/SLAM-Hive/slam_hive_results/mapping_results/2893/2101_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720480232.704574417]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720480232.706464469]: init begins[0m
[31m[ERROR] [1720480232.707494599]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/46aacb22-3d7f-11ef-bd73-0242ac110005/roslaunch-c6c24e9a3a56-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://c6c24e9a3a56:37369/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://c6c24e9a3a56:11311/[0m
]2;roscore http://c6c24e9a3a56:11311/
[0m[ INFO] [1720480233.860616298]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 46aacb22-3d7f-11ef-bd73-0242ac110005[0m
[0m[ INFO] [1720480233.863026843]: 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] [1720480233.871249467]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720480233.871473632]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720480233.871507939]: 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] [1720480233.871711412]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720480233.872014420]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [234][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720480242.835630821]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316842115.73 
init first imu pose
averge acc 9.049359 -0.057205 -3.951263
init R0 
    0.400188    0.0132665     0.916337
-2.46519e-32    -0.999895    0.0144762
    0.916433  -0.00579322    -0.400146
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720480244.175350832]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720480244.371501072]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480244.470837802]: IMU excitation not enouth![0m
[0m[ INFO] [1720480244.673795534]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480244.896777332]: IMU excitation not enouth![0m
[0m[ INFO] [1720480244.897910031]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480244.979535312]: IMU excitation not enouth![0m
[0m[ INFO] [1720480244.980104404]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720480245.337052448]: gyroscope bias initial calibration -0.00199074   0.0280814   0.0776584[0m
[0m[ INFO] [1720480245.438408301]: Initialization finish![0m
time: 1403638129.395097, t: 0.000704 -0.004318 0.023338 q: -0.048160 0.815293 -0.034316 0.576021 
time: 1403638129.495097, t: 0.000458 -0.005218 0.030929 q: -0.049352 0.821292 -0.034098 0.567345 
time: 1403638129.595097, t: 0.001607 -0.002552 0.037643 q: -0.032166 0.834069 -0.010722 0.550617 
time: 1403638129.695097, t: 0.003344 -0.000737 0.048339 q: -0.020093 0.836075 0.002311 0.548242 
time: 1403638129.795097, t: 0.004422 0.000299 0.063462 q: -0.022611 0.833762 0.000804 0.551660 
time: 1403638129.895097, t: 0.005571 0.003245 0.083273 q: -0.021574 0.840464 0.007098 0.541392 
time: 1403638129.995097, t: 0.007349 0.006240 0.113850 q: -0.021965 0.839716 0.010371 0.542483 
time: 1403638130.095097, t: 0.009247 0.007716 0.152424 q: -0.031456 0.830534 0.002292 0.556074 
time: 1403638130.195097, t: 0.010429 0.010142 0.191890 q: -0.036762 0.828263 0.004606 0.559114 
time: 1403638130.295097, t: 0.011222 0.012501 0.233097 q: -0.041792 0.825712 0.007106 0.562497 
time: 1403638130.395097, t: 0.011875 0.013648 0.275865 q: -0.054014 0.818995 -0.002175 0.571249 
time: 1403638130.495097, t: 0.012161 0.015368 0.316078 q: -0.057306 0.818992 0.003172 0.570927 
time: 1403638130.595097, t: 0.012341 0.017176 0.355030 q: -0.050734 0.820717 0.012398 0.568943 
wait for imu ... 
time: 1403638130.695097, t: 0.011413 0.017360 0.394451 q: -0.054246 0.814078 0.007198 0.578172 
time: 1403638130.795097, t: 0.009773 0.017117 0.429767 q: -0.071782 0.807197 -0.006515 0.585865 
time: 1403638130.895097, t: 0.006078 0.015032 0.455872 q: -0.078150 0.805328 -0.007533 0.587607 
wait for imu ... 
time: 1403638130.995097, t: 0.002204 0.010571 0.467536 q: -0.076493 0.795496 -0.014397 0.600939 
time: 1403638131.095097, t: -0.000344 0.007222 0.461210 q: -0.073736 0.788896 -0.018343 0.609811 
wait for imu ... 
time: 1403638131.195097, t: 0.000762 0.008128 0.437610 q: -0.064685 0.797230 -0.008612 0.600138 
time: 1403638131.295097, t: 0.004390 0.011775 0.406687 q: -0.052851 0.808481 0.004904 0.586124 
time: 1403638131.395097, t: 0.004606 0.011622 0.375609 q: -0.050044 0.810985 0.005993 0.582892 
wait for imu ... 
time: 1403638131.495097, t: 0.004073 0.010864 0.341492 q: -0.043574 0.810776 0.007054 0.583690 
time: 1403638131.595097, t: -0.000404 0.007571 0.302620 q: -0.040772 0.814456 0.008755 0.578725 
wait for imu ... 
time: 1403638131.695097, t: -0.002186 0.004294 0.261202 q: -0.037216 0.815751 0.012401 0.577072 
time: 1403638131.795097, t: -0.006273 0.000598 0.216483 q: -0.029869 0.816133 0.016698 0.576850 
time: 1403638131.895097, t: -0.006755 -0.005253 0.174448 q: -0.020652 0.817783 0.020346 0.574795 
time: 1403638131.995097, t: -0.008197 -0.005845 0.141535 q: -0.013674 0.819665 0.026446 0.572069 
time: 1403638132.095097, t: -0.007451 -0.005365 0.127156 q: -0.004398 0.825475 0.042110 0.562849 
time: 1403638132.195097, t: -0.007768 -0.004619 0.140388 q: -0.003982 0.826121 0.048574 0.561382 
wait for imu ... 
time: 1403638132.295097, t: -0.007772 -0.003099 0.182152 q: -0.016323 0.817999 0.040829 0.573537 
time: 1403638132.395097, t: -0.007273 -0.000060 0.237309 q: -0.028944 0.813488 0.035393 0.579781 
time: 1403638132.495097, t: -0.006576 0.002943 0.295590 q: -0.048211 0.805081 0.024271 0.590705 
wait for imu ... 
time: 1403638132.595097, t: -0.005706 0.006009 0.350455 q: -0.066562 0.790896 0.009900 0.608240 
time: 1403638132.695097, t: -0.004209 0.013932 0.391405 q: -0.073051 0.790935 0.005992 0.607495 
time: 1403638132.795097, t: -0.003258 0.024845 0.416967 q: -0.075105 0.796433 0.004351 0.600029 
wait for imu ... 
time: 1403638132.895097, t: -0.004529 0.033901 0.427501 q: -0.080643 0.788897 -0.004199 0.609197 
time: 1403638132.995097, t: -0.004970 0.035513 0.422073 q: -0.087034 0.782274 -0.004944 0.616805 
time: 1403638133.095097, t: -0.003860 0.026905 0.404100 q: -0.077269 0.787198 0.009289 0.611770 
wait for imu ... 
wait for imu ... 
time: 1403638133.195097, t: -0.002261 0.005008 0.380572 q: -0.065785 0.791509 0.010937 0.607508 
time: 1403638133.295097, t: -0.000136 -0.027342 0.357713 q: -0.050214 0.793123 0.000881 0.606987 
wait for imu ... 
time: 1403638133.395097, t: -0.001949 -0.067193 0.332555 q: -0.032377 0.799241 -0.006582 0.600102 
wait for imu ... 
time: 1403638133.495097, t: -0.008016 -0.112171 0.311183 q: -0.012681 0.802451 -0.020803 0.596221 
time: 1403638133.595097, t: -0.017908 -0.157732 0.291658 q: -0.004726 0.803949 -0.043324 0.593099 
wait for imu ... 
time: 1403638133.695097, t: -0.032489 -0.198744 0.273150 q: -0.003178 0.807339 -0.061067 0.586911 
time: 1403638133.795097, t: -0.047453 -0.234624 0.255408 q: 0.010857 0.809126 -0.075063 0.582720 
time: 1403638133.895097, t: -0.055487 -0.261760 0.239308 q: 0.027125 0.811507 -0.082982 0.577784 
time: 1403638133.995097, t: -0.049100 -0.271770 0.229817 q: 0.034122 0.810572 -0.088749 0.577869 
time: 1403638134.095097, t: -0.028218 -0.261647 0.227586 q: 0.037087 0.813559 -0.083551 0.574252 
wait for imu ... 
time: 1403638134.195097, t: 0.003577 -0.243179 0.226184 q: 0.039596 0.815024 -0.076938 0.572930 
time: 1403638134.295097, t: 0.034233 -0.208920 0.234097 q: 0.035628 0.805773 -0.084626 0.585063 
wait for imu ... 
time: 1403638134.395097, t: 0.068898 -0.169046 0.236726 q: 0.026526 0.807161 -0.089306 0.582934 
wait for imu ... 
time: 1403638134.495097, t: 0.100165 -0.126453 0.239514 q: 0.019129 0.808297 -0.093011 0.581067 
wait for imu ... 
time: 1403638134.595097, t: 0.125197 -0.082910 0.242574 q: 0.008475 0.806523 -0.097871 0.582983 
time: 1403638134.695097, t: 0.140392 -0.037251 0.246378 q: 0.003346 0.809990 -0.096522 0.578437 
time: 1403638134.795097, t: 0.154485 0.007533 0.250681 q: 0.000449 0.817203 -0.090567 0.569189 
time: 1403638134.895097, t: 0.160747 0.049921 0.261475 q: 0.002707 0.819278 -0.086143 0.566883 
time: 1403638134.995097, t: 0.167293 0.084084 0.269072 q: 0.001709 0.815253 -0.086361 0.572627 
time: 1403638135.095097, t: 0.166346 0.113580 0.269110 q: 0.004827 0.819122 -0.078354 0.568222 
time: 1403638135.295097, t: 0.163335 0.131388 0.254245 q: 0.007718 0.825306 -0.067366 0.560599 
time: 1403638135.395097, t: 0.151004 0.121397 0.244054 q: 0.010700 0.822660 -0.069340 0.564188 
time: 1403638135.495097, t: 0.138331 0.098485 0.233727 q: 0.019560 0.825010 -0.068319 0.560632 
wait for imu ... 
time: 1403638135.595097, t: 0.133958 0.072592 0.227041 q: 0.027070 0.829836 -0.068329 0.553146 
time: 1403638135.695097, t: 0.128151 0.042795 0.224501 q: 0.031906 0.825687 -0.078073 0.557789 
time: 1403638135.795097, t: 0.110499 0.006917 0.221679 q: 0.029055 0.822430 -0.091027 0.560784 
time: 1403638135.895097, t: 0.086938 -0.024265 0.220033 q: 0.039381 0.827702 -0.086808 0.553012 
time: 1403638135.995097, t: 0.060754 -0.054144 0.229459 q: 0.051231 0.833084 -0.082711 0.544524 
wait for imu ... 
time: 1403638136.095097, t: 0.034456 -0.089802 0.249532 q: 0.060479 0.825765 -0.088775 0.553690 
time: 1403638136.195097, t: 0.010820 -0.133510 0.265332 q: 0.058091 0.815384 -0.102491 0.566807 
time: 1403638136.295097, t: -0.013768 -0.175236 0.267667 q: 0.064332 0.812864 -0.107660 0.568791 
time: 1403638136.395097, t: -0.035008 -0.211236 0.260020 q: 0.073552 0.814801 -0.108576 0.564713 
time: 1403638136.495097, t: -0.049411 -0.233793 0.253130 q: 0.079177 0.817277 -0.110764 0.559928 
wait for imu ... 
time: 1403638136.595097, t: -0.054201 -0.235901 0.256442 q: 0.073096 0.817776 -0.121334 0.557833 
time: 1403638136.695097, t: -0.050002 -0.216619 0.267401 q: 0.059399 0.816539 -0.123025 0.560893 
time: 1403638136.795097, t: -0.040800 -0.184431 0.281055 q: 0.042104 0.816294 -0.118816 0.563714 
time: 1403638136.895097, t: -0.029391 -0.143451 0.290355 q: 0.016983 0.809026 -0.120203 0.575100 
time: 1403638136.995097, t: -0.017500 -0.100997 0.285427 q: -0.002082 0.799102 -0.123179 0.588438 
wait for imu ... 
time: 1403638137.095097, t: -0.007321 -0.061174 0.261699 q: -0.009269 0.799607 -0.117337 0.588876 
time: 1403638137.195097, t: -0.001513 -0.027268 0.227719 q: -0.006551 0.807816 -0.103905 0.580167 
time: 1403638137.295097, t: 0.001292 -0.000420 0.188242 q: -0.003054 0.816757 -0.089845 0.569936 
time: 1403638137.395097, t: 0.000734 0.018479 0.148193 q: -0.000814 0.822202 -0.082477 0.563188 
time: 1403638137.495097, t: 0.002348 0.032405 0.110016 q: 0.009587 0.830253 -0.074033 0.552365 
wait for imu ... 
time: 1403638137.595097, t: 0.004128 0.042721 0.077516 q: 0.024575 0.838989 -0.063072 0.539922 
wait for imu ... 
