/SLAM-Hive/slam_hive_results/mapping_results/2842/2050_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720470884.323987013]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720470884.325135964]: init begins[0m
[31m[ERROR] [1720470884.326182335]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/8298e6a2-3d69-11ef-b01d-0242ac110005/roslaunch-e33e579faee4-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://e33e579faee4:42903/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720470885.430542082]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720470885.431447679]: 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] [1720470885.437160084]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720470885.437335350]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720470885.437369286]: 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] [1720470885.437545844]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720470885.437832974]: 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://e33e579faee4:11311/[0m
]2;roscore http://e33e579faee4:11311/
[1msetting /run_id to 8298e6a2-3d69-11ef-b01d-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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720470894.486553036]: 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: 316834037.86 
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720470898.769234522]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470898.994149696]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470899.173518144]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720470899.367067064]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470899.596083454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470899.798396740]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720470900.194278708]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720470900.573807078]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720470900.788366577]: 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] [1720470901.014933411]: gyroscope bias initial calibration 0.00307179  0.0523486  0.0858472[0m
[0m[ INFO] [1720470901.034833493]: Initialization finish![0m
time: 1403636862.951667, t: 0.059581 0.012809 0.357625 q: -0.001303 0.837886 -0.000806 0.545842 
wait for imu ... 
time: 1403636863.151666, t: 0.071198 0.016690 0.372830 q: 0.007525 0.826126 0.008325 0.563374 
wait for imu ... 
wait for imu ... 
time: 1403636863.351666, t: 0.066337 0.015141 0.274665 q: 0.018541 0.826828 0.014809 0.561955 
time: 1403636863.551666, t: 0.072220 0.028574 0.135008 q: 0.016251 0.835402 0.006540 0.549360 
wait for imu ... 
time: 1403636863.751667, t: 0.073414 0.032192 0.021860 q: -0.003536 0.851300 -0.001407 0.524666 
time: 1403636863.951667, t: 0.035140 0.003191 0.020255 q: -0.010278 0.860528 -0.000145 0.509299 
time: 1403636864.151666, t: 0.014639 -0.012196 0.113933 q: -0.006453 0.853232 0.007690 0.521436 
time: 1403636864.351666, t: 0.023301 -0.007844 0.249372 q: -0.002263 0.845885 0.006866 0.533316 
time: 1403636864.551666, t: 0.030742 -0.002747 0.346192 q: -0.008157 0.826527 -0.006184 0.562804 
time: 1403636864.751667, t: 0.033469 -0.004731 0.338307 q: 0.001636 0.816355 -0.001601 0.577545 
time: 1403636864.951667, t: 0.032367 -0.003736 0.235073 q: 0.007631 0.826884 0.000785 0.562321 
time: 1403636865.151666, t: 0.031698 -0.003040 0.112908 q: 0.004820 0.840085 -0.005821 0.542403 
time: 1403636865.351666, t: 0.029300 -0.001931 0.028349 q: -0.018358 0.844652 -0.017333 0.534720 
time: 1403636865.551666, t: 0.030476 -0.003260 0.018860 q: -0.007644 0.853686 -0.006836 0.520687 
wait for imu ... 
wait for imu ... 
time: 1403636865.751667, t: 0.034130 0.006544 0.110254 q: -0.012214 0.852807 -0.001862 0.522079 
time: 1403636865.951667, t: 0.039843 0.010700 0.244251 q: -0.017303 0.832286 -0.006081 0.554043 
time: 1403636866.151666, t: 0.040447 0.011203 0.364404 q: -0.013593 0.802746 -0.010260 0.596077 
time: 1403636866.351666, t: 0.038101 0.013742 0.387839 q: -0.000767 0.800795 -0.007683 0.598889 
wait for imu ... 
wait for imu ... 
time: 1403636866.551666, t: 0.040331 0.011845 0.302710 q: 0.007074 0.814235 -0.005025 0.580471 
time: 1403636866.751667, t: 0.036954 0.002515 0.198667 q: 0.011265 0.828012 -0.003618 0.560585 
time: 1403636866.951667, t: 0.021152 -0.000276 0.129922 q: -0.009867 0.841627 -0.000119 0.539968 
wait for imu ... 
wait for imu ... 
time: 1403636867.351666, t: -0.010563 -0.000883 0.096163 q: -0.031952 0.859353 0.008828 0.510307 
time: 1403636867.551666, t: -0.025015 -0.000791 0.106127 q: -0.023644 0.874493 0.011954 0.484314 
time: 1403636867.751667, t: -0.045761 -0.001788 0.099357 q: -0.022272 0.920111 0.011298 0.390860 
time: 1403636867.951667, t: -0.058835 -0.005142 0.096743 q: -0.018557 0.945012 -0.000305 0.326509 
time: 1403636868.151666, t: -0.061431 -0.003319 0.107135 q: -0.019637 0.936413 -0.002083 0.350345 
time: 1403636868.351666, t: -0.075000 0.002076 0.110155 q: -0.024416 0.936005 -0.004676 0.351107 
time: 1403636868.551666, t: -0.090994 0.015154 0.114933 q: -0.020394 0.931914 -0.010676 0.361948 
time: 1403636868.751667, t: -0.108306 0.025469 0.125023 q: -0.017478 0.932008 -0.013617 0.361761 
time: 1403636868.951667, t: -0.119509 0.033917 0.128515 q: -0.013210 0.933748 -0.005925 0.357639 
time: 1403636869.151666, t: -0.119364 0.041863 0.130633 q: -0.023642 0.930353 -0.002593 0.365892 
time: 1403636869.351666, t: -0.116685 0.044095 0.127642 q: -0.025712 0.930577 0.001433 0.365188 
time: 1403636869.551666, t: -0.113277 0.038540 0.126021 q: -0.026119 0.930406 0.001878 0.365595 
time: 1403636869.751667, t: -0.105994 0.000800 0.124015 q: -0.023344 0.932859 -0.001148 0.359482 
time: 1403636869.951667, t: -0.086336 -0.072275 0.125016 q: -0.017068 0.929913 -0.014248 0.367106 
time: 1403636870.151666, t: -0.060864 -0.168284 0.124246 q: -0.008185 0.930789 -0.030041 0.364229 
time: 1403636870.551666, t: -0.012748 -0.359852 0.119696 q: 0.004591 0.928503 -0.049849 0.367936 
time: 1403636870.751667, t: -0.000587 -0.421132 0.110282 q: 0.016347 0.929549 -0.057372 0.363840 
time: 1403636870.951667, t: 0.006015 -0.443996 0.099655 q: 0.008149 0.921945 -0.062361 0.382179 
time: 1403636871.151666, t: 0.008409 -0.442439 0.088823 q: 0.007692 0.926378 -0.068210 0.370287 
time: 1403636871.351666, t: 0.003008 -0.416774 0.096027 q: 0.010677 0.927351 -0.069828 0.367466 
time: 1403636871.551666, t: -0.005299 -0.352404 0.102917 q: 0.008495 0.927396 -0.062217 0.368772 
time: 1403636871.751667, t: -0.017647 -0.253252 0.110685 q: -0.004581 0.929170 -0.056702 0.365250 
time: 1403636871.951667, t: -0.027327 -0.140178 0.114687 q: -0.014089 0.928388 -0.044315 0.368691 
time: 1403636872.151666, t: -0.030298 -0.023368 0.112679 q: -0.030735 0.924322 -0.031669 0.379054 
time: 1403636872.351666, t: -0.041010 0.071507 0.105263 q: -0.039593 0.928616 -0.016613 0.368549 
time: 1403636872.551666, t: -0.046943 0.120474 0.098354 q: -0.044799 0.930314 -0.006795 0.363955 
time: 1403636872.751667, t: -0.047650 0.115051 0.101967 q: -0.042426 0.927466 -0.001640 0.371488 
time: 1403636872.951667, t: -0.040500 0.061645 0.102219 q: -0.034930 0.929112 -0.010131 0.368005 
time: 1403636873.151666, t: -0.026205 -0.037335 0.099066 q: -0.025365 0.929406 -0.022099 0.367524 
time: 1403636873.551666, t: 0.008478 -0.273952 0.091271 q: -0.007113 0.931601 -0.051708 0.359717 
time: 1403636873.751667, t: 0.009749 -0.362209 0.080862 q: 0.002386 0.933807 -0.062921 0.352193 
time: 1403636873.951667, t: 0.009294 -0.398734 0.071276 q: 0.003616 0.933719 -0.066347 0.351786 
time: 1403636874.151666, t: 0.010719 -0.395902 0.067806 q: 0.004900 0.933595 -0.069148 0.351560 
time: 1403636874.351666, t: 0.008134 -0.354702 0.072139 q: 0.000892 0.935682 -0.061333 0.347470 
time: 1403636874.551666, t: 0.007207 -0.264165 0.075900 q: -0.008401 0.934999 -0.050169 0.350985 
time: 1403636874.751667, t: 0.001947 -0.144961 0.076700 q: -0.019043 0.933548 -0.036609 0.356068 
wait for imu ... 
time: 1403636874.951667, t: 0.000124 -0.032671 0.068189 q: -0.034186 0.934429 -0.028183 0.353384 
wait for imu ... 
time: 1403636875.151666, t: 0.008119 0.037617 0.063848 q: -0.029148 0.925213 -0.038564 0.376357 
time: 1403636875.351666, t: 0.001960 0.081066 0.055362 q: -0.015910 0.913796 -0.084868 0.396890 
time: 1403636875.551666, t: -0.051279 0.105153 0.050337 q: -0.021809 0.912812 -0.126427 0.387704 
time: 1403636875.751667, t: -0.128548 0.085429 0.049147 q: -0.014181 0.910517 -0.152771 0.383951 
time: 1403636875.951667, t: -0.207453 0.028177 0.046851 q: 0.010842 0.906409 -0.188723 0.377742 
time: 1403636876.151666, t: -0.265701 -0.055506 0.054720 q: 0.049287 0.892895 -0.232464 0.382452 
time: 1403636876.351666, t: -0.266547 -0.160269 0.059632 q: 0.072228 0.884061 -0.265377 0.377881 
time: 1403636876.551666, t: -0.216460 -0.274317 0.058743 q: 0.092407 0.880766 -0.273704 0.375232 
wait for imu ... 
time: 1403636876.751667, t: -0.111905 -0.358979 0.064574 q: 0.097415 0.879644 -0.246202 0.395122 
wait for imu ... 
time: 1403636876.951667, t: 0.002809 -0.362284 0.067449 q: 0.081471 0.886487 -0.193311 0.412474 
time: 1403636877.151666, t: 0.097102 -0.283903 0.068099 q: 0.041337 0.894824 -0.120462 0.427867 
wait for imu ... 
time: 1403636877.351666, t: 0.152440 -0.153080 0.066543 q: -0.007229 0.901608 -0.045909 0.430050 
time: 1403636877.551666, t: 0.140160 -0.013549 0.061896 q: -0.048488 0.906788 0.012773 0.418594 
time: 1403636877.751667, t: 0.068784 0.086825 0.053361 q: -0.076345 0.914324 0.033140 0.396338 
time: 1403636877.951667, t: -0.026410 0.132185 0.052455 q: -0.073733 0.922877 0.016161 0.377626 
time: 1403636878.151666, t: -0.121844 0.108031 0.035043 q: -0.046075 0.927151 -0.024198 0.371056 
wait for imu ... 
time: 1403636878.351666, t: -0.199523 0.034182 0.029728 q: -0.021909 0.922351 -0.077079 0.377952 
time: 1403636878.551666, t: -0.212513 -0.088223 0.020713 q: 0.008323 0.915639 -0.128942 0.380671 
time: 1403636878.751667, t: -0.203397 -0.206831 0.033423 q: 0.045651 0.906819 -0.162403 0.386291 
time: 1403636878.951667, t: -0.148673 -0.302659 0.044748 q: 0.059793 0.901164 -0.176139 0.391541 
time: 1403636879.151666, t: -0.086052 -0.368661 0.066502 q: 0.055722 0.898358 -0.175012 0.399022 
time: 1403636879.351666, t: 0.001899 -0.373071 0.084171 q: 0.050218 0.890835 -0.150926 0.425573 
time: 1403636879.551666, t: 0.071086 -0.294772 0.091943 q: 0.025671 0.893566 -0.098923 0.437144 
time: 1403636879.751667, t: 0.109656 -0.190778 0.096797 q: -0.012782 0.898687 -0.056443 0.434756 
time: 1403636879.951667, t: 0.074994 -0.076699 0.104241 q: -0.037205 0.906569 -0.028932 0.419417 
wait for imu ... 
