/SLAM-Hive/slam_hive_results/mapping_results/2841/2049_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720470690.424590629]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720470690.425243883]: init begins[0m
[31m[ERROR] [1720470690.426225376]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0f0694b4-3d69-11ef-beda-0242ac110005/roslaunch-30173c16c04b-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://30173c16c04b:37725/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[1mROS_MASTER_URI=http://30173c16c04b:11311/[0m
]2;roscore http://30173c16c04b:11311/
[0m[ INFO] [1720470691.583552707]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720470691.586050578]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 0f0694b4-3d69-11ef-beda-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720470691.615986615]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720470691.616417694]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720470691.616564095]: ROW: 240 COL: 376 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720470691.617027143]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720470691.617638110]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [235][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720470700.586212654]: 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: 316833843.96 
wait for imu ... 
wait for imu ... 
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720470705.108133841]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470705.314141051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470705.491467980]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470705.711074552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470705.912644503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470706.117070139]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720470706.298535638]: gyroscope bias initial calibration -0.00351384  0.00185809    0.078816[0m
[0m[ INFO] [1720470706.319901973]: Initialization finish![0m
time: 1403636862.151666, t: -0.043420 -0.015007 -0.261505 q: -0.013137 0.843621 -0.013843 0.536599 
wait for imu ... 
wait for imu ... 
time: 1403636862.351666, t: -0.051159 -0.019057 -0.272103 q: -0.007398 0.853361 -0.006671 0.521226 
time: 1403636862.551666, t: -0.029890 -0.015177 -0.171253 q: -0.001224 0.851560 -0.006656 0.524214 
time: 1403636862.751667, t: -0.020428 -0.018941 -0.033493 q: 0.013833 0.837451 -0.012467 0.546195 
time: 1403636862.951667, t: -0.015328 -0.018957 0.093017 q: 0.009092 0.829509 -0.026796 0.557776 
time: 1403636863.151666, t: -0.017175 -0.023012 0.112262 q: 0.018612 0.818975 -0.018717 0.573222 
time: 1403636863.351666, t: -0.019505 -0.021655 0.012939 q: 0.030237 0.821298 -0.012715 0.569555 
time: 1403636863.551666, t: -0.024063 -0.019204 -0.123110 q: 0.026679 0.830574 -0.020008 0.555909 
time: 1403636863.751667, t: -0.033907 -0.017469 -0.236468 q: 0.006613 0.846968 -0.027741 0.530878 
wait for imu ... 
wait for imu ... 
time: 1403636863.951667, t: -0.038322 -0.021785 -0.245837 q: 0.001446 0.857876 -0.026428 0.513175 
time: 1403636864.151666, t: -0.035532 -0.023709 -0.131702 q: 0.007392 0.852183 -0.017657 0.522894 
time: 1403636864.351666, t: -0.028094 -0.021524 0.007111 q: 0.012350 0.845357 -0.017676 0.533766 
time: 1403636864.551666, t: -0.021051 -0.017516 0.105745 q: 0.007340 0.825883 -0.030000 0.562994 
wait for imu ... 
time: 1403636864.751667, t: -0.019210 -0.017420 0.098173 q: 0.017629 0.815967 -0.025050 0.577287 
time: 1403636864.951667, t: -0.019810 -0.015959 -0.006047 q: 0.023036 0.826593 -0.022923 0.561861 
time: 1403636865.151666, t: -0.019584 -0.016065 -0.129272 q: 0.019351 0.839623 -0.029741 0.542010 
time: 1403636865.351666, t: -0.021305 -0.014105 -0.214237 q: -0.004132 0.843879 -0.041240 0.534930 
time: 1403636865.551666, t: -0.019879 -0.014797 -0.223824 q: 0.006099 0.853229 -0.030820 0.520589 
time: 1403636865.751667, t: -0.017047 -0.006855 -0.132503 q: 0.001317 0.852505 -0.025589 0.522091 
time: 1403636865.951667, t: -0.010693 -0.002171 0.001313 q: -0.002927 0.831897 -0.029254 0.554151 
time: 1403636866.151666, t: -0.010960 -0.001617 0.121819 q: 0.001846 0.802294 -0.032587 0.596036 
time: 1403636866.351666, t: -0.014267 -0.003080 0.145966 q: 0.014255 0.800492 -0.029865 0.598429 
time: 1403636866.551666, t: -0.014157 -0.004640 0.062668 q: 0.021482 0.814064 -0.027538 0.579724 
time: 1403636866.751667, t: -0.016296 -0.013848 -0.041340 q: 0.024969 0.827992 -0.026354 0.559563 
time: 1403636866.951667, t: -0.029956 -0.015264 -0.110326 q: 0.003215 0.841769 -0.023127 0.539333 
time: 1403636867.151666, t: -0.045015 -0.014037 -0.142097 q: -0.004171 0.854082 -0.024064 0.519565 
time: 1403636867.351666, t: -0.062231 -0.011905 -0.143145 q: -0.019744 0.859737 -0.014524 0.510148 
time: 1403636867.551666, t: -0.076640 -0.010035 -0.133441 q: -0.012105 0.874966 -0.011796 0.483890 
time: 1403636867.751667, t: -0.097318 -0.009879 -0.140921 q: -0.013443 0.920481 -0.013405 0.390325 
time: 1403636867.951667, t: -0.109143 -0.011249 -0.145323 q: -0.011534 0.945030 -0.025506 0.325784 
time: 1403636868.151666, t: -0.110626 -0.008212 -0.135422 q: -0.012060 0.936447 -0.027007 0.349560 
wait for imu ... 
time: 1403636868.351666, t: -0.123088 -0.001975 -0.133307 q: -0.017013 0.935968 -0.029395 0.350443 
time: 1403636868.551666, t: -0.138192 0.011855 -0.129037 q: -0.012837 0.931711 -0.035146 0.361267 
time: 1403636868.751667, t: -0.152719 0.022761 -0.120330 q: -0.009951 0.931635 -0.038070 0.361259 
time: 1403636868.951667, t: -0.162306 0.032592 -0.118258 q: -0.005867 0.933514 -0.030378 0.357204 
time: 1403636869.151666, t: -0.162160 0.040863 -0.116451 q: -0.016153 0.930115 -0.026856 0.365928 
time: 1403636869.351666, t: -0.159589 0.043398 -0.119793 q: -0.018278 0.930393 -0.022774 0.365398 
time: 1403636869.551666, t: -0.156677 0.038253 -0.121245 q: -0.018708 0.930232 -0.022136 0.365825 
time: 1403636869.751667, t: -0.151758 0.000487 -0.122362 q: -0.016266 0.932629 -0.025060 0.359597 
wait for imu ... 
time: 1403636869.951667, t: -0.135453 -0.074074 -0.120414 q: -0.010088 0.929425 -0.037891 0.366922 
time: 1403636870.151666, t: -0.114632 -0.170850 -0.120729 q: -0.001364 0.929935 -0.053537 0.363804 
time: 1403636870.351666, t: -0.092156 -0.272961 -0.118717 q: 0.006489 0.928767 -0.061712 0.365433 
time: 1403636870.551666, t: -0.074751 -0.361959 -0.123645 q: 0.011569 0.927214 -0.073125 0.367141 
time: 1403636870.751667, t: -0.065289 -0.422575 -0.130937 q: 0.023159 0.928094 -0.080580 0.362783 
time: 1403636870.951667, t: -0.059538 -0.444882 -0.140661 q: 0.015355 0.920305 -0.085386 0.381460 
time: 1403636871.151666, t: -0.058503 -0.443475 -0.152379 q: 0.014563 0.924469 -0.091332 0.369870 
time: 1403636871.351666, t: -0.061569 -0.419644 -0.146298 q: 0.017365 0.925383 -0.092883 0.367065 
time: 1403636871.551666, t: -0.066328 -0.356700 -0.140849 q: 0.015055 0.925583 -0.085235 0.368516 
time: 1403636871.751667, t: -0.074230 -0.259087 -0.133338 q: 0.001714 0.927439 -0.079651 0.365390 
time: 1403636871.951667, t: -0.078032 -0.146297 -0.130344 q: -0.007903 0.926915 -0.067077 0.369144 
time: 1403636872.151666, t: -0.076558 -0.029898 -0.134814 q: -0.024487 0.923006 -0.054287 0.380150 
time: 1403636872.351666, t: -0.082006 0.065480 -0.144595 q: -0.033814 0.927606 -0.039262 0.369949 
time: 1403636872.551666, t: -0.083374 0.114305 -0.148303 q: -0.039461 0.929608 -0.029374 0.365252 
time: 1403636872.751667, t: -0.084238 0.109235 -0.145522 q: -0.037166 0.926880 -0.024079 0.372736 
time: 1403636872.951667, t: -0.081203 0.056430 -0.145023 q: -0.030079 0.928339 -0.032476 0.369089 
time: 1403636873.151666, t: -0.071161 -0.043233 -0.148722 q: -0.020870 0.928407 -0.044335 0.368319 
time: 1403636873.351666, t: -0.058008 -0.164764 -0.150103 q: -0.012190 0.928925 -0.060443 0.365098 
time: 1403636873.551666, t: -0.049262 -0.282312 -0.156209 q: -0.003401 0.930027 -0.073706 0.360008 
time: 1403636873.751667, t: -0.049674 -0.369391 -0.167494 q: 0.005883 0.932047 -0.084851 0.352212 
time: 1403636873.951667, t: -0.053752 -0.405865 -0.174482 q: 0.006916 0.931875 -0.088196 0.351826 
time: 1403636874.151666, t: -0.053458 -0.403146 -0.176483 q: 0.007994 0.931671 -0.090990 0.351634 
time: 1403636874.351666, t: -0.052421 -0.362122 -0.173697 q: 0.003757 0.933913 -0.083194 0.347665 
time: 1403636874.551666, t: -0.049243 -0.272607 -0.169923 q: -0.005542 0.933393 -0.072018 0.351511 
time: 1403636874.751667, t: -0.048136 -0.154319 -0.170071 q: -0.016195 0.932166 -0.058375 0.356927 
wait for imu ... 
