ... 
time: 1403636881.701667, t: -0.063545 -0.005635 0.288356 q: -0.028269 0.890075 0.026815 0.454146 
wait for imu ... 
time: 1403636881.801666, t: -0.013452 -0.045765 0.284311 q: -0.022289 0.891020 0.030724 0.452374 
time: 1403636881.901666, t: 0.028656 -0.093822 0.276877 q: -0.017576 0.892644 0.022871 0.449838 
time: 1403636882.001667, t: 0.056864 -0.144640 0.268753 q: -0.014857 0.893809 0.010585 0.448076 
wait for imu ... 
time: 1403636882.101666, t: 0.073431 -0.194041 0.257420 q: -0.011095 0.893282 -0.001630 0.449357 
time: 1403636882.201667, t: 0.074493 -0.234087 0.242200 q: -0.004729 0.891638 -0.011722 0.452572 
time: 1403636882.301666, t: 0.060644 -0.261651 0.227157 q: 0.001796 0.888750 -0.018539 0.458014 
wait for imu ... 
time: 1403636882.401666, t: 0.040903 -0.273549 0.212377 q: -0.000107 0.886469 -0.018792 0.462407 
time: 1403636882.501667, t: 0.021524 -0.270438 0.197757 q: -0.009740 0.884854 -0.015425 0.465510 
wait for imu ... 
time: 1403636882.601666, t: 0.012377 -0.256024 0.185098 q: -0.020763 0.881539 -0.008375 0.471580 
time: 1403636882.701667, t: 0.018253 -0.237397 0.174411 q: -0.032841 0.871531 0.001650 0.489237 
wait for imu ... 
time: 1403636882.801666, t: 0.035358 -0.217055 0.161155 q: -0.050422 0.855400 0.018975 0.515159 
time: 1403636882.901666, t: 0.056988 -0.198107 0.142620 q: -0.067240 0.840329 0.038833 0.536487 
time: 1403636883.001667, t: 0.078870 -0.180237 0.118337 q: -0.085040 0.833652 0.058304 0.542579 
time: 1403636883.101666, t: 0.097771 -0.163812 0.093181 q: -0.097246 0.831542 0.076815 0.541461 
wait for imu ... 
time: 1403636883.201667, t: 0.115398 -0.150291 0.069889 q: -0.099776 0.826240 0.091954 0.546733 
wait for imu ... 
time: 1403636883.301666, t: 0.127898 -0.138242 0.049200 q: -0.103508 0.819942 0.101975 0.553699 
wait for imu ... 
time: 1403636883.401666, t: 0.139254 -0.129960 0.032622 q: -0.108769 0.816368 0.106578 0.557094 
wait for imu ... 
time: 1403636883.501667, t: 0.147045 -0.125010 0.021694 q: -0.114050 0.811207 0.111731 0.562541 
time: 1403636883.601666, t: 0.152220 -0.121442 0.014603 q: -0.119324 0.803913 0.118477 0.570482 
wait for imu ... 
time: 1403636883.701667, t: 0.156314 -0.118912 0.008725 q: -0.122532 0.800385 0.126784 0.572971 
wait for imu ... 
wait for imu ... 
time: 1403636883.801666, t: 0.159749 -0.118012 0.004862 q: -0.125285 0.799459 0.130874 0.572749 
time: 1403636883.901666, t: 0.162142 -0.117409 0.000765 q: -0.133221 0.798151 0.131933 0.572539 
wait for imu ... 
time: 1403636884.001667, t: 0.163949 -0.117379 -0.001394 q: -0.134897 0.795386 0.135183 0.575230 
time: 1403636884.101666, t: 0.164163 -0.118120 -0.002494 q: -0.140852 0.790962 0.136678 0.579534 
time: 1403636884.201667, t: 0.164170 -0.118960 -0.002371 q: -0.138393 0.787348 0.139017 0.584470 
time: 1403636884.301666, t: 0.163265 -0.118544 -0.001909 q: -0.137760 0.784937 0.138496 0.587975 
wait for imu ... 
time: 1403636884.401666, t: 0.163007 -0.118279 -0.001977 q: -0.138996 0.784515 0.137901 0.588387 
wait for imu ... 
time: 1403636884.501667, t: 0.162964 -0.118571 -0.001919 q: -0.138195 0.784404 0.138506 0.588582 
time: 1403636884.601666, t: 0.162921 -0.118390 -0.001877 q: -0.138713 0.784336 0.138311 0.588596 
time: 1403636884.701667, t: 0.163016 -0.118457 -0.001940 q: -0.138700 0.784589 0.138247 0.588277 
wait for imu ... 
time: 1403636884.801666, t: 0.163016 -0.118550 -0.001914 q: -0.138509 0.784630 0.138259 0.588265 
time: 1403636884.901666, t: 0.162980 -0.118563 -0.001881 q: -0.138571 0.784660 0.138202 0.588224 
wait for imu ... 
time: 1403636885.001667, t: 0.162962 -0.118554 -0.001844 q: -0.138741 0.784746 0.138108 0.588091 
time: 1403636885.101666, t: 0.162914 -0.118541 -0.001807 q: -0.138851 0.784763 0.137953 0.588078 
wait for imu ... 
time: 1403636885.201667, t: 0.163010 -0.118513 -0.001751 q: -0.138824 0.784864 0.137812 0.587983 
time: 1403636885.301666, t: 0.163057 -0.118639 -0.001846 q: -0.138772 0.784881 0.137830 0.587969 
wait for imu ... 
time: 1403636885.401666, t: 0.163143 -0.118659 -0.001848 q: -0.138595 0.784899 0.137694 0.588018 
time: 1403636885.601666, t: 0.163301 -0.118697 -0.001855 q: -0.138517 0.784942 0.137626 0.587996 
time: 1403636885.701667, t: 0.163391 -0.118672 -0.001884 q: -0.138612 0.785069 0.137552 0.587821 
wait for imu ... 
time: 1403636885.801666, t: 0.163426 -0.118690 -0.001869 q: -0.138565 0.785074 0.137551 0.587825 
time: 1403636885.901666, t: 0.163408 -0.118658 -0.001873 q: -0.138641 0.785146 0.137490 0.587726 
wait for imu ... 
time: 1403636886.001667, t: 0.163384 -0.118637 -0.001855 q: -0.138713 0.785126 0.137458 0.587742 
time: 1403636886.101666, t: 0.163372 -0.118657 -0.001851 q: -0.138558 0.785149 0.137506 0.587737 
wait for imu ... 
time: 1403636886.201667, t: 0.163362 -0.118667 -0.001849 q: -0.138449 0.785164 0.137553 0.587731 
time: 1403636886.301666, t: 0.163365 -0.118670 -0.001824 q: -0.138425 0.785157 0.137599 0.587736 
time: 1403636886.401666, t: 0.163391 -0.118668 -0.001842 q: -0.138571 0.785168 0.137544 0.587700 
wait for imu ... 
time: 1403636886.501667, t: 0.163393 -0.118670 -0.001831 q: -0.138590 0.785163 0.137542 0.587702 
wait for imu ... 
time: 1403636886.601666, t: 0.163435 -0.118688 -0.001839 q: -0.138570 0.785177 0.137547 0.587687 
time: 1403636886.701667, t: 0.163453 -0.118702 -0.001838 q: -0.138562 0.785192 0.137562 0.587666 
time: 1403636886.801666, t: 0.163455 -0.118708 -0.001831 q: -0.138580 0.785181 0.137595 0.587668 
time: 1403636886.901666, t: 0.163480 -0.118717 -0.001829 q: -0.138663 0.785214 0.137593 0.587606 
time: 1403636887.001667, t: 0.163480 -0.118716 -0.001828 q: -0.138534 0.785201 0.137645 0.587640 
time: 1403636887.101666, t: 0.163497 -0.118734 -0.001838 q: -0.138589 0.785209 0.137638 0.587619 
wait for imu ... 
time: 1403636887.201667, t: 0.163491 -0.118736 -0.001833 q: -0.138634 0.785236 0.137614 0.587578 
time: 1403636887.301666, t: 0.163498 -0.118748 -0.001848 q: -0.138642 0.785248 0.137577 0.587568 
wait for imu ... 
time: 1403636887.401666, t: 0.163502 -0.118738 -0.001846 q: -0.138545 0.785272 0.137641 0.587544 
time: 1403636887.501667, t: 0.163503 -0.118747 -0.001849 q: -0.138539 0.785289 0.137668 0.587517 
wait for imu ... 
time: 1403636887.601666, t: 0.163486 -0.118731 -0.001846 q: -0.138617 0.785263 0.137618 0.587545 
wait for imu ... 
time: 1403636887.701667, t: 0.163489 -0.118726 -0.001854 q: -0.138670 0.785274 0.137602 0.587521 
wait for imu ... 
time: 1403636887.801666, t: 0.163498 -0.118732 -0.001842 q: -0.138695 0.785304 0.137600 0.587475 
time: 1403636887.901666, t: 0.163504 -0.118729 -0.001835 q: -0.138658 0.785336 0.137598 0.587441 
time: 1403636888.001667, t: 0.163526 -0.118743 -0.001837 q: -0.138637 0.785385 0.137594 0.587382 
time: 1403636888.101666, t: 0.163522 -0.118749 -0.001840 q: -0.138677 0.785369 0.137608 0.587391 
time: 1403636888.201667, t: 0.163529 -0.118768 -0.001870 q: -0.138724 0.785366 0.137598 0.587387 
wait for imu ... 
time: 1403636888.401666, t: 0.163548 -0.118789 -0.001878 q: -0.138672 0.785389 0.137657 0.587354 
wait for imu ... 
time: 1403636888.501667, t: 0.163568 -0.118796 -0.001868 q: -0.138676 0.785419 0.137634 0.587319 
time: 1403636888.601666, t: 0.163625 -0.118812 -0.001763 q: -0.138697 0.785390 0.137540 0.587374 
wait for imu ... 
time: 1403636888.701667, t: 0.163568 -0.118743 -0.001645 q: -0.138728 0.785260 0.137606 0.587525 
time: 1403636888.801666, t: 0.163382 -0.118608 -0.001643 q: -0.138698 0.785220 0.137793 0.587542 
time: 1403636888.901666, t: 0.163150 -0.118584 -0.001806 q: -0.138452 0.785370 0.137311 0.587513 
time: 1403636889.001667, t: 0.162964 -0.118500 -0.001701 q: -0.138734 0.785229 0.137446 0.587602 
wait for imu ... 
time: 1403636889.101666, t: 0.162960 -0.118556 -0.001748 q: -0.138317 0.785296 0.137200 0.587670 
time: 1403636889.201667, t: 0.162928 -0.118411 -0.001747 q: -0.138348 0.785360 0.137150 0.587588 
time: 1403636889.301666, t: 0.162994 -0.118499 -0.001785 q: -0.138375 0.785365 0.137009 0.587608 
time: 1403636889.401666, t: 0.163025 -0.118548 -0.001796 q: -0.138592 0.785268 0.137380 0.587599 
time: 1403636889.501667, t: 0.163061 -0.118606 -0.001774 q: -0.138259 0.785318 0.137305 0.587629 
time: 1403636889.601666, t: 0.163216 -0.118683 -0.001658 q: -0.138066 0.785318 0.137168 0.587706 
time: 1403636889.701667, t: 0.162906 -0.118688 -0.001722 q: -0.138056 0.785086 0.137467 0.587948 
wait for imu ... 
time: 1403636889.801666, t: 0.162819 -0.118847 -0.001742 q: -0.138093 0.785014 0.137678 0.587987 
wait for imu ... 
time: 1403636889.901666, t: 0.162828 -0.118844 -0.001757 q: -0.137853 0.785119 0.137283 0.587995 
wait for imu ... 
time: 1403636890.001667, t: 0.162737 -0.118753 -0.001895 q: -0.137769 0.785137 0.137428 0.587957 
time: 1403636890.101666, t: 0.162729 -0.118770 -0.001781 q: -0.137552 0.785228 0.136729 0.588049 
wait for imu ... 
time: 1403636890.201667, t: 0.162430 -0.118485 -0.001708 q: -0.137966 0.784824 0.137301 0.588358 
wait for imu ... 
time: 1403636890.301666, t: 0.161871 -0.118367 -0.001721 q: -0.138030 0.785129 0.137692 0.587844 
wait for imu ... 
time: 1403636890.401666, t: 0.162105 -0.118571 -0.001688 q: -0.137541 0.785363 0.137036 0.587800 
wait for imu ... 
time: 1403636890.501667, t: 0.162196 -0.118533 -0.001537 q: -0.137405 0.784973 0.136652 0.588441 
time: 1403636890.601666, t: 0.161962 -0.118284 -0.001440 q: -0.137667 0.784843 0.137410 0.588377 
wait for imu ... 
time: 1403636890.701667, t: 0.162367 -0.118478 -0.001620 q: -0.137750 0.785319 0.137471 0.587707 
time: 1403636890.801666, t: 0.161896 -0.118320 -0.001418 q: -0.137486 0.785289 0.136780 0.587971 
time: 1403636890.901666, t: 0.161885 -0.118211 -0.001180 q: -0.137768 0.785073 0.137038 0.588133 
time: 1403636891.001667, t: 0.161954 -0.118391 -0.001235 q: -0.138146 0.785138 0.137254 0.587907 
time: 1403636891.101666, t: 0.162124 -0.118500 -0.001296 q: -0.138092 0.785182 0.137320 0.587846 
time: 1403636891.201667, t: 0.162293 -0.118557 -0.001212 q: -0.138095 0.785166 0.137369 0.587855 
wait for imu ... 
time: 1403636891.301666, t: 0.162371 -0.118678 -0.001179 q: -0.138187 0.785198 0.137448 0.587772 
time: 1403636891.401666, t: 0.162351 -0.118698 -0.001182 q: -0.138173 0.785151 0.137431 0.587843 
time: 1403636891.501667, t: 0.162820 -0.118917 -0.000800 q: -0.138323 0.785197 0.137497 0.587730 
time: 1403636891.601666, t: 0.163058 -0.119222 -0.000458 q: -0.138410 0.785268 0.137557 0.587601 
wait for imu ... 
time: 1403636891.701667, t: 0.163083 -0.119306 -0.000316 q: -0.138420 0.785275 0.137527 0.587596 
time: 1403636891.801666, t: 0.163166 -0.119413 -0.000056 q: -0.138500 0.785272 0.137532 0.587580 
time: 1403636891.901666, t: 0.163309 -0.119698 0.000271 q: -0.138583 0.785265 0.137570 0.587562 
time: 1403636892.001667, t: 0.163396 -0.119716 0.000276 q: -0.138502 0.785289 0.137552 0.587552 
time: 1403636892.101666, t: 0.163583 -0.119765 0.000404 q: -0.138541 0.785305 0.137567 0.587519 
time: 1403636892.201667, t: 0.163722 -0.119999 0.000753 q: -0.138530 0.785331 0.137581 0.587483 
time: 1403636892.301666, t: 0.163593 -0.120062 0.000555 q: -0.138232 0.785368 0.137717 0.587471 
time: 1403636892.401666, t: 0.163828 -0.120118 0.000955 q: -0.138398 0.785378 0.137418 0.587490 
time: 1403636892.501667, t: 0.164296 -0.120343 0.001797 q: -0.138465 0.785327 0.137466 0.587530 
time: 1403636892.601666, t: 0.164305 -0.120513 0.002097 q: -0.138528 0.785333 0.137492 0.587501 
wait for imu ... 
time: 1403636892.701667, t: 0.164624 -0.120893 0.002778 q: -0.138545 0.785340 0.137503 0.587485 
time: 1403636892.801666, t: 0.165223 -0.121308 0.003658 q: -0.138583 0.785333 0.137616 0.587459 
time: 1403636892.901666, t: 0.165892 -0.121977 0.004882 q: -0.138615 0.785476 0.137585 0.587268 
time: 1403636893.001667, t: 0.167338 -0.123306 0.007496 q: -0.138614 0.785401 0.137659 0.587352 
time: 1403636893.101666, t: 0.174169 -0.127564 0.015517 q: -0.138712 0.785382 0.137634 0.587359 
wait for imu ... 
time: 1403636893.201667, t: 0.182175 -0.131063 0.022321 q: -0.138792 0.785412 0.137549 0.587321 
time: 1403636893.301666, t: 0.185273 -0.132455 0.025307 q: -0.138811 0.785426 0.137524 0.587303 
time: 1403636893.401666, t: 0.187246 -0.133915 0.027829 q: -0.138832 0.785464 0.137527 0.587247 
wait for imu ... 
time: 1403636893.501667, t: 0.188917 -0.135401 0.030381 q: -0.138849 0.785479 0.137533 0.587221 
time: 1403636893.601666, t: 0.191784 -0.137762 0.033665 q: -0.138845 0.785493 0.137541 0.587201 
wait for imu ... 
wait for imu ... 
time: 1403636893.701667, t: 0.194220 -0.139655 0.035610 q: -0.138902 0.785484 0.137654 0.587174 
time: 1403636893.801666, t: 0.197023 -0.141936 0.038443 q: -0.138995 0.785538 0.137626 0.587086 
wait for imu ... 
time: 1403636893.901666, t: 0.198309 -0.144081 0.040835 q: -0.139101 0.785548 0.137616 0.587050 
time: 1403636894.001667, t: 0.199985 -0.146112 0.043437 q: -0.139178 0.785566 0.137582 0.587015 
time: 1403636894.101666, t: 0.202127 -0.147260 0.046755 q: -0.139148 0.785611 0.137552 0.586969 
wait for imu ... 
time: 1403636894.201667, t: 0.205169 -0.149441 0.049909 q: -0.139194 0.785582 0.137572 0.586993 
time: 1403636894.301666, t: 0.210921 -0.152927 0.053852 q: -0.139214 0.785562 0.137536 0.587022 
wait for imu ... 
time: 1403636894.401666, t: 0.212773 -0.154877 0.056999 q: -0.139219 0.785626 0.137571 0.586927 
time: 1403636894.501667, t: 0.214363 -0.157916 0.059398 q: -0.139343 0.785601 0.137629 0.586918 
time: 1403636894.601666, t: 0.219185 -0.160992 0.063401 q: -0.139308 0.785633 0.137548 0.586903 
time: 1403636894.701667, t: 0.223534 -0.163975 0.066895 q: -0.139399 0.785589 0.137557 0.586938 
time: 1403636894.801666, t: 0.230877 -0.167764 0.071058 q: -0.139380 0.785635 0.137524 0.586888 
time: 1403636894.901666, t: 0.236417 -0.170863 0.075053 q: -0.139163 0.785638 0.137462 0.586951 
time: 1403636895.001667, t: 0.241126 -0.174526 0.078676 q: -0.139253 0.785657 0.137536 0.586887 
wait for imu ... 
time: 1403636895.101666, t: 0.243070 -0.177923 0.081946 q: -0.139360 0.785688 0.137563 0.586813 
wait for imu ... 
time: 1403636895.201667, t: 0.247285 -0.182139 0.085892 q: -0.139380 0.785645 0.137521 0.586876 
wait for imu ... 
time: 1403636895.301666, t: 0.255978 -0.187322 0.091222 q: -0.139439 0.785617 0.137541 0.586894 
time: 1403636895.401666, t: 0.260892 -0.190220 0.096324 q: -0.139378 0.785647 0.137550 0.586867 
time: 1403636895.501667, t: 0.266060 -0.193451 0.101185 q: -0.139402 0.785599 0.137559 0.586923 
wait for imu ... 
time: 1403636895.601666, t: 0.270677 -0.197206 0.106339 q: -0.139426 0.785674 0.137533 0.586823 
wait for imu ... 
wait for imu ... 
time: 1403636895.701667, t: 0.275354 -0.202298 0.109972 q: -0.139442 0.785625 0.137616 0.586865 
time: 1403636895.801666, t: 0.283637 -0.208797 0.115190 q: -0.139350 0.785560 0.137698 0.586956 
time: 1403636895.901666, t: 0.291698 -0.214490 0.120676 q: -0.139406 0.785577 0.137819 0.586890 
time: 1403636896.001667, t: 0.295221 -0.219236 0.125403 q: -0.139392 0.785604 0.137882 0.586843 
wait for imu ... 
time: 1403636896.101666, t: 0.294216 -0.224013 0.127252 q: -0.139531 0.786073 0.137992 0.586155 
time: 1403636896.201667, t: 0.306944 -0.236224 0.127581 q: -0.139668 0.786772 0.138058 0.585168 
wait for imu ... 
time: 1403636896.301666, t: 0.328675 -0.253313 0.129393 q: -0.139588 0.786663 0.138295 0.585279 
time: 1403636896.401666, t: 0.263961 -0.243276 0.091349 q: -0.139330 0.786031 0.138829 0.586063 
time: 1403636896.501667, t: 0.293085 -0.256434 0.112644 q: -0.139347 0.785902 0.138717 0.586258 
time: 1403636896.601666, t: 0.304499 -0.265423 0.120896 q: -0.139283 0.785901 0.138713 0.586275 
wait for imu ... 
time: 1403636896.701667, t: 0.306524 -0.273536 0.119040 q: -0.139357 0.786156 0.138884 0.585874 
time: 1403636896.801666, t: 0.311451 -0.283562 0.114676 q: -0.139543 0.786319 0.139067 0.585568 
time: 1403636896.901666, t: 0.309790 -0.292579 0.108390 q: -0.139382 0.786257 0.139379 0.585616 
time: 1403636897.001667, t: 0.336521 -0.306531 0.131040 q: -0.139661 0.785750 0.139267 0.586256 
wait for imu ... 
time: 1403636897.101666, t: 0.334400 -0.315623 0.151413 q: -0.140611 0.785190 0.141218 0.586313 
time: 1403636897.201667, t: 0.236596 -0.283200 0.102585 q: -0.142301 0.785004 0.143888 0.585505 
wait for imu ... 
time: 1403636897.301666, t: 0.160212 -0.144180 -0.003258 q: -0.140178 0.785632 0.142186 0.585590 
time: 1403636897.401666, t: 0.155278 -0.132994 -0.003487 q: -0.134325 0.789008 0.139410 0.583084 
wait for imu ... 
wait for imu ... 
time: 1403636897.501667, t: 0.146954 -0.144439 -0.003455 q: -0.126002 0.794373 0.137368 0.578122 
wait for imu ... 
wait for imu ... 
time: 1403636897.601666, t: 0.137401 -0.158377 -0.003952 q: -0.116682 0.802480 0.136545 0.569004 
time: 1403636897.701667, t: 0.127579 -0.174595 0.000832 q: -0.104002 0.812711 0.139919 0.555974 
time: 1403636897.801666, t: 0.116468 -0.189064 0.012783 q: -0.095313 0.820567 0.144450 0.544719 
time: 1403636897.901666, t: 0.104914 -0.199630 0.031705 q: -0.091449 0.825604 0.147536 0.536888 
time: 1403636898.001667, t: 0.102801 -0.207653 0.054752 q: -0.092769 0.820300 0.149056 0.544320 
wait for imu ... 