time: 1403636880.151666, t: 0.000440 -0.022753 0.107769 q: -0.041599 0.912040 -0.020941 0.407447 
time: 1403636880.351666, t: -0.087538 -0.055714 0.105349 q: -0.015994 0.908250 -0.051883 0.414892 
wait for imu ... 
time: 1403636880.551666, t: -0.196997 -0.084625 0.119399 q: 0.023399 0.901380 -0.094353 0.421976 
time: 1403636880.751667, t: -0.274393 -0.064936 0.128303 q: 0.037585 0.904647 -0.117274 0.407980 
time: 1403636880.951667, t: -0.321931 0.000776 0.134878 q: 0.022285 0.906608 -0.109317 0.406959 
time: 1403636881.151666, t: -0.331142 0.079289 0.143566 q: 0.004259 0.899651 -0.075781 0.429963 
time: 1403636881.351666, t: -0.276011 0.136443 0.148666 q: -0.025942 0.896951 -0.030543 0.440309 
time: 1403636881.551666, t: -0.182296 0.134508 0.153065 q: -0.027084 0.893339 0.001437 0.448565 
time: 1403636881.751667, t: -0.076165 0.073581 0.146206 q: -0.019480 0.890670 0.021628 0.453718 
wait for imu ... 
time: 1403636881.951667, t: 0.004799 -0.025313 0.133922 q: -0.009727 0.893569 0.008516 0.448739 
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time: 1403636882.351666, t: 0.015986 -0.178496 0.082366 q: 0.007771 0.887284 -0.028680 0.460265 
time: 1403636882.551666, t: -0.019657 -0.165805 0.052105 q: -0.009523 0.883616 -0.021153 0.467637 
time: 1403636882.751667, t: -0.011927 -0.132899 0.033225 q: -0.035612 0.863981 0.001263 0.502261 
time: 1403636882.951667, t: 0.023018 -0.097161 -0.005419 q: -0.070508 0.836237 0.040716 0.542290 
time: 1403636883.151666, t: 0.062836 -0.064788 -0.054156 q: -0.093790 0.830125 0.077223 0.544180 
time: 1403636883.351666, t: 0.093321 -0.040572 -0.095963 q: -0.099912 0.818867 0.097268 0.556788 
time: 1403636883.551666, t: 0.112282 -0.029275 -0.118939 q: -0.111041 0.808281 0.107595 0.568133 
time: 1403636883.751667, t: 0.118540 -0.025354 -0.127925 q: -0.119040 0.800621 0.121831 0.574450 
time: 1403636883.951667, t: 0.120187 -0.023415 -0.134395 q: -0.129232 0.798178 0.126172 0.574710 
time: 1403636884.151666, t: 0.120535 -0.024822 -0.134349 q: -0.134998 0.790137 0.131149 0.583317 
time: 1403636884.351666, t: 0.119342 -0.024418 -0.133998 q: -0.134923 0.785160 0.131112 0.590025 
time: 1403636884.551666, t: 0.119658 -0.024496 -0.134179 q: -0.134699 0.785202 0.131142 0.590013 
time: 1403636884.751667, t: 0.119496 -0.024783 -0.133873 q: -0.134767 0.785483 0.130726 0.589716 
time: 1403636884.951667, t: 0.119729 -0.024537 -0.133850 q: -0.134685 0.785559 0.130588 0.589665 
wait for imu ... 
time: 1403636885.151666, t: 0.119698 -0.024686 -0.133828 q: -0.134335 0.785709 0.130560 0.589550 
time: 1403636885.351666, t: 0.119863 -0.024529 -0.133747 q: -0.134260 0.785832 0.130298 0.589461 
time: 1403636885.551666, t: 0.120059 -0.024303 -0.133637 q: -0.134151 0.785883 0.130139 0.589453 
time: 1403636885.751667, t: 0.120117 -0.024276 -0.133603 q: -0.133989 0.785919 0.130097 0.589452 
time: 1403636885.951667, t: 0.120136 -0.024274 -0.133625 q: -0.133819 0.786014 0.130105 0.589361 
time: 1403636886.151666, t: 0.120159 -0.024181 -0.133670 q: -0.134075 0.786108 0.129865 0.589231 
time: 1403636886.351666, t: 0.120195 -0.024169 -0.133687 q: -0.134127 0.786196 0.129812 0.589113 
time: 1403636886.551666, t: 0.120204 -0.024192 -0.133685 q: -0.134005 0.786184 0.129894 0.589139 
time: 1403636886.751667, t: 0.120236 -0.024189 -0.133692 q: -0.134068 0.786228 0.129895 0.589065 
wait for imu ... 
time: 1403636886.951667, t: 0.120216 -0.024205 -0.133690 q: -0.134013 0.786233 0.129972 0.589055 
time: 1403636887.151666, t: 0.120253 -0.024209 -0.133740 q: -0.133997 0.786224 0.129877 0.589091 
time: 1403636887.351666, t: 0.120303 -0.024211 -0.133700 q: -0.134026 0.786277 0.129881 0.589013 
time: 1403636887.551666, t: 0.120355 -0.024219 -0.133712 q: -0.134007 0.786359 0.129936 0.588896 
time: 1403636887.751667, t: 0.120359 -0.024223 -0.133706 q: -0.133924 0.786377 0.129974 0.588882 
time: 1403636887.951667, t: 0.120373 -0.024234 -0.133691 q: -0.133938 0.786424 0.129956 0.588821 
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time: 1403636888.351666, t: 0.120383 -0.024261 -0.133713 q: -0.134129 0.786462 0.129894 0.588740 
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time: 1403636892.951667, t: 0.125074 -0.030147 -0.119840 q: -0.134090 0.786685 0.130085 0.588409 
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time: 1403636893.351666, t: 0.132210 -0.037366 -0.104919 q: -0.134265 0.786637 0.130000 0.588452 
wait for imu ... 
time: 1403636893.551666, t: 0.137050 -0.041638 -0.097168 q: -0.134246 0.786686 0.130049 0.588379 
wait for imu ... 
time: 1403636893.751667, t: 0.139323 -0.045439 -0.091491 q: -0.134333 0.786668 0.130160 0.588359 
time: 1403636893.951667, t: 0.143770 -0.049266 -0.084351 q: -0.134556 0.786783 0.130101 0.588167 
time: 1403636894.151666, t: 0.150129 -0.053638 -0.075254 q: -0.134613 0.786812 0.130001 0.588137 
wait for imu ... 
time: 1403636894.351666, t: 0.156721 -0.057140 -0.066366 q: -0.134644 0.786839 0.129963 0.588102 
time: 1403636894.551666, t: 0.162869 -0.062227 -0.058412 q: -0.134649 0.786823 0.129990 0.588117 
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time: 1403636894.951667, t: 0.183947 -0.078821 -0.039077 q: -0.134688 0.786868 0.129839 0.588081 
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time: 1403636895.551666, t: 0.206331 -0.101996 -0.010362 q: -0.134673 0.786843 0.129964 0.588091 
time: 1403636895.751667, t: 0.218380 -0.111648 0.002007 q: -0.134731 0.786794 0.130112 0.588110 
time: 1403636895.951667, t: 0.229976 -0.125993 0.013816 q: -0.134780 0.786750 0.130288 0.588119 
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time: 1403636896.351666, t: 0.263696 -0.175159 0.030025 q: -0.134934 0.787625 0.130588 0.586844 
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time: 1403636896.751667, t: 0.306368 -0.234605 0.046508 q: -0.135194 0.787784 0.130866 0.586509 
time: 1403636896.951667, t: 0.348523 -0.289427 0.049098 q: -0.135250 0.787515 0.131117 0.586801 
time: 1403636897.151666, t: 0.368529 -0.354017 0.053069 q: -0.137146 0.786084 0.135115 0.587372 
time: 1403636897.351666, t: 0.130474 -0.212147 -0.043558 q: -0.135132 0.788160 0.133687 0.585381 
time: 1403636897.551666, t: 0.120312 -0.084483 -0.123893 q: -0.119000 0.799244 0.129318 0.574739 
time: 1403636897.751667, t: 0.098239 -0.113909 -0.128729 q: -0.095859 0.818349 0.134886 0.550383 
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time: 1403636898.151666, t: 0.053828 -0.129651 -0.056523 q: -0.095159 0.813392 0.142907 0.555802 
time: 1403636898.351666, t: 0.064186 -0.136360 -0.025447 q: -0.099445 0.810844 0.147998 0.557439 
time: 1403636898.551666, t: 0.080716 -0.137024 0.014544 q: -0.105332 0.810440 0.152737 0.555665 
time: 1403636898.751667, t: 0.102264 -0.128760 0.050377 q: -0.106753 0.810695 0.157494 0.553690 
time: 1403636898.951667, t: 0.129024 -0.118631 0.081186 q: -0.114835 0.811929 0.155726 0.550758 
time: 1403636899.151666, t: 0.166495 -0.112578 0.104297 q: -0.115447 0.812171 0.139793 0.554535 
wait for imu ... 
time: 1403636899.351666, t: 0.213476 -0.115288 0.122517 q: -0.093046 0.805769 0.107692 0.574874 
time: 1403636899.551666, t: 0.253251 -0.130244 0.138378 q: -0.070917 0.811702 0.066587 0.575913 
time: 1403636899.951667, t: 0.333334 -0.180903 0.156171 q: -0.043399 0.820142 0.041036 0.569035 
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time: 1403636900.351666, t: 0.415925 -0.252992 0.187356 q: -0.038067 0.812161 0.046692 0.580314 
time: 1403636900.551666, t: 0.442642 -0.289402 0.234730 q: -0.041068 0.819296 0.052550 0.569478 
time: 1403636900.751667, t: 0.483920 -0.326041 0.264273 q: -0.045895 0.827319 0.056168 0.557029 
time: 1403636901.151666, t: 0.574533 -0.421554 0.262459 q: -0.066923 0.822091 0.045921 0.563541 
time: 1403636901.351666, t: 0.632727 -0.492116 0.259698 q: -0.061657 0.820435 0.049226 0.566271 
time: 1403636901.551666, t: 0.703210 -0.569787 0.274492 q: -0.051595 0.819380 0.055175 0.568252 
time: 1403636901.751667, t: 0.775967 -0.650993 0.279039 q: -0.051090 0.816524 0.055217 0.572389 
time: 1403636901.951667, t: 0.849342 -0.732995 0.260019 q: -0.049408 0.816484 0.056621 0.572456 
time: 1403636902.151666, t: 0.924282 -0.816893 0.243076 q: -0.048224 0.815408 0.059598 0.573788 
time: 1403636902.351666, t: 0.995081 -0.901231 0.240559 q: -0.051086 0.816187 0.056550 0.572740 
time: 1403636902.551666, t: 1.065357 -0.986373 0.200893 q: -0.044860 0.817024 0.055581 0.572163 
time: 1403636902.751667, t: 1.137582 -1.067390 0.159834 q: -0.035274 0.815899 0.056165 0.574379 
time: 1403636902.951667, t: 1.203967 -1.140261 0.147804 q: -0.038755 0.812973 0.055545 0.578349 
time: 1403636903.151666, t: 1.264296 -1.210356 0.161752 q: -0.042988 0.814412 0.057820 0.575798 
time: 1403636903.351666, t: 1.318839 -1.287729 0.204670 q: -0.044169 0.816708 0.062297 0.571976 
time: 1403636903.751667, t: 1.415740 -1.427914 0.235307 q: -0.048371 0.822107 0.064699 0.563573 
time: 1403636903.951667, t: 1.472787 -1.488316 0.240423 q: -0.058362 0.822510 0.058604 0.562705 
time: 1403636904.151666, t: 1.538489 -1.554089 0.275439 q: -0.063131 0.819771 0.055016 0.566536 
time: 1403636904.351666, t: 1.604771 -1.627103 0.323871 q: -0.063675 0.817674 0.052836 0.569704 
time: 1403636904.551666, t: 1.679179 -1.710113 0.354598 q: -0.056856 0.816766 0.054366 0.571581 
time: 1403636904.751667, t: 1.748939 -1.797168 0.373723 q: -0.048648 0.816696 0.056347 0.572247 
wait for imu ... 