time: 1403636874.951667, t: -0.043972 -0.043044 -0.179081 q: -0.031508 0.933146 -0.049891 0.354623 
time: 1403636875.151666, t: -0.033933 0.026694 -0.184030 q: -0.026003 0.923673 -0.060199 0.377529 
time: 1403636875.351666, t: -0.033779 0.070429 -0.193107 q: -0.012376 0.911375 -0.106366 0.397402 
time: 1403636875.551666, t: -0.083799 0.094924 -0.198545 q: -0.018659 0.909518 -0.147821 0.388044 
time: 1403636875.751667, t: -0.159978 0.077631 -0.198329 q: -0.011296 0.906728 -0.174036 0.383964 
time: 1403636875.951667, t: -0.239046 0.025381 -0.200195 q: 0.013548 0.902012 -0.209841 0.377039 
time: 1403636876.151666, t: -0.294159 -0.057192 -0.192247 q: 0.052015 0.887828 -0.253305 0.380648 
time: 1403636876.351666, t: -0.298090 -0.160396 -0.190956 q: 0.075217 0.878285 -0.286095 0.375643 
time: 1403636876.551666, t: -0.239565 -0.278839 -0.193629 q: 0.095530 0.874956 -0.294403 0.372361 
time: 1403636876.751667, t: -0.159105 -0.371838 -0.183074 q: 0.101676 0.873992 -0.267272 0.392894 
time: 1403636876.951667, t: -0.048637 -0.373762 -0.179508 q: 0.087339 0.881716 -0.214902 0.410812 
time: 1403636877.151666, t: 0.051240 -0.294729 -0.181157 q: 0.048384 0.891485 -0.142489 0.427330 
wait for imu ... 
time: 1403636877.351666, t: 0.110478 -0.168566 -0.178424 q: 0.000493 0.899863 -0.068324 0.430789 
time: 1403636877.551666, t: 0.102950 -0.026819 -0.181994 q: -0.040478 0.906420 -0.009937 0.420316 
time: 1403636877.751667, t: 0.034341 0.080734 -0.190320 q: -0.068421 0.914464 0.010136 0.398711 
time: 1403636877.951667, t: -0.057678 0.126029 -0.194681 q: -0.066162 0.922638 -0.007102 0.379883 
time: 1403636878.151666, t: -0.144969 0.106629 -0.211731 q: -0.038379 0.926054 -0.047710 0.372391 
time: 1403636878.351666, t: -0.226818 0.033917 -0.218383 q: -0.013899 0.919965 -0.100520 0.378639 
time: 1403636878.751667, t: -0.243395 -0.202604 -0.204655 q: 0.054238 0.902375 -0.185606 0.385135 
time: 1403636879.151666, t: -0.117349 -0.373771 -0.182222 q: 0.064672 0.893696 -0.198071 0.397357 
time: 1403636879.351666, t: -0.021618 -0.380794 -0.168216 q: 0.060069 0.886796 -0.173916 0.423956 
time: 1403636879.551666, t: 0.046488 -0.325768 -0.153689 q: 0.035346 0.890842 -0.121962 0.436208 
time: 1403636879.751667, t: 0.079035 -0.222979 -0.142208 q: -0.002846 0.896885 -0.079757 0.435003 
wait for imu ... 
time: 1403636879.951667, t: 0.054080 -0.113827 -0.139332 q: -0.027536 0.905434 -0.052504 0.420326 
time: 1403636880.151666, t: -0.020213 -0.062087 -0.140659 q: -0.032094 0.911065 -0.044696 0.408574 
time: 1403636880.351666, t: -0.105807 -0.080293 -0.137807 q: -0.005672 0.906537 -0.075629 0.415257 
time: 1403636880.551666, t: -0.203321 -0.106613 -0.122825 q: 0.033668 0.898703 -0.117980 0.421047 
time: 1403636880.751667, t: -0.285228 -0.081684 -0.110590 q: 0.047512 0.901335 -0.140957 0.406778 
time: 1403636880.951667, t: -0.325898 -0.010289 -0.106468 q: 0.032321 0.903505 -0.133100 0.406101 
time: 1403636881.151666, t: -0.315959 0.062496 -0.099960 q: 0.014768 0.897474 -0.099428 0.429460 
time: 1403636881.351666, t: -0.253299 0.115917 -0.099661 q: -0.015229 0.895954 -0.054191 0.440565 
time: 1403636881.551666, t: -0.168128 0.115480 -0.095556 q: -0.016025 0.893130 -0.022121 0.448969 
time: 1403636881.751667, t: -0.072363 0.051607 -0.099077 q: -0.008262 0.890973 -0.001878 0.453977 
time: 1403636881.951667, t: 0.004183 -0.048017 -0.114313 q: 0.001585 0.893610 -0.015152 0.448586 
time: 1403636882.151666, t: 0.031356 -0.147866 -0.138214 q: 0.009294 0.891970 -0.039123 0.450304 
time: 1403636882.351666, t: 0.003720 -0.204404 -0.166867 q: 0.019555 0.886270 -0.052297 0.459792 
time: 1403636882.551666, t: -0.040709 -0.196889 -0.193410 q: 0.001900 0.882733 -0.044548 0.467754 
wait for imu ... 
time: 1403636882.751667, t: -0.029621 -0.161272 -0.214184 q: -0.022908 0.863708 -0.021754 0.503002 
time: 1403636882.951667, t: 0.013063 -0.126755 -0.251127 q: -0.056285 0.837095 0.018292 0.543846 
time: 1403636883.151666, t: 0.052383 -0.096210 -0.298782 q: -0.079239 0.831952 0.054913 0.546407 
time: 1403636883.351666, t: 0.083530 -0.074103 -0.340172 q: -0.085021 0.821270 0.075183 0.559138 
time: 1403636883.551666, t: 0.102741 -0.062582 -0.361609 q: -0.095743 0.810984 0.085824 0.570764 
time: 1403636883.751667, t: 0.109112 -0.058160 -0.370741 q: -0.103751 0.803725 0.100373 0.577223 
time: 1403636883.951667, t: 0.113435 -0.057846 -0.378476 q: -0.113971 0.801543 0.104935 0.577519 
wait for imu ... 
time: 1403636884.151666, t: 0.116088 -0.059410 -0.381362 q: -0.119503 0.793587 0.110366 0.586308 
time: 1403636884.351666, t: 0.114697 -0.058853 -0.380928 q: -0.119331 0.788545 0.110604 0.593063 
time: 1403636884.551666, t: 0.115010 -0.059117 -0.380311 q: -0.119105 0.788552 0.110764 0.593070 
time: 1403636884.751667, t: 0.114792 -0.059385 -0.380638 q: -0.119152 0.788797 0.110384 0.592805 
time: 1403636884.951667, t: 0.114808 -0.059511 -0.380622 q: -0.119110 0.788862 0.110309 0.592740 
time: 1403636885.151666, t: 0.114809 -0.059674 -0.380608 q: -0.118779 0.789005 0.110334 0.592612 
time: 1403636885.351666, t: 0.114813 -0.059681 -0.380607 q: -0.118843 0.789101 0.110174 0.592501 
time: 1403636885.551666, t: 0.114811 -0.059710 -0.380603 q: -0.118768 0.789122 0.110109 0.592501 
time: 1403636885.751667, t: 0.114776 -0.059740 -0.380579 q: -0.118729 0.789142 0.110184 0.592468 
wait for imu ... 
time: 1403636885.951667, t: 0.114779 -0.059746 -0.380593 q: -0.118561 0.789225 0.110214 0.592385 
time: 1403636886.151666, t: 0.114749 -0.059665 -0.380615 q: -0.118827 0.789299 0.109985 0.592275 
time: 1403636886.351666, t: 0.114766 -0.059650 -0.380637 q: -0.118898 0.789377 0.109954 0.592163 
time: 1403636886.551666, t: 0.114775 -0.059670 -0.380653 q: -0.118780 0.789360 0.110040 0.592193 
time: 1403636886.751667, t: 0.114762 -0.059651 -0.380656 q: -0.118845 0.789401 0.110049 0.592124 
time: 1403636886.951667, t: 0.114744 -0.059664 -0.380675 q: -0.118799 0.789405 0.110137 0.592111 
time: 1403636887.151666, t: 0.114744 -0.059665 -0.380707 q: -0.118873 0.789446 0.110093 0.592050 
time: 1403636887.351666, t: 0.114701 -0.059642 -0.380701 q: -0.118874 0.789440 0.110083 0.592060 
wait for imu ... 
time: 1403636887.551666, t: 0.114738 -0.059656 -0.380719 q: -0.118852 0.789514 0.110143 0.591954 
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time: 1403636888.151666, t: 0.114755 -0.059688 -0.380785 q: -0.118827 0.789602 0.110135 0.591844 
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time: 1403636888.751667, t: 0.114591 -0.059537 -0.380731 q: -0.118868 0.789413 0.110181 0.592080 
time: 1403636888.951667, t: 0.114674 -0.059508 -0.380784 q: -0.118751 0.789545 0.110168 0.591929 
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time: 1403636889.951667, t: 0.114636 -0.059952 -0.380596 q: -0.118467 0.789520 0.110055 0.592041 
time: 1403636890.151666, t: 0.114689 -0.060085 -0.380479 q: -0.118344 0.789398 0.109475 0.592335 
time: 1403636890.351666, t: 0.114572 -0.059989 -0.380584 q: -0.118585 0.789846 0.109959 0.591599 
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time: 1403636890.751667, t: 0.114589 -0.060054 -0.380586 q: -0.118422 0.789845 0.109855 0.591653 
time: 1403636890.951667, t: 0.114706 -0.060088 -0.380465 q: -0.118474 0.789574 0.109729 0.592027 
time: 1403636891.151666, t: 0.114648 -0.060061 -0.380529 q: -0.118616 0.789521 0.109748 0.592067 
time: 1403636891.351666, t: 0.114716 -0.059995 -0.380524 q: -0.118620 0.789520 0.109839 0.592050 
time: 1403636891.551666, t: 0.114686 -0.060039 -0.380533 q: -0.118620 0.789532 0.109880 0.592026 
time: 1403636891.751667, t: 0.114665 -0.060072 -0.380553 q: -0.118609 0.789536 0.109843 0.592030 
time: 1403636891.951667, t: 0.114699 -0.060066 -0.380514 q: -0.118542 0.789541 0.109882 0.592030 
time: 1403636892.151666, t: 0.114665 -0.060049 -0.380567 q: -0.118646 0.789518 0.109826 0.592049 
time: 1403636892.351666, t: 0.114691 -0.060092 -0.380528 q: -0.118485 0.789513 0.109826 0.592089 
wait for imu ... 
