/SLAM-Hive/slam_hive_results/mapping_results/2863/2071_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720474976.120818177]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720474976.122418493]: init begins[0m
[31m[ERROR] [1720474976.123499247]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/09807cf8-3d73-11ef-ac5e-0242ac110005/roslaunch-afa43944feda-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://afa43944feda:44631/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1720474977.227380852]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720474977.228866254]: 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] [1720474977.236380857]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720474977.236612724]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720474977.236636906]: ROW: 384 COL: 601 [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] [1720474977.236812565]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720474977.237080424]: 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://afa43944feda:11311/[0m
]2;roscore http://afa43944feda:11311/
[1msetting /run_id to 09807cf8-3d73-11ef-ac5e-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720474986.271974875]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316837855.95 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[0m[ INFO] [1720474987.710360992]: IMU excitation not enouth![0m
[0m[ INFO] [1720474987.711239427]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474987.887857326]: IMU excitation not enouth![0m
[0m[ INFO] [1720474988.096447083]: IMU excitation not enouth![0m
[0m[ INFO] [1720474988.207236732]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474988.389903679]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474988.582281140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474988.703363002]: IMU excitation not enouth![0m
[0m[ INFO] [1720474988.703912353]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474988.907625744]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474989.105078017]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474989.199198068]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720474989.388946181]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720474989.805535643]: gyroscope bias initial calibration -0.00187241   0.0202794   0.0787195[0m
[0m[ INFO] [1720474989.912727553]: Initialization finish![0m
time: 1403637133.488319, t: -0.005846 -0.005004 0.021680 q: -0.089467 0.793234 0.074310 0.597706 
time: 1403637133.588319, t: -0.006175 -0.008198 0.027699 q: -0.087275 0.799474 0.069283 0.590274 
time: 1403637133.688319, t: -0.006409 -0.012759 0.035851 q: -0.082236 0.802761 0.066691 0.586825 
time: 1403637133.788319, t: -0.008835 -0.017467 0.056290 q: -0.077721 0.803366 0.063823 0.586932 
time: 1403637133.888319, t: -0.010058 -0.021042 0.092869 q: -0.070178 0.806612 0.056514 0.584173 
time: 1403637133.988319, t: -0.011519 -0.022202 0.148373 q: -0.064891 0.809536 0.050905 0.581249 
time: 1403637134.088319, t: -0.013112 -0.022367 0.212756 q: -0.056431 0.809149 0.049740 0.582769 
time: 1403637134.188319, t: -0.013932 -0.021977 0.277465 q: -0.042771 0.807081 0.049333 0.586820 
time: 1403637134.288319, t: -0.014476 -0.020556 0.337877 q: -0.034564 0.798965 0.047744 0.598482 
time: 1403637134.388319, t: -0.015545 -0.019898 0.382670 q: -0.034285 0.788377 0.046340 0.612485 
time: 1403637134.488319, t: -0.014774 -0.019429 0.400808 q: -0.037979 0.782224 0.038483 0.620646 
time: 1403637134.588319, t: -0.010375 -0.021490 0.388256 q: -0.038923 0.784398 0.034203 0.618089 
time: 1403637134.688319, t: -0.004602 -0.026517 0.343651 q: -0.034786 0.792511 0.036943 0.607743 
time: 1403637134.788319, t: -0.000274 -0.030579 0.273952 q: -0.036655 0.805569 0.042233 0.589857 
time: 1403637134.888319, t: 0.000167 -0.033639 0.198315 q: -0.042682 0.820986 0.043451 0.567690 
time: 1403637134.988319, t: -0.002160 -0.035186 0.131538 q: -0.049902 0.830694 0.040022 0.553042 
time: 1403637135.088319, t: -0.002343 -0.036508 0.084229 q: -0.054259 0.833900 0.038585 0.547885 
time: 1403637135.188319, t: -0.005283 -0.038559 0.059199 q: -0.052692 0.837894 0.041853 0.541668 
time: 1403637135.288319, t: -0.007011 -0.039324 0.070529 q: -0.049266 0.845569 0.044087 0.529757 
time: 1403637135.388319, t: -0.004916 -0.040340 0.122645 q: -0.045300 0.844289 0.043463 0.532198 
time: 1403637135.488319, t: -0.001113 -0.041381 0.200147 q: -0.037783 0.832522 0.045110 0.550858 
time: 1403637135.588319, t: 0.002747 -0.041222 0.287445 q: -0.030298 0.819121 0.045699 0.570995 
time: 1403637135.688319, t: 0.006001 -0.039951 0.370388 q: -0.025243 0.806694 0.040933 0.589009 
time: 1403637135.788319, t: 0.006583 -0.038267 0.435395 q: -0.030722 0.796513 0.034676 0.602843 
time: 1403637135.888319, t: 0.007190 -0.038578 0.466934 q: -0.035111 0.791683 0.030201 0.609174 
time: 1403637135.988319, t: 0.009972 -0.038664 0.458663 q: -0.036017 0.793221 0.028826 0.607184 
time: 1403637136.088319, t: 0.013130 -0.037586 0.414387 q: -0.034293 0.798575 0.032147 0.600058 
time: 1403637136.188319, t: 0.017689 -0.036434 0.340461 q: -0.030198 0.806973 0.034463 0.588808 
time: 1403637136.288319, t: 0.020362 -0.035214 0.256414 q: -0.029287 0.820206 0.035420 0.570219 
time: 1403637136.388319, t: 0.016470 -0.035365 0.176840 q: -0.031095 0.834816 0.034995 0.548536 
time: 1403637136.488319, t: 0.012187 -0.037176 0.113987 q: -0.038493 0.846982 0.034175 0.529124 
time: 1403637136.588319, t: 0.008427 -0.036944 0.084485 q: -0.043895 0.853420 0.032373 0.518362 
time: 1403637136.688319, t: 0.006082 -0.038078 0.096549 q: -0.041841 0.855627 0.035523 0.514674 
time: 1403637136.788319, t: 0.005660 -0.038276 0.152686 q: -0.042454 0.853777 0.035982 0.517656 
time: 1403637136.888319, t: 0.006185 -0.039067 0.239549 q: -0.040892 0.844031 0.037183 0.533439 
time: 1403637136.988319, t: 0.008427 -0.042214 0.337672 q: -0.034014 0.830827 0.032399 0.554545 
time: 1403637137.088319, t: 0.009068 -0.044911 0.425974 q: -0.029124 0.816988 0.022639 0.575474 
time: 1403637137.188319, t: 0.008121 -0.043842 0.484211 q: -0.036613 0.804336 0.013833 0.592884 
time: 1403637137.288319, t: 0.008857 -0.044522 0.500642 q: -0.038674 0.797069 0.014414 0.602476 
time: 1403637137.388319, t: 0.011061 -0.045400 0.475728 q: -0.037905 0.793878 0.016520 0.606669 
time: 1403637137.488319, t: 0.014171 -0.044641 0.416890 q: -0.037497 0.796835 0.020309 0.602690 
time: 1403637137.588319, t: 0.015015 -0.043234 0.335006 q: -0.030056 0.808179 0.027628 0.587520 
time: 1403637137.688319, t: 0.014470 -0.041363 0.245663 q: -0.022064 0.824932 0.029880 0.564011 
time: 1403637137.788319, t: 0.009642 -0.038873 0.164009 q: -0.026839 0.838325 0.030384 0.543661 
time: 1403637137.888319, t: 0.000010 -0.037650 0.103602 q: -0.033657 0.846914 0.033517 0.529604 
time: 1403637137.988319, t: -0.000171 -0.042140 0.078255 q: -0.033573 0.855896 0.037797 0.514672 
time: 1403637138.088319, t: -0.000236 -0.044365 0.102100 q: -0.035354 0.861741 0.037716 0.504707 
time: 1403637138.188319, t: 0.004295 -0.048015 0.170699 q: -0.037166 0.856499 0.044180 0.512910 
time: 1403637138.288319, t: 0.009723 -0.053590 0.266523 q: -0.024562 0.841413 0.050589 0.537458 
time: 1403637138.388319, t: 0.012504 -0.054393 0.363674 q: -0.019602 0.821684 0.044613 0.567856 
time: 1403637138.488319, t: 0.012460 -0.054067 0.442561 q: -0.013408 0.804082 0.036629 0.593237 
time: 1403637138.588319, t: 0.010473 -0.053720 0.483965 q: -0.011899 0.793283 0.031005 0.607946 
time: 1403637138.688319, t: 0.011258 -0.053638 0.480983 q: -0.015135 0.790459 0.029718 0.611606 
time: 1403637138.788319, t: 0.015821 -0.053818 0.437435 q: -0.020062 0.794816 0.027387 0.605900 
time: 1403637138.888319, t: 0.023708 -0.054001 0.363722 q: -0.019838 0.804479 0.025259 0.593113 
time: 1403637138.988319, t: 0.027944 -0.052737 0.275351 q: -0.027799 0.813562 0.026968 0.580187 
time: 1403637139.088319, t: 0.030496 -0.049045 0.189123 q: -0.042738 0.819738 0.027402 0.570485 
time: 1403637139.188319, t: 0.032203 -0.045501 0.115896 q: -0.052696 0.824451 0.028835 0.562737 
time: 1403637139.288319, t: 0.034411 -0.040865 0.063363 q: -0.056681 0.826723 0.032985 0.558774 
time: 1403637139.388319, t: 0.039056 -0.036693 0.034703 q: -0.056831 0.827434 0.039095 0.557310 
time: 1403637139.488319, t: 0.041958 -0.034498 0.021487 q: -0.062463 0.825693 0.047415 0.558642 
time: 1403637139.588319, t: 0.043562 -0.031660 0.014037 q: -0.067360 0.822139 0.050700 0.563009 
time: 1403637139.688319, t: 0.044746 -0.029644 0.007123 q: -0.068216 0.818475 0.055188 0.567802 
time: 1403637139.788319, t: 0.046000 -0.029329 -0.001266 q: -0.069041 0.817065 0.057175 0.569534 
time: 1403637139.888319, t: 0.045690 -0.031651 -0.004351 q: -0.071251 0.811243 0.054390 0.577797 
time: 1403637139.988319, t: 0.044021 -0.034176 -0.006076 q: -0.071883 0.806491 0.046886 0.584984 
time: 1403637140.088319, t: 0.041029 -0.036682 -0.006079 q: -0.070662 0.800685 0.039747 0.593574 
time: 1403637140.188319, t: 0.038024 -0.038612 -0.005110 q: -0.068461 0.795494 0.034936 0.601067 
time: 1403637140.288319, t: 0.037516 -0.040911 -0.006219 q: -0.066256 0.796523 0.032234 0.600101 
time: 1403637140.388319, t: 0.037393 -0.041418 -0.006746 q: -0.069422 0.796187 0.029576 0.600327 
time: 1403637140.488319, t: 0.037292 -0.041337 -0.006714 q: -0.069665 0.796138 0.029451 0.600370 
time: 1403637140.588319, t: 0.037251 -0.041065 -0.006716 q: -0.070753 0.796130 0.028720 0.600288 
time: 1403637140.688319, t: 0.037264 -0.041049 -0.006718 q: -0.070910 0.796139 0.028780 0.600255 
time: 1403637140.788319, t: 0.037263 -0.041054 -0.006679 q: -0.070892 0.796178 0.028830 0.600203 
time: 1403637140.888319, t: 0.037261 -0.041066 -0.006656 q: -0.070867 0.796204 0.028682 0.600179 
time: 1403637141.088319, t: 0.037261 -0.041067 -0.006614 q: -0.070752 0.796255 0.028579 0.600130 
time: 1403637141.188319, t: 0.037258 -0.041068 -0.006597 q: -0.070672 0.796290 0.028540 0.600094 
time: 1403637141.288319, t: 0.037258 -0.041081 -0.006579 q: -0.070559 0.796302 0.028535 0.600091 
time: 1403637141.388319, t: 0.037254 -0.041088 -0.006562 q: -0.070476 0.796326 0.028488 0.600072 
time: 1403637141.488319, t: 0.037266 -0.041089 -0.006563 q: -0.070357 0.796349 0.028410 0.600059 
time: 1403637141.688319, t: 0.037260 -0.041091 -0.006550 q: -0.070186 0.796401 0.028215 0.600020 
time: 1403637141.788319, t: 0.037269 -0.041100 -0.006534 q: -0.070032 0.796447 0.028175 0.599978 
time: 1403637141.888319, t: 0.037267 -0.041129 -0.006534 q: -0.069922 0.796463 0.028141 0.599971 
time: 1403637141.988319, t: 0.037281 -0.041127 -0.006534 q: -0.069853 0.796476 0.028019 0.599968 
time: 1403637142.088319, t: 0.037275 -0.041134 -0.006518 q: -0.069719 0.796521 0.027972 0.599926 
time: 1403637142.188319, t: 0.037279 -0.041140 -0.006519 q: -0.069616 0.796537 0.027919 0.599919 
time: 1403637142.288319, t: 0.037280 -0.041129 -0.006518 q: -0.069599 0.796536 0.027852 0.599926 
time: 1403637142.388319, t: 0.037270 -0.041155 -0.006520 q: -0.069409 0.796550 0.027821 0.599930 
time: 1403637142.488319, t: 0.037285 -0.041145 -0.006533 q: -0.069395 0.796573 0.027719 0.599907 
time: 1403637142.588319, t: 0.037279 -0.041161 -0.006534 q: -0.069308 0.796571 0.027661 0.599922 
time: 1403637142.688319, t: 0.037276 -0.041172 -0.006527 q: -0.069202 0.796617 0.027609 0.599875 
time: 1403637142.788319, t: 0.037272 -0.041178 -0.006523 q: -0.069185 0.796625 0.027536 0.599870 
time: 1403637142.888319, t: 0.037255 -0.041187 -0.006529 q: -0.069032 0.796629 0.027443 0.599886 
time: 1403637142.988319, t: 0.037248 -0.041198 -0.006524 q: -0.069011 0.796662 0.027381 0.599848 
time: 1403637143.088319, t: 0.037245 -0.041217 -0.006517 q: -0.068908 0.796685 0.027317 0.599832 
time: 1403637143.188319, t: 0.037238 -0.041220 -0.006512 q: -0.068782 0.796714 0.027245 0.599811 
time: 1403637143.288319, t: 0.037245 -0.041225 -0.006517 q: -0.068687 0.796721 0.027183 0.599815 
time: 1403637143.388319, t: 0.037236 -0.041241 -0.006533 q: -0.068570 0.796733 0.027138 0.599816 
time: 1403637143.488319, t: 0.037257 -0.041243 -0.006536 q: -0.068493 0.796709 0.027046 0.599860 
time: 1403637143.588319, t: 0.037257 -0.041257 -0.006533 q: -0.068380 0.796694 0.026981 0.599895 
time: 1403637143.688319, t: 0.037237 -0.041265 -0.006561 q: -0.068340 0.796771 0.026909 0.599801 
time: 1403637143.788319, t: 0.037241 -0.041261 -0.006560 q: -0.068224 0.796749 0.026831 0.599847 
time: 1403637143.888319, t: 0.037230 -0.041269 -0.006562 q: -0.068141 0.796756 0.026769 0.599850 
time: 1403637143.988319, t: 0.037249 -0.041308 -0.006572 q: -0.068168 0.796796 0.026944 0.599785 
time: 1403637144.088319, t: 0.037253 -0.041321 -0.006557 q: -0.068033 0.796817 0.026808 0.599779 
time: 1403637144.188319, t: 0.037245 -0.041375 -0.006575 q: -0.067898 0.796871 0.026609 0.599732 
time: 1403637144.288319, t: 0.037235 -0.041388 -0.006572 q: -0.067967 0.796974 0.026487 0.599592 
time: 1403637144.388319, t: 0.037245 -0.041344 -0.006546 q: -0.067955 0.796898 0.026415 0.599698 
time: 1403637144.488319, t: 0.037266 -0.041350 -0.006532 q: -0.068083 0.796833 0.026557 0.599764 
time: 1403637144.588319, t: 0.037231 -0.041400 -0.006542 q: -0.067770 0.796940 0.026188 0.599673 
time: 1403637144.688319, t: 0.037263 -0.041402 -0.006560 q: -0.067999 0.796925 0.026292 0.599662 
time: 1403637144.788319, t: 0.037254 -0.041398 -0.006556 q: -0.068072 0.796799 0.026414 0.599817 
time: 1403637144.888319, t: 0.037289 -0.041351 -0.006554 q: -0.068056 0.796842 0.026461 0.599760 
time: 1403637144.988319, t: 0.037162 -0.041363 -0.006554 q: -0.068187 0.796896 0.026858 0.599655 
time: 1403637145.088319, t: 0.037163 -0.041481 -0.006524 q: -0.068055 0.796906 0.026620 0.599667 
time: 1403637145.188319, t: 0.037141 -0.041525 -0.006538 q: -0.067919 0.796981 0.026385 0.599593 
time: 1403637145.288319, t: 0.037142 -0.041532 -0.006528 q: -0.067904 0.796997 0.026295 0.599578 
time: 1403637145.388319, t: 0.037131 -0.041539 -0.006527 q: -0.067944 0.796953 0.026348 0.599629 
time: 1403637145.488319, t: 0.037142 -0.041552 -0.006543 q: -0.068019 0.796909 0.026337 0.599679 
time: 1403637145.588319, t: 0.037142 -0.041531 -0.006549 q: -0.067950 0.796895 0.026365 0.599705 
time: 1403637145.688319, t: 0.037155 -0.041520 -0.006532 q: -0.067942 0.796947 0.026432 0.599634 
time: 1403637145.788319, t: 0.037156 -0.041531 -0.006538 q: -0.067990 0.796917 0.026444 0.599667 
time: 1403637145.888319, t: 0.037144 -0.041516 -0.006526 q: -0.067892 0.796938 0.026368 0.599654 
time: 1403637145.988319, t: 0.037163 -0.041525 -0.006522 q: -0.067880 0.796960 0.026438 0.599624 
time: 1403637146.088319, t: 0.037180 -0.041521 -0.006523 q: -0.067854 0.796996 0.026401 0.599580 
time: 1403637146.188319, t: 0.037169 -0.041561 -0.006527 q: -0.067768 0.796969 0.026519 0.599620 
time: 1403637146.288319, t: 0.037180 -0.041520 -0.006468 q: -0.068071 0.796951 0.026375 0.599616 
time: 1403637146.388319, t: 0.037191 -0.041540 -0.006476 q: -0.068107 0.796962 0.026402 0.599596 
time: 1403637146.488319, t: 0.037169 -0.041501 -0.006462 q: -0.068019 0.797040 0.026380 0.599503 
time: 1403637146.588319, t: 0.037191 -0.041514 -0.006489 q: -0.068157 0.797041 0.026424 0.599485 
time: 1403637146.688319, t: 0.037164 -0.041506 -0.006484 q: -0.068137 0.796979 0.026572 0.599563 
time: 1403637146.788319, t: 0.037175 -0.041518 -0.006467 q: -0.068100 0.797009 0.026645 0.599524 
time: 1403637146.888319, t: 0.037178 -0.041517 -0.006471 q: -0.068115 0.796997 0.026761 0.599533 
time: 1403637146.988319, t: 0.037184 -0.041545 -0.006448 q: -0.067979 0.796970 0.026889 0.599578 
time: 1403637147.088319, t: 0.037205 -0.041543 -0.006472 q: -0.068161 0.796991 0.026893 0.599530 
time: 1403637147.188319, t: 0.037191 -0.041512 -0.006466 q: -0.068160 0.796972 0.026892 0.599556 
time: 1403637147.288319, t: 0.037218 -0.041527 -0.006480 q: -0.068304 0.796948 0.026919 0.599570 
time: 1403637147.388319, t: 0.037217 -0.041509 -0.006504 q: -0.068501 0.796899 0.026981 0.599610 
time: 1403637147.488319, t: 0.037235 -0.041498 -0.006516 q: -0.068569 0.796881 0.027057 0.599623 
time: 1403637147.588319, t: 0.037253 -0.041495 -0.006519 q: -0.068761 0.796848 0.027080 0.599644 
time: 1403637147.688319, t: 0.037258 -0.041509 -0.006535 q: -0.068842 0.796807 0.027139 0.599686 
time: 1403637147.788319, t: 0.037257 -0.041502 -0.006551 q: -0.068890 0.796787 0.027135 0.599707 
time: 1403637147.888319, t: 0.037250 -0.041504 -0.006547 q: -0.068949 0.796781 0.027161 0.599706 
time: 1403637147.988319, t: 0.037253 -0.041488 -0.006540 q: -0.069007 0.796764 0.027222 0.599720 
time: 1403637148.088319, t: 0.037278 -0.041500 -0.006538 q: -0.069018 0.796739 0.027242 0.599751 
time: 1403637148.188319, t: 0.037287 -0.041497 -0.006491 q: -0.069063 0.796717 0.027316 0.599772 
time: 1403637148.288319, t: 0.037261 -0.041492 -0.006477 q: -0.069211 0.796734 0.027481 0.599725 
time: 1403637148.388319, t: 0.037262 -0.041469 -0.006516 q: -0.069320 0.796697 0.027611 0.599755 
time: 1403637148.488319, t: 0.037244 -0.041446 -0.006515 q: -0.069470 0.796766 0.027899 0.599632 
time: 1403637148.588319, t: 0.037247 -0.041425 -0.006515 q: -0.069650 0.796735 0.028204 0.599639 
time: 1403637148.688319, t: 0.037154 -0.041406 -0.006553 q: -0.070359 0.796851 0.028883 0.599369 
time: 1403637148.788319, t: 0.037107 -0.041380 -0.006570 q: -0.070676 0.797025 0.029445 0.599073 
time: 1403637148.888319, t: 0.037006 -0.041403 -0.006608 q: -0.071066 0.797141 0.030146 0.598838 
time: 1403637148.988319, t: 0.036982 -0.041415 -0.006628 q: -0.071581 0.797176 0.030746 0.598700 
time: 1403637149.088319, t: 0.036893 -0.041427 -0.006692 q: -0.071959 0.797214 0.031337 0.598573 
time: 1403637149.188319, t: 0.036819 -0.041526 -0.006732 q: -0.072096 0.797243 0.032011 0.598482 