time: 1403636904.951667, t: 1.825004 -1.882888 0.384884 q: -0.040109 0.817345 0.057887 0.571829 
time: 1403636905.151666, t: 1.898102 -1.968154 0.384514 q: -0.035662 0.816287 0.056136 0.573805 
time: 1403636905.351666, t: 1.977456 -2.047833 0.403476 q: -0.030192 0.818632 0.055376 0.570845 
time: 1403636905.551666, t: 2.055232 -2.110339 0.442142 q: -0.028879 0.820457 0.064506 0.567322 
time: 1403636905.751667, t: 2.124987 -2.160158 0.464900 q: -0.036546 0.820294 0.070783 0.566367 
wait for imu ... 
time: 1403636905.951667, t: 2.198798 -2.198083 0.456956 q: -0.043761 0.822336 0.072742 0.562633 
time: 1403636906.151666, t: 2.278089 -2.228940 0.434399 q: -0.043641 0.825494 0.077850 0.557310 
time: 1403636906.351666, t: 2.372186 -2.250361 0.433179 q: -0.050278 0.816722 0.075894 0.569804 
wait for imu ... 
time: 1403636906.551666, t: 2.462432 -2.266706 0.449385 q: -0.069313 0.815778 0.062617 0.570773 
time: 1403636906.751667, t: 2.547255 -2.293052 0.456209 q: -0.061201 0.817356 0.067460 0.568888 
time: 1403636906.951667, t: 2.634217 -2.325122 0.444484 q: -0.051369 0.817421 0.076658 0.568602 
time: 1403636907.151666, t: 2.724546 -2.351675 0.448741 q: -0.049958 0.819051 0.081715 0.565669 
wait for imu ... 
wait for imu ... 
time: 1403636907.351666, t: 2.819416 -2.369399 0.441874 q: -0.054804 0.824657 0.081583 0.557029 
time: 1403636907.551666, t: 2.925875 -2.380599 0.443561 q: -0.067629 0.826454 0.074325 0.553964 
time: 1403636907.751667, t: 3.049412 -2.396640 0.477067 q: -0.072476 0.825716 0.071538 0.554818 
time: 1403636907.951667, t: 3.188417 -2.426119 0.504756 q: -0.071813 0.822363 0.072462 0.559743 
time: 1403636908.151666, t: 3.343027 -2.464333 0.498414 q: -0.062614 0.816125 0.082829 0.568470 
time: 1403636908.351666, t: 3.482675 -2.500308 0.501062 q: -0.062536 0.814151 0.088787 0.570407 
time: 1403636908.551666, t: 3.619363 -2.531448 0.484931 q: -0.065759 0.815411 0.091992 0.567730 
wait for imu ... 
time: 1403636908.751667, t: 3.752223 -2.564125 0.473011 q: -0.068465 0.818295 0.095180 0.562713 
time: 1403636908.951667, t: 3.892307 -2.594879 0.494742 q: -0.072677 0.822970 0.094743 0.555394 
time: 1403636909.151666, t: 4.040194 -2.622205 0.533651 q: -0.077021 0.823510 0.091694 0.554519 
time: 1403636909.351666, t: 4.195678 -2.657796 0.551305 q: -0.076027 0.823514 0.090587 0.554832 
time: 1403636909.551666, t: 4.363304 -2.696879 0.554064 q: -0.072071 0.819023 0.090930 0.561906 
time: 1403636909.751667, t: 4.534420 -2.738324 0.533858 q: -0.075241 0.813898 0.085248 0.569773 
time: 1403636909.951667, t: 4.705302 -2.785817 0.496397 q: -0.050977 0.805051 0.100375 0.582426 
time: 1403636910.151666, t: 4.857224 -2.820907 0.445433 q: -0.051694 0.803231 0.100674 0.584819 
time: 1403636910.351666, t: 5.000148 -2.839994 0.417720 q: -0.063448 0.812565 0.094447 0.571657 
time: 1403636910.551666, t: 5.130437 -2.851002 0.416905 q: -0.064716 0.814337 0.097017 0.568555 
time: 1403636910.751667, t: 5.269008 -2.860516 0.405468 q: -0.065512 0.814569 0.098213 0.567926 
time: 1403636910.951667, t: 5.398761 -2.868344 0.372873 q: -0.071417 0.813892 0.094989 0.568732 
time: 1403636911.151666, t: 5.529585 -2.876123 0.348943 q: -0.077171 0.803187 0.091893 0.583517 
time: 1403636911.351666, t: 5.643788 -2.890729 0.344126 q: -0.069030 0.812589 0.097025 0.570544 
time: 1403636911.551666, t: 5.747045 -2.904929 0.368215 q: -0.066573 0.813427 0.098090 0.569459 
time: 1403636911.751667, t: 5.845591 -2.920661 0.382413 q: -0.067441 0.813722 0.096616 0.569187 
time: 1403636911.951667, t: 5.946148 -2.934320 0.374972 q: -0.081436 0.817894 0.085260 0.563159 
time: 1403636912.151666, t: 6.054793 -2.951437 0.352594 q: -0.077019 0.817671 0.086579 0.563903 
time: 1403636912.351666, t: 6.173443 -2.978418 0.351646 q: -0.070523 0.815226 0.089873 0.567764 
time: 1403636912.551666, t: 6.295562 -3.004308 0.358299 q: -0.075281 0.815738 0.084623 0.567224 
time: 1403636912.751667, t: 6.416246 -3.036980 0.342828 q: -0.083804 0.816319 0.076606 0.566331 
time: 1403636912.951667, t: 6.535021 -3.081429 0.308316 q: -0.079311 0.813529 0.078822 0.570672 
time: 1403636913.151666, t: 6.644031 -3.135951 0.264150 q: -0.069853 0.807337 0.085418 0.579682 
time: 1403636913.351666, t: 6.747172 -3.193932 0.238483 q: -0.069632 0.808500 0.086195 0.577970 
wait for imu ... 
time: 1403636913.751667, t: 6.944421 -3.316940 0.226509 q: -0.067953 0.813145 0.085464 0.571729 
time: 1403636913.951667, t: 7.039114 -3.387173 0.213285 q: -0.066336 0.811946 0.087131 0.573369 
time: 1403636914.151666, t: 7.138465 -3.458615 0.224730 q: -0.070942 0.812054 0.084380 0.573075 
wait for imu ... 
time: 1403636914.351666, t: 7.230860 -3.531750 0.225573 q: -0.068112 0.812342 0.085564 0.572835 
time: 1403636914.551666, t: 7.321368 -3.610144 0.220739 q: -0.062453 0.812006 0.088906 0.573447 
time: 1403636914.751667, t: 7.403524 -3.684781 0.246203 q: -0.060782 0.810317 0.088948 0.576004 
time: 1403636914.951667, t: 7.479645 -3.753556 0.267040 q: -0.059057 0.812127 0.088195 0.573746 
time: 1403636915.151666, t: 7.549045 -3.817682 0.263306 q: -0.057210 0.815848 0.087395 0.568753 
wait for imu ... 
time: 1403636915.351666, t: 7.618833 -3.875490 0.238484 q: -0.054745 0.824519 0.087870 0.556282 
time: 1403636915.551666, t: 7.699040 -3.920393 0.213210 q: -0.062564 0.820874 0.082802 0.561601 
time: 1403636915.751667, t: 7.790031 -3.967559 0.217037 q: -0.076056 0.813396 0.074684 0.571860 
time: 1403636915.951667, t: 7.877408 -4.027279 0.250401 q: -0.075849 0.812023 0.076402 0.573610 
time: 1403636916.151666, t: 7.960525 -4.094834 0.280925 q: -0.060685 0.810774 0.088625 0.575421 
time: 1403636916.351666, t: 8.034524 -4.158600 0.304705 q: -0.061747 0.811246 0.089391 0.574522 
time: 1403636916.551666, t: 8.105894 -4.223472 0.332932 q: -0.047745 0.812093 0.081620 0.575815 
time: 1403636916.751667, t: 8.167580 -4.279080 0.341844 q: -0.031384 0.813426 0.061255 0.577582 
time: 1403636916.951667, t: 8.232555 -4.319606 0.330965 q: -0.021965 0.813728 0.049185 0.578745 
wait for imu ... 
time: 1403636917.151666, t: 8.291586 -4.352178 0.300428 q: -0.023115 0.814574 0.040395 0.578190 
time: 1403636917.351666, t: 8.349309 -4.380081 0.247244 q: -0.012286 0.814248 0.021688 0.579982 
wait for imu ... 
time: 1403636917.551666, t: 8.407988 -4.412934 0.177678 q: 0.011323 0.813671 -0.009811 0.581133 
time: 1403636917.751667, t: 8.457472 -4.433254 0.126393 q: 0.023498 0.811829 -0.031457 0.582574 
time: 1403636917.951667, t: 8.499444 -4.449065 0.109031 q: 0.034682 0.810513 -0.042380 0.583156 
time: 1403636918.151666, t: 8.529607 -4.454834 0.095850 q: 0.041232 0.812734 -0.045422 0.579396 
time: 1403636918.351666, t: 8.551522 -4.452871 0.084231 q: 0.045829 0.816518 -0.042262 0.573945 
time: 1403636918.551666, t: 8.574199 -4.438138 0.096884 q: 0.044189 0.827581 -0.040972 0.558103 
time: 1403636918.751667, t: 8.615348 -4.412715 0.143410 q: 0.036510 0.825396 -0.040777 0.561895 
time: 1403636918.951667, t: 8.665540 -4.386271 0.213873 q: 0.012612 0.814285 -0.059827 0.577236 
time: 1403636919.151666, t: 8.713181 -4.379201 0.296889 q: 0.011192 0.808253 -0.076723 0.583708 
time: 1403636919.351666, t: 8.750670 -4.396199 0.384801 q: 0.019709 0.806088 -0.083806 0.585500 
time: 1403636919.551666, t: 8.773216 -4.433213 0.451946 q: 0.042580 0.806017 -0.079267 0.585013 
time: 1403636919.751667, t: 8.785535 -4.475287 0.492185 q: 0.054375 0.805003 -0.075981 0.585867 
time: 1403636919.951667, t: 8.786085 -4.511865 0.505270 q: 0.050312 0.802841 -0.079670 0.588699 
time: 1403636920.151666, t: 8.770831 -4.546767 0.491221 q: 0.039035 0.800225 -0.085591 0.592275 
time: 1403636920.351666, t: 8.736837 -4.590852 0.456708 q: 0.046855 0.800499 -0.077864 0.592405 
time: 1403636920.551666, t: 8.687420 -4.637267 0.425753 q: 0.056649 0.805572 -0.069551 0.585668 
time: 1403636920.751667, t: 8.628027 -4.678579 0.425998 q: 0.056398 0.813939 -0.069828 0.573975 
time: 1403636920.951667, t: 8.570252 -4.715695 0.455783 q: 0.055278 0.818373 -0.071858 0.567492 
time: 1403636921.151666, t: 8.525796 -4.745224 0.483898 q: 0.055406 0.817879 -0.072910 0.568056 
wait for imu ... 
time: 1403636921.351666, t: 8.484332 -4.765967 0.491640 q: 0.054972 0.808184 -0.073798 0.581696 
wait for imu ... 