time: 1403636892.551666, t: 0.114703 -0.060114 -0.380526 q: -0.118382 0.789523 0.109795 0.592102 
time: 1403636892.751667, t: 0.114701 -0.060110 -0.380544 q: -0.118383 0.789528 0.109843 0.592086 
time: 1403636892.951667, t: 0.114732 -0.060096 -0.380545 q: -0.118392 0.789533 0.109953 0.592057 
time: 1403636893.151666, t: 0.114691 -0.060108 -0.380559 q: -0.118415 0.789458 0.109879 0.592166 
time: 1403636893.351666, t: 0.114688 -0.060091 -0.380587 q: -0.118435 0.789462 0.109880 0.592156 
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wait for imu ... 
time: 1403636893.751667, t: 0.114688 -0.060113 -0.380576 q: -0.118321 0.789461 0.110001 0.592158 
time: 1403636893.951667, t: 0.114746 -0.060128 -0.380581 q: -0.118437 0.789568 0.109919 0.592008 
time: 1403636894.151666, t: 0.114724 -0.060134 -0.380601 q: -0.118413 0.789568 0.109827 0.592029 
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time: 1403636894.751667, t: 0.114720 -0.060162 -0.380646 q: -0.118380 0.789508 0.109824 0.592117 
time: 1403636894.951667, t: 0.114768 -0.060183 -0.380654 q: -0.118274 0.789518 0.109688 0.592150 
time: 1403636895.151666, t: 0.114790 -0.060249 -0.380625 q: -0.118116 0.789441 0.109914 0.592241 
time: 1403636895.351666, t: 0.114772 -0.060206 -0.380625 q: -0.118060 0.789493 0.109803 0.592204 
time: 1403636895.551666, t: 0.114720 -0.060226 -0.380623 q: -0.118054 0.789475 0.109776 0.592235 
time: 1403636895.751667, t: 0.114755 -0.060204 -0.380621 q: -0.118054 0.789431 0.109922 0.592266 
time: 1403636895.951667, t: 0.114736 -0.060225 -0.380588 q: -0.118061 0.789385 0.110047 0.592303 
time: 1403636896.151666, t: 0.115076 -0.060362 -0.380738 q: -0.118149 0.790293 0.110071 0.591069 
time: 1403636896.351666, t: 0.115085 -0.060420 -0.380689 q: -0.118053 0.790329 0.110164 0.591022 
time: 1403636896.751667, t: 0.115452 -0.060622 -0.380831 q: -0.118039 0.790317 0.110443 0.590989 
time: 1403636896.951667, t: 0.115517 -0.060654 -0.380909 q: -0.118058 0.789930 0.110841 0.591428 
time: 1403636897.151666, t: 0.114259 -0.060692 -0.380292 q: -0.119841 0.788622 0.115167 0.591989 
time: 1403636897.351666, t: 0.108516 -0.066995 -0.381138 q: -0.118246 0.791010 0.113274 0.589483 
time: 1403636897.551666, t: 0.091746 -0.087965 -0.382460 q: -0.102739 0.801862 0.109122 0.578406 
wait for imu ... 
time: 1403636897.751667, t: 0.064493 -0.116206 -0.371772 q: -0.080770 0.821181 0.114619 0.553173 
time: 1403636897.951667, t: 0.045778 -0.141031 -0.334978 q: -0.073782 0.828132 0.120615 0.542407 
wait for imu ... 
time: 1403636898.151666, t: 0.044994 -0.154806 -0.303374 q: -0.081289 0.816501 0.122868 0.558230 
time: 1403636898.351666, t: 0.050880 -0.163083 -0.274608 q: -0.085741 0.814104 0.128119 0.559882 
time: 1403636898.551666, t: 0.064674 -0.162936 -0.233992 q: -0.091525 0.813873 0.132781 0.558214 
time: 1403636898.751667, t: 0.088272 -0.154514 -0.197555 q: -0.092787 0.814346 0.137312 0.556217 
time: 1403636898.951667, t: 0.117645 -0.143117 -0.170281 q: -0.100595 0.815635 0.135093 0.553506 
time: 1403636899.151666, t: 0.156475 -0.137807 -0.148753 q: -0.100925 0.815527 0.118889 0.557310 
time: 1403636899.351666, t: 0.204030 -0.142748 -0.130446 q: -0.077903 0.808316 0.086838 0.577075 
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time: 1403636899.751667, t: 0.278982 -0.181167 -0.106352 q: -0.045020 0.821187 0.021764 0.568464 
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time: 1403636900.351666, t: 0.399413 -0.291676 -0.069383 q: -0.022357 0.813134 0.025317 0.581095 
time: 1403636900.551666, t: 0.430458 -0.326416 -0.022821 q: -0.025741 0.820523 0.031105 0.570186 
time: 1403636900.751667, t: 0.463917 -0.367437 0.006699 q: -0.030932 0.828575 0.034505 0.557956 
time: 1403636900.951667, t: 0.510859 -0.411089 0.012501 q: -0.045090 0.826622 0.029050 0.560196 
time: 1403636901.151666, t: 0.567703 -0.466392 0.000540 q: -0.052257 0.823176 0.024828 0.564831 
time: 1403636901.351666, t: 0.622406 -0.540430 -0.003634 q: -0.046837 0.821581 0.028183 0.567465 
wait for imu ... 
time: 1403636901.551666, t: 0.686642 -0.623776 0.014148 q: -0.036559 0.820639 0.034095 0.569257 
time: 1403636901.751667, t: 0.757249 -0.709439 0.020844 q: -0.035972 0.817802 0.034234 0.573354 
time: 1403636901.951667, t: 0.825758 -0.796749 0.001389 q: -0.034380 0.817732 0.035669 0.573464 
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time: 1403636902.351666, t: 0.964840 -0.975445 -0.023637 q: -0.036418 0.817345 0.035836 0.573878 
time: 1403636902.551666, t: 1.031874 -1.068869 -0.065423 q: -0.030388 0.818110 0.034895 0.573197 
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time: 1403636903.151666, t: 1.206283 -1.303428 -0.108101 q: -0.028202 0.815451 0.036759 0.576969 
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time: 1403636903.751667, t: 1.351097 -1.512010 -0.038470 q: -0.033476 0.823402 0.043192 0.564821 
time: 1403636903.951667, t: 1.404213 -1.569311 -0.034028 q: -0.043424 0.823658 0.037087 0.564204 
time: 1403636904.151666, t: 1.469175 -1.636235 0.000481 q: -0.048097 0.820877 0.033536 0.568088 
time: 1403636904.351666, t: 1.532396 -1.709643 0.050742 q: -0.048509 0.818719 0.031440 0.571278 
time: 1403636904.551666, t: 1.593647 -1.797037 0.082855 q: -0.041693 0.817864 0.032866 0.572957 
time: 1403636904.751667, t: 1.654062 -1.888353 0.103352 q: -0.033329 0.817905 0.034657 0.573341 
time: 1403636904.951667, t: 1.715750 -1.978638 0.114747 q: -0.024774 0.818580 0.036020 0.572726 
time: 1403636905.351666, t: 1.850825 -2.147657 0.136069 q: -0.014632 0.819851 0.033348 0.571418 
time: 1403636905.551666, t: 1.915399 -2.208493 0.176361 q: -0.013264 0.821927 0.042349 0.567862 
time: 1403636905.951667, t: 2.060760 -2.302044 0.191222 q: -0.028302 0.824114 0.050519 0.563457 
time: 1403636906.151666, t: 2.137266 -2.335577 0.166912 q: -0.028469 0.827405 0.055699 0.558111 
time: 1403636906.351666, t: 2.225555 -2.358062 0.163754 q: -0.034850 0.818594 0.054023 0.570763 
time: 1403636906.551666, t: 2.318770 -2.381787 0.182967 q: -0.053838 0.817280 0.040827 0.572266 
time: 1403636906.751667, t: 2.406680 -2.414066 0.188626 q: -0.045844 0.818972 0.045752 0.570167 
time: 1403636906.951667, t: 2.493381 -2.449640 0.176895 q: -0.036078 0.819265 0.054984 0.569631 
time: 1403636907.151666, t: 2.582512 -2.478129 0.181368 q: -0.034746 0.821009 0.059989 0.566691 
time: 1403636907.351666, t: 2.674182 -2.498326 0.175797 q: -0.039867 0.826611 0.059739 0.558173 
time: 1403636907.551666, t: 2.776527 -2.517737 0.178550 q: -0.052799 0.828154 0.052455 0.555538 
wait for imu ... 
time: 1403636907.751667, t: 2.893321 -2.540686 0.216363 q: -0.057679 0.827366 0.049779 0.556472 
time: 1403636907.951667, t: 3.020490 -2.574857 0.247869 q: -0.056782 0.824066 0.050854 0.561342 
time: 1403636908.151666, t: 3.171550 -2.618309 0.246498 q: -0.047253 0.818172 0.061403 0.569730 
time: 1403636908.351666, t: 3.310411 -2.661116 0.248576 q: -0.047121 0.816457 0.067519 0.571505 
time: 1403636908.551666, t: 3.448785 -2.700046 0.234250 q: -0.050422 0.817887 0.070831 0.568771 
wait for imu ... 
wait for imu ... 
time: 1403636908.751667, t: 3.588812 -2.738332 0.225895 q: -0.053168 0.820952 0.073956 0.563685 
time: 1403636908.951667, t: 3.720568 -2.775074 0.250892 q: -0.057628 0.825650 0.073446 0.556405 
time: 1403636909.151666, t: 3.862052 -2.811433 0.290581 q: -0.062253 0.826105 0.070535 0.555608 
wait for imu ... 