time: 1403636898.101666, t: 0.101952 -0.214817 0.070233 q: -0.097800 0.814034 0.149754 0.552592 
time: 1403636898.201667, t: 0.103223 -0.219486 0.082179 q: -0.101255 0.810744 0.151330 0.556364 
wait for imu ... 
time: 1403636898.301666, t: 0.107116 -0.222038 0.096383 q: -0.103171 0.809719 0.153913 0.556796 
wait for imu ... 
time: 1403636898.401666, t: 0.111478 -0.224058 0.114808 q: -0.105383 0.809232 0.156781 0.556289 
time: 1403636898.501667, t: 0.118191 -0.223429 0.134937 q: -0.108550 0.809410 0.159203 0.554732 
wait for imu ... 
time: 1403636898.601666, t: 0.126589 -0.220791 0.155812 q: -0.109869 0.809206 0.161805 0.554016 
wait for imu ... 
time: 1403636898.701667, t: 0.136199 -0.217488 0.174996 q: -0.110166 0.809248 0.164364 0.553142 
time: 1403636898.801666, t: 0.149031 -0.212781 0.190860 q: -0.112688 0.809116 0.165210 0.552574 
time: 1403636898.901666, t: 0.163443 -0.206916 0.204092 q: -0.116207 0.810125 0.164404 0.550603 
time: 1403636899.001667, t: 0.179882 -0.199953 0.215490 q: -0.122293 0.811362 0.160348 0.548658 
wait for imu ... 
time: 1403636899.101666, t: 0.199560 -0.195082 0.225861 q: -0.123283 0.811522 0.151964 0.550582 
wait for imu ... 
time: 1403636899.201667, t: 0.223061 -0.192996 0.235630 q: -0.115283 0.809954 0.141503 0.557369 
wait for imu ... 
time: 1403636899.301666, t: 0.247274 -0.193781 0.245933 q: -0.105254 0.806316 0.124615 0.568548 
time: 1403636899.401666, t: 0.270949 -0.197733 0.254186 q: -0.089280 0.804253 0.104814 0.578118 
wait for imu ... 
time: 1403636899.501667, t: 0.290990 -0.204161 0.260275 q: -0.078808 0.807549 0.083101 0.578574 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636899.601666, t: 0.308205 -0.213632 0.266765 q: -0.072837 0.814322 0.066228 0.572003 
time: 1403636899.701667, t: 0.327010 -0.224260 0.272315 q: -0.067966 0.818218 0.054686 0.568251 
time: 1403636899.801666, t: 0.348418 -0.237636 0.277476 q: -0.061072 0.821101 0.048552 0.565426 
wait for imu ... 
time: 1403636899.901666, t: 0.370274 -0.253719 0.279492 q: -0.051658 0.821216 0.048364 0.566212 
wait for imu ... 
time: 1403636900.001667, t: 0.394192 -0.271576 0.279983 q: -0.045177 0.817694 0.049227 0.571762 
time: 1403636900.101666, t: 0.418892 -0.289608 0.280219 q: -0.043312 0.812565 0.049470 0.579150 
time: 1403636900.201667, t: 0.441411 -0.308476 0.287417 q: -0.042322 0.808731 0.050842 0.584447 
wait for imu ... 
time: 1403636900.301666, t: 0.458577 -0.328546 0.303712 q: -0.041619 0.809321 0.053196 0.583471 
time: 1403636900.401666, t: 0.473808 -0.347462 0.327808 q: -0.043619 0.814007 0.055360 0.576564 
wait for imu ... 
time: 1403636900.501667, t: 0.488377 -0.366728 0.353510 q: -0.044816 0.817729 0.058866 0.570828 
wait for imu ... 
time: 1403636900.601666, t: 0.502461 -0.385251 0.375863 q: -0.046916 0.819634 0.060884 0.567708 
wait for imu ... 
time: 1403636900.701667, t: 0.517255 -0.404656 0.391135 q: -0.048872 0.824236 0.062317 0.560681 
time: 1403636900.801666, t: 0.537976 -0.422933 0.399192 q: -0.052633 0.828158 0.062679 0.554486 
wait for imu ... 
time: 1403636900.901666, t: 0.561591 -0.442016 0.402206 q: -0.060848 0.826592 0.058899 0.556394 
wait for imu ... 
time: 1403636901.001667, t: 0.588146 -0.463276 0.400726 q: -0.066108 0.823652 0.055940 0.560444 
wait for imu ... 
time: 1403636901.101666, t: 0.618432 -0.489339 0.395600 q: -0.070340 0.822191 0.053613 0.562299 
time: 1403636901.201667, t: 0.648634 -0.520502 0.389369 q: -0.071515 0.821199 0.052738 0.563681 
time: 1403636901.301666, t: 0.682396 -0.552421 0.387456 q: -0.067502 0.820460 0.055295 0.565006 
wait for imu ... 
time: 1403636901.401666, t: 0.717146 -0.590950 0.391775 q: -0.063789 0.820019 0.057615 0.565845 
time: 1403636901.501667, t: 0.755140 -0.631323 0.403950 q: -0.058487 0.819238 0.060983 0.567194 
time: 1403636901.601666, t: 0.794405 -0.670464 0.413119 q: -0.054828 0.818578 0.063059 0.568285 
wait for imu ... 
time: 1403636901.701667, t: 0.832818 -0.710881 0.416657 q: -0.054112 0.816696 0.063107 0.571049 
wait for imu ... 
time: 1403636901.801666, t: 0.870293 -0.751782 0.412722 q: -0.055252 0.816151 0.062341 0.571802 
wait for imu ... 
time: 1403636901.901666, t: 0.908711 -0.792549 0.403574 q: -0.054692 0.816081 0.063096 0.571873 
wait for imu ... 
time: 1403636902.001667, t: 0.946778 -0.833342 0.390421 q: -0.053509 0.815771 0.064506 0.572270 
wait for imu ... 
wait for imu ... 
time: 1403636902.101666, t: 0.984567 -0.876543 0.381172 q: -0.053542 0.815057 0.065768 0.573141 
wait for imu ... 
time: 1403636902.201667, t: 1.020795 -0.918761 0.378886 q: -0.053185 0.815166 0.066993 0.572876 
time: 1403636902.301666, t: 1.057626 -0.960279 0.380472 q: -0.055507 0.815517 0.064548 0.572437 
wait for imu ... 
time: 1403636902.401666, t: 1.094999 -1.002630 0.372106 q: -0.055959 0.816313 0.062550 0.571479 
wait for imu ... 
time: 1403636902.501667, t: 1.131878 -1.044935 0.350481 q: -0.052933 0.817186 0.062122 0.570567 
wait for imu ... 
time: 1403636902.701667, t: 1.193227 -1.126467 0.302271 q: -0.041089 0.816024 0.063552 0.573042 
wait for imu ... 
time: 1403636902.801666, t: 1.227652 -1.163112 0.288407 q: -0.040438 0.815526 0.061696 0.573999 
time: 1403636902.901666, t: 1.260583 -1.196323 0.282583 q: -0.042393 0.813284 0.061481 0.577055 
wait for imu ... 
time: 1403636903.001667, t: 1.287557 -1.229987 0.282314 q: -0.044012 0.813231 0.062408 0.576909 
wait for imu ... 
time: 1403636903.101666, t: 1.315840 -1.263809 0.287843 q: -0.046322 0.813578 0.063522 0.576117 
wait for imu ... 
time: 1403636903.201667, t: 1.345460 -1.299942 0.302156 q: -0.048571 0.814305 0.064945 0.574744 
time: 1403636903.301666, t: 1.373362 -1.335433 0.322898 q: -0.048966 0.815720 0.067645 0.572387 
wait for imu ... 
time: 1403636903.401666, t: 1.399189 -1.370413 0.342693 q: -0.047425 0.816372 0.070826 0.571202 
time: 1403636903.501667, t: 1.422870 -1.404400 0.356452 q: -0.047030 0.816594 0.072461 0.570712 
wait for imu ... 
time: 1403636903.601666, t: 1.446796 -1.437430 0.363046 q: -0.047734 0.816941 0.073269 0.570054 
wait for imu ... 
time: 1403636903.701667, t: 1.469827 -1.466983 0.362575 q: -0.051224 0.819976 0.071534 0.565596 
time: 1403636903.801666, t: 1.494933 -1.495653 0.359008 q: -0.055341 0.822501 0.069230 0.561816 
wait for imu ... 
time: 1403636903.901666, t: 1.524884 -1.524039 0.361490 q: -0.059587 0.822805 0.066393 0.561278 
wait for imu ... 
time: 1403636904.001667, t: 1.556985 -1.552124 0.372758 q: -0.063201 0.821040 0.063924 0.563749 
wait for imu ... 
time: 1403636904.101666, t: 1.589489 -1.583361 0.389536 q: -0.065766 0.819063 0.062094 0.566529 
time: 1403636904.201667, t: 1.625193 -1.617211 0.413294 q: -0.068590 0.818598 0.059878 0.567104 
wait for imu ... 
time: 1403636904.301666, t: 1.660290 -1.652973 0.439144 q: -0.068210 0.817788 0.058963 0.568413 
wait for imu ... 
wait for imu ... 
time: 1403636904.401666, t: 1.696442 -1.690416 0.461969 q: -0.066038 0.816661 0.058821 0.570302 
time: 1403636904.501667, t: 1.730831 -1.729660 0.478630 q: -0.062774 0.816287 0.059711 0.571113 
wait for imu ... 
time: 1403636904.601666, t: 1.765033 -1.771070 0.490588 q: -0.058568 0.816128 0.060982 0.571653 
time: 1403636904.701667, t: 1.799474 -1.813888 0.499993 q: -0.054077 0.816406 0.061843 0.571605 
wait for imu ... 
time: 1403636904.801666, t: 1.834554 -1.857929 0.508295 q: -0.050374 0.816258 0.062410 0.572094 
wait for imu ... 
time: 1403636904.901666, t: 1.871050 -1.903435 0.514084 q: -0.046048 0.816666 0.063390 0.571767 
wait for imu ... 
time: 1403636905.001667, t: 1.908089 -1.947681 0.515501 q: -0.042884 0.816667 0.063413 0.572010 
wait for imu ... 
wait for imu ... 
time: 1403636905.101666, t: 1.947594 -1.990441 0.515093 q: -0.040009 0.816242 0.063060 0.572863 
wait for imu ... 
wait for imu ... 
time: 1403636905.201667, t: 1.987740 -2.031916 0.518885 q: -0.037690 0.815811 0.062363 0.573709 
wait for imu ... 
wait for imu ... 
time: 1403636905.301666, t: 2.026996 -2.070812 0.527836 q: -0.034599 0.816889 0.062120 0.572396 
wait for imu ... 
wait for imu ... 
time: 1403636905.401666, t: 2.064077 -2.105954 0.542393 q: -0.032908 0.819603 0.061632 0.568656 
wait for imu ... 
time: 1403636905.501667, t: 2.098964 -2.136741 0.562324 q: -0.032723 0.820099 0.066932 0.567351 
wait for imu ... 
time: 1403636905.601666, t: 2.134211 -2.163783 0.580763 q: -0.032729 0.819691 0.073565 0.567119 
wait for imu ... 
time: 1403636905.701667, t: 2.169124 -2.187886 0.591267 q: -0.037373 0.820030 0.076128 0.566002 
wait for imu ... 
wait for imu ... 
time: 1403636905.901666, t: 2.241315 -2.227956 0.588323 q: -0.046228 0.820821 0.078087 0.563931 
time: 1403636906.001667, t: 2.279366 -2.245490 0.577628 q: -0.048230 0.823049 0.079683 0.560280 
time: 1403636906.101666, t: 2.319937 -2.260778 0.564192 q: -0.046973 0.824833 0.082854 0.557296 
wait for imu ... 
wait for imu ... 
time: 1403636906.201667, t: 2.364954 -2.273682 0.553548 q: -0.047913 0.823875 0.084176 0.558434 
time: 1403636906.301666, t: 2.409853 -2.280633 0.551431 q: -0.051339 0.818465 0.083360 0.566154 
time: 1403636906.401666, t: 2.455923 -2.286528 0.556465 q: -0.057239 0.814768 0.079629 0.571434 
wait for imu ... 
wait for imu ... 
time: 1403636906.501667, t: 2.500589 -2.291563 0.564330 q: -0.069068 0.814318 0.071000 0.571904 
time: 1403636906.601666, t: 2.543475 -2.300208 0.570897 q: -0.074313 0.817411 0.067001 0.567299 
time: 1403636906.701667, t: 2.586814 -2.312337 0.573600 q: -0.069195 0.817515 0.070341 0.567392 
time: 1403636906.801666, t: 2.631084 -2.327404 0.570732 q: -0.060943 0.816924 0.076097 0.568445 
wait for imu ... 
wait for imu ... 
time: 1403636906.901666, t: 2.676868 -2.342547 0.565053 q: -0.056325 0.817170 0.080513 0.567959 
wait for imu ... 
wait for imu ... 
time: 1403636907.001667, t: 2.722309 -2.356431 0.562120 q: -0.054246 0.817031 0.084107 0.567841 
wait for imu ... 
time: 1403636907.101666, t: 2.768772 -2.369164 0.565617 q: -0.054637 0.817588 0.085819 0.566744 
time: 1403636907.201667, t: 2.816477 -2.380573 0.568233 q: -0.054191 0.820478 0.087801 0.562290 
time: 1403636907.301666, t: 2.865293 -2.389397 0.564437 q: -0.055930 0.823716 0.088263 0.557291 
time: 1403636907.401666, t: 2.916499 -2.395763 0.559408 q: -0.061632 0.825020 0.085676 0.555160 
time: 1403636907.501667, t: 2.971256 -2.401419 0.560885 q: -0.067553 0.825458 0.082632 0.554282 
time: 1403636907.601666, t: 3.029315 -2.408175 0.571343 q: -0.072536 0.825753 0.079610 0.553655 
time: 1403636907.701667, t: 3.092068 -2.417519 0.588319 q: -0.075588 0.825707 0.077501 0.553613 
wait for imu ... 
time: 1403636907.801666, t: 3.158191 -2.429978 0.611099 q: -0.077438 0.825452 0.076320 0.553901 
time: 1403636907.901666, t: 3.225181 -2.445307 0.627911 q: -0.077864 0.824185 0.076243 0.555737 
wait for imu ... 
time: 1403636908.001667, t: 3.302533 -2.462188 0.629174 q: -0.072356 0.820401 0.081076 0.561368 
time: 1403636908.101666, t: 3.381127 -2.480340 0.624676 q: -0.067162 0.816833 0.086992 0.566309 
time: 1403636908.201667, t: 3.458573 -2.498028 0.624422 q: -0.066209 0.814299 0.090430 0.569522 
wait for imu ... 
time: 1403636908.301666, t: 3.531627 -2.516010 0.626995 q: -0.066424 0.813587 0.093176 0.570073 
time: 1403636908.401666, t: 3.603879 -2.533189 0.626122 q: -0.067381 0.814047 0.095328 0.568946 
wait for imu ... 
time: 1403636908.501667, t: 3.676054 -2.550551 0.621146 q: -0.068866 0.814985 0.097197 0.567106 
wait for imu ... 
time: 1403636908.601666, t: 3.748622 -2.567921 0.613887 q: -0.070168 0.815319 0.099143 0.566128 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636908.701667, t: 3.820348 -2.585080 0.609835 q: -0.071085 0.816523 0.101171 0.563917 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636908.801666, t: 3.893146 -2.602145 0.614856 q: -0.073868 0.819203 0.101207 0.559649 
wait for imu ... 
time: 1403636908.901666, t: 3.968003 -2.618337 0.628908 q: -0.075354 0.822188 0.101098 0.555075 
wait for imu ... 
wait for imu ... 
time: 1403636909.001667, t: 4.044456 -2.632254 0.650384 q: -0.077296 0.822831 0.100813 0.553906 
time: 1403636909.101666, t: 4.120774 -2.644121 0.672061 q: -0.079679 0.823460 0.098812 0.552993 
wait for imu ... 
time: 1403636909.201667, t: 4.197380 -2.655956 0.688627 q: -0.080067 0.823655 0.097806 0.552825 
wait for imu ... 
time: 1403636909.301666, t: 4.278772 -2.669536 0.698430 q: -0.080065 0.824178 0.096799 0.552224 
time: 1403636909.401666, t: 4.362067 -2.683117 0.704320 q: -0.078527 0.822821 0.096652 0.554488 
wait for imu ... 
time: 1403636909.501667, t: 4.448696 -2.698137 0.706332 q: -0.075287 0.819663 0.097344 0.559471 
time: 1403636909.601666, t: 4.533548 -2.713479 0.700970 q: -0.075928 0.818515 0.095217 0.561428 
wait for imu ... 
time: 1403636909.701667, t: 4.617049 -2.730412 0.690699 q: -0.079336 0.816461 0.091240 0.564600 
wait for imu ... 
time: 1403636909.801666, t: 4.700909 -2.749388 0.675831 q: -0.074780 0.811504 0.093277 0.571987 
wait for imu ... 
time: 1403636909.901666, t: 4.778954 -2.771093 0.654244 q: -0.061741 0.807308 0.101648 0.578021 
time: 1403636910.101666, t: 4.926970 -2.802891 0.600360 q: -0.051610 0.801023 0.108653 0.586424 
time: 1403636910.201667, t: 4.997353 -2.811308 0.574890 q: -0.060120 0.806208 0.103885 0.579329 
wait for imu ... 
time: 1403636910.301666, t: 5.063422 -2.816991 0.559155 q: -0.065467 0.810221 0.101376 0.573567 
wait for imu ... 
time: 1403636910.401666, t: 5.129840 -2.822364 0.551885 q: -0.068252 0.812903 0.100924 0.569512 
time: 1403636910.501667, t: 5.198242 -2.827987 0.551488 q: -0.069505 0.813469 0.102340 0.568300 
time: 1403636910.601666, t: 5.267778 -2.831984 0.551601 q: -0.068603 0.813722 0.104313 0.567687 
wait for imu ... 
time: 1403636910.701667, t: 5.336274 -2.835639 0.546413 q: -0.068921 0.813811 0.105078 0.567380 
wait for imu ... 
time: 1403636910.801666, t: 5.403546 -2.838556 0.534493 q: -0.070425 0.814256 0.104473 0.566668 
wait for imu ... 
time: 1403636910.901666, t: 5.468710 -2.840548 0.517765 q: -0.073536 0.814957 0.102902 0.565551 
wait for imu ... 
time: 1403636911.001667, t: 5.534209 -2.841152 0.500564 q: -0.079392 0.809039 0.099567 0.573793 
time: 1403636911.101666, t: 5.600373 -2.843349 0.486171 q: -0.082013 0.801714 0.098208 0.583853 
wait for imu ... 
time: 1403636911.201667, t: 5.664134 -2.847317 0.474950 q: -0.079340 0.805202 0.100186 0.579067 
time: 1403636911.301666, t: 5.723504 -2.852803 0.471293 q: -0.076134 0.810661 0.102438 0.571435 
wait for imu ... 
time: 1403636911.401666, t: 5.777937 -2.856887 0.478550 q: -0.073110 0.812152 0.104086 0.569413 
wait for imu ... 
time: 1403636911.501667, t: 5.824712 -2.861506 0.494346 q: -0.071283 0.812728 0.104453 0.568755 
time: 1403636911.601666, t: 5.867901 -2.866322 0.509171 q: -0.070664 0.813118 0.104666 0.568234 
wait for imu ... 
time: 1403636911.701667, t: 5.910240 -2.870357 0.519090 q: -0.070498 0.813047 0.104482 0.568391 
time: 1403636911.801666, t: 5.953319 -2.875148 0.523519 q: -0.074555 0.813498 0.100844 0.567885 
wait for imu ... 
time: 1403636911.901666, t: 5.999073 -2.879334 0.521950 q: -0.081901 0.815915 0.095002 0.564403 
time: 1403636912.001667, t: 6.048532 -2.885607 0.514635 q: -0.084650 0.817754 0.092139 0.561804 
wait for imu ... 
time: 1403636912.101666, t: 6.101412 -2.892928 0.504234 q: -0.082045 0.817842 0.092648 0.561978 
time: 1403636912.201667, t: 6.156845 -2.900892 0.496008 q: -0.079156 0.816423 0.094463 0.564149 
time: 1403636912.301666, t: 6.214340 -2.910038 0.494949 q: -0.075174 0.814682 0.096694 0.566827 
wait for imu ... 
time: 1403636912.401666, t: 6.264496 -2.921257 0.497210 q: -0.074348 0.814684 0.096492 0.566967 
time: 1403636912.501667, t: 6.318225 -2.931030 0.499508 q: -0.079560 0.815039 0.092183 0.566466 
wait for imu ... 
time: 1403636912.601666, t: 6.373497 -2.941874 0.495987 q: -0.080273 0.815407 0.090254 0.566147 
time: 1403636912.701667, t: 6.429895 -2.954627 0.486948 q: -0.084893 0.815674 0.085880 0.565768 
wait for imu ... 
time: 1403636912.801666, t: 6.487278 -2.970456 0.473110 q: -0.089262 0.815488 0.082227 0.565907 
time: 1403636912.901666, t: 6.545550 -2.989908 0.455501 q: -0.085908 0.814677 0.083845 0.567354 
wait for imu ... 
time: 1403636913.001667, t: 6.603218 -3.012283 0.434270 q: -0.079920 0.810909 0.087780 0.573005 
time: 1403636913.101666, t: 6.660671 -3.036626 0.409837 q: -0.075712 0.807851 0.090541 0.577449 
time: 1403636913.201667, t: 6.712284 -3.062642 0.388589 q: -0.072858 0.805282 0.092704 0.581050 
time: 1403636913.301666, t: 6.765356 -3.088491 0.376775 q: -0.071680 0.805899 0.093813 0.580162 
wait for imu ... 
time: 1403636913.401666, t: 6.812890 -3.114584 0.371924 q: -0.075607 0.809529 0.091526 0.574952 
wait for imu ... 
time: 1403636913.501667, t: 6.860138 -3.141532 0.374564 q: -0.079639 0.812190 0.088447 0.571124 
wait for imu ... 
time: 1403636913.601666, t: 6.909881 -3.171331 0.374435 q: -0.076364 0.812612 0.090209 0.570694 
time: 1403636913.701667, t: 6.961157 -3.203335 0.368440 q: -0.073393 0.812983 0.091415 0.570365 
wait for imu ... 
time: 1403636913.801666, t: 7.009894 -3.235590 0.358210 q: -0.072175 0.812523 0.092241 0.571042 
wait for imu ... 
time: 1403636913.901666, t: 7.057866 -3.269350 0.350146 q: -0.071079 0.811881 0.093170 0.571941 
time: 1403636914.001667, t: 7.105848 -3.303205 0.350463 q: -0.070576 0.811396 0.094267 0.572511 
wait for imu ... 
time: 1403636914.101666, t: 7.153935 -3.338052 0.355705 q: -0.073733 0.811319 0.092556 0.572502 
time: 1403636914.201667, t: 7.201296 -3.373702 0.358954 q: -0.075860 0.811718 0.091137 0.571886 
wait for imu ... 