time: 1403638137.695097, t: 0.003655 0.048877 0.052909 q: 0.032718 0.839688 -0.063102 0.538397 
time: 1403638137.795097, t: 0.001512 0.052259 0.033924 q: 0.035227 0.838864 -0.068512 0.538862 
time: 1403638137.895097, t: -0.001473 0.054712 0.019274 q: 0.041541 0.844530 -0.064962 0.529928 
time: 1403638138.095097, t: -0.002306 0.058224 0.003781 q: 0.048881 0.853480 -0.053693 0.516043 
wait for imu ... 
time: 1403638138.195097, t: -0.003131 0.057115 0.003550 q: 0.045535 0.845554 -0.061584 0.528367 
time: 1403638138.295097, t: -0.003905 0.056679 0.001725 q: 0.043319 0.841734 -0.064387 0.534286 
optimize pose graph 
time: 1403638138.395097, t: -0.004990 0.057067 0.002079 q: 0.043516 0.837162 -0.064940 0.541340 
time: 1403638138.495097, t: -0.005403 0.056931 0.002032 q: 0.044075 0.836967 -0.063821 0.541729 
time: 1403638138.595097, t: -0.005386 0.057042 0.001878 q: 0.043375 0.836911 -0.063702 0.541886 
time: 1403638138.695097, t: -0.005251 0.057345 0.001840 q: 0.042272 0.836872 -0.064136 0.541983 
wait for imu ... 
time: 1403638138.995097, t: -0.005140 0.057612 0.001885 q: 0.040246 0.836917 -0.063700 0.542118 
wait for imu ... 
time: 1403638139.095097, t: -0.005153 0.057535 0.001919 q: 0.040074 0.836987 -0.063137 0.542089 
wait for imu ... 
time: 1403638139.195097, t: -0.005170 0.057495 0.001937 q: 0.040002 0.836956 -0.062759 0.542186 
wait for imu ... 
time: 1403638139.295097, t: -0.005179 0.057522 0.001962 q: 0.039643 0.836955 -0.062480 0.542246 
time: 1403638139.395097, t: -0.005181 0.057576 0.001992 q: 0.039148 0.836968 -0.062426 0.542269 
wait for imu ... 
wait for imu ... 
time: 1403638139.495097, t: -0.005186 0.057634 0.002019 q: 0.038558 0.836990 -0.062306 0.542291 
time: 1403638139.595097, t: -0.005169 0.057674 0.002039 q: 0.038176 0.836980 -0.062168 0.542349 
time: 1403638139.695097, t: -0.005180 0.057709 0.002070 q: 0.037770 0.836997 -0.061954 0.542376 
wait for imu ... 
time: 1403638139.795097, t: -0.005168 0.057723 0.002111 q: 0.037362 0.837022 -0.061783 0.542384 
wait for imu ... 
time: 1403638139.895097, t: -0.005171 0.057743 0.002162 q: 0.037128 0.837023 -0.061542 0.542426 
time: 1403638139.995097, t: -0.005191 0.057739 0.002181 q: 0.036885 0.837060 -0.061406 0.542401 
wait for imu ... 
time: 1403638140.095097, t: -0.005169 0.057758 0.002224 q: 0.036536 0.837081 -0.061198 0.542416 
wait for imu ... 
wait for imu ... 
time: 1403638140.195097, t: -0.005168 0.057772 0.002248 q: 0.036179 0.837083 -0.061029 0.542457 
time: 1403638140.295097, t: -0.005181 0.057794 0.002261 q: 0.035893 0.837073 -0.060876 0.542508 
wait for imu ... 
time: 1403638140.395097, t: -0.005174 0.057817 0.002290 q: 0.035598 0.837079 -0.060748 0.542533 
time: 1403638140.495097, t: -0.005178 0.057842 0.002297 q: 0.035368 0.837094 -0.060653 0.542535 
time: 1403638140.595097, t: -0.005183 0.057845 0.002331 q: 0.035114 0.837084 -0.060499 0.542584 
wait for imu ... 
time: 1403638140.695097, t: -0.005188 0.057858 0.002342 q: 0.034921 0.837077 -0.060332 0.542626 
time: 1403638140.795097, t: -0.005185 0.057875 0.002368 q: 0.034700 0.837067 -0.060230 0.542667 
time: 1403638140.895097, t: -0.005178 0.057888 0.002394 q: 0.034501 0.837077 -0.060133 0.542674 
time: 1403638140.995097, t: -0.005181 0.057904 0.002412 q: 0.034318 0.837083 -0.060006 0.542691 
wait for imu ... 
time: 1403638141.095097, t: -0.005182 0.057923 0.002423 q: 0.034164 0.837045 -0.059909 0.542769 
time: 1403638141.195097, t: -0.005186 0.057924 0.002430 q: 0.033942 0.837041 -0.059815 0.542801 
time: 1403638141.295097, t: -0.005185 0.057928 0.002447 q: 0.033827 0.837045 -0.059714 0.542812 
time: 1403638141.395097, t: -0.005192 0.057937 0.002452 q: 0.033721 0.837023 -0.059672 0.542858 
wait for imu ... 
time: 1403638141.495097, t: -0.005189 0.057932 0.002464 q: 0.033561 0.837034 -0.059596 0.542859 
time: 1403638141.595097, t: -0.005188 0.057940 0.002484 q: 0.033492 0.837022 -0.059522 0.542889 
time: 1403638141.695097, t: -0.005184 0.057935 0.002488 q: 0.033399 0.837033 -0.059471 0.542885 
time: 1403638141.795097, t: -0.005183 0.057944 0.002506 q: 0.033309 0.837028 -0.059401 0.542905 
time: 1403638141.895097, t: -0.005183 0.057943 0.002508 q: 0.033232 0.837016 -0.059360 0.542932 
wait for imu ... 
time: 1403638141.995097, t: -0.005175 0.057949 0.002495 q: 0.033136 0.837007 -0.059277 0.542962 
wait for imu ... 
time: 1403638142.095097, t: -0.005179 0.057997 0.002524 q: 0.033098 0.837024 -0.059199 0.542946 
wait for imu ... 
wait for imu ... 
time: 1403638142.195097, t: -0.005193 0.057969 0.002534 q: 0.033186 0.836984 -0.059409 0.542979 
time: 1403638142.295097, t: -0.005206 0.057862 0.002535 q: 0.033478 0.836993 -0.059743 0.542912 
wait for imu ... 
wait for imu ... 
time: 1403638142.395097, t: -0.005217 0.057948 0.002568 q: 0.033587 0.837041 -0.059656 0.542840 
time: 1403638142.495097, t: -0.005195 0.058001 0.002561 q: 0.033268 0.837118 -0.059508 0.542757 
time: 1403638142.595097, t: -0.005150 0.058068 0.002554 q: 0.032675 0.837147 -0.058989 0.542805 
time: 1403638142.695097, t: -0.005152 0.058068 0.002580 q: 0.032926 0.837248 -0.059085 0.542625 
time: 1403638142.795097, t: -0.005157 0.057962 0.002591 q: 0.033430 0.837281 -0.059380 0.542509 
wait for imu ... 
time: 1403638142.895097, t: -0.005154 0.057955 0.002602 q: 0.033428 0.837309 -0.059270 0.542479 
time: 1403638142.995097, t: -0.005147 0.058023 0.002595 q: 0.033333 0.837293 -0.058907 0.542549 
time: 1403638143.095097, t: -0.005159 0.057997 0.002607 q: 0.033426 0.837354 -0.058953 0.542444 
wait for imu ... 
time: 1403638143.195097, t: -0.005164 0.057974 0.002603 q: 0.033376 0.837398 -0.059103 0.542363 
time: 1403638143.295097, t: -0.005171 0.057973 0.002595 q: 0.033369 0.837361 -0.059211 0.542408 
wait for imu ... 
time: 1403638143.395097, t: -0.005153 0.057972 0.002596 q: 0.033490 0.837355 -0.059255 0.542406 
time: 1403638143.495097, t: -0.005175 0.057983 0.002605 q: 0.033616 0.837352 -0.059289 0.542399 
time: 1403638143.595097, t: -0.005175 0.057925 0.002597 q: 0.033777 0.837356 -0.059485 0.542361 
time: 1403638143.695097, t: -0.005165 0.057953 0.002597 q: 0.033661 0.837339 -0.059481 0.542395 
time: 1403638143.795097, t: -0.005149 0.057937 0.002583 q: 0.033624 0.837343 -0.059450 0.542394 
time: 1403638143.895097, t: -0.005177 0.057956 0.002592 q: 0.033615 0.837333 -0.059548 0.542399 
time: 1403638143.995097, t: -0.005170 0.057940 0.002577 q: 0.033657 0.837313 -0.059573 0.542425 
time: 1403638144.095097, t: -0.005177 0.057931 0.002583 q: 0.033630 0.837343 -0.059581 0.542380 
time: 1403638144.195097, t: -0.005181 0.057924 0.002566 q: 0.033699 0.837307 -0.059592 0.542430 
time: 1403638144.295097, t: -0.005176 0.057922 0.002555 q: 0.033655 0.837287 -0.059537 0.542469 
time: 1403638144.395097, t: -0.005176 0.057924 0.002547 q: 0.033639 0.837267 -0.059555 0.542500 
wait for imu ... 
time: 1403638144.495097, t: -0.005170 0.057894 0.002536 q: 0.033687 0.837264 -0.059610 0.542496 
time: 1403638144.595097, t: -0.005176 0.057913 0.002539 q: 0.033659 0.837270 -0.059658 0.542483 
time: 1403638144.695097, t: -0.005170 0.057917 0.002560 q: 0.033606 0.837220 -0.059547 0.542575 
time: 1403638144.895097, t: -0.005172 0.057920 0.002546 q: 0.033628 0.837249 -0.059608 0.542523 
time: 1403638144.995097, t: -0.005160 0.057906 0.002557 q: 0.033689 0.837216 -0.059583 0.542572 
wait for imu ... 
wait for imu ... 
time: 1403638145.195097, t: -0.005160 0.057910 0.002565 q: 0.033719 0.837214 -0.059608 0.542570 
time: 1403638145.295097, t: -0.005165 0.057904 0.002564 q: 0.033698 0.837230 -0.059613 0.542546 
time: 1403638145.395097, t: -0.005202 0.057886 0.002574 q: 0.033805 0.837216 -0.059640 0.542558 
time: 1403638145.495097, t: -0.005193 0.057903 0.002597 q: 0.033793 0.837205 -0.059625 0.542577 
time: 1403638145.595097, t: -0.005165 0.057876 0.002605 q: 0.033739 0.837219 -0.059573 0.542565 
time: 1403638145.695097, t: -0.005150 0.057874 0.002620 q: 0.033741 0.837190 -0.059581 0.542608 
time: 1403638145.795097, t: -0.005152 0.057870 0.002614 q: 0.033795 0.837227 -0.059527 0.542555 
time: 1403638145.895097, t: -0.005160 0.057889 0.002611 q: 0.033818 0.837187 -0.059580 0.542610 
time: 1403638145.995097, t: -0.005144 0.057895 0.002624 q: 0.033791 0.837182 -0.059597 0.542617 
wait for imu ... 
time: 1403638146.095097, t: -0.005124 0.057890 0.002646 q: 0.033759 0.837224 -0.059525 0.542562 
time: 1403638146.195097, t: -0.005132 0.057890 0.002635 q: 0.033809 0.837162 -0.059565 0.542649 
time: 1403638146.295097, t: -0.005109 0.057901 0.002665 q: 0.033888 0.837174 -0.059573 0.542625 
time: 1403638146.395097, t: -0.005098 0.057889 0.002683 q: 0.033937 0.837193 -0.059536 0.542597 
time: 1403638146.495097, t: -0.005103 0.057886 0.002687 q: 0.033965 0.837225 -0.059616 0.542538 
time: 1403638146.595097, t: -0.005095 0.057899 0.002681 q: 0.034056 0.837181 -0.059610 0.542600 
time: 1403638146.695097, t: -0.005072 0.057881 0.002719 q: 0.034121 0.837227 -0.059618 0.542524 
wait for imu ... 
time: 1403638146.795097, t: -0.005092 0.057896 0.002679 q: 0.034120 0.837138 -0.059597 0.542663 
time: 1403638146.895097, t: -0.005037 0.057890 0.002741 q: 0.034261 0.837222 -0.059535 0.542533 
time: 1403638146.995097, t: -0.005061 0.057894 0.002741 q: 0.034373 0.837340 -0.059628 0.542333 
time: 1403638147.095097, t: -0.005039 0.058018 0.002677 q: 0.034267 0.837409 -0.059546 0.542241 
wait for imu ... 
time: 1403638147.195097, t: -0.005004 0.058037 0.002650 q: 0.034345 0.837507 -0.059434 0.542098 
wait for imu ... 