time: 1403636909.351666, t: 4.022705 -2.853010 0.308423 q: -0.061296 0.826117 0.069490 0.555828 
time: 1403636909.551666, t: 4.198651 -2.896197 0.309702 q: -0.057073 0.821677 0.069950 0.562758 
time: 1403636909.751667, t: 4.369726 -2.941798 0.288536 q: -0.060004 0.816437 0.064398 0.570686 
time: 1403636909.951667, t: 4.526429 -2.993230 0.247842 q: -0.035572 0.807941 0.079789 0.582752 
wait for imu ... 
time: 1403636910.151666, t: 4.679875 -3.030991 0.197813 q: -0.036226 0.806178 0.080108 0.585104 
wait for imu ... 
time: 1403636910.351666, t: 4.809901 -3.053914 0.167081 q: -0.048498 0.815288 0.073614 0.572306 
time: 1403636910.551666, t: 4.944853 -3.073996 0.168357 q: -0.050063 0.817130 0.076189 0.569199 
time: 1403636910.751667, t: 5.083724 -3.088129 0.156148 q: -0.050907 0.817370 0.077334 0.568625 
time: 1403636910.951667, t: 5.215853 -3.097897 0.124174 q: -0.056690 0.816633 0.074049 0.569572 
time: 1403636911.151666, t: 5.352779 -3.106605 0.099112 q: -0.061993 0.805869 0.071192 0.584520 
time: 1403636911.351666, t: 5.472309 -3.122367 0.094120 q: -0.054168 0.815377 0.076096 0.571345 
time: 1403636911.551666, t: 5.580328 -3.139357 0.119086 q: -0.051856 0.816203 0.077201 0.570231 
time: 1403636911.751667, t: 5.676038 -3.154644 0.133082 q: -0.052613 0.816425 0.075675 0.570049 
time: 1403636911.951667, t: 5.770765 -3.169125 0.127974 q: -0.066604 0.820250 0.064142 0.564482 
time: 1403636912.151666, t: 5.879962 -3.189629 0.105271 q: -0.062124 0.820027 0.065468 0.565164 
time: 1403636912.351666, t: 5.999510 -3.217183 0.104227 q: -0.055422 0.817664 0.068732 0.568884 
time: 1403636912.751667, t: 6.234057 -3.283948 0.089910 q: -0.068830 0.818335 0.055467 0.567903 
time: 1403636912.951667, t: 6.356835 -3.335337 0.056130 q: -0.064327 0.815595 0.057775 0.572127 
time: 1403636913.151666, t: 6.471021 -3.394546 0.013611 q: -0.054619 0.809606 0.064512 0.580856 
time: 1403636913.351666, t: 6.570813 -3.457843 -0.010145 q: -0.054462 0.810741 0.065168 0.579212 
time: 1403636913.551666, t: 6.659651 -3.525880 -0.008109 q: -0.059321 0.815051 0.061399 0.573065 
time: 1403636913.751667, t: 6.751836 -3.599508 -0.020116 q: -0.053192 0.815258 0.064237 0.573061 
time: 1403636913.951667, t: 6.845372 -3.670907 -0.032467 q: -0.051375 0.814136 0.065769 0.574646 
time: 1403636914.151666, t: 6.941962 -3.745495 -0.024247 q: -0.055934 0.814178 0.062865 0.574485 
time: 1403636914.351666, t: 7.035553 -3.823989 -0.027788 q: -0.053115 0.814515 0.064022 0.574148 
time: 1403636914.551666, t: 7.118166 -3.900697 -0.026897 q: -0.047311 0.814234 0.067275 0.574682 
time: 1403636914.751667, t: 7.201894 -3.976682 -0.004758 q: -0.045528 0.812580 0.067238 0.577166 
time: 1403636914.951667, t: 7.273944 -4.047444 0.015334 q: -0.043829 0.814370 0.066333 0.574874 
time: 1403636915.151666, t: 7.339507 -4.112158 0.011874 q: -0.042016 0.818091 0.065351 0.569816 
time: 1403636915.351666, t: 7.407756 -4.170700 -0.013416 q: -0.039858 0.826814 0.065481 0.557227 
time: 1403636915.551666, t: 7.485780 -4.222171 -0.036912 q: -0.047553 0.823017 0.060477 0.562783 
time: 1403636915.751667, t: 7.576110 -4.274457 -0.032694 q: -0.060729 0.815311 0.052474 0.573433 
time: 1403636915.951667, t: 7.656587 -4.337895 0.002015 q: -0.060343 0.813932 0.054119 0.575278 
time: 1403636916.151666, t: 7.739679 -4.410150 0.031123 q: -0.044964 0.812970 0.066204 0.576780 
time: 1403636916.351666, t: 7.811968 -4.475414 0.055176 q: -0.045837 0.813456 0.066751 0.575963 
time: 1403636916.551666, t: 7.875862 -4.538208 0.084178 q: -0.031648 0.814088 0.058745 0.576895 
time: 1403636916.751667, t: 7.935217 -4.597730 0.096078 q: -0.015288 0.814896 0.038344 0.578136 
time: 1403636916.951667, t: 8.001698 -4.643153 0.084824 q: -0.005893 0.814873 0.026195 0.579017 
wait for imu ... 
time: 1403636917.151666, t: 8.063827 -4.675221 0.053050 q: -0.006839 0.815512 0.017228 0.578443 
time: 1403636917.351666, t: 8.110194 -4.701201 0.002441 q: 0.004314 0.814627 -0.001678 0.579967 
time: 1403636917.551666, t: 8.156715 -4.732146 -0.065786 q: 0.028187 0.813058 -0.033339 0.580543 
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wait for imu ... 
time: 1403636917.951667, t: 8.235828 -4.770696 -0.131141 q: 0.051712 0.808887 -0.065741 0.581984 
time: 1403636918.151666, t: 8.262016 -4.777875 -0.144591 q: 0.058180 0.810979 -0.068769 0.578099 
time: 1403636918.351666, t: 8.284739 -4.777702 -0.155419 q: 0.062479 0.814869 -0.065552 0.572528 
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wait for imu ... 
time: 1403636918.751667, t: 8.349026 -4.745543 -0.094719 q: 0.052414 0.823848 -0.064077 0.560733 
time: 1403636918.951667, t: 8.407908 -4.722545 -0.023649 q: 0.028643 0.812303 -0.082572 0.576650 
time: 1403636919.151666, t: 8.462057 -4.718592 0.059186 q: 0.027335 0.805853 -0.099167 0.583112 
time: 1403636919.351666, t: 8.500753 -4.739466 0.144619 q: 0.035963 0.803486 -0.106165 0.584676 
time: 1403636919.551666, t: 8.521953 -4.777598 0.212080 q: 0.058922 0.803516 -0.101588 0.583584 
time: 1403636919.751667, t: 8.532664 -4.818945 0.252309 q: 0.070826 0.802574 -0.098357 0.584110 
time: 1403636919.951667, t: 8.530008 -4.856635 0.262789 q: 0.066780 0.800299 -0.102003 0.587075 
time: 1403636920.151666, t: 8.515126 -4.894447 0.246741 q: 0.055288 0.797551 -0.107750 0.590970 
wait for imu ... 
time: 1403636920.351666, t: 8.483136 -4.938863 0.212585 q: 0.062979 0.798068 -0.100031 0.590859 
time: 1403636920.551666, t: 8.436879 -4.983783 0.182070 q: 0.072533 0.803386 -0.091859 0.583842 
time: 1403636920.751667, t: 8.376896 -5.020841 0.182690 q: 0.072009 0.811726 -0.092382 0.572172 
time: 1403636920.951667, t: 8.320635 -5.049350 0.211981 q: 0.071037 0.816100 -0.094705 0.565655 
time: 1403636921.151666, t: 8.273753 -5.074650 0.242232 q: 0.071278 0.815565 -0.095833 0.566206 
time: 1403636921.351666, t: 8.231327 -5.093732 0.251266 q: 0.071233 0.805871 -0.096527 0.579810 
time: 1403636921.551666, t: 8.186706 -5.109671 0.236664 q: 0.059147 0.803018 -0.105523 0.583548 
time: 1403636921.751667, t: 8.132667 -5.126350 0.197866 q: 0.053569 0.819341 -0.111248 0.559852 
time: 1403636921.951667, t: 8.085884 -5.152707 0.155518 q: 0.063482 0.820951 -0.107669 0.557151 
time: 1403636922.151666, t: 8.057400 -5.184900 0.116140 q: 0.077739 0.809109 -0.108407 0.572317 
time: 1403636922.351666, t: 8.027859 -5.212125 0.096263 q: 0.086229 0.813574 -0.115151 0.563384 
time: 1403636922.551666, t: 8.003332 -5.235308 0.077517 q: 0.094325 0.818922 -0.127612 0.551530 
time: 1403636922.751667, t: 7.989862 -5.256755 0.045891 q: 0.108338 0.806529 -0.141865 0.563602 
time: 1403636922.951667, t: 7.982344 -5.270402 0.018628 q: 0.102149 0.791816 -0.159467 0.580658 
time: 1403636923.151666, t: 7.961594 -5.282735 0.006267 q: 0.103146 0.788653 -0.172735 0.580991 
time: 1403636923.351666, t: 7.920066 -5.305039 -0.024693 q: 0.123294 0.795733 -0.185562 0.563183 
time: 1403636923.551666, t: 7.879854 -5.326749 -0.070904 q: 0.131373 0.807696 -0.196796 0.540037 
time: 1403636923.751667, t: 7.858856 -5.352910 -0.091634 q: 0.134466 0.812742 -0.201446 0.529895 
time: 1403636923.951667, t: 7.871196 -5.386238 -0.084433 q: 0.137888 0.812847 -0.200091 0.529368 
time: 1403636924.151666, t: 7.913737 -5.421355 -0.091595 q: 0.139178 0.811921 -0.196932 0.531630 
time: 1403636924.351666, t: 7.974127 -5.458650 -0.113016 q: 0.136698 0.809965 -0.196261 0.535493 
time: 1403636924.551666, t: 8.056690 -5.499591 -0.105435 q: 0.122778 0.799032 -0.203484 0.552330 
time: 1403636924.751667, t: 8.141681 -5.554971 -0.088375 q: 0.110170 0.788335 -0.208472 0.568269 
wait for imu ... 