time: 1403637149.288319, t: 0.036719 -0.041580 -0.006709 q: -0.072675 0.797257 0.032476 0.598369 
time: 1403637149.388319, t: 0.036668 -0.041667 -0.006686 q: -0.073274 0.797410 0.033327 0.598045 
time: 1403637149.488319, t: 0.036470 -0.041783 -0.006687 q: -0.073938 0.797641 0.034816 0.597570 
time: 1403637149.588319, t: 0.036433 -0.042009 -0.006790 q: -0.074457 0.798962 0.038232 0.595528 
time: 1403637149.688319, t: 0.035806 -0.042368 -0.007116 q: -0.077809 0.803144 0.048985 0.588647 
time: 1403637149.788319, t: 0.035187 -0.044075 -0.007535 q: -0.080406 0.806014 0.053471 0.583967 
time: 1403637149.988319, t: 0.036028 -0.056686 -0.004874 q: -0.073443 0.824769 0.061637 0.557282 
time: 1403637150.088319, t: 0.038802 -0.070176 0.005357 q: -0.059110 0.834491 0.069338 0.543437 
time: 1403637150.188319, t: 0.048758 -0.085625 0.023501 q: -0.048324 0.838000 0.072100 0.538724 
time: 1403637150.288319, t: 0.066912 -0.100051 0.048273 q: -0.043182 0.835385 0.069965 0.543481 
time: 1403637150.388319, t: 0.092122 -0.112369 0.077406 q: -0.042980 0.828679 0.064722 0.554305 
time: 1403637150.488319, t: 0.121034 -0.123803 0.106581 q: -0.042361 0.822689 0.060407 0.563683 
time: 1403637150.588319, t: 0.150902 -0.135506 0.133964 q: -0.040854 0.820518 0.057183 0.567284 
time: 1403637150.688319, t: 0.181507 -0.146019 0.159598 q: -0.039521 0.819498 0.054975 0.569068 
time: 1403637150.788319, t: 0.213700 -0.156310 0.182152 q: -0.037608 0.819153 0.054390 0.569750 
time: 1403637150.888319, t: 0.246952 -0.165451 0.203885 q: -0.035836 0.816066 0.054316 0.574284 
time: 1403637150.988319, t: 0.279990 -0.173484 0.223395 q: -0.035879 0.811517 0.054149 0.580707 
time: 1403637151.088319, t: 0.309613 -0.180868 0.238330 q: -0.036280 0.807317 0.054914 0.586436 
time: 1403637151.188319, t: 0.337160 -0.187692 0.250060 q: -0.036993 0.804018 0.056395 0.590767 
time: 1403637151.288319, t: 0.359921 -0.193781 0.263277 q: -0.039541 0.807873 0.056708 0.585287 
time: 1403637151.388319, t: 0.379713 -0.199665 0.286704 q: -0.048397 0.813030 0.052787 0.577800 
optimize pose graph 
time: 1403637151.488319, t: 0.398412 -0.205965 0.318322 q: -0.051108 0.815887 0.052271 0.573572 
time: 1403637151.588319, t: 0.417560 -0.214432 0.349411 q: -0.049392 0.816471 0.054762 0.572657 
time: 1403637151.688319, t: 0.434967 -0.223851 0.376106 q: -0.047257 0.816147 0.057833 0.572998 
time: 1403637151.788319, t: 0.451703 -0.234811 0.396601 q: -0.046461 0.816601 0.059496 0.572245 
time: 1403637151.888319, t: 0.473061 -0.247382 0.413190 q: -0.045620 0.816469 0.061109 0.572332 
time: 1403637151.988319, t: 0.491511 -0.258150 0.425998 q: -0.045393 0.816738 0.062015 0.571867 
time: 1403637152.088319, t: 0.508718 -0.268972 0.443629 q: -0.047146 0.817297 0.061760 0.570954 
time: 1403637152.188319, t: 0.527870 -0.279270 0.463655 q: -0.048210 0.818538 0.061029 0.569163 
time: 1403637152.288319, t: 0.549514 -0.289593 0.477742 q: -0.049544 0.819490 0.060341 0.567751 
time: 1403637152.388319, t: 0.572208 -0.300770 0.486570 q: -0.050417 0.820021 0.060115 0.566930 
time: 1403637152.488319, t: 0.597911 -0.312449 0.489543 q: -0.049776 0.820473 0.060617 0.566279 
time: 1403637152.588319, t: 0.623847 -0.325647 0.487859 q: -0.049218 0.820629 0.060872 0.566074 
time: 1403637152.688319, t: 0.652228 -0.339085 0.482973 q: -0.049226 0.819762 0.060621 0.567355 
time: 1403637152.788319, t: 0.680267 -0.353002 0.480397 q: -0.052056 0.817392 0.058786 0.570706 
time: 1403637152.888319, t: 0.709794 -0.369020 0.487601 q: -0.053137 0.814880 0.057993 0.574268 
time: 1403637152.988319, t: 0.731926 -0.385250 0.497508 q: -0.051953 0.813709 0.059204 0.575911 
time: 1403637153.088319, t: 0.755762 -0.403387 0.512576 q: -0.049922 0.813920 0.060167 0.575692 
time: 1403637153.188319, t: 0.776858 -0.421143 0.519685 q: -0.048496 0.815360 0.060755 0.573712 
time: 1403637153.388319, t: 0.821891 -0.457497 0.524828 q: -0.043308 0.816686 0.063259 0.571967 
optimize pose graph 
time: 1403637153.488319, t: 0.843807 -0.474033 0.529028 q: -0.041438 0.818368 0.064269 0.569584 
time: 1403637153.588319, t: 0.872540 -0.487815 0.537547 q: -0.041239 0.820742 0.063813 0.566224 
time: 1403637153.688319, t: 0.891339 -0.504122 0.554965 q: -0.041390 0.820348 0.064035 0.566759 
time: 1403637153.788319, t: 0.915240 -0.517021 0.574836 q: -0.041205 0.818240 0.063935 0.569822 
time: 1403637153.888319, t: 0.938835 -0.529882 0.589966 q: -0.042212 0.816852 0.063213 0.571818 
time: 1403637153.988319, t: 0.969650 -0.542034 0.598423 q: -0.042814 0.815552 0.062802 0.573670 
time: 1403637154.288319, t: 1.039434 -0.572643 0.577047 q: -0.065301 0.828884 0.046138 0.553677 
time: 1403637154.388319, t: 1.068986 -0.589865 0.562569 q: -0.065100 0.829514 0.045416 0.552817 
time: 1403637154.488319, t: 1.106279 -0.611201 0.547689 q: -0.058007 0.824292 0.049250 0.561028 
time: 1403637154.588319, t: 1.141346 -0.636679 0.530134 q: -0.049963 0.821701 0.053001 0.565246 
time: 1403637154.688319, t: 1.179556 -0.662353 0.514903 q: -0.038194 0.824494 0.057814 0.561613 
time: 1403637154.788319, t: 1.219366 -0.687634 0.499632 q: -0.027686 0.828709 0.055390 0.556244 
time: 1403637154.888319, t: 1.260733 -0.712677 0.489266 q: -0.021009 0.831937 0.044940 0.552648 
time: 1403637154.988319, t: 1.306392 -0.736147 0.483407 q: -0.016210 0.833930 0.035059 0.550516 
time: 1403637155.088319, t: 1.356033 -0.757942 0.486655 q: -0.010240 0.832576 0.023370 0.553322 
time: 1403637155.188319, t: 1.411274 -0.777761 0.497946 q: -0.004897 0.827514 0.009836 0.561338 
time: 1403637155.288319, t: 1.468134 -0.794623 0.515835 q: -0.000340 0.823417 0.002738 0.567430 
time: 1403637155.388319, t: 1.526590 -0.809613 0.535326 q: 0.003745 0.819077 -0.005361 0.573647 
optimize pose graph 
time: 1403637155.588319, t: 1.637489 -0.843442 0.552395 q: 0.015108 0.814500 -0.033470 0.579001 
time: 1403637155.688319, t: 1.691584 -0.860325 0.549587 q: 0.015622 0.814484 -0.047828 0.578000 
time: 1403637155.788319, t: 1.741916 -0.879999 0.540359 q: 0.019150 0.813727 -0.063425 0.577459 
time: 1403637155.888319, t: 1.790831 -0.904356 0.525966 q: 0.027797 0.813692 -0.081804 0.574839 
time: 1403637155.988319, t: 1.838549 -0.934109 0.507460 q: 0.041539 0.813846 -0.100756 0.570769 
time: 1403637156.088319, t: 1.884693 -0.967168 0.489950 q: 0.052846 0.809285 -0.122940 0.571971 
time: 1403637156.188319, t: 1.927553 -1.004693 0.473073 q: 0.065097 0.803770 -0.146282 0.572990 
time: 1403637156.288319, t: 1.966334 -1.047491 0.457540 q: 0.078870 0.798239 -0.170380 0.572332 
time: 1403637156.388319, t: 1.998153 -1.094730 0.442504 q: 0.093691 0.792873 -0.194937 0.569715 
time: 1403637156.488319, t: 2.024817 -1.146707 0.426649 q: 0.109683 0.786898 -0.218457 0.566603 
time: 1403637156.588319, t: 2.048332 -1.202045 0.408557 q: 0.126822 0.779846 -0.239858 0.564114 
time: 1403637156.688319, t: 2.066765 -1.261285 0.386118 q: 0.144907 0.772821 -0.259664 0.560646 
time: 1403637156.788319, t: 2.079187 -1.323924 0.357907 q: 0.162332 0.768128 -0.275159 0.554901 
time: 1403637156.888319, t: 2.090486 -1.389166 0.325159 q: 0.175787 0.768816 -0.284106 0.545256 
time: 1403637156.988319, t: 2.102195 -1.456097 0.287363 q: 0.184780 0.771152 -0.287882 0.536940 
time: 1403637157.088319, t: 2.116116 -1.524469 0.244195 q: 0.185394 0.773004 -0.291087 0.532318 
time: 1403637157.188319, t: 2.131252 -1.595919 0.204351 q: 0.181300 0.773172 -0.293727 0.532033 
time: 1403637157.388319, t: 2.168902 -1.750192 0.146361 q: 0.168467 0.771826 -0.295562 0.537166 
time: 1403637157.488319, t: 2.184001 -1.831716 0.131615 q: 0.159109 0.771097 -0.297559 0.539956 
time: 1403637157.588319, t: 2.200437 -1.926491 0.125993 q: 0.152022 0.770904 -0.296974 0.542589 
time: 1403637157.688319, t: 2.209371 -2.019967 0.126104 q: 0.149209 0.771751 -0.294878 0.543309 
time: 1403637157.788319, t: 2.214532 -2.121287 0.134798 q: 0.149478 0.770633 -0.291789 0.546480 
time: 1403637157.888319, t: 2.217249 -2.232924 0.147031 q: 0.154855 0.767996 -0.286666 0.551384 
time: 1403637157.988319, t: 2.218229 -2.345681 0.148663 q: 0.161910 0.766475 -0.281124 0.554319 
time: 1403637158.088319, t: 2.214085 -2.461624 0.151025 q: 0.170586 0.766558 -0.274903 0.554722 
time: 1403637158.188319, t: 2.207510 -2.574462 0.158786 q: 0.174010 0.766645 -0.272200 0.554873 
time: 1403637158.288319, t: 2.197534 -2.688424 0.171881 q: 0.176016 0.765403 -0.274231 0.554954 
time: 1403637158.388319, t: 2.183845 -2.800832 0.187425 q: 0.180454 0.762106 -0.282691 0.553821 
time: 1403637158.488319, t: 2.165341 -2.909055 0.200370 q: 0.186886 0.756074 -0.296382 0.552796 
time: 1403637158.588319, t: 2.140773 -3.019537 0.205603 q: 0.191445 0.747629 -0.316325 0.551668 
time: 1403637158.688319, t: 2.110019 -3.129684 0.203683 q: 0.199303 0.738307 -0.337557 0.548850 
time: 1403637158.788319, t: 2.071049 -3.240453 0.195481 q: 0.210994 0.731015 -0.355807 0.542679 
time: 1403637158.888319, t: 2.030849 -3.356730 0.182669 q: 0.220025 0.728655 -0.368345 0.533829 
time: 1403637158.988319, t: 1.988862 -3.474323 0.173824 q: 0.231226 0.729831 -0.372345 0.524634 
time: 1403637159.088319, t: 1.945137 -3.589522 0.172357 q: 0.237720 0.730365 -0.375030 0.519045 
time: 1403637159.188319, t: 1.901935 -3.707550 0.171779 q: 0.235118 0.727598 -0.379566 0.520817 
time: 1403637159.288319, t: 1.855971 -3.823404 0.164577 q: 0.229669 0.725465 -0.383088 0.523637 
time: 1403637159.388319, t: 1.810683 -3.945590 0.152018 q: 0.225304 0.725360 -0.384128 0.524915 
time: 1403637159.488319, t: 1.761353 -4.067980 0.137501 q: 0.224170 0.726318 -0.381570 0.525942 
time: 1403637159.588319, t: 1.708659 -4.192074 0.118139 q: 0.228662 0.731225 -0.375441 0.521601 
time: 1403637159.688319, t: 1.653079 -4.312381 0.099882 q: 0.233163 0.735171 -0.369722 0.518135 
time: 1403637159.788319, t: 1.599404 -4.438370 0.086398 q: 0.236730 0.736879 -0.365560 0.517044 
time: 1403637159.888319, t: 1.547834 -4.565709 0.080256 q: 0.242172 0.736054 -0.365834 0.515503 
time: 1403637159.988319, t: 1.494413 -4.691732 0.073997 q: 0.248228 0.731739 -0.377079 0.510638 
time: 1403637160.088319, t: 1.443436 -4.816282 0.065334 q: 0.257776 0.719884 -0.392474 0.511158 
time: 1403637160.188319, t: 1.388721 -4.945194 0.054555 q: 0.269560 0.705472 -0.410602 0.510932 
time: 1403637160.288319, t: 1.333368 -5.067038 0.040336 q: 0.284818 0.692217 -0.430145 0.504667 
time: 1403637160.388319, t: 1.276244 -5.182689 0.021871 q: 0.300996 0.678134 -0.451843 0.495352 
time: 1403637160.488319, t: 1.215958 -5.296318 -0.000692 q: 0.320048 0.664679 -0.473515 0.481201 
time: 1403637160.588319, t: 1.151701 -5.416028 -0.026119 q: 0.338577 0.651274 -0.495258 0.464679 
time: 1403637160.688319, t: 1.088203 -5.533851 -0.052855 q: 0.353495 0.639343 -0.514731 0.448702 
time: 1403637160.788319, t: 1.030667 -5.652915 -0.078193 q: 0.361708 0.632525 -0.528997 0.435019 
time: 1403637160.888319, t: 0.976492 -5.775521 -0.094733 q: 0.366110 0.626778 -0.538443 0.428009 
time: 1403637160.988319, t: 0.930241 -5.893927 -0.101586 q: 0.364700 0.623505 -0.546617 0.423610 
time: 1403637161.088319, t: 0.887266 -6.018256 -0.095620 q: 0.359313 0.619045 -0.553913 0.425274 
time: 1403637161.188319, t: 0.848556 -6.146774 -0.078136 q: 0.351486 0.610307 -0.561026 0.435010 
time: 1403637161.288319, t: 0.805041 -6.276151 -0.054019 q: 0.343516 0.599469 -0.566224 0.449470 
time: 1403637161.388319, t: 0.754283 -6.411918 -0.021826 q: 0.342150 0.596780 -0.566414 0.453830 
time: 1403637161.488319, t: 0.691731 -6.554559 0.014356 q: 0.349370 0.598159 -0.564770 0.448532 
time: 1403637161.588319, t: 0.623159 -6.694710 0.051599 q: 0.356587 0.595453 -0.569271 0.440694 
time: 1403637161.688319, t: 0.551714 -6.827038 0.083993 q: 0.366108 0.588695 -0.573679 0.436229 
time: 1403637161.788319, t: 0.476054 -6.956795 0.112892 q: 0.382052 0.579960 -0.571741 0.436801 
time: 1403637161.888319, t: 0.397677 -7.078892 0.137939 q: 0.401819 0.568691 -0.566200 0.441078 
time: 1403637161.988319, t: 0.315395 -7.200034 0.159441 q: -0.417726 -0.557494 0.561045 -0.447140 
time: 1403637162.088319, t: 0.232420 -7.304059 0.173139 q: -0.427377 -0.550060 0.558403 -0.450522 
time: 1403637162.188319, t: 0.147284 -7.405384 0.178605 q: -0.424569 -0.545237 0.562213 -0.454284 
time: 1403637162.288319, t: 0.058117 -7.499214 0.175210 q: -0.413385 -0.543693 0.570308 -0.456356 
time: 1403637162.388319, t: -0.029010 -7.563763 0.166648 q: -0.403742 -0.544128 0.576306 -0.456934 
time: 1403637162.488319, t: -0.125030 -7.625642 0.151490 q: -0.391002 -0.549342 0.583922 -0.452080 
time: 1403637162.588319, t: -0.227227 -7.677356 0.143377 q: -0.387911 -0.558648 0.585481 -0.441191 
time: 1403637162.688319, t: -0.333749 -7.721749 0.144858 q: -0.397759 -0.556256 0.578894 -0.444127 
time: 1403637162.788319, t: -0.448954 -7.768843 0.150154 q: -0.410053 -0.539907 0.576749 -0.455761 
time: 1403637162.888319, t: -0.568530 -7.803975 0.149551 q: -0.423068 -0.527204 0.582735 -0.451098 
time: 1403637162.988319, t: -0.693381 -7.825953 0.142339 q: -0.439451 -0.514786 0.592592 -0.436707 
time: 1403637163.088319, t: -0.822449 -7.837846 0.130483 q: -0.455880 -0.499008 0.606799 -0.418281 
time: 1403637163.188319, t: -0.950075 -7.835372 0.114508 q: -0.474033 -0.479304 0.622811 -0.397073 
time: 1403637163.288319, t: -1.075186 -7.820248 0.095489 q: -0.491354 -0.456712 0.638605 -0.377053 
time: 1403637163.388319, t: -1.196367 -7.796010 0.071271 q: 0.501678 0.432414 -0.655935 0.362060 
time: 1403637163.488319, t: -1.312465 -7.760368 0.043475 q: 0.504305 0.409344 -0.674833 0.350307 
time: 1403637163.588319, t: -1.423326 -7.714657 0.015266 q: -0.498552 -0.392841 0.694019 -0.339794 
time: 1403637163.688319, t: -1.537392 -7.663156 -0.005607 q: -0.488220 -0.383016 0.711091 -0.330589 
time: 1403637163.788319, t: -1.656700 -7.605920 -0.015152 q: -0.479013 -0.375764 0.723356 -0.325735 
time: 1403637163.888319, t: -1.786187 -7.544642 -0.012499 q: -0.472158 -0.368390 0.730587 -0.328024 
time: 1403637163.988319, t: -1.921875 -7.477092 -0.000551 q: -0.472200 -0.362176 0.731627 -0.332530 
time: 1403637164.088319, t: -2.063919 -7.405561 0.019618 q: -0.475736 -0.361422 0.729091 -0.333879 
time: 1403637164.188319, t: -2.217812 -7.326095 0.047608 q: -0.481146 -0.363800 0.724198 -0.334194 
time: 1403637164.288319, t: -2.375530 -7.239642 0.082023 q: -0.487207 -0.371645 0.718504 -0.329030 
time: 1403637164.388319, t: -2.531784 -7.149450 0.116051 q: -0.488566 -0.380796 0.715491 -0.323065 
time: 1403637164.488319, t: -2.689083 -7.055668 0.141697 q: -0.483011 -0.385794 0.716723 -0.322756 
time: 1403637164.588319, t: -2.846072 -6.960651 0.158135 q: -0.475252 -0.384856 0.718838 -0.330595 
time: 1403637164.688319, t: -3.014747 -6.860748 0.166860 q: -0.471376 -0.387856 0.718811 -0.332692 
time: 1403637164.788319, t: -3.193715 -6.757367 0.171047 q: -0.481037 -0.395230 0.711838 -0.325091 
time: 1403637164.888319, t: -3.372815 -6.649738 0.169631 q: -0.493203 -0.396435 0.706801 -0.316265 
time: 1403637164.988319, t: -3.554203 -6.537828 0.163533 q: 0.501214 0.391324 -0.707856 0.307556 
time: 1403637165.088319, t: -3.739034 -6.423796 0.154045 q: 0.509489 0.380532 -0.711405 0.299197 
time: 1403637165.188319, t: -3.924658 -6.309421 0.142348 q: 0.521620 0.364778 -0.715035 0.289092 
time: 1403637165.288319, t: -4.102408 -6.191189 0.130422 q: 0.528411 0.348947 -0.723945 0.273719 
time: 1403637165.388319, t: -4.271327 -6.069580 0.126911 q: 0.526458 0.335929 -0.737898 0.255928 
time: 1403637165.488319, t: -4.438845 -5.948365 0.132873 q: 0.522556 0.325184 -0.749662 0.243305 
time: 1403637165.588319, t: -4.598361 -5.832051 0.147515 q: 0.523051 0.318690 -0.755946 0.231084 
time: 1403637165.688319, t: -4.753969 -5.718761 0.165601 q: 0.528693 0.319433 -0.756663 0.214261 
time: 1403637165.788319, t: -4.908253 -5.610909 0.180462 q: 0.534307 0.323293 -0.755233 0.199049 
time: 1403637165.888319, t: -5.055547 -5.510045 0.188938 q: 0.539036 0.329175 -0.752381 0.187101 
time: 1403637165.988319, t: -5.195129 -5.418172 0.190050 q: 0.541287 0.340388 -0.747305 0.180776 
time: 1403637166.088319, t: -5.328123 -5.337249 0.180954 q: 0.541469 0.353053 -0.741718 0.178941 
time: 1403637166.188319, t: -5.450020 -5.265441 0.155038 q: 0.541280 0.362073 -0.737210 0.180111 
time: 1403637166.288319, t: -5.557885 -5.203372 0.119451 q: 0.544631 0.364025 -0.731141 0.190514 
time: 1403637166.388319, t: -5.654405 -5.153243 0.089985 q: 0.561643 0.360986 -0.713771 0.211607 
time: 1403637166.488319, t: -5.732917 -5.104028 0.065591 q: 0.573185 0.360335 -0.698966 0.230357 
time: 1403637166.588319, t: -5.791530 -5.052587 0.046697 q: 0.569389 0.365658 -0.697510 0.235733 
time: 1403637166.688319, t: -5.833212 -4.997301 0.031075 q: 0.550529 0.376617 -0.709164 0.228394 
time: 1403637166.788319, t: -5.867283 -4.947623 0.012856 q: 0.538392 0.390645 -0.715071 0.214950 
time: 1403637166.888319, t: -5.878730 -4.905615 -0.002280 q: 0.539588 0.403227 -0.710995 0.201839 
time: 1403637166.988319, t: -5.876191 -4.874713 -0.017332 q: 0.550409 0.412993 -0.699709 0.192079 
time: 1403637167.088319, t: -5.853484 -4.853128 -0.027424 q: 0.563054 0.420969 -0.686655 0.185095 
time: 1403637167.188319, t: -5.808328 -4.842020 -0.028725 q: 0.575042 0.425489 -0.674906 0.181072 
time: 1403637167.288319, t: -5.737961 -4.846291 -0.020426 q: 0.580571 0.426962 -0.669791 0.178946 
time: 1403637167.388319, t: -5.645360 -4.863134 -0.010302 q: 0.575105 0.424209 -0.676019 0.179720 
time: 1403637167.488319, t: -5.534320 -4.884782 -0.009935 q: 0.556439 0.412869 -0.693765 0.196483 
time: 1403637167.588319, t: -5.411180 -4.924126 -0.013724 q: 0.535329 0.396106 -0.712247 0.221870 
time: 1403637167.688319, t: -5.280778 -4.972503 -0.023956 q: 0.520649 0.383535 -0.722694 0.244008 
wait for imu ... 