time: 1403636921.551666, t: 8.439065 -4.782548 0.477799 q: 0.042776 0.805595 -0.082763 0.585096 
time: 1403636921.751667, t: 8.383328 -4.802314 0.441027 q: 0.037901 0.822076 -0.087998 0.561259 
time: 1403636922.151666, t: 8.312074 -4.865433 0.361819 q: 0.061593 0.811793 -0.085300 0.574388 
time: 1403636922.351666, t: 8.286349 -4.895649 0.340201 q: 0.070190 0.816498 -0.091798 0.565665 
time: 1403636922.551666, t: 8.265699 -4.918756 0.320440 q: 0.078580 0.822230 -0.104015 0.554026 
time: 1403636922.751667, t: 8.260356 -4.939662 0.286766 q: 0.092199 0.810289 -0.118492 0.566472 
time: 1403636922.951667, t: 8.255889 -4.951483 0.257828 q: 0.085565 0.796094 -0.136509 0.583334 
time: 1403636923.151666, t: 8.240640 -4.963490 0.243316 q: 0.086591 0.793341 -0.149874 0.583653 
time: 1403636923.351666, t: 8.209613 -4.983731 0.210692 q: 0.107240 0.800850 -0.162443 0.566349 
time: 1403636923.551666, t: 8.171983 -5.004478 0.162981 q: 0.116094 0.813099 -0.173376 0.543446 
wait for imu ... 
time: 1403636923.751667, t: 8.154987 -5.031049 0.140703 q: 0.119474 0.818271 -0.177864 0.533406 
time: 1403636923.951667, t: 8.170018 -5.063495 0.147470 q: 0.122834 0.818336 -0.176473 0.533006 
time: 1403636924.151666, t: 8.213476 -5.096233 0.140980 q: 0.124103 0.817302 -0.173338 0.535321 
time: 1403636924.351666, t: 8.277977 -5.132476 0.125581 q: 0.121354 0.815363 -0.172620 0.539127 
time: 1403636924.551666, t: 8.361478 -5.169733 0.129380 q: 0.106913 0.804633 -0.180151 0.555591 
time: 1403636924.751667, t: 8.446995 -5.219853 0.141795 q: 0.093892 0.794099 -0.185365 0.571166 
time: 1403636924.951667, t: 8.518013 -5.291265 0.135541 q: 0.091494 0.786229 -0.189111 0.581127 
time: 1403636925.151666, t: 8.562462 -5.379357 0.097830 q: 0.114680 0.789413 -0.192816 0.571399 
time: 1403636925.351666, t: 8.597621 -5.469198 0.039556 q: 0.135685 0.801917 -0.191300 0.549474 
time: 1403636925.551666, t: 8.650721 -5.557747 -0.024489 q: 0.138890 0.814250 -0.196625 0.528246 
time: 1403636925.751667, t: 8.729168 -5.646707 -0.056535 q: 0.139356 0.820489 -0.199906 0.517123 
time: 1403636925.951667, t: 8.843694 -5.737475 -0.048476 q: 0.144892 0.809421 -0.196346 0.534128 
time: 1403636926.151666, t: 8.979420 -5.826841 -0.040167 q: 0.143251 0.787207 -0.195872 0.566938 
time: 1403636926.351666, t: 9.105526 -5.903673 -0.062440 q: 0.129074 0.777537 -0.202373 0.581224 
time: 1403636926.551666, t: 9.207427 -5.977093 -0.104404 q: 0.123023 0.778602 -0.202442 0.581087 
time: 1403636926.751667, t: 9.287388 -6.053026 -0.127686 q: 0.127728 0.786126 -0.197971 0.571401 
time: 1403636926.951667, t: 9.350892 -6.132174 -0.126029 q: 0.128423 0.787128 -0.220158 0.561665 
time: 1403636927.151666, t: 9.405669 -6.226602 -0.133079 q: 0.148007 0.777809 -0.252063 0.556391 
time: 1403636927.351666, t: 9.442464 -6.325457 -0.162332 q: 0.178358 0.767673 -0.285142 0.545491 
time: 1403636927.551666, t: 9.474788 -6.425728 -0.209597 q: 0.195987 0.776961 -0.304106 0.515209 
time: 1403636927.751667, t: 9.520109 -6.530106 -0.242136 q: 0.203366 0.780501 -0.314244 0.500711 
time: 1403636927.951667, t: 9.590796 -6.649670 -0.248397 q: 0.205144 0.777432 -0.317372 0.502783 
time: 1403636928.151666, t: 9.686180 -6.785386 -0.264421 q: 0.209001 0.770792 -0.313901 0.513483 
time: 1403636928.351666, t: 9.791193 -6.925030 -0.292551 q: 0.209174 0.755299 -0.310414 0.537971 
time: 1403636928.551666, t: 9.892524 -7.063524 -0.333036 q: 0.212441 0.751928 -0.305248 0.544332 
time: 1403636928.751667, t: 9.986847 -7.196846 -0.354188 q: 0.211281 0.763102 -0.304072 0.529694 
time: 1403636928.951667, t: 10.077973 -7.325464 -0.341914 q: 0.213071 0.766408 -0.302009 0.525366 
time: 1403636929.151666, t: 10.173247 -7.448077 -0.292768 q: 0.205616 0.749591 -0.306568 0.549410 
time: 1403636929.351666, t: 10.252872 -7.561641 -0.236684 q: 0.194593 0.747622 -0.312615 0.552690 
time: 1403636929.551666, t: 10.316726 -7.682097 -0.202780 q: 0.201400 0.752729 -0.305434 0.547309 
time: 1403636929.751667, t: 10.365634 -7.796401 -0.190865 q: 0.212853 0.756908 -0.295364 0.542719 
time: 1403636929.951667, t: 10.409349 -7.896837 -0.197474 q: 0.210691 0.756032 -0.295632 0.544635 
time: 1403636930.151666, t: 10.448785 -7.987679 -0.186098 q: 0.203127 0.754395 -0.301153 0.546749 
time: 1403636930.551666, t: 10.494342 -8.155728 -0.106695 q: 0.209911 0.756348 -0.297181 0.543652 
time: 1403636930.751667, t: 10.505277 -8.233832 -0.092037 q: 0.202518 0.754081 -0.301666 0.547125 
time: 1403636930.951667, t: 10.506751 -8.312205 -0.099459 q: 0.191389 0.748567 -0.313794 0.551862 
time: 1403636931.151666, t: 10.487384 -8.399797 -0.118722 q: 0.205056 0.739262 -0.326802 0.551946 
time: 1403636931.351666, t: 10.443815 -8.486215 -0.114234 q: 0.232084 0.732306 -0.323954 0.552195 
time: 1403636931.551666, t: 10.382421 -8.555491 -0.086430 q: 0.253213 0.735707 -0.317726 0.541912 
wait for imu ... 
wait for imu ... 
time: 1403636931.751667, t: 10.318106 -8.598341 -0.057640 q: 0.258926 0.738248 -0.317029 0.536135 
time: 1403636931.951667, t: 10.255736 -8.613171 -0.054862 q: 0.241293 0.741676 -0.330982 0.531174 
time: 1403636932.151666, t: 10.194218 -8.624245 -0.070899 q: 0.238950 0.737046 -0.333789 0.536890 
time: 1403636932.351666, t: 10.126090 -8.621520 -0.083917 q: 0.257275 0.733821 -0.324417 0.538581 
time: 1403636932.551666, t: 10.053004 -8.593564 -0.069883 q: 0.267749 0.730788 -0.329613 0.534429 
time: 1403636932.751667, t: 9.979049 -8.535878 -0.028249 q: 0.272806 0.719206 -0.358430 0.529007 
time: 1403636932.951667, t: 9.905782 -8.457538 0.027984 q: 0.280041 0.712519 -0.378104 0.520510 
wait for imu ... 
time: 1403636933.151666, t: 9.832861 -8.366208 0.039387 q: 0.288077 0.707449 -0.395882 0.509711 
time: 1403636933.351666, t: 9.760913 -8.264397 0.012523 q: 0.277950 0.719861 -0.416170 0.480985 
time: 1403636933.551666, t: 9.700864 -8.173638 -0.019872 q: 0.280256 0.715971 -0.417554 0.484242 
time: 1403636933.751667, t: 9.648549 -8.093598 -0.037499 q: 0.287509 0.708180 -0.410186 0.497561 
time: 1403636933.951667, t: 9.597531 -8.015776 -0.027263 q: 0.288348 0.701195 -0.410136 0.506922 
time: 1403636934.151666, t: 9.541046 -7.940123 -0.021239 q: 0.300724 0.688472 -0.430949 0.499854 
time: 1403636934.351666, t: 9.480244 -7.862591 -0.061045 q: 0.325478 0.664758 -0.465086 0.485650 
time: 1403636934.551666, t: 9.415275 -7.781050 -0.097643 q: 0.342296 0.633374 -0.509778 0.470954 
wait for imu ... 
time: 1403636934.751667, t: 9.333450 -7.693056 -0.094774 q: 0.363956 0.612551 -0.541157 0.446617 
time: 1403636934.951667, t: 9.250227 -7.603297 -0.058572 q: 0.374900 0.611044 -0.554092 0.423153 
time: 1403636935.151666, t: 9.172269 -7.522014 0.007436 q: 0.382570 0.606281 -0.551521 0.426483 
time: 1403636935.351666, t: 9.093299 -7.445639 0.070518 q: 0.378826 0.601666 -0.548888 0.439559 
time: 1403636935.551666, t: 9.007891 -7.373730 0.104835 q: 0.373898 0.604178 -0.546154 0.443717 
time: 1403636935.751667, t: 8.917323 -7.304493 0.108914 q: 0.370357 0.608328 -0.544213 0.443401 
time: 1403636935.951667, t: 8.817416 -7.231310 0.079905 q: 0.358947 0.621038 -0.549479 0.428417 
time: 1403636936.151666, t: 8.716001 -7.176592 0.033628 q: 0.350742 0.629006 -0.554254 0.417293 
wait for imu ... 
time: 1403636936.351666, t: 8.615042 -7.154829 -0.001512 q: 0.361891 0.623281 -0.547982 0.424584 
time: 1403636936.551666, t: 8.523826 -7.150965 -0.010576 q: 0.372380 0.613992 -0.543192 0.435073 
time: 1403636936.751667, t: 8.435401 -7.152682 -0.015749 q: 0.376197 0.610560 -0.544437 0.435063 
time: 1403636936.951667, t: 8.361946 -7.168022 -0.027556 q: 0.380445 0.611442 -0.544355 0.430206 
time: 1403636937.151666, t: 8.297911 -7.185784 -0.013313 q: 0.381004 0.610996 -0.545698 0.428642 
time: 1403636937.351666, t: 8.235098 -7.198257 0.007795 q: 0.378961 0.607868 -0.549053 0.430611 
wait for imu ... 
time: 1403636937.551666, t: 8.169551 -7.206922 0.003939 q: 0.380660 0.606631 -0.549842 0.429849 
time: 1403636937.751667, t: 8.106321 -7.214115 -0.022571 q: 0.390500 0.610495 -0.544951 0.421704 
wait for imu ... 
time: 1403636937.951667, t: 8.056630 -7.221311 -0.069063 q: 0.404643 0.606091 -0.537373 0.424438 
wait for imu ... 
time: 1403636938.151666, t: 8.023957 -7.214136 -0.131113 q: 0.416238 0.593903 -0.535356 0.432919 
wait for imu ... 
time: 1403636938.351666, t: 8.007096 -7.183925 -0.191492 q: 0.402445 0.575515 -0.554505 0.446479 
time: 1403636938.551666, t: 7.976249 -7.121411 -0.225315 q: -0.374473 -0.565771 0.580380 -0.450369 
time: 1403636938.751667, t: 7.909696 -7.056116 -0.230348 q: -0.372374 -0.567205 0.585870 -0.443140 
time: 1403636939.151666, t: 7.706530 -6.925093 -0.221145 q: 0.390972 0.584745 -0.574368 0.418708 
wait for imu ... 