time: 1403636924.951667, t: 8.210467 -5.625826 -0.097674 q: 0.108149 0.780321 -0.212065 0.578301 
time: 1403636925.151666, t: 8.255732 -5.714413 -0.139020 q: 0.131041 0.783431 -0.215779 0.567894 
time: 1403636925.351666, t: 8.285788 -5.805621 -0.199416 q: 0.151383 0.795987 -0.214591 0.545379 
time: 1403636925.551666, t: 8.328229 -5.896590 -0.264072 q: 0.154045 0.808115 -0.220328 0.524095 
time: 1403636925.751667, t: 8.405920 -5.991670 -0.297572 q: 0.154218 0.814302 -0.223862 0.512850 
time: 1403636925.951667, t: 8.516490 -6.086639 -0.290472 q: 0.160294 0.803360 -0.220019 0.529632 
time: 1403636926.151666, t: 8.649754 -6.180046 -0.281238 q: 0.159770 0.781175 -0.218943 0.562408 
time: 1403636926.351666, t: 8.772992 -6.262678 -0.304091 q: 0.146100 0.771266 -0.225214 0.577132 
time: 1403636926.551666, t: 8.871237 -6.339281 -0.346530 q: 0.140167 0.772297 -0.225397 0.577154 
time: 1403636926.751667, t: 8.947921 -6.419265 -0.369188 q: 0.144584 0.779952 -0.221167 0.567322 
time: 1403636926.951667, t: 9.007517 -6.501792 -0.367301 q: 0.144976 0.780309 -0.243357 0.557564 
time: 1403636927.151666, t: 9.056137 -6.596865 -0.372940 q: 0.164485 0.770011 -0.275080 0.551687 
time: 1403636927.351666, t: 9.086917 -6.699477 -0.402044 q: 0.194434 0.758854 -0.308007 0.539877 
time: 1403636927.551666, t: 9.109908 -6.801822 -0.447774 q: 0.211086 0.767533 -0.327346 0.509098 
time: 1403636927.751667, t: 9.150330 -6.914639 -0.481489 q: 0.217897 0.770777 -0.337628 0.494400 
time: 1403636927.951667, t: 9.218541 -7.045456 -0.489703 q: 0.219618 0.767606 -0.340704 0.496457 
wait for imu ... 
time: 1403636928.151666, t: 9.305251 -7.191342 -0.505875 q: 0.223652 0.761054 -0.337028 0.507138 
wait for imu ... 
time: 1403636928.351666, t: 9.406193 -7.343622 -0.533470 q: 0.224492 0.745681 -0.333135 0.531586 
time: 1403636928.551666, t: 9.501709 -7.490181 -0.571540 q: 0.228011 0.742416 -0.328037 0.537793 
time: 1403636928.751667, t: 9.589312 -7.628923 -0.589122 q: 0.226545 0.753577 -0.327309 0.523133 
time: 1403636928.951667, t: 9.677505 -7.760590 -0.572438 q: 0.228355 0.756902 -0.325517 0.518644 
time: 1403636929.151666, t: 9.774066 -7.892253 -0.521178 q: 0.221686 0.739932 -0.329690 0.542826 
time: 1403636929.351666, t: 9.853865 -8.014228 -0.463152 q: 0.210777 0.737747 -0.335837 0.546367 
time: 1403636929.551666, t: 9.918339 -8.142564 -0.429266 q: 0.217466 0.743075 -0.328885 0.540724 
time: 1403636929.751667, t: 9.967226 -8.265921 -0.417741 q: 0.228744 0.747541 -0.319063 0.535778 
time: 1403636929.951667, t: 10.007267 -8.371818 -0.424909 q: 0.226662 0.746597 -0.319418 0.537763 
time: 1403636930.151666, t: 10.037716 -8.460470 -0.413894 q: 0.219292 0.744691 -0.325050 0.540082 
wait for imu ... 
time: 1403636930.351666, t: 10.061334 -8.552507 -0.374483 q: 0.215668 0.746089 -0.327662 0.538030 
time: 1403636930.551666, t: 10.068113 -8.635070 -0.337498 q: 0.225997 0.746717 -0.321295 0.536758 
time: 1403636930.751667, t: 10.077799 -8.722911 -0.323117 q: 0.218648 0.744288 -0.325750 0.540477 
time: 1403636930.951667, t: 10.071625 -8.797426 -0.332216 q: 0.207840 0.738273 -0.337896 0.545510 
time: 1403636931.151666, t: 10.047023 -8.885719 -0.350578 q: 0.221576 0.728519 -0.350669 0.545156 
time: 1403636931.351666, t: 9.996160 -8.969450 -0.345358 q: 0.248732 0.721578 -0.347729 0.544557 
time: 1403636931.551666, t: 9.928790 -9.035821 -0.316503 q: 0.269639 0.725069 -0.341712 0.533670 
wait for imu ... 
wait for imu ... 
time: 1403636931.751667, t: 9.858372 -9.072430 -0.286885 q: 0.275332 0.727514 -0.341230 0.527710 
time: 1403636931.951667, t: 9.792621 -9.085738 -0.284550 q: 0.257595 0.730392 -0.355377 0.523334 
time: 1403636932.151666, t: 9.727476 -9.086881 -0.302806 q: 0.255635 0.725563 -0.358173 0.529077 
time: 1403636932.351666, t: 9.658248 -9.074565 -0.316009 q: 0.274199 0.722593 -0.348842 0.530079 
time: 1403636932.551666, t: 9.583926 -9.032235 -0.302955 q: 0.284747 0.719364 -0.353973 0.525488 
time: 1403636932.751667, t: 9.514190 -8.966557 -0.257459 q: 0.289701 0.706842 -0.382467 0.519776 
time: 1403636932.951667, t: 9.443081 -8.885817 -0.199831 q: 0.296652 0.699497 -0.401953 0.511014 
time: 1403636933.151666, t: 9.376742 -8.792279 -0.187359 q: 0.304330 0.693864 -0.419611 0.499862 
time: 1403636933.351666, t: 9.310289 -8.688822 -0.213231 q: 0.293250 0.705637 -0.440248 0.471446 
time: 1403636933.551666, t: 9.256977 -8.596574 -0.244856 q: 0.295701 0.701739 -0.441485 0.474567 
time: 1403636933.751667, t: 9.209511 -8.514309 -0.262620 q: 0.303464 0.694192 -0.433860 0.487619 
time: 1403636933.951667, t: 9.169531 -8.437283 -0.253629 q: 0.304624 0.687280 -0.433564 0.496862 
time: 1403636934.151666, t: 9.117569 -8.355517 -0.249138 q: 0.316891 0.673803 -0.453971 0.489366 
wait for imu ... 
time: 1403636934.351666, t: 9.058400 -8.270745 -0.287462 q: 0.341263 0.648920 -0.487240 0.474383 
time: 1403636934.551666, t: 8.992993 -8.180999 -0.323404 q: 0.357643 0.615986 -0.530859 0.459176 
time: 1403636934.751667, t: 8.916630 -8.086412 -0.323306 q: 0.378512 0.594054 -0.561602 0.434087 
time: 1403636934.951667, t: 8.836421 -7.990514 -0.289055 q: 0.388629 0.592056 -0.574551 0.410278 
time: 1403636935.151666, t: 8.760142 -7.902290 -0.224866 q: 0.396382 0.587390 -0.571831 0.413357 
time: 1403636935.351666, t: 8.681813 -7.822821 -0.162792 q: 0.392930 0.582984 -0.568983 0.426608 
time: 1403636935.551666, t: 8.605189 -7.750045 -0.128142 q: 0.388122 0.585650 -0.566370 0.430814 
time: 1403636935.751667, t: 8.521423 -7.675848 -0.124836 q: 0.384610 0.589810 -0.564639 0.430560 
time: 1403636935.951667, t: 8.429002 -7.596292 -0.150403 q: 0.372815 0.602254 -0.570342 0.415943 
time: 1403636936.151666, t: 8.336669 -7.548987 -0.197697 q: 0.364004 0.610192 -0.575413 0.405051 
time: 1403636936.351666, t: 8.247336 -7.526724 -0.236123 q: 0.375459 0.604642 -0.569113 0.411763 
time: 1403636936.551666, t: 8.156421 -7.517867 -0.244110 q: 0.386281 0.595560 -0.564016 0.421879 
time: 1403636936.751667, t: 8.070293 -7.516355 -0.251272 q: 0.390132 0.591999 -0.565266 0.421673 
time: 1403636936.951667, t: 7.991939 -7.520709 -0.264183 q: 0.394363 0.592738 -0.565284 0.416646 
time: 1403636937.151666, t: 7.930433 -7.531908 -0.251148 q: 0.395062 0.592103 -0.566682 0.414983 
time: 1403636937.351666, t: 7.869218 -7.539802 -0.231385 q: 0.393170 0.588830 -0.569928 0.416987 
time: 1403636937.551666, t: 7.800305 -7.541186 -0.236670 q: 0.394888 0.587574 -0.570621 0.416188 
time: 1403636937.751667, t: 7.746769 -7.548707 -0.264778 q: 0.404543 0.591528 -0.565921 0.407645 
time: 1403636937.951667, t: 7.690367 -7.550582 -0.310362 q: 0.418715 0.587453 -0.558113 0.409984 
time: 1403636938.151666, t: 7.658371 -7.542014 -0.372532 q: 0.430647 0.575244 -0.555740 0.418080 
wait for imu ... 