time: 1403636914.301666, t: 7.246287 -3.410640 0.357405 q: -0.074256 0.812364 0.091971 0.571045 
time: 1403636914.401666, t: 7.289898 -3.447878 0.352470 q: -0.070642 0.811417 0.094271 0.572472 
wait for imu ... 
time: 1403636914.501667, t: 7.333240 -3.483297 0.351258 q: -0.067918 0.811258 0.095951 0.572748 
wait for imu ... 
time: 1403636914.601666, t: 7.375736 -3.518368 0.358270 q: -0.067032 0.811095 0.096434 0.573003 
wait for imu ... 
time: 1403636914.701667, t: 7.417199 -3.553369 0.373251 q: -0.066929 0.809999 0.096284 0.574588 
wait for imu ... 
time: 1403636914.801666, t: 7.458057 -3.587917 0.389963 q: -0.065720 0.809386 0.096166 0.575611 
wait for imu ... 
time: 1403636914.901666, t: 7.497795 -3.622577 0.400394 q: -0.064795 0.810401 0.095773 0.574351 
wait for imu ... 
time: 1403636915.001667, t: 7.534529 -3.655248 0.404029 q: -0.063855 0.812537 0.095162 0.571533 
time: 1403636915.101666, t: 7.571225 -3.685742 0.402695 q: -0.062710 0.814187 0.095124 0.569314 
wait for imu ... 
time: 1403636915.201667, t: 7.607188 -3.714129 0.395494 q: -0.061482 0.816597 0.094980 0.566011 
wait for imu ... 
time: 1403636915.301666, t: 7.644852 -3.740537 0.383281 q: -0.060160 0.821435 0.095102 0.559090 
time: 1403636915.401666, t: 7.685623 -3.766167 0.368530 q: -0.059343 0.825066 0.095698 0.553702 
wait for imu ... 
time: 1403636915.501667, t: 7.729985 -3.790262 0.356268 q: -0.062829 0.823308 0.093347 0.556329 
wait for imu ... 
time: 1403636915.601666, t: 7.777724 -3.812693 0.351887 q: -0.072207 0.817958 0.087189 0.564029 
wait for imu ... 
time: 1403636915.701667, t: 7.827478 -3.835935 0.354661 q: -0.080610 0.814307 0.082061 0.568922 
wait for imu ... 
time: 1403636915.801666, t: 7.875028 -3.863644 0.365041 q: -0.082469 0.812656 0.081537 0.571087 
time: 1403636915.901666, t: 7.922298 -3.894895 0.384182 q: -0.082861 0.811711 0.082203 0.572278 
wait for imu ... 
time: 1403636916.001667, t: 7.968472 -3.927532 0.406019 q: -0.076848 0.810885 0.086921 0.573589 
wait for imu ... 
time: 1403636916.101666, t: 8.013322 -3.960928 0.421175 q: -0.068371 0.810309 0.093319 0.574470 
wait for imu ... 
time: 1403636916.201667, t: 8.056049 -3.994019 0.430640 q: -0.064250 0.810496 0.097040 0.574065 
wait for imu ... 
time: 1403636916.301666, t: 8.096575 -4.025631 0.441417 q: -0.065939 0.810698 0.096345 0.573706 
wait for imu ... 
time: 1403636916.401666, t: 8.134244 -4.056906 0.457098 q: -0.064950 0.811372 0.096816 0.572785 
time: 1403636916.501667, t: 8.171040 -4.089335 0.472578 q: -0.058161 0.811406 0.092611 0.574161 
wait for imu ... 
time: 1403636916.601666, t: 8.209110 -4.119962 0.482449 q: -0.047963 0.812305 0.082862 0.575320 
wait for imu ... 
time: 1403636916.701667, t: 8.245882 -4.146603 0.487618 q: -0.039350 0.813303 0.072443 0.575970 
time: 1403636916.801666, t: 8.280897 -4.169915 0.486390 q: -0.034172 0.813577 0.063281 0.576993 
wait for imu ... 
time: 1403636916.901666, t: 8.314367 -4.190623 0.479648 q: -0.028657 0.814016 0.057743 0.577254 
wait for imu ... 
time: 1403636917.001667, t: 8.346498 -4.206791 0.467462 q: -0.025553 0.813935 0.053803 0.577895 
time: 1403636917.101666, t: 8.376034 -4.220406 0.451019 q: -0.026256 0.814400 0.049303 0.577609 
wait for imu ... 
time: 1403636917.201667, t: 8.405512 -4.232725 0.431326 q: -0.027766 0.814717 0.043597 0.577550 
wait for imu ... 
time: 1403636917.301666, t: 8.431515 -4.245091 0.406206 q: -0.022010 0.814469 0.034215 0.578779 
time: 1403636917.401666, t: 8.456409 -4.259406 0.376609 q: -0.009072 0.814266 0.020365 0.580064 
wait for imu ... 
time: 1403636917.501667, t: 8.479623 -4.273916 0.341891 q: 0.003180 0.814330 0.003589 0.580382 
wait for imu ... 
time: 1403636917.601666, t: 8.501972 -4.286164 0.310432 q: 0.010552 0.813760 -0.010743 0.581006 
wait for imu ... 
time: 1403636917.701667, t: 8.524154 -4.297486 0.286633 q: 0.016517 0.812741 -0.021029 0.582011 
time: 1403636917.801666, t: 8.544537 -4.306714 0.270512 q: 0.022942 0.811987 -0.029013 0.582502 
wait for imu ... 
time: 1403636917.901666, t: 8.563012 -4.313760 0.264162 q: 0.028784 0.811124 -0.034671 0.583135 
time: 1403636918.001667, t: 8.578337 -4.319279 0.261979 q: 0.032591 0.811644 -0.038336 0.581981 
wait for imu ... 
time: 1403636918.101666, t: 8.591983 -4.322494 0.255649 q: 0.036238 0.812622 -0.039528 0.580318 
wait for imu ... 
time: 1403636918.201667, t: 8.603256 -4.323757 0.244761 q: 0.039591 0.813979 -0.038689 0.578250 
wait for imu ... 
time: 1403636918.301666, t: 8.613271 -4.321942 0.238249 q: 0.041805 0.814843 -0.037183 0.576975 
time: 1403636918.401666, t: 8.622308 -4.317944 0.236739 q: 0.041834 0.820883 -0.036250 0.568408 
time: 1403636918.501667, t: 8.632889 -4.311255 0.243023 q: 0.041628 0.826800 -0.035200 0.559849 
wait for imu ... 
time: 1403636918.601666, t: 8.648728 -4.301680 0.257172 q: 0.041111 0.828624 -0.033540 0.557286 
time: 1403636918.701667, t: 8.671139 -4.289274 0.281196 q: 0.038134 0.827243 -0.032457 0.559608 
wait for imu ... 
time: 1403636918.801666, t: 8.695409 -4.273798 0.312509 q: 0.025304 0.824111 -0.038784 0.564532 
time: 1403636918.901666, t: 8.721255 -4.258510 0.349615 q: 0.012759 0.818052 -0.047464 0.573040 
wait for imu ... 
time: 1403636919.001667, t: 8.745998 -4.247739 0.389049 q: 0.007489 0.812968 -0.058904 0.579274 
time: 1403636919.101666, t: 8.770882 -4.242651 0.431375 q: 0.006357 0.809952 -0.067548 0.582558 
wait for imu ... 
time: 1403636919.201667, t: 8.792722 -4.244280 0.475453 q: 0.009092 0.808108 -0.072669 0.584463 
wait for imu ... 
time: 1403636919.301666, t: 8.811098 -4.252079 0.520153 q: 0.013366 0.807431 -0.075652 0.584938 
time: 1403636919.401666, t: 8.824398 -4.264609 0.560408 q: 0.020372 0.806694 -0.078212 0.585416 
wait for imu ... 
time: 1403636919.501667, t: 8.834029 -4.281920 0.594043 q: 0.032490 0.806533 -0.075539 0.585442 
wait for imu ... 
time: 1403636919.601666, t: 8.839127 -4.299813 0.622979 q: 0.044617 0.806507 -0.071565 0.585179 
wait for imu ... 
time: 1403636919.701667, t: 8.842539 -4.320753 0.642499 q: 0.050996 0.805575 -0.069528 0.586186 
wait for imu ... 
time: 1403636919.801666, t: 8.844540 -4.340771 0.655054 q: 0.050852 0.804701 -0.070739 0.587254 
wait for imu ... 
time: 1403636919.901666, t: 8.845514 -4.359774 0.658976 q: 0.048967 0.804142 -0.072213 0.587999 
time: 1403636920.001667, t: 8.844502 -4.378302 0.656510 q: 0.044303 0.802849 -0.074867 0.589801 
wait for imu ... 
time: 1403636920.101666, t: 8.840420 -4.397429 0.647009 q: 0.038171 0.801472 -0.077897 0.591707 
time: 1403636920.201667, t: 8.827145 -4.415582 0.635021 q: 0.032910 0.800604 -0.080372 0.592867 
wait for imu ... 
time: 1403636920.401666, t: 8.793676 -4.461962 0.598854 q: 0.046791 0.801695 -0.068777 0.591917 
wait for imu ... 
time: 1403636920.501667, t: 8.773715 -4.487567 0.583027 q: 0.051630 0.804477 -0.064248 0.588237 
time: 1403636920.601666, t: 8.747660 -4.511266 0.575158 q: 0.052663 0.808361 -0.062898 0.582943 
wait for imu ... 
time: 1403636920.701667, t: 8.718606 -4.532055 0.574791 q: 0.052590 0.812846 -0.063118 0.576656 
wait for imu ... 
time: 1403636920.801666, t: 8.689699 -4.551617 0.582399 q: 0.052156 0.816756 -0.063999 0.571046 
wait for imu ... 
time: 1403636920.901666, t: 8.661946 -4.568655 0.598856 q: 0.051101 0.818814 -0.065013 0.568072 
wait for imu ... 
time: 1403636921.001667, t: 8.636728 -4.582327 0.619732 q: 0.051582 0.819241 -0.065638 0.567340 
wait for imu ... 
time: 1403636921.101666, t: 8.616107 -4.596549 0.636813 q: 0.051409 0.818896 -0.066440 0.567760 
time: 1403636921.201667, t: 8.594019 -4.607277 0.646538 q: 0.052328 0.817408 -0.066521 0.569807 
time: 1403636921.301666, t: 8.576886 -4.616837 0.653312 q: 0.052979 0.811569 -0.066328 0.578057 
wait for imu ... 
time: 1403636921.401666, t: 8.557729 -4.624239 0.652482 q: 0.048736 0.807195 -0.069659 0.584131 
wait for imu ... 
time: 1403636921.501667, t: 8.536249 -4.631803 0.646104 q: 0.042107 0.805725 -0.074466 0.586079 
time: 1403636921.601666, t: 8.508113 -4.638611 0.632528 q: 0.036304 0.808630 -0.079218 0.581829 
wait for imu ... 
time: 1403636921.701667, t: 8.482507 -4.649327 0.613251 q: 0.034854 0.817819 -0.081040 0.568674 
wait for imu ... 
time: 1403636921.801666, t: 8.456807 -4.661395 0.591860 q: 0.037538 0.826775 -0.080264 0.555511 
time: 1403636921.901666, t: 8.436024 -4.675705 0.572080 q: 0.041930 0.827360 -0.078680 0.554551 
wait for imu ... 
time: 1403636922.001667, t: 8.420647 -4.692387 0.552778 q: 0.047997 0.821266 -0.077315 0.563241 
time: 1403636922.101666, t: 8.407057 -4.709698 0.532676 q: 0.054991 0.814965 -0.078299 0.571558 
wait for imu ... 
time: 1403636922.201667, t: 8.392789 -4.725696 0.516706 q: 0.060743 0.811944 -0.080893 0.574903 
wait for imu ... 
time: 1403636922.301666, t: 8.379418 -4.740136 0.507045 q: 0.065929 0.815795 -0.083712 0.568440 
wait for imu ... 
time: 1403636922.401666, t: 8.366887 -4.753384 0.501134 q: 0.068494 0.819213 -0.087555 0.562612 
wait for imu ... 
time: 1403636922.501667, t: 8.355223 -4.765213 0.492446 q: 0.072567 0.822210 -0.093493 0.556744 
wait for imu ... 
time: 1403636922.601666, t: 8.346323 -4.777175 0.478881 q: 0.078667 0.822716 -0.102399 0.553592 
time: 1403636922.701667, t: 8.342485 -4.788897 0.463081 q: 0.086396 0.816770 -0.109246 0.559900 
time: 1403636922.801666, t: 8.341069 -4.798285 0.446452 q: 0.088526 0.806888 -0.117217 0.572150 
wait for imu ... 
time: 1403636922.901666, t: 8.338685 -4.804960 0.432863 q: 0.084558 0.799775 -0.126392 0.580720 
time: 1403636923.001667, t: 8.333007 -4.811036 0.425851 q: 0.078864 0.795246 -0.134723 0.585844 
wait for imu ... 
time: 1403636923.101666, t: 8.324448 -4.819013 0.421120 q: 0.080350 0.794372 -0.139960 0.585601 
wait for imu ... 
time: 1403636923.201667, t: 8.310996 -4.828923 0.411941 q: 0.086834 0.795379 -0.147728 0.581385 
time: 1403636923.301666, t: 8.292889 -4.840450 0.395379 q: 0.098191 0.799493 -0.154124 0.572202 
wait for imu ... 
time: 1403636923.401666, t: 8.273216 -4.853138 0.375929 q: 0.107142 0.805119 -0.159261 0.561195 
wait for imu ... 
time: 1403636923.501667, t: 8.253705 -4.866515 0.351845 q: 0.111904 0.811142 -0.164544 0.549956 
time: 1403636923.601666, t: 8.237812 -4.880216 0.330070 q: 0.113241 0.817160 -0.169038 0.539307 
time: 1403636923.701667, t: 8.228566 -4.895507 0.317461 q: 0.115239 0.819992 -0.170994 0.533942 
time: 1403636923.801666, t: 8.226803 -4.912670 0.317162 q: 0.117033 0.819408 -0.171430 0.534309 
wait for imu ... 
time: 1403636923.901666, t: 8.232355 -4.928992 0.322753 q: 0.117764 0.819569 -0.171084 0.534011 
time: 1403636924.001667, t: 8.244582 -4.943444 0.328003 q: 0.119147 0.819764 -0.169518 0.533905 
time: 1403636924.101666, t: 8.264129 -4.959918 0.322100 q: 0.120179 0.819250 -0.168429 0.534806 
wait for imu ... 
time: 1403636924.201667, t: 8.289712 -4.977388 0.311607 q: 0.121057 0.818177 -0.166398 0.536883 
time: 1403636924.301666, t: 8.317156 -4.992773 0.305984 q: 0.120388 0.816887 -0.165623 0.539232 
time: 1403636924.401666, t: 8.350825 -5.008837 0.303725 q: 0.113636 0.814709 -0.169223 0.542863 
wait for imu ... 
time: 1403636924.501667, t: 8.391025 -5.026431 0.309247 q: 0.106810 0.809012 -0.172820 0.551566 
wait for imu ... 
time: 1403636924.601666, t: 8.437200 -5.045926 0.319664 q: 0.099016 0.802704 -0.176667 0.560937 
wait for imu ... 
time: 1403636924.701667, t: 8.482889 -5.068949 0.328535 q: 0.093521 0.797944 -0.179174 0.567835 
time: 1403636924.801666, t: 8.525282 -5.096337 0.330356 q: 0.087683 0.792944 -0.180528 0.575292 
time: 1403636924.901666, t: 8.563092 -5.129219 0.324867 q: 0.086715 0.788853 -0.181232 0.580815 
wait for imu ... 
time: 1403636925.001667, t: 8.595295 -5.167605 0.311373 q: 0.091420 0.787393 -0.186809 0.580307 
wait for imu ... 
time: 1403636925.101666, t: 8.621366 -5.210187 0.290523 q: 0.103565 0.788693 -0.188354 0.575986 
time: 1403636925.201667, t: 8.643483 -5.254928 0.264722 q: 0.119396 0.792892 -0.185388 0.568065 
wait for imu ... 
time: 1403636925.301666, t: 8.664542 -5.299883 0.235078 q: 0.129418 0.799589 -0.184599 0.556626 
time: 1403636925.401666, t: 8.686682 -5.344134 0.201826 q: 0.134134 0.807767 -0.186296 0.542968 
time: 1403636925.501667, t: 8.711595 -5.388097 0.168974 q: 0.135584 0.813395 -0.188990 0.533187 
time: 1403636925.601666, t: 8.742476 -5.431918 0.143634 q: 0.135644 0.818446 -0.191478 0.524484 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636925.701667, t: 8.781405 -5.475476 0.128151 q: 0.135190 0.821455 -0.193630 0.519078 
time: 1403636925.801666, t: 8.830588 -5.520576 0.123329 q: 0.137002 0.822034 -0.193393 0.517774 
time: 1403636925.901666, t: 8.889618 -5.567137 0.128153 q: 0.139311 0.815943 -0.191974 0.527235 
time: 1403636926.001667, t: 8.954788 -5.612637 0.138352 q: 0.143999 0.805393 -0.188314 0.543272 
time: 1403636926.101666, t: 9.024082 -5.655899 0.144895 q: 0.142340 0.793672 -0.188725 0.560542 
time: 1403636926.201667, t: 9.093146 -5.695335 0.141117 q: 0.135869 0.785394 -0.191796 0.572634 
time: 1403636926.301666, t: 9.157605 -5.732528 0.129286 q: 0.129503 0.781055 -0.194780 0.579001 
time: 1403636926.401666, t: 9.215832 -5.768364 0.111440 q: 0.122504 0.778488 -0.197584 0.583018 
time: 1403636926.501667, t: 9.267000 -5.803590 0.089543 q: 0.118770 0.778752 -0.198263 0.583207 
time: 1403636926.601666, t: 9.311040 -5.840411 0.069863 q: 0.121053 0.782407 -0.194689 0.579035 
time: 1403636926.701667, t: 9.349700 -5.876706 0.058880 q: 0.124128 0.785588 -0.191262 0.575207 
wait for imu ... 
time: 1403636926.801666, t: 9.381168 -5.911483 0.055573 q: 0.123792 0.788882 -0.195824 0.569204 
time: 1403636926.901666, t: 9.411255 -5.949389 0.058461 q: 0.124057 0.789758 -0.206991 0.563957 
time: 1403636927.001667, t: 9.437951 -5.988716 0.060477 q: 0.128944 0.786968 -0.221687 0.561169 
wait for imu ... 
time: 1403636927.101666, t: 9.461935 -6.031124 0.057926 q: 0.139640 0.782643 -0.237091 0.558353 
time: 1403636927.201667, t: 9.483356 -6.077310 0.049922 q: 0.152434 0.776848 -0.255156 0.555127 
time: 1403636927.301666, t: 9.502897 -6.125747 0.034782 q: 0.168432 0.771077 -0.272746 0.550164 
time: 1403636927.401666, t: 9.521390 -6.175355 0.013347 q: 0.183021 0.771277 -0.284723 0.539044 
time: 1403636927.501667, t: 9.534616 -6.222675 -0.012256 q: 0.191205 0.776218 -0.294390 0.523700 
wait for imu ... 
time: 1403636927.601666, t: 9.552649 -6.273140 -0.038340 q: 0.195417 0.781069 -0.302527 0.510119 
time: 1403636927.701667, t: 9.577909 -6.328240 -0.056587 q: 0.199961 0.782834 -0.306789 0.503058 
wait for imu ... 
time: 1403636927.801666, t: 9.608292 -6.385919 -0.064759 q: 0.200939 0.782069 -0.310465 0.501601 
time: 1403636927.901666, t: 9.644668 -6.446772 -0.066580 q: 0.201538 0.780601 -0.311825 0.502802 
time: 1403636928.001667, t: 9.687074 -6.510862 -0.070856 q: 0.202361 0.778914 -0.311914 0.505027 
time: 1403636928.101666, t: 9.735734 -6.577488 -0.078163 q: 0.204840 0.775673 -0.309697 0.510353 
wait for imu ... 
time: 1403636928.301666, t: 9.841901 -6.715145 -0.099575 q: 0.205984 0.761250 -0.305820 0.533426 
wait for imu ... 
time: 1403636928.401666, t: 9.895528 -6.785034 -0.116699 q: 0.206491 0.755738 -0.303366 0.542394 
wait for imu ... 
time: 1403636928.501667, t: 9.944682 -6.853594 -0.136369 q: 0.208650 0.753571 -0.300508 0.546160 
time: 1403636928.601666, t: 9.990551 -6.920301 -0.151859 q: 0.209393 0.755945 -0.298644 0.543611 
wait for imu ... 
time: 1403636928.701667, t: 10.034712 -6.983653 -0.161272 q: 0.208822 0.761941 -0.298138 0.535681 
wait for imu ... 
time: 1403636928.801666, t: 10.078698 -7.044848 -0.162887 q: 0.208331 0.767534 -0.297822 0.528007 
wait for imu ... 
time: 1403636928.901666, t: 10.122680 -7.103998 -0.155928 q: 0.208388 0.769751 -0.297622 0.524862 
time: 1403636929.001667, t: 10.167877 -7.161249 -0.138316 q: 0.209502 0.763775 -0.296652 0.533623 
wait for imu ... 
time: 1403636929.101666, t: 10.213515 -7.217470 -0.113705 q: 0.205214 0.754618 -0.299371 0.546642 
time: 1403636929.201667, t: 10.256864 -7.272561 -0.085564 q: 0.199981 0.749865 -0.302703 0.553246 
time: 1403636929.301666, t: 10.297772 -7.326333 -0.058601 q: 0.193792 0.749386 -0.306404 0.554059 
wait for imu ... 
time: 1403636929.401666, t: 10.335562 -7.381848 -0.037597 q: 0.192514 0.750147 -0.306098 0.553644 
time: 1403636929.501667, t: 10.368167 -7.437961 -0.021958 q: 0.195414 0.752760 -0.302835 0.550868 
wait for imu ... 
time: 1403636929.601666, t: 10.397384 -7.494983 -0.012119 q: 0.201828 0.755788 -0.297204 0.547467 
wait for imu ... 
time: 1403636929.701667, t: 10.424761 -7.550813 -0.007438 q: 0.207931 0.758076 -0.291965 0.544832 
wait for imu ... 
time: 1403636929.801666, t: 10.449568 -7.603232 -0.008991 q: 0.210963 0.759629 -0.289181 0.542984 
time: 1403636929.901666, t: 10.473154 -7.652344 -0.015267 q: 0.209614 0.758615 -0.289538 0.544732 
wait for imu ... 
wait for imu ... 
time: 1403636930.001667, t: 10.494351 -7.695979 -0.018083 q: 0.205580 0.756828 -0.292032 0.547417 
time: 1403636930.101666, t: 10.513602 -7.738479 -0.011319 q: 0.202814 0.756950 -0.293702 0.547387 
wait for imu ... 