time: 1403636939.351666, t: 7.598917 -6.864111 -0.241813 q: 0.393006 0.584321 -0.569953 0.423402 
time: 1403636939.551666, t: 7.491466 -6.800595 -0.254654 q: 0.396828 0.584476 -0.562229 0.429900 
time: 1403636939.751667, t: 7.383103 -6.726444 -0.239036 q: 0.401368 0.580058 -0.556161 0.439456 
time: 1403636940.151666, t: 7.154113 -6.532646 -0.262930 q: -0.397912 -0.571136 0.574396 -0.430742 
time: 1403636940.351666, t: 7.032904 -6.417497 -0.303324 q: -0.399717 -0.564792 0.583369 -0.425345 
time: 1403636940.551666, t: 6.901238 -6.293530 -0.351317 q: -0.400539 -0.559913 0.590156 -0.421642 
time: 1403636940.751667, t: 6.758818 -6.171908 -0.372994 q: -0.397273 -0.567572 0.596449 -0.405321 
time: 1403636940.951667, t: 6.613001 -6.062368 -0.362115 q: -0.398473 -0.573270 0.596681 -0.395667 
time: 1403636941.151666, t: 6.471924 -5.972418 -0.322124 q: -0.403778 -0.570505 0.592284 -0.400857 
time: 1403636941.351666, t: 6.334412 -5.889592 -0.279812 q: -0.408015 -0.568964 0.586259 -0.407558 
time: 1403636941.551666, t: 6.198881 -5.807925 -0.260595 q: -0.408922 -0.571771 0.580223 -0.411341 
time: 1403636941.751667, t: 6.070187 -5.727795 -0.259832 q: -0.406352 -0.575964 0.577704 -0.411584 
time: 1403636941.951667, t: 5.938668 -5.644532 -0.247779 q: 0.401161 0.578919 -0.578193 0.411844 
time: 1403636942.151666, t: 5.807963 -5.560175 -0.214196 q: -0.396552 -0.576319 0.580494 -0.416689 
time: 1403636942.351666, t: 5.678119 -5.468675 -0.193178 q: -0.394834 -0.571523 0.583176 -0.421158 
wait for imu ... 
time: 1403636942.551666, t: 5.542799 -5.380394 -0.199124 q: -0.389102 -0.567994 0.590017 -0.421738 
time: 1403636942.751667, t: 5.399126 -5.286122 -0.223269 q: -0.388871 -0.571989 0.593156 -0.412036 
time: 1403636942.951667, t: 5.244238 -5.201248 -0.236570 q: -0.399320 -0.571661 0.588570 -0.409063 
time: 1403636943.151666, t: 5.092259 -5.122481 -0.218099 q: -0.406447 -0.567334 0.586043 -0.411688 
time: 1403636943.351666, t: 4.948429 -5.040032 -0.203710 q: -0.411158 -0.565118 0.585948 -0.410190 
time: 1403636943.551666, t: 4.811526 -4.960126 -0.216361 q: -0.414908 -0.562680 0.586563 -0.408884 
time: 1403636943.751667, t: 4.679916 -4.872774 -0.248941 q: -0.419084 -0.561453 0.585671 -0.407589 
time: 1403636943.951667, t: 4.556416 -4.771162 -0.306000 q: -0.406685 -0.571868 0.586324 -0.404721 
wait for imu ... 
time: 1403636944.151666, t: 4.437121 -4.679383 -0.369575 q: 0.380756 0.595138 -0.589151 0.392093 
time: 1403636944.351666, t: 4.325901 -4.615456 -0.400629 q: 0.376387 0.601226 -0.583148 0.395978 
time: 1403636944.551666, t: 4.219849 -4.593307 -0.398922 q: 0.396156 0.597749 -0.564586 0.408656 
time: 1403636944.751667, t: 4.133853 -4.569064 -0.377127 q: 0.408289 0.601937 -0.548157 0.412912 
time: 1403636944.951667, t: 4.075995 -4.545262 -0.334791 q: 0.397341 0.601130 -0.547301 0.425704 
wait for imu ... 
time: 1403636945.151666, t: 4.033562 -4.520450 -0.317813 q: 0.394413 0.602720 -0.544803 0.429367 
wait for imu ... 
time: 1403636945.351666, t: 3.998027 -4.475076 -0.326242 q: 0.393803 0.603644 -0.543383 0.430428 
time: 1403636945.551666, t: 3.973764 -4.421448 -0.317539 q: 0.392860 0.603415 -0.545740 0.428625 
time: 1403636945.751667, t: 3.956655 -4.362807 -0.328122 q: 0.380425 0.613354 -0.558073 0.409425 
time: 1403636945.951667, t: 3.950449 -4.317257 -0.355745 q: 0.377735 0.614891 -0.563151 0.402599 
time: 1403636946.151666, t: 3.955882 -4.286099 -0.399640 q: 0.390951 0.604684 -0.556984 0.413864 
time: 1403636946.351666, t: 3.968338 -4.252548 -0.467005 q: 0.399143 0.598641 -0.554959 0.417534 
time: 1403636946.551666, t: 3.989301 -4.218534 -0.558069 q: 0.401679 0.593650 -0.556799 0.419772 
time: 1403636946.751667, t: 4.016203 -4.171590 -0.637994 q: 0.389015 0.586547 -0.568647 0.425759 
wait for imu ... 
time: 1403636946.951667, t: 4.035950 -4.128834 -0.700463 q: -0.365271 -0.573912 0.586127 -0.440064 
time: 1403636947.151666, t: 4.024671 -4.087355 -0.771280 q: -0.362459 -0.575545 0.588918 -0.436516 
time: 1403636947.351666, t: 3.983169 -4.057274 -0.825262 q: 0.369803 0.603457 -0.584818 0.396325 
time: 1403636947.551666, t: 3.942995 -4.055064 -0.843497 q: 0.369123 0.603840 -0.586444 0.393966 
wait for imu ... 
time: 1403636947.751667, t: 3.902835 -4.087047 -0.833896 q: 0.383140 0.599119 -0.577466 0.400990 
wait for imu ... 
time: 1403636947.951667, t: 3.870457 -4.138687 -0.836710 q: 0.399163 0.606823 -0.564481 0.392169 
time: 1403636948.151666, t: 3.857372 -4.198758 -0.860351 q: 0.388751 0.608843 -0.569861 0.391715 
time: 1403636948.351666, t: 3.859882 -4.271593 -0.897375 q: 0.392867 0.611627 -0.563458 0.392535 
time: 1403636948.551666, t: 3.882090 -4.353388 -0.943826 q: 0.407162 0.619742 -0.548489 0.386392 
time: 1403636948.751667, t: 3.940533 -4.438868 -0.984464 q: 0.417261 0.619978 -0.537208 0.391059 
time: 1403636948.951667, t: 4.041807 -4.515274 -0.995039 q: 0.395961 0.601349 -0.549685 0.423604 
time: 1403636949.151666, t: 4.150824 -4.587728 -1.005477 q: 0.390448 0.595025 -0.550400 0.436526 
time: 1403636949.351666, t: 4.252914 -4.651325 -1.037221 q: 0.389456 0.596644 -0.548949 0.437030 
time: 1403636949.551666, t: 4.348823 -4.703392 -1.085898 q: 0.383250 0.593011 -0.552055 0.443501 
time: 1403636949.751667, t: 4.430095 -4.749801 -1.119390 q: 0.377224 0.597861 -0.556181 0.436953 
wait for imu ... 
time: 1403636949.951667, t: 4.497505 -4.785429 -1.128140 q: 0.368440 0.606705 -0.562225 0.424338 
time: 1403636950.151666, t: 4.556555 -4.835305 -1.121696 q: 0.363191 0.609902 -0.566898 0.418017 
wait for imu ... 
time: 1403636950.351666, t: 4.608450 -4.897085 -1.128583 q: 0.372773 0.611567 -0.561565 0.414330 
time: 1403636950.551666, t: 4.661507 -4.969984 -1.148330 q: 0.391041 0.611074 -0.549076 0.414960 
time: 1403636950.751667, t: 4.724743 -5.042241 -1.165475 q: 0.395949 0.608775 -0.544656 0.419484 
time: 1403636950.951667, t: 4.800760 -5.103459 -1.155574 q: 0.390470 0.604041 -0.546644 0.428775 
time: 1403636951.151666, t: 4.879960 -5.157188 -1.121573 q: 0.378454 0.599785 -0.553887 0.436165 
wait for imu ... 
time: 1403636951.351666, t: 4.954122 -5.206367 -1.106219 q: 0.369462 0.609505 -0.560696 0.421451 
time: 1403636951.551666, t: 5.023334 -5.265797 -1.112418 q: 0.368456 0.615598 -0.561894 0.411770 
time: 1403636951.751667, t: 5.090956 -5.339073 -1.122060 q: 0.376898 0.614700 -0.556466 0.412840 
wait for imu ... 
time: 1403636951.951667, t: 5.165018 -5.428136 -1.105726 q: 0.389949 0.613549 -0.547603 0.414281 
time: 1403636952.151666, t: 5.245780 -5.518940 -1.086802 q: 0.393285 0.610835 -0.545444 0.417969 
wait for imu ... 
time: 1403636952.351666, t: 5.337042 -5.610278 -1.094140 q: 0.388263 0.600015 -0.548646 0.433844 
time: 1403636952.551666, t: 5.425269 -5.697766 -1.132242 q: 0.391068 0.599300 -0.545913 0.435758 
time: 1403636952.751667, t: 5.512941 -5.772057 -1.170778 q: 0.393399 0.602125 -0.543582 0.432669 
time: 1403636952.951667, t: 5.606781 -5.834022 -1.198512 q: 0.380907 0.607884 -0.552925 0.423864 
wait for imu ... 
time: 1403636953.151666, t: 5.696655 -5.904314 -1.243684 q: 0.366090 0.604461 -0.564279 0.426842 
time: 1403636953.351666, t: 5.774178 -5.976519 -1.301014 q: 0.366466 0.605964 -0.563727 0.425115 
time: 1403636953.551666, t: 5.838795 -6.061905 -1.335630 q: 0.379227 0.608827 -0.553445 0.423338 
time: 1403636953.751667, t: 5.903515 -6.147630 -1.341090 q: 0.382986 0.618900 -0.548330 0.411847 
time: 1403636953.951667, t: 5.984242 -6.233074 -1.310548 q: 0.384617 0.621650 -0.544689 0.411018 
time: 1403636954.151666, t: 6.077152 -6.322876 -1.281193 q: 0.380968 0.618663 -0.546509 0.416470 
time: 1403636954.351666, t: 6.177291 -6.421049 -1.262050 q: 0.378101 0.618965 -0.549182 0.415116 
time: 1403636954.551666, t: 6.291440 -6.534936 -1.229477 q: 0.376529 0.619118 -0.553323 0.410796 
time: 1403636954.751667, t: 6.410643 -6.660568 -1.214205 q: 0.384588 0.613095 -0.553312 0.412375 
time: 1403636954.951667, t: 6.538888 -6.789608 -1.245792 q: 0.392506 0.601597 -0.554732 0.419873 
time: 1403636955.151666, t: 6.666328 -6.910871 -1.296300 q: 0.399537 0.598743 -0.557190 0.414025 
time: 1403636955.351666, t: 6.797585 -7.023757 -1.320521 q: 0.404492 0.593395 -0.561915 0.410513 
time: 1403636955.551666, t: 6.942400 -7.134206 -1.331179 q: 0.407686 0.589897 -0.565761 0.407098 
time: 1403636955.751667, t: 7.101201 -7.245514 -1.356687 q: 0.408980 0.587544 -0.568661 0.405156 
time: 1403636955.951667, t: 7.264529 -7.344419 -1.363594 q: 0.403474 0.582500 -0.574974 0.409031 
time: 1403636956.151666, t: 7.423378 -7.437008 -1.340850 q: -0.389881 -0.569748 0.587012 -0.422844 
time: 1403636956.351666, t: 7.559082 -7.519594 -1.325507 q: -0.395861 -0.570732 0.586056 -0.417250 
time: 1403636956.551666, t: 7.684443 -7.600041 -1.334843 q: 0.409503 0.578808 -0.573332 0.410584 
time: 1403636956.751667, t: 7.807015 -7.660444 -1.358362 q: 0.387796 0.584162 -0.561233 0.439758 
wait for imu ... 