time: 1403637167.788319, t: -5.146385 -5.025157 -0.040625 q: 0.509003 0.384780 -0.726852 0.254060 
time: 1403637167.888319, t: -5.011608 -5.077844 -0.060644 q: -0.497135 -0.395002 0.728045 -0.258420 
time: 1403637167.988319, t: -4.879076 -5.131900 -0.076214 q: -0.492787 -0.408540 0.724361 -0.256040 
time: 1403637168.088319, t: -4.748926 -5.191390 -0.085472 q: -0.492578 -0.419051 0.718522 -0.255910 
time: 1403637168.188319, t: -4.620595 -5.255026 -0.103039 q: -0.486797 -0.420678 0.718622 -0.263897 
time: 1403637168.288319, t: -4.493970 -5.322693 -0.135370 q: -0.490247 -0.421591 0.713513 -0.269848 
time: 1403637168.388319, t: -4.366920 -5.389943 -0.180613 q: 0.500979 0.421225 -0.704331 0.274786 
time: 1403637168.488319, t: -4.239170 -5.457300 -0.232516 q: 0.511019 0.418105 -0.695868 0.282516 
time: 1403637168.588319, t: -4.108498 -5.522068 -0.286969 q: 0.509415 0.415757 -0.696433 0.287443 
time: 1403637168.688319, t: -3.974446 -5.584669 -0.335364 q: 0.504050 0.417414 -0.700333 0.285014 
time: 1403637168.788319, t: -3.838857 -5.647044 -0.374889 q: -0.500000 -0.418505 0.703622 -0.282435 
time: 1403637168.888319, t: -3.703295 -5.710515 -0.408016 q: 0.500451 0.421626 -0.703790 0.276514 
time: 1403637168.988319, t: -3.567381 -5.774708 -0.441541 q: 0.502009 0.424000 -0.703597 0.270483 
time: 1403637169.088319, t: -3.432779 -5.841931 -0.477921 q: 0.505948 0.428571 -0.700661 0.263473 
time: 1403637169.188319, t: -3.293351 -5.914589 -0.508891 q: 0.508405 0.434436 -0.694604 0.265169 
time: 1403637169.288319, t: -3.146598 -5.992596 -0.531519 q: 0.507589 0.444071 -0.685188 0.275087 
time: 1403637169.388319, t: -2.992671 -6.071153 -0.544737 q: 0.503310 0.456702 -0.673684 0.290260 
time: 1403637169.488319, t: -2.829834 -6.149923 -0.551531 q: -0.497110 -0.474073 0.659008 -0.306340 
time: 1403637169.588319, t: -2.661894 -6.226825 -0.552093 q: -0.491776 -0.495373 0.639129 -0.322918 
time: 1403637169.688319, t: -2.487836 -6.301822 -0.547492 q: -0.486155 -0.518695 0.615706 -0.339874 
time: 1403637169.788319, t: -2.307793 -6.371189 -0.544308 q: -0.474126 -0.540519 0.596136 -0.357304 
time: 1403637169.888319, t: -2.124881 -6.436471 -0.548067 q: -0.464664 -0.561287 0.576069 -0.370390 
time: 1403637169.988319, t: -1.935823 -6.497613 -0.558488 q: 0.457873 0.579410 -0.555668 0.381928 
time: 1403637170.088319, t: -1.738504 -6.553885 -0.576464 q: 0.448187 0.596210 -0.538477 0.392053 
time: 1403637170.188319, t: -1.536503 -6.602328 -0.599623 q: 0.438642 0.610363 -0.520438 0.405209 
time: 1403637170.288319, t: -1.327503 -6.642357 -0.627659 q: 0.429993 0.625161 -0.500973 0.416299 
time: 1403637170.388319, t: -1.108987 -6.674289 -0.658683 q: 0.414482 0.634995 -0.484017 0.436707 
time: 1403637170.588319, t: -0.658692 -6.708982 -0.731330 q: 0.373734 0.641045 -0.447771 0.498884 
time: 1403637170.688319, t: -0.438186 -6.708781 -0.772476 q: 0.356605 0.645482 -0.424275 0.525525 
time: 1403637170.788319, t: -0.224309 -6.693367 -0.815714 q: 0.337402 0.655085 -0.400348 0.544743 
time: 1403637170.888319, t: -0.018597 -6.662816 -0.855203 q: 0.314019 0.673209 -0.378224 0.552384 
time: 1403637170.988319, t: 0.170030 -6.613188 -0.885245 q: 0.289804 0.693092 -0.354584 0.556693 
time: 1403637171.088319, t: 0.356058 -6.557988 -0.908446 q: 0.263210 0.708769 -0.333388 0.563223 
time: 1403637171.188319, t: 0.531197 -6.494717 -0.923539 q: 0.243645 0.721948 -0.314159 0.566333 
time: 1403637171.288319, t: 0.696673 -6.427838 -0.927551 q: 0.230182 0.726475 -0.299248 0.574196 
time: 1403637171.388319, t: 0.843744 -6.353076 -0.921614 q: 0.228559 0.730251 -0.283899 0.577837 
time: 1403637171.488319, t: 0.979123 -6.270540 -0.908512 q: 0.232512 0.734132 -0.271699 0.577207 
time: 1403637171.588319, t: 1.109295 -6.177651 -0.893112 q: 0.234678 0.737064 -0.266010 0.575241 
time: 1403637171.688319, t: 1.232046 -6.074875 -0.882720 q: 0.240305 0.737942 -0.262491 0.573405 
time: 1403637171.788319, t: 1.348751 -5.961474 -0.877536 q: 0.246238 0.736624 -0.262261 0.572688 
time: 1403637171.888319, t: 1.456773 -5.834133 -0.880030 q: 0.253049 0.734290 -0.262861 0.572441 
time: 1403637171.988319, t: 1.561470 -5.696385 -0.887758 q: 0.257620 0.731694 -0.265506 0.572505 
time: 1403637172.088319, t: 1.657125 -5.544880 -0.899060 q: 0.261729 0.729166 -0.268216 0.572603 
time: 1403637172.188319, t: 1.746046 -5.380363 -0.914515 q: 0.253839 0.728180 -0.278252 0.572622 
time: 1403637172.288319, t: 1.830022 -5.204254 -0.927355 q: 0.233537 0.731940 -0.296220 0.567431 
time: 1403637172.388319, t: 1.903437 -5.025239 -0.929931 q: 0.215993 0.733529 -0.312252 0.563720 
time: 1403637172.488319, t: 1.968304 -4.845561 -0.923301 q: 0.202121 0.733250 -0.325708 0.561609 
time: 1403637172.588319, t: 2.021879 -4.669070 -0.907334 q: 0.195357 0.731599 -0.334035 0.561266 
time: 1403637172.688319, t: 2.067333 -4.499242 -0.882934 q: 0.190525 0.730831 -0.340808 0.559854 
time: 1403637172.788319, t: 2.098928 -4.337221 -0.852403 q: 0.187887 0.732419 -0.348495 0.553906 
time: 1403637172.888319, t: 2.122778 -4.183530 -0.820157 q: 0.184373 0.739398 -0.363520 0.535865 
time: 1403637172.988319, t: 2.135621 -4.039411 -0.798975 q: 0.181254 0.747915 -0.380151 0.513084 
time: 1403637173.088319, t: 2.150507 -3.907814 -0.793509 q: 0.179939 0.751863 -0.394919 0.496349 
time: 1403637173.188319, t: 2.162856 -3.796407 -0.800973 q: 0.182596 0.748149 -0.413232 0.485974 
time: 1403637173.388319, t: 2.178531 -3.638087 -0.832254 q: 0.213566 0.719575 -0.447754 0.485919 
time: 1403637173.488319, t: 2.181831 -3.588316 -0.849854 q: 0.230194 0.703419 -0.465080 0.485709 
time: 1403637173.588319, t: 2.180316 -3.549737 -0.872678 q: 0.241883 0.687535 -0.484207 0.484078 
time: 1403637173.688319, t: 2.164220 -3.520758 -0.902258 q: 0.244530 0.671533 -0.506805 0.482075 
time: 1403637173.788319, t: 2.140447 -3.501374 -0.938282 q: 0.244842 0.659161 -0.529395 0.474659 
time: 1403637173.888319, t: 2.107875 -3.496801 -0.978028 q: 0.242930 0.652128 -0.551242 0.460267 
time: 1403637173.988319, t: 2.062067 -3.508387 -1.009382 q: 0.256949 0.654253 -0.556877 0.442514 
time: 1403637174.088319, t: 2.004815 -3.539940 -1.023835 q: 0.291106 0.653111 -0.544373 0.438590 
time: 1403637174.188319, t: 1.944751 -3.590791 -1.018013 q: 0.323769 0.641757 -0.528040 0.452212 
time: 1403637174.288319, t: 1.882635 -3.647287 -1.003176 q: 0.340591 0.627772 -0.518611 0.470046 
time: 1403637174.388319, t: 1.816724 -3.703037 -0.985407 q: 0.339416 0.621013 -0.519202 0.479133 
time: 1403637174.488319, t: 1.743078 -3.757537 -0.961481 q: 0.329106 0.609513 -0.527592 0.491761 
time: 1403637174.588319, t: 1.659932 -3.808669 -0.931009 q: 0.328023 0.600467 -0.536045 0.494466 
time: 1403637174.688319, t: 1.563574 -3.858128 -0.897964 q: 0.345113 0.593053 -0.540796 0.486543 
time: 1403637174.788319, t: 1.458398 -3.904551 -0.869118 q: 0.369773 0.582016 -0.546761 0.474950 
time: 1403637174.888319, t: 1.343325 -3.945634 -0.848913 q: 0.381281 0.571156 -0.564607 0.457848 
time: 1403637174.988319, t: 1.224710 -3.983175 -0.833405 q: -0.387800 -0.558466 0.586226 -0.440529 
time: 1403637175.088319, t: 1.105067 -4.015977 -0.821770 q: -0.397721 -0.544374 0.599946 -0.430743 
time: 1403637175.188319, t: 0.981629 -4.048546 -0.813168 q: -0.409813 -0.526985 0.606227 -0.432237 
time: 1403637175.288319, t: 0.855257 -4.072849 -0.808058 q: -0.423053 -0.509568 0.607460 -0.438588 
time: 1403637175.488319, t: 0.590551 -4.093884 -0.811674 q: -0.432296 -0.494644 0.611345 -0.441253 
time: 1403637175.588319, t: 0.450893 -4.085863 -0.822582 q: -0.420347 -0.495721 0.620668 -0.438566 
time: 1403637175.688319, t: 0.303837 -4.069565 -0.831802 q: -0.409091 -0.501313 0.628277 -0.431969 
time: 1403637175.788319, t: 0.150585 -4.044657 -0.832328 q: -0.404341 -0.505782 0.630490 -0.427990 
time: 1403637175.888319, t: -0.013060 -4.015647 -0.822842 q: -0.410331 -0.512591 0.625692 -0.421174 
time: 1403637175.988319, t: -0.184498 -3.983636 -0.803901 q: -0.421394 -0.516889 0.616650 -0.418324 
time: 1403637176.088319, t: -0.357778 -3.946211 -0.776497 q: -0.428665 -0.514122 0.609016 -0.425470 
time: 1403637176.188319, t: -0.534619 -3.903343 -0.749294 q: -0.436063 -0.513804 0.600942 -0.429794 
time: 1403637176.288319, t: -0.712061 -3.850953 -0.729139 q: -0.441246 -0.512270 0.597756 -0.430776 
time: 1403637176.388319, t: -0.891067 -3.788682 -0.715755 q: -0.443464 -0.510726 0.598727 -0.428981 
time: 1403637176.488319, t: -1.072878 -3.718944 -0.708286 q: -0.443593 -0.512147 0.603416 -0.420499 
time: 1403637176.588319, t: -1.253890 -3.640412 -0.704176 q: -0.443566 -0.508563 0.612551 -0.411575 
time: 1403637176.688319, t: -1.435303 -3.558070 -0.704435 q: -0.441650 -0.503818 0.624122 -0.401977 
time: 1403637176.788319, t: -1.614704 -3.471735 -0.708857 q: -0.439353 -0.500038 0.633896 -0.393836 
time: 1403637176.888319, t: -1.790630 -3.382442 -0.716847 q: -0.436248 -0.498684 0.642442 -0.385060 
time: 1403637176.988319, t: -1.967240 -3.292916 -0.728982 q: -0.431687 -0.501231 0.649688 -0.374592 
time: 1403637177.088319, t: -2.144244 -3.205683 -0.747377 q: -0.419760 -0.507334 0.660319 -0.361099 
time: 1403637177.188319, t: -2.322721 -3.124333 -0.770930 q: -0.405707 -0.512921 0.671314 -0.348785 
time: 1403637177.288319, t: -2.503779 -3.052750 -0.797797 q: -0.397403 -0.516351 0.677569 -0.341105 
time: 1403637177.388319, t: -2.688670 -2.993513 -0.827851 q: -0.393880 -0.519433 0.680141 -0.335346 
time: 1403637177.488319, t: -2.874987 -2.949291 -0.860094 q: -0.398891 -0.526227 0.677545 -0.323887 
time: 1403637177.588319, t: -3.061392 -2.918948 -0.891544 q: -0.409627 -0.530819 0.673249 -0.311726 
time: 1403637177.788319, t: -3.419808 -2.912899 -0.925939 q: -0.439228 -0.532152 0.658054 -0.301427 
time: 1403637177.888319, t: -3.587970 -2.929266 -0.937211 q: -0.442843 -0.520671 0.664426 -0.302209 
time: 1403637177.988319, t: -3.742713 -2.958139 -0.952384 q: -0.450854 -0.508719 0.672276 -0.293225 
time: 1403637178.088319, t: -3.884654 -2.996699 -0.970837 q: -0.470004 -0.501652 0.673723 -0.271181 
time: 1403637178.188319, t: -4.015682 -3.041417 -0.992762 q: -0.483353 -0.492360 0.678355 -0.252558 
time: 1403637178.288319, t: -4.126956 -3.098600 -1.006840 q: -0.499338 -0.484986 0.676657 -0.239969 
time: 1403637178.388319, t: -4.220488 -3.170448 -1.014268 q: 0.515097 0.481127 -0.671415 0.228897 
time: 1403637178.488319, t: -4.292549 -3.255707 -1.013560 q: 0.523389 0.477843 -0.669581 0.222241 
time: 1403637178.588319, t: -4.343593 -3.351922 -1.007434 q: 0.524749 0.472911 -0.671844 0.222753 
time: 1403637178.688319, t: -4.376960 -3.458065 -1.003667 q: 0.521751 0.462192 -0.676471 0.237784 
time: 1403637178.788319, t: -4.397679 -3.572214 -1.003301 q: 0.522312 0.448668 -0.677559 0.258458 
time: 1403637178.888319, t: -4.409368 -3.690284 -1.007930 q: 0.521343 0.436729 -0.678780 0.276995 
time: 1403637178.988319, t: -4.411991 -3.806894 -1.019119 q: 0.519755 0.428046 -0.679584 0.291199 
time: 1403637179.088319, t: -4.408193 -3.918172 -1.034753 q: 0.517818 0.424718 -0.680093 0.298248 
time: 1403637179.188319, t: -4.398581 -4.023117 -1.056508 q: 0.511424 0.427314 -0.683844 0.296994 
time: 1403637179.288319, t: -4.383373 -4.124251 -1.071993 q: 0.507218 0.433268 -0.685351 0.292067 
time: 1403637179.388319, t: -4.361812 -4.220895 -1.068513 q: 0.506347 0.437572 -0.684931 0.288120 
time: 1403637179.488319, t: -4.333981 -4.316889 -1.050950 q: 0.504682 0.439346 -0.685201 0.287698 
time: 1403637179.588319, t: -4.298492 -4.411528 -1.034782 q: 0.505587 0.439110 -0.684412 0.288348 
time: 1403637179.688319, t: -4.260118 -4.507844 -1.032642 q: 0.507175 0.438299 -0.683526 0.288894 
time: 1403637179.788319, t: -4.215852 -4.603137 -1.053567 q: 0.512626 0.441433 -0.680515 0.281514 
time: 1403637179.888319, t: -4.165641 -4.695553 -1.097982 q: 0.524484 0.447730 -0.672278 0.269250 
time: 1403637179.988319, t: -4.103644 -4.794276 -1.154090 q: 0.530953 0.449741 -0.667658 0.264677 
time: 1403637180.088319, t: -4.026367 -4.899853 -1.213750 q: 0.523944 0.445076 -0.673592 0.271411 
time: 1403637180.188319, t: -3.936342 -4.996630 -1.270248 q: 0.513832 0.438415 -0.680999 0.282861 
time: 1403637180.288319, t: -3.836013 -5.105728 -1.313590 q: 0.505450 0.433898 -0.686773 0.290855 
time: 1403637180.388319, t: -3.731642 -5.208657 -1.348462 q: -0.495922 -0.432746 0.693296 -0.293484 
time: 1403637180.488319, t: -3.626937 -5.305712 -1.377056 q: -0.480386 -0.436698 0.704309 -0.287181 
time: 1403637180.588319, t: -3.523652 -5.404053 -1.395486 q: -0.472818 -0.440130 0.709858 -0.280766 
time: 1403637180.688319, t: -3.423585 -5.507759 -1.400324 q: -0.487662 -0.443275 0.699894 -0.275392 
time: 1403637180.788319, t: -3.320252 -5.616337 -1.399276 q: -0.498773 -0.440474 0.693373 -0.276481 
time: 1403637180.888319, t: -3.211365 -5.728803 -1.392699 q: 0.510345 0.442043 -0.686860 0.269014 
time: 1403637180.988319, t: -3.095013 -5.843226 -1.379906 q: 0.518916 0.444390 -0.682717 0.259115 
time: 1403637181.088319, t: -2.967608 -5.958322 -1.359372 q: 0.523518 0.444576 -0.681636 0.252297 
time: 1403637181.188319, t: -2.830135 -6.070353 -1.330867 q: 0.518733 0.434776 -0.687706 0.262576 
time: 1403637181.288319, t: -2.682954 -6.182640 -1.295343 q: 0.515828 0.422354 -0.691973 0.276968 
time: 1403637181.388319, t: -2.532930 -6.291317 -1.251310 q: 0.520934 0.415800 -0.689765 0.282776 
time: 1403637181.488319, t: -2.378022 -6.394962 -1.200583 q: 0.523721 0.415518 -0.688995 0.279905 
time: 1403637181.588319, t: -2.219377 -6.491179 -1.143432 q: 0.520298 0.415780 -0.693198 0.275488 
time: 1403637181.688319, t: -2.055759 -6.582672 -1.079226 q: 0.517275 0.414493 -0.697328 0.272683 
time: 1403637181.788319, t: -1.885676 -6.677553 -1.015096 q: 0.514879 0.408542 -0.701033 0.276670 
time: 1403637181.888319, t: -1.715994 -6.770221 -0.956182 q: 0.514843 0.403538 -0.702149 0.281213 
time: 1403637181.988319, t: -1.544756 -6.861904 -0.904686 q: 0.514628 0.401616 -0.702760 0.282828 
time: 1403637182.088319, t: -1.373892 -6.949533 -0.856930 q: 0.519194 0.399611 -0.699052 0.286486 
time: 1403637182.188319, t: -1.201080 -7.033575 -0.813898 q: 0.520767 0.395140 -0.696574 0.295721 
time: 1403637182.388319, t: -0.856729 -7.178326 -0.742163 q: 0.521517 0.386014 -0.691473 0.317613 
time: 1403637182.488319, t: -0.688547 -7.235418 -0.708580 q: 0.528149 0.384885 -0.684425 0.323239 
time: 1403637182.588319, t: -0.519663 -7.281016 -0.668728 q: 0.534580 0.389115 -0.678468 0.320149 
time: 1403637182.688319, t: -0.349911 -7.312228 -0.622393 q: 0.534369 0.391627 -0.677802 0.318846 
time: 1403637182.788319, t: -0.177237 -7.330248 -0.573803 q: 0.531261 0.389410 -0.679444 0.323230 
time: 1403637182.888319, t: -0.004635 -7.334977 -0.532054 q: 0.527615 0.385186 -0.682202 0.328413 
time: 1403637182.988319, t: 0.167441 -7.326431 -0.498712 q: 0.523976 0.378986 -0.684871 0.335814 
time: 1403637183.088319, t: 0.339146 -7.306469 -0.480583 q: 0.519536 0.372034 -0.687879 0.344231 
time: 1403637183.188319, t: 0.508752 -7.275425 -0.480319 q: 0.515038 0.367539 -0.690703 0.350113 
time: 1403637183.288319, t: 0.673772 -7.229297 -0.491447 q: 0.511153 0.365171 -0.693195 0.353345 
time: 1403637183.388319, t: 0.834502 -7.170078 -0.507563 q: 0.507142 0.362736 -0.695998 0.356114 
time: 1403637183.488319, t: 0.985704 -7.097331 -0.525537 q: 0.507375 0.361504 -0.696210 0.356620 
time: 1403637183.588319, t: 1.130526 -7.012114 -0.548941 q: 0.504434 0.359335 -0.698182 0.359119 