time: 1403636930.201667, t: 10.531495 -7.779834 0.002752 q: 0.199507 0.756535 -0.296402 0.547720 
time: 1403636930.301666, t: 10.546686 -7.818716 0.019799 q: 0.196649 0.757670 -0.298602 0.545987 
wait for imu ... 
time: 1403636930.501667, t: 10.571724 -7.899396 0.062581 q: 0.205134 0.758547 -0.293561 0.544379 
time: 1403636930.601666, t: 10.580308 -7.939365 0.075651 q: 0.207356 0.758499 -0.291714 0.544597 
time: 1403636930.701667, t: 10.587347 -7.974733 0.082066 q: 0.203243 0.756971 -0.294413 0.546816 
wait for imu ... 
time: 1403636930.801666, t: 10.590913 -8.008469 0.083593 q: 0.195364 0.755042 -0.299562 0.549552 
wait for imu ... 
time: 1403636930.901666, t: 10.590693 -8.042689 0.080263 q: 0.191001 0.752624 -0.303966 0.551979 
wait for imu ... 
time: 1403636931.001667, t: 10.584846 -8.079351 0.072265 q: 0.187298 0.748235 -0.314564 0.553275 
time: 1403636931.101666, t: 10.575450 -8.120336 0.061576 q: 0.194608 0.743851 -0.321861 0.552466 
wait for imu ... 
time: 1403636931.301666, t: 10.537546 -8.209246 0.062375 q: 0.223711 0.735288 -0.319802 0.554104 
wait for imu ... 
time: 1403636931.401666, t: 10.512199 -8.249044 0.071784 q: 0.233706 0.733997 -0.318709 0.552318 
wait for imu ... 
time: 1403636931.501667, t: 10.482818 -8.285202 0.085358 q: 0.244619 0.736467 -0.315145 0.546316 
wait for imu ... 
time: 1403636931.601666, t: 10.451665 -8.315433 0.103751 q: 0.255049 0.739423 -0.310690 0.540070 
time: 1403636931.701667, t: 10.421626 -8.337786 0.119131 q: 0.260574 0.740015 -0.308470 0.537890 
wait for imu ... 
wait for imu ... 
time: 1403636931.901666, t: 10.363299 -8.361793 0.126700 q: 0.240946 0.743085 -0.323923 0.533708 
time: 1403636932.001667, t: 10.330048 -8.365818 0.120899 q: 0.235913 0.743542 -0.328012 0.532821 
wait for imu ... 
time: 1403636932.101666, t: 10.300924 -8.373775 0.112503 q: 0.235615 0.740921 -0.328646 0.536202 
wait for imu ... 
time: 1403636932.201667, t: 10.270316 -8.377618 0.100493 q: 0.238144 0.738007 -0.327861 0.539574 
time: 1403636932.301666, t: 10.235021 -8.376605 0.092670 q: 0.248720 0.736202 -0.322286 0.540626 
wait for imu ... 
time: 1403636932.401666, t: 10.201910 -8.372934 0.093538 q: 0.258461 0.735901 -0.317948 0.539033 
wait for imu ... 
time: 1403636932.501667, t: 10.167076 -8.359276 0.101194 q: 0.263450 0.734099 -0.320268 0.537700 
wait for imu ... 
time: 1403636932.601666, t: 10.129740 -8.336167 0.115951 q: 0.266192 0.730873 -0.331600 0.533861 
time: 1403636932.701667, t: 10.092388 -8.306503 0.137992 q: 0.267424 0.724398 -0.347883 0.531704 
time: 1403636932.801666, t: 10.054921 -8.271358 0.166253 q: 0.271702 0.718675 -0.359711 0.529426 
time: 1403636932.901666, t: 10.016383 -8.230852 0.196445 q: 0.275671 0.715627 -0.369861 0.524488 
wait for imu ... 
time: 1403636933.001667, t: 9.978804 -8.186308 0.217201 q: 0.278594 0.714222 -0.378103 0.518952 
wait for imu ... 
time: 1403636933.101666, t: 9.940155 -8.139539 0.222918 q: 0.283667 0.710871 -0.387438 0.513894 
time: 1403636933.201667, t: 9.901899 -8.090133 0.217020 q: 0.283575 0.711551 -0.397303 0.505401 
wait for imu ... 
time: 1403636933.301666, t: 9.862180 -8.038929 0.203741 q: 0.278877 0.719631 -0.407416 0.488233 
time: 1403636933.401666, t: 9.825625 -7.989455 0.188573 q: 0.273705 0.723793 -0.414224 0.479195 
wait for imu ... 
time: 1403636933.501667, t: 9.793619 -7.945056 0.172291 q: 0.275355 0.720944 -0.414386 0.482394 
wait for imu ... 
time: 1403636933.601666, t: 9.764597 -7.904095 0.157822 q: 0.279075 0.716436 -0.411596 0.489312 
wait for imu ... 
time: 1403636933.701667, t: 9.738713 -7.865992 0.148606 q: 0.282609 0.712627 -0.407871 0.495920 
time: 1403636933.801666, t: 9.713047 -7.829074 0.147825 q: 0.285675 0.709417 -0.403685 0.502151 
wait for imu ... 
time: 1403636933.901666, t: 9.688924 -7.792714 0.152270 q: 0.285255 0.705677 -0.403310 0.507927 
time: 1403636934.001667, t: 9.662537 -7.756205 0.161439 q: 0.286015 0.702041 -0.408875 0.508090 
wait for imu ... 
time: 1403636934.101666, t: 9.634315 -7.719762 0.165385 q: 0.292022 0.695888 -0.419392 0.504553 
wait for imu ... 
time: 1403636934.201667, t: 9.604008 -7.683313 0.154803 q: 0.303939 0.686981 -0.433280 0.497942 
wait for imu ... 
time: 1403636934.301666, t: 9.570374 -7.643525 0.134933 q: 0.316980 0.675722 -0.450040 0.490293 
wait for imu ... 
time: 1403636934.401666, t: 9.536434 -7.601716 0.112126 q: 0.326486 0.660436 -0.471553 0.484633 
wait for imu ... 
time: 1403636934.501667, t: 9.500778 -7.557691 0.093336 q: 0.334633 0.644560 -0.494415 0.477616 
wait for imu ... 
time: 1403636934.601666, t: 9.462575 -7.515490 0.084959 q: 0.346805 0.629989 -0.513910 0.467692 
time: 1403636934.701667, t: 9.421180 -7.470946 0.087028 q: 0.356917 0.618852 -0.530659 0.456106 
time: 1403636934.801666, t: 9.377847 -7.425574 0.097769 q: 0.365833 0.615591 -0.540734 0.441384 
wait for imu ... 
time: 1403636934.901666, t: 9.332059 -7.379513 0.115275 q: 0.371415 0.615364 -0.547119 0.428998 
wait for imu ... 
time: 1403636935.001667, t: 9.285160 -7.333618 0.139594 q: 0.374311 0.615073 -0.550357 0.422710 
wait for imu ... 
time: 1403636935.101666, t: 9.241339 -7.292133 0.172556 q: 0.378766 0.612447 -0.548368 0.425133 
wait for imu ... 
time: 1403636935.201667, t: 9.200687 -7.254158 0.208893 q: 0.379773 0.607794 -0.546061 0.433792 
time: 1403636935.301666, t: 9.160027 -7.216659 0.239916 q: 0.377685 0.606092 -0.544740 0.439619 
wait for imu ... 
time: 1403636935.401666, t: 9.119998 -7.181648 0.264281 q: 0.374135 0.606374 -0.543896 0.443295 
wait for imu ... 
time: 1403636935.501667, t: 9.078426 -7.147822 0.281687 q: 0.372040 0.607586 -0.542138 0.445546 
time: 1403636935.601666, t: 9.034728 -7.112827 0.291555 q: 0.370257 0.608823 -0.540691 0.447098 
time: 1403636935.701667, t: 8.989078 -7.076751 0.294136 q: 0.369470 0.610176 -0.538853 0.448123 
wait for imu ... 
time: 1403636935.801666, t: 8.940944 -7.041177 0.288896 q: 0.366007 0.615980 -0.539493 0.442215 
wait for imu ... 
time: 1403636935.901666, t: 8.894468 -7.009207 0.276430 q: 0.361628 0.621996 -0.541466 0.434926 
wait for imu ... 
time: 1403636936.001667, t: 8.848494 -6.980626 0.256899 q: 0.352189 0.628719 -0.547204 0.425726 
time: 1403636936.101666, t: 8.801889 -6.956359 0.233911 q: 0.347530 0.632708 -0.549904 0.420130 
wait for imu ... 
time: 1403636936.201667, t: 8.755227 -6.938956 0.209962 q: 0.350344 0.633228 -0.548282 0.419127 
wait for imu ... 
time: 1403636936.301666, t: 8.709463 -6.929884 0.190083 q: 0.356636 0.630267 -0.544622 0.423036 
wait for imu ... 
time: 1403636936.401666, t: 8.664108 -6.924467 0.176398 q: 0.362752 0.625459 -0.541602 0.428812 
time: 1403636936.501667, t: 8.619171 -6.920938 0.171319 q: 0.368406 0.620207 -0.538778 0.435130 
wait for imu ... 
time: 1403636936.601666, t: 8.574188 -6.921064 0.174072 q: 0.371500 0.616653 -0.538491 0.437899 
wait for imu ... 
time: 1403636936.701667, t: 8.531989 -6.922028 0.173497 q: 0.372485 0.614903 -0.539893 0.437796 
wait for imu ... 
time: 1403636936.801666, t: 8.491392 -6.924381 0.168545 q: 0.374624 0.614325 -0.540098 0.436527 
wait for imu ... 
time: 1403636936.901666, t: 8.451916 -6.928967 0.163365 q: 0.377220 0.615147 -0.539725 0.433585 
time: 1403636937.001667, t: 8.409896 -6.928527 0.161537 q: 0.379220 0.615974 -0.539196 0.431318 
time: 1403636937.101666, t: 8.373978 -6.934090 0.170526 q: 0.379534 0.616043 -0.539926 0.430030 
time: 1403636937.201667, t: 8.336099 -6.934301 0.182257 q: 0.376910 0.613552 -0.542761 0.432323 
wait for imu ... 
time: 1403636937.301666, t: 8.301542 -6.941380 0.193294 q: 0.376216 0.612896 -0.544041 0.432250 
time: 1403636937.401666, t: 8.265188 -6.942685 0.197287 q: 0.376766 0.611887 -0.544588 0.432511 
time: 1403636937.501667, t: 8.230349 -6.945759 0.195484 q: 0.377144 0.611266 -0.545139 0.432366 
wait for imu ... 
time: 1403636937.601666, t: 8.197793 -6.955798 0.187672 q: 0.378559 0.610931 -0.545105 0.431645 
wait for imu ... 
time: 1403636937.701667, t: 8.164617 -6.957939 0.174829 q: 0.383934 0.613285 -0.542448 0.426879 
wait for imu ... 
time: 1403636937.801666, t: 8.136914 -6.966677 0.155827 q: 0.390043 0.615420 -0.538963 0.422663 
time: 1403636937.901666, t: 8.109589 -6.968885 0.134494 q: 0.397538 0.612147 -0.534800 0.425709 
time: 1403636938.001667, t: 8.091967 -6.973046 0.106576 q: 0.406305 0.608607 -0.529974 0.428534 
time: 1403636938.101666, t: 8.078513 -6.969890 0.074316 q: 0.412178 0.602775 -0.528546 0.432908 
wait for imu ... 
time: 1403636938.201667, t: 8.069243 -6.958038 0.039861 q: 0.412111 0.593825 -0.534104 0.438486 
time: 1403636938.301666, t: 8.060295 -6.939403 0.010445 q: 0.407376 0.585041 -0.542359 0.444543 
wait for imu ... 
time: 1403636938.401666, t: 8.049140 -6.913032 -0.012905 q: 0.391376 0.575501 -0.557399 0.452692 
wait for imu ... 
time: 1403636938.501667, t: 8.032278 -6.881056 -0.030063 q: -0.376184 -0.570040 0.571269 -0.455183 
wait for imu ... 
time: 1403636938.601666, t: 8.006301 -6.846543 -0.037638 q: -0.369427 -0.570410 0.578759 -0.450771 
wait for imu ... 
time: 1403636938.701667, t: 7.974156 -6.811355 -0.037369 q: -0.368134 -0.570679 0.581488 -0.447966 
wait for imu ... 
time: 1403636938.801666, t: 7.932319 -6.777659 -0.031506 q: -0.372371 -0.573552 0.580254 -0.442361 
time: 1403636938.901666, t: 7.883746 -6.744111 -0.023515 q: 0.379707 0.580136 -0.576137 0.432817 
wait for imu ... 
time: 1403636939.001667, t: 7.830367 -6.710167 -0.017974 q: 0.384974 0.586562 -0.573080 0.423463 
time: 1403636939.101666, t: 7.776546 -6.677923 -0.019458 q: 0.387424 0.589238 -0.571154 0.420100 
wait for imu ... 
time: 1403636939.201667, t: 7.723058 -6.645866 -0.025735 q: 0.389461 0.588689 -0.568714 0.422291 
wait for imu ... 
time: 1403636939.301666, t: 7.670003 -6.615060 -0.037442 q: 0.390338 0.588210 -0.566678 0.424878 
time: 1403636939.401666, t: 7.616395 -6.585253 -0.051865 q: 0.390346 0.589313 -0.564327 0.426468 
time: 1403636939.501667, t: 7.562163 -6.555435 -0.061084 q: 0.392062 0.589492 -0.560412 0.429797 
wait for imu ... 
time: 1403636939.601666, t: 7.507958 -6.524903 -0.060862 q: 0.396696 0.587942 -0.554716 0.435025 
wait for imu ... 
wait for imu ... 
time: 1403636939.801666, t: 7.398269 -6.453216 -0.048686 q: 0.399109 0.584657 -0.551010 0.441901 
time: 1403636939.901666, t: 7.343184 -6.410515 -0.049138 q: 0.396556 0.584936 -0.553001 0.441342 
wait for imu ... 
time: 1403636940.001667, t: 7.285599 -6.362304 -0.055730 q: 0.395192 0.581291 -0.558579 0.440357 
wait for imu ... 
time: 1403636940.101666, t: 7.226224 -6.312050 -0.067469 q: 0.396045 0.577740 -0.565550 0.435337 
time: 1403636940.201667, t: 7.165496 -6.259455 -0.084770 q: 0.394353 0.574450 -0.573109 0.431322 
time: 1403636940.301666, t: 7.104168 -6.206100 -0.105329 q: -0.395272 -0.571264 0.577556 -0.428773 
wait for imu ... 
time: 1403636940.401666, t: 7.040789 -6.152591 -0.130116 q: -0.397261 -0.567864 0.580550 -0.427407 
wait for imu ... 
time: 1403636940.601666, t: 6.903743 -6.038186 -0.174609 q: -0.395671 -0.566647 0.588061 -0.420166 
time: 1403636940.701667, t: 6.832437 -5.980435 -0.184799 q: -0.395143 -0.570781 0.590609 -0.411403 
time: 1403636940.801666, t: 6.760777 -5.926857 -0.186732 q: -0.393946 -0.574495 0.592454 -0.404672 
wait for imu ... 
time: 1403636940.901666, t: 6.685872 -5.874428 -0.178807 q: -0.394620 -0.577535 0.592358 -0.399800 
wait for imu ... 
time: 1403636941.001667, t: 6.611513 -5.826842 -0.163935 q: -0.396511 -0.577649 0.590815 -0.400048 
wait for imu ... 
time: 1403636941.201667, t: 6.467227 -5.734752 -0.121332 q: -0.401506 -0.575717 0.586228 -0.404574 
wait for imu ... 
time: 1403636941.301666, t: 6.397134 -5.690519 -0.100652 q: -0.403815 -0.574179 0.583151 -0.408885 
wait for imu ... 
time: 1403636941.401666, t: 6.327923 -5.649845 -0.085304 q: -0.405108 -0.574867 0.579722 -0.411507 
time: 1403636941.501667, t: 6.261281 -5.608708 -0.074762 q: -0.405513 -0.575958 0.576603 -0.413957 
time: 1403636941.601666, t: 6.193270 -5.569058 -0.070266 q: 0.404397 0.578499 -0.574670 0.414193 
wait for imu ... 
time: 1403636941.701667, t: 6.127841 -5.528542 -0.070195 q: 0.403237 0.580648 -0.573338 0.414163 
time: 1403636941.801666, t: 6.065200 -5.487857 -0.071270 q: 0.401398 0.582163 -0.572755 0.414630 
time: 1403636941.901666, t: 6.002950 -5.442520 -0.066634 q: 0.398840 0.583571 -0.573140 0.414587 
wait for imu ... 
time: 1403636942.001667, t: 5.942240 -5.398781 -0.055236 q: 0.395949 0.583802 -0.574226 0.415528 
time: 1403636942.101666, t: 5.882029 -5.355599 -0.039147 q: 0.394053 0.582451 -0.575227 0.417836 
wait for imu ... 
time: 1403636942.201667, t: 5.821576 -5.313250 -0.023921 q: 0.393416 0.580580 -0.575860 0.420162 
wait for imu ... 
time: 1403636942.301666, t: 5.758604 -5.269391 -0.013768 q: 0.392289 0.578391 -0.577480 0.422008 
time: 1403636942.401666, t: 5.694852 -5.225510 -0.010658 q: -0.390359 -0.575036 0.580102 -0.424777 
wait for imu ... 
time: 1403636942.501667, t: 5.629737 -5.180964 -0.013387 q: -0.388079 -0.572895 0.583481 -0.425130 
time: 1403636942.601666, t: 5.563656 -5.137130 -0.022078 q: -0.385738 -0.573158 0.586803 -0.422326 
time: 1403636942.701667, t: 5.493444 -5.093071 -0.034086 q: -0.385629 -0.575880 0.588416 -0.416437 
wait for imu ... 
time: 1403636942.801666, t: 5.418714 -5.052151 -0.047772 q: -0.387190 -0.577464 0.588597 -0.412519 
wait for imu ... 
time: 1403636942.901666, t: 5.342908 -5.013939 -0.054747 q: -0.393573 -0.576494 0.585584 -0.412124 
wait for imu ... 
time: 1403636943.001667, t: 5.267724 -4.978859 -0.052179 q: -0.398212 -0.575529 0.583519 -0.411946 
time: 1403636943.101666, t: 5.194335 -4.944722 -0.043132 q: -0.402940 -0.573844 0.581473 -0.412592 
wait for imu ... 
wait for imu ... 
time: 1403636943.201667, t: 5.122955 -4.911828 -0.032366 q: -0.404698 -0.571192 0.581614 -0.414349 
time: 1403636943.301666, t: 5.052794 -4.877069 -0.027032 q: -0.406835 -0.570285 0.581793 -0.413252 
time: 1403636943.401666, t: 4.983369 -4.843180 -0.027785 q: -0.409335 -0.568643 0.582070 -0.412655 
wait for imu ... 
time: 1403636943.501667, t: 4.913956 -4.805440 -0.034224 q: -0.411159 -0.567697 0.582335 -0.411770 
wait for imu ... 
time: 1403636943.601666, t: 4.844238 -4.765990 -0.046123 q: -0.413507 -0.567185 0.581871 -0.410780 
time: 1403636943.701667, t: 4.774167 -4.725096 -0.062795 q: -0.415429 -0.566359 0.581260 -0.410844 
time: 1403636943.801666, t: 4.706120 -4.681459 -0.085397 q: -0.416591 -0.566648 0.581177 -0.409384 
time: 1403636943.901666, t: 4.642126 -4.637422 -0.115085 q: -0.410285 -0.571205 0.581385 -0.409125 
wait for imu ... 
time: 1403636944.001667, t: 4.578002 -4.590812 -0.149731 q: 0.396177 0.583014 -0.582762 0.404385 
time: 1403636944.101666, t: 4.513850 -4.546112 -0.183231 q: 0.382516 0.595402 -0.584496 0.396916 
wait for imu ... 
time: 1403636944.201667, t: 4.453010 -4.507445 -0.208672 q: 0.374838 0.603831 -0.583591 0.392818 
wait for imu ... 
time: 1403636944.301666, t: 4.395618 -4.477791 -0.224478 q: 0.372081 0.606654 -0.581031 0.394879 
time: 1403636944.401666, t: 4.339797 -4.457405 -0.231064 q: 0.375119 0.604757 -0.575707 0.402637 
wait for imu ... 
time: 1403636944.501667, t: 4.287494 -4.443454 -0.231182 q: 0.385619 0.602689 -0.566073 0.409421 
wait for imu ... 
time: 1403636944.601666, t: 4.237840 -4.431238 -0.225422 q: 0.399585 0.602567 -0.554403 0.412167 
wait for imu ... 
time: 1403636944.701667, t: 4.193926 -4.417661 -0.215536 q: 0.407432 0.605816 -0.544785 0.412547 
time: 1403636944.801666, t: 4.154885 -4.401322 -0.202647 q: 0.402243 0.606039 -0.543081 0.419500 
time: 1403636944.901666, t: 4.120920 -4.383000 -0.183900 q: 0.396595 0.605723 -0.542767 0.425694 
wait for imu ... 
time: 1403636945.001667, t: 4.093411 -4.364567 -0.165378 q: 0.393241 0.605514 -0.542113 0.429917 
time: 1403636945.101666, t: 4.070096 -4.345547 -0.157328 q: 0.392285 0.606230 -0.540522 0.431779 
wait for imu ... 
time: 1403636945.201667, t: 4.046895 -4.322934 -0.161808 q: 0.391426 0.607293 -0.539493 0.432352 
time: 1403636945.301666, t: 4.026785 -4.296554 -0.166881 q: 0.390914 0.607527 -0.538965 0.433145 
wait for imu ... 
time: 1403636945.401666, t: 4.008092 -4.268380 -0.165634 q: 0.391203 0.608157 -0.538777 0.432231 
wait for imu ... 
time: 1403636945.501667, t: 3.991961 -4.238464 -0.159220 q: 0.391578 0.607480 -0.539358 0.432121 
time: 1403636945.601666, t: 3.978394 -4.207888 -0.156084 q: 0.387865 0.608474 -0.543666 0.428657 
time: 1403636945.701667, t: 3.967659 -4.175598 -0.160225 q: 0.380954 0.614146 -0.550497 0.417913 
wait for imu ... 
time: 1403636945.801666, t: 3.961907 -4.144847 -0.170217 q: 0.374382 0.620328 -0.556781 0.406234 
time: 1403636945.901666, t: 3.958977 -4.119560 -0.184653 q: 0.372089 0.620598 -0.560305 0.403071 
time: 1403636946.001667, t: 3.960980 -4.102239 -0.202335 q: 0.380112 0.615316 -0.556239 0.409266 
wait for imu ... 
time: 1403636946.101666, t: 3.964638 -4.086268 -0.223922 q: 0.387011 0.610160 -0.553089 0.414753 
time: 1403636946.201667, t: 3.969829 -4.070301 -0.252082 q: 0.389322 0.606945 -0.553362 0.416937 
wait for imu ... 