time: 1403638147.295097, t: -0.005014 0.058071 0.002676 q: 0.034256 0.837469 -0.059546 0.542150 
time: 1403638147.395097, t: -0.004989 0.058071 0.002721 q: 0.034310 0.837346 -0.059487 0.542343 
wait for imu ... 
time: 1403638147.495097, t: -0.005051 0.057957 0.002932 q: 0.034210 0.836897 -0.059309 0.543061 
time: 1403638147.595097, t: -0.005021 0.057947 0.003086 q: 0.033682 0.836449 -0.059464 0.543767 
time: 1403638147.695097, t: -0.004556 0.057926 0.002970 q: 0.033270 0.836605 -0.058641 0.543642 
time: 1403638147.795097, t: -0.002653 0.057477 0.004133 q: 0.033854 0.834382 -0.059175 0.546954 
wait for imu ... 
time: 1403638147.895097, t: 0.002244 0.056147 0.008344 q: 0.036484 0.827267 -0.062155 0.557167 
time: 1403638147.995097, t: 0.010625 0.054779 0.019095 q: 0.037155 0.820541 -0.064200 0.566754 
wait for imu ... 
time: 1403638148.095097, t: 0.020387 0.053179 0.037787 q: 0.037907 0.815409 -0.063520 0.574140 
time: 1403638148.195097, t: 0.031059 0.051473 0.065272 q: 0.038597 0.812567 -0.060419 0.578441 
wait for imu ... 
time: 1403638148.295097, t: 0.039850 0.049897 0.107615 q: 0.036938 0.812279 -0.057630 0.579238 
time: 1403638148.395097, t: 0.047486 0.048706 0.158405 q: 0.035321 0.812027 -0.054621 0.579983 
wait for imu ... 
time: 1403638148.495097, t: 0.053766 0.047873 0.193372 q: 0.035204 0.815918 -0.051518 0.574790 
wait for imu ... 
time: 1403638148.595097, t: 0.060518 0.047862 0.203918 q: 0.035248 0.819966 -0.049074 0.569214 
time: 1403638148.695097, t: 0.067476 0.048508 0.196109 q: 0.034463 0.823648 -0.046924 0.564105 
wait for imu ... 
time: 1403638148.795097, t: 0.083495 0.047956 0.190680 q: 0.032472 0.826194 -0.045728 0.560587 
time: 1403638148.895097, t: 0.090463 0.053905 0.190087 q: 0.031067 0.826860 -0.044302 0.559799 
time: 1403638148.995097, t: 0.111526 0.059767 0.214388 q: 0.030181 0.825045 -0.043216 0.562602 
time: 1403638149.095097, t: 0.126756 0.059080 0.234618 q: 0.029646 0.821287 -0.041526 0.568229 
time: 1403638149.195097, t: 0.145481 0.064975 0.264179 q: 0.029322 0.818983 -0.040932 0.571605 
wait for imu ... 
time: 1403638149.295097, t: 0.169331 0.070792 0.295609 q: 0.027360 0.817723 -0.042259 0.573406 
time: 1403638149.395097, t: 0.190693 0.077913 0.320757 q: 0.026623 0.816400 -0.042372 0.575314 
time: 1403638149.495097, t: 0.215538 0.084386 0.343836 q: 0.027235 0.815624 -0.041917 0.576418 
wait for imu ... 
time: 1403638149.595097, t: 0.233789 0.089774 0.359745 q: 0.027989 0.815501 -0.040385 0.576666 
wait for imu ... 
time: 1403638149.695097, t: 0.253241 0.096950 0.369685 q: 0.025309 0.815710 -0.035717 0.576802 
wait for imu ... 
time: 1403638149.795097, t: 0.277389 0.104278 0.381618 q: 0.022273 0.815993 -0.030573 0.576822 
time: 1403638149.895097, t: 0.297175 0.111822 0.386915 q: 0.019555 0.816005 -0.026856 0.577090 
time: 1403638150.095097, t: 0.344766 0.133346 0.391838 q: 0.025887 0.816587 -0.016968 0.576392 
wait for imu ... 
time: 1403638150.195097, t: 0.370990 0.149661 0.388630 q: 0.033439 0.816732 -0.011044 0.575942 
optimize pose graph 
time: 1403638150.295097, t: 0.396127 0.169333 0.377505 q: 0.037184 0.817764 -0.008800 0.574284 
time: 1403638150.395097, t: 0.422351 0.193985 0.362841 q: 0.034473 0.821948 -0.009884 0.568432 
wait for imu ... 
time: 1403638150.495097, t: 0.448426 0.226470 0.353898 q: 0.023518 0.827620 -0.010344 0.560700 
time: 1403638150.595097, t: 0.477932 0.261980 0.349449 q: 0.015716 0.831311 -0.006286 0.555550 
time: 1403638150.695097, t: 0.511940 0.300023 0.357041 q: 0.009874 0.831498 -0.002431 0.555435 
wait for imu ... 
time: 1403638150.795097, t: 0.548667 0.337945 0.370859 q: 0.006396 0.830338 0.004168 0.557208 
wait for imu ... 
time: 1403638150.895097, t: 0.590341 0.377980 0.386627 q: 0.002261 0.827751 0.013562 0.560927 
time: 1403638150.995097, t: 0.634919 0.418240 0.398507 q: -0.001787 0.823456 0.021833 0.566957 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638151.095097, t: 0.681400 0.462306 0.404488 q: -0.007551 0.821252 0.034180 0.569492 
time: 1403638151.195097, t: 0.724290 0.507896 0.406157 q: -0.016893 0.818902 0.051604 0.571359 
time: 1403638151.295097, t: 0.769066 0.557109 0.399800 q: -0.031086 0.818600 0.070514 0.569170 
time: 1403638151.395097, t: 0.814207 0.609044 0.392730 q: -0.046486 0.817295 0.090812 0.567116 
time: 1403638151.495097, t: 0.855631 0.661616 0.389915 q: -0.062489 0.814991 0.110278 0.565442 
time: 1403638151.595097, t: 0.895695 0.716680 0.393350 q: -0.075169 0.812773 0.126929 0.563594 
time: 1403638151.695097, t: 0.935751 0.773196 0.402892 q: -0.084156 0.810331 0.139428 0.562887 
wait for imu ... 
time: 1403638151.795097, t: 0.974989 0.831139 0.421123 q: -0.089354 0.809570 0.148177 0.560941 
wait for imu ... 
time: 1403638151.895097, t: 1.013856 0.890377 0.447036 q: -0.092657 0.809149 0.153153 0.559676 
time: 1403638151.995097, t: 1.055196 0.952589 0.476250 q: -0.092575 0.809204 0.156996 0.558543 
time: 1403638152.095097, t: 1.095136 1.016671 0.502589 q: -0.092763 0.809573 0.158004 0.557692 
time: 1403638152.195097, t: 1.134516 1.081993 0.523914 q: -0.092369 0.809516 0.158506 0.557699 
time: 1403638152.295097, t: 1.171622 1.149075 0.537454 q: -0.089950 0.809061 0.160019 0.558322 
optimize pose graph 
wait for imu ... 
time: 1403638152.395097, t: 1.209872 1.219581 0.544506 q: -0.086421 0.808883 0.161173 0.558805 
time: 1403638152.495097, t: 1.247131 1.293468 0.543518 q: -0.082819 0.809346 0.161869 0.558478 
time: 1403638152.695097, t: 1.315964 1.452263 0.530436 q: -0.089076 0.811031 0.160060 0.555586 
time: 1403638152.795097, t: 1.352966 1.538824 0.529973 q: -0.097149 0.809407 0.163589 0.555573 
time: 1403638152.895097, t: 1.390379 1.626305 0.537218 q: -0.108834 0.805285 0.169987 0.557472 
time: 1403638152.995097, t: 1.427664 1.715867 0.552516 q: -0.119680 0.801195 0.181414 0.557540 
time: 1403638153.095097, t: 1.461116 1.804674 0.573890 q: -0.128574 0.801413 0.193879 0.551015 
time: 1403638153.195097, t: 1.494642 1.892079 0.595319 q: -0.134284 0.801848 0.203953 0.545353 
time: 1403638153.295097, t: 1.534778 1.981767 0.613090 q: -0.137852 0.800957 0.212784 0.542391 
time: 1403638153.395097, t: 1.574353 2.070196 0.625462 q: -0.144163 0.799086 0.223381 0.539239 
time: 1403638153.495097, t: 1.616966 2.162562 0.637132 q: -0.146431 0.795406 0.240009 0.536919 
time: 1403638153.595097, t: 1.659117 2.255406 0.654670 q: -0.149285 0.791039 0.258772 0.533862 
time: 1403638153.695097, t: 1.699544 2.350596 0.676534 q: -0.158072 0.785217 0.275801 0.531396 
time: 1403638153.795097, t: 1.738717 2.450359 0.698491 q: -0.171245 0.778666 0.288779 0.530058 
time: 1403638153.895097, t: 1.779426 2.555655 0.714481 q: -0.181804 0.772636 0.298162 0.530171 
time: 1403638153.995097, t: 1.817986 2.661602 0.723949 q: -0.191516 0.767507 0.302485 0.531749 
time: 1403638154.095097, t: 1.857569 2.772276 0.727445 q: -0.197110 0.763740 0.305125 0.533617 
time: 1403638154.195097, t: 1.897441 2.885859 0.726625 q: -0.199367 0.758735 0.306746 0.538963 
time: 1403638154.295097, t: 1.934169 2.999390 0.721493 q: -0.199550 0.754715 0.307667 0.543991 
time: 1403638154.395097, t: 1.969615 3.115564 0.714223 q: -0.202133 0.749567 0.305099 0.551549 
time: 1403638154.495097, t: 1.998492 3.227603 0.701449 q: -0.204395 0.746259 0.302172 0.556787 
time: 1403638154.595097, t: 2.023598 3.342219 0.692847 q: -0.206062 0.747504 0.301748 0.554729 
time: 1403638154.695097, t: 2.038038 3.448888 0.688249 q: -0.208830 0.750096 0.306177 0.547724 
time: 1403638154.795097, t: 2.051967 3.560791 0.693395 q: -0.208136 0.751182 0.315941 0.540913 
time: 1403638154.895097, t: 2.059433 3.668069 0.705120 q: -0.207292 0.749819 0.325126 0.537675 
time: 1403638154.995097, t: 2.063990 3.780151 0.725106 q: -0.208789 0.746300 0.334507 0.536235 
time: 1403638155.095097, t: 2.060051 3.889393 0.750732 q: -0.214992 0.740918 0.344508 0.534915 
time: 1403638155.195097, t: 2.053333 4.001677 0.775835 q: -0.223298 0.735611 0.351844 0.534060 
time: 1403638155.295097, t: 2.041093 4.109964 0.793776 q: -0.230526 0.729347 0.356846 0.536257 
time: 1403638155.395097, t: 2.023622 4.217499 0.805691 q: -0.236121 0.722235 0.363890 0.538709 
time: 1403638155.495097, t: 2.001982 4.327242 0.809449 q: -0.240983 0.715589 0.373533 0.538825 
time: 1403638155.595097, t: 1.971975 4.433591 0.807768 q: -0.255127 0.710238 0.380510 0.534494 
time: 1403638155.695097, t: 1.934948 4.535043 0.803199 q: -0.273653 0.701697 0.388649 0.530742 
time: 1403638155.795097, t: 1.893946 4.634643 0.793310 q: -0.288666 0.693634 0.401514 0.523765 
time: 1403638155.895097, t: 1.848524 4.729321 0.779256 q: -0.301877 0.687334 0.417685 0.511841 
wait for imu ... 
time: 1403638155.995097, t: 1.800241 4.818051 0.765676 q: -0.311992 0.683016 0.438867 0.493504 
wait for imu ... 
time: 1403638156.095097, t: 1.749906 4.901190 0.760215 q: -0.321046 0.677565 0.461280 0.474400 
wait for imu ... 
time: 1403638156.195097, t: 1.699280 4.982060 0.763777 q: -0.333018 0.669983 0.477358 0.460816 
wait for imu ... 
time: 1403638156.295097, t: 1.650154 5.063486 0.773586 q: -0.341104 0.662958 0.493508 0.447867 
time: 1403638156.395097, t: 1.603364 5.145348 0.782410 q: -0.347469 0.658056 0.505273 0.436952 
wait for imu ... 
time: 1403638156.495097, t: 1.559098 5.227675 0.785566 q: -0.351370 0.655074 0.513007 0.429233 
time: 1403638156.595097, t: 1.518127 5.311428 0.783131 q: -0.354599 0.652065 0.517156 0.426169 
wait for imu ... 
time: 1403638156.695097, t: 1.482640 5.398962 0.773164 q: -0.355384 0.651221 0.519144 0.424385 
time: 1403638156.795097, t: 1.447651 5.489260 0.759579 q: -0.355401 0.650503 0.519944 0.424492 
wait for imu ... 