time: 1403637183.688319, t: 1.262331 -6.910666 -0.576501 q: 0.502645 0.356449 -0.699232 0.362446 
time: 1403637183.788319, t: 1.385172 -6.795162 -0.606799 q: -0.492890 -0.354162 0.705486 -0.365949 
time: 1403637183.888319, t: 1.493905 -6.667817 -0.632166 q: -0.481340 -0.352289 0.712979 -0.368599 
time: 1403637183.988319, t: 1.584342 -6.528446 -0.651305 q: -0.471294 -0.349977 0.719615 -0.370879 
time: 1403637184.088319, t: 1.654395 -6.375727 -0.659079 q: -0.464990 -0.348449 0.724089 -0.371568 
time: 1403637184.188319, t: 1.704053 -6.208995 -0.654915 q: -0.464736 -0.351765 0.725337 -0.366290 
time: 1403637184.288319, t: 1.738119 -6.033975 -0.649179 q: -0.472749 -0.362180 0.722179 -0.351840 
time: 1403637184.388319, t: 1.764170 -5.853421 -0.658015 q: -0.479363 -0.376661 0.719816 -0.331968 
time: 1403637184.488319, t: 1.784017 -5.670387 -0.677982 q: -0.478375 -0.388342 0.721085 -0.316834 
time: 1403637184.588319, t: 1.800386 -5.486748 -0.702957 q: -0.471623 -0.397035 0.725513 -0.305885 
time: 1403637184.688319, t: 1.813988 -5.305641 -0.732447 q: -0.464335 -0.403064 0.729959 -0.298483 
time: 1403637184.788319, t: 1.819554 -5.129893 -0.759957 q: -0.456966 -0.407000 0.734308 -0.293813 
time: 1403637184.888319, t: 1.819643 -4.961008 -0.778771 q: -0.453061 -0.409395 0.736600 -0.290778 
time: 1403637184.988319, t: 1.812587 -4.801247 -0.788213 q: -0.450309 -0.411393 0.738019 -0.288626 
time: 1403637185.088319, t: 1.796262 -4.650320 -0.788991 q: -0.448618 -0.414283 0.738899 -0.284851 
time: 1403637185.188319, t: 1.775092 -4.502760 -0.783410 q: -0.447620 -0.414271 0.739757 -0.284209 
time: 1403637185.288319, t: 1.740283 -4.371520 -0.769156 q: -0.444889 -0.416687 0.741548 -0.280270 
time: 1403637185.388319, t: 1.703225 -4.232699 -0.751356 q: -0.443181 -0.422914 0.742276 -0.271587 
time: 1403637185.488319, t: 1.658104 -4.095854 -0.726550 q: -0.442485 -0.427956 0.742352 -0.264526 
time: 1403637185.588319, t: 1.601154 -3.985518 -0.691412 q: -0.447569 -0.427045 0.739584 -0.265198 
time: 1403637185.688319, t: 1.538597 -3.899820 -0.648773 q: -0.461127 -0.420966 0.731594 -0.273713 
time: 1403637185.788319, t: 1.473765 -3.830547 -0.609963 q: -0.474645 -0.417396 0.723272 -0.278155 
time: 1403637185.888319, t: 1.407185 -3.766178 -0.578688 q: -0.483126 -0.417362 0.717834 -0.277690 
time: 1403637185.988319, t: 1.341068 -3.706944 -0.554151 q: -0.488789 -0.415089 0.714263 -0.280384 
time: 1403637186.088319, t: 1.276726 -3.652437 -0.533828 q: -0.494089 -0.412421 0.710676 -0.284122 
time: 1403637186.188319, t: 1.215863 -3.602952 -0.509418 q: -0.495537 -0.411339 0.709620 -0.285803 
time: 1403637186.288319, t: 1.154843 -3.556393 -0.478200 q: -0.495128 -0.412506 0.709781 -0.284425 
time: 1403637186.388319, t: 1.094957 -3.508054 -0.433547 q: -0.497948 -0.410288 0.707983 -0.287180 
time: 1403637186.488319, t: 1.037709 -3.468497 -0.384529 q: -0.497054 -0.406127 0.708896 -0.292344 
time: 1403637186.588319, t: 0.981755 -3.428299 -0.332378 q: -0.496432 -0.401591 0.709725 -0.297608 
time: 1403637186.688319, t: 0.926964 -3.382108 -0.282926 q: -0.494432 -0.399504 0.711794 -0.298801 
time: 1403637186.788319, t: 0.872588 -3.338322 -0.243844 q: -0.486020 -0.396400 0.718165 -0.301483 
time: 1403637186.888319, t: 0.815530 -3.291728 -0.213365 q: -0.474968 -0.389739 0.725676 -0.309682 
time: 1403637186.988319, t: 0.752536 -3.243377 -0.190497 q: -0.466845 -0.382177 0.730866 -0.319111 
time: 1403637187.088319, t: 0.681873 -3.192224 -0.173139 q: -0.467185 -0.377177 0.730434 -0.325488 
time: 1403637187.188319, t: 0.602539 -3.137698 -0.162120 q: -0.473315 -0.377989 0.727307 -0.322679 
time: 1403637187.288319, t: 0.517483 -3.078116 -0.158158 q: -0.474158 -0.381891 0.731012 -0.308147 
time: 1403637187.388319, t: 0.426049 -3.018845 -0.158324 q: -0.473266 -0.388098 0.735649 -0.290207 
time: 1403637187.488319, t: 0.329528 -2.963120 -0.160179 q: -0.472580 -0.391431 0.739218 -0.277500 
time: 1403637187.588319, t: 0.230123 -2.912115 -0.165120 q: -0.470916 -0.391853 0.742547 -0.270763 
time: 1403637187.688319, t: 0.125700 -2.866847 -0.172789 q: -0.468912 -0.389218 0.745492 -0.269948 
time: 1403637187.788319, t: 0.017102 -2.827095 -0.182352 q: -0.466990 -0.387645 0.747893 -0.268902 
time: 1403637187.888319, t: -0.097730 -2.795704 -0.193543 q: -0.464342 -0.387921 0.750178 -0.266714 
time: 1403637187.988319, t: -0.216525 -2.771153 -0.206898 q: -0.467349 -0.389842 0.748581 -0.263126 
time: 1403637188.088319, t: -0.338879 -2.754829 -0.222932 q: -0.472982 -0.391804 0.745116 -0.259963 
time: 1403637188.188319, t: -0.464361 -2.745532 -0.241405 q: -0.482535 -0.394260 0.738818 -0.256644 
time: 1403637188.288319, t: -0.590709 -2.742530 -0.261174 q: -0.496671 -0.396403 0.729303 -0.253574 
time: 1403637188.388319, t: -0.714565 -2.745164 -0.285288 q: 0.503621 0.393030 -0.724909 0.257684 
time: 1403637188.488319, t: -0.834576 -2.750127 -0.312430 q: 0.508924 0.387776 -0.721988 0.263363 
time: 1403637188.588319, t: -0.952565 -2.754034 -0.343097 q: 0.511664 0.377470 -0.723838 0.267908 
time: 1403637188.688319, t: -1.066923 -2.758958 -0.377929 q: 0.512813 0.361974 -0.729531 0.271628 
time: 1403637188.788319, t: -1.179096 -2.762923 -0.417871 q: 0.511923 0.340760 -0.738666 0.276024 
time: 1403637188.888319, t: -1.293115 -2.762968 -0.459284 q: 0.511369 0.323346 -0.747627 0.273868 
time: 1403637188.988319, t: -1.410401 -2.757003 -0.495992 q: 0.511329 0.315647 -0.754187 0.264786 
time: 1403637189.088319, t: -1.530242 -2.747256 -0.523715 q: 0.510911 0.317417 -0.759323 0.248284 
time: 1403637189.188319, t: -1.651451 -2.736376 -0.547341 q: 0.503699 0.319549 -0.767217 0.235697 
time: 1403637189.288319, t: -1.775921 -2.727842 -0.578311 q: -0.497355 -0.316485 0.773157 -0.233887 
time: 1403637189.388319, t: -1.901219 -2.719110 -0.619237 q: 0.501926 0.310161 -0.770580 0.240993 
time: 1403637189.488319, t: -2.030955 -2.712802 -0.659948 q: 0.513116 0.307295 -0.762659 0.246239 
time: 1403637189.588319, t: -2.162817 -2.705759 -0.693093 q: 0.521256 0.310567 -0.756312 0.244605 
time: 1403637189.788319, t: -2.425417 -2.683264 -0.729469 q: 0.524646 0.318531 -0.752295 0.239453 
time: 1403637189.888319, t: -2.553347 -2.668315 -0.733851 q: 0.524419 0.321382 -0.751994 0.237072 
time: 1403637189.988319, t: -2.678524 -2.652427 -0.728180 q: 0.527137 0.321544 -0.749944 0.237318 
time: 1403637190.088319, t: -2.802344 -2.632210 -0.719283 q: 0.531391 0.320935 -0.747252 0.237147 
time: 1403637190.188319, t: -2.923749 -2.613302 -0.705316 q: 0.533619 0.319928 -0.746083 0.237186 
time: 1403637190.288319, t: -3.042127 -2.595112 -0.687381 q: 0.534814 0.317755 -0.745715 0.238568 
time: 1403637190.388319, t: -3.154077 -2.575534 -0.662700 q: 0.534489 0.316005 -0.746588 0.238893 
time: 1403637190.488319, t: -3.261208 -2.555419 -0.632561 q: 0.535267 0.313613 -0.746535 0.240461 
time: 1403637190.588319, t: -3.364793 -2.533242 -0.605112 q: 0.537144 0.315360 -0.745820 0.236173 
time: 1403637190.688319, t: -3.464025 -2.511078 -0.583243 q: 0.539072 0.324643 -0.741975 0.231261 
time: 1403637190.788319, t: -3.557641 -2.489508 -0.567245 q: 0.534874 0.332860 -0.738957 0.238864 
time: 1403637190.888319, t: -3.649258 -2.466788 -0.558122 q: 0.529763 0.338627 -0.736374 0.249871 
time: 1403637190.988319, t: -3.736616 -2.444194 -0.551576 q: 0.526691 0.342624 -0.733533 0.259105 
time: 1403637191.088319, t: -3.822334 -2.417749 -0.554137 q: 0.525268 0.346385 -0.730604 0.265196 
time: 1403637191.188319, t: -3.904295 -2.388162 -0.556218 q: 0.525138 0.349670 -0.728170 0.267822 
time: 1403637191.288319, t: -3.987326 -2.357578 -0.567012 q: 0.525344 0.352404 -0.726809 0.267532 
time: 1403637191.388319, t: -4.068196 -2.323530 -0.580890 q: 0.527363 0.354343 -0.724767 0.266536 
time: 1403637191.488319, t: -4.141808 -2.284521 -0.586839 q: 0.528927 0.355263 -0.723691 0.265134 
time: 1403637191.588319, t: -4.210732 -2.245864 -0.590294 q: 0.531259 0.358315 -0.722821 0.258657 
time: 1403637191.688319, t: -4.273461 -2.203090 -0.581726 q: 0.524994 0.361634 -0.728633 0.250392 
time: 1403637191.788319, t: -4.328914 -2.162132 -0.567311 q: 0.518411 0.363743 -0.734348 0.244284 
time: 1403637191.888319, t: -4.381510 -2.125638 -0.546670 q: 0.520610 0.369724 -0.733462 0.233029 
time: 1403637191.988319, t: -4.431163 -2.093717 -0.518653 q: 0.524718 0.375372 -0.730898 0.222608 
time: 1403637192.088319, t: -4.476564 -2.066819 -0.485410 q: 0.518182 0.375634 -0.736474 0.219072 
time: 1403637192.188319, t: -4.517236 -2.046301 -0.447098 q: 0.511584 0.376715 -0.741542 0.215601 
time: 1403637192.288319, t: -4.553730 -2.036659 -0.401110 q: 0.511836 0.380565 -0.741400 0.208617 
time: 1403637192.388319, t: -4.582754 -2.040181 -0.351371 q: 0.516978 0.383555 -0.737625 0.203786 
time: 1403637192.488319, t: -4.606619 -2.052799 -0.310212 q: 0.511051 0.378640 -0.742643 0.209620 
time: 1403637192.588319, t: -4.626233 -2.074588 -0.276718 q: 0.500788 0.371583 -0.750532 0.218720 
time: 1403637192.688319, t: -4.644558 -2.104692 -0.247975 q: -0.493443 -0.367881 0.755788 -0.223522 
time: 1403637192.788319, t: -4.665932 -2.141940 -0.224947 q: -0.492523 -0.366552 0.756356 -0.225802 
time: 1403637192.888319, t: -4.688062 -2.183816 -0.200348 q: -0.497877 -0.366015 0.752389 -0.228173 
time: 1403637192.988319, t: -4.712455 -2.235598 -0.171330 q: 0.503111 0.365127 -0.748172 0.231950 
time: 1403637193.088319, t: -4.736580 -2.292048 -0.135225 q: 0.500311 0.360993 -0.749861 0.238916 
time: 1403637193.188319, t: -4.760423 -2.351966 -0.095739 q: -0.484237 -0.350507 0.760660 -0.253093 
time: 1403637193.288319, t: -4.792642 -2.412969 -0.057373 q: -0.474891 -0.344925 0.766620 -0.260382 
time: 1403637193.388319, t: -4.833986 -2.475472 -0.032112 q: -0.484934 -0.351068 0.760411 -0.251725 
time: 1403637193.488319, t: -4.879197 -2.541832 -0.016188 q: -0.497203 -0.357175 0.752313 -0.243395 
time: 1403637193.588319, t: -4.929517 -2.610681 -0.001582 q: 0.503886 0.363377 -0.747201 0.236105 
time: 1403637193.688319, t: -4.981300 -2.684955 0.017824 q: 0.506413 0.366963 -0.745048 0.231921 
time: 1403637193.788319, t: -5.032377 -2.765614 0.044237 q: 0.508169 0.369694 -0.743484 0.228739 
time: 1403637193.888319, t: -5.081016 -2.850821 0.077404 q: 0.508446 0.370830 -0.743114 0.227485 
time: 1403637193.988319, t: -5.127867 -2.939941 0.104899 q: 0.512999 0.368879 -0.739908 0.230860 
time: 1403637194.088319, t: -5.171457 -3.031346 0.118901 q: 0.518252 0.366017 -0.736447 0.234716 
time: 1403637194.188319, t: -5.210604 -3.122830 0.119229 q: 0.520007 0.364958 -0.735413 0.235725 
time: 1403637194.288319, t: -5.245219 -3.215711 0.115914 q: 0.516874 0.364181 -0.737792 0.236384 
time: 1403637194.388319, t: -5.277972 -3.312929 0.116584 q: 0.513919 0.364840 -0.740009 0.234873 
time: 1403637194.488319, t: -5.306730 -3.409976 0.125267 q: 0.512611 0.364671 -0.741031 0.234773 
time: 1403637194.588319, t: -5.335552 -3.514725 0.141555 q: 0.511206 0.364562 -0.742180 0.234375 
time: 1403637194.688319, t: -5.359101 -3.617486 0.164526 q: 0.508604 0.365414 -0.744353 0.231803 
time: 1403637194.788319, t: -5.384335 -3.728578 0.188984 q: 0.503926 0.365653 -0.748127 0.229484 
time: 1403637194.888319, t: -5.405480 -3.838364 0.210960 q: 0.501427 0.365186 -0.750333 0.228495 
time: 1403637194.988319, t: -5.430024 -3.956262 0.228671 q: 0.505948 0.361232 -0.747743 0.233256 
time: 1403637195.088319, t: -5.449642 -4.072027 0.241143 q: 0.514665 0.358525 -0.741950 0.236831 
time: 1403637195.188319, t: -5.467359 -4.188005 0.246164 q: 0.522344 0.355948 -0.736740 0.240150 
time: 1403637195.288319, t: -5.484006 -4.305183 0.245717 q: 0.527337 0.354408 -0.733238 0.242225 
time: 1403637195.388319, t: -5.498128 -4.421445 0.240041 q: 0.529843 0.354065 -0.731191 0.243441 
time: 1403637195.488319, t: -5.507268 -4.537021 0.238057 q: 0.528010 0.356585 -0.729728 0.248091 
time: 1403637195.588319, t: -5.515023 -4.654614 0.242762 q: 0.524098 0.363063 -0.727910 0.252297 
time: 1403637195.688319, t: -5.519256 -4.768779 0.256414 q: 0.522814 0.368024 -0.724711 0.256938 
time: 1403637195.888319, t: -5.519596 -4.993098 0.294974 q: 0.527277 0.381971 -0.716173 0.251342 
time: 1403637195.988319, t: -5.512769 -5.100552 0.312698 q: 0.532577 0.390705 -0.710627 0.242322 
time: 1403637196.088319, t: -5.495784 -5.209226 0.327183 q: 0.542581 0.397731 -0.701905 0.233978 
time: 1403637196.188319, t: -5.469691 -5.318771 0.334513 q: 0.557660 0.401642 -0.689462 0.228783 
time: 1403637196.288319, t: -5.428317 -5.427996 0.336692 q: 0.571234 0.401864 -0.678417 0.227919 
time: 1403637196.388319, t: -5.368327 -5.534856 0.333099 q: 0.581433 0.401892 -0.670509 0.225470 
time: 1403637196.488319, t: -5.288309 -5.638747 0.323552 q: 0.584118 0.400219 -0.668986 0.226026 
time: 1403637196.588319, t: -5.188653 -5.742600 0.308301 q: 0.582678 0.396748 -0.671160 0.229395 
time: 1403637196.688319, t: -5.071088 -5.842426 0.287509 q: 0.578087 0.392951 -0.676081 0.233064 
time: 1403637196.788319, t: -4.937477 -5.937630 0.260233 q: 0.573521 0.388154 -0.680721 0.238807 
time: 1403637196.888319, t: -4.788812 -6.029557 0.229246 q: 0.575543 0.387066 -0.679946 0.237915 
time: 1403637196.988319, t: -4.625251 -6.118656 0.194482 q: 0.573035 0.380982 -0.682458 0.246444 
time: 1403637197.088319, t: -4.447657 -6.206657 0.162294 q: 0.562949 0.379217 -0.687241 0.258809 
time: 1403637197.188319, t: -4.257319 -6.290233 0.135212 q: 0.550319 0.385614 -0.689127 0.271209 
time: 1403637197.288319, t: -4.058026 -6.367622 0.116019 q: 0.535205 0.400288 -0.687230 0.284674 
time: 1403637197.388319, t: -3.852220 -6.440056 0.106669 q: 0.518286 0.420056 -0.681177 0.301547 
time: 1403637197.488319, t: -3.643205 -6.506741 0.105470 q: 0.500832 0.448684 -0.669064 0.316550 
time: 1403637197.588319, t: -3.431891 -6.569458 0.112045 q: -0.483939 -0.483445 0.650350 -0.330345 
time: 1403637197.688319, t: -3.220173 -6.623258 0.126483 q: -0.467553 -0.516146 0.627006 -0.349072 
time: 1403637197.788319, t: -3.009058 -6.671045 0.149214 q: -0.455530 -0.546657 0.599753 -0.365997 
time: 1403637197.888319, t: -2.795226 -6.712830 0.180099 q: 0.447221 0.574912 -0.569797 0.380527 
time: 1403637197.988319, t: -2.576452 -6.751247 0.215197 q: 0.436367 0.597811 -0.544337 0.394846 
time: 1403637198.088319, t: -2.353731 -6.782982 0.259375 q: 0.424201 0.616002 -0.522366 0.409546 
time: 1403637198.188319, t: -2.126369 -6.807208 0.311739 q: 0.410867 0.632547 -0.502670 0.422368 
time: 1403637198.288319, t: -1.894743 -6.826395 0.371714 q: 0.400148 0.648332 -0.481393 0.433368 
time: 1403637198.388319, t: -1.658609 -6.839669 0.432618 q: 0.393466 0.661979 -0.458907 0.443139 
time: 1403637198.488319, t: -1.419595 -6.843853 0.487087 q: 0.392300 0.670515 -0.440094 0.450364 
time: 1403637198.588319, t: -1.174893 -6.842503 0.526608 q: 0.395087 0.675505 -0.426290 0.453736 
time: 1403637198.688319, t: -0.926374 -6.833226 0.549678 q: 0.396335 0.677737 -0.419300 0.455828 
time: 1403637198.788319, t: -0.671829 -6.814618 0.554493 q: 0.395382 0.677006 -0.417334 0.459530 
time: 1403637198.888319, t: -0.410848 -6.787391 0.543239 q: 0.396738 0.669579 -0.415793 0.470509 
time: 1403637198.988319, t: -0.142621 -6.743282 0.527049 q: 0.390548 0.658653 -0.419377 0.487618 
time: 1403637199.088319, t: 0.127293 -6.682306 0.515095 q: 0.377210 0.655252 -0.422571 0.499791 
time: 1403637199.188319, t: 0.395906 -6.604723 0.507685 q: 0.361255 0.660378 -0.421896 0.505370 
time: 1403637199.288319, t: 0.658279 -6.511944 0.508461 q: 0.348789 0.668940 -0.412083 0.510934 