time: 1403636938.351666, t: 7.636917 -7.505492 -0.431897 q: -0.417387 -0.556074 0.574263 -0.432195 
time: 1403636938.551666, t: 7.611352 -7.445393 -0.466698 q: -0.389556 -0.545355 0.599848 -0.437054 
time: 1403636938.751667, t: 7.551939 -7.375161 -0.469550 q: -0.387259 -0.546500 0.605420 -0.429924 
time: 1403636938.951667, t: 7.466062 -7.301856 -0.461081 q: -0.398569 -0.558535 0.599713 -0.411735 
time: 1403636939.151666, t: 7.366086 -7.226568 -0.463457 q: -0.405129 -0.564211 0.594649 -0.404881 
time: 1403636939.351666, t: 7.263979 -7.156284 -0.485353 q: -0.407377 -0.563801 0.590304 -0.409528 
time: 1403636939.551666, t: 7.163469 -7.085090 -0.498608 q: -0.411473 -0.564090 0.582709 -0.415864 
time: 1403636939.751667, t: 7.061030 -7.006938 -0.485638 q: -0.416321 -0.559908 0.576530 -0.425197 
time: 1403636939.951667, t: 6.956009 -6.908787 -0.484011 q: -0.412837 -0.558365 0.580630 -0.425045 
time: 1403636940.151666, t: 6.846572 -6.797465 -0.508276 q: -0.412556 -0.550243 0.594613 -0.416492 
time: 1403636940.351666, t: 6.729802 -6.679601 -0.550146 q: -0.414042 -0.543638 0.603411 -0.411000 
time: 1403636940.551666, t: 6.605513 -6.552977 -0.598520 q: -0.414692 -0.538443 0.610162 -0.407201 
time: 1403636940.751667, t: 6.471879 -6.421005 -0.620779 q: -0.410915 -0.545734 0.616828 -0.390956 
time: 1403636940.951667, t: 6.334498 -6.293417 -0.609351 q: -0.411917 -0.551236 0.617356 -0.381228 
time: 1403636941.151666, t: 6.197186 -6.182416 -0.568689 q: -0.417525 -0.548481 0.612911 -0.386240 
time: 1403636941.351666, t: 6.061660 -6.078458 -0.523579 q: -0.422063 -0.547067 0.606861 -0.392811 
time: 1403636941.551666, t: 5.932692 -5.979226 -0.499566 q: -0.423216 -0.549999 0.600974 -0.396508 
time: 1403636941.751667, t: 5.802602 -5.879258 -0.498029 q: -0.420652 -0.554255 0.598581 -0.396929 
time: 1403636941.951667, t: 5.675754 -5.776989 -0.484416 q: -0.415490 -0.557114 0.599244 -0.397365 
time: 1403636942.151666, t: 5.551181 -5.675087 -0.450567 q: -0.411189 -0.554295 0.601519 -0.402313 
time: 1403636942.351666, t: 5.427020 -5.576082 -0.431203 q: -0.409628 -0.549326 0.604154 -0.406747 
time: 1403636942.551666, t: 5.302757 -5.480251 -0.439715 q: -0.404024 -0.545373 0.611016 -0.407421 
wait for imu ... 
time: 1403636942.751667, t: 5.170858 -5.386085 -0.466188 q: -0.403453 -0.549159 0.614444 -0.397629 
time: 1403636942.951667, t: 5.020014 -5.284035 -0.480296 q: -0.413933 -0.548869 0.609920 -0.394207 
time: 1403636943.151666, t: 4.875383 -5.189261 -0.462019 q: -0.421270 -0.544535 0.607306 -0.396475 
time: 1403636943.351666, t: 4.736901 -5.098273 -0.449016 q: -0.425886 -0.542245 0.607268 -0.394737 
time: 1403636943.551666, t: 4.599486 -5.001662 -0.460245 q: -0.429629 -0.539682 0.607834 -0.393319 
time: 1403636943.751667, t: 4.468926 -4.901836 -0.493522 q: -0.433725 -0.538432 0.606963 -0.391879 
time: 1403636943.951667, t: 4.348298 -4.798159 -0.551565 q: -0.421172 -0.548801 0.608118 -0.389390 
wait for imu ... 
time: 1403636944.151666, t: 4.234856 -4.698004 -0.615464 q: -0.394886 -0.571799 0.611934 -0.377686 
time: 1403636944.351666, t: 4.126629 -4.628613 -0.646628 q: -0.390762 -0.577940 0.606325 -0.381654 
time: 1403636944.551666, t: 4.027420 -4.589135 -0.644270 q: -0.411338 -0.574952 0.587720 -0.393468 
time: 1403636944.751667, t: 3.947244 -4.556911 -0.617421 q: 0.423771 0.579635 -0.571591 0.397147 
time: 1403636944.951667, t: 3.891398 -4.522460 -0.576580 q: 0.413476 0.578737 -0.570719 0.410343 
time: 1403636945.151666, t: 3.849530 -4.478952 -0.557076 q: 0.410797 0.580328 -0.568276 0.414159 
wait for imu ... 
time: 1403636945.351666, t: 3.820004 -4.428502 -0.562424 q: 0.410264 0.581195 -0.567074 0.415119 
time: 1403636945.551666, t: 3.797387 -4.369820 -0.551641 q: 0.409180 0.580806 -0.569593 0.413279 
time: 1403636945.751667, t: 3.781046 -4.301137 -0.557423 q: 0.395943 0.590281 -0.582306 0.394611 
time: 1403636945.951667, t: 3.780451 -4.255534 -0.585852 q: 0.392971 0.591511 -0.587664 0.387736 
time: 1403636946.151666, t: 3.790784 -4.222896 -0.628098 q: 0.406672 0.581476 -0.581260 0.398297 
time: 1403636946.351666, t: 3.810027 -4.199203 -0.696943 q: -0.415008 -0.575556 0.579122 -0.401399 
time: 1403636946.751667, t: 3.865364 -4.129011 -0.869443 q: -0.405375 -0.562923 0.592414 -0.409676 
wait for imu ... 
time: 1403636946.951667, t: 3.891659 -4.087059 -0.933214 q: -0.382398 -0.549490 0.609406 -0.424803 
time: 1403636947.151666, t: 3.884506 -4.044925 -1.004789 q: -0.379472 -0.550947 0.612305 -0.421356 
time: 1403636947.351666, t: 3.848293 -4.013803 -1.060230 q: -0.385204 -0.578996 0.609398 -0.380810 
time: 1403636947.551666, t: 3.809482 -4.013072 -1.079670 q: -0.384400 -0.579352 0.611069 -0.378396 
wait for imu ... 
time: 1403636947.751667, t: 3.767651 -4.049145 -1.070813 q: -0.398695 -0.575035 0.601966 -0.384726 
time: 1403636947.951667, t: 3.731832 -4.104719 -1.074379 q: -0.414333 -0.583345 0.589295 -0.375192 
time: 1403636948.151666, t: 3.713200 -4.170391 -1.100798 q: -0.403810 -0.585224 0.594748 -0.375133 
time: 1403636948.351666, t: 3.708969 -4.246951 -1.139469 q: -0.407935 -0.588248 0.588511 -0.375777 
wait for imu ... 
time: 1403636948.551666, t: 3.724170 -4.337978 -1.187392 q: 0.421894 0.597009 -0.573945 0.369017 
time: 1403636948.751667, t: 3.776898 -4.435240 -1.229244 q: 0.432180 0.597690 -0.562758 0.373217 
time: 1403636948.951667, t: 3.871792 -4.527794 -1.243617 q: 0.412237 0.578496 -0.574526 0.406600 
time: 1403636949.151666, t: 3.972819 -4.614800 -1.257575 q: -0.407257 -0.572103 0.574983 -0.419803 
time: 1403636949.351666, t: 4.067188 -4.683813 -1.288990 q: 0.406327 0.573688 -0.573505 0.420563 
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wait for imu ... 
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wait for imu ... 
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time: 1403636957.751667, t: 7.822784 -8.259981 -1.574406 q: 0.308316 0.679640 -0.452623 0.488019 
wait for imu ... 
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time: 1403636963.951667, t: 9.135380 -7.538864 -1.306277 q: -0.032577 0.809372 0.055916 0.583720 
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time: 1403636965.551666, t: 8.465950 -6.432416 -0.989200 q: -0.109597 0.820898 0.185447 0.528889 
wait for imu ... 
time: 1403636965.751667, t: 8.384770 -6.241748 -0.872314 q: -0.135273 0.802106 0.165711 0.557555 
time: 1403636965.951667, t: 8.318109 -6.067680 -0.778751 q: -0.121980 0.793529 0.169826 0.571482 
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time: 1403636968.151666, t: 7.026765 -4.821620 -0.839685 q: -0.107440 0.788689 0.150787 0.586251 
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wait for imu ... 
time: 1403636968.951667, t: 6.194620 -4.564205 -0.930885 q: -0.099739 0.791419 0.154485 0.582960 
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time: 1403636970.151666, t: 4.968061 -4.093950 -0.789125 q: -0.101512 0.801676 0.148294 0.570105 
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wait for imu ... 
time: 1403636970.551666, t: 4.626066 -3.929865 -0.819660 q: -0.101660 0.811053 0.150678 0.556017 
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wait for imu ... 