time: 1403638156.895097, t: 1.414941 5.584138 0.743784 q: -0.354346 0.651005 0.519728 0.424869 
time: 1403638156.995097, t: 1.383099 5.679534 0.730695 q: -0.352704 0.652357 0.518576 0.425570 
time: 1403638157.095097, t: 1.355502 5.783877 0.725332 q: -0.350243 0.655306 0.517703 0.424132 
wait for imu ... 
time: 1403638157.195097, t: 1.329142 5.892483 0.726535 q: -0.345973 0.658687 0.517716 0.422380 
time: 1403638157.295097, t: 1.303634 6.002348 0.734923 q: -0.347166 0.658656 0.516731 0.422654 
time: 1403638157.395097, t: 1.287545 6.117775 0.746150 q: -0.346353 0.654621 0.519696 0.425943 
time: 1403638157.495097, t: 1.271988 6.234522 0.754593 q: -0.347978 0.648817 0.522463 0.430094 
wait for imu ... 
time: 1403638157.595097, t: 1.253308 6.356389 0.760897 q: -0.354186 0.639983 0.527292 0.432362 
time: 1403638157.695097, t: 1.233698 6.477838 0.762857 q: -0.361762 0.626323 0.536223 0.435102 
wait for imu ... 
time: 1403638157.795097, t: 1.213309 6.602809 0.768544 q: -0.369769 0.612058 0.549034 0.432687 
time: 1403638157.895097, t: 1.190697 6.727591 0.782100 q: -0.382293 0.599032 0.561263 0.424261 
time: 1403638157.995097, t: 1.166782 6.851765 0.801706 q: -0.392411 0.587495 0.572870 0.415551 
time: 1403638158.095097, t: 1.142018 6.973411 0.818725 q: -0.401768 0.582345 0.580980 0.402392 
wait for imu ... 
time: 1403638158.195097, t: 1.119259 7.093110 0.829812 q: -0.410600 0.578827 0.584956 0.392676 
time: 1403638158.295097, t: 1.098877 7.213342 0.834452 q: -0.414206 0.574175 0.588891 0.389825 
time: 1403638158.395097, t: 1.080052 7.327813 0.834587 q: -0.413247 0.570481 0.593037 0.389982 
time: 1403638158.495097, t: 1.061005 7.440265 0.831704 q: -0.411004 0.565879 0.596208 0.394199 
time: 1403638158.595097, t: 1.042424 7.553363 0.824970 q: -0.409150 0.563216 0.597495 0.397975 
wait for imu ... 
wait for imu ... 
time: 1403638158.695097, t: 1.019439 7.668866 0.817905 q: -0.410141 0.563674 0.595683 0.399022 
wait for imu ... 
time: 1403638158.795097, t: 0.995638 7.781527 0.811048 q: -0.411145 0.568240 0.593816 0.394266 
time: 1403638158.895097, t: 0.971606 7.895120 0.809714 q: -0.410004 0.574571 0.592683 0.387934 
wait for imu ... 
time: 1403638158.995097, t: 0.947385 8.004443 0.816486 q: -0.407954 0.579500 0.592556 0.382923 
time: 1403638159.095097, t: 0.926158 8.117693 0.830535 q: -0.401046 0.585648 0.595831 0.375719 
wait for imu ... 
time: 1403638159.195097, t: 0.904126 8.231993 0.845618 q: -0.391470 0.592840 0.600666 0.366732 
wait for imu ... 
time: 1403638159.295097, t: 0.884871 8.351915 0.856553 q: -0.392307 0.593068 0.598788 0.368536 
wait for imu ... 
time: 1403638159.395097, t: 0.868909 8.474351 0.865327 q: -0.406405 0.586824 0.588652 0.379422 
time: 1403638159.495097, t: 0.854137 8.602112 0.875406 q: -0.424550 0.578749 0.575327 0.392181 
wait for imu ... 
time: 1403638159.595097, t: 0.844632 8.724951 0.891460 q: -0.444703 0.576067 0.560666 0.395019 
wait for imu ... 
time: 1403638159.695097, t: 0.841335 8.843480 0.916097 q: -0.458652 0.575997 0.550432 0.393562 
wait for imu ... 
time: 1403638159.795097, t: 0.848845 8.956007 0.947121 q: -0.461757 0.574733 0.548568 0.394380 
time: 1403638159.895097, t: 0.866969 9.057124 0.987099 q: -0.454700 0.568818 0.554520 0.402742 
time: 1403638159.995097, t: 0.891758 9.145051 1.035052 q: -0.444867 0.563265 0.562460 0.410444 
wait for imu ... 
time: 1403638160.095097, t: 0.919006 9.226401 1.089973 q: -0.437998 0.561847 0.568478 0.411483 
wait for imu ... 
time: 1403638160.195097, t: 0.947803 9.291365 1.151325 q: -0.428190 0.565729 0.576958 0.404627 
time: 1403638160.295097, t: 0.975974 9.358396 1.223055 q: -0.416727 0.572439 0.586221 0.393697 
wait for imu ... 
time: 1403638160.395097, t: 1.006372 9.417469 1.298221 q: -0.408330 0.576071 0.592812 0.387275 
time: 1403638160.495097, t: 1.036267 9.479835 1.372285 q: -0.406260 0.577829 0.594418 0.384361 
wait for imu ... 
time: 1403638160.695097, t: 1.095210 9.624732 1.509861 q: -0.405275 0.578868 0.594747 0.383327 
wait for imu ... 
time: 1403638160.895097, t: 1.157174 9.769640 1.629705 q: -0.424921 0.580330 0.573608 0.391960 
wait for imu ... 
time: 1403638160.995097, t: 1.192614 9.831939 1.680614 q: -0.428131 0.584366 0.558946 0.403484 
wait for imu ... 
time: 1403638161.095097, t: 1.232863 9.892433 1.729575 q: -0.423819 0.593017 0.545672 0.413462 
wait for imu ... 
time: 1403638161.195097, t: 1.278582 9.949418 1.775621 q: -0.410965 0.605225 0.534485 0.423245 
time: 1403638161.295097, t: 1.328337 10.003417 1.819484 q: -0.395420 0.620924 0.520847 0.432220 
time: 1403638161.395097, t: 1.381003 10.055649 1.863662 q: -0.378748 0.637389 0.508687 0.437633 
wait for imu ... 
time: 1403638161.495097, t: 1.433227 10.105107 1.905082 q: -0.362401 0.651289 0.502086 0.438632 
time: 1403638161.595097, t: 1.485582 10.154892 1.941653 q: -0.352544 0.660768 0.495888 0.439538 
wait for imu ... 
time: 1403638161.695097, t: 1.537291 10.204331 1.972817 q: -0.349101 0.667948 0.489050 0.439094 
time: 1403638161.795097, t: 1.591602 10.255164 1.999700 q: -0.349941 0.671315 0.481599 0.441520 
wait for imu ... 
time: 1403638161.895097, t: 1.649009 10.307526 2.023428 q: -0.349135 0.672505 0.473289 0.449266 
time: 1403638161.995097, t: 1.708595 10.356085 2.043208 q: -0.345188 0.675984 0.465738 0.454949 
time: 1403638162.095097, t: 1.771869 10.405192 2.066008 q: -0.342178 0.679347 0.460484 0.457554 
wait for imu ... 
time: 1403638162.195097, t: 1.838206 10.451744 2.094602 q: -0.340554 0.684667 0.456730 0.454589 
wait for imu ... 
time: 1403638162.295097, t: 1.906910 10.495899 2.123902 q: -0.339215 0.688873 0.454188 0.451775 
time: 1403638162.395097, t: 1.979391 10.541439 2.151109 q: -0.341974 0.691005 0.450324 0.450304 
time: 1403638162.495097, t: 2.057769 10.584992 2.170296 q: -0.343002 0.689772 0.448660 0.453066 
wait for imu ... 
time: 1403638162.595097, t: 2.140750 10.628136 2.191969 q: -0.339557 0.687908 0.451482 0.455684 
wait for imu ... 
time: 1403638162.695097, t: 2.227551 10.667669 2.216183 q: -0.335478 0.685574 0.455691 0.458026 
time: 1403638162.795097, t: 2.316576 10.708889 2.252497 q: -0.333699 0.686995 0.456646 0.456242 
time: 1403638162.895097, t: 2.406465 10.746164 2.289716 q: -0.334960 0.690275 0.450688 0.456291 
time: 1403638162.995097, t: 2.501584 10.781911 2.338663 q: -0.340325 0.689769 0.441372 0.462155 
time: 1403638163.095097, t: 2.601144 10.815446 2.378497 q: -0.344440 0.688142 0.432034 0.470285 
wait for imu ... 
time: 1403638163.195097, t: 2.703305 10.844915 2.399754 q: -0.338411 0.691829 0.425892 0.474833 
wait for imu ... 
time: 1403638163.295097, t: 2.807940 10.871085 2.408130 q: -0.326015 0.697195 0.420333 0.480576 
wait for imu ... 
time: 1403638163.395097, t: 2.916520 10.894692 2.412793 q: -0.312908 0.702717 0.411732 0.488625 
time: 1403638163.495097, t: 3.028358 10.917351 2.416917 q: -0.302502 0.709367 0.401175 0.494316 
time: 1403638163.595097, t: 3.137044 10.936348 2.425919 q: -0.295880 0.714699 0.392770 0.497386 
time: 1403638163.695097, t: 3.242724 10.952610 2.443046 q: -0.290429 0.717222 0.388018 0.500685 
time: 1403638163.795097, t: 3.359236 10.988139 2.476047 q: -0.286942 0.718835 0.385240 0.502524 
wait for imu ... 
time: 1403638163.895097, t: 3.455434 10.981609 2.502744 q: -0.289108 0.719416 0.381604 0.503225 
wait for imu ... 
time: 1403638163.995097, t: 3.557224 10.988047 2.541762 q: -0.292249 0.722176 0.378801 0.499562 
time: 1403638164.095097, t: 3.661918 10.993336 2.587927 q: -0.296094 0.723741 0.377328 0.496136 
time: 1403638164.195097, t: 3.769037 10.994528 2.637330 q: -0.301183 0.723618 0.375227 0.494844 
time: 1403638164.295097, t: 3.877484 10.992505 2.684163 q: -0.305222 0.721682 0.374474 0.495767 
time: 1403638164.395097, t: 3.986907 10.983083 2.722914 q: -0.307952 0.720131 0.374365 0.496414 
time: 1403638164.495097, t: 4.097779 10.970499 2.757393 q: -0.310011 0.719790 0.374868 0.495247 
time: 1403638164.595097, t: 4.210368 10.951585 2.786557 q: -0.313180 0.720356 0.373353 0.493572 
time: 1403638164.695097, t: 4.328645 10.927518 2.810400 q: -0.310605 0.722462 0.370188 0.494505 
time: 1403638164.795097, t: 4.450083 10.899904 2.831965 q: -0.300751 0.720389 0.369870 0.503771 
time: 1403638164.895097, t: 4.571437 10.864759 2.848754 q: -0.287126 0.715025 0.373014 0.516874 
time: 1403638164.995097, t: 4.692458 10.828401 2.862598 q: -0.283762 0.712869 0.369885 0.523910 
time: 1403638165.095097, t: 4.805977 10.786731 2.870192 q: -0.290184 0.715585 0.356602 0.525897 
wait for imu ... 
time: 1403638165.195097, t: 4.912147 10.738066 2.871067 q: -0.287728 0.723336 0.349679 0.521270 
time: 1403638165.295097, t: 5.016055 10.683335 2.867355 q: -0.280100 0.734927 0.348171 0.510101 
time: 1403638165.395097, t: 5.122289 10.626968 2.859327 q: -0.279363 0.741891 0.342398 0.504299 
wait for imu ... 
time: 1403638165.495097, t: 5.228269 10.567784 2.847956 q: -0.278084 0.739623 0.338628 0.510840 
wait for imu ... 
time: 1403638165.595097, t: 5.335325 10.504453 2.833591 q: -0.277770 0.731742 0.335046 0.524539 
time: 1403638165.695097, t: 5.443506 10.435347 2.815757 q: -0.276293 0.722446 0.333821 0.538793 
time: 1403638165.795097, t: 5.546696 10.358396 2.791195 q: -0.272188 0.719163 0.335618 0.544131 
time: 1403638165.895097, t: 5.645784 10.278056 2.764713 q: -0.266768 0.724852 0.339871 0.536574 
time: 1403638165.995097, t: 5.740526 10.194731 2.744050 q: -0.261594 0.731043 0.344438 0.527738 
wait for imu ... 
time: 1403638166.095097, t: 5.833539 10.107207 2.734309 q: -0.255784 0.736391 0.349787 0.519569 
time: 1403638166.195097, t: 5.923082 10.023180 2.736815 q: -0.251412 0.737751 0.355197 0.516092 
time: 1403638166.295097, t: 6.011073 9.941433 2.759232 q: -0.249999 0.736850 0.358968 0.515456 
time: 1403638166.395097, t: 6.093914 9.861116 2.801516 q: -0.248205 0.735745 0.362629 0.515338 
time: 1403638166.495097, t: 6.169274 9.783762 2.851913 q: -0.247344 0.735531 0.364886 0.514465 
wait for imu ... 