time: 1403636946.301666, t: 3.976491 -4.053654 -0.284816 q: 0.394141 0.603778 -0.551562 0.419385 
time: 1403636946.401666, t: 3.983677 -4.034960 -0.323909 q: 0.397322 0.600486 -0.551130 0.421674 
wait for imu ... 
time: 1403636946.501667, t: 3.992665 -4.014476 -0.369257 q: 0.398332 0.598496 -0.552402 0.421884 
wait for imu ... 
time: 1403636946.601666, t: 4.002895 -3.991616 -0.415438 q: 0.399893 0.597023 -0.553058 0.421636 
wait for imu ... 
time: 1403636946.701667, t: 4.015917 -3.969315 -0.457613 q: 0.393720 0.594399 -0.558787 0.423594 
wait for imu ... 
time: 1403636946.801666, t: 4.029050 -3.946021 -0.492864 q: 0.379378 0.586137 -0.569846 0.433349 
wait for imu ... 
time: 1403636946.901666, t: 4.037797 -3.923719 -0.523561 q: 0.369707 0.581305 -0.577135 0.438538 
wait for imu ... 
time: 1403636947.001667, t: 4.040047 -3.901278 -0.557140 q: -0.357873 -0.575126 0.585269 -0.445665 
time: 1403636947.101666, t: 4.032502 -3.879417 -0.593328 q: -0.355398 -0.575554 0.587167 -0.444596 
wait for imu ... 
time: 1403636947.201667, t: 4.015911 -3.859817 -0.626570 q: 0.362939 0.586957 -0.582924 0.428901 
wait for imu ... 
time: 1403636947.301666, t: 3.994748 -3.841732 -0.654436 q: 0.367520 0.602057 -0.580424 0.406895 
time: 1403636947.401666, t: 3.974095 -3.830455 -0.674339 q: 0.366650 0.611621 -0.581010 0.392320 
wait for imu ... 
time: 1403636947.501667, t: 3.955206 -3.828925 -0.684087 q: 0.366745 0.611714 -0.581626 0.391171 
wait for imu ... 
time: 1403636947.601666, t: 3.937144 -3.839912 -0.684773 q: 0.370725 0.604562 -0.580061 0.400745 
wait for imu ... 
time: 1403636947.701667, t: 3.918285 -3.858343 -0.679058 q: 0.377509 0.602514 -0.575616 0.403895 
time: 1403636947.801666, t: 3.900811 -3.884267 -0.676044 q: 0.384423 0.605077 -0.570509 0.400775 
time: 1403636947.901666, t: 3.886845 -3.917445 -0.677295 q: 0.394205 0.609696 -0.563068 0.394751 
wait for imu ... 
time: 1403636948.001667, t: 3.876296 -3.948224 -0.685177 q: 0.394596 0.611004 -0.561979 0.393888 
wait for imu ... 
time: 1403636948.101666, t: 3.870294 -3.978659 -0.697020 q: 0.387009 0.611819 -0.566234 0.394056 
wait for imu ... 
time: 1403636948.201667, t: 3.867397 -4.013365 -0.711602 q: 0.387648 0.613636 -0.564219 0.393493 
wait for imu ... 
time: 1403636948.301666, t: 3.868244 -4.049500 -0.728940 q: 0.389575 0.615014 -0.561116 0.393875 
wait for imu ... 
time: 1403636948.401666, t: 3.873898 -4.088538 -0.749415 q: 0.392099 0.617173 -0.557253 0.393479 
wait for imu ... 
time: 1403636948.501667, t: 3.885632 -4.130827 -0.772106 q: 0.398429 0.621200 -0.550174 0.390735 
time: 1403636948.601666, t: 3.905407 -4.175462 -0.796026 q: 0.411083 0.626027 -0.538614 0.385999 
wait for imu ... 
time: 1403636948.701667, t: 3.936784 -4.219269 -0.816919 q: 0.417727 0.626591 -0.531600 0.387671 
time: 1403636948.801666, t: 3.980232 -4.261810 -0.831923 q: 0.409056 0.619586 -0.536629 0.401019 
wait for imu ... 
time: 1403636948.901666, t: 4.031946 -4.304252 -0.838438 q: 0.398976 0.610778 -0.542387 0.416635 
time: 1403636949.001667, t: 4.087065 -4.345343 -0.841594 q: 0.389277 0.600929 -0.547449 0.433183 
wait for imu ... 
time: 1403636949.101666, t: 4.140341 -4.385498 -0.848174 q: 0.386916 0.598417 -0.547445 0.438745 
wait for imu ... 
time: 1403636949.201667, t: 4.191107 -4.422295 -0.858703 q: 0.387905 0.600192 -0.545413 0.437976 
time: 1403636949.301666, t: 4.240357 -4.455908 -0.874820 q: 0.388119 0.601990 -0.544321 0.436677 
wait for imu ... 
time: 1403636949.401666, t: 4.289099 -4.486419 -0.895803 q: 0.384984 0.600209 -0.545490 0.440427 
time: 1403636949.501667, t: 4.335566 -4.514272 -0.920371 q: 0.382420 0.598141 -0.546670 0.443998 
wait for imu ... 
time: 1403636949.601666, t: 4.380086 -4.540426 -0.941786 q: 0.378858 0.596405 -0.548476 0.447149 
wait for imu ... 
time: 1403636949.701667, t: 4.421609 -4.566774 -0.957429 q: 0.375334 0.599361 -0.551024 0.443017 
time: 1403636949.801666, t: 4.459475 -4.590011 -0.965487 q: 0.373274 0.605073 -0.552344 0.435280 
wait for imu ... 
time: 1403636949.901666, t: 4.493967 -4.608002 -0.970545 q: 0.368013 0.609472 -0.556145 0.428735 
wait for imu ... 
time: 1403636950.001667, t: 4.525703 -4.625637 -0.971638 q: 0.363686 0.611753 -0.559313 0.425040 
time: 1403636950.101666, t: 4.557251 -4.650983 -0.967902 q: 0.359851 0.613316 -0.562500 0.421835 
time: 1403636950.201667, t: 4.586655 -4.679870 -0.966003 q: 0.362050 0.615431 -0.561753 0.417850 
time: 1403636950.301666, t: 4.614959 -4.712164 -0.969903 q: 0.366736 0.616201 -0.559084 0.416205 
wait for imu ... 
time: 1403636950.501667, t: 4.673424 -4.784806 -0.988804 q: 0.382986 0.614606 -0.548519 0.417982 
time: 1403636950.601666, t: 4.703599 -4.822698 -1.001873 q: 0.392520 0.615428 -0.541540 0.417026 
wait for imu ... 
time: 1403636950.701667, t: 4.738951 -4.859572 -1.010866 q: 0.393993 0.614174 -0.540080 0.419373 
wait for imu ... 
time: 1403636950.801666, t: 4.774752 -4.894509 -1.011932 q: 0.391348 0.610158 -0.541114 0.426321 
wait for imu ... 
time: 1403636950.901666, t: 4.813016 -4.927308 -1.006005 q: 0.388204 0.608031 -0.542258 0.430758 
time: 1403636951.001667, t: 4.853064 -4.960283 -0.993583 q: 0.386677 0.607093 -0.542462 0.433190 
wait for imu ... 
time: 1403636951.101666, t: 4.894948 -4.992712 -0.975253 q: 0.380776 0.604154 -0.546138 0.437883 
time: 1403636951.201667, t: 4.937111 -5.024817 -0.961123 q: 0.372309 0.605259 -0.552102 0.436155 
wait for imu ... 
time: 1403636951.401666, t: 5.014526 -5.090672 -0.954986 q: 0.365028 0.616293 -0.557691 0.419427 
time: 1403636951.501667, t: 5.050384 -5.127031 -0.959328 q: 0.364824 0.619109 -0.558129 0.414848 
wait for imu ... 
time: 1403636951.601666, t: 5.086536 -5.167309 -0.967306 q: 0.366924 0.620565 -0.556907 0.412456 
time: 1403636951.701667, t: 5.124417 -5.210924 -0.976419 q: 0.371668 0.619847 -0.554071 0.413108 
wait for imu ... 
time: 1403636951.801666, t: 5.164069 -5.261574 -0.980396 q: 0.376571 0.617225 -0.550896 0.416823 
time: 1403636951.901666, t: 5.204972 -5.315773 -0.976250 q: 0.383436 0.616832 -0.546030 0.417549 
time: 1403636952.001667, t: 5.245498 -5.370741 -0.971022 q: 0.389073 0.617942 -0.542026 0.415904 
wait for imu ... 
time: 1403636952.101666, t: 5.289479 -5.423272 -0.967360 q: 0.391251 0.616393 -0.540782 0.417775 
time: 1403636952.201667, t: 5.334989 -5.474664 -0.969717 q: 0.390303 0.612655 -0.541390 0.423337 
time: 1403636952.301666, t: 5.378386 -5.524013 -0.980414 q: 0.386680 0.607136 -0.543451 0.431886 
wait for imu ... 
time: 1403636952.401666, t: 5.422957 -5.572024 -0.997170 q: 0.383854 0.602339 -0.545145 0.438931 
time: 1403636952.501667, t: 5.465866 -5.616958 -1.018715 q: 0.386307 0.602364 -0.542776 0.439680 
wait for imu ... 
time: 1403636952.601666, t: 5.510561 -5.657785 -1.041776 q: 0.389637 0.604351 -0.539954 0.437484 
wait for imu ... 
time: 1403636952.701667, t: 5.556082 -5.696090 -1.059935 q: 0.391037 0.605202 -0.538615 0.436710 
time: 1403636952.801666, t: 5.599426 -5.727355 -1.075147 q: 0.387832 0.608701 -0.540849 0.431915 
time: 1403636952.901666, t: 5.642861 -5.758873 -1.088762 q: 0.382174 0.611324 -0.544949 0.428085 
wait for imu ... 
time: 1403636953.001667, t: 5.689894 -5.791425 -1.105768 q: 0.372628 0.611421 -0.552349 0.426877 
wait for imu ... 
time: 1403636953.101666, t: 5.737072 -5.825011 -1.126750 q: 0.364979 0.609040 -0.558225 0.429238 
time: 1403636953.201667, t: 5.779349 -5.857454 -1.155031 q: 0.362200 0.608475 -0.560435 0.429513 
time: 1403636953.301666, t: 5.816139 -5.892798 -1.185965 q: 0.362552 0.609375 -0.559816 0.428747 
time: 1403636953.401666, t: 5.851752 -5.930173 -1.207831 q: 0.366553 0.610750 -0.556498 0.427708 
time: 1403636953.501667, t: 5.886317 -5.968366 -1.220742 q: 0.373848 0.612619 -0.550797 0.426096 
wait for imu ... 
time: 1403636953.601666, t: 5.917192 -6.004517 -1.228564 q: 0.378090 0.614738 -0.546974 0.424223 
time: 1403636953.701667, t: 5.944538 -6.041845 -1.231107 q: 0.379206 0.620507 -0.544451 0.418028 
wait for imu ... 
time: 1403636953.801666, t: 5.976776 -6.078587 -1.220404 q: 0.382625 0.625665 -0.540662 0.412100 
wait for imu ... 
time: 1403636953.901666, t: 6.015848 -6.121255 -1.206443 q: 0.382969 0.626396 -0.538910 0.412964 
wait for imu ... 
time: 1403636954.001667, t: 6.053683 -6.158686 -1.181155 q: 0.379761 0.624859 -0.540344 0.416367 
wait for imu ... 
time: 1403636954.101666, t: 6.098285 -6.204588 -1.164464 q: 0.378458 0.623615 -0.540983 0.418583 
time: 1403636954.201667, t: 6.146601 -6.252401 -1.153649 q: 0.377548 0.622663 -0.541470 0.420190 
wait for imu ... 
time: 1403636954.301666, t: 6.194841 -6.299062 -1.142899 q: 0.376172 0.623615 -0.542603 0.418547 
wait for imu ... 
time: 1403636954.501667, t: 6.304085 -6.404635 -1.111614 q: 0.372392 0.623766 -0.547733 0.415005 
time: 1403636954.601666, t: 6.364629 -6.463461 -1.094109 q: 0.375003 0.623410 -0.548242 0.412509 
wait for imu ... 
time: 1403636954.701667, t: 6.426542 -6.525654 -1.088012 q: 0.379105 0.620258 -0.548325 0.413399 
wait for imu ... 
time: 1403636954.801666, t: 6.490677 -6.590207 -1.097460 q: 0.383798 0.614409 -0.548351 0.417747 
wait for imu ... 
time: 1403636954.901666, t: 6.555475 -6.654951 -1.116097 q: 0.387940 0.608751 -0.548874 0.421499 
wait for imu ... 
time: 1403636955.001667, t: 6.621091 -6.716681 -1.138913 q: 0.391884 0.604463 -0.549731 0.422903 
time: 1403636955.101666, t: 6.687938 -6.774839 -1.163249 q: 0.394657 0.603463 -0.551619 0.419279 
wait for imu ... 
time: 1403636955.201667, t: 6.754976 -6.831726 -1.181692 q: 0.397635 0.602402 -0.553283 0.415784 
wait for imu ... 
time: 1403636955.301666, t: 6.819353 -6.884835 -1.193771 q: 0.399455 0.599025 -0.555959 0.415348 
time: 1403636955.401666, t: 6.886537 -6.938823 -1.200002 q: 0.401954 0.596550 -0.557898 0.413897 
wait for imu ... 
time: 1403636955.601666, t: 7.031180 -7.043916 -1.216678 q: 0.404925 0.593857 -0.561076 0.410564 
time: 1403636955.701667, t: 7.105305 -7.092958 -1.231815 q: 0.405975 0.592995 -0.562124 0.409339 
wait for imu ... 
time: 1403636955.801666, t: 7.181911 -7.143293 -1.244458 q: 0.406717 0.592630 -0.562708 0.408327 
time: 1403636955.901666, t: 7.261174 -7.192219 -1.248641 q: 0.403535 0.590136 -0.565993 0.410549 
time: 1403636956.001667, t: 7.340760 -7.240045 -1.245022 q: 0.396089 0.584218 -0.572527 0.417152 
wait for imu ... 
time: 1403636956.101666, t: 7.417398 -7.285564 -1.232260 q: -0.388410 -0.576809 0.579129 -0.425487 
time: 1403636956.201667, t: 7.490161 -7.329058 -1.218780 q: -0.384521 -0.573136 0.583154 -0.428474 
time: 1403636956.301666, t: 7.552862 -7.368038 -1.208702 q: -0.386297 -0.573673 0.583359 -0.425872 
wait for imu ... 
time: 1403636956.401666, t: 7.614769 -7.407594 -1.207498 q: 0.396016 0.579433 -0.578012 0.416330 
wait for imu ... 
time: 1403636956.501667, t: 7.675446 -7.445610 -1.212007 q: 0.404110 0.583715 -0.571760 0.411172 
wait for imu ... 
time: 1403636956.601666, t: 7.735384 -7.479853 -1.220944 q: 0.404259 0.584528 -0.564210 0.420200 
wait for imu ... 
time: 1403636956.701667, t: 7.795854 -7.509986 -1.235408 q: 0.392651 0.585883 -0.558573 0.436535 
time: 1403636956.801666, t: 7.854229 -7.536891 -1.251672 q: 0.374421 0.594185 -0.551252 0.450415 
wait for imu ... 
time: 1403636956.901666, t: 7.910725 -7.562948 -1.260801 q: 0.357125 0.609967 -0.537714 0.459636 
wait for imu ... 
time: 1403636957.001667, t: 7.962081 -7.588866 -1.262216 q: 0.347211 0.629053 -0.516012 0.466335 
time: 1403636957.101666, t: 8.007884 -7.613380 -1.255509 q: 0.339262 0.649101 -0.490589 0.472114 
time: 1403636957.201667, t: 8.051719 -7.635714 -1.243266 q: 0.329692 0.667580 -0.467407 0.476624 
time: 1403636957.301666, t: 8.092732 -7.654900 -1.227698 q: 0.319163 0.679770 -0.451300 0.482054 
wait for imu ... 
time: 1403636957.401666, t: 8.133304 -7.674346 -1.216910 q: 0.310307 0.687677 -0.440144 0.486912 
wait for imu ... 
time: 1403636957.501667, t: 8.173403 -7.693783 -1.213660 q: 0.303683 0.691952 -0.433652 0.490841 
time: 1403636957.601666, t: 8.214064 -7.711508 -1.218707 q: 0.296944 0.695028 -0.428459 0.495159 
time: 1403636957.701667, t: 8.252317 -7.725201 -1.230176 q: 0.288589 0.699627 -0.420560 0.500368 
time: 1403636957.801666, t: 8.290125 -7.736701 -1.248732 q: 0.274752 0.707633 -0.408781 0.506622 
wait for imu ... 
time: 1403636957.901666, t: 8.325770 -7.747552 -1.272007 q: 0.256895 0.718754 -0.390082 0.515008 
time: 1403636958.001667, t: 8.356255 -7.753373 -1.290362 q: 0.238045 0.731476 -0.365797 0.523899 
time: 1403636958.101666, t: 8.386418 -7.762752 -1.300236 q: 0.219978 0.744121 -0.340586 0.530938 
time: 1403636958.201667, t: 8.415721 -7.775024 -1.302662 q: 0.204773 0.754378 -0.319537 0.535610 
wait for imu ... 
time: 1403636958.301666, t: 8.441634 -7.787007 -1.293268 q: 0.192938 0.761739 -0.299866 0.540934 
time: 1403636958.401666, t: 8.464475 -7.799536 -1.275732 q: 0.184838 0.769675 -0.281902 0.542187 
time: 1403636958.501667, t: 8.483035 -7.812570 -1.253716 q: 0.179373 0.774996 -0.270129 0.542437 
wait for imu ... 
time: 1403636958.601666, t: 8.501603 -7.828343 -1.237679 q: 0.176523 0.777434 -0.263355 0.543213 
time: 1403636958.701667, t: 8.518803 -7.844951 -1.225633 q: 0.176261 0.778404 -0.259496 0.543766 
time: 1403636958.801666, t: 8.538219 -7.863415 -1.219886 q: 0.176609 0.778618 -0.258735 0.543709 
wait for imu ... 
time: 1403636958.901666, t: 8.556694 -7.880860 -1.216979 q: 0.178132 0.779237 -0.259383 0.542013 
time: 1403636959.001667, t: 8.579009 -7.899676 -1.220137 q: 0.181037 0.778836 -0.260760 0.540965 
time: 1403636959.101666, t: 8.602877 -7.918875 -1.231240 q: 0.182075 0.778896 -0.263731 0.539088 
wait for imu ... 
time: 1403636959.301666, t: 8.653972 -7.954812 -1.266913 q: 0.188990 0.777950 -0.265367 0.537269 
wait for imu ... 
time: 1403636959.401666, t: 8.682725 -7.970849 -1.295103 q: 0.195363 0.778199 -0.263575 0.535507 
time: 1403636959.501667, t: 8.704546 -7.981868 -1.326016 q: 0.199413 0.776436 -0.262075 0.537306 
time: 1403636959.601666, t: 8.735239 -7.991197 -1.357863 q: 0.195979 0.770682 -0.265880 0.544930 
time: 1403636959.701667, t: 8.765984 -7.998298 -1.383012 q: 0.193936 0.770188 -0.269146 0.544757 
time: 1403636959.801666, t: 8.798822 -8.005553 -1.398903 q: 0.192488 0.771194 -0.272008 0.542421 
time: 1403636959.901666, t: 8.828998 -8.009699 -1.407038 q: 0.191925 0.771950 -0.274253 0.540411 
time: 1403636960.001667, t: 8.859739 -8.014747 -1.408136 q: 0.191436 0.772142 -0.275498 0.539676 
wait for imu ... 
time: 1403636960.101666, t: 8.887808 -8.017335 -1.402987 q: 0.191673 0.771838 -0.275544 0.540004 
time: 1403636960.201667, t: 8.917966 -8.023378 -1.396162 q: 0.194447 0.772617 -0.273790 0.538788 
time: 1403636960.301666, t: 8.944407 -8.026288 -1.391472 q: 0.202803 0.774849 -0.267850 0.535478 
time: 1403636960.401666, t: 8.971920 -8.027422 -1.391093 q: 0.207519 0.774251 -0.263901 0.536496 
wait for imu ... 
time: 1403636960.501667, t: 9.001605 -8.024558 -1.395481 q: 0.208745 0.772697 -0.257670 0.541268 
wait for imu ... 
time: 1403636960.601666, t: 9.036245 -8.018867 -1.404297 q: 0.208884 0.772692 -0.249555 0.545011 
time: 1403636960.701667, t: 9.072941 -8.008380 -1.417880 q: 0.201319 0.772235 -0.247676 0.549346 
time: 1403636960.801666, t: 9.110486 -7.991945 -1.437080 q: 0.187145 0.774086 -0.249732 0.550819 
wait for imu ... 
time: 1403636960.901666, t: 9.147152 -7.971827 -1.458441 q: 0.172760 0.778398 -0.242601 0.552626 
time: 1403636961.101666, t: 9.218857 -7.926702 -1.487214 q: 0.143393 0.789350 -0.204568 0.560819 
wait for imu ... 
time: 1403636961.201667, t: 9.252375 -7.901652 -1.493168 q: 0.126234 0.794871 -0.182088 0.564880 
wait for imu ... 
time: 1403636961.301666, t: 9.283759 -7.877126 -1.492224 q: 0.110790 0.799868 -0.159656 0.567843 
time: 1403636961.401666, t: 9.313890 -7.854450 -1.482831 q: 0.099546 0.802807 -0.140795 0.570761 
wait for imu ... 
wait for imu ... 
time: 1403636961.501667, t: 9.339883 -7.830633 -1.465208 q: 0.089701 0.805082 -0.128019 0.572196 
wait for imu ... 
time: 1403636961.601666, t: 9.365448 -7.806881 -1.440567 q: 0.079496 0.806888 -0.115136 0.573895 
wait for imu ... 
time: 1403636961.701667, t: 9.389363 -7.782315 -1.408535 q: 0.068378 0.808140 -0.100838 0.576252 
time: 1403636961.801666, t: 9.413559 -7.756648 -1.373641 q: 0.058054 0.809483 -0.084786 0.578082 
time: 1403636961.901666, t: 9.433541 -7.729309 -1.343007 q: 0.048224 0.811611 -0.066792 0.578361 
time: 1403636962.001667, t: 9.453194 -7.702922 -1.318933 q: 0.034916 0.812820 -0.048748 0.579421 
wait for imu ... 
time: 1403636962.101666, t: 9.471559 -7.675811 -1.300555 q: 0.021639 0.814716 -0.029706 0.578694 
wait for imu ... 
time: 1403636962.201667, t: 9.489647 -7.648416 -1.280905 q: 0.007731 0.815182 -0.010096 0.579066 
wait for imu ... 
time: 1403636962.301666, t: 9.508110 -7.618795 -1.255562 q: -0.004889 0.814234 0.011677 0.580399 
time: 1403636962.401666, t: 9.524582 -7.587979 -1.225514 q: -0.019492 0.813278 0.032891 0.580618 
wait for imu ... 