time: 1403636970.951667, t: 4.343469 -3.739971 -0.788490 q: -0.099919 0.827381 0.156269 0.530128 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636980.351666, t: 4.263116 -5.223791 -1.686704 q: 0.215657 0.759482 -0.307107 0.531380 
time: 1403636980.551666, t: 4.368991 -5.321270 -1.720896 q: 0.211938 0.751939 -0.309215 0.542269 
time: 1403636980.751667, t: 4.471841 -5.414768 -1.751991 q: 0.208472 0.751040 -0.309055 0.544943 
time: 1403636980.951667, t: 4.572372 -5.505911 -1.754385 q: 0.213153 0.761999 -0.302486 0.531437 
time: 1403636981.151666, t: 4.671002 -5.586984 -1.756479 q: 0.210425 0.761300 -0.303382 0.533014 
time: 1403636981.351666, t: 4.764120 -5.652562 -1.776958 q: 0.194192 0.750399 -0.317719 0.546119 
time: 1403636981.551666, t: 4.856845 -5.732573 -1.817434 q: 0.205452 0.754243 -0.314779 0.538350 
time: 1403636981.751667, t: 4.920262 -5.794126 -1.833804 q: 0.221056 0.762624 -0.309643 0.523125 
time: 1403636981.951667, t: 4.987595 -5.851365 -1.820808 q: 0.220353 0.770615 -0.315698 0.507869 
time: 1403636982.151666, t: 5.073052 -5.915216 -1.806108 q: 0.210839 0.777495 -0.325271 0.495224 
time: 1403636982.351666, t: 5.183349 -5.996762 -1.805668 q: 0.202161 0.771448 -0.331641 0.503996 
time: 1403636982.551666, t: 5.311574 -6.102599 -1.802713 q: 0.206104 0.755982 -0.326439 0.528630 
time: 1403636982.751667, t: 5.438685 -6.229309 -1.789041 q: 0.204068 0.758065 -0.323443 0.528279 
time: 1403636982.951667, t: 5.564461 -6.363671 -1.779638 q: 0.206168 0.763684 -0.319176 0.521927 
time: 1403636983.151666, t: 5.691127 -6.503168 -1.791795 q: 0.212747 0.758829 -0.313813 0.529566 
time: 1403636983.351666, t: 5.820308 -6.645670 -1.823385 q: 0.219875 0.756993 -0.309524 0.531801 
time: 1403636983.551666, t: 5.957952 -6.784142 -1.859705 q: 0.222096 0.757271 -0.310315 0.530018 
time: 1403636983.751667, t: 6.097200 -6.911849 -1.870976 q: 0.222052 0.763442 -0.314094 0.518839 
time: 1403636983.951667, t: 6.232998 -7.026251 -1.853904 q: 0.222335 0.767085 -0.317557 0.511180 
time: 1403636984.151666, t: 6.380963 -7.141218 -1.817532 q: 0.222967 0.767095 -0.320693 0.508927 
time: 1403636984.351666, t: 6.540150 -7.252205 -1.799018 q: 0.228637 0.759284 -0.320377 0.518240 
time: 1403636984.551666, t: 6.707475 -7.358979 -1.810855 q: 0.232829 0.755385 -0.319744 0.522444 
time: 1403636984.751667, t: 6.887855 -7.468152 -1.823794 q: 0.232297 0.754155 -0.319006 0.524903 
time: 1403636984.951667, t: 7.076000 -7.573286 -1.818576 q: 0.224685 0.751739 -0.323527 0.528900 
time: 1403636985.151666, t: 7.254722 -7.666430 -1.803053 q: 0.226387 0.753691 -0.322820 0.525819 
time: 1403636985.351666, t: 7.427403 -7.750579 -1.819685 q: 0.230193 0.754306 -0.319955 0.525036 
time: 1403636985.551666, t: 7.608560 -7.826735 -1.837537 q: 0.225294 0.761574 -0.303766 0.526283 
time: 1403636985.751667, t: 7.795663 -7.894103 -1.823940 q: 0.224714 0.764808 -0.287071 0.531190 
time: 1403636985.951667, t: 7.989136 -7.948157 -1.798320 q: 0.228524 0.748899 -0.272994 0.558929 
time: 1403636986.151666, t: 8.159156 -7.960684 -1.805320 q: 0.228339 0.748366 -0.269159 0.561572 
time: 1403636986.351666, t: 8.311020 -7.942049 -1.834237 q: 0.219614 0.764871 -0.275519 0.539288 
time: 1403636986.551666, t: 8.461260 -7.903653 -1.865541 q: 0.204471 0.766277 -0.285670 0.537963 
time: 1403636986.751667, t: 8.606216 -7.859260 -1.866123 q: 0.194342 0.764421 -0.291734 0.541094 
time: 1403636986.951667, t: 8.738971 -7.814216 -1.829847 q: 0.191653 0.762094 -0.294180 0.544004 
time: 1403636987.151666, t: 8.863457 -7.775364 -1.768351 q: 0.200241 0.761406 -0.291233 0.543459 
time: 1403636987.351666, t: 8.982068 -7.737743 -1.723832 q: 0.203392 0.758627 -0.291996 0.545761 
time: 1403636987.551666, t: 9.085781 -7.690712 -1.700510 q: 0.206768 0.755587 -0.282121 0.553844 
time: 1403636987.751667, t: 9.179193 -7.631916 -1.692915 q: 0.206826 0.754175 -0.274910 0.559346 
time: 1403636987.951667, t: 9.251785 -7.554594 -1.669289 q: 0.195921 0.755919 -0.276971 0.559900 
time: 1403636988.151666, t: 9.305830 -7.470240 -1.638548 q: 0.178512 0.760029 -0.288120 0.554505 
wait for imu ... 
time: 1403636988.351666, t: 9.339990 -7.392522 -1.623593 q: 0.173997 0.752525 -0.292760 0.563669 
wait for imu ... 
time: 1403636988.551666, t: 9.342182 -7.322939 -1.588439 q: 0.178613 0.743901 -0.289489 0.575243 
time: 1403636988.751667, t: 9.309919 -7.257633 -1.540007 q: 0.180166 0.741505 -0.288006 0.578588 
time: 1403636988.951667, t: 9.243067 -7.192880 -1.512311 q: 0.179043 0.736153 -0.288426 0.585520 
time: 1403636989.151666, t: 9.137530 -7.125166 -1.504652 q: 0.178444 0.732814 -0.290066 0.589070 
wait for imu ... 
time: 1403636989.351666, t: 8.989951 -7.058654 -1.495211 q: 0.187818 0.744359 -0.286915 0.573005 
time: 1403636989.551666, t: 8.821297 -6.994156 -1.460323 q: 0.191933 0.759850 -0.287285 0.550688 
time: 1403636989.751667, t: 8.647105 -6.931898 -1.418823 q: 0.199462 0.765543 -0.282758 0.542408 
time: 1403636989.951667, t: 8.475562 -6.863509 -1.398521 q: 0.199545 0.761857 -0.282733 0.547556 
time: 1403636990.151666, t: 8.301377 -6.790488 -1.383817 q: 0.201672 0.755139 -0.280501 0.557147 
time: 1403636990.351666, t: 8.120341 -6.710866 -1.346344 q: 0.202219 0.760347 -0.278186 0.550991 
time: 1403636990.551666, t: 7.937041 -6.620959 -1.303756 q: 0.197906 0.765969 -0.277417 0.545128 
wait for imu ... 
wait for imu ... 
time: 1403636990.751667, t: 7.755424 -6.529331 -1.287192 q: 0.195606 0.770384 -0.275391 0.540746 
time: 1403636990.951667, t: 7.578839 -6.431689 -1.295589 q: 0.195466 0.771620 -0.273448 0.540020 
time: 1403636991.151666, t: 7.418576 -6.334906 -1.320406 q: 0.196538 0.770537 -0.273278 0.541262 
time: 1403636991.351666, t: 7.261223 -6.233882 -1.335847 q: 0.196912 0.771018 -0.274967 0.539583 
time: 1403636991.551666, t: 7.109881 -6.130629 -1.314471 q: 0.197451 0.770928 -0.277514 0.538209 
wait for imu ... 
time: 1403636991.751667, t: 6.968230 -6.031356 -1.266690 q: 0.188193 0.767786 -0.289404 0.539754 
time: 1403636991.951667, t: 6.827980 -5.942370 -1.211296 q: 0.184205 0.765108 -0.298117 0.540190 
time: 1403636992.151666, t: 6.685039 -5.860166 -1.179830 q: 0.199145 0.762489 -0.292791 0.541503 
wait for imu ... 
time: 1403636992.351666, t: 6.538826 -5.784358 -1.170430 q: 0.207204 0.760459 -0.291054 0.542270 
wait for imu ... 
time: 1403636992.551666, t: 6.397275 -5.703312 -1.165380 q: 0.209359 0.765626 -0.294383 0.532282 
time: 1403636992.751667, t: 6.263667 -5.624187 -1.135946 q: 0.211140 0.766982 -0.297307 0.527984 
time: 1403636992.951667, t: 6.143309 -5.544842 -1.116108 q: 0.217018 0.766481 -0.297156 0.526410 
time: 1403636993.151666, t: 6.037019 -5.466672 -1.116070 q: 0.212040 0.759476 -0.298931 0.537471 
time: 1403636993.351666, t: 5.942155 -5.381867 -1.102400 q: 0.195342 0.762850 -0.282283 0.547921 
time: 1403636993.551666, t: 5.841980 -5.290101 -1.056668 q: 0.173505 0.772463 -0.251157 0.556881 
time: 1403636993.751667, t: 5.744269 -5.200531 -1.001760 q: 0.153628 0.783717 -0.225129 0.558124 
time: 1403636993.951667, t: 5.643060 -5.113269 -0.968384 q: 0.145854 0.787655 -0.210276 0.560455 
time: 1403636994.151666, t: 5.544911 -5.023018 -0.956863 q: 0.149209 0.779921 -0.200386 0.573851 
time: 1403636994.351666, t: 5.430923 -4.923558 -0.960961 q: 0.151949 0.771689 -0.196506 0.585485 
time: 1403636994.551666, t: 5.300123 -4.810502 -0.972839 q: 0.149183 0.771741 -0.199464 0.585127 
time: 1403636994.751667, t: 5.152605 -4.685540 -0.964723 q: 0.135512 0.781321 -0.211020 0.571529 
time: 1403636994.951667, t: 4.999127 -4.563956 -0.942379 q: 0.122233 0.784384 -0.222378 0.565994 
time: 1403636995.151666, t: 4.841261 -4.458625 -0.932654 q: 0.134342 0.779017 -0.213518 0.574016 
time: 1403636995.351666, t: 4.682673 -4.352762 -0.910713 q: 0.141741 0.777831 -0.205837 0.576645 
time: 1403636995.551666, t: 4.505341 -4.236344 -0.860420 q: 0.139848 0.784995 -0.204513 0.567803 
wait for imu ... 