time: 1403636956.951667, t: 7.914266 -7.710530 -1.368962 q: 0.356095 0.614110 -0.533296 0.460066 
time: 1403636957.151666, t: 7.986629 -7.737795 -1.346196 q: 0.338429 0.654728 -0.484322 0.471411 
time: 1403636957.351666, t: 8.052025 -7.767300 -1.309091 q: 0.318700 0.680353 -0.450649 0.482146 
time: 1403636957.551666, t: 8.112730 -7.788851 -1.295861 q: 0.303857 0.689730 -0.437118 0.490787 
time: 1403636957.751667, t: 8.185625 -7.817487 -1.317971 q: 0.286230 0.699346 -0.421388 0.501418 
wait for imu ... 
time: 1403636957.951667, t: 8.255866 -7.837557 -1.349160 q: 0.252005 0.721784 -0.384579 0.517320 
time: 1403636958.151666, t: 8.318328 -7.869203 -1.373608 q: 0.216924 0.746626 -0.336186 0.531482 
time: 1403636958.351666, t: 8.365175 -7.904279 -1.361709 q: 0.191995 0.763327 -0.297796 0.540173 
time: 1403636958.551666, t: 8.407242 -7.944310 -1.324824 q: 0.182251 0.774184 -0.273413 0.540989 
time: 1403636958.751667, t: 8.446573 -7.979647 -1.302258 q: 0.181058 0.776114 -0.266096 0.542271 
time: 1403636958.951667, t: 8.482998 -8.015807 -1.297626 q: 0.184409 0.776445 -0.266910 0.540264 
time: 1403636959.151666, t: 8.527843 -8.050485 -1.319015 q: 0.186078 0.775882 -0.272322 0.537794 
time: 1403636959.351666, t: 8.576631 -8.082691 -1.360693 q: 0.196712 0.775916 -0.270334 0.534957 
time: 1403636959.551666, t: 8.630474 -8.105966 -1.419795 q: 0.201558 0.771181 -0.270365 0.539961 
wait for imu ... 
time: 1403636959.751667, t: 8.691666 -8.121090 -1.467983 q: 0.196756 0.767924 -0.277486 0.542753 
time: 1403636959.951667, t: 8.755985 -8.133145 -1.485598 q: 0.195927 0.769916 -0.281307 0.538245 
time: 1403636960.151666, t: 8.817542 -8.145176 -1.480245 q: 0.197578 0.769789 -0.281376 0.537788 
time: 1403636960.351666, t: 8.884419 -8.155937 -1.479982 q: 0.210104 0.772957 -0.272380 0.533106 
wait for imu ... 
time: 1403636960.551666, t: 8.957093 -8.154623 -1.491305 q: 0.213582 0.770379 -0.260638 0.541263 
wait for imu ... 
time: 1403636960.751667, t: 9.039134 -8.135544 -1.519437 q: 0.199178 0.770463 -0.256673 0.548484 
time: 1403636960.951667, t: 9.116745 -8.097039 -1.559093 q: 0.170773 0.779149 -0.242775 0.552109 
time: 1403636961.151666, t: 9.186327 -8.050824 -1.582141 q: 0.139638 0.789891 -0.201079 0.562263 
time: 1403636961.351666, t: 9.248631 -8.002929 -1.576472 q: 0.110067 0.799852 -0.156902 0.568774 
time: 1403636961.551666, t: 9.300754 -7.956930 -1.537326 q: 0.089736 0.804666 -0.129109 0.572531 
time: 1403636961.751667, t: 9.349342 -7.911130 -1.471794 q: 0.067746 0.807849 -0.100291 0.576830 
time: 1403636961.951667, t: 9.396040 -7.864084 -1.410237 q: 0.045836 0.811119 -0.065291 0.579415 
time: 1403636962.151666, t: 9.442171 -7.810119 -1.372816 q: 0.019455 0.814872 -0.027138 0.578678 
time: 1403636962.351666, t: 9.480051 -7.752880 -1.324573 q: -0.008208 0.814031 0.014564 0.580581 
time: 1403636962.551666, t: 9.510162 -7.691131 -1.250993 q: -0.031250 0.811595 0.062437 0.580034 
time: 1403636962.751667, t: 9.531369 -7.621614 -1.177943 q: -0.043629 0.806691 0.109885 0.579026 
wait for imu ... 
time: 1403636962.951667, t: 9.547721 -7.538705 -1.131379 q: -0.058466 0.803595 0.124310 0.579107 
time: 1403636963.151666, t: 9.544017 -7.443033 -1.105521 q: -0.072542 0.794522 0.119034 0.591019 
time: 1403636963.351666, t: 9.529980 -7.340260 -1.097769 q: -0.078338 0.801685 0.107827 0.582698 
time: 1403636963.551666, t: 9.515583 -7.237017 -1.094308 q: -0.072531 0.804841 0.101790 0.580180 
time: 1403636963.751667, t: 9.473656 -7.143003 -1.080538 q: -0.064246 0.805927 0.097751 0.580343 
time: 1403636963.951667, t: 9.435514 -7.041731 -1.035298 q: -0.060028 0.805799 0.093607 0.581655 
time: 1403636964.151666, t: 9.387378 -6.942287 -0.969981 q: -0.057809 0.804910 0.093801 0.583077 
time: 1403636964.351666, t: 9.322249 -6.841829 -0.917119 q: -0.056635 0.803636 0.096677 0.584479 
wait for imu ... 
time: 1403636964.551666, t: 9.247899 -6.738983 -0.888399 q: -0.054365 0.803046 0.104392 0.584179 
time: 1403636964.751667, t: 9.162172 -6.625666 -0.878180 q: -0.057012 0.798777 0.131238 0.584364 
time: 1403636964.951667, t: 9.059002 -6.496340 -0.874536 q: -0.084472 0.789380 0.164236 0.585466 
time: 1403636965.151666, t: 8.933941 -6.348941 -0.845866 q: -0.116862 0.783391 0.198096 0.577409 
time: 1403636965.351666, t: 8.795587 -6.199954 -0.796681 q: -0.126523 0.797771 0.221814 0.546217 
time: 1403636965.551666, t: 8.667686 -6.034175 -0.717412 q: -0.135243 0.811153 0.224043 0.523016 
time: 1403636965.751667, t: 8.572173 -5.853063 -0.600847 q: -0.162216 0.793372 0.203344 0.550362 
time: 1403636965.951667, t: 8.487725 -5.683075 -0.508540 q: -0.149569 0.784629 0.206987 0.564927 
time: 1403636966.351666, t: 8.282626 -5.344333 -0.409378 q: -0.138974 0.780862 0.205415 0.573364 
time: 1403636966.551666, t: 8.163395 -5.184653 -0.403590 q: -0.165640 0.784392 0.182721 0.569127 
time: 1403636966.751667, t: 8.049436 -5.061764 -0.416247 q: -0.148284 0.783422 0.189252 0.573102 
time: 1403636966.951667, t: 7.943445 -4.967349 -0.416766 q: -0.149213 0.783851 0.185527 0.573492 
time: 1403636967.151666, t: 7.823807 -4.885169 -0.411242 q: -0.141110 0.783238 0.188700 0.575342 
time: 1403636967.351666, t: 7.690188 -4.815690 -0.429980 q: -0.136103 0.782441 0.190564 0.577016 
time: 1403636967.551666, t: 7.544722 -4.746570 -0.433655 q: -0.133761 0.781637 0.190259 0.578752 
time: 1403636967.751667, t: 7.383914 -4.677494 -0.427787 q: -0.130724 0.781527 0.190094 0.579647 
time: 1403636967.951667, t: 7.210460 -4.616047 -0.477042 q: -0.130658 0.780308 0.190200 0.581268 
wait for imu ... 
time: 1403636968.151666, t: 7.029326 -4.558275 -0.553126 q: -0.135418 0.780260 0.188082 0.580932 
time: 1403636968.351666, t: 6.834694 -4.506962 -0.613233 q: -0.135309 0.782061 0.188601 0.578361 
time: 1403636968.551666, t: 6.623850 -4.461480 -0.637661 q: -0.136480 0.783287 0.187595 0.576751 
time: 1403636968.751667, t: 6.406106 -4.417386 -0.640767 q: -0.125366 0.782078 0.195011 0.578454 
time: 1403636968.951667, t: 6.173905 -4.372690 -0.642977 q: -0.127820 0.782742 0.192660 0.577806 
time: 1403636969.151666, t: 5.931568 -4.322748 -0.619776 q: -0.134197 0.786370 0.188370 0.572827 
time: 1403636969.351666, t: 5.682785 -4.276471 -0.578166 q: -0.131794 0.798280 0.189370 0.556343 
time: 1403636969.551666, t: 5.450119 -4.227824 -0.525267 q: -0.126763 0.803542 0.190819 0.549399 
time: 1403636969.751667, t: 5.234946 -4.175202 -0.493991 q: -0.126159 0.804107 0.189213 0.549266 
time: 1403636969.951667, t: 5.043187 -4.111275 -0.480747 q: -0.125563 0.804029 0.189190 0.549526 
time: 1403636970.151666, t: 4.851217 -4.047191 -0.484488 q: -0.129780 0.793079 0.187974 0.564667 
time: 1403636970.351666, t: 4.662463 -3.981299 -0.496415 q: -0.131943 0.791231 0.188018 0.566739 
time: 1403636970.551666, t: 4.477871 -3.916343 -0.511719 q: -0.129274 0.802364 0.191061 0.550451 
wait for imu ... 
time: 1403636970.751667, t: 4.298206 -3.836204 -0.503796 q: -0.127453 0.810126 0.194719 0.538086 
time: 1403636970.951667, t: 4.158815 -3.748603 -0.484479 q: -0.126178 0.818453 0.197607 0.524563 
time: 1403636971.151666, t: 4.033504 -3.646699 -0.482066 q: -0.144771 0.814002 0.185432 0.531091 
time: 1403636971.351666, t: 3.939476 -3.547954 -0.502272 q: -0.169606 0.806133 0.168072 0.541419 
time: 1403636971.551666, t: 3.878546 -3.478224 -0.537873 q: -0.167267 0.802944 0.171251 0.545871 
time: 1403636971.751667, t: 3.858629 -3.439316 -0.594516 q: -0.151306 0.791726 0.184840 0.562237 
time: 1403636971.951667, t: 3.816174 -3.412983 -0.650615 q: -0.152723 0.787208 0.186045 0.567773 
time: 1403636972.151666, t: 3.766938 -3.397616 -0.683395 q: -0.150760 0.787983 0.188068 0.566555 
wait for imu ... 
time: 1403636972.351666, t: 3.720166 -3.402013 -0.688177 q: -0.152706 0.797522 0.186778 0.552950 
time: 1403636972.551666, t: 3.704488 -3.412329 -0.662672 q: -0.147875 0.796351 0.189388 0.555058 
time: 1403636972.751667, t: 3.692761 -3.428151 -0.618304 q: -0.142319 0.793174 0.191900 0.560173 
time: 1403636972.951667, t: 3.678361 -3.442265 -0.600471 q: -0.139825 0.795141 0.189129 0.558955 
time: 1403636973.151666, t: 3.665209 -3.455812 -0.609088 q: -0.125993 0.802872 0.171833 0.556772 
time: 1403636973.351666, t: 3.652685 -3.467786 -0.637245 q: -0.116618 0.805051 0.159007 0.559473 
time: 1403636973.551666, t: 3.641896 -3.475852 -0.681523 q: -0.109548 0.805385 0.153605 0.561925 
time: 1403636973.751667, t: 3.632579 -3.480242 -0.732945 q: -0.107275 0.800788 0.151206 0.569533 
time: 1403636973.951667, t: 3.618417 -3.482445 -0.759718 q: -0.108759 0.798414 0.150956 0.572643 
time: 1403636974.351666, t: 3.592968 -3.495376 -0.784250 q: -0.073212 0.813543 0.100694 0.568022 
time: 1403636974.551666, t: 3.588493 -3.503808 -0.825442 q: -0.037019 0.814799 0.051875 0.576230 
time: 1403636974.751667, t: 3.583195 -3.507271 -0.875250 q: -0.003026 0.817893 -0.000222 0.575363 
time: 1403636974.951667, t: 3.569641 -3.510094 -0.897088 q: 0.014529 0.824291 -0.052247 0.563564 
time: 1403636975.351666, t: 3.570718 -3.540277 -0.891021 q: 0.060118 0.809730 -0.096267 0.575722 
wait for imu ... 