time: 1403636962.501667, t: 9.538518 -7.556664 -1.188490 q: -0.031043 0.812003 0.056363 0.580096 
wait for imu ... 
time: 1403636962.601666, t: 9.551311 -7.524041 -1.148271 q: -0.040054 0.810247 0.082520 0.578866 
time: 1403636962.701667, t: 9.561216 -7.490497 -1.111160 q: -0.045691 0.807541 0.106950 0.578231 
wait for imu ... 
time: 1403636962.801666, t: 9.566126 -7.453965 -1.080984 q: -0.050770 0.805228 0.123752 0.577681 
wait for imu ... 
time: 1403636962.901666, t: 9.570127 -7.411639 -1.057362 q: -0.057455 0.803396 0.131344 0.577929 
time: 1403636963.001667, t: 9.568467 -7.365817 -1.040109 q: -0.068152 0.799920 0.130352 0.581801 
wait for imu ... 
time: 1403636963.101666, t: 9.565120 -7.316189 -1.026507 q: -0.075188 0.794501 0.127336 0.588982 
time: 1403636963.201667, t: 9.558463 -7.263711 -1.017154 q: -0.076845 0.794222 0.124384 0.589776 
time: 1403636963.301666, t: 9.549903 -7.208023 -1.012566 q: -0.080274 0.798858 0.118346 0.584274 
wait for imu ... 
time: 1403636963.401666, t: 9.536210 -7.155441 -1.013702 q: -0.082492 0.802271 0.111937 0.580540 
wait for imu ... 
time: 1403636963.501667, t: 9.523022 -7.102077 -1.015310 q: -0.078141 0.803859 0.109872 0.579338 
wait for imu ... 
time: 1403636963.601666, t: 9.505357 -7.052800 -1.016408 q: -0.073808 0.804398 0.108055 0.579501 
time: 1403636963.701667, t: 9.487032 -7.003295 -1.011111 q: -0.069332 0.805122 0.105913 0.579442 
wait for imu ... 
wait for imu ... 
time: 1403636963.801666, t: 9.467679 -6.952926 -0.996528 q: -0.066522 0.805791 0.103522 0.579274 
wait for imu ... 
time: 1403636963.901666, t: 9.445210 -6.904454 -0.976491 q: -0.064206 0.805353 0.101862 0.580438 
time: 1403636964.001667, t: 9.421047 -6.854041 -0.947593 q: -0.063322 0.805205 0.100544 0.580969 
wait for imu ... 
time: 1403636964.101666, t: 9.393728 -6.804224 -0.913567 q: -0.062491 0.804887 0.100544 0.581500 
time: 1403636964.201667, t: 9.363785 -6.754529 -0.879878 q: -0.062084 0.803446 0.101265 0.583409 
wait for imu ... 
time: 1403636964.301666, t: 9.331364 -6.706135 -0.853330 q: -0.060829 0.803612 0.103248 0.582964 
time: 1403636964.401666, t: 9.296163 -6.657154 -0.832082 q: -0.060579 0.803027 0.104973 0.583489 
wait for imu ... 
time: 1403636964.501667, t: 9.257131 -6.607294 -0.816596 q: -0.059449 0.802377 0.108487 0.583856 
wait for imu ... 
time: 1403636964.601666, t: 9.216919 -6.552909 -0.804978 q: -0.057076 0.800737 0.117768 0.584546 
wait for imu ... 
time: 1403636964.701667, t: 9.172371 -6.496057 -0.799665 q: -0.059826 0.799211 0.130361 0.583686 
wait for imu ... 
time: 1403636964.801666, t: 9.125148 -6.433725 -0.798031 q: -0.064343 0.796130 0.147155 0.583424 
time: 1403636964.901666, t: 9.072193 -6.366181 -0.796262 q: -0.081341 0.791634 0.161942 0.583502 
time: 1403636965.001667, t: 9.012591 -6.294727 -0.788005 q: -0.097700 0.785453 0.181063 0.583725 
time: 1403636965.101666, t: 8.947776 -6.219574 -0.773165 q: -0.113971 0.782443 0.198275 0.579207 
wait for imu ... 
time: 1403636965.201667, t: 8.878530 -6.144321 -0.751998 q: -0.125416 0.783462 0.212327 0.570417 
wait for imu ... 
time: 1403636965.301666, t: 8.807358 -6.068139 -0.725611 q: -0.130107 0.790747 0.224087 0.554596 
time: 1403636965.401666, t: 8.737239 -5.989078 -0.693604 q: -0.130131 0.801903 0.232853 0.534599 
wait for imu ... 
time: 1403636965.501667, t: 8.668596 -5.903890 -0.655278 q: -0.134439 0.809891 0.233663 0.520964 
time: 1403636965.601666, t: 8.611636 -5.813643 -0.603909 q: -0.145966 0.805697 0.226370 0.527544 
wait for imu ... 
time: 1403636965.701667, t: 8.561121 -5.719288 -0.543154 q: -0.160616 0.795541 0.215282 0.543111 
wait for imu ... 
time: 1403636965.801666, t: 8.517715 -5.633102 -0.487751 q: -0.166583 0.788492 0.209121 0.553894 
wait for imu ... 
time: 1403636965.901666, t: 8.475194 -5.548946 -0.440792 q: -0.157858 0.783995 0.212459 0.561510 
wait for imu ... 
time: 1403636966.001667, t: 8.430729 -5.463124 -0.402100 q: -0.149033 0.781874 0.216009 0.565511 
time: 1403636966.101666, t: 8.387077 -5.377380 -0.371125 q: -0.144173 0.780552 0.217133 0.568161 
wait for imu ... 
time: 1403636966.201667, t: 8.343765 -5.294004 -0.348299 q: -0.141357 0.780229 0.216819 0.569430 
wait for imu ... 
time: 1403636966.301666, t: 8.294336 -5.211944 -0.332106 q: -0.140583 0.779491 0.215479 0.571138 
wait for imu ... 
time: 1403636966.401666, t: 8.243197 -5.132187 -0.324627 q: -0.150277 0.780558 0.207048 0.570331 
time: 1403636966.501667, t: 8.186538 -5.055312 -0.323579 q: -0.165779 0.782614 0.194192 0.567734 
wait for imu ... 
time: 1403636966.601666, t: 8.131244 -4.987498 -0.329219 q: -0.169480 0.783099 0.189271 0.567634 
wait for imu ... 
time: 1403636966.801666, t: 8.017440 -4.879570 -0.348672 q: -0.150714 0.781454 0.197504 0.572370 
wait for imu ... 
time: 1403636966.901666, t: 7.958545 -4.833748 -0.350954 q: -0.151654 0.781844 0.195386 0.572316 
wait for imu ... 
time: 1403636967.001667, t: 7.898480 -4.791893 -0.346435 q: -0.154076 0.782283 0.192736 0.571967 
time: 1403636967.101666, t: 7.837025 -4.753640 -0.342626 q: -0.149165 0.781771 0.195109 0.573163 
time: 1403636967.201667, t: 7.774698 -4.718797 -0.346281 q: -0.144820 0.781415 0.197289 0.574017 
time: 1403636967.301666, t: 7.710097 -4.685108 -0.355221 q: -0.142967 0.781434 0.197653 0.574330 
time: 1403636967.401666, t: 7.641598 -4.651771 -0.363117 q: -0.140362 0.780399 0.198633 0.576039 
time: 1403636967.501667, t: 7.570935 -4.619626 -0.363810 q: -0.140648 0.780153 0.197684 0.576628 
wait for imu ... 
time: 1403636967.601666, t: 7.496713 -4.588282 -0.357199 q: -0.138505 0.779683 0.197872 0.577718 
time: 1403636967.701667, t: 7.418004 -4.557761 -0.352760 q: -0.136205 0.779929 0.198141 0.577840 
wait for imu ... 
time: 1403636967.801666, t: 7.336906 -4.527302 -0.363314 q: -0.136362 0.779724 0.197486 0.578303 
wait for imu ... 
time: 1403636967.901666, t: 7.253654 -4.496632 -0.388339 q: -0.136235 0.779040 0.197510 0.579246 
wait for imu ... 
time: 1403636968.001667, t: 7.167623 -4.466543 -0.420853 q: -0.136589 0.778718 0.197484 0.579605 
time: 1403636968.101666, t: 7.078607 -4.438484 -0.457527 q: -0.139029 0.778005 0.196874 0.580190 
time: 1403636968.201667, t: 6.986739 -4.412907 -0.494578 q: -0.141708 0.778999 0.195333 0.578726 
wait for imu ... 
time: 1403636968.301666, t: 6.890969 -4.388803 -0.523428 q: -0.141372 0.779808 0.195737 0.577582 
time: 1403636968.401666, t: 6.792079 -4.366701 -0.544018 q: -0.140905 0.780812 0.196071 0.576224 
time: 1403636968.501667, t: 6.690084 -4.346592 -0.557115 q: -0.141405 0.781795 0.195354 0.575012 
time: 1403636968.601666, t: 6.586719 -4.327339 -0.563132 q: -0.139581 0.781380 0.196463 0.575643 
time: 1403636968.701667, t: 6.481021 -4.309217 -0.565481 q: -0.133524 0.780735 0.200288 0.576636 
time: 1403636968.801666, t: 6.372149 -4.288703 -0.570497 q: -0.129262 0.780324 0.202953 0.577231 
wait for imu ... 
time: 1403636968.901666, t: 6.259059 -4.264811 -0.576371 q: -0.131655 0.780992 0.200541 0.576629 
wait for imu ... 
time: 1403636969.001667, t: 6.145075 -4.238986 -0.574666 q: -0.133681 0.781753 0.198841 0.575721 
wait for imu ... 
time: 1403636969.101666, t: 6.027211 -4.212428 -0.566066 q: -0.138213 0.782862 0.195532 0.574275 
time: 1403636969.201667, t: 5.908773 -4.186623 -0.551643 q: -0.138025 0.787809 0.195244 0.567615 
wait for imu ... 
time: 1403636969.301666, t: 5.792031 -4.162244 -0.528993 q: -0.137110 0.794576 0.195250 0.558325 
wait for imu ... 
time: 1403636969.401666, t: 5.676849 -4.138238 -0.499893 q: -0.133757 0.798807 0.196692 0.552566 
time: 1403636969.501667, t: 5.565739 -4.113878 -0.469424 q: -0.131226 0.801365 0.197286 0.549246 
wait for imu ... 
time: 1403636969.601666, t: 5.458649 -4.088054 -0.444488 q: -0.129816 0.803084 0.196915 0.547200 
time: 1403636969.701667, t: 5.353133 -4.061900 -0.426817 q: -0.129522 0.803051 0.196122 0.547604 
time: 1403636969.801666, t: 5.248103 -4.034629 -0.415048 q: -0.128699 0.803110 0.196096 0.547720 
time: 1403636969.901666, t: 5.147985 -4.005828 -0.407744 q: -0.129220 0.803439 0.195315 0.547394 
wait for imu ... 
time: 1403636970.001667, t: 5.056426 -3.973086 -0.403812 q: -0.131520 0.801000 0.194027 0.550867 
wait for imu ... 
time: 1403636970.101666, t: 4.965624 -3.940100 -0.405713 q: -0.133079 0.794718 0.193891 0.559571 
time: 1403636970.201667, t: 4.876938 -3.907151 -0.410404 q: -0.134494 0.789996 0.193544 0.566001 
wait for imu ... 
time: 1403636970.301666, t: 4.787740 -3.875003 -0.415437 q: -0.135205 0.788480 0.193956 0.567802 
time: 1403636970.401666, t: 4.694240 -3.844298 -0.421122 q: -0.134207 0.792859 0.195090 0.561518 
wait for imu ... 
time: 1403636970.501667, t: 4.602403 -3.812855 -0.426421 q: -0.133760 0.798500 0.196151 0.553200 
wait for imu ... 
time: 1403636970.601666, t: 4.513436 -3.781550 -0.428717 q: -0.132531 0.802942 0.198153 0.546311 
wait for imu ... 
time: 1403636970.701667, t: 4.427777 -3.747045 -0.424736 q: -0.130963 0.806502 0.200641 0.540507 
time: 1403636970.801666, t: 4.350256 -3.707911 -0.414216 q: -0.130302 0.810167 0.202321 0.534525 
wait for imu ... 
time: 1403636970.901666, t: 4.281558 -3.667358 -0.404772 q: -0.129057 0.815069 0.204305 0.526560 
wait for imu ... 
time: 1403636971.001667, t: 4.216862 -3.623528 -0.400539 q: -0.133058 0.817180 0.202398 0.523018 
time: 1403636971.101666, t: 4.161398 -3.575632 -0.400675 q: -0.143350 0.814944 0.195550 0.526381 
wait for imu ... 
time: 1403636971.201667, t: 4.113215 -3.526261 -0.406975 q: -0.156194 0.810406 0.187004 0.532799 
wait for imu ... 
time: 1403636971.301666, t: 4.077258 -3.479867 -0.417873 q: -0.168662 0.805900 0.178224 0.538808 
wait for imu ... 
time: 1403636971.401666, t: 4.049933 -3.439403 -0.434892 q: -0.176941 0.803821 0.172985 0.540962 
wait for imu ... 
time: 1403636971.501667, t: 4.027402 -3.405381 -0.455681 q: -0.174267 0.802811 0.175527 0.542509 
time: 1403636971.601666, t: 4.004577 -3.374712 -0.479028 q: -0.167186 0.799238 0.181320 0.548079 
wait for imu ... 
time: 1403636971.701667, t: 3.990101 -3.353420 -0.506197 q: -0.157757 0.793131 0.189157 0.557023 
time: 1403636971.801666, t: 3.972986 -3.334523 -0.536219 q: -0.156016 0.788140 0.191551 0.563740 
wait for imu ... 
time: 1403636971.901666, t: 3.954249 -3.318512 -0.566352 q: -0.156745 0.785767 0.192341 0.566574 
time: 1403636972.001667, t: 3.932402 -3.305727 -0.591249 q: -0.156828 0.785709 0.193354 0.566287 
wait for imu ... 
time: 1403636972.101666, t: 3.918109 -3.299628 -0.609713 q: -0.155584 0.785488 0.194532 0.566532 
wait for imu ... 
time: 1403636972.201667, t: 3.900083 -3.295882 -0.623930 q: -0.157008 0.789051 0.193458 0.561535 
wait for imu ... 
time: 1403636972.301666, t: 3.880500 -3.293398 -0.630938 q: -0.158519 0.794753 0.192080 0.553485 
time: 1403636972.401666, t: 3.865710 -3.293820 -0.626467 q: -0.155470 0.796874 0.193666 0.550740 
wait for imu ... 
time: 1403636972.501667, t: 3.854899 -3.296009 -0.613787 q: -0.152235 0.795735 0.195577 0.552612 
wait for imu ... 
time: 1403636972.601666, t: 3.847916 -3.299507 -0.593149 q: -0.149860 0.793903 0.196500 0.555561 
time: 1403636972.701667, t: 3.839361 -3.303749 -0.572952 q: -0.146786 0.791678 0.197853 0.559066 
wait for imu ... 
time: 1403636972.801666, t: 3.827977 -3.307894 -0.558826 q: -0.145972 0.791612 0.197703 0.559425 
time: 1403636972.901666, t: 3.818984 -3.312992 -0.550149 q: -0.144661 0.792069 0.197280 0.559267 
time: 1403636973.001667, t: 3.809543 -3.319062 -0.549063 q: -0.139312 0.795516 0.191906 0.557601 
time: 1403636973.101666, t: 3.801108 -3.326348 -0.552563 q: -0.132803 0.799997 0.182106 0.556063 
time: 1403636973.201667, t: 3.792307 -3.333460 -0.561556 q: -0.127087 0.802793 0.173814 0.556022 
wait for imu ... 
time: 1403636973.301666, t: 3.783471 -3.340718 -0.575449 q: -0.121680 0.803176 0.168059 0.558443 
time: 1403636973.401666, t: 3.775238 -3.346873 -0.593450 q: -0.117523 0.803756 0.163809 0.559760 
wait for imu ... 
time: 1403636973.501667, t: 3.769020 -3.350695 -0.615222 q: -0.115265 0.804522 0.160268 0.560154 
wait for imu ... 
time: 1403636973.601666, t: 3.763806 -3.353062 -0.639896 q: -0.112958 0.802954 0.158295 0.563426 
wait for imu ... 
time: 1403636973.701667, t: 3.758926 -3.354399 -0.665871 q: -0.111878 0.801286 0.157284 0.566291 
time: 1403636973.801666, t: 3.754657 -3.354966 -0.686111 q: -0.110733 0.798265 0.157701 0.570650 
wait for imu ... 
time: 1403636973.901666, t: 3.749730 -3.354714 -0.700041 q: -0.110845 0.797138 0.158202 0.572063 
time: 1403636974.001667, t: 3.742986 -3.354175 -0.706871 q: -0.112985 0.798848 0.155981 0.569865 
time: 1403636974.101666, t: 3.735644 -3.355512 -0.710798 q: -0.111917 0.803173 0.148232 0.566052 
wait for imu ... 
time: 1403636974.201667, t: 3.729265 -3.358757 -0.715651 q: -0.102786 0.808403 0.134820 0.563688 
wait for imu ... 
time: 1403636974.301666, t: 3.725478 -3.363926 -0.725766 q: -0.086218 0.811765 0.117581 0.565489 
time: 1403636974.401666, t: 3.722073 -3.369679 -0.739837 q: -0.068611 0.813792 0.095976 0.569056 
wait for imu ... 
time: 1403636974.501667, t: 3.717923 -3.375433 -0.758557 q: -0.050771 0.813949 0.071018 0.574340 
time: 1403636974.601666, t: 3.713077 -3.380387 -0.781528 q: -0.031686 0.813618 0.045312 0.578764 
time: 1403636974.701667, t: 3.706960 -3.383607 -0.805545 q: -0.014320 0.815788 0.019503 0.577845 
wait for imu ... 
time: 1403636974.801666, t: 3.696622 -3.386454 -0.823878 q: -0.000697 0.819223 -0.006097 0.573442 
time: 1403636974.901666, t: 3.686453 -3.388511 -0.834200 q: 0.006911 0.823144 -0.032728 0.566847 
wait for imu ... 
time: 1403636975.001667, t: 3.678332 -3.391726 -0.836774 q: 0.015197 0.825414 -0.056403 0.561498 
wait for imu ... 
time: 1403636975.101666, t: 3.672305 -3.399358 -0.830755 q: 0.027643 0.823508 -0.074076 0.561768 
wait for imu ... 
time: 1403636975.201667, t: 3.671980 -3.407709 -0.827862 q: 0.041512 0.818269 -0.083760 0.567183 
wait for imu ... 
time: 1403636975.301666, t: 3.674952 -3.416891 -0.827168 q: 0.052794 0.812730 -0.087988 0.573534 
time: 1403636975.401666, t: 3.678867 -3.425149 -0.832245 q: 0.059260 0.809673 -0.089806 0.576934 
wait for imu ... 
time: 1403636975.501667, t: 3.684268 -3.431659 -0.844504 q: 0.061454 0.810790 -0.090546 0.575017 
wait for imu ... 
time: 1403636975.601666, t: 3.690321 -3.436383 -0.855490 q: 0.062343 0.814917 -0.089610 0.569204 
time: 1403636975.701667, t: 3.697071 -3.439859 -0.858169 q: 0.061399 0.818109 -0.087431 0.565052 
wait for imu ... 
time: 1403636975.801666, t: 3.707587 -3.441595 -0.852588 q: 0.059944 0.820483 -0.085387 0.562070 
time: 1403636975.901666, t: 3.716433 -3.444853 -0.840572 q: 0.063388 0.821643 -0.089118 0.559414 
wait for imu ... 
time: 1403636976.001667, t: 3.730665 -3.448761 -0.832909 q: 0.067500 0.819253 -0.101759 0.560280 
wait for imu ... 
time: 1403636976.101666, t: 3.744970 -3.454659 -0.830242 q: 0.070411 0.811553 -0.122261 0.566989 
time: 1403636976.201667, t: 3.758691 -3.462429 -0.832899 q: 0.071995 0.802650 -0.148097 0.573269 
time: 1403636976.301666, t: 3.770509 -3.473912 -0.842324 q: 0.079090 0.795245 -0.174233 0.575302 
time: 1403636976.401666, t: 3.778893 -3.490640 -0.855689 q: 0.092347 0.788782 -0.198895 0.574226 
wait for imu ... 
time: 1403636976.501667, t: 3.783754 -3.513067 -0.873846 q: 0.112575 0.784459 -0.218182 0.569515 
time: 1403636976.601666, t: 3.786256 -3.538915 -0.896134 q: 0.135489 0.782774 -0.227968 0.562972 
wait for imu ... 
time: 1403636976.701667, t: 3.786857 -3.565447 -0.924574 q: 0.151950 0.781361 -0.234290 0.558118 
time: 1403636976.801666, t: 3.787141 -3.590298 -0.959050 q: 0.159144 0.780572 -0.241679 0.554050 
wait for imu ... 
time: 1403636976.901666, t: 3.788894 -3.613613 -0.996834 q: 0.158577 0.783129 -0.249108 0.547272 
wait for imu ... 
time: 1403636977.001667, t: 3.792313 -3.638952 -1.025961 q: 0.156120 0.784067 -0.254077 0.544343 
time: 1403636977.101666, t: 3.794471 -3.666864 -1.044172 q: 0.153846 0.785195 -0.256119 0.542405 
wait for imu ... 
time: 1403636977.201667, t: 3.798778 -3.697111 -1.054009 q: 0.150867 0.786435 -0.256428 0.541298 
wait for imu ... 
time: 1403636977.301666, t: 3.803681 -3.731069 -1.058784 q: 0.149169 0.787095 -0.254390 0.541771 
wait for imu ... 
time: 1403636977.401666, t: 3.806764 -3.767841 -1.064337 q: 0.149844 0.784981 -0.249651 0.546832 
wait for imu ... 
time: 1403636977.501667, t: 3.809519 -3.806185 -1.074701 q: 0.152464 0.781907 -0.243559 0.553222 
wait for imu ... 
time: 1403636977.601666, t: 3.812284 -3.846528 -1.091711 q: 0.153005 0.779008 -0.240077 0.558657 
wait for imu ... 
time: 1403636977.701667, t: 3.813851 -3.886962 -1.112350 q: 0.153516 0.778058 -0.239342 0.560156 
time: 1403636977.801666, t: 3.813509 -3.928545 -1.139370 q: 0.149514 0.778213 -0.246678 0.557835 
time: 1403636977.901666, t: 3.810885 -3.970275 -1.168351 q: 0.147279 0.778103 -0.252648 0.555908 
wait for imu ... 
time: 1403636978.001667, t: 3.808279 -4.014815 -1.191832 q: 0.151878 0.776201 -0.253191 0.557080 
time: 1403636978.101666, t: 3.805173 -4.059538 -1.206599 q: 0.159107 0.776091 -0.251415 0.556020 
time: 1403636978.201667, t: 3.802117 -4.105205 -1.213426 q: 0.162719 0.777563 -0.251086 0.553059 
time: 1403636978.301666, t: 3.796445 -4.149943 -1.214015 q: 0.165251 0.780009 -0.250959 0.548906 
time: 1403636978.401666, t: 3.791684 -4.193742 -1.208006 q: 0.166131 0.783123 -0.251813 0.543792 
time: 1403636978.501667, t: 3.787572 -4.236950 -1.197047 q: 0.166214 0.788558 -0.253130 0.535234 
wait for imu ... 