time: 1403636995.751667, t: 4.322003 -4.114141 -0.801547 q: 0.136373 0.786086 -0.206880 0.566278 
time: 1403636995.951667, t: 4.135793 -3.992181 -0.769718 q: 0.123097 0.786938 -0.217864 0.564014 
time: 1403636996.151666, t: 3.950920 -3.887263 -0.755051 q: 0.130063 0.790093 -0.214099 0.559463 
time: 1403636996.351666, t: 3.769076 -3.796119 -0.729764 q: 0.135376 0.792663 -0.207244 0.557143 
time: 1403636996.551666, t: 3.592179 -3.706838 -0.671317 q: 0.127155 0.797101 -0.189064 0.559210 
time: 1403636996.751667, t: 3.423812 -3.620371 -0.613942 q: 0.105963 0.805518 -0.158688 0.561009 
time: 1403636996.951667, t: 3.268768 -3.536436 -0.602143 q: 0.075976 0.813440 -0.122122 0.563586 
time: 1403636997.151666, t: 3.113281 -3.452338 -0.613341 q: 0.050308 0.819336 -0.086894 0.564452 
time: 1403636997.351666, t: 2.971988 -3.372641 -0.639181 q: 0.037826 0.822167 -0.068116 0.563889 
time: 1403636997.551666, t: 2.836377 -3.304848 -0.637978 q: 0.035664 0.822745 -0.061572 0.563940 
time: 1403636997.751667, t: 2.734691 -3.245125 -0.607891 q: 0.038867 0.824042 -0.062496 0.561728 
time: 1403636997.951667, t: 2.674213 -3.199489 -0.549557 q: 0.042289 0.824684 -0.066171 0.560115 
time: 1403636998.151666, t: 2.648428 -3.164941 -0.470050 q: 0.044664 0.824166 -0.070683 0.560142 
time: 1403636998.351666, t: 2.619260 -3.125236 -0.406133 q: 0.044644 0.823539 -0.074964 0.560510 
time: 1403636998.551666, t: 2.606639 -3.090952 -0.356690 q: 0.045696 0.821682 -0.077379 0.562816 
time: 1403636998.751667, t: 2.591646 -3.056802 -0.283351 q: 0.051145 0.808586 -0.075092 0.581321 
time: 1403636998.951667, t: 2.576737 -3.024267 -0.211991 q: 0.061738 0.805365 -0.069923 0.585395 
time: 1403636999.151666, t: 2.551139 -2.979011 -0.163022 q: 0.067344 0.806624 -0.067489 0.583324 
time: 1403636999.351666, t: 2.510173 -2.917745 -0.134515 q: 0.064059 0.809952 -0.071025 0.578645 
time: 1403636999.551666, t: 2.468626 -2.848792 -0.124999 q: 0.058374 0.807825 -0.075798 0.581606 
time: 1403636999.751667, t: 2.429811 -2.782789 -0.134898 q: 0.056852 0.804692 -0.077744 0.585828 
time: 1403636999.951667, t: 2.371960 -2.707563 -0.149539 q: 0.060368 0.804556 -0.076777 0.585790 
wait for imu ... 
time: 1403637000.151666, t: 2.297984 -2.621473 -0.145887 q: 0.064710 0.806346 -0.073648 0.583261 
wait for imu ... 
time: 1403637000.351666, t: 2.222791 -2.527813 -0.126749 q: 0.062226 0.808880 -0.075123 0.579826 
time: 1403637000.551666, t: 2.143761 -2.431316 -0.115331 q: 0.063622 0.808469 -0.074506 0.580326 
wait for imu ... 
time: 1403637000.751667, t: 2.067255 -2.331867 -0.098317 q: 0.061702 0.807572 -0.075797 0.581614 
time: 1403637000.951667, t: 1.983241 -2.227292 -0.063236 q: 0.061204 0.807191 -0.077951 0.581911 
time: 1403637001.151666, t: 1.889884 -2.119248 -0.051548 q: 0.060850 0.806297 -0.079318 0.583001 
time: 1403637001.351666, t: 1.784895 -2.008473 -0.035745 q: 0.057900 0.806094 -0.082388 0.583157 
time: 1403637001.551666, t: 1.676307 -1.901275 0.005778 q: 0.056448 0.810654 -0.085348 0.576515 
time: 1403637001.751667, t: 1.566211 -1.794701 0.038899 q: 0.057462 0.811087 -0.086798 0.575589 
time: 1403637001.951667, t: 1.452329 -1.690823 0.048943 q: 0.057880 0.811927 -0.087744 0.574217 
time: 1403637002.151666, t: 1.341597 -1.591733 0.039107 q: 0.058172 0.813053 -0.087997 0.572554 
time: 1403637002.351666, t: 1.234733 -1.496281 0.016601 q: 0.060011 0.813513 -0.086623 0.571920 
time: 1403637002.551666, t: 1.133953 -1.403366 0.012750 q: 0.065551 0.813669 -0.082255 0.571734 
time: 1403637002.751667, t: 1.034773 -1.306825 0.039378 q: 0.066669 0.813752 -0.082786 0.571410 
time: 1403637002.951667, t: 0.942100 -1.208336 0.054216 q: 0.063860 0.812519 -0.087356 0.572803 
time: 1403637003.151666, t: 0.849832 -1.104328 0.046872 q: 0.064253 0.812647 -0.090101 0.572153 
time: 1403637003.351666, t: 0.763256 -1.006183 0.024309 q: 0.063695 0.810660 -0.093546 0.574475 
time: 1403637003.551666, t: 0.682559 -0.909131 0.023944 q: 0.063629 0.808691 -0.095756 0.576888 
wait for imu ... 
time: 1403637003.751667, t: 0.583797 -0.809239 0.048627 q: 0.063230 0.808971 -0.097109 0.576314 
time: 1403637003.951667, t: 0.488694 -0.714030 0.060785 q: 0.062818 0.812753 -0.094420 0.571464 
time: 1403637004.151666, t: 0.391909 -0.616863 0.046741 q: 0.064570 0.816674 -0.089377 0.566468 
time: 1403637004.351666, t: 0.303108 -0.529133 0.037322 q: 0.060614 0.817645 -0.089046 0.565557 
time: 1403637004.551666, t: 0.233571 -0.438230 0.063365 q: 0.060678 0.810076 -0.091916 0.575887 
time: 1403637004.751667, t: 0.157023 -0.354136 0.115621 q: 0.048343 0.807496 -0.107196 0.578033 
time: 1403637004.951667, t: 0.085145 -0.287049 0.126568 q: 0.043715 0.811970 -0.116117 0.570360 
time: 1403637005.151666, t: 0.008355 -0.229327 0.095728 q: 0.060150 0.813753 -0.108378 0.567841 
time: 1403637005.351666, t: -0.059684 -0.186736 0.046876 q: 0.065930 0.816454 -0.104697 0.563999 
time: 1403637005.551666, t: -0.114411 -0.145626 0.000201 q: 0.068168 0.812881 -0.098246 0.570023 
time: 1403637005.751667, t: -0.161514 -0.099042 -0.016429 q: 0.056838 0.818317 -0.102159 0.562752 
time: 1403637005.951667, t: -0.203492 -0.073218 0.005547 q: 0.061195 0.816018 -0.096762 0.566575 
time: 1403637006.151666, t: -0.239786 -0.042959 0.019233 q: 0.060490 0.812415 -0.097163 0.571737 
time: 1403637006.351666, t: -0.266773 -0.015156 0.025312 q: 0.055200 0.820545 -0.100626 0.559941 
time: 1403637006.551666, t: -0.289756 0.010863 0.021595 q: 0.044709 0.823788 -0.106101 0.555082 
time: 1403637006.751667, t: -0.298595 0.022512 0.016796 q: 0.041284 0.815525 -0.085588 0.570868 
time: 1403637007.151666, t: -0.305903 0.028580 -0.017493 q: 0.004899 0.817340 -0.013643 0.575973 
time: 1403637007.351666, t: -0.310413 0.026456 -0.036111 q: 0.000210 0.809677 0.008931 0.586808 
time: 1403637007.551666, t: -0.324308 0.029104 -0.059523 q: -0.002215 0.811824 0.015259 0.583698 
time: 1403637007.751667, t: -0.345509 0.040045 -0.087491 q: -0.002977 0.826381 0.013407 0.562944 
time: 1403637007.951667, t: -0.358289 0.058368 -0.105821 q: -0.008800 0.817778 0.004714 0.575447 
time: 1403637008.151666, t: -0.372715 0.075549 -0.123092 q: -0.004719 0.821140 0.000996 0.570706 
time: 1403637008.351666, t: -0.383601 0.091840 -0.133284 q: 0.003354 0.832875 0.000733 0.553451 
time: 1403637008.551666, t: -0.379296 0.113458 -0.125749 q: 0.000606 0.820614 -0.005869 0.571452 
time: 1403637008.751667, t: -0.369866 0.134839 -0.124060 q: -0.010583 0.816463 -0.018179 0.577015 
time: 1403637008.951667, t: -0.358894 0.141241 -0.136846 q: -0.025813 0.822938 -0.031133 0.566691 
time: 1403637009.151666, t: -0.342278 0.123267 -0.163873 q: -0.004433 0.821567 -0.019003 0.569778 
time: 1403637009.351666, t: -0.321466 0.098099 -0.198032 q: 0.025761 0.821111 0.000571 0.570187 
wait for imu ... 
time: 1403637009.551666, t: -0.313453 0.082060 -0.211364 q: -0.028856 0.801346 0.009642 0.597427 
time: 1403637009.751667, t: -0.323404 0.072917 -0.218055 q: -0.038688 0.792114 -0.014745 0.608967 
time: 1403637009.951667, t: -0.325948 0.074003 -0.215348 q: -0.040717 0.790297 -0.014736 0.611192 
time: 1403637010.151666, t: -0.328500 0.072754 -0.215881 q: -0.040560 0.790439 -0.013889 0.611038 
time: 1403637010.351666, t: -0.326545 0.073137 -0.215637 q: -0.040397 0.790714 -0.013709 0.610698 

Done.
time: 1403637010.551666, t: -0.326201 0.073215 -0.215631 q: -0.040366 0.790866 -0.013775 0.610501 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720470855.219425802]: Shutdown request received.[0m
[33m[ WARN] [1720470855.219464176]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720470855.220392077]: Shutdown request received.[0m
[33m[ WARN] [1720470855.220421575]: Reason given for shutdown: [user request][0m
killed