time: 1403637199.388319, t: 0.912928 -6.405430 0.516723 q: 0.338817 0.678399 -0.394627 0.518891 
time: 1403637199.488319, t: 1.161117 -6.287775 0.527945 q: 0.326648 0.688916 -0.373786 0.528186 
time: 1403637199.688319, t: 1.644643 -6.021832 0.535359 q: 0.291366 0.704124 -0.335754 0.553701 
time: 1403637199.788319, t: 1.877844 -5.876504 0.524314 q: 0.264097 0.708669 -0.319513 0.570922 
time: 1403637199.888319, t: 2.104214 -5.725149 0.492557 q: 0.231306 0.709913 -0.301194 0.593130 
time: 1403637199.988319, t: 2.319783 -5.570123 0.444107 q: 0.197467 0.707283 -0.278989 0.618808 
time: 1403637200.088319, t: 2.514509 -5.410979 0.389913 q: 0.167769 0.706100 -0.250253 0.640820 
time: 1403637200.188319, t: 2.683789 -5.248328 0.332727 q: 0.145567 0.712159 -0.216663 0.651688 
time: 1403637200.288319, t: 2.824916 -5.085194 0.270575 q: 0.133242 0.729144 -0.183569 0.645676 
time: 1403637200.388319, t: 2.942091 -4.921414 0.207988 q: 0.128464 0.753828 -0.157778 0.624777 
time: 1403637200.488319, t: 3.038115 -4.755617 0.153533 q: 0.121376 0.775338 -0.144074 0.602795 
time: 1403637200.588319, t: 3.116716 -4.588802 0.110479 q: 0.104739 0.783845 -0.143922 0.594898 
time: 1403637200.688319, t: 3.186108 -4.423333 0.077715 q: 0.095030 0.787002 -0.146507 0.591721 
time: 1403637200.788319, t: 3.248122 -4.260541 0.050952 q: 0.088392 0.786683 -0.153163 0.591487 
time: 1403637200.888319, t: 3.300690 -4.102132 0.032359 q: 0.086724 0.782255 -0.164343 0.594598 
time: 1403637200.988319, t: 3.342987 -3.946144 0.019882 q: 0.091827 0.780839 -0.172282 0.593446 
time: 1403637201.088319, t: 3.376748 -3.795593 0.015506 q: 0.098818 0.779667 -0.179021 0.591866 
time: 1403637201.188319, t: 3.405723 -3.649043 0.018761 q: 0.104460 0.778970 -0.186192 0.589599 
time: 1403637201.288319, t: 3.424831 -3.504736 0.026810 q: 0.101541 0.777923 -0.198434 0.587495 
time: 1403637201.388319, t: 3.437155 -3.368352 0.035861 q: 0.090062 0.774977 -0.221555 0.584989 
time: 1403637201.488319, t: 3.438590 -3.238298 0.035294 q: 0.080666 0.773484 -0.246717 0.578227 
time: 1403637201.588319, t: 3.431622 -3.124019 0.030323 q: 0.074720 0.770679 -0.267991 0.573282 
time: 1403637201.688319, t: 3.414981 -3.026130 0.022469 q: 0.073373 0.766347 -0.281904 0.572590 
time: 1403637201.788319, t: 3.389385 -2.946768 0.012966 q: 0.087090 0.762450 -0.281888 0.575868 
time: 1403637201.888319, t: 3.353700 -2.886370 0.006253 q: 0.096890 0.760222 -0.280540 0.577904 
time: 1403637201.988319, t: 3.306642 -2.838629 0.004932 q: 0.097885 0.761196 -0.281318 0.576072 
time: 1403637202.088319, t: 3.250567 -2.806707 0.007774 q: 0.088191 0.765932 -0.286100 0.568961 
time: 1403637202.188319, t: 3.184215 -2.790920 0.016436 q: 0.085053 0.775911 -0.285204 0.556225 
time: 1403637202.288319, t: 3.110589 -2.789238 0.027320 q: 0.101924 0.788468 -0.271279 0.542530 
time: 1403637202.388319, t: 3.039739 -2.806089 0.032392 q: 0.117001 0.797636 -0.258674 0.532143 
time: 1403637202.488319, t: 2.972065 -2.831190 0.034932 q: 0.125763 0.798962 -0.251396 0.531643 
time: 1403637202.588319, t: 2.910174 -2.864484 0.040060 q: 0.129608 0.794777 -0.247900 0.538588 
time: 1403637202.688319, t: 2.849293 -2.903446 0.051770 q: 0.134769 0.789544 -0.243490 0.546964 
time: 1403637202.788319, t: 2.792438 -2.947214 0.072968 q: 0.142357 0.786989 -0.237424 0.551373 
time: 1403637202.888319, t: 2.735993 -2.992559 0.092997 q: 0.152460 0.787326 -0.230688 0.551051 
time: 1403637202.988319, t: 2.681753 -3.037723 0.107200 q: 0.160189 0.788183 -0.225804 0.549654 
time: 1403637203.088319, t: 2.630234 -3.082439 0.115053 q: 0.162700 0.788154 -0.224743 0.549393 
time: 1403637203.188319, t: 2.583243 -3.126536 0.118184 q: 0.163297 0.787985 -0.225054 0.549330 
time: 1403637203.288319, t: 2.533935 -3.165561 0.118645 q: 0.165120 0.787101 -0.224849 0.550137 
time: 1403637203.388319, t: 2.492160 -3.205540 0.113033 q: 0.164769 0.786562 -0.225766 0.550636 
time: 1403637203.488319, t: 2.448106 -3.240012 0.105912 q: 0.165961 0.786813 -0.225742 0.549929 
time: 1403637203.588319, t: 2.411207 -3.273067 0.091637 q: 0.168526 0.786073 -0.224746 0.550615 
time: 1403637203.688319, t: 2.372631 -3.301627 0.076839 q: 0.170640 0.785965 -0.224296 0.550303 
time: 1403637203.788319, t: 2.341714 -3.326490 0.055738 q: 0.170959 0.784897 -0.225447 0.551256 
time: 1403637203.888319, t: 2.308928 -3.349025 0.033533 q: 0.171288 0.784263 -0.225840 0.551895 
time: 1403637203.988319, t: 2.277881 -3.368360 0.007421 q: 0.172035 0.784159 -0.225916 0.551779 
time: 1403637204.088319, t: 2.249723 -3.385608 -0.020478 q: 0.172277 0.783971 -0.226615 0.551685 
time: 1403637204.188319, t: 2.222291 -3.398831 -0.038343 q: 0.172405 0.784149 -0.227046 0.551214 
time: 1403637204.288319, t: 2.194789 -3.406861 -0.048400 q: 0.172380 0.784614 -0.227856 0.550225 
time: 1403637204.388319, t: 2.166537 -3.412039 -0.051737 q: 0.169534 0.782696 -0.230556 0.552710 
time: 1403637204.488319, t: 2.142587 -3.416680 -0.045523 q: 0.168518 0.778443 -0.233070 0.557948 
time: 1403637204.588319, t: 2.118098 -3.418715 -0.032161 q: 0.168908 0.777045 -0.235243 0.558867 
time: 1403637204.688319, t: 2.092908 -3.418687 -0.012424 q: 0.171141 0.778339 -0.236636 0.555789 
time: 1403637204.788319, t: 2.065471 -3.415597 0.006122 q: 0.171805 0.779202 -0.238759 0.553463 
time: 1403637204.888319, t: 2.042092 -3.412140 0.017411 q: 0.172245 0.780157 -0.240449 0.551245 
time: 1403637204.988319, t: 2.017034 -3.407523 0.020774 q: 0.171655 0.783061 -0.241843 0.546683 
time: 1403637205.088319, t: 1.991549 -3.401828 0.019661 q: 0.170781 0.786108 -0.242572 0.542243 
time: 1403637205.188319, t: 1.971331 -3.394527 0.014336 q: 0.171147 0.786393 -0.242125 0.541914 
time: 1403637205.288319, t: 1.950878 -3.386763 0.004354 q: 0.168461 0.788365 -0.238661 0.541426 
time: 1403637205.388319, t: 1.937734 -3.379183 -0.003008 q: 0.165445 0.789753 -0.231515 0.543433 
time: 1403637205.488319, t: 1.926182 -3.371011 -0.002548 q: 0.163582 0.789541 -0.224245 0.547340 
time: 1403637205.588319, t: 1.915976 -3.360314 0.002451 q: 0.162220 0.788460 -0.217825 0.551877 
time: 1403637205.688319, t: 1.908685 -3.348682 0.002015 q: 0.160382 0.788210 -0.214094 0.554226 
time: 1403637205.788319, t: 1.900409 -3.334127 -0.005244 q: 0.158475 0.788814 -0.212365 0.554580 
time: 1403637205.888319, t: 1.894804 -3.317756 -0.019278 q: 0.157345 0.789126 -0.211518 0.554781 
time: 1403637205.988319, t: 1.890166 -3.299573 -0.034590 q: 0.157158 0.788861 -0.210552 0.555578 
time: 1403637206.088319, t: 1.885821 -3.278587 -0.043176 q: 0.154838 0.788448 -0.211312 0.556527 
time: 1403637206.188319, t: 1.882746 -3.256366 -0.045627 q: 0.147442 0.787324 -0.215534 0.558504 
time: 1403637206.288319, t: 1.880059 -3.234083 -0.038614 q: 0.143586 0.786287 -0.217903 0.560049 
time: 1403637206.388319, t: 1.878690 -3.212833 -0.023159 q: 0.142259 0.785547 -0.218965 0.561010 
time: 1403637206.488319, t: 1.874009 -3.192598 -0.003694 q: 0.142735 0.785437 -0.219125 0.560981 
time: 1403637206.588319, t: 1.868631 -3.172711 0.013500 q: 0.144067 0.785080 -0.219099 0.561151 
time: 1403637206.688319, t: 1.861638 -3.153014 0.024308 q: 0.146964 0.785250 -0.218179 0.560519 
time: 1403637206.788319, t: 1.854794 -3.133728 0.029600 q: 0.149186 0.784390 -0.217563 0.561375 
time: 1403637206.888319, t: 1.845464 -3.113164 0.033802 q: 0.150656 0.783574 -0.217624 0.562098 
time: 1403637206.988319, t: 1.833507 -3.091935 0.042246 q: 0.151131 0.782240 -0.217965 0.563695 
time: 1403637207.088319, t: 1.823748 -3.072506 0.056232 q: 0.151438 0.782162 -0.219142 0.563264 
time: 1403637207.188319, t: 1.810158 -3.048662 0.069538 q: 0.152325 0.780933 -0.220622 0.564151 
time: 1403637207.288319, t: 1.795077 -3.024613 0.071892 q: 0.152810 0.779795 -0.221866 0.565105 
time: 1403637207.388319, t: 1.777358 -3.000172 0.066483 q: 0.153439 0.779829 -0.222621 0.564591 
time: 1403637207.488319, t: 1.757326 -2.974949 0.055572 q: 0.153830 0.779674 -0.223756 0.564250 
time: 1403637207.588319, t: 1.735248 -2.948548 0.039167 q: 0.149543 0.782101 -0.228031 0.560319 
optimize pose graph 
time: 1403637207.688319, t: 1.712263 -2.922540 0.024053 q: 0.140055 0.787145 -0.235307 0.552646 
time: 1403637207.788319, t: 1.686392 -2.900188 0.020151 q: 0.140195 0.788782 -0.235671 0.550116 
time: 1403637207.888319, t: 1.660665 -2.880999 0.028605 q: 0.145946 0.788040 -0.232659 0.550965 
time: 1403637207.988319, t: 1.638927 -2.865797 0.045414 q: 0.151002 0.786638 -0.229737 0.552830 
time: 1403637208.088319, t: 1.616895 -2.852945 0.071013 q: 0.154941 0.786469 -0.227585 0.552869 
time: 1403637208.188319, t: 1.596611 -2.840598 0.102372 q: 0.158074 0.786011 -0.226092 0.553246 
time: 1403637208.288319, t: 1.579240 -2.830876 0.136688 q: 0.154320 0.785730 -0.229943 0.553119 
time: 1403637208.388319, t: 1.560474 -2.818944 0.160034 q: 0.148340 0.783173 -0.235410 0.556073 
time: 1403637208.488319, t: 1.541519 -2.808592 0.176626 q: 0.149223 0.782101 -0.236247 0.556990 
time: 1403637208.588319, t: 1.521294 -2.799213 0.186854 q: 0.153447 0.781637 -0.234470 0.557244 
time: 1403637208.688319, t: 1.502175 -2.794155 0.194322 q: 0.157575 0.781802 -0.232036 0.556880 
time: 1403637208.788319, t: 1.478978 -2.784674 0.193887 q: 0.159701 0.780603 -0.230624 0.558540 
time: 1403637208.888319, t: 1.455317 -2.774599 0.187708 q: 0.162357 0.781135 -0.229082 0.557664 
time: 1403637208.988319, t: 1.431161 -2.763087 0.175516 q: 0.172212 0.783109 -0.222576 0.554565 
time: 1403637209.088319, t: 1.411860 -2.752327 0.158077 q: 0.181979 0.785437 -0.215019 0.551125 
time: 1403637209.188319, t: 1.391891 -2.731546 0.140011 q: 0.177822 0.787660 -0.208668 0.551750 
time: 1403637209.288319, t: 1.380569 -2.707565 0.128036 q: 0.159121 0.792307 -0.204670 0.552304 
time: 1403637209.388319, t: 1.364332 -2.677880 0.123858 q: 0.144734 0.798639 -0.198072 0.549540 
time: 1403637209.488319, t: 1.353047 -2.647646 0.125001 q: 0.135386 0.806983 -0.191849 0.541889 
time: 1403637209.588319, t: 1.348908 -2.620947 0.132368 q: 0.128407 0.818635 -0.186618 0.527751 
time: 1403637209.688319, t: 1.351649 -2.596961 0.148650 q: 0.122003 0.827662 -0.183585 0.516127 
optimize pose graph 
time: 1403637209.788319, t: 1.369938 -2.580170 0.171310 q: 0.118356 0.832216 -0.181997 0.510182 
time: 1403637209.888319, t: 1.398037 -2.565701 0.192018 q: 0.115378 0.835188 -0.182520 0.505801 
time: 1403637209.988319, t: 1.434407 -2.553832 0.201160 q: 0.113437 0.839854 -0.183493 0.498104 
time: 1403637210.088319, t: 1.484265 -2.547205 0.193798 q: 0.112193 0.846085 -0.184744 0.487260 
time: 1403637210.188319, t: 1.542817 -2.541434 0.172047 q: 0.109321 0.851816 -0.187175 0.476891 
time: 1403637210.288319, t: 1.620412 -2.542370 0.144853 q: 0.107894 0.856503 -0.188419 0.468252 
time: 1403637210.388319, t: 1.718120 -2.551371 0.117828 q: 0.106573 0.858610 -0.189532 0.464229 
time: 1403637210.488319, t: 1.837794 -2.569211 0.092279 q: 0.108565 0.855083 -0.187839 0.470918 
time: 1403637210.588319, t: 1.974316 -2.594242 0.067199 q: 0.110646 0.847418 -0.185837 0.484876 
time: 1403637210.688319, t: 2.126348 -2.623221 0.041100 q: 0.111047 0.840651 -0.184546 0.496907 
time: 1403637210.788319, t: 2.289556 -2.656676 0.010879 q: 0.105807 0.836168 -0.186886 0.504680 
time: 1403637210.888319, t: 2.460648 -2.694964 -0.021760 q: 0.098237 0.830860 -0.191742 0.513085 
time: 1403637210.988319, t: 2.638557 -2.738942 -0.057672 q: 0.092222 0.821701 -0.196287 0.527043 
time: 1403637211.088319, t: 2.820191 -2.789467 -0.096981 q: 0.088791 0.812465 -0.200085 0.540354 
time: 1403637211.188319, t: 3.002067 -2.846723 -0.139992 q: 0.095704 0.808780 -0.197507 0.545625 
time: 1403637211.288319, t: 3.184481 -2.909263 -0.184219 q: 0.106134 0.803619 -0.193363 0.552759 
time: 1403637211.388319, t: 3.364846 -2.975058 -0.231360 q: 0.114252 0.797567 -0.191271 0.560579 
time: 1403637211.488319, t: 3.541823 -3.042300 -0.283260 q: 0.117464 0.795102 -0.191287 0.563404 
time: 1403637211.588319, t: 3.714502 -3.110023 -0.335982 q: 0.115617 0.797711 -0.193605 0.559291 
time: 1403637211.688319, t: 3.882371 -3.178634 -0.381856 q: 0.112117 0.799877 -0.195976 0.556075 
time: 1403637211.788319, t: 4.047232 -3.248791 -0.419851 q: 0.103168 0.805354 -0.201804 0.547756 
optimize pose graph 
time: 1403637211.888319, t: 4.208576 -3.322459 -0.449541 q: 0.095304 0.808971 -0.207316 0.541759 
time: 1403637211.988319, t: 4.368968 -3.402153 -0.468430 q: 0.099307 0.809237 -0.205108 0.541484 
time: 1403637212.088319, t: 4.531355 -3.488008 -0.477357 q: 0.109792 0.803285 -0.199180 0.550460 
time: 1403637212.188319, t: 4.691944 -3.575142 -0.479465 q: 0.117756 0.794826 -0.194690 0.562566 
time: 1403637212.288319, t: 4.847567 -3.661986 -0.477031 q: 0.122187 0.789916 -0.192642 0.569204 
time: 1403637212.388319, t: 4.997744 -3.746881 -0.467330 q: 0.124653 0.787007 -0.192683 0.572673 
time: 1403637212.488319, t: 5.141776 -3.829646 -0.453000 q: 0.126493 0.787783 -0.193333 0.570981 
time: 1403637212.588319, t: 5.281004 -3.910279 -0.435555 q: 0.126101 0.792454 -0.195769 0.563729 
time: 1403637212.688319, t: 5.416313 -3.989195 -0.414582 q: 0.125491 0.798063 -0.197675 0.555222 
time: 1403637212.788319, t: 5.552557 -4.069315 -0.391242 q: 0.127818 0.801049 -0.196698 0.550720 
time: 1403637212.888319, t: 5.690805 -4.150469 -0.367308 q: 0.130228 0.803483 -0.195036 0.547190 
time: 1403637212.988319, t: 5.827952 -4.230787 -0.340008 q: 0.133513 0.804574 -0.191359 0.546092 
time: 1403637213.088319, t: 5.968138 -4.310491 -0.313759 q: 0.130999 0.804805 -0.191072 0.546462 
time: 1403637213.188319, t: 6.109104 -4.389284 -0.294509 q: 0.126208 0.805329 -0.191962 0.546505 
time: 1403637213.288319, t: 6.249209 -4.467524 -0.281986 q: 0.123704 0.805174 -0.191978 0.547299 
time: 1403637213.388319, t: 6.387865 -4.544870 -0.274212 q: 0.124288 0.803680 -0.190880 0.549742 
time: 1403637213.488319, t: 6.525552 -4.621446 -0.271185 q: 0.125760 0.801301 -0.189747 0.553261 
time: 1403637213.588319, t: 6.661356 -4.698191 -0.273074 q: 0.133352 0.800087 -0.184005 0.555176 
time: 1403637213.688319, t: 6.798461 -4.771803 -0.279890 q: 0.143174 0.801863 -0.176635 0.552555 
time: 1403637213.788319, t: 6.933922 -4.839957 -0.292229 q: 0.148748 0.804265 -0.172229 0.548971 
time: 1403637213.888319, t: 7.073130 -4.903750 -0.308035 q: 0.151016 0.805618 -0.169257 0.547290 
optimize pose graph 
time: 1403637213.988319, t: 7.212886 -4.960167 -0.325632 q: 0.152009 0.805110 -0.167233 0.548384 
time: 1403637214.088319, t: 7.360772 -5.011651 -0.335353 q: 0.146209 0.801200 -0.163818 0.556656 
time: 1403637214.188319, t: 7.504213 -5.055035 -0.340042 q: 0.132288 0.798234 -0.160216 0.565380 
time: 1403637214.288319, t: 7.652411 -5.095748 -0.334404 q: 0.122312 0.796672 -0.148473 0.572983 
time: 1403637214.388319, t: 7.794817 -5.129608 -0.322824 q: 0.114310 0.795114 -0.128249 0.581617 
time: 1403637214.488319, t: 7.928964 -5.154137 -0.306236 q: 0.109520 0.796085 -0.099458 0.586824 
time: 1403637214.588319, t: 8.056546 -5.169393 -0.284307 q: 0.106035 0.796660 -0.069680 0.590960 
time: 1403637214.688319, t: 8.179928 -5.173436 -0.258897 q: 0.105853 0.795002 -0.043609 0.595706 
time: 1403637214.788319, t: 8.296122 -5.163511 -0.227026 q: 0.106879 0.793059 -0.024287 0.599203 
time: 1403637214.888319, t: 8.406529 -5.138293 -0.195184 q: 0.102813 0.792933 -0.015772 0.600365 
time: 1403637214.988319, t: 8.509692 -5.097807 -0.167791 q: 0.099405 0.791658 -0.012147 0.602701 
wait for imu ... 