time: 1403636978.601666, t: 3.785953 -4.283333 -1.190830 q: 0.164870 0.793781 -0.255400 0.526784 
wait for imu ... 
time: 1403636978.701667, t: 3.786939 -4.332364 -1.191749 q: 0.164443 0.797027 -0.256530 0.521438 
time: 1403636978.801666, t: 3.794082 -4.382245 -1.197476 q: 0.164303 0.799048 -0.257311 0.517994 
time: 1403636978.901666, t: 3.806160 -4.434409 -1.205064 q: 0.165441 0.795797 -0.256521 0.523003 
time: 1403636979.001667, t: 3.828394 -4.484195 -1.212620 q: 0.170406 0.788044 -0.253474 0.534509 
wait for imu ... 
time: 1403636979.101666, t: 3.855855 -4.528455 -1.233058 q: 0.174782 0.780130 -0.250951 0.545777 
time: 1403636979.201667, t: 3.872541 -4.592201 -1.258109 q: 0.175173 0.777318 -0.249253 0.550421 
time: 1403636979.301666, t: 3.896180 -4.639331 -1.286685 q: 0.173105 0.782566 -0.250425 0.543058 
wait for imu ... 
time: 1403636979.401666, t: 3.921834 -4.685235 -1.310186 q: 0.171305 0.788665 -0.251394 0.534287 
time: 1403636979.501667, t: 3.948786 -4.733600 -1.324499 q: 0.168069 0.792710 -0.253363 0.528366 
time: 1403636979.601666, t: 3.981061 -4.779069 -1.331148 q: 0.167358 0.794694 -0.254390 0.525108 
time: 1403636979.701667, t: 4.018494 -4.824217 -1.331313 q: 0.169513 0.795815 -0.254596 0.522614 
time: 1403636979.801666, t: 4.061375 -4.869012 -1.325300 q: 0.171234 0.794485 -0.255387 0.523689 
wait for imu ... 
time: 1403636979.901666, t: 4.108874 -4.912766 -1.312574 q: 0.174893 0.789038 -0.255566 0.530582 
time: 1403636980.001667, t: 4.159483 -4.958418 -1.303604 q: 0.179138 0.785132 -0.255206 0.535114 
time: 1403636980.101666, t: 4.209270 -5.001509 -1.300419 q: 0.181469 0.783109 -0.255687 0.537061 
time: 1403636980.201667, t: 4.259997 -5.042704 -1.302422 q: 0.182065 0.781533 -0.257225 0.538418 
wait for imu ... 
time: 1403636980.301666, t: 4.312081 -5.082349 -1.309537 q: 0.181413 0.778760 -0.259188 0.541705 
time: 1403636980.401666, t: 4.363869 -5.120407 -1.320656 q: 0.180927 0.774201 -0.259941 0.548004 
time: 1403636980.501667, t: 4.417675 -5.157927 -1.338279 q: 0.179522 0.770474 -0.260878 0.553248 
time: 1403636980.601666, t: 4.471091 -5.193743 -1.359104 q: 0.175370 0.768021 -0.262615 0.557155 
time: 1403636980.701667, t: 4.522907 -5.230680 -1.377098 q: 0.174140 0.767268 -0.261882 0.558921 
time: 1403636980.801666, t: 4.573264 -5.268273 -1.388055 q: 0.176503 0.770987 -0.258713 0.554521 
time: 1403636980.901666, t: 4.621994 -5.304445 -1.391725 q: 0.177770 0.776817 -0.255859 0.547256 
wait for imu ... 
time: 1403636981.001667, t: 4.670594 -5.339721 -1.390174 q: 0.179556 0.780241 -0.253033 0.543101 
time: 1403636981.101666, t: 4.720808 -5.371868 -1.391684 q: 0.178897 0.779468 -0.253050 0.544417 
time: 1403636981.201667, t: 4.770498 -5.400617 -1.398546 q: 0.173430 0.776657 -0.257492 0.548109 
time: 1403636981.301666, t: 4.819083 -5.427275 -1.409466 q: 0.163797 0.771025 -0.265873 0.554979 
time: 1403636981.401666, t: 4.864712 -5.455892 -1.424039 q: 0.157929 0.767359 -0.271628 0.558960 
time: 1403636981.501667, t: 4.905219 -5.486377 -1.442671 q: 0.164876 0.769713 -0.269192 0.554881 
time: 1403636981.601666, t: 4.943621 -5.518680 -1.458698 q: 0.176729 0.775174 -0.263543 0.546276 
time: 1403636981.701667, t: 4.983872 -5.550768 -1.467207 q: 0.184649 0.779169 -0.260873 0.539209 
time: 1403636981.801666, t: 5.025083 -5.580592 -1.467945 q: 0.188337 0.782166 -0.261407 0.533303 
time: 1403636981.901666, t: 5.067857 -5.609350 -1.460383 q: 0.189135 0.786253 -0.263598 0.525880 
time: 1403636982.001667, t: 5.117377 -5.638492 -1.449609 q: 0.185936 0.791136 -0.268228 0.517286 
time: 1403636982.101666, t: 5.172007 -5.668981 -1.442474 q: 0.181317 0.795344 -0.273039 0.509904 
time: 1403636982.201667, t: 5.233985 -5.701935 -1.440243 q: 0.176664 0.796501 -0.277229 0.507465 
time: 1403636982.301666, t: 5.302823 -5.738784 -1.441892 q: 0.170784 0.793584 -0.281451 0.511706 
time: 1403636982.401666, t: 5.374993 -5.779095 -1.445999 q: 0.169172 0.787013 -0.282193 0.521879 
time: 1403636982.501667, t: 5.448707 -5.822981 -1.446252 q: 0.170085 0.778194 -0.280171 0.535714 
time: 1403636982.601666, t: 5.523761 -5.873019 -1.440674 q: 0.172869 0.774043 -0.276381 0.542759 
time: 1403636982.701667, t: 5.599107 -5.924058 -1.431396 q: 0.170321 0.774693 -0.276061 0.542800 
time: 1403636982.801666, t: 5.673962 -5.978801 -1.423665 q: 0.170109 0.778772 -0.273790 0.538160 
time: 1403636982.901666, t: 5.746873 -6.035742 -1.420040 q: 0.171782 0.782217 -0.271731 0.533657 
time: 1403636983.001667, t: 5.819668 -6.094939 -1.421694 q: 0.174379 0.781907 -0.269167 0.534567 
time: 1403636983.101666, t: 5.891619 -6.154825 -1.430496 q: 0.177219 0.778252 -0.266662 0.540193 
wait for imu ... 
time: 1403636983.201667, t: 5.963688 -6.214742 -1.444790 q: 0.181750 0.776495 -0.263426 0.542798 
time: 1403636983.301666, t: 6.038689 -6.274549 -1.463397 q: 0.185764 0.775280 -0.261113 0.544292 
wait for imu ... 
time: 1403636983.401666, t: 6.115021 -6.333773 -1.484855 q: 0.188357 0.774389 -0.260130 0.545138 
time: 1403636983.501667, t: 6.192971 -6.392035 -1.504810 q: 0.188420 0.774201 -0.261364 0.544793 
time: 1403636983.601666, t: 6.268625 -6.447471 -1.517376 q: 0.189416 0.776222 -0.262338 0.541092 
time: 1403636983.701667, t: 6.341722 -6.500572 -1.524056 q: 0.188963 0.779749 -0.264418 0.535133 
time: 1403636983.801666, t: 6.417508 -6.552260 -1.522104 q: 0.190056 0.782570 -0.265334 0.530152 
time: 1403636983.901666, t: 6.495320 -6.602308 -1.514039 q: 0.190020 0.784850 -0.266918 0.525982 
time: 1403636984.001667, t: 6.576228 -6.651744 -1.499050 q: 0.189548 0.785903 -0.269313 0.523353 
time: 1403636984.101666, t: 6.659705 -6.700196 -1.479080 q: 0.189519 0.786671 -0.271290 0.521184 
time: 1403636984.201667, t: 6.746984 -6.752266 -1.466972 q: 0.191769 0.784112 -0.271201 0.524255 
time: 1403636984.301666, t: 6.833473 -6.799691 -1.460525 q: 0.194694 0.779901 -0.270708 0.529684 
wait for imu ... 
time: 1403636984.401666, t: 6.922227 -6.846474 -1.462789 q: 0.196067 0.776938 -0.271160 0.533290 
time: 1403636984.601666, t: 7.106316 -6.936527 -1.482811 q: 0.198999 0.773615 -0.270259 0.537474 
wait for imu ... 
time: 1403636984.701667, t: 7.201997 -6.979546 -1.489007 q: 0.199368 0.773411 -0.269344 0.538091 
time: 1403636984.801666, t: 7.296417 -7.017610 -1.488717 q: 0.196412 0.772161 -0.270469 0.540404 
time: 1403636984.901666, t: 7.390515 -7.053680 -1.484753 q: 0.191120 0.771251 -0.273625 0.542009 
time: 1403636985.001667, t: 7.482994 -7.087425 -1.476774 q: 0.189619 0.770612 -0.274537 0.542984 
time: 1403636985.101666, t: 7.572777 -7.119485 -1.466760 q: 0.190950 0.771192 -0.273976 0.541976 
time: 1403636985.201667, t: 7.660985 -7.150015 -1.464431 q: 0.193610 0.772419 -0.272576 0.539988 
time: 1403636985.301666, t: 7.750217 -7.178892 -1.474141 q: 0.196034 0.772319 -0.271617 0.539740 
time: 1403636985.401666, t: 7.841577 -7.206493 -1.486914 q: 0.195563 0.773837 -0.267948 0.539570 
time: 1403636985.501667, t: 7.934440 -7.230672 -1.494713 q: 0.193144 0.777838 -0.258518 0.539289 
time: 1403636985.601666, t: 8.027262 -7.252338 -1.494068 q: 0.190428 0.780094 -0.249211 0.541372 
time: 1403636985.701667, t: 8.117980 -7.269227 -1.486371 q: 0.190530 0.781442 -0.240410 0.543369 
time: 1403636985.801666, t: 8.208195 -7.282941 -1.472185 q: 0.189945 0.780504 -0.233742 0.547813 
time: 1403636985.901666, t: 8.298723 -7.291134 -1.456929 q: 0.191341 0.771140 -0.227044 0.563189 
time: 1403636986.001667, t: 8.389290 -7.295160 -1.449114 q: 0.193680 0.760271 -0.221038 0.579325 
time: 1403636986.101666, t: 8.474302 -7.290621 -1.450083 q: 0.193959 0.759825 -0.218915 0.580622 
time: 1403636986.201667, t: 8.555685 -7.279688 -1.459966 q: 0.189175 0.768059 -0.221886 0.570145 
time: 1403636986.301666, t: 8.634480 -7.262829 -1.474926 q: 0.185269 0.777574 -0.224865 0.557216 
time: 1403636986.401666, t: 8.710415 -7.240316 -1.492275 q: 0.181099 0.782407 -0.227653 0.550651 
time: 1403636986.501667, t: 8.782484 -7.214100 -1.511134 q: 0.173468 0.783488 -0.232617 0.549495 
time: 1403636986.601666, t: 8.854596 -7.184917 -1.522585 q: 0.166490 0.782638 -0.236835 0.551060 
wait for imu ... 
time: 1403636986.701667, t: 8.923406 -7.152567 -1.524523 q: 0.161476 0.782019 -0.240060 0.552035 
time: 1403636986.801666, t: 8.991091 -7.122116 -1.515971 q: 0.155918 0.780939 -0.243565 0.553625 
time: 1403636986.901666, t: 9.053618 -7.093619 -1.498500 q: 0.154796 0.779712 -0.244577 0.555220 
time: 1403636987.001667, t: 9.112550 -7.067814 -1.471963 q: 0.157354 0.779185 -0.243206 0.555844 
time: 1403636987.101666, t: 9.166105 -7.041938 -1.439695 q: 0.162910 0.778846 -0.240804 0.555763 
wait for imu ... 
time: 1403636987.201667, t: 9.216998 -7.016467 -1.411160 q: 0.165710 0.777779 -0.240477 0.556571 
time: 1403636987.301666, t: 9.266817 -6.990722 -1.388415 q: 0.167069 0.776052 -0.241400 0.558173 
wait for imu ... 
time: 1403636987.401666, t: 9.314790 -6.964648 -1.372557 q: 0.166684 0.774806 -0.240683 0.560324 
time: 1403636987.501667, t: 9.362015 -6.937311 -1.361364 q: 0.167814 0.772969 -0.235212 0.564829 
wait for imu ... 
time: 1403636987.601666, t: 9.403771 -6.907674 -1.353709 q: 0.170379 0.770800 -0.229322 0.569430 
wait for imu ... 
time: 1403636987.701667, t: 9.443039 -6.876232 -1.350343 q: 0.170270 0.770045 -0.225952 0.571825 
wait for imu ... 
time: 1403636987.801666, t: 9.477953 -6.839639 -1.344049 q: 0.167501 0.770264 -0.224305 0.572995 
time: 1403636987.901666, t: 9.507314 -6.799818 -1.329789 q: 0.162317 0.771085 -0.225234 0.573019 
wait for imu ... 
wait for imu ... 
time: 1403636988.001667, t: 9.533577 -6.757310 -1.311696 q: 0.153257 0.773308 -0.229576 0.570791 
wait for imu ... 
time: 1403636988.101666, t: 9.552360 -6.714366 -1.297062 q: 0.144321 0.775862 -0.235376 0.567282 
time: 1403636988.201667, t: 9.570573 -6.674138 -1.286514 q: 0.138541 0.776780 -0.239881 0.565576 
wait for imu ... 
time: 1403636988.301666, t: 9.587584 -6.638382 -1.279450 q: 0.135662 0.773094 -0.242797 0.570062 
wait for imu ... 
time: 1403636988.401666, t: 9.599311 -6.606005 -1.270217 q: 0.136790 0.766581 -0.242868 0.578495 
time: 1403636988.501667, t: 9.600008 -6.576509 -1.254668 q: 0.140144 0.762352 -0.240565 0.584215 
wait for imu ... 
time: 1403636988.601666, t: 9.592545 -6.547062 -1.231817 q: 0.140710 0.760078 -0.239966 0.587280 
wait for imu ... 
time: 1403636988.701667, t: 9.576152 -6.519370 -1.208302 q: 0.140420 0.759056 -0.240148 0.588596 
wait for imu ... 
time: 1403636988.801666, t: 9.552555 -6.490720 -1.190293 q: 0.141865 0.757350 -0.239171 0.590840 
wait for imu ... 
time: 1403636988.901666, t: 9.518505 -6.463557 -1.176814 q: 0.141440 0.754775 -0.239428 0.594124 
time: 1403636989.001667, t: 9.474177 -6.437494 -1.169283 q: 0.140757 0.752125 -0.240231 0.597314 
wait for imu ... 
time: 1403636989.101666, t: 9.417014 -6.412353 -1.166664 q: 0.140323 0.750301 -0.241202 0.599316 
time: 1403636989.201667, t: 9.348736 -6.386311 -1.165812 q: 0.140515 0.750278 -0.242073 0.598949 
time: 1403636989.301666, t: 9.269828 -6.361581 -1.162523 q: 0.146470 0.756525 -0.239911 0.590473 
wait for imu ... 
time: 1403636989.401666, t: 9.184259 -6.339363 -1.152715 q: 0.153155 0.766397 -0.237324 0.576937 
time: 1403636989.501667, t: 9.093811 -6.317098 -1.135592 q: 0.155061 0.774081 -0.237505 0.565992 
time: 1403636989.601666, t: 9.001462 -6.294903 -1.113637 q: 0.158118 0.777850 -0.236553 0.560348 
wait for imu ... 
time: 1403636989.701667, t: 8.908606 -6.272622 -1.093293 q: 0.162721 0.780935 -0.233857 0.555853 
time: 1403636989.801666, t: 8.816602 -6.250112 -1.078483 q: 0.164586 0.782399 -0.232751 0.553705 
wait for imu ... 
time: 1403636989.901666, t: 8.725866 -6.227254 -1.070372 q: 0.164100 0.780867 -0.232807 0.555984 
wait for imu ... 
time: 1403636990.001667, t: 8.635031 -6.202978 -1.065672 q: 0.163967 0.776178 -0.232582 0.562643 
wait for imu ... 
time: 1403636990.101666, t: 8.542982 -6.176792 -1.059464 q: 0.165100 0.772183 -0.231465 0.568242 
time: 1403636990.201667, t: 8.448882 -6.148551 -1.047187 q: 0.166425 0.771983 -0.230009 0.568719 
wait for imu ... 
time: 1403636990.301666, t: 8.352725 -6.118752 -1.029396 q: 0.166701 0.775461 -0.228610 0.564455 
time: 1403636990.401666, t: 8.254174 -6.086550 -1.007106 q: 0.166659 0.778908 -0.226908 0.560393 
time: 1403636990.501667, t: 8.156889 -6.052116 -0.987036 q: 0.163349 0.781805 -0.226989 0.557292 
wait for imu ... 
time: 1403636990.601666, t: 8.060358 -6.015963 -0.972865 q: 0.161877 0.783558 -0.226042 0.555642 
wait for imu ... 
time: 1403636990.701667, t: 7.964295 -5.979958 -0.965280 q: 0.161054 0.785806 -0.224601 0.553285 
wait for imu ... 
time: 1403636990.801666, t: 7.868625 -5.943261 -0.964016 q: 0.160996 0.787141 -0.222954 0.552069 
wait for imu ... 
time: 1403636990.901666, t: 7.775192 -5.905014 -0.970493 q: 0.160012 0.787502 -0.222354 0.552083 
time: 1403636991.001667, t: 7.685094 -5.867168 -0.981742 q: 0.160509 0.787599 -0.221473 0.552155 
time: 1403636991.101666, t: 7.595561 -5.829171 -0.995868 q: 0.161274 0.787167 -0.221008 0.552733 
wait for imu ... 
wait for imu ... 
time: 1403636991.201667, t: 7.509173 -5.791809 -1.010852 q: 0.162340 0.787262 -0.220958 0.552306 
wait for imu ... 
time: 1403636991.301666, t: 7.422353 -5.751628 -1.019417 q: 0.162085 0.787637 -0.221679 0.551556 
time: 1403636991.401666, t: 7.336186 -5.710210 -1.020891 q: 0.162085 0.788112 -0.222916 0.550378 
wait for imu ... 
time: 1403636991.501667, t: 7.252356 -5.668508 -1.012588 q: 0.163273 0.788333 -0.223814 0.549345 
wait for imu ... 
time: 1403636991.601666, t: 7.174054 -5.627991 -0.995826 q: 0.161318 0.787492 -0.227154 0.549757 
wait for imu ... 
time: 1403636991.701667, t: 7.096472 -5.587021 -0.972185 q: 0.155283 0.785961 -0.234090 0.550776 
wait for imu ... 
time: 1403636991.801666, t: 7.016237 -5.544168 -0.945831 q: 0.150651 0.784309 -0.240510 0.551651 
wait for imu ... 
time: 1403636991.901666, t: 6.936384 -5.504529 -0.917796 q: 0.148014 0.783464 -0.245447 0.551391 
time: 1403636992.001667, t: 6.855772 -5.466713 -0.896966 q: 0.150786 0.783137 -0.246484 0.550641 
wait for imu ... 
time: 1403636992.101666, t: 6.774712 -5.432511 -0.882431 q: 0.160223 0.781591 -0.242580 0.551905 
time: 1403636992.201667, t: 6.692583 -5.399690 -0.873588 q: 0.166997 0.778520 -0.239817 0.555433 
wait for imu ... 
time: 1403636992.301666, t: 6.610390 -5.367897 -0.870494 q: 0.170439 0.777359 -0.239177 0.556290 
wait for imu ... 
time: 1403636992.401666, t: 6.528935 -5.336197 -0.872125 q: 0.172069 0.779352 -0.240219 0.552537 
wait for imu ... 
time: 1403636992.501667, t: 6.449070 -5.304088 -0.872423 q: 0.172571 0.782209 -0.242251 0.547433 
time: 1403636992.601666, t: 6.373718 -5.273018 -0.865031 q: 0.174404 0.783828 -0.243303 0.544058 
time: 1403636992.701667, t: 6.302816 -5.243448 -0.849918 q: 0.175743 0.784323 -0.244521 0.542367 
wait for imu ... 
time: 1403636992.801666, t: 6.235364 -5.215608 -0.835206 q: 0.177393 0.784997 -0.245335 0.540483 
time: 1403636992.901666, t: 6.171602 -5.188173 -0.825885 q: 0.180246 0.784786 -0.245229 0.539893 
time: 1403636993.001667, t: 6.111522 -5.158915 -0.822024 q: 0.181918 0.783004 -0.245652 0.541725 
time: 1403636993.101666, t: 6.052973 -5.127859 -0.821761 q: 0.179082 0.779186 -0.247548 0.547284 
time: 1403636993.201667, t: 5.997147 -5.092394 -0.820076 q: 0.171766 0.777329 -0.245035 0.553366 
time: 1403636993.301666, t: 5.941497 -5.055719 -0.811468 q: 0.163143 0.778630 -0.236515 0.557835 
wait for imu ... 
time: 1403636993.401666, t: 5.886819 -5.017997 -0.793342 q: 0.153000 0.781442 -0.223412 0.562162 
time: 1403636993.601666, t: 5.780240 -4.940155 -0.740316 q: 0.129677 0.790166 -0.190582 0.567890 
time: 1403636993.701667, t: 5.726682 -4.903231 -0.712151 q: 0.119407 0.795041 -0.177360 0.567623 
time: 1403636993.801666, t: 5.673061 -4.868197 -0.689331 q: 0.112757 0.798591 -0.167617 0.566960 
wait for imu ... 
time: 1403636993.901666, t: 5.618379 -4.833157 -0.672338 q: 0.110065 0.800702 -0.159080 0.566970 
wait for imu ... 
time: 1403636994.001667, t: 5.562794 -4.798570 -0.660411 q: 0.107809 0.798718 -0.153820 0.571635 
time: 1403636994.101666, t: 5.508103 -4.763001 -0.653177 q: 0.109709 0.794027 -0.148830 0.579081 
time: 1403636994.201667, t: 5.450864 -4.725967 -0.650471 q: 0.110842 0.789045 -0.145731 0.586416 
time: 1403636994.301666, t: 5.393797 -4.685681 -0.652344 q: 0.111532 0.784476 -0.144682 0.592642 
wait for imu ... 