time: 1403638166.595097, t: 6.239990 9.711801 2.897220 q: -0.249129 0.734828 0.365232 0.514362 
time: 1403638166.695097, t: 6.307688 9.643042 2.935451 q: -0.252248 0.735832 0.364070 0.512226 
wait for imu ... 
time: 1403638166.795097, t: 6.374405 9.578638 2.964457 q: -0.259643 0.740616 0.359988 0.504462 
time: 1403638166.895097, t: 6.441920 9.516085 2.984964 q: -0.265315 0.751379 0.356451 0.487833 
time: 1403638166.995097, t: 6.518049 9.449336 2.996389 q: -0.263946 0.759640 0.357468 0.474864 
time: 1403638167.095097, t: 6.600457 9.391607 3.009572 q: -0.258439 0.762488 0.361312 0.470399 
time: 1403638167.195097, t: 6.691523 9.341822 3.028742 q: -0.252840 0.760724 0.365516 0.473043 
wait for imu ... 
time: 1403638167.295097, t: 6.790883 9.299087 3.054848 q: -0.248458 0.757748 0.368752 0.477607 
wait for imu ... 
time: 1403638167.395097, t: 6.895462 9.265410 3.085815 q: -0.247577 0.756171 0.368967 0.480389 
wait for imu ... 
time: 1403638167.495097, t: 7.004963 9.233812 3.116868 q: -0.250651 0.754059 0.366187 0.484228 
wait for imu ... 
time: 1403638167.595097, t: 7.118841 9.201659 3.143571 q: -0.257270 0.751110 0.360540 0.489547 
time: 1403638167.695097, t: 7.235721 9.170550 3.162893 q: -0.265078 0.751687 0.349884 0.492221 
wait for imu ... 
time: 1403638167.795097, t: 7.357445 9.139504 3.175181 q: -0.268473 0.754883 0.336474 0.494832 
wait for imu ... 
time: 1403638167.895097, t: 7.484023 9.107251 3.183130 q: -0.266453 0.760026 0.322118 0.497597 
wait for imu ... 
time: 1403638167.995097, t: 7.613093 9.073362 3.187625 q: -0.259975 0.764805 0.308348 0.502402 
time: 1403638168.095097, t: 7.748309 9.036270 3.196598 q: -0.254568 0.768470 0.295901 0.507041 
wait for imu ... 
time: 1403638168.195097, t: 7.888401 8.991809 3.213032 q: -0.246315 0.771653 0.285720 0.512099 
wait for imu ... 
time: 1403638168.295097, t: 8.027746 8.942454 3.237058 q: -0.232515 0.775765 0.276843 0.517188 
time: 1403638168.395097, t: 8.170997 8.890494 3.268179 q: -0.220398 0.778832 0.264876 0.524104 
wait for imu ... 
time: 1403638168.495097, t: 8.317225 8.836260 3.301312 q: -0.203554 0.783023 0.259661 0.527273 
wait for imu ... 
time: 1403638168.695097, t: 8.610062 8.736479 3.344351 q: -0.170018 0.792203 0.262514 0.524017 
time: 1403638168.795097, t: 8.755977 8.694829 3.355559 q: -0.163508 0.794209 0.262808 0.522905 
time: 1403638168.895097, t: 8.904132 8.684385 3.354404 q: -0.158543 0.796184 0.263564 0.521046 
time: 1403638168.995097, t: 9.052174 8.638822 3.359271 q: -0.159535 0.795565 0.264843 0.521040 
time: 1403638169.095097, t: 9.200619 8.621681 3.355324 q: -0.165947 0.789879 0.263598 0.528270 
time: 1403638169.195097, t: 9.347809 8.607208 3.346195 q: -0.176893 0.786209 0.260031 0.531947 
wait for imu ... 
time: 1403638169.295097, t: 9.496740 8.598008 3.331591 q: -0.190820 0.784415 0.249676 0.534735 
time: 1403638169.395097, t: 9.647222 8.585656 3.312729 q: -0.206008 0.782721 0.230284 0.540257 
time: 1403638169.495097, t: 9.797456 8.567708 3.291618 q: -0.210054 0.781950 0.211611 0.547405 
time: 1403638169.595097, t: 9.947458 8.537588 3.277709 q: -0.203051 0.782813 0.196411 0.554434 
time: 1403638169.695097, t: 10.098164 8.494280 3.269310 q: -0.184336 0.786795 0.185375 0.559116 
time: 1403638169.795097, t: 10.245228 8.442377 3.267929 q: -0.160363 0.790696 0.174759 0.564397 
time: 1403638169.895097, t: 10.386571 8.385731 3.275258 q: -0.131814 0.793919 0.164701 0.570255 
time: 1403638169.995097, t: 10.522991 8.328774 3.291151 q: -0.107284 0.791058 0.151075 0.583003 
time: 1403638170.095097, t: 10.651026 8.273161 3.309154 q: -0.093437 0.788849 0.129896 0.593392 
wait for imu ... 
time: 1403638170.195097, t: 10.771155 8.218303 3.319355 q: -0.084240 0.791527 0.104672 0.596181 
time: 1403638170.295097, t: 10.860814 8.157064 3.329946 q: -0.076869 0.795245 0.078400 0.596263 
wait for imu ... 
time: 1403638170.395097, t: 10.986399 8.107823 3.319432 q: -0.066480 0.801058 0.053609 0.592463 
time: 1403638170.495097, t: 11.089436 8.050510 3.311715 q: -0.057136 0.805461 0.029538 0.589148 
time: 1403638170.595097, t: 11.187219 7.988732 3.308750 q: -0.052648 0.804702 0.004022 0.591327 
wait for imu ... 
time: 1403638170.695097, t: 11.281127 7.920447 3.314982 q: -0.043043 0.801209 -0.017778 0.596569 
time: 1403638170.795097, t: 11.361301 7.843794 3.327646 q: -0.030814 0.800093 -0.036311 0.597982 
time: 1403638170.895097, t: 11.440228 7.760543 3.340579 q: -0.016441 0.799899 -0.052924 0.597571 
wait for imu ... 
time: 1403638170.995097, t: 11.494940 7.671881 3.347998 q: -0.001749 0.798968 -0.069885 0.597297 
time: 1403638171.095097, t: 11.557033 7.576640 3.350910 q: 0.009585 0.796428 -0.085802 0.598539 
wait for imu ... 
time: 1403638171.195097, t: 11.587241 7.482061 3.349832 q: 0.017011 0.793655 -0.098672 0.600072 
time: 1403638171.295097, t: 11.611412 7.383848 3.347154 q: 0.022204 0.791409 -0.107539 0.601343 
time: 1403638171.395097, t: 11.631266 7.280081 3.343916 q: 0.024954 0.789101 -0.113826 0.603108 
wait for imu ... 
time: 1403638171.495097, t: 11.639461 7.171370 3.339880 q: 0.028030 0.786664 -0.120888 0.604781 
wait for imu ... 
time: 1403638171.595097, t: 11.640700 7.057737 3.333243 q: 0.029783 0.783588 -0.127975 0.607227 
time: 1403638171.695097, t: 11.632044 6.939736 3.325873 q: 0.030973 0.780215 -0.138156 0.609277 
wait for imu ... 
time: 1403638171.795097, t: 11.611712 6.817504 3.316746 q: 0.034708 0.777428 -0.148870 0.610114 
wait for imu ... 
time: 1403638171.895097, t: 11.583320 6.687748 3.310616 q: 0.036417 0.772590 -0.159024 0.613587 
time: 1403638171.995097, t: 11.542541 6.550243 3.309882 q: 0.044959 0.769020 -0.162417 0.616610 
time: 1403638172.095097, t: 11.489152 6.405862 3.314650 q: 0.052625 0.768182 -0.164101 0.616602 
wait for imu ... 
time: 1403638172.195097, t: 11.422385 6.258289 3.317764 q: 0.056157 0.768688 -0.165623 0.615251 
time: 1403638172.295097, t: 11.344820 6.107282 3.312323 q: 0.059538 0.769695 -0.165149 0.613800 
time: 1403638172.395097, t: 11.255312 5.955512 3.297132 q: 0.060477 0.769529 -0.164631 0.614056 
time: 1403638172.495097, t: 11.157624 5.801722 3.271315 q: 0.058801 0.767444 -0.164501 0.616856 
time: 1403638172.595097, t: 11.052106 5.646439 3.236506 q: 0.056493 0.765454 -0.163838 0.619714 
wait for imu ... 
time: 1403638172.695097, t: 10.934656 5.488665 3.193384 q: 0.051993 0.765001 -0.163662 0.620713 
wait for imu ... 
time: 1403638172.795097, t: 10.804411 5.328727 3.146269 q: 0.049504 0.765406 -0.162137 0.620818 
wait for imu ... 
time: 1403638172.895097, t: 10.661590 5.166294 3.094413 q: 0.045478 0.765484 -0.161306 0.621246 
wait for imu ... 
time: 1403638172.995097, t: 10.507519 5.000970 3.038005 q: 0.037829 0.768144 -0.162221 0.618230 
wait for imu ... 
time: 1403638173.095097, t: 10.342831 4.829501 2.975640 q: 0.030669 0.773142 -0.162558 0.612280 
time: 1403638173.195097, t: 10.168062 4.651355 2.908216 q: 0.029615 0.778204 -0.160336 0.606476 
time: 1403638173.295097, t: 9.984288 4.466301 2.835822 q: 0.035558 0.782018 -0.154299 0.602806 
wait for imu ... 
time: 1403638173.395097, t: 9.795288 4.276266 2.757744 q: 0.047428 0.785694 -0.145632 0.599356 
wait for imu ... 
time: 1403638173.495097, t: 9.602523 4.082717 2.668864 q: 0.061000 0.790161 -0.136531 0.594377 
time: 1403638173.595097, t: 9.411919 3.887799 2.573990 q: 0.070468 0.791658 -0.130793 0.592626 
wait for imu ... 
time: 1403638173.695097, t: 9.219466 3.692848 2.476156 q: 0.072190 0.791932 -0.130331 0.592154 
time: 1403638173.795097, t: 9.026177 3.503215 2.373905 q: 0.071554 0.792599 -0.131752 0.591022 
time: 1403638173.895097, t: 8.830401 3.314626 2.275574 q: 0.072674 0.794000 -0.131910 0.588967 
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time: 1403638174.095097, t: 8.427026 2.950651 2.099074 q: 0.071449 0.793741 -0.133651 0.589073 
time: 1403638174.195097, t: 8.219541 2.775036 2.016124 q: 0.072791 0.796926 -0.133069 0.584724 
wait for imu ... 
time: 1403638174.295097, t: 8.011657 2.601140 1.928634 q: 0.071705 0.802666 -0.133086 0.576952 
time: 1403638174.395097, t: 7.805924 2.429145 1.836621 q: 0.071109 0.806208 -0.132951 0.572098 
wait for imu ... 
time: 1403638174.495097, t: 7.605587 2.262186 1.741522 q: 0.070322 0.809270 -0.132348 0.567997 
time: 1403638174.595097, t: 7.412428 2.095882 1.651880 q: 0.072326 0.812937 -0.130197 0.562984 
time: 1403638174.695097, t: 7.223127 1.932632 1.568359 q: 0.074489 0.817382 -0.128524 0.556615 
wait for imu ... 
time: 1403638174.795097, t: 7.040206 1.770098 1.492853 q: 0.075105 0.821480 -0.127993 0.550589 
wait for imu ... 
time: 1403638174.895097, t: 6.865241 1.610982 1.426098 q: 0.077268 0.823475 -0.126406 0.547668 
wait for imu ... 