time: 1403637215.088319, t: 8.603128 -5.042725 -0.144280 q: 0.097119 0.789376 -0.011333 0.606074 
time: 1403637215.188319, t: 8.687857 -4.973145 -0.126348 q: 0.095818 0.786432 -0.012306 0.610075 
time: 1403637215.288319, t: 8.763283 -4.889097 -0.114292 q: 0.088256 0.784601 -0.015271 0.613497 
time: 1403637215.388319, t: 8.830085 -4.792057 -0.107243 q: 0.075279 0.780957 -0.014527 0.619861 
time: 1403637215.488319, t: 8.884881 -4.683670 -0.100431 q: 0.055359 0.773856 -0.009772 0.630863 
time: 1403637215.588319, t: 8.922445 -4.566890 -0.091076 q: 0.037293 0.770299 0.002603 0.636586 
time: 1403637215.688319, t: 8.942119 -4.442613 -0.076172 q: 0.019348 0.771929 0.021723 0.635042 
time: 1403637215.788319, t: 8.945755 -4.314165 -0.057124 q: 0.000697 0.781149 0.043227 0.622846 
time: 1403637215.888319, t: 8.936887 -4.181976 -0.031473 q: -0.018575 0.788984 0.063859 0.610804 
time: 1403637215.988319, t: 8.918309 -4.048280 0.001323 q: -0.037200 0.794059 0.078736 0.601570 
time: 1403637216.088319, t: 8.893627 -3.913024 0.039187 q: -0.056143 0.795576 0.091759 0.596228 
time: 1403637216.188319, t: 8.860575 -3.779946 0.075314 q: -0.072233 0.794937 0.103119 0.593485 
time: 1403637216.288319, t: 8.823771 -3.649859 0.104974 q: -0.084737 0.793547 0.108961 0.592647 
time: 1403637216.388319, t: 8.780718 -3.525615 0.129019 q: -0.091624 0.789711 0.112107 0.596149 
time: 1403637216.488319, t: 8.731868 -3.405866 0.145485 q: -0.094337 0.784018 0.113754 0.602890 
time: 1403637216.588319, t: 8.677350 -3.291479 0.156921 q: -0.097809 0.780007 0.111759 0.607892 
time: 1403637216.688319, t: 8.615611 -3.181931 0.164279 q: -0.102529 0.775983 0.106681 0.613154 
time: 1403637216.788319, t: 8.543099 -3.079404 0.168542 q: -0.103474 0.770104 0.102744 0.621029 
time: 1403637216.888319, t: 8.461319 -2.984323 0.176900 q: -0.099666 0.765140 0.101509 0.627952 
time: 1403637216.988319, t: 8.365850 -2.898366 0.191851 q: -0.094890 0.764887 0.100340 0.629186 
time: 1403637217.088319, t: 8.256258 -2.819219 0.209112 q: -0.100162 0.772557 0.093497 0.619985 
time: 1403637217.188319, t: 8.135534 -2.749327 0.224649 q: -0.109363 0.778771 0.083763 0.611997 
time: 1403637217.288319, t: 8.008822 -2.687721 0.230930 q: -0.116810 0.781779 0.074846 0.607927 
time: 1403637217.388319, t: 7.876212 -2.637353 0.229504 q: -0.121023 0.783969 0.068178 0.605060 
time: 1403637217.488319, t: 7.740220 -2.598740 0.221494 q: -0.122724 0.785217 0.064085 0.603544 
time: 1403637217.588319, t: 7.600028 -2.572440 0.209729 q: -0.121783 0.782428 0.069303 0.606773 
time: 1403637217.688319, t: 7.455878 -2.559796 0.194866 q: -0.114412 0.775860 0.088376 0.614118 
time: 1403637217.788319, t: 7.305027 -2.556008 0.184541 q: -0.106766 0.767228 0.118613 0.621203 
time: 1403637217.888319, t: 7.144650 -2.557895 0.178488 q: -0.111104 0.763367 0.148132 0.618856 
time: 1403637217.988319, t: 6.973225 -2.564680 0.178020 q: -0.120429 0.762583 0.169684 0.612512 
time: 1403637218.088319, t: 6.791811 -2.573256 0.181929 q: -0.131434 0.764086 0.183694 0.604280 
time: 1403637218.188319, t: 6.601985 -2.583647 0.185288 q: -0.138546 0.764858 0.193690 0.598566 
time: 1403637218.288319, t: 6.407023 -2.598013 0.182666 q: -0.142824 0.765168 0.200257 0.594992 
time: 1403637218.388319, t: 6.207190 -2.615021 0.174742 q: -0.144178 0.764157 0.204377 0.594564 
wait for imu ... 
time: 1403637218.488319, t: 6.000960 -2.635720 0.162329 q: -0.145296 0.763174 0.205675 0.595107 
wait for imu ... 
time: 1403637218.588319, t: 5.788663 -2.656433 0.150500 q: -0.144364 0.763250 0.206222 0.595047 
time: 1403637218.688319, t: 5.572476 -2.675053 0.145812 q: -0.141193 0.766712 0.206330 0.591308 
time: 1403637218.788319, t: 5.350684 -2.697025 0.141923 q: -0.141413 0.770978 0.203650 0.586620 
time: 1403637218.888319, t: 5.125681 -2.720253 0.125497 q: -0.131731 0.773033 0.207455 0.584833 
time: 1403637218.988319, t: 4.896637 -2.739196 0.093522 q: -0.122741 0.772620 0.211546 0.585868 
time: 1403637219.088319, t: 4.663325 -2.754329 0.052114 q: -0.117354 0.772579 0.213608 0.586278 
time: 1403637219.188319, t: 4.426367 -2.765696 0.009707 q: -0.116280 0.772782 0.213470 0.586274 
time: 1403637219.388319, t: 3.931601 -2.773510 -0.053905 q: -0.118323 0.776817 0.208762 0.582214 
time: 1403637219.488319, t: 3.679413 -2.770943 -0.075969 q: -0.119674 0.783637 0.206803 0.573432 
time: 1403637219.588319, t: 3.428610 -2.762824 -0.088959 q: -0.119057 0.793184 0.205488 0.560767 
time: 1403637219.688319, t: 3.180913 -2.753381 -0.095848 q: -0.118590 0.800422 0.204095 0.551005 
time: 1403637219.788319, t: 2.938597 -2.738465 -0.095126 q: -0.118694 0.803892 0.202516 0.546495 
time: 1403637219.888319, t: 2.708090 -2.719335 -0.086417 q: -0.117831 0.807198 0.202765 0.541695 
time: 1403637219.988319, t: 2.493031 -2.693100 -0.067307 q: -0.118295 0.807317 0.202297 0.541593 
time: 1403637220.088319, t: 2.293350 -2.662164 -0.037422 q: -0.119065 0.808601 0.201800 0.539690 
time: 1403637220.188319, t: 2.099975 -2.625923 -0.001350 q: -0.119206 0.808989 0.202011 0.538998 
time: 1403637220.288319, t: 1.908158 -2.586633 0.039561 q: -0.125014 0.808530 0.197577 0.540013 
time: 1403637220.388319, t: 1.720874 -2.544150 0.088676 q: -0.134880 0.807363 0.189997 0.542101 
time: 1403637220.488319, t: 1.541931 -2.503705 0.136206 q: -0.141452 0.805910 0.184154 0.544598 
time: 1403637220.588319, t: 1.370217 -2.464810 0.178815 q: -0.147208 0.803682 0.178971 0.548083 
time: 1403637220.688319, t: 1.206401 -2.428518 0.214784 q: -0.146299 0.804227 0.179194 0.547453 
time: 1403637220.788319, t: 1.046432 -2.394085 0.244826 q: -0.144435 0.804900 0.179994 0.546696 
time: 1403637220.888319, t: 0.895409 -2.363581 0.270151 q: -0.143316 0.805816 0.180589 0.545443 
time: 1403637220.988319, t: 0.751030 -2.336925 0.289193 q: -0.142313 0.807406 0.179647 0.543662 
time: 1403637221.088319, t: 0.612211 -2.311853 0.301243 q: -0.136865 0.811020 0.175645 0.540984 
time: 1403637221.188319, t: 0.480826 -2.290695 0.307692 q: -0.128019 0.815508 0.167816 0.538884 
time: 1403637221.288319, t: 0.354497 -2.271939 0.308523 q: -0.116863 0.818910 0.156606 0.539633 
time: 1403637221.388319, t: 0.235131 -2.253406 0.303346 q: -0.109218 0.821470 0.144906 0.540611 
time: 1403637221.488319, t: 0.116217 -2.234314 0.295020 q: -0.103739 0.822687 0.135703 0.542226 
time: 1403637221.588319, t: 0.000597 -2.213494 0.282039 q: -0.100890 0.824636 0.127906 0.541698 
time: 1403637221.688319, t: -0.104898 -2.192758 0.265459 q: -0.097286 0.826371 0.122541 0.540954 
time: 1403637221.788319, t: -0.202127 -2.173866 0.243356 q: -0.095567 0.827146 0.117910 0.541104 
time: 1403637221.888319, t: -0.289239 -2.157166 0.216872 q: -0.092876 0.828940 0.111061 0.540275 
time: 1403637221.988319, t: -0.366540 -2.143803 0.186973 q: -0.086028 0.831098 0.099303 0.540383 
time: 1403637222.088319, t: -0.437719 -2.131598 0.154513 q: -0.074094 0.833509 0.082374 0.541283 
time: 1403637222.188319, t: -0.497183 -2.122488 0.118109 q: -0.060104 0.835423 0.062281 0.542749 
time: 1403637222.288319, t: -0.549748 -2.114578 0.079907 q: -0.046673 0.833176 0.044807 0.549211 
time: 1403637222.388319, t: -0.589012 -2.108447 0.038632 q: -0.038126 0.826847 0.030607 0.560298 
time: 1403637222.488319, t: -0.628189 -2.103484 0.001005 q: -0.030690 0.820560 0.021352 0.570337 
time: 1403637222.588319, t: -0.665738 -2.098876 -0.030517 q: -0.027213 0.818327 0.014189 0.573933 
time: 1403637222.688319, t: -0.703135 -2.097119 -0.053646 q: -0.022623 0.817559 0.011879 0.575278 
time: 1403637222.788319, t: -0.737690 -2.094499 -0.067907 q: -0.020999 0.820550 0.010407 0.571094 
time: 1403637222.888319, t: -0.768316 -2.093676 -0.075504 q: -0.021059 0.826293 0.010569 0.562748 
time: 1403637222.988319, t: -0.797774 -2.093136 -0.073786 q: -0.021090 0.832398 0.011901 0.553648 
time: 1403637223.088319, t: -0.818085 -2.094041 -0.067022 q: -0.022162 0.835801 0.013585 0.548417 
time: 1403637223.188319, t: -0.830946 -2.095585 -0.049838 q: -0.022921 0.835994 0.015875 0.548030 
time: 1403637223.288319, t: -0.834721 -2.098393 -0.020148 q: -0.022948 0.832626 0.019004 0.553034 
time: 1403637223.388319, t: -0.830311 -2.101048 0.016328 q: -0.023025 0.827334 0.022824 0.560775 
time: 1403637223.488319, t: -0.823318 -2.103018 0.056927 q: -0.024015 0.823251 0.025680 0.566588 
time: 1403637223.588319, t: -0.809480 -2.104034 0.095448 q: -0.024144 0.820265 0.027693 0.570803 
time: 1403637223.688319, t: -0.800697 -2.103908 0.128269 q: -0.024105 0.818576 0.028848 0.573166 
time: 1403637223.788319, t: -0.790115 -2.103437 0.154418 q: -0.023818 0.817742 0.029695 0.574325 
time: 1403637223.888319, t: -0.780952 -2.104828 0.175684 q: -0.023297 0.816726 0.030476 0.575749 
time: 1403637224.088319, t: -0.761330 -2.102402 0.195122 q: -0.022428 0.816215 0.030601 0.576501 
time: 1403637224.188319, t: -0.754220 -2.100862 0.196011 q: -0.021295 0.815653 0.031062 0.577314 
time: 1403637224.288319, t: -0.747741 -2.098302 0.190449 q: -0.019966 0.814717 0.031706 0.578647 
time: 1403637224.388319, t: -0.741274 -2.095454 0.178869 q: -0.019555 0.814509 0.032067 0.578933 
time: 1403637224.588319, t: -0.729553 -2.084985 0.141863 q: -0.018042 0.813640 0.032556 0.580176 
time: 1403637224.688319, t: -0.727091 -2.078737 0.123618 q: -0.024439 0.813219 0.028413 0.580749 
time: 1403637224.788319, t: -0.726708 -2.073019 0.111440 q: -0.029480 0.814532 0.024950 0.578831 
time: 1403637224.888319, t: -0.727369 -2.068837 0.106149 q: -0.027018 0.814063 0.026447 0.579545 
time: 1403637224.988319, t: -0.727763 -2.064507 0.097972 q: -0.021939 0.813344 0.029675 0.580611 
time: 1403637225.088319, t: -0.730140 -2.059807 0.084009 q: -0.019261 0.813224 0.031608 0.580772 
time: 1403637225.188319, t: -0.733999 -2.054247 0.065200 q: -0.018432 0.812061 0.032714 0.582363 
time: 1403637225.288319, t: -0.739347 -2.047185 0.041275 q: -0.019310 0.811692 0.033361 0.582812 
time: 1403637225.388319, t: -0.746595 -2.038344 0.019551 q: -0.019016 0.810505 0.034463 0.584408 
time: 1403637225.488319, t: -0.756408 -2.029106 0.004674 q: -0.019363 0.809336 0.035332 0.585963 
time: 1403637225.588319, t: -0.771410 -2.017312 -0.001312 q: -0.019396 0.810313 0.036679 0.584526 
time: 1403637225.688319, t: -0.787320 -2.004326 0.000200 q: -0.019421 0.813748 0.037334 0.579693 
time: 1403637225.788319, t: -0.804541 -1.988826 0.009423 q: -0.018434 0.817137 0.038392 0.574868 
time: 1403637225.888319, t: -0.817936 -1.969305 0.027949 q: -0.018822 0.820684 0.038293 0.569786 
time: 1403637225.988319, t: -0.834935 -1.949875 0.056079 q: -0.019535 0.817104 0.038454 0.574875 
time: 1403637226.088319, t: -0.846467 -1.928636 0.089092 q: -0.020324 0.812927 0.038565 0.580731 
time: 1403637226.188319, t: -0.863472 -1.907118 0.116183 q: -0.020754 0.810156 0.038302 0.584593 
time: 1403637226.288319, t: -0.880855 -1.882480 0.135497 q: -0.019905 0.810054 0.038850 0.584728 
time: 1403637226.388319, t: -0.901684 -1.857051 0.149050 q: -0.018298 0.815071 0.039857 0.577699 
time: 1403637226.488319, t: -0.923813 -1.829018 0.155637 q: -0.017435 0.822506 0.040071 0.567075 
time: 1403637226.588319, t: -0.943533 -1.799646 0.160244 q: -0.015337 0.826597 0.041564 0.561048 
time: 1403637226.688319, t: -0.961185 -1.767439 0.160585 q: -0.015374 0.828136 0.041371 0.558787 
time: 1403637226.788319, t: -0.974294 -1.734531 0.157514 q: -0.017133 0.829022 0.040746 0.557467 
time: 1403637226.888319, t: -0.984147 -1.698179 0.149144 q: -0.019009 0.828718 0.038950 0.557986 
time: 1403637226.988319, t: -0.987979 -1.660809 0.138377 q: -0.026305 0.827584 0.032941 0.559757 
time: 1403637227.088319, t: -0.986239 -1.620019 0.126841 q: -0.039196 0.825422 0.022542 0.562703 
time: 1403637227.188319, t: -0.984217 -1.586737 0.120375 q: -0.046606 0.823624 0.015838 0.564996 
time: 1403637227.288319, t: -0.977883 -1.556738 0.122365 q: -0.042508 0.822687 0.017259 0.566641 
time: 1403637227.388319, t: -0.973111 -1.533877 0.131258 q: -0.034219 0.822741 0.021439 0.566980 
time: 1403637227.488319, t: -0.966597 -1.513996 0.138431 q: -0.028623 0.823903 0.024174 0.565491 
time: 1403637227.588319, t: -0.961303 -1.494912 0.140941 q: -0.028216 0.824802 0.022350 0.564275 
time: 1403637227.688319, t: -0.951155 -1.478779 0.136790 q: -0.032370 0.825468 0.018153 0.563228 
time: 1403637227.788319, t: -0.938910 -1.465594 0.128751 q: -0.036361 0.825708 0.014649 0.562733 
time: 1403637227.888319, t: -0.923012 -1.456006 0.117631 q: -0.033024 0.822807 0.016412 0.567123 
time: 1403637227.988319, t: -0.906878 -1.448079 0.104475 q: -0.026566 0.816593 0.020967 0.576221 
time: 1403637228.088319, t: -0.892597 -1.441651 0.088695 q: -0.021963 0.811961 0.025099 0.582758 
time: 1403637228.188319, t: -0.884189 -1.435112 0.073696 q: -0.022176 0.808983 0.026762 0.586803 
time: 1403637228.288319, t: -0.874308 -1.429441 0.060752 q: -0.022308 0.807275 0.028492 0.589065 
time: 1403637228.388319, t: -0.869717 -1.425008 0.056718 q: -0.021440 0.806700 0.030430 0.589788 
time: 1403637228.488319, t: -0.867430 -1.417603 0.058709 q: -0.019419 0.805576 0.032650 0.591274 
time: 1403637228.588319, t: -0.871006 -1.410062 0.068588 q: -0.016354 0.804459 0.035817 0.592702 
time: 1403637228.688319, t: -0.878683 -1.401145 0.084316 q: -0.015539 0.806564 0.036764 0.589798 
time: 1403637228.788319, t: -0.890564 -1.390371 0.098072 q: -0.019689 0.812204 0.033642 0.582070 
time: 1403637228.888319, t: -0.904193 -1.378703 0.106583 q: -0.024492 0.817049 0.029698 0.575282 
time: 1403637228.988319, t: -0.918197 -1.368132 0.112071 q: -0.021384 0.816877 0.030936 0.575585 
time: 1403637229.088319, t: -0.932266 -1.354980 0.114352 q: -0.017452 0.813917 0.033478 0.579753 
time: 1403637229.188319, t: -0.947729 -1.340791 0.111857 q: -0.014088 0.810748 0.035769 0.584132 
time: 1403637229.288319, t: -0.964752 -1.324312 0.103879 q: -0.011425 0.810089 0.035346 0.585129 
time: 1403637229.488319, t: -1.009050 -1.289519 0.072732 q: -0.010965 0.821343 0.005488 0.570302 
time: 1403637229.588319, t: -1.033157 -1.273994 0.052616 q: -0.012454 0.828061 -0.024203 0.559976 
time: 1403637229.688319, t: -1.052296 -1.263536 0.030559 q: -0.007022 0.831400 -0.056426 0.552757 
time: 1403637229.788319, t: -1.065661 -1.262673 0.007711 q: 0.015651 0.829725 -0.079989 0.552189 
time: 1403637229.888319, t: -1.073185 -1.269228 -0.013562 q: 0.048732 0.822060 -0.097483 0.558873 
time: 1403637229.988319, t: -1.078201 -1.278235 -0.036336 q: 0.079040 0.813293 -0.116624 0.564540 
time: 1403637230.088319, t: -1.083385 -1.285677 -0.061496 q: 0.098622 0.809841 -0.141341 0.560762 
time: 1403637230.188319, t: -1.089051 -1.291274 -0.082898 q: 0.110811 0.809615 -0.167099 0.551654 
time: 1403637230.288319, t: -1.090860 -1.296761 -0.095177 q: 0.123136 0.808690 -0.183394 0.545183 
time: 1403637230.388319, t: -1.086262 -1.301949 -0.098903 q: 0.132053 0.804811 -0.192760 0.545605 
time: 1403637230.488319, t: -1.077241 -1.306895 -0.092159 q: 0.140933 0.796573 -0.196179 0.554186 
time: 1403637230.588319, t: -1.066898 -1.310000 -0.077755 q: 0.148987 0.787192 -0.199511 0.564204 
time: 1403637230.688319, t: -1.059612 -1.310538 -0.056707 q: 0.154851 0.778858 -0.211529 0.569787 
time: 1403637230.788319, t: -1.057746 -1.309151 -0.034277 q: 0.158620 0.776616 -0.231509 0.564013 
time: 1403637230.888319, t: -1.060911 -1.307805 -0.012366 q: 0.162293 0.778214 -0.258602 0.548788 
time: 1403637230.988319, t: -1.066117 -1.310343 0.004370 q: 0.171579 0.776478 -0.287655 0.533757 
time: 1403637231.088319, t: -1.072468 -1.317494 0.015214 q: 0.186898 0.769395 -0.317625 0.521743 
time: 1403637231.188319, t: -1.080194 -1.329475 0.012747 q: 0.204659 0.757160 -0.349915 0.512234 
time: 1403637231.288319, t: -1.086637 -1.347586 -0.005428 q: 0.224234 0.740594 -0.383999 0.503770 
time: 1403637231.388319, t: -1.092870 -1.371124 -0.037755 q: 0.247072 0.719609 -0.417791 0.496557 
time: 1403637231.488319, t: -1.104058 -1.398301 -0.086295 q: 0.267343 0.696232 -0.453781 0.487721 
time: 1403637231.588319, t: -1.117114 -1.429904 -0.151266 q: 0.284280 0.672969 -0.491942 0.473593 
time: 1403637231.688319, t: -1.135880 -1.466216 -0.223723 q: 0.307331 0.650826 -0.523259 0.456260 
time: 1403637231.788319, t: -1.157438 -1.510324 -0.289243 q: 0.328696 0.626746 -0.550431 0.442915 
time: 1403637231.888319, t: -1.181508 -1.561767 -0.346858 q: 0.344928 0.606523 -0.574908 0.427360 
time: 1403637231.988319, t: -1.208722 -1.619950 -0.393578 q: -0.357434 -0.586280 0.596735 -0.415240 