time: 1403636994.401666, t: 5.331949 -4.644025 -0.658076 q: 0.112696 0.781856 -0.143971 0.596048 
time: 1403636994.501667, t: 5.263819 -4.597075 -0.664629 q: 0.112859 0.782451 -0.144724 0.595053 
time: 1403636994.601666, t: 5.189826 -4.546139 -0.666351 q: 0.108694 0.785588 -0.148380 0.590779 
time: 1403636994.701667, t: 5.111781 -4.493655 -0.662537 q: 0.101846 0.791007 -0.154295 0.583205 
time: 1403636994.801666, t: 5.029613 -4.442354 -0.652296 q: 0.092175 0.796403 -0.162118 0.575294 
wait for imu ... 
time: 1403636994.901666, t: 4.946569 -4.391092 -0.639926 q: 0.085059 0.798320 -0.168115 0.572003 
wait for imu ... 
time: 1403636995.001667, t: 4.862771 -4.344466 -0.631537 q: 0.085054 0.796683 -0.168867 0.574061 
wait for imu ... 
time: 1403636995.101666, t: 4.777627 -4.301022 -0.627325 q: 0.092159 0.793644 -0.163562 0.578691 
wait for imu ... 
time: 1403636995.201667, t: 4.691547 -4.258475 -0.622434 q: 0.098311 0.791008 -0.158346 0.582724 
wait for imu ... 
time: 1403636995.301666, t: 4.601610 -4.216969 -0.609622 q: 0.101637 0.789616 -0.154536 0.585059 
wait for imu ... 
time: 1403636995.401666, t: 4.509025 -4.176259 -0.588992 q: 0.103356 0.792059 -0.151244 0.582311 
wait for imu ... 
time: 1403636995.501667, t: 4.415207 -4.136167 -0.561654 q: 0.102262 0.796794 -0.150479 0.576210 
time: 1403636995.601666, t: 4.319427 -4.092418 -0.528506 q: 0.101401 0.798592 -0.150248 0.573928 
wait for imu ... 
time: 1403636995.701667, t: 4.223856 -4.049301 -0.496064 q: 0.099055 0.798663 -0.151857 0.573817 
wait for imu ... 
wait for imu ... 
time: 1403636995.801666, t: 4.126702 -4.004439 -0.470422 q: 0.094394 0.798720 -0.155522 0.573541 
wait for imu ... 
time: 1403636995.901666, t: 4.029892 -3.959786 -0.451023 q: 0.087120 0.799866 -0.161242 0.571512 
time: 1403636996.001667, t: 3.933262 -3.917976 -0.437722 q: 0.083655 0.800950 -0.164588 0.569553 
wait for imu ... 
time: 1403636996.101666, t: 3.836074 -3.879662 -0.429849 q: 0.088859 0.802832 -0.161500 0.566995 
time: 1403636996.201667, t: 3.739650 -3.845119 -0.421361 q: 0.094294 0.804010 -0.158004 0.565430 
time: 1403636996.301666, t: 3.647856 -3.812565 -0.407394 q: 0.098204 0.804718 -0.154569 0.564706 
wait for imu ... 
time: 1403636996.401666, t: 3.557592 -3.779674 -0.385395 q: 0.095965 0.805794 -0.150070 0.564771 
time: 1403636996.501667, t: 3.468861 -3.746201 -0.354376 q: 0.091671 0.807552 -0.140832 0.565352 
time: 1403636996.601666, t: 3.382581 -3.714125 -0.319343 q: 0.084705 0.810239 -0.127946 0.565658 
wait for imu ... 
time: 1403636996.701667, t: 3.297798 -3.681682 -0.287922 q: 0.074587 0.813434 -0.111801 0.565918 
time: 1403636996.801666, t: 3.214806 -3.649157 -0.273176 q: 0.061925 0.816632 -0.093965 0.566081 
time: 1403636996.901666, t: 3.131753 -3.618057 -0.270358 q: 0.046223 0.819310 -0.075714 0.566446 
time: 1403636997.001667, t: 3.048896 -3.588627 -0.274302 q: 0.030741 0.821433 -0.056015 0.566714 
time: 1403636997.101666, t: 2.966838 -3.558464 -0.282322 q: 0.017140 0.823162 -0.037952 0.566278 
time: 1403636997.201667, t: 2.885909 -3.528690 -0.292994 q: 0.006982 0.824400 -0.024944 0.565415 
time: 1403636997.301666, t: 2.803648 -3.498107 -0.304703 q: 0.001115 0.824997 -0.015047 0.564936 
time: 1403636997.401666, t: 2.730998 -3.472900 -0.313409 q: -0.001795 0.825646 -0.008847 0.564116 
time: 1403636997.501667, t: 2.663551 -3.449619 -0.313503 q: -0.002919 0.825267 -0.005902 0.564704 
time: 1403636997.601666, t: 2.599175 -3.425687 -0.305530 q: -0.003151 0.825973 -0.005649 0.563673 
wait for imu ... 
time: 1403636997.701667, t: 2.541880 -3.400816 -0.289893 q: -0.001325 0.826391 -0.005991 0.563063 
wait for imu ... 
time: 1403636997.801666, t: 2.492063 -3.376046 -0.266249 q: 0.001756 0.827503 -0.006926 0.561416 
wait for imu ... 
time: 1403636997.901666, t: 2.447646 -3.351059 -0.235015 q: 0.004000 0.827743 -0.008610 0.561028 
wait for imu ... 
time: 1403636998.001667, t: 2.412158 -3.328468 -0.198107 q: 0.005141 0.827758 -0.010886 0.560956 
wait for imu ... 
time: 1403636998.101666, t: 2.386187 -3.308827 -0.156828 q: 0.006021 0.828067 -0.013114 0.560444 
time: 1403636998.201667, t: 2.368082 -3.291060 -0.117139 q: 0.005051 0.826861 -0.016257 0.562148 
wait for imu ... 
time: 1403636998.301666, t: 2.349154 -3.273012 -0.084312 q: 0.006098 0.827404 -0.017679 0.561295 
wait for imu ... 
time: 1403636998.401666, t: 2.332842 -3.255224 -0.057586 q: 0.005851 0.827083 -0.019269 0.561719 
time: 1403636998.501667, t: 2.317518 -3.238257 -0.033282 q: 0.005234 0.826843 -0.021171 0.562009 
wait for imu ... 
time: 1403636998.601666, t: 2.304285 -3.222420 -0.003287 q: 0.006777 0.823654 -0.020934 0.566665 
time: 1403636998.701667, t: 2.291307 -3.206043 0.033816 q: 0.010072 0.815464 -0.019443 0.578394 
wait for imu ... 
time: 1403636998.801666, t: 2.279530 -3.189731 0.073420 q: 0.013246 0.810285 -0.018504 0.585594 
time: 1403636998.901666, t: 2.268200 -3.171973 0.109882 q: 0.018982 0.808701 -0.015246 0.587715 
wait for imu ... 
time: 1403636999.001667, t: 2.253194 -3.151698 0.139296 q: 0.022926 0.809027 -0.013543 0.587168 
wait for imu ... 
time: 1403636999.101666, t: 2.234765 -3.129784 0.163181 q: 0.025864 0.809227 -0.012043 0.586803 
time: 1403636999.201667, t: 2.214439 -3.105175 0.181455 q: 0.027508 0.810884 -0.011740 0.584442 
time: 1403636999.301666, t: 2.193177 -3.078738 0.194742 q: 0.026293 0.812546 -0.013006 0.582159 
time: 1403636999.401666, t: 2.170325 -3.048890 0.203223 q: 0.021575 0.813131 -0.016696 0.581442 
wait for imu ... 
time: 1403636999.501667, t: 2.150834 -3.018956 0.209265 q: 0.018653 0.812830 -0.018999 0.581892 
time: 1403636999.601666, t: 2.130294 -2.990050 0.211356 q: 0.016898 0.810669 -0.020561 0.584899 
wait for imu ... 
time: 1403636999.701667, t: 2.106568 -2.960183 0.208005 q: 0.016281 0.808799 -0.021565 0.587463 
time: 1403636999.801666, t: 2.076888 -2.928004 0.202166 q: 0.016313 0.808362 -0.022412 0.588033 
time: 1403636999.901666, t: 2.045875 -2.896468 0.193292 q: 0.017952 0.808488 -0.021697 0.587839 
wait for imu ... 
time: 1403637000.001667, t: 2.011016 -2.865968 0.185515 q: 0.021991 0.808413 -0.019115 0.587894 
time: 1403637000.101666, t: 1.973419 -2.828378 0.185145 q: 0.024358 0.809419 -0.017488 0.586465 
time: 1403637000.201667, t: 1.933351 -2.790699 0.191177 q: 0.023501 0.811105 -0.017657 0.584162 
wait for imu ... 
time: 1403637000.301666, t: 1.891075 -2.750379 0.200355 q: 0.022280 0.812555 -0.018609 0.582161 
wait for imu ... 
time: 1403637000.401666, t: 1.847321 -2.710515 0.206933 q: 0.020104 0.811973 -0.020100 0.583003 
wait for imu ... 
time: 1403637000.501667, t: 1.801432 -2.670372 0.209812 q: 0.022156 0.811929 -0.018887 0.583030 
wait for imu ... 
time: 1403637000.601666, t: 1.754397 -2.628212 0.212274 q: 0.022889 0.812078 -0.018534 0.582805 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403637000.701667, t: 1.708491 -2.583362 0.219015 q: 0.020870 0.811178 -0.020250 0.584075 
time: 1403637000.801666, t: 1.664733 -2.537587 0.235172 q: 0.020909 0.810572 -0.020965 0.584890 
wait for imu ... 
time: 1403637000.901666, t: 1.621621 -2.489876 0.252498 q: 0.020523 0.810630 -0.022087 0.584782 
time: 1403637001.001667, t: 1.576112 -2.442461 0.264416 q: 0.020836 0.810319 -0.023067 0.585164 
wait for imu ... 
time: 1403637001.101666, t: 1.526324 -2.394934 0.268715 q: 0.020542 0.810109 -0.023861 0.585434 
time: 1403637001.201667, t: 1.475223 -2.345992 0.269471 q: 0.019673 0.809399 -0.025108 0.586392 
wait for imu ... 
time: 1403637001.301666, t: 1.420658 -2.298211 0.274957 q: 0.018858 0.809521 -0.025976 0.586213 
wait for imu ... 
time: 1403637001.401666, t: 1.363542 -2.251621 0.288840 q: 0.016472 0.810813 -0.027976 0.584405 
time: 1403637001.601666, t: 1.245811 -2.161779 0.327705 q: 0.016870 0.815279 -0.029998 0.578044 
time: 1403637001.701667, t: 1.185743 -2.118148 0.341442 q: 0.017215 0.815360 -0.030603 0.577888 
wait for imu ... 
time: 1403637001.801666, t: 1.125889 -2.075284 0.349426 q: 0.016600 0.814423 -0.031948 0.579154 
wait for imu ... 
time: 1403637001.901666, t: 1.066546 -2.033398 0.350573 q: 0.017617 0.815927 -0.031843 0.577009 
wait for imu ... 
time: 1403637002.001667, t: 1.007813 -1.992300 0.347813 q: 0.018110 0.816757 -0.031786 0.575821 
wait for imu ... 
time: 1403637002.101666, t: 0.949327 -1.952173 0.340703 q: 0.018536 0.817344 -0.031944 0.574965 
wait for imu ... 
time: 1403637002.201667, t: 0.891318 -1.911884 0.330042 q: 0.018246 0.817484 -0.032019 0.574771 
wait for imu ... 
time: 1403637002.301666, t: 0.835221 -1.873400 0.316566 q: 0.019580 0.817488 -0.031136 0.574769 
wait for imu ... 
time: 1403637002.401666, t: 0.778666 -1.833900 0.307207 q: 0.021516 0.817947 -0.029402 0.574138 
wait for imu ... 
wait for imu ... 
time: 1403637002.601666, t: 0.671973 -1.753840 0.313709 q: 0.025742 0.817020 -0.026133 0.575442 
time: 1403637002.701667, t: 0.616791 -1.711190 0.329769 q: 0.027053 0.817308 -0.026073 0.574975 
wait for imu ... 
time: 1403637002.801666, t: 0.560558 -1.666567 0.344787 q: 0.027298 0.817038 -0.027028 0.575303 
time: 1403637002.901666, t: 0.504531 -1.621196 0.353735 q: 0.024236 0.816490 -0.030437 0.576047 
time: 1403637003.001667, t: 0.447348 -1.575580 0.355276 q: 0.023908 0.816708 -0.032020 0.575666 
wait for imu ... 
time: 1403637003.101666, t: 0.390775 -1.529815 0.350959 q: 0.023811 0.817007 -0.033767 0.575145 
time: 1403637003.201667, t: 0.336229 -1.484583 0.342142 q: 0.024576 0.816550 -0.034872 0.575697 
wait for imu ... 
time: 1403637003.301666, t: 0.284975 -1.439929 0.331515 q: 0.024506 0.815450 -0.036415 0.577161 
wait for imu ... 
time: 1403637003.401666, t: 0.233527 -1.394857 0.325023 q: 0.024344 0.814135 -0.037489 0.578952 
wait for imu ... 
time: 1403637003.501667, t: 0.184469 -1.351281 0.324659 q: 0.023730 0.812888 -0.039065 0.580623 
time: 1403637003.601666, t: 0.135475 -1.305476 0.332609 q: 0.023225 0.813153 -0.040372 0.580184 
time: 1403637003.701667, t: 0.085241 -1.260583 0.345188 q: 0.023156 0.813369 -0.041149 0.579829 
wait for imu ... 
time: 1403637003.801666, t: 0.034701 -1.214103 0.354175 q: 0.021741 0.813848 -0.041652 0.579175 
time: 1403637003.901666, t: -0.023062 -1.174448 0.358818 q: 0.022811 0.815593 -0.039218 0.576845 
wait for imu ... 
time: 1403637004.001667, t: -0.072546 -1.130543 0.356103 q: 0.023559 0.818222 -0.036559 0.573255 
wait for imu ... 
time: 1403637004.101666, t: -0.121468 -1.088899 0.346696 q: 0.024308 0.820297 -0.034238 0.570395 
wait for imu ... 
time: 1403637004.201667, t: -0.169139 -1.048360 0.333086 q: 0.024612 0.821467 -0.032365 0.568805 
time: 1403637004.301666, t: -0.213878 -1.008989 0.325505 q: 0.022277 0.821582 -0.031889 0.568762 
wait for imu ... 
time: 1403637004.401666, t: -0.257472 -0.958936 0.326695 q: 0.020370 0.820463 -0.033885 0.570331 
time: 1403637004.501667, t: -0.298257 -0.917312 0.339690 q: 0.020328 0.816140 -0.035364 0.576413 
wait for imu ... 
time: 1403637004.601666, t: -0.343547 -0.875072 0.363453 q: 0.019924 0.813698 -0.038284 0.579684 
time: 1403637004.701667, t: -0.381324 -0.838049 0.392439 q: 0.011707 0.813251 -0.047404 0.579861 
wait for imu ... 
time: 1403637004.801666, t: -0.419122 -0.802649 0.413613 q: 0.005221 0.812878 -0.055391 0.579771 
wait for imu ... 
time: 1403637004.901666, t: -0.450284 -0.770202 0.416066 q: 0.004028 0.815710 -0.059391 0.575390 
time: 1403637005.001667, t: -0.489032 -0.741216 0.405225 q: 0.007746 0.819958 -0.059312 0.569290 
time: 1403637005.101666, t: -0.527616 -0.720897 0.387409 q: 0.015883 0.819830 -0.055240 0.569715 
wait for imu ... 
time: 1403637005.201667, t: -0.562500 -0.704878 0.367830 q: 0.022945 0.818644 -0.051318 0.571544 
time: 1403637005.301666, t: -0.594831 -0.692656 0.344727 q: 0.026378 0.820569 -0.048801 0.568849 
time: 1403637005.401666, t: -0.628682 -0.676468 0.320444 q: 0.027330 0.821531 -0.046953 0.567569 
time: 1403637005.501667, t: -0.664627 -0.656585 0.298416 q: 0.028909 0.818441 -0.043104 0.572242 
time: 1403637005.601666, t: -0.687665 -0.642569 0.279906 q: 0.026790 0.817612 -0.041877 0.573619 
time: 1403637005.701667, t: -0.713111 -0.626906 0.270355 q: 0.020174 0.821790 -0.044061 0.567725 
wait for imu ... 
time: 1403637005.801666, t: -0.740329 -0.611077 0.273997 q: 0.016882 0.823422 -0.044825 0.565405 
wait for imu ... 
time: 1403637006.001667, t: -0.776749 -0.590571 0.297635 q: 0.022340 0.819330 -0.039482 0.571524 
time: 1403637006.101666, t: -0.790406 -0.580130 0.303946 q: 0.020424 0.817419 -0.040782 0.574236 
wait for imu ... 
time: 1403637006.201667, t: -0.806633 -0.568905 0.306323 q: 0.019447 0.817452 -0.041188 0.574194 
wait for imu ... 
time: 1403637006.301666, t: -0.822345 -0.558197 0.307004 q: 0.016814 0.821711 -0.043080 0.568025 
time: 1403637006.401666, t: -0.837915 -0.548283 0.305825 q: 0.014563 0.828196 -0.044494 0.558480 
wait for imu ... 
time: 1403637006.501667, t: -0.849263 -0.538820 0.304139 q: 0.008608 0.830877 -0.048603 0.554263 
time: 1403637006.601666, t: -0.855345 -0.531937 0.303326 q: 0.005032 0.826424 -0.046530 0.561099 
time: 1403637006.701667, t: -0.859194 -0.525807 0.302019 q: 0.003441 0.821582 -0.036245 0.568927 
time: 1403637006.801666, t: -0.862105 -0.521647 0.297000 q: -0.002253 0.817473 -0.022263 0.575533 
wait for imu ... 
time: 1403637007.001667, t: -0.865522 -0.517186 0.279736 q: -0.023672 0.818634 0.015889 0.573607 
wait for imu ... 
time: 1403637007.101666, t: -0.867469 -0.517192 0.271460 q: -0.031571 0.817126 0.034953 0.574532 
time: 1403637007.201667, t: -0.869621 -0.517861 0.262631 q: -0.038080 0.814807 0.049249 0.576380 
wait for imu ... 
time: 1403637007.301666, t: -0.871514 -0.519145 0.254236 q: -0.039425 0.809529 0.060930 0.582577 
wait for imu ... 
time: 1403637007.401666, t: -0.876569 -0.519390 0.245255 q: -0.040336 0.806059 0.067696 0.586566 
wait for imu ... 
time: 1403637007.501667, t: -0.884781 -0.518240 0.234083 q: -0.042161 0.807417 0.070382 0.584249 
time: 1403637007.601666, t: -0.896105 -0.516014 0.221534 q: -0.043318 0.811951 0.070912 0.577781 
time: 1403637007.701667, t: -0.907684 -0.512107 0.206944 q: -0.042843 0.820174 0.070382 0.566150 
time: 1403637007.801666, t: -0.917682 -0.506542 0.195129 q: -0.040708 0.823780 0.070117 0.561082 
wait for imu ... 
time: 1403637007.901666, t: -0.925210 -0.499287 0.185231 q: -0.044399 0.818943 0.065603 0.568381 
wait for imu ... 
time: 1403637008.001667, t: -0.932890 -0.491277 0.176108 q: -0.050597 0.812490 0.058743 0.577797 
wait for imu ... 
time: 1403637008.101666, t: -0.941630 -0.484344 0.167558 q: -0.047124 0.814234 0.057858 0.575720 
wait for imu ... 
time: 1403637008.201667, t: -0.949790 -0.477618 0.159527 q: -0.042267 0.823420 0.057780 0.562898 
wait for imu ... 
time: 1403637008.301666, t: -0.956490 -0.470256 0.154984 q: -0.036931 0.829575 0.058469 0.554097 
time: 1403637008.401666, t: -0.959625 -0.460851 0.154757 q: -0.034110 0.829736 0.057662 0.554121 
wait for imu ... 
time: 1403637008.501667, t: -0.957579 -0.449582 0.159451 q: -0.037291 0.822379 0.053157 0.565222 
time: 1403637008.601666, t: -0.953220 -0.438375 0.165012 q: -0.040140 0.816309 0.048722 0.574156 
wait for imu ... 
time: 1403637008.701667, t: -0.948716 -0.427902 0.166203 q: -0.045023 0.814295 0.043326 0.577078 
wait for imu ... 
time: 1403637008.901666, t: -0.939973 -0.414373 0.156062 q: -0.064965 0.822295 0.026891 0.564701 
time: 1403637009.001667, t: -0.931788 -0.418113 0.144063 q: -0.061686 0.822703 0.027849 0.564429 
wait for imu ... 
time: 1403637009.101666, t: -0.923508 -0.425025 0.129814 q: -0.049433 0.821366 0.034797 0.567189 
time: 1403637009.201667, t: -0.913215 -0.434940 0.113971 q: -0.037490 0.820305 0.042023 0.569147 
wait for imu ... 
time: 1403637009.301666, t: -0.900625 -0.446046 0.096343 q: -0.021255 0.820161 0.052643 0.569309 
time: 1403637009.401666, t: -0.887578 -0.454440 0.083134 q: -0.035183 0.816123 0.053982 0.574274 
wait for imu ... 
wait for imu ... 
time: 1403637009.501667, t: -0.880906 -0.462487 0.078559 q: -0.049011 0.806550 0.068042 0.585188 
wait for imu ... 
time: 1403637009.601666, t: -0.880009 -0.469314 0.069469 q: -0.092015 0.784492 0.057223 0.610599 
wait for imu ... 
time: 1403637009.701667, t: -0.885699 -0.475424 0.065880 q: -0.080828 0.790380 0.044168 0.605653 
time: 1403637009.801666, t: -0.883583 -0.474933 0.065722 q: -0.080590 0.789762 0.041025 0.606710 
time: 1403637009.901666, t: -0.891230 -0.475027 0.068356 q: -0.081225 0.789270 0.042104 0.607192 
time: 1403637010.001667, t: -0.886797 -0.471276 0.065136 q: -0.081177 0.789265 0.041939 0.607217 
wait for imu ... 
time: 1403637010.101666, t: -0.890084 -0.469820 0.063915 q: -0.082019 0.789320 0.041690 0.607049 
wait for imu ... 
time: 1403637010.201667, t: -0.892621 -0.469728 0.063890 q: -0.082361 0.789255 0.041706 0.607087 
wait for imu ... 
time: 1403637010.301666, t: -0.894840 -0.470499 0.064374 q: -0.082872 0.789453 0.041725 0.606758 
wait for imu ... 
time: 1403637010.401666, t: -0.896016 -0.471473 0.065273 q: -0.082996 0.789431 0.041827 0.606763 
time: 1403637010.501667, t: -0.896428 -0.472808 0.065969 q: -0.083114 0.789578 0.041882 0.606551 
wait for imu ... 
time: 1403637010.601666, t: -0.896705 -0.472629 0.065258 q: -0.083180 0.789651 0.041749 0.606456 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720469874.711489375]: Shutdown request received.[0m
[33m[ WARN] [1720469874.711520812]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720469874.712418716]: Shutdown request received.[0m
[33m[ WARN] [1720469874.712451579]: Reason given for shutdown: [user request][0m
killed