time: 1403636975.551666, t: 3.574091 -3.555885 -0.913864 q: 0.066194 0.812271 -0.097238 0.571296 
time: 1403636975.951667, t: 3.601578 -3.574289 -0.900289 q: 0.069181 0.820303 -0.101332 0.558614 
time: 1403636976.151666, t: 3.627846 -3.587477 -0.895238 q: 0.074699 0.805941 -0.141595 0.569939 
time: 1403636976.351666, t: 3.647817 -3.611208 -0.909776 q: 0.089099 0.790308 -0.193465 0.574496 
time: 1403636976.551666, t: 3.654941 -3.655101 -0.944996 q: 0.128820 0.781804 -0.230223 0.564965 
time: 1403636976.751667, t: 3.656357 -3.704536 -1.002209 q: 0.160791 0.778672 -0.244404 0.555053 
wait for imu ... 
time: 1403636976.951667, t: 3.654808 -3.753203 -1.072147 q: 0.161029 0.782072 -0.258748 0.543583 
time: 1403636977.151666, t: 3.656062 -3.807990 -1.109445 q: 0.156618 0.783639 -0.262646 0.540738 
time: 1403636977.351666, t: 3.667163 -3.875674 -1.122372 q: 0.152983 0.783876 -0.258602 0.543377 
wait for imu ... 
time: 1403636977.551666, t: 3.671204 -3.951743 -1.145959 q: 0.157908 0.778240 -0.247368 0.555172 
time: 1403636977.751667, t: 3.678737 -4.032240 -1.192647 q: 0.156337 0.776424 -0.248672 0.557572 
time: 1403636977.951667, t: 3.676490 -4.115900 -1.249669 q: 0.153651 0.775184 -0.259567 0.555074 
time: 1403636978.151666, t: 3.666772 -4.206029 -1.279444 q: 0.164364 0.774629 -0.257767 0.553616 
time: 1403636978.351666, t: 3.652173 -4.298746 -1.281483 q: 0.169394 0.779416 -0.257804 0.545301 
time: 1403636978.551666, t: 3.645094 -4.392071 -1.267315 q: 0.169584 0.789259 -0.260005 0.529820 
time: 1403636978.751667, t: 3.641435 -4.489901 -1.260444 q: 0.167612 0.796231 -0.263450 0.518185 
time: 1403636978.951667, t: 3.667743 -4.599043 -1.271182 q: 0.170866 0.790877 -0.261545 0.526225 
time: 1403636979.151666, t: 3.712289 -4.707767 -1.302060 q: 0.178836 0.775811 -0.255821 0.548352 
time: 1403636979.351666, t: 3.762874 -4.806481 -1.356027 q: 0.175489 0.783746 -0.257834 0.537092 
time: 1403636979.551666, t: 3.827298 -4.899474 -1.391219 q: 0.171658 0.792411 -0.260620 0.524114 
time: 1403636979.751667, t: 3.904731 -4.994232 -1.395829 q: 0.173320 0.794107 -0.262324 0.520135 
time: 1403636979.951667, t: 4.003328 -5.103244 -1.385445 q: 0.180885 0.784610 -0.261789 0.532104 
time: 1403636980.151666, t: 4.111165 -5.205121 -1.388539 q: 0.185203 0.780225 -0.263019 0.536441 
time: 1403636980.351666, t: 4.223788 -5.303346 -1.410817 q: 0.185414 0.775035 -0.265530 0.542620 
time: 1403636980.551666, t: 4.339246 -5.386850 -1.450938 q: 0.181186 0.767613 -0.268042 0.553258 
time: 1403636981.151666, t: 4.665626 -5.621967 -1.499909 q: 0.180224 0.776576 -0.261748 0.544001 
wait for imu ... 
time: 1403636981.351666, t: 4.771282 -5.683580 -1.524687 q: 0.163295 0.766411 -0.276756 0.556198 
time: 1403636981.551666, t: 4.859401 -5.747991 -1.561781 q: 0.175021 0.770050 -0.273503 0.549170 
time: 1403636981.951667, t: 5.029812 -5.876556 -1.579844 q: 0.191489 0.786593 -0.273536 0.519404 
time: 1403636982.151666, t: 5.134146 -5.933118 -1.573209 q: 0.182873 0.793943 -0.282834 0.506178 
time: 1403636982.351666, t: 5.257359 -6.000641 -1.578227 q: 0.173907 0.788179 -0.289651 0.514424 
time: 1403636982.551666, t: 5.389260 -6.090151 -1.573925 q: 0.176412 0.772396 -0.285254 0.539364 
time: 1403636982.751667, t: 5.528052 -6.193060 -1.554718 q: 0.174673 0.774250 -0.282211 0.538872 
time: 1403636982.951667, t: 5.657696 -6.302660 -1.538558 q: 0.177192 0.779611 -0.277588 0.532686 
time: 1403636983.151666, t: 5.790153 -6.420389 -1.543701 q: 0.183323 0.774475 -0.272466 0.540688 
time: 1403636983.351666, t: 5.929206 -6.540874 -1.574046 q: 0.190374 0.772420 -0.268333 0.543252 
time: 1403636983.551666, t: 6.069163 -6.659851 -1.610402 q: 0.192524 0.772768 -0.269038 0.541648 
time: 1403636983.751667, t: 6.205631 -6.768953 -1.625554 q: 0.192890 0.779143 -0.272399 0.530593 
time: 1403636983.951667, t: 6.353453 -6.873838 -1.608968 q: 0.193509 0.783031 -0.275638 0.522915 
time: 1403636984.151666, t: 6.509888 -6.974368 -1.575994 q: 0.194233 0.783223 -0.278796 0.520680 
time: 1403636984.351666, t: 6.674409 -7.067136 -1.563132 q: 0.199356 0.775402 -0.278956 0.530277 
time: 1403636984.551666, t: 6.858843 -7.165886 -1.578823 q: 0.203196 0.771572 -0.278487 0.534633 
time: 1403636984.751667, t: 7.047200 -7.252672 -1.593226 q: 0.202675 0.770264 -0.277884 0.537026 
time: 1403636984.951667, t: 7.223450 -7.317867 -1.590529 q: 0.195143 0.767886 -0.282588 0.540754 
time: 1403636985.151666, t: 7.399178 -7.382484 -1.586989 q: 0.197093 0.769677 -0.281806 0.537901 
time: 1403636985.351666, t: 7.572401 -7.439504 -1.613165 q: 0.201135 0.769999 -0.279030 0.537391 
time: 1403636985.551666, t: 7.759909 -7.496880 -1.640662 q: 0.196221 0.776322 -0.262514 0.538430 
time: 1403636985.751667, t: 7.962918 -7.556905 -1.634012 q: 0.195312 0.778674 -0.245639 0.543306 
time: 1403636985.951667, t: 8.149341 -7.586015 -1.613984 q: 0.197696 0.761896 -0.232457 0.571310 
time: 1403636986.351666, t: 8.466382 -7.554233 -1.645416 q: 0.189787 0.778063 -0.233968 0.551233 
time: 1403636986.551666, t: 8.603605 -7.496753 -1.672777 q: 0.174792 0.780030 -0.243882 0.549110 
time: 1403636986.751667, t: 8.755936 -7.441058 -1.670456 q: 0.164640 0.778555 -0.250055 0.551559 
time: 1403636986.951667, t: 8.892201 -7.383945 -1.632776 q: 0.161848 0.776442 -0.252640 0.554181 
time: 1403636987.151666, t: 9.003494 -7.333956 -1.572182 q: 0.170330 0.775587 -0.249671 0.554182 
time: 1403636987.351666, t: 9.115358 -7.288529 -1.525266 q: 0.173215 0.772845 -0.250660 0.556666 
time: 1403636987.551666, t: 9.206568 -7.235663 -1.501224 q: 0.176029 0.769237 -0.240998 0.564986 
time: 1403636987.751667, t: 9.287284 -7.171556 -1.492538 q: 0.175753 0.767396 -0.233926 0.570520 
wait for imu ... 
time: 1403636987.951667, t: 9.347501 -7.094239 -1.466140 q: 0.164708 0.769299 -0.235924 0.570430 
wait for imu ... 
time: 1403636988.151666, t: 9.388923 -7.009308 -1.434339 q: 0.147645 0.774005 -0.246821 0.564089 
time: 1403636988.351666, t: 9.412530 -6.931813 -1.418033 q: 0.142682 0.766776 -0.251890 0.572929 
time: 1403636988.551666, t: 9.415232 -6.865353 -1.382272 q: 0.146849 0.758021 -0.249192 0.584588 
time: 1403636988.751667, t: 9.380669 -6.801551 -1.335449 q: 0.148497 0.755495 -0.247864 0.587996 
time: 1403636988.951667, t: 9.321024 -6.744398 -1.306137 q: 0.147220 0.750206 -0.248640 0.594724 
time: 1403636989.151666, t: 9.217053 -6.690685 -1.297020 q: 0.146516 0.747002 -0.250461 0.598156 
time: 1403636989.351666, t: 9.066959 -6.640517 -1.291899 q: 0.156901 0.758368 -0.246658 0.582598 
wait for imu ... 
time: 1403636989.551666, t: 8.892885 -6.593117 -1.258384 q: 0.162272 0.773874 -0.246190 0.560515 
time: 1403636989.751667, t: 8.714946 -6.551807 -1.217454 q: 0.170135 0.779404 -0.241334 0.552577 
time: 1403636989.951667, t: 8.540063 -6.507856 -1.202460 q: 0.169845 0.775775 -0.241452 0.557698 
time: 1403636990.151666, t: 8.361594 -6.455465 -1.191251 q: 0.171426 0.768969 -0.239567 0.567369 
time: 1403636990.351666, t: 8.174973 -6.392654 -1.156160 q: 0.172414 0.773999 -0.237043 0.561257 
time: 1403636990.551666, t: 7.986317 -6.316844 -1.117183 q: 0.168589 0.779533 -0.236086 0.555129 
wait for imu ... 
time: 1403636990.751667, t: 7.803698 -6.238950 -1.101338 q: 0.166699 0.783846 -0.233953 0.550512 
time: 1403636990.951667, t: 7.624424 -6.157891 -1.113353 q: 0.166616 0.784993 -0.231977 0.549737 
wait for imu ... 
time: 1403636991.151666, t: 7.449500 -6.076734 -1.140861 q: 0.167403 0.783920 -0.231569 0.551200 
time: 1403636991.351666, t: 7.276839 -5.992598 -1.159173 q: 0.167718 0.784495 -0.233048 0.549660 
time: 1403636991.551666, t: 7.115281 -5.906707 -1.141717 q: 0.168273 0.784540 -0.235565 0.548352 
time: 1403636991.751667, t: 6.960322 -5.826374 -1.094830 q: 0.158801 0.782048 -0.247500 0.549479 
time: 1403636991.951667, t: 6.815448 -5.754115 -1.034538 q: 0.154788 0.779839 -0.256385 0.549689 
time: 1403636992.151666, t: 6.655180 -5.692135 -1.002372 q: 0.169365 0.776958 -0.251028 0.551939 
time: 1403636992.351666, t: 6.499953 -5.634533 -0.993206 q: 0.177345 0.774847 -0.249327 0.553170 
wait for imu ... 