time: 1403637232.088319, t: -1.240749 -1.687844 -0.425648 q: -0.376578 -0.558477 0.611503 -0.415158 
time: 1403637232.188319, t: -1.280381 -1.756417 -0.450187 q: -0.394559 -0.531236 0.624736 -0.414508 
time: 1403637232.288319, t: -1.326908 -1.824229 -0.469085 q: -0.410733 -0.511975 0.636585 -0.404894 
time: 1403637232.488319, t: -1.443164 -1.951890 -0.488523 q: -0.443603 -0.476229 0.657044 -0.380416 
time: 1403637232.588319, t: -1.508806 -2.007112 -0.492306 q: -0.441110 -0.454799 0.679806 -0.369384 
time: 1403637232.688319, t: -1.583036 -2.056711 -0.490657 q: -0.438013 -0.432905 0.702620 -0.356458 
time: 1403637232.788319, t: -1.667745 -2.100378 -0.484309 q: -0.434365 -0.412972 0.723788 -0.341923 
time: 1403637232.888319, t: -1.764134 -2.144239 -0.471893 q: -0.432820 -0.402932 0.738807 -0.323229 
time: 1403637232.988319, t: -1.872166 -2.188707 -0.451081 q: -0.432554 -0.399548 0.748243 -0.305600 
time: 1403637233.088319, t: -1.991012 -2.236813 -0.422507 q: -0.432958 -0.400858 0.753295 -0.290529 
time: 1403637233.188319, t: -2.118905 -2.293885 -0.395062 q: -0.430125 -0.404991 0.757280 -0.278392 
time: 1403637233.288319, t: -2.254268 -2.357279 -0.371431 q: -0.425813 -0.409553 0.760182 -0.270320 
time: 1403637233.388319, t: -2.398516 -2.429923 -0.353891 q: -0.419518 -0.414664 0.762776 -0.265012 
time: 1403637233.488319, t: -2.551367 -2.512857 -0.346922 q: -0.420918 -0.424127 0.759714 -0.256476 
time: 1403637233.588319, t: -2.711407 -2.607050 -0.351173 q: -0.444956 -0.441889 0.740565 -0.241477 
time: 1403637233.688319, t: -2.874016 -2.716239 -0.366492 q: -0.480262 -0.458170 0.712298 -0.228167 
time: 1403637233.888319, t: -3.169086 -2.972987 -0.421832 q: 0.526613 0.474944 -0.672379 0.212164 
time: 1403637233.988319, t: -3.287679 -3.118127 -0.456998 q: 0.534703 0.478973 -0.664873 0.206451 
optimize pose graph 
time: 1403637234.088319, t: -3.386618 -3.274902 -0.495079 q: 0.544832 0.482976 -0.655336 0.201065 
time: 1403637234.188319, t: -3.457378 -3.440503 -0.537213 q: 0.556250 0.486185 -0.645334 0.194306 
time: 1403637234.288319, t: -3.500749 -3.615843 -0.585197 q: 0.561370 0.482993 -0.642477 0.196989 
time: 1403637234.388319, t: -3.520271 -3.802164 -0.636906 q: 0.560515 0.474882 -0.645055 0.210271 
time: 1403637234.488319, t: -3.512571 -3.995089 -0.690918 q: 0.554686 0.467783 -0.647924 0.231727 
time: 1403637234.588319, t: -3.479469 -4.190045 -0.748131 q: 0.547420 0.463373 -0.647624 0.257294 
time: 1403637234.688319, t: -3.426749 -4.384506 -0.810818 q: 0.539531 0.464014 -0.644032 0.280750 
time: 1403637234.788319, t: -3.357577 -4.574675 -0.878360 q: 0.526711 0.466865 -0.641291 0.305545 
time: 1403637234.888319, t: -3.276156 -4.758205 -0.948640 q: 0.510729 0.471324 -0.638632 0.330392 
time: 1403637234.988319, t: -3.184277 -4.931530 -1.011840 q: -0.496246 -0.479373 0.632559 -0.351867 
time: 1403637235.088319, t: -3.085767 -5.093486 -1.065424 q: -0.488036 -0.493986 0.620957 -0.363608 
time: 1403637235.188319, t: -2.981259 -5.245953 -1.109747 q: -0.479967 -0.510318 0.607897 -0.373722 
time: 1403637235.288319, t: -2.870894 -5.382292 -1.144747 q: -0.471043 -0.525229 0.598214 -0.379992 
time: 1403637235.388319, t: -2.757688 -5.510373 -1.175785 q: -0.457357 -0.540126 0.597167 -0.377465 
time: 1403637235.488319, t: -2.640190 -5.629742 -1.201643 q: -0.439802 -0.553936 0.599972 -0.373848 
time: 1403637235.588319, t: -2.519540 -5.745617 -1.219957 q: -0.426867 -0.566843 0.598028 -0.372608 
time: 1403637235.688319, t: -2.395939 -5.859936 -1.229580 q: -0.420507 -0.576801 0.589758 -0.377703 
time: 1403637235.788319, t: -2.268957 -5.976549 -1.229425 q: 0.425754 0.585987 -0.571208 0.386102 
time: 1403637235.888319, t: -2.136589 -6.088431 -1.219806 q: 0.438590 0.597368 -0.544609 0.392672 
time: 1403637235.988319, t: -1.994617 -6.196522 -1.206581 q: 0.444109 0.612485 -0.521500 0.394547 
time: 1403637236.088319, t: -1.839318 -6.296406 -1.186988 q: 0.442776 0.627157 -0.502116 0.398125 
optimize pose graph 
time: 1403637236.188319, t: -1.669839 -6.385333 -1.161128 q: 0.436549 0.641674 -0.485594 0.402340 
time: 1403637236.288319, t: -1.486291 -6.464309 -1.127178 q: 0.428232 0.653467 -0.470120 0.410592 
time: 1403637236.388319, t: -1.288007 -6.532996 -1.086394 q: 0.415969 0.663362 -0.456845 0.422153 
time: 1403637236.488319, t: -1.078492 -6.589729 -1.039132 q: 0.401303 0.669561 -0.447809 0.436017 
time: 1403637236.588319, t: -0.857917 -6.640426 -0.991097 q: 0.390976 0.672361 -0.441368 0.447508 
time: 1403637236.688319, t: -0.630446 -6.683167 -0.947772 q: 0.387909 0.672252 -0.433783 0.457642 
time: 1403637236.788319, t: -0.394559 -6.716617 -0.907785 q: 0.385897 0.670361 -0.422958 0.472024 
time: 1403637236.888319, t: -0.151752 -6.737714 -0.865143 q: 0.379745 0.667318 -0.410392 0.491995 
time: 1403637236.988319, t: 0.093213 -6.743324 -0.814563 q: 0.376009 0.661138 -0.395180 0.515118 
time: 1403637237.088319, t: 0.335544 -6.729696 -0.757854 q: 0.373527 0.651641 -0.381468 0.538817 
time: 1403637237.188319, t: 0.574735 -6.695415 -0.693840 q: 0.364217 0.645098 -0.370434 0.560333 
time: 1403637237.288319, t: 0.801730 -6.635422 -0.623654 q: 0.347973 0.648664 -0.362075 0.571884 
time: 1403637237.388319, t: 1.017077 -6.552592 -0.546818 q: 0.334178 0.655708 -0.355195 0.576375 
time: 1403637237.488319, t: 1.216322 -6.445824 -0.464179 q: 0.323057 0.660642 -0.350040 0.580222 
time: 1403637237.588319, t: 1.400169 -6.318838 -0.375822 q: 0.312487 0.663879 -0.347914 0.583586 
time: 1403637237.688319, t: 1.565807 -6.172104 -0.282138 q: 0.301398 0.663246 -0.348479 0.589768 
time: 1403637237.788319, t: 1.714215 -6.008847 -0.189085 q: 0.289465 0.663001 -0.353163 0.593225 
time: 1403637237.888319, t: 1.843903 -5.833762 -0.104533 q: 0.279448 0.664175 -0.364553 0.589815 
time: 1403637237.988319, t: 1.954246 -5.647426 -0.030048 q: 0.272807 0.664451 -0.382287 0.581324 
time: 1403637238.088319, t: 2.049369 -5.455780 0.034969 q: 0.263794 0.662001 -0.408649 0.570240 
time: 1403637238.188319, t: 2.129763 -5.263973 0.095724 q: 0.256954 0.653754 -0.439933 0.559499 
time: 1403637238.288319, t: 2.192095 -5.073447 0.153045 q: 0.253223 0.638689 -0.474550 0.550233 
optimize pose graph 
time: 1403637238.388319, t: 2.231570 -4.886315 0.204147 q: 0.254306 0.618356 -0.509833 0.541327 
time: 1403637238.488319, t: 2.244846 -4.703815 0.250618 q: 0.261485 0.594554 -0.542767 0.532481 
time: 1403637238.588319, t: 2.227003 -4.526140 0.291197 q: 0.271081 0.573535 -0.572320 0.519637 
time: 1403637238.688319, t: 2.183211 -4.355311 0.326318 q: -0.267319 -0.561573 0.602695 -0.499935 
time: 1403637238.788319, t: 2.112734 -4.197321 0.358730 q: -0.254835 -0.559941 0.629868 -0.474122 
time: 1403637238.888319, t: 2.014902 -4.058668 0.389190 q: -0.239134 -0.562884 0.652794 -0.447030 
time: 1403637238.988319, t: 1.891427 -3.942916 0.420205 q: -0.226061 -0.568819 0.669431 -0.420956 
time: 1403637239.088319, t: 1.737522 -3.858143 0.455222 q: -0.232231 -0.577531 0.672392 -0.400519 
time: 1403637239.188319, t: 1.558201 -3.806031 0.496304 q: -0.261676 -0.582646 0.662949 -0.390574 
time: 1403637239.288319, t: 1.361322 -3.779763 0.539280 q: -0.293735 -0.578391 0.654103 -0.389015 
time: 1403637239.388319, t: 1.151531 -3.771029 0.575462 q: -0.314336 -0.567418 0.655464 -0.386778 
time: 1403637239.488319, t: 0.931708 -3.778971 0.599125 q: -0.329856 -0.551611 0.664283 -0.381639 
time: 1403637239.588319, t: 0.703355 -3.797462 0.606314 q: -0.347961 -0.532445 0.674597 -0.374626 
time: 1403637239.688319, t: 0.466497 -3.827282 0.593916 q: -0.367444 -0.511643 0.685300 -0.365473 
time: 1403637239.788319, t: 0.221520 -3.866178 0.568913 q: -0.398055 -0.488777 0.688659 -0.358327 
time: 1403637239.888319, t: -0.026929 -3.910804 0.530309 q: -0.433822 -0.466125 0.687879 -0.348351 
time: 1403637239.988319, t: -0.277420 -3.953501 0.483202 q: -0.461961 -0.442315 0.691097 -0.336652 
time: 1403637240.088319, t: -0.527425 -3.994138 0.428973 q: -0.482585 -0.418475 0.698524 -0.322574 
time: 1403637240.188319, t: -0.774679 -4.030104 0.370055 q: -0.495532 -0.394891 0.710507 -0.306088 
time: 1403637240.288319, t: -1.018152 -4.061238 0.307457 q: -0.499227 -0.375808 0.726232 -0.286579 
time: 1403637240.388319, t: -1.254613 -4.093484 0.243675 q: -0.494920 -0.366640 0.742141 -0.264302 
time: 1403637240.488319, t: -1.490076 -4.124185 0.186970 q: -0.489712 -0.364980 0.753999 -0.241779 
time: 1403637240.588319, t: -1.725899 -4.160820 0.139486 q: -0.488059 -0.362928 0.759693 -0.230105 
time: 1403637240.688319, t: -1.957805 -4.206532 0.100838 q: -0.490932 -0.362858 0.759690 -0.224034 
time: 1403637240.788319, t: -2.187788 -4.262346 0.070060 q: -0.496632 -0.361974 0.756506 -0.223675 
time: 1403637240.888319, t: -2.417206 -4.325556 0.049165 q: 0.514798 0.362242 -0.743129 0.226986 
time: 1403637240.988319, t: -2.642019 -4.395002 0.031003 q: 0.527331 0.362967 -0.732751 0.230766 
time: 1403637241.088319, t: -2.859704 -4.467917 0.005299 q: 0.525116 0.363792 -0.732686 0.234691 
time: 1403637241.188319, t: -3.070135 -4.542113 -0.030027 q: 0.521396 0.367156 -0.733219 0.236078 
time: 1403637241.288319, t: -3.275797 -4.617240 -0.067772 q: 0.523070 0.374059 -0.729767 0.232203 
time: 1403637241.388319, t: -3.473039 -4.696529 -0.109271 q: 0.527053 0.380579 -0.724756 0.228262 
time: 1403637241.488319, t: -3.656374 -4.777114 -0.150664 q: 0.531754 0.387252 -0.719398 0.223026 
time: 1403637241.588319, t: -3.827527 -4.862437 -0.187151 q: 0.539780 0.392840 -0.711501 0.219274 
time: 1403637241.788319, t: -4.120559 -5.045264 -0.240880 q: 0.556405 0.392504 -0.696380 0.226736 
time: 1403637241.888319, t: -4.240247 -5.139105 -0.256998 q: 0.561058 0.385930 -0.692394 0.238460 
time: 1403637241.988319, t: -4.342017 -5.230139 -0.266330 q: 0.562661 0.373896 -0.690589 0.258265 
time: 1403637242.088319, t: -4.428758 -5.314804 -0.269514 q: 0.565194 0.369620 -0.689025 0.263022 
time: 1403637242.188319, t: -4.500445 -5.392000 -0.267483 q: 0.565095 0.374015 -0.690099 0.254057 
time: 1403637242.288319, t: -4.553761 -5.463481 -0.258841 q: 0.566419 0.378587 -0.689901 0.244700 
time: 1403637242.388319, t: -4.590159 -5.530377 -0.251469 q: 0.572886 0.383658 -0.685519 0.233820 
optimize pose graph 
time: 1403637242.488319, t: -4.610643 -5.596133 -0.252379 q: 0.580900 0.386873 -0.679571 0.225982 
time: 1403637242.588319, t: -4.606122 -5.656033 -0.256331 q: 0.584407 0.388977 -0.674744 0.227785 
time: 1403637242.688319, t: -4.585346 -5.720865 -0.258027 q: 0.579410 0.395020 -0.671835 0.238498 
time: 1403637242.788319, t: -4.541344 -5.779029 -0.252677 q: 0.569575 0.401453 -0.669225 0.257985 
time: 1403637242.888319, t: -4.482209 -5.832926 -0.240164 q: 0.563226 0.405221 -0.664492 0.277531 
time: 1403637242.988319, t: -4.409822 -5.879606 -0.222739 q: 0.562700 0.410442 -0.657078 0.288366 
time: 1403637243.088319, t: -4.325488 -5.920138 -0.205021 q: 0.560665 0.419326 -0.653568 0.287523 
time: 1403637243.188319, t: -4.226861 -5.953019 -0.194616 q: 0.554634 0.426866 -0.655339 0.284072 
time: 1403637243.288319, t: -4.116020 -5.981542 -0.191318 q: 0.543648 0.429588 -0.662299 0.285065 
time: 1403637243.388319, t: -3.995528 -6.006986 -0.195239 q: 0.535854 0.429904 -0.667553 0.287083 
time: 1403637243.488319, t: -3.865663 -6.028603 -0.201799 q: 0.532429 0.428539 -0.670256 0.289188 
time: 1403637243.588319, t: -3.726195 -6.045053 -0.204949 q: 0.524788 0.426754 -0.676435 0.291399 
time: 1403637243.688319, t: -3.580548 -6.058810 -0.201917 q: 0.513398 0.425182 -0.685596 0.292576 
time: 1403637243.788319, t: -3.432084 -6.071012 -0.188571 q: 0.501689 0.420342 -0.695256 0.297053 
time: 1403637243.888319, t: -3.284536 -6.080286 -0.166996 q: -0.487649 -0.413914 0.706303 -0.303329 
time: 1403637243.988319, t: -3.140993 -6.086005 -0.134802 q: -0.480787 -0.409452 0.712126 -0.306707 
time: 1403637244.188319, t: -2.875752 -6.095445 -0.042780 q: -0.483410 -0.406594 0.713212 -0.303851 
time: 1403637244.288319, t: -2.753991 -6.098155 0.013332 q: -0.483721 -0.405169 0.714106 -0.303158 
time: 1403637244.388319, t: -2.637341 -6.099915 0.072732 q: -0.479719 -0.405532 0.717164 -0.301812 
time: 1403637244.488319, t: -2.527057 -6.102154 0.136636 q: -0.475846 -0.412639 0.716501 -0.299876 
optimize pose graph 
time: 1403637244.588319, t: -2.424015 -6.107874 0.202832 q: -0.475939 -0.427956 0.709461 -0.294959 
time: 1403637244.688319, t: -2.324043 -6.117989 0.262995 q: -0.473985 -0.445385 0.701269 -0.291877 
time: 1403637244.788319, t: -2.225146 -6.131601 0.316443 q: -0.470196 -0.459238 0.694224 -0.293375 
time: 1403637244.888319, t: -2.127654 -6.152287 0.363983 q: -0.466465 -0.468743 0.689074 -0.296427 
time: 1403637244.988319, t: -2.031204 -6.178885 0.405663 q: -0.459397 -0.474116 0.688191 -0.300934 
time: 1403637245.088319, t: -1.936534 -6.209699 0.440770 q: -0.443625 -0.472778 0.695939 -0.308783 
time: 1403637245.188319, t: -1.846458 -6.245563 0.469732 q: -0.427798 -0.471460 0.704788 -0.313030 
time: 1403637245.288319, t: -1.764329 -6.289879 0.497773 q: -0.433193 -0.474987 0.700387 -0.310143 
time: 1403637245.388319, t: -1.687740 -6.342097 0.522127 q: -0.443879 -0.478965 0.692910 -0.305680 
time: 1403637245.488319, t: -1.613205 -6.400768 0.540400 q: -0.449192 -0.484125 0.686394 -0.304488 
time: 1403637245.688319, t: -1.464128 -6.533735 0.560424 q: -0.443183 -0.502426 0.673337 -0.312688 
time: 1403637245.788319, t: -1.389370 -6.609889 0.564212 q: -0.440830 -0.512594 0.660236 -0.327116 
time: 1403637245.888319, t: -1.314627 -6.691088 0.563610 q: -0.442167 -0.524896 0.638711 -0.347880 
time: 1403637245.988319, t: -1.237371 -6.771697 0.557708 q: -0.436791 -0.542106 0.615865 -0.368843 
time: 1403637246.088319, t: -1.159155 -6.852673 0.546121 q: -0.425859 -0.563887 0.590661 -0.389609 
time: 1403637246.188319, t: -1.079232 -6.931622 0.529426 q: 0.410557 0.588705 -0.562405 0.410573 
time: 1403637246.288319, t: -0.995936 -7.007712 0.507645 q: 0.391363 0.614635 -0.532109 0.431183 
time: 1403637246.388319, t: -0.911819 -7.080342 0.483353 q: 0.373440 0.641479 -0.496638 0.449887 
time: 1403637246.488319, t: -0.825526 -7.149295 0.456334 q: 0.359325 0.667208 -0.457167 0.465529 
time: 1403637246.588319, t: -0.736434 -7.210995 0.425249 q: 0.345814 0.686058 -0.418753 0.484131 
optimize pose graph 
time: 1403637246.688319, t: -0.644655 -7.262819 0.390143 q: 0.330545 0.699397 -0.383079 0.504811 
time: 1403637246.788319, t: -0.550221 -7.303335 0.356547 q: 0.313541 0.712519 -0.350119 0.520985 
time: 1403637246.888319, t: -0.456317 -7.325800 0.329040 q: 0.294202 0.726222 -0.320420 0.532332 
time: 1403637246.988319, t: -0.360888 -7.342369 0.304911 q: 0.271294 0.743260 -0.299869 0.532957 
time: 1403637247.088319, t: -0.266127 -7.345752 0.285695 q: 0.251008 0.757209 -0.288937 0.529288 
time: 1403637247.188319, t: -0.172241 -7.339662 0.264468 q: 0.234680 0.766661 -0.285222 0.525171 
time: 1403637247.288319, t: -0.075865 -7.330583 0.236838 q: 0.224485 0.769688 -0.284549 0.525566 
time: 1403637247.388319, t: 0.023362 -7.316745 0.210403 q: 0.227020 0.759647 -0.279697 0.541450 
time: 1403637247.488319, t: 0.124853 -7.300192 0.182005 q: 0.232335 0.746701 -0.275736 0.558953 
time: 1403637247.588319, t: 0.223476 -7.274466 0.146243 q: 0.233334 0.745964 -0.272657 0.561028 
time: 1403637247.688319, t: 0.319654 -7.240129 0.107725 q: 0.235198 0.748829 -0.262460 0.561294 
time: 1403637247.788319, t: 0.413717 -7.194824 0.070313 q: 0.238360 0.753851 -0.246552 0.560451 
time: 1403637247.888319, t: 0.505985 -7.135413 0.040088 q: 0.234167 0.757236 -0.232282 0.563741 
time: 1403637247.988319, t: 0.595815 -7.061268 0.018834 q: 0.218436 0.756816 -0.222908 0.574306 
time: 1403637248.088319, t: 0.680512 -6.975148 0.002467 q: 0.199983 0.765442 -0.214825 0.572674 
time: 1403637248.188319, t: 0.761070 -6.881203 -0.009545 q: 0.182794 0.776800 -0.206472 0.566160 
time: 1403637248.288319, t: 0.837371 -6.781267 -0.025297 q: 0.169994 0.785139 -0.200555 0.560747 
time: 1403637248.388319, t: 0.913685 -6.677456 -0.047183 q: 0.163334 0.788542 -0.195433 0.559759 
time: 1403637248.488319, t: 0.988176 -6.570743 -0.071400 q: 0.159664 0.787305 -0.192815 0.563454 
time: 1403637248.588319, t: 1.059763 -6.461524 -0.092810 q: 0.160691 0.781970 -0.189900 0.571523 
time: 1403637248.688319, t: 1.127289 -6.348134 -0.109310 q: 0.162132 0.783565 -0.190080 0.568866 
time: 1403637248.788319, t: 1.191718 -6.230210 -0.118621 q: 0.163249 0.788742 -0.192861 0.560394 
optimize pose graph 