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time: 1403638175.095097, t: 6.537833 1.296227 1.310074 q: 0.078699 0.823522 -0.127107 0.547231 
time: 1403638175.195097, t: 6.382814 1.139541 1.261927 q: 0.081747 0.823268 -0.126641 0.547274 
time: 1403638175.295097, t: 6.236737 0.984707 1.218196 q: 0.083919 0.825288 -0.126751 0.543867 
time: 1403638175.395097, t: 6.100429 0.833584 1.182454 q: 0.086181 0.830600 -0.126563 0.535404 
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time: 1403638176.695097, t: 5.540778 -0.769714 0.973197 q: 0.107658 0.815591 -0.107013 0.558363 
time: 1403638176.795097, t: 5.551723 -0.851574 0.984687 q: 0.106145 0.815978 -0.107976 0.557902 
time: 1403638176.895097, t: 5.564005 -0.922426 0.999074 q: 0.101309 0.816202 -0.111516 0.557776 
time: 1403638176.995097, t: 5.577942 -0.993290 1.013063 q: 0.102019 0.816652 -0.110939 0.557104 
time: 1403638177.095097, t: 5.594984 -1.053095 1.020742 q: 0.104644 0.817804 -0.109259 0.555256 
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time: 1403638177.395097, t: 5.665994 -1.206406 0.998511 q: 0.109685 0.818161 -0.106423 0.554307 
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time: 1403638177.795097, t: 5.794878 -1.339531 0.903241 q: 0.076159 0.811160 -0.137679 0.563261 
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time: 1403638177.995097, t: 5.864444 -1.404776 0.849547 q: 0.073465 0.797712 -0.145799 0.580518 
time: 1403638178.095097, t: 5.892895 -1.441269 0.833660 q: 0.081958 0.794285 -0.146729 0.583836 
time: 1403638178.195097, t: 5.915676 -1.480745 0.826287 q: 0.090920 0.791083 -0.154418 0.584873 
time: 1403638178.295097, t: 5.931482 -1.524240 0.825952 q: 0.100438 0.786329 -0.168289 0.585899 
time: 1403638178.395097, t: 5.939454 -1.564800 0.835118 q: 0.112024 0.781333 -0.185799 0.585191 
time: 1403638178.495097, t: 5.939641 -1.605336 0.839708 q: 0.123020 0.778573 -0.208242 0.579073 
time: 1403638178.595097, t: 5.933587 -1.646724 0.838156 q: 0.133145 0.777623 -0.232683 0.568712 
time: 1403638178.695097, t: 5.920810 -1.688613 0.833179 q: 0.143263 0.773931 -0.255801 0.561313 
time: 1403638178.795097, t: 5.905012 -1.733257 0.825793 q: 0.155706 0.768356 -0.276083 0.556024 
time: 1403638178.895097, t: 5.886299 -1.780220 0.814484 q: 0.166951 0.766443 -0.292578 0.546892 
time: 1403638178.995097, t: 5.865465 -1.829961 0.799347 q: 0.174205 0.767411 -0.304655 0.536580 
time: 1403638179.095097, t: 5.843035 -1.882372 0.781328 q: 0.181415 0.769928 -0.311335 0.526660 
time: 1403638179.195097, t: 5.821347 -1.939398 0.759172 q: 0.190014 0.771254 -0.316868 0.518321 
time: 1403638179.295097, t: 5.802227 -2.001383 0.733708 q: 0.199198 0.772161 -0.323039 0.509641 
time: 1403638179.395097, t: 5.786581 -2.068666 0.707126 q: 0.209819 0.767831 -0.332536 0.505799 
time: 1403638179.495097, t: 5.774011 -2.139908 0.680348 q: 0.220116 0.754198 -0.346691 0.512386 
time: 1403638179.595097, t: 5.761733 -2.212563 0.650146 q: 0.232648 0.740651 -0.362909 0.515373 
wait for imu ... 
time: 1403638179.695097, t: 5.748392 -2.285313 0.621423 q: 0.245432 0.728645 -0.380229 0.514068 
time: 1403638179.795097, t: 5.732399 -2.357983 0.599174 q: 0.258789 0.718004 -0.398008 0.509007 
time: 1403638179.895097, t: 5.716815 -2.430008 0.583901 q: 0.271578 0.708032 -0.415459 0.502326 
time: 1403638179.995097, t: 5.700216 -2.503679 0.573202 q: 0.278290 0.703721 -0.431514 0.491047 
wait for imu ... 
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time: 1403638180.195097, t: 5.667999 -2.657691 0.563368 q: 0.285090 0.696717 -0.451452 0.479061 
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time: 1403638180.995097, t: 5.555457 -3.397176 0.476146 q: 0.283681 0.707699 -0.448771 0.466147 
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time: 1403638181.195097, t: 5.542106 -3.622541 0.455381 q: 0.278693 0.704579 -0.446663 0.475806 
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time: 1403638181.395097, t: 5.526943 -3.860791 0.420448 q: 0.282170 0.685671 -0.455755 0.492466 
time: 1403638181.495097, t: 5.511989 -3.980334 0.395839 q: 0.287505 0.671129 -0.469164 0.496802 
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time: 1403638181.895097, t: 5.372867 -4.457071 0.331746 q: 0.349367 0.627620 -0.519332 0.462958 
time: 1403638181.995097, t: 5.325577 -4.568450 0.333921 q: 0.356685 0.622454 -0.533019 0.448573 
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time: 1403638183.195097, t: 4.735572 -5.994257 0.532029 q: 0.370808 0.621916 -0.540686 0.428230 
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time: 1403638183.495097, t: 4.611536 -6.392420 0.536080 q: 0.361724 0.636137 -0.545152 0.409017 
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time: 1403638183.995097, t: 4.477277 -7.095602 0.554099 q: 0.382191 0.625452 -0.531177 0.424960 
time: 1403638184.095097, t: 4.462124 -7.229091 0.575397 q: 0.377940 0.627362 -0.534587 0.421657 
time: 1403638184.195097, t: 4.451548 -7.358337 0.596431 q: 0.371580 0.631092 -0.539813 0.415034 
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wait for imu ... 
time: 1403638184.395097, t: 4.441222 -7.618985 0.624986 q: 0.371453 0.630438 -0.541245 0.414275 
time: 1403638184.595097, t: 4.444469 -7.886025 0.643169 q: 0.377591 0.626636 -0.537874 0.418860 
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time: 1403638185.995097, t: 4.857693 -9.660341 0.813658 q: 0.333734 0.644524 -0.510981 0.460553 
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time: 1403638186.395097, t: 5.037854 -10.101910 0.823431 q: 0.342783 0.657635 -0.500264 0.446936 
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wait for imu ... 
time: 1403638187.295097, t: 5.572623 -11.037645 0.906313 q: 0.305415 0.698117 -0.415772 0.496476 
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wait for imu ... 
time: 1403638187.495097, t: 5.724282 -11.220549 0.962955 q: 0.286179 0.709065 -0.380548 0.520107 
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time: 1403638189.695097, t: 6.698542 -11.138119 1.329727 q: 0.193528 0.773577 -0.292311 0.527902 
time: 1403638189.795097, t: 6.706186 -11.066970 1.352020 q: 0.185683 0.778851 -0.293505 0.522272 
time: 1403638189.895097, t: 6.714777 -11.000662 1.367195 q: 0.182810 0.784173 -0.293551 0.515248 
wait for imu ... 
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time: 1403638190.095097, t: 6.747640 -10.888792 1.385069 q: 0.187034 0.780268 -0.291378 0.520864 
time: 1403638190.195097, t: 6.769887 -10.842255 1.386656 q: 0.194153 0.772736 -0.288009 0.531258 
time: 1403638190.295097, t: 6.793245 -10.796796 1.384310 q: 0.208063 0.766303 -0.277132 0.541006 
time: 1403638190.395097, t: 6.816277 -10.749402 1.376608 q: 0.220133 0.764088 -0.260528 0.547573 
time: 1403638190.495097, t: 6.839111 -10.695944 1.363823 q: 0.224644 0.766066 -0.247609 0.548970 
time: 1403638190.595097, t: 6.862861 -10.633932 1.346257 q: 0.218694 0.769234 -0.242848 0.549069 
time: 1403638190.695097, t: 6.888131 -10.564700 1.328244 q: 0.211868 0.770998 -0.241059 0.550059 
time: 1403638190.795097, t: 6.913536 -10.487615 1.313905 q: 0.203485 0.771177 -0.241567 0.552744 
time: 1403638190.895097, t: 6.940299 -10.405688 1.304985 q: 0.192333 0.771614 -0.245802 0.554258 
time: 1403638190.995097, t: 6.965041 -10.319650 1.304939 q: 0.187102 0.771626 -0.247097 0.555454 
time: 1403638191.095097, t: 6.985978 -10.230141 1.312014 q: 0.186087 0.768633 -0.246502 0.560189 
time: 1403638191.195097, t: 7.004656 -10.140027 1.324258 q: 0.183732 0.772489 -0.247893 0.555025 
time: 1403638191.295097, t: 7.021893 -10.051300 1.344228 q: 0.179267 0.779675 -0.251715 0.544619 
time: 1403638191.395097, t: 7.038433 -9.963721 1.368993 q: 0.179616 0.784409 -0.252286 0.537394 
time: 1403638191.495097, t: 7.056453 -9.880774 1.390517 q: 0.178698 0.785840 -0.254112 0.534743 
time: 1403638191.595097, t: 7.072710 -9.793442 1.403076 q: 0.180973 0.785902 -0.253622 0.534118 
time: 1403638191.695097, t: 7.097762 -9.719902 1.416426 q: 0.184570 0.786930 -0.251903 0.532184 
wait for imu ... 
time: 1403638191.795097, t: 7.122153 -9.635697 1.418336 q: 0.190531 0.788112 -0.248383 0.529985 
time: 1403638191.895097, t: 7.158531 -9.564069 1.422436 q: 0.192834 0.788690 -0.247438 0.528733 
time: 1403638191.995097, t: 7.197016 -9.489715 1.423065 q: 0.192006 0.788711 -0.248083 0.528699 
time: 1403638192.095097, t: 7.235301 -9.405694 1.427499 q: 0.193517 0.788685 -0.247115 0.528640 
time: 1403638192.195097, t: 7.283294 -9.327527 1.443425 q: 0.191248 0.787043 -0.248468 0.531273 
time: 1403638192.295097, t: 7.335974 -9.245850 1.467794 q: 0.189622 0.782352 -0.249298 0.538348 
time: 1403638192.395097, t: 7.390246 -9.159632 1.500310 q: 0.189006 0.778038 -0.249227 0.544811 
wait for imu ... 
time: 1403638192.495097, t: 7.445771 -9.067045 1.537569 q: 0.188359 0.775715 -0.249431 0.548243 
time: 1403638192.595097, t: 7.502064 -8.969485 1.581045 q: 0.190139 0.772116 -0.248463 0.553127 
time: 1403638192.695097, t: 7.555555 -8.872031 1.624028 q: 0.191503 0.764771 -0.248026 0.562970 
time: 1403638192.795097, t: 7.602796 -8.770878 1.659872 q: 0.192338 0.757550 -0.247763 0.572484 
time: 1403638192.895097, t: 7.645455 -8.664310 1.691355 q: 0.189496 0.749109 -0.249513 0.583670 
time: 1403638192.995097, t: 7.677935 -8.555627 1.719429 q: 0.181864 0.736639 -0.253262 0.600122 
time: 1403638193.095097, t: 7.697193 -8.444770 1.746536 q: 0.172934 0.734251 -0.252784 0.605863 
time: 1403638193.195097, t: 7.701599 -8.331213 1.778633 q: 0.168120 0.744185 -0.245962 0.597852 
time: 1403638193.395097, t: 7.669359 -8.106050 1.870546 q: 0.169077 0.759210 -0.228536 0.585478 
time: 1403638193.495097, t: 7.637520 -7.995940 1.925368 q: 0.170849 0.760486 -0.221927 0.585850 
time: 1403638193.595097, t: 7.599654 -7.882607 1.972625 q: 0.169606 0.762433 -0.218984 0.584787 
time: 1403638193.695097, t: 7.551526 -7.769534 2.010028 q: 0.165956 0.770076 -0.219349 0.575611 
time: 1403638193.795097, t: 7.498252 -7.653451 2.038968 q: 0.160387 0.777483 -0.221837 0.566202 
wait for imu ... 
time: 1403638193.895097, t: 7.443078 -7.536933 2.063462 q: 0.158669 0.781655 -0.223004 0.560455 
time: 1403638193.995097, t: 7.387989 -7.419551 2.082778 q: 0.156872 0.783966 -0.224450 0.557146 
time: 1403638194.095097, t: 7.333281 -7.303563 2.098045 q: 0.159282 0.781923 -0.223484 0.559714 
time: 1403638194.195097, t: 7.280219 -7.188717 2.109625 q: 0.162126 0.776496 -0.222452 0.566819 
time: 1403638194.295097, t: 7.221926 -7.073722 2.112398 q: 0.163274 0.773303 -0.222161 0.570954 
time: 1403638194.395097, t: 7.160730 -6.957760 2.112721 q: 0.160664 0.776936 -0.224639 0.565769 
time: 1403638194.495097, t: 7.099720 -6.841311 2.120023 q: 0.157484 0.780746 -0.227762 0.560141 
time: 1403638194.595097, t: 7.034020 -6.726732 2.132027 q: 0.156975 0.784412 -0.228975 0.554641 
wait for imu ... 