time: 1403636992.551666, t: 6.348997 -5.579107 -0.989893 q: 0.179855 0.780281 -0.252123 0.543366 
time: 1403636992.751667, t: 6.205885 -5.521162 -0.963889 q: 0.181774 0.781831 -0.254813 0.539230 
time: 1403636992.951667, t: 6.078213 -5.450077 -0.946209 q: 0.187935 0.781293 -0.254699 0.537950 
time: 1403636993.151666, t: 5.967500 -5.381605 -0.947132 q: 0.182458 0.774389 -0.256824 0.548700 
time: 1403636993.351666, t: 5.865675 -5.300214 -0.930828 q: 0.165385 0.776812 -0.240073 0.558190 
time: 1403636993.551666, t: 5.753408 -5.215779 -0.887705 q: 0.143120 0.784695 -0.208346 0.566006 
time: 1403636993.951667, t: 5.520157 -5.053151 -0.795979 q: 0.115215 0.797696 -0.166199 0.568141 
time: 1403636994.151666, t: 5.404090 -4.976803 -0.780267 q: 0.117560 0.789502 -0.156390 0.581728 
time: 1403636994.351666, t: 5.277911 -4.887889 -0.782824 q: 0.119568 0.781095 -0.152834 0.593494 
wait for imu ... 
time: 1403636994.551666, t: 5.136884 -4.786022 -0.792303 q: 0.116838 0.781339 -0.155786 0.592950 
time: 1403636994.751667, t: 4.976992 -4.677825 -0.783336 q: 0.103872 0.791590 -0.166751 0.578610 
time: 1403636994.951667, t: 4.811115 -4.571333 -0.757709 q: 0.090885 0.795291 -0.177936 0.572356 
time: 1403636995.151666, t: 4.643369 -4.486158 -0.749032 q: 0.102412 0.789433 -0.169340 0.581060 
time: 1403636995.351666, t: 4.466980 -4.401324 -0.724715 q: 0.109401 0.787829 -0.161539 0.584177 
time: 1403636995.551666, t: 4.275031 -4.305784 -0.674510 q: 0.107944 0.794942 -0.159657 0.575261 
time: 1403636995.751667, t: 4.080781 -4.209047 -0.617747 q: 0.104511 0.796220 -0.161811 0.573522 
time: 1403636996.151666, t: 3.701595 -4.045452 -0.570508 q: 0.098372 0.800812 -0.168433 0.566262 
time: 1403636996.351666, t: 3.513642 -3.979489 -0.546795 q: 0.103759 0.803029 -0.161303 0.564234 
time: 1403636996.551666, t: 3.335936 -3.914085 -0.490166 q: 0.095445 0.806460 -0.142856 0.565777 
time: 1403636996.751667, t: 3.165912 -3.849763 -0.434485 q: 0.074190 0.813189 -0.112033 0.566276 
wait for imu ... 
time: 1403636996.951667, t: 3.000273 -3.785615 -0.431839 q: 0.044073 0.819026 -0.074942 0.567131 
time: 1403636997.151666, t: 2.843930 -3.721877 -0.448823 q: 0.018378 0.822952 -0.039346 0.566448 
time: 1403636997.351666, t: 2.705715 -3.669481 -0.478204 q: 0.005706 0.824752 -0.020295 0.565102 
time: 1403636997.551666, t: 2.564757 -3.615870 -0.477893 q: 0.003502 0.824949 -0.013724 0.565030 
time: 1403636997.751667, t: 2.462736 -3.570417 -0.450924 q: 0.006773 0.826279 -0.014553 0.563032 
time: 1403636997.951667, t: 2.379108 -3.522517 -0.390233 q: 0.010211 0.827076 -0.018125 0.561705 
time: 1403636998.151666, t: 2.342482 -3.488438 -0.310385 q: 0.012515 0.826806 -0.022567 0.561896 
time: 1403636998.351666, t: 2.325436 -3.461329 -0.244555 q: 0.012342 0.826481 -0.026977 0.562183 
time: 1403636998.551666, t: 2.294761 -3.428438 -0.193578 q: 0.013110 0.824730 -0.029336 0.564613 
time: 1403636998.751667, t: 2.270262 -3.399984 -0.121710 q: 0.017338 0.811529 -0.027641 0.583400 
time: 1403636998.951667, t: 2.241091 -3.366259 -0.048027 q: 0.027652 0.807979 -0.022600 0.588127 
time: 1403636999.151666, t: 2.208108 -3.325104 -0.000889 q: 0.033310 0.809116 -0.020006 0.586363 
time: 1403636999.351666, t: 2.170634 -3.271703 0.023233 q: 0.030280 0.812741 -0.023329 0.581370 
time: 1403636999.551666, t: 2.120449 -3.206713 0.035778 q: 0.024372 0.810903 -0.028217 0.583992 
time: 1403636999.751667, t: 2.064963 -3.141239 0.034078 q: 0.022527 0.807875 -0.030275 0.588144 
time: 1403636999.951667, t: 1.999586 -3.075051 0.021867 q: 0.025928 0.807692 -0.029255 0.588308 
wait for imu ... 
time: 1403637000.151666, t: 1.918539 -3.003052 0.022233 q: 0.030270 0.809244 -0.025904 0.586120 
wait for imu ... 
time: 1403637000.351666, t: 1.829734 -2.921552 0.040822 q: 0.027870 0.811786 -0.027137 0.582659 
time: 1403637000.551666, t: 1.739283 -2.836352 0.046208 q: 0.029218 0.811236 -0.026495 0.583387 
time: 1403637000.751667, t: 1.643089 -2.741386 0.059984 q: 0.027309 0.810312 -0.027907 0.584696 
time: 1403637000.951667, t: 1.543238 -2.644495 0.093971 q: 0.026833 0.810039 -0.030115 0.584988 
wait for imu ... 
time: 1403637001.151666, t: 1.435631 -2.545134 0.106360 q: 0.026452 0.809246 -0.031513 0.586028 
time: 1403637001.351666, t: 1.318292 -2.445031 0.122411 q: 0.023479 0.809264 -0.034500 0.585961 
time: 1403637001.551666, t: 1.194937 -2.346186 0.169103 q: 0.022408 0.814021 -0.037197 0.579210 
time: 1403637001.751667, t: 1.069437 -2.250706 0.205752 q: 0.023451 0.814549 -0.038651 0.578330 
time: 1403637001.951667, t: 0.944017 -2.157751 0.217007 q: 0.023988 0.815483 -0.039573 0.576928 
time: 1403637002.151666, t: 0.822090 -2.070816 0.207786 q: 0.024363 0.816649 -0.039766 0.575247 
time: 1403637002.351666, t: 0.701429 -1.988055 0.187444 q: 0.026191 0.817065 -0.038369 0.574671 
time: 1403637002.551666, t: 0.591290 -1.912791 0.186039 q: 0.031601 0.817017 -0.033919 0.574747 
time: 1403637002.751667, t: 0.482537 -1.834861 0.211180 q: 0.032583 0.817160 -0.034349 0.574463 
time: 1403637002.951667, t: 0.375155 -1.745604 0.225027 q: 0.029720 0.816199 -0.039002 0.575687 
time: 1403637003.151666, t: 0.270489 -1.651877 0.213228 q: 0.030187 0.816502 -0.041789 0.575036 
time: 1403637003.351666, t: 0.173702 -1.563513 0.188940 q: 0.029486 0.814737 -0.045309 0.577305 
time: 1403637003.551666, t: 0.076498 -1.476068 0.189355 q: 0.029187 0.812887 -0.047522 0.579745 
time: 1403637003.751667, t: -0.031296 -1.387341 0.213890 q: 0.028805 0.813256 -0.048839 0.579137 
time: 1403637003.951667, t: -0.138032 -1.300148 0.223161 q: 0.028724 0.816871 -0.045927 0.574271 
time: 1403637004.151666, t: -0.247846 -1.219345 0.208305 q: 0.030573 0.820450 -0.040508 0.569461 
time: 1403637004.351666, t: -0.331749 -1.130007 0.194129 q: 0.027180 0.821465 -0.040372 0.568178 
time: 1403637004.551666, t: -0.410560 -1.045148 0.218448 q: 0.026588 0.814086 -0.043645 0.578491 
time: 1403637004.751667, t: -0.499129 -0.971821 0.268679 q: 0.013968 0.812411 -0.058932 0.579932 
time: 1403637004.951667, t: -0.582601 -0.916681 0.276538 q: 0.009654 0.817372 -0.067411 0.572071 
time: 1403637005.151666, t: -0.670256 -0.870370 0.243008 q: 0.026034 0.818640 -0.059424 0.570631 
time: 1403637005.351666, t: -0.740850 -0.837427 0.196411 q: 0.031988 0.821155 -0.055582 0.567091 
time: 1403637005.551666, t: -0.803437 -0.800891 0.152021 q: 0.033844 0.817209 -0.049329 0.573228 
time: 1403637005.751667, t: -0.858743 -0.772561 0.138974 q: 0.022424 0.822831 -0.052647 0.565397 
time: 1403637005.951667, t: -0.904463 -0.738195 0.158736 q: 0.026883 0.820226 -0.047632 0.569420 
time: 1403637006.151666, t: -0.931346 -0.726044 0.174290 q: 0.025549 0.816676 -0.048171 0.574514 
time: 1403637006.351666, t: -0.968622 -0.700839 0.176893 q: 0.020872 0.824947 -0.051177 0.562501 
time: 1403637006.551666, t: -1.002169 -0.673632 0.174504 q: 0.010723 0.828464 -0.056529 0.557079 
wait for imu ... 
time: 1403637006.751667, t: -1.023672 -0.658792 0.168419 q: 0.006298 0.818877 -0.036483 0.572773 
time: 1403637006.951667, t: -1.038202 -0.648082 0.147895 q: -0.014320 0.818254 -0.002648 0.574672 
time: 1403637007.151666, t: -1.038322 -0.647989 0.126817 q: -0.030086 0.816347 0.035422 0.575689 
time: 1403637007.351666, t: -1.037288 -0.657485 0.108612 q: -0.035582 0.807430 0.057549 0.586071 
time: 1403637007.551666, t: -1.057205 -0.660863 0.082618 q: -0.037854 0.809154 0.064136 0.582858 
time: 1403637007.751667, t: -1.090160 -0.657287 0.057954 q: -0.037521 0.823710 0.063355 0.562210 
time: 1403637007.951667, t: -1.103572 -0.639172 0.041570 q: -0.043732 0.815741 0.054042 0.574224 
time: 1403637008.151666, t: -1.124177 -0.623384 0.023321 q: -0.039342 0.819333 0.050494 0.569733 
time: 1403637008.351666, t: -1.138617 -0.605649 0.011769 q: -0.030065 0.831119 0.050840 0.552949 
time: 1403637008.551666, t: -1.133436 -0.583417 0.024102 q: -0.033813 0.819325 0.043438 0.570680 
time: 1403637008.751667, t: -1.123477 -0.561426 0.028944 q: -0.045257 0.815923 0.030872 0.575559 
wait for imu ... 
time: 1403637008.951667, t: -1.113113 -0.550932 0.014984 q: -0.059722 0.823162 0.018265 0.564361 
time: 1403637009.151666, t: -1.090777 -0.570808 -0.011659 q: -0.038885 0.821061 0.030431 0.568701 
time: 1403637009.351666, t: -1.064640 -0.593882 -0.045117 q: -0.008798 0.819471 0.049980 0.570869 
time: 1403637009.551666, t: -1.052716 -0.610486 -0.057013 q: -0.065057 0.799160 0.057901 0.594775 
time: 1403637009.751667, t: -1.056386 -0.618950 -0.063526 q: -0.075393 0.791518 0.032958 0.605581 
time: 1403637009.951667, t: -1.057711 -0.616738 -0.064896 q: -0.077360 0.789702 0.032780 0.607711 
time: 1403637010.151666, t: -1.069579 -0.622899 -0.064361 q: -0.077313 0.789608 0.033710 0.607788 
time: 1403637010.351666, t: -1.061529 -0.618394 -0.065120 q: -0.077205 0.789782 0.033778 0.607571 
time: 1403637010.551666, t: -1.060202 -0.617111 -0.065156 q: -0.077203 0.789925 0.033693 0.607391 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720471049.197510691]: Shutdown request received.[0m
[33m[ WARN] [1720471049.197543378]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720471049.198368496]: Shutdown request received.[0m
[33m[ WARN] [1720471049.198393288]: Reason given for shutdown: [user request][0m
killed