time: 1403637248.888319, t: 1.254344 -6.108507 -0.118564 q: 0.163266 0.791439 -0.197584 0.554914 
time: 1403637248.988319, t: 1.316624 -5.984594 -0.110799 q: 0.162390 0.791889 -0.202820 0.552634 
time: 1403637249.088319, t: 1.380615 -5.859870 -0.097027 q: 0.164803 0.791380 -0.205184 0.551777 
time: 1403637249.188319, t: 1.444578 -5.736114 -0.075381 q: 0.166277 0.790804 -0.207065 0.551457 
time: 1403637249.288319, t: 1.511048 -5.612009 -0.047720 q: 0.166552 0.789332 -0.209239 0.552661 
time: 1403637249.388319, t: 1.576336 -5.485737 -0.020397 q: 0.168188 0.788040 -0.210149 0.553664 
time: 1403637249.488319, t: 1.641062 -5.356091 -0.007538 q: 0.167792 0.787335 -0.211317 0.554342 
time: 1403637249.588319, t: 1.705747 -5.226607 -0.012618 q: 0.166652 0.787217 -0.211802 0.554668 
time: 1403637249.788319, t: 1.831579 -4.959078 -0.050713 q: 0.167490 0.780654 -0.207639 0.565166 
time: 1403637249.888319, t: 1.892788 -4.821801 -0.064570 q: 0.164366 0.778245 -0.201743 0.571505 
time: 1403637249.988319, t: 1.950340 -4.678919 -0.073144 q: 0.154274 0.781695 -0.194241 0.572209 
time: 1403637250.088319, t: 2.002845 -4.533836 -0.074766 q: 0.137600 0.786486 -0.191372 0.570862 
time: 1403637250.188319, t: 2.051534 -4.388653 -0.071396 q: 0.124647 0.791505 -0.185068 0.568975 
time: 1403637250.288319, t: 2.096337 -4.244240 -0.071111 q: 0.110592 0.793848 -0.179183 0.570498 
time: 1403637250.388319, t: 2.138834 -4.103673 -0.076728 q: 0.098816 0.794945 -0.175688 0.572216 
time: 1403637250.488319, t: 2.177188 -3.967332 -0.087437 q: 0.087542 0.796470 -0.175707 0.571925 
time: 1403637250.588319, t: 2.213804 -3.837136 -0.099832 q: 0.080730 0.799479 -0.175785 0.568696 
time: 1403637250.688319, t: 2.247899 -3.712922 -0.105485 q: 0.077972 0.802645 -0.170585 0.566200 
time: 1403637250.788319, t: 2.281114 -3.595455 -0.103167 q: 0.077749 0.804847 -0.165428 0.564632 
time: 1403637250.888319, t: 2.313433 -3.486156 -0.092210 q: 0.076412 0.803637 -0.163393 0.567126 
time: 1403637250.988319, t: 2.345140 -3.383937 -0.077168 q: 0.073067 0.803327 -0.164217 0.567767 
optimize pose graph 
time: 1403637251.088319, t: 2.375196 -3.289512 -0.054194 q: 0.067245 0.804393 -0.162814 0.567381 
time: 1403637251.188319, t: 2.405006 -3.203856 -0.024718 q: 0.057548 0.806994 -0.160955 0.565281 
time: 1403637251.288319, t: 2.431907 -3.126652 0.012328 q: 0.050907 0.808538 -0.157164 0.564778 
time: 1403637251.388319, t: 2.457456 -3.056906 0.059165 q: 0.054849 0.807902 -0.143427 0.568960 
time: 1403637251.488319, t: 2.483952 -2.996827 0.109450 q: 0.055023 0.807461 -0.128284 0.573170 
time: 1403637251.588319, t: 2.510160 -2.941128 0.152516 q: 0.050678 0.807843 -0.113121 0.576216 
time: 1403637251.688319, t: 2.533171 -2.890550 0.188354 q: 0.044020 0.808389 -0.101557 0.578149 
time: 1403637251.788319, t: 2.554582 -2.843600 0.217053 q: 0.037660 0.808669 -0.093650 0.579539 
time: 1403637251.888319, t: 2.572249 -2.802561 0.242523 q: 0.036977 0.807393 -0.086177 0.582514 
time: 1403637251.988319, t: 2.588266 -2.765521 0.264556 q: 0.043883 0.803700 -0.075810 0.588552 
time: 1403637252.088319, t: 2.599686 -2.730294 0.283054 q: 0.047849 0.799842 -0.069666 0.594230 
time: 1403637252.188319, t: 2.605648 -2.695268 0.296800 q: 0.045618 0.795980 -0.069028 0.599641 
time: 1403637252.288319, t: 2.606059 -2.660622 0.302701 q: 0.041079 0.795799 -0.071052 0.599974 
time: 1403637252.388319, t: 2.599887 -2.625989 0.301381 q: 0.037334 0.798964 -0.073412 0.595712 
time: 1403637252.488319, t: 2.586367 -2.594589 0.291620 q: 0.034650 0.804068 -0.075855 0.588659 
time: 1403637252.588319, t: 2.571143 -2.563346 0.277622 q: 0.033391 0.807233 -0.077502 0.584169 
time: 1403637252.688319, t: 2.551764 -2.535644 0.256857 q: 0.029569 0.811675 -0.080704 0.577751 
time: 1403637252.788319, t: 2.533174 -2.510542 0.236605 q: 0.022439 0.817686 -0.086304 0.568715 
time: 1403637252.988319, t: 2.496903 -2.477155 0.221216 q: 0.033583 0.814452 -0.080282 0.573669 
time: 1403637253.088319, t: 2.479634 -2.464023 0.225874 q: 0.038645 0.811141 -0.077806 0.578363 
optimize pose graph 
time: 1403637253.188319, t: 2.461925 -2.452541 0.234021 q: 0.041269 0.809417 -0.077020 0.580697 
time: 1403637253.288319, t: 2.444986 -2.441667 0.238809 q: 0.042554 0.808626 -0.077358 0.581660 
time: 1403637253.388319, t: 2.424368 -2.433833 0.236561 q: 0.042849 0.808544 -0.077888 0.581683 
time: 1403637253.488319, t: 2.403026 -2.426837 0.228212 q: 0.042013 0.807753 -0.079118 0.582675 
time: 1403637253.588319, t: 2.379979 -2.421299 0.215492 q: 0.043209 0.808769 -0.078829 0.581216 
time: 1403637253.688319, t: 2.355610 -2.416519 0.207912 q: 0.047087 0.808455 -0.076164 0.581706 
time: 1403637253.788319, t: 2.329304 -2.411942 0.207524 q: 0.051665 0.807143 -0.073006 0.583542 
time: 1403637253.888319, t: 2.301699 -2.405902 0.212559 q: 0.053426 0.806672 -0.072012 0.584158 
time: 1403637253.988319, t: 2.274096 -2.398053 0.224927 q: 0.054178 0.806538 -0.072150 0.584256 
time: 1403637254.088319, t: 2.240364 -2.388223 0.241982 q: 0.055287 0.805653 -0.070710 0.585548 
time: 1403637254.188319, t: 2.204547 -2.375578 0.264118 q: 0.052136 0.805690 -0.065967 0.586339 
time: 1403637254.288319, t: 2.166257 -2.359937 0.291487 q: 0.047922 0.809107 -0.057231 0.582902 
time: 1403637254.388319, t: 2.127747 -2.342174 0.320796 q: 0.042726 0.813577 -0.049075 0.577805 
time: 1403637254.488319, t: 2.089115 -2.323669 0.346813 q: 0.038494 0.816746 -0.042814 0.574118 
time: 1403637254.588319, t: 2.050267 -2.303629 0.368836 q: 0.034553 0.817811 -0.037864 0.573199 
time: 1403637254.688319, t: 2.013155 -2.282249 0.385211 q: 0.032343 0.816650 -0.034427 0.575197 
time: 1403637254.788319, t: 1.975689 -2.259443 0.395334 q: 0.030373 0.813681 -0.032641 0.579599 
time: 1403637254.888319, t: 1.938783 -2.235645 0.400649 q: 0.027157 0.810995 -0.032790 0.583502 
time: 1403637254.988319, t: 1.900062 -2.210582 0.398530 q: 0.025975 0.808698 -0.032759 0.586736 
time: 1403637255.088319, t: 1.862931 -2.185295 0.393430 q: 0.024002 0.808144 -0.030348 0.587712 
time: 1403637255.188319, t: 1.821108 -2.158316 0.389989 q: 0.018292 0.808635 -0.023994 0.587537 
time: 1403637255.288319, t: 1.777160 -2.129714 0.393310 q: 0.011173 0.808294 -0.016900 0.588431 
optimize pose graph 
time: 1403637255.388319, t: 1.732285 -2.100574 0.400752 q: 0.003279 0.808594 -0.010463 0.588265 
time: 1403637255.488319, t: 1.682908 -2.070520 0.405598 q: -0.003539 0.809607 -0.000230 0.586962 
time: 1403637255.688319, t: 1.582960 -2.008870 0.401014 q: -0.017393 0.810467 0.030350 0.584739 
time: 1403637255.788319, t: 1.531123 -1.976500 0.395388 q: -0.026509 0.812071 0.049038 0.580890 
time: 1403637255.888319, t: 1.478143 -1.942954 0.397304 q: -0.038021 0.813847 0.067752 0.575862 
time: 1403637255.988319, t: 1.426822 -1.909351 0.408373 q: -0.049642 0.813605 0.083965 0.573177 
time: 1403637256.088319, t: 1.372456 -1.873997 0.429703 q: -0.056277 0.813015 0.096945 0.571351 
time: 1403637256.188319, t: 1.318333 -1.837597 0.453526 q: -0.060665 0.810293 0.104723 0.573392 
time: 1403637256.288319, t: 1.263370 -1.799750 0.472489 q: -0.064288 0.806279 0.108493 0.577937 
time: 1403637256.388319, t: 1.208495 -1.759578 0.483826 q: -0.064892 0.804097 0.110661 0.580493 
time: 1403637256.488319, t: 1.149740 -1.718497 0.488825 q: -0.063009 0.803024 0.111615 0.582001 
time: 1403637256.588319, t: 1.091201 -1.676117 0.486751 q: -0.063286 0.802608 0.109739 0.582901 
time: 1403637256.688319, t: 1.029702 -1.631725 0.478176 q: -0.066722 0.807909 0.104331 0.576148 
time: 1403637256.788319, t: 0.967311 -1.586876 0.464457 q: -0.075241 0.815402 0.095063 0.566058 
time: 1403637256.888319, t: 0.906815 -1.541796 0.450359 q: -0.080783 0.817207 0.089453 0.563601 
time: 1403637256.988319, t: 0.848336 -1.497750 0.438627 q: -0.080524 0.813533 0.094673 0.568083 
time: 1403637257.088319, t: 0.790899 -1.456374 0.431688 q: -0.080775 0.809257 0.105348 0.572258 
time: 1403637257.188319, t: 0.733337 -1.414925 0.432414 q: -0.081876 0.806955 0.114301 0.573633 
time: 1403637257.288319, t: 0.678053 -1.372022 0.440855 q: -0.083720 0.807106 0.121516 0.571669 
time: 1403637257.388319, t: 0.623544 -1.331938 0.455881 q: -0.084203 0.807588 0.128767 0.569325 
time: 1403637257.488319, t: 0.574334 -1.291427 0.470802 q: -0.085126 0.807655 0.133380 0.568029 
optimize pose graph 
time: 1403637257.588319, t: 0.523106 -1.250796 0.479721 q: -0.084728 0.808660 0.137336 0.565711 
time: 1403637257.688319, t: 0.474783 -1.207065 0.482476 q: -0.087297 0.812663 0.137577 0.559491 
time: 1403637257.788319, t: 0.426885 -1.160220 0.478791 q: -0.091071 0.815708 0.140064 0.553813 
time: 1403637257.888319, t: 0.380279 -1.111869 0.469430 q: -0.096338 0.817890 0.145612 0.548244 
time: 1403637257.988319, t: 0.336694 -1.061494 0.456674 q: -0.104553 0.817803 0.153657 0.544661 
time: 1403637258.088319, t: 0.295960 -1.009611 0.443874 q: -0.116203 0.815770 0.165187 0.541969 
time: 1403637258.188319, t: 0.262913 -0.953824 0.439658 q: -0.127361 0.808352 0.182037 0.545168 
time: 1403637258.288319, t: 0.236476 -0.898850 0.440952 q: -0.134939 0.798941 0.198277 0.551517 
time: 1403637258.388319, t: 0.212942 -0.844040 0.438782 q: -0.142929 0.792348 0.209376 0.554903 
time: 1403637258.488319, t: 0.188874 -0.788756 0.428148 q: -0.154369 0.791410 0.213171 0.551723 
time: 1403637258.588319, t: 0.164223 -0.732805 0.411189 q: -0.163551 0.792973 0.213897 0.546528 
time: 1403637258.688319, t: 0.141845 -0.679625 0.391541 q: -0.166410 0.789764 0.215322 0.549742 
time: 1403637258.788319, t: 0.124505 -0.629933 0.370069 q: -0.167658 0.787270 0.215924 0.552697 
time: 1403637258.888319, t: 0.107440 -0.582624 0.348366 q: -0.169389 0.785399 0.214864 0.555238 
time: 1403637258.988319, t: 0.089165 -0.535979 0.332468 q: -0.170974 0.785849 0.212695 0.554950 
time: 1403637259.088319, t: 0.074171 -0.495816 0.327798 q: -0.170806 0.786564 0.210991 0.554640 
time: 1403637259.188319, t: 0.059979 -0.458418 0.336165 q: -0.171451 0.786372 0.209670 0.555214 
time: 1403637259.288319, t: 0.045638 -0.425271 0.352139 q: -0.171945 0.785896 0.207854 0.556416 
time: 1403637259.388319, t: 0.030924 -0.397735 0.367373 q: -0.172672 0.786599 0.205802 0.555961 
time: 1403637259.488319, t: 0.018668 -0.376758 0.378438 q: -0.180163 0.786676 0.199466 0.555784 
time: 1403637259.588319, t: 0.006835 -0.359978 0.386100 q: -0.184091 0.786863 0.196104 0.555429 
optimize pose graph 
time: 1403637259.688319, t: -0.004296 -0.346195 0.391616 q: -0.180562 0.786737 0.197612 0.556230 
time: 1403637259.788319, t: -0.015056 -0.336652 0.393215 q: -0.173387 0.789510 0.202153 0.552942 
time: 1403637259.888319, t: -0.023487 -0.330277 0.390384 q: -0.171967 0.789713 0.202721 0.552888 
time: 1403637259.988319, t: -0.030442 -0.327581 0.384075 q: -0.175883 0.787878 0.199908 0.555292 
time: 1403637260.088319, t: -0.037182 -0.328986 0.374318 q: -0.172301 0.785637 0.202700 0.558569 
time: 1403637260.188319, t: -0.042214 -0.333675 0.358490 q: -0.166238 0.785763 0.207315 0.558535 
time: 1403637260.288319, t: -0.048173 -0.340232 0.340376 q: -0.158770 0.785728 0.213290 0.558508 
time: 1403637260.388319, t: -0.055310 -0.347729 0.321288 q: -0.149877 0.783682 0.220267 0.561126 
time: 1403637260.488319, t: -0.063683 -0.352871 0.299648 q: -0.144761 0.783689 0.224726 0.560690 
time: 1403637260.588319, t: -0.073301 -0.355984 0.276849 q: -0.143625 0.790236 0.225786 0.551289 
time: 1403637260.688319, t: -0.082541 -0.353760 0.253453 q: -0.144674 0.794840 0.224690 0.544805 
time: 1403637260.788319, t: -0.092078 -0.349094 0.231296 q: -0.148128 0.792438 0.222808 0.548140 
time: 1403637260.888319, t: -0.100524 -0.341649 0.208995 q: -0.152266 0.787663 0.221131 0.554529 
time: 1403637260.988319, t: -0.108799 -0.333207 0.186619 q: -0.154366 0.783096 0.220371 0.560685 
time: 1403637261.088319, t: -0.118365 -0.324067 0.163496 q: -0.155068 0.784833 0.220127 0.558154 
time: 1403637261.188319, t: -0.129225 -0.313897 0.140506 q: -0.152361 0.791695 0.221709 0.548498 
time: 1403637261.288319, t: -0.139504 -0.302035 0.121273 q: -0.149742 0.797129 0.223298 0.540649 
time: 1403637261.388319, t: -0.147225 -0.288032 0.109959 q: -0.151788 0.793690 0.221685 0.545776 
time: 1403637261.488319, t: -0.153157 -0.272509 0.103126 q: -0.158862 0.789828 0.216735 0.551326 
time: 1403637261.588319, t: -0.158040 -0.257678 0.096714 q: -0.157750 0.794868 0.216962 0.544268 
time: 1403637261.688319, t: -0.160064 -0.242299 0.094608 q: -0.153310 0.800545 0.219574 0.536107 
time: 1403637261.788319, t: -0.158092 -0.224904 0.099628 q: -0.152168 0.798243 0.220021 0.539670 
optimize pose graph 
time: 1403637261.888319, t: -0.153251 -0.205098 0.107214 q: -0.154353 0.791198 0.217907 0.550179 
time: 1403637261.988319, t: -0.148010 -0.186302 0.108380 q: -0.155639 0.786625 0.215870 0.557134 
time: 1403637262.088319, t: -0.142711 -0.168396 0.099530 q: -0.159196 0.784090 0.212111 0.561132 
time: 1403637262.188319, t: -0.138526 -0.152655 0.081580 q: -0.162931 0.784354 0.208299 0.561119 
time: 1403637262.288319, t: -0.134983 -0.138751 0.056378 q: -0.165695 0.784994 0.204822 0.560694 
time: 1403637262.388319, t: -0.138388 -0.145401 0.054188 q: -0.168673 0.771718 0.202894 0.578649 
time: 1403637262.488319, t: -0.140031 -0.155379 0.045371 q: -0.157150 0.789332 0.173163 0.567692 
time: 1403637262.688319, t: -0.142783 -0.163471 0.049432 q: -0.163721 0.782898 0.164717 0.577178 
time: 1403637262.788319, t: -0.144786 -0.163433 0.051996 q: -0.164669 0.781025 0.162000 0.580207 
time: 1403637262.888319, t: -0.144452 -0.161684 0.052071 q: -0.165289 0.781965 0.162963 0.578492 
time: 1403637262.988319, t: -0.144708 -0.162290 0.052181 q: -0.165117 0.781574 0.162788 0.579118 
time: 1403637263.088319, t: -0.144696 -0.162433 0.052170 q: -0.164581 0.781532 0.163055 0.579253 
time: 1403637263.188319, t: -0.144779 -0.162678 0.052234 q: -0.164202 0.781407 0.163184 0.579492 
wait for imu ... 
time: 1403637263.288319, t: -0.144809 -0.162591 0.052192 q: -0.164454 0.781610 0.163076 0.579177 
time: 1403637263.388319, t: -0.144786 -0.162516 0.052200 q: -0.164759 0.781608 0.162989 0.579118 
time: 1403637263.488319, t: -0.144797 -0.162634 0.052174 q: -0.164443 0.781626 0.163094 0.579155 
time: 1403637263.588319, t: -0.144779 -0.162607 0.052171 q: -0.164660 0.781664 0.162973 0.579075 
time: 1403637263.688319, t: -0.144799 -0.162610 0.052161 q: -0.164729 0.781715 0.162935 0.578998 
time: 1403637263.788319, t: -0.144814 -0.162502 0.052141 q: -0.165076 0.781719 0.162640 0.578976 
time: 1403637263.888319, t: -0.144822 -0.162533 0.052138 q: -0.165109 0.781740 0.162618 0.578945 
time: 1403637263.988319, t: -0.144781 -0.162653 0.052131 q: -0.164808 0.781777 0.162746 0.578944 
time: 1403637264.088319, t: -0.144744 -0.162639 0.052117 q: -0.164781 0.781821 0.162794 0.578879 
time: 1403637264.188319, t: -0.144743 -0.162691 0.052095 q: -0.164730 0.781783 0.162758 0.578955 
time: 1403637264.288319, t: -0.144727 -0.162631 0.052087 q: -0.164918 0.781824 0.162661 0.578873 
time: 1403637264.388319, t: -0.144715 -0.162650 0.052082 q: -0.164893 0.781871 0.162713 0.578802 
time: 1403637264.488319, t: -0.144656 -0.162649 0.052055 q: -0.164787 0.781830 0.162686 0.578896 
time: 1403637264.588319, t: -0.144650 -0.162613 0.052063 q: -0.164840 0.781865 0.162633 0.578849 
time: 1403637264.688319, t: -0.144672 -0.162649 0.052070 q: -0.164870 0.781887 0.162580 0.578824 
time: 1403637264.788319, t: -0.144613 -0.162615 0.052082 q: -0.164938 0.781924 0.162535 0.578768 
time: 1403637264.888319, t: -0.144504 -0.162599 0.052086 q: -0.164902 0.781939 0.162518 0.578764 
time: 1403637264.988319, t: -0.144467 -0.162614 0.052079 q: -0.164746 0.781961 0.162580 0.578760 
time: 1403637265.088319, t: -0.144462 -0.162587 0.052095 q: -0.164762 0.782013 0.162611 0.578677 
time: 1403637265.188319, t: -0.144475 -0.162599 0.052111 q: -0.164713 0.781993 0.162578 0.578727 
time: 1403637265.288319, t: -0.144476 -0.162617 0.052111 q: -0.164735 0.782033 0.162595 0.578661 
time: 1403637265.388319, t: -0.144562 -0.162603 0.052199 q: -0.164709 0.782043 0.162612 0.578651 
time: 1403637265.488319, t: -0.144556 -0.162594 0.052197 q: -0.164710 0.782044 0.162591 0.578655 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720475123.153459121]: Shutdown request received.[0m
[33m[ WARN] [1720475123.153504313]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720475123.154444625]: Shutdown request received.[0m
[33m[ WARN] [1720475123.154475332]: Reason given for shutdown: [user request][0m
killed