time: 1403638194.695097, t: 6.969060 -6.612300 2.148427 q: 0.155437 0.789917 -0.230925 0.546392 
time: 1403638194.795097, t: 6.905675 -6.500417 2.163932 q: 0.155427 0.793891 -0.231981 0.540152 
time: 1403638194.895097, t: 6.846736 -6.391762 2.174052 q: 0.155816 0.796915 -0.232862 0.535185 
time: 1403638194.995097, t: 6.793096 -6.287448 2.177476 q: 0.155865 0.798518 -0.233242 0.532610 
time: 1403638195.095097, t: 6.740310 -6.187563 2.175362 q: 0.156021 0.799668 -0.233030 0.530929 
time: 1403638195.195097, t: 6.695672 -6.090491 2.167888 q: 0.153617 0.802993 -0.235048 0.525697 
time: 1403638195.295097, t: 6.656746 -5.998242 2.155005 q: 0.148659 0.810877 -0.238430 0.513352 
time: 1403638195.395097, t: 6.627943 -5.913224 2.139648 q: 0.147462 0.813290 -0.239280 0.509470 
time: 1403638195.495097, t: 6.609503 -5.837298 2.123638 q: 0.150885 0.804596 -0.237221 0.523054 
time: 1403638195.595097, t: 6.596421 -5.765804 2.103003 q: 0.154689 0.795157 -0.234474 0.537419 
time: 1403638195.695097, t: 6.584223 -5.695800 2.079948 q: 0.155697 0.792547 -0.233174 0.541533 
time: 1403638195.795097, t: 6.575489 -5.628272 2.061687 q: 0.153806 0.794336 -0.234071 0.539059 
time: 1403638195.895097, t: 6.568528 -5.561867 2.050585 q: 0.152427 0.799268 -0.234508 0.531923 
time: 1403638195.995097, t: 6.567123 -5.500550 2.046139 q: 0.150259 0.803657 -0.235701 0.525359 
time: 1403638196.095097, t: 6.571612 -5.444427 2.051433 q: 0.150419 0.803794 -0.235410 0.525235 
time: 1403638196.195097, t: 6.581493 -5.391651 2.066521 q: 0.152824 0.799184 -0.233338 0.532450 
time: 1403638196.295097, t: 6.593962 -5.341757 2.085114 q: 0.155107 0.794168 -0.231613 0.539995 
time: 1403638196.395097, t: 6.607201 -5.293211 2.101677 q: 0.155232 0.792479 -0.231497 0.542484 
wait for imu ... 
time: 1403638196.495097, t: 6.622341 -5.247707 2.111474 q: 0.154626 0.792966 -0.232261 0.541618 
time: 1403638196.595097, t: 6.642470 -5.208340 2.112862 q: 0.151898 0.796041 -0.234844 0.536744 
time: 1403638196.695097, t: 6.663163 -5.171650 2.108175 q: 0.148300 0.802066 -0.238114 0.527255 
time: 1403638196.795097, t: 6.685636 -5.136417 2.101138 q: 0.148225 0.804315 -0.238740 0.523555 
time: 1403638196.895097, t: 6.715204 -5.105474 2.092084 q: 0.149610 0.801881 -0.238329 0.527069 
time: 1403638196.995097, t: 6.750730 -5.082610 2.083299 q: 0.151858 0.796789 -0.236369 0.534973 
time: 1403638197.095097, t: 6.787840 -5.063551 2.081539 q: 0.153613 0.793261 -0.235419 0.540109 
time: 1403638197.195097, t: 6.824879 -5.048136 2.087397 q: 0.156761 0.792052 -0.233307 0.541893 
time: 1403638197.295097, t: 6.865409 -5.033625 2.098922 q: 0.164251 0.789832 -0.227764 0.545263 
time: 1403638197.395097, t: 6.905247 -5.021843 2.117991 q: 0.173017 0.787447 -0.221485 0.548577 
time: 1403638197.495097, t: 6.946337 -5.003712 2.142643 q: 0.176574 0.785371 -0.218862 0.551465 
time: 1403638197.595097, t: 6.985917 -4.985191 2.173002 q: 0.175419 0.784105 -0.219079 0.553545 
time: 1403638197.695097, t: 7.024901 -4.958724 2.209561 q: 0.175527 0.783918 -0.218765 0.553900 
time: 1403638197.795097, t: 7.064788 -4.933087 2.242470 q: 0.174756 0.783972 -0.218673 0.554102 
time: 1403638197.895097, t: 7.105456 -4.900916 2.270181 q: 0.170600 0.780395 -0.220915 0.559532 
time: 1403638197.995097, t: 7.144978 -4.866786 2.290934 q: 0.169650 0.771228 -0.220829 0.572417 
time: 1403638198.095097, t: 7.183542 -4.832713 2.292312 q: 0.168560 0.768739 -0.221277 0.575902 
time: 1403638198.195097, t: 7.217914 -4.792462 2.273672 q: 0.165389 0.771609 -0.223597 0.572075 
time: 1403638198.295097, t: 7.245618 -4.746951 2.242772 q: 0.165213 0.775003 -0.223846 0.567423 
time: 1403638198.395097, t: 7.272438 -4.698599 2.206471 q: 0.166534 0.778896 -0.222792 0.562096 
time: 1403638198.495097, t: 7.299630 -4.649266 2.166626 q: 0.172104 0.782292 -0.218885 0.557215 
time: 1403638198.595097, t: 7.324352 -4.596954 2.122549 q: 0.185097 0.784773 -0.209355 0.553209 
time: 1403638198.695097, t: 7.356909 -4.536650 2.080627 q: 0.202375 0.784335 -0.196752 0.552406 
time: 1403638198.795097, t: 7.382122 -4.467199 2.041442 q: 0.215176 0.782436 -0.187038 0.553634 
time: 1403638198.895097, t: 7.415254 -4.383005 2.014229 q: 0.217994 0.782072 -0.184355 0.553945 
time: 1403638198.995097, t: 7.442732 -4.284986 1.993032 q: 0.215460 0.783215 -0.186236 0.552691 
time: 1403638199.095097, t: 7.481406 -4.174250 1.980791 q: 0.212153 0.783971 -0.188966 0.551971 
time: 1403638199.195097, t: 7.513553 -4.049558 1.980520 q: 0.209746 0.782799 -0.191395 0.553715 
time: 1403638199.295097, t: 7.558830 -3.914458 1.990241 q: 0.208315 0.779329 -0.192386 0.558783 
time: 1403638199.395097, t: 7.601719 -3.768455 2.005186 q: 0.210685 0.778250 -0.191183 0.559811 
time: 1403638199.495097, t: 7.644323 -3.609258 2.026808 q: 0.214767 0.780524 -0.189619 0.555609 
time: 1403638199.595097, t: 7.688644 -3.439841 2.054632 q: 0.215181 0.784702 -0.186109 0.550730 
time: 1403638199.695097, t: 7.729489 -3.260202 2.091240 q: 0.205864 0.787136 -0.181976 0.552198 
time: 1403638199.795097, t: 7.777790 -3.070305 2.128070 q: 0.186764 0.789926 -0.185061 0.553975 
time: 1403638199.895097, t: 7.825291 -2.876548 2.160804 q: 0.171229 0.792326 -0.187535 0.554735 
time: 1403638199.995097, t: 7.873036 -2.680411 2.189010 q: 0.161839 0.793812 -0.186496 0.555779 
time: 1403638200.095097, t: 7.920855 -2.481994 2.213102 q: 0.156493 0.796246 -0.177961 0.556625 
time: 1403638200.195097, t: 7.966194 -2.280982 2.238470 q: 0.155742 0.796437 -0.160980 0.561710 
time: 1403638200.295097, t: 8.011109 -2.076002 2.270279 q: 0.148916 0.793878 -0.144318 0.571623 
time: 1403638200.395097, t: 8.054935 -1.865534 2.308944 q: 0.140678 0.792455 -0.127825 0.579556 
time: 1403638200.495097, t: 8.094036 -1.651362 2.353506 q: 0.139434 0.795338 -0.110263 0.579515 
wait for imu ... 
time: 1403638200.595097, t: 8.130517 -1.430700 2.405978 q: 0.136574 0.798702 -0.094912 0.578285 
time: 1403638200.695097, t: 8.164501 -1.201737 2.463113 q: 0.135700 0.801278 -0.076195 0.577696 
time: 1403638200.795097, t: 8.195992 -0.963260 2.519759 q: 0.130560 0.805539 -0.064491 0.574371 
time: 1403638200.895097, t: 8.225129 -0.715346 2.570624 q: 0.122655 0.809100 -0.060090 0.571579 
time: 1403638200.995097, t: 8.252843 -0.460284 2.614079 q: 0.106423 0.809479 -0.065301 0.573718 
time: 1403638201.095097, t: 8.277892 -0.201711 2.650165 q: 0.094340 0.808752 -0.070583 0.576228 
time: 1403638201.195097, t: 8.300933 0.059024 2.678097 q: 0.088704 0.808275 -0.074357 0.577316 
time: 1403638201.395097, t: 8.336334 0.579726 2.709455 q: 0.089095 0.807975 -0.077315 0.577288 
wait for imu ... 
time: 1403638201.495097, t: 8.351764 0.840299 2.714050 q: 0.089752 0.806589 -0.079367 0.578843 
wait for imu ... 
wait for imu ... 
time: 1403638201.595097, t: 8.365438 1.101315 2.712001 q: 0.093324 0.804942 -0.079452 0.580556 
time: 1403638201.695097, t: 8.377682 1.361114 2.700893 q: 0.093068 0.803379 -0.081391 0.582491 
wait for imu ... 
time: 1403638201.795097, t: 8.385887 1.620579 2.680944 q: 0.094897 0.803195 -0.081965 0.582370 
time: 1403638201.895097, t: 8.392481 1.881068 2.654768 q: 0.093101 0.803212 -0.083425 0.582429 
time: 1403638201.995097, t: 8.395077 2.144876 2.629687 q: 0.089100 0.804295 -0.078997 0.582177 
time: 1403638202.095097, t: 8.391537 2.411577 2.608951 q: 0.078580 0.805955 -0.076537 0.581724 
wait for imu ... 
time: 1403638202.195097, t: 8.386095 2.679414 2.594484 q: 0.066826 0.809827 -0.076554 0.577802 
time: 1403638202.295097, t: 8.377008 2.944174 2.586714 q: 0.058994 0.814869 -0.075550 0.571664 
time: 1403638202.395097, t: 8.371454 3.204677 2.585496 q: 0.055215 0.816555 -0.073982 0.569839 
time: 1403638202.495097, t: 8.369675 3.460702 2.580186 q: 0.052752 0.817391 -0.072734 0.569034 
time: 1403638202.595097, t: 8.370234 3.711789 2.566955 q: 0.048411 0.818155 -0.074523 0.568088 
wait for imu ... 
time: 1403638202.695097, t: 8.371504 3.955627 2.547581 q: 0.047497 0.819471 -0.075030 0.566200 
time: 1403638202.795097, t: 8.375354 4.193420 2.522686 q: 0.048906 0.819030 -0.074564 0.566779 
wait for imu ... 
time: 1403638202.895097, t: 8.380600 4.423793 2.495036 q: 0.050738 0.817779 -0.073854 0.568515 
time: 1403638202.995097, t: 8.385511 4.648547 2.468536 q: 0.049686 0.816999 -0.075283 0.569541 
time: 1403638203.095097, t: 8.389227 4.866411 2.445471 q: 0.049238 0.816318 -0.075823 0.570484 
time: 1403638203.195097, t: 8.392759 5.079683 2.430701 q: 0.052869 0.813683 -0.073742 0.574184 
time: 1403638203.295097, t: 8.395440 5.289116 2.422038 q: 0.053716 0.810823 -0.073027 0.578228 
time: 1403638203.395097, t: 8.398250 5.492709 2.415378 q: 0.052118 0.809651 -0.073790 0.579917 
time: 1403638203.495097, t: 8.397746 5.688525 2.402187 q: 0.050335 0.809725 -0.074957 0.579822 
time: 1403638203.595097, t: 8.393820 5.880799 2.386490 q: 0.047296 0.810051 -0.076991 0.579355 
time: 1403638203.695097, t: 8.386108 6.068138 2.371632 q: 0.046706 0.811265 -0.077048 0.577695 
time: 1403638203.795097, t: 8.376868 6.250912 2.366603 q: 0.048207 0.811167 -0.075865 0.577866 
time: 1403638203.895097, t: 8.364937 6.431765 2.367962 q: 0.048626 0.810771 -0.074841 0.578519 
time: 1403638203.995097, t: 8.351383 6.612206 2.375886 q: 0.047153 0.811396 -0.074770 0.577774 
time: 1403638204.095097, t: 8.335591 6.787919 2.392069 q: 0.045407 0.813727 -0.074719 0.574634 
time: 1403638204.195097, t: 8.316829 6.957915 2.414506 q: 0.039896 0.816304 -0.077521 0.571005 
time: 1403638204.295097, t: 8.298432 7.121989 2.443052 q: 0.030794 0.819739 -0.083839 0.565730 
time: 1403638204.395097, t: 8.280509 7.274446 2.473705 q: 0.019892 0.823940 -0.092396 0.558740 
time: 1403638204.495097, t: 8.263161 7.419462 2.502080 q: 0.015708 0.825151 -0.096923 0.556314 
time: 1403638204.595097, t: 8.249475 7.558919 2.525881 q: 0.014169 0.823272 -0.097509 0.559030 
time: 1403638204.695097, t: 8.238025 7.691030 2.541708 q: 0.014089 0.823419 -0.090104 0.560058 
time: 1403638204.795097, t: 8.228246 7.812574 2.550256 q: 0.016546 0.824501 -0.073072 0.560878 
time: 1403638204.895097, t: 8.219857 7.924227 2.551461 q: 0.020207 0.823562 -0.046115 0.564988 
time: 1403638204.995097, t: 8.213214 8.033129 2.544614 q: 0.013145 0.823488 -0.016442 0.566943 
time: 1403638205.095097, t: 8.210120 8.141846 2.532996 q: -0.001024 0.822785 0.018299 0.568057 
time: 1403638205.195097, t: 8.203931 8.253879 2.523332 q: -0.026226 0.820247 0.054964 0.568758 
time: 1403638205.295097, t: 8.199070 8.366396 2.521098 q: -0.053800 0.815247 0.095374 0.568666 
time: 1403638205.395097, t: 8.194326 8.479845 2.527547 q: -0.081783 0.806509 0.135893 0.569551 
time: 1403638205.495097, t: 8.188479 8.592226 2.541167 q: -0.100255 0.795596 0.174344 0.571471 
time: 1403638205.595097, t: 8.178478 8.703469 2.561782 q: -0.107649 0.784949 0.206126 0.574264 
time: 1403638205.695097, t: 8.162963 8.816172 2.589768 q: -0.110046 0.773275 0.229031 0.580931 
time: 1403638205.795097, t: 8.141146 8.934787 2.622144 q: -0.116451 0.765471 0.245898 0.583118 
time: 1403638205.895097, t: 8.105437 9.057407 2.659295 q: -0.127611 0.761309 0.262464 0.578996 
time: 1403638205.995097, t: 8.061751 9.186529 2.699968 q: -0.145785 0.757460 0.278059 0.572437 
time: 1403638206.095097, t: 8.004746 9.315515 2.747353 q: -0.162813 0.751837 0.295460 0.566513 
time: 1403638206.195097, t: 7.936662 9.444922 2.798693 q: -0.179179 0.744179 0.312420 0.562571 
time: 1403638206.295097, t: 7.861020 9.574322 2.845994 q: -0.196302 0.736506 0.326779 0.558785 
time: 1403638206.395097, t: 7.780526 9.703101 2.887219 q: -0.216477 0.732573 0.332975 0.552812 
time: 1403638206.495097, t: 7.694076 9.826952 2.921637 q: -0.230603 0.728833 0.335864 0.550291 
time: 1403638206.595097, t: 7.603357 9.945754 2.949757 q: -0.238713 0.725951 0.337792 0.549461 
time: 1403638206.695097, t: 7.508559 10.060831 2.971556 q: -0.246293 0.723010 0.340253 0.548474 
time: 1403638206.795097, t: 7.409152 10.166545 2.987204 q: -0.252614 0.720537 0.347269 0.544441 
time: 1403638206.895097, t: 7.305537 10.270697 2.996670 q: -0.257046 0.717197 0.352811 0.543214 
time: 1403638206.995097, t: 7.199481 10.372544 3.001056 q: -0.263225 0.713624 0.354217 0.544044 
time: 1403638207.095097, t: 7.092386 10.464737 2.997081 q: -0.266181 0.710195 0.355613 0.546178 
time: 1403638207.195097, t: 6.981331 10.555333 2.985606 q: -0.270059 0.708869 0.355907 0.545805 
time: 1403638207.295097, t: 6.865334 10.635602 2.966432 q: -0.274361 0.704779 0.361309 0.545407 
time: 1403638207.395097, t: 6.743162 10.710837 2.942268 q: -0.283470 0.697727 0.369250 0.544496 
time: 1403638207.495097, t: 6.616180 10.776589 2.920538 q: -0.294411 0.688618 0.382817 0.540906 
time: 1403638207.595097, t: 6.486832 10.832374 2.903565 q: -0.302607 0.683814 0.398781 0.530849 
time: 1403638207.695097, t: 6.354391 10.875222 2.892089 q: -0.309430 0.685492 0.411249 0.515002 
time: 1403638207.795097, t: 6.223630 10.908737 2.889063 q: -0.315200 0.686669 0.419205 0.503391 
time: 1403638207.895097, t: 6.096221 10.937799 2.892195 q: -0.316570 0.690588 0.425433 0.491812 
time: 1403638207.995097, t: 5.970856 10.965133 2.902287 q: -0.315856 0.692251 0.429162 0.486666 
time: 1403638208.095097, t: 5.847515 10.990637 2.911163 q: -0.316613 0.691157 0.429348 0.487564 
time: 1403638208.195097, t: 5.725988 11.012352 2.915427 q: -0.321225 0.688314 0.425346 0.492055 
time: 1403638208.295097, t: 5.608645 11.029334 2.912256 q: -0.320464 0.687271 0.423711 0.495408 
optimize pose graph 
time: 1403638208.395097, t: 5.494524 11.041804 2.900436 q: -0.316747 0.690494 0.424647 0.492508 
time: 1403638208.495097, t: 5.381736 11.048953 2.885864 q: -0.315342 0.691784 0.427663 0.488977 
time: 1403638208.595097, t: 5.270987 11.052304 2.876780 q: -0.318200 0.689327 0.435473 0.483675 
time: 1403638208.695097, t: 5.159070 11.054784 2.875119 q: -0.325054 0.683941 0.443197 0.479731 
wait for imu ... 
time: 1403638208.795097, t: 5.049774 11.052872 2.881048 q: -0.332000 0.679404 0.449310 0.475717 
time: 1403638208.895097, t: 4.944981 11.047994 2.888239 q: -0.335891 0.674108 0.455050 0.475064 
time: 1403638208.995097, t: 4.843692 11.038841 2.890325 q: -0.338653 0.670116 0.459320 0.474641 
wait for imu ... 
time: 1403638209.195097, t: 4.653723 11.012013 2.872573 q: -0.342178 0.667446 0.463603 0.471702 
time: 1403638209.295097, t: 4.561115 10.996173 2.853468 q: -0.344140 0.667547 0.463365 0.470363 
time: 1403638209.395097, t: 4.470706 10.976757 2.828637 q: -0.345391 0.668020 0.463024 0.469108 
time: 1403638209.495097, t: 4.382651 10.957824 2.797915 q: -0.347138 0.667435 0.461799 0.469859 
time: 1403638209.595097, t: 4.297038 10.937702 2.755345 q: -0.348635 0.666059 0.460160 0.472305 
time: 1403638209.695097, t: 4.209550 10.914414 2.693696 q: -0.348054 0.667778 0.459167 0.471271 
time: 1403638209.795097, t: 4.128211 10.886811 2.614014 q: -0.345029 0.666651 0.460565 0.473721 
time: 1403638209.895097, t: 4.044474 10.857393 2.519120 q: -0.343229 0.664639 0.460984 0.477433 
time: 1403638209.995097, t: 3.968164 10.826904 2.418367 q: -0.344670 0.660765 0.459471 0.483196 
time: 1403638210.095097, t: 3.887722 10.788465 2.318278 q: -0.348091 0.656526 0.456528 0.489273 
time: 1403638210.195097, t: 3.814289 10.745653 2.225169 q: -0.351855 0.652990 0.453727 0.493896 
time: 1403638210.295097, t: 3.735157 10.690113 2.136655 q: -0.352700 0.653322 0.453027 0.493498 
optimize pose graph 
time: 1403638210.395097, t: 3.658958 10.630562 2.051225 q: -0.351860 0.654022 0.453411 0.492817 
time: 1403638210.495097, t: 3.580123 10.557634 1.963127 q: -0.352953 0.654159 0.452473 0.492715 
time: 1403638210.595097, t: 3.500219 10.481282 1.869324 q: -0.352806 0.653738 0.451899 0.493904 
time: 1403638210.695097, t: 3.423231 10.396933 1.772775 q: -0.355343 0.654024 0.449615 0.493792 
time: 1403638210.795097, t: 3.344842 10.305835 1.678522 q: -0.355280 0.654040 0.449297 0.494105 
time: 1403638210.895097, t: 3.263399 10.204626 1.590342 q: -0.355005 0.657255 0.449601 0.489741 
time: 1403638210.995097, t: 3.183801 10.098238 1.509074 q: -0.352623 0.660832 0.451526 0.484853 
time: 1403638211.095097, t: 3.104359 9.987832 1.435385 q: -0.351011 0.663842 0.452963 0.480552 
time: 1403638211.195097, t: 3.030037 9.876576 1.373146 q: -0.350593 0.666803 0.453744 0.475998 
time: 1403638211.295097, t: 2.958061 9.763455 1.318332 q: -0.348891 0.668045 0.454224 0.475048 
time: 1403638211.395097, t: 2.890586 9.648931 1.266944 q: -0.345484 0.671175 0.450111 0.477037 
time: 1403638211.495097, t: 2.826247 9.531201 1.212623 q: -0.339551 0.677739 0.441593 0.479969 
time: 1403638211.595097, t: 2.765402 9.409419 1.152330 q: -0.333375 0.686352 0.428282 0.484104 
time: 1403638211.695097, t: 2.709074 9.283175 1.085431 q: -0.326135 0.696093 0.410222 0.490723 
time: 1403638211.795097, t: 2.656554 9.152510 1.014867 q: -0.315506 0.709348 0.389164 0.495816 
time: 1403638211.995097, t: 2.568684 8.881328 0.887474 q: -0.291582 0.734550 0.343909 0.507091 
time: 1403638212.095097, t: 2.531635 8.740129 0.834396 q: -0.276552 0.744012 0.323868 0.514855 
time: 1403638212.195097, t: 2.500393 8.595986 0.791570 q: -0.258992 0.751396 0.305921 0.524157 
time: 1403638212.295097, t: 2.469574 8.446364 0.757653 q: -0.243096 0.759170 0.286309 0.531594 
time: 1403638212.395097, t: 2.440355 8.293872 0.730752 q: -0.225868 0.765912 0.267909 0.539062 
optimize pose graph 
time: 1403638212.495097, t: 2.411436 8.137089 0.710319 q: -0.211404 0.772307 0.247278 0.545623 
time: 1403638212.595097, t: 2.383299 7.975694 0.696878 q: -0.197036 0.779443 0.226463 0.549872 
time: 1403638212.695097, t: 2.353883 7.808094 0.687587 q: -0.183072 0.786271 0.204642 0.553519 
time: 1403638212.795097, t: 2.326154 7.639129 0.687532 q: -0.166021 0.791922 0.183590 0.558204 
wait for imu ... 
time: 1403638212.895097, t: 2.297349 7.465488 0.689628 q: -0.150894 0.798145 0.159425 0.561052 
time: 1403638212.995097, t: 2.271827 7.292329 0.698973 q: -0.132823 0.803883 0.135292 0.563761 
time: 1403638213.095097, t: 2.248155 7.116731 0.713212 q: -0.115968 0.808607 0.108890 0.566435 
time: 1403638213.195097, t: 2.226433 6.940251 0.725841 q: -0.101598 0.815488 0.080338 0.564095 
time: 1403638213.295097, t: 2.208072 6.761747 0.731995 q: -0.090176 0.824420 0.049738 0.556530 
time: 1403638213.395097, t: 2.195483 6.580455 0.731981 q: -0.080237 0.832222 0.018094 0.548308 
time: 1403638213.495097, t: 2.189494 6.394184 0.727542 q: -0.071278 0.836033 -0.013270 0.543869 
time: 1403638213.595097, t: 2.194068 6.202274 0.723197 q: -0.053821 0.833566 -0.033670 0.548759 
time: 1403638213.695097, t: 2.204367 6.003039 0.720927 q: -0.030298 0.824840 -0.039920 0.563140 
time: 1403638213.795097, t: 2.216729 5.801257 0.723308 q: -0.010615 0.817960 -0.040538 0.573747 
time: 1403638213.895097, t: 2.228294 5.598256 0.732118 q: 0.000139 0.814994 -0.040919 0.578023 
time: 1403638213.995097, t: 2.237840 5.397458 0.745702 q: 0.004720 0.815637 -0.040677 0.577112 
time: 1403638214.095097, t: 2.246741 5.199997 0.762999 q: 0.007292 0.821557 -0.038590 0.568772 
time: 1403638214.195097, t: 2.256324 5.002580 0.784914 q: 0.006325 0.828501 -0.036095 0.558787 
time: 1403638214.295097, t: 2.268804 4.806363 0.806779 q: 0.004257 0.833812 -0.033081 0.551040 
wait for imu ... 
time: 1403638214.395097, t: 2.289464 4.608029 0.820351 q: 0.002546 0.837316 -0.029031 0.545943 
time: 1403638214.495097, t: 2.316809 4.405291 0.828632 q: 0.000905 0.835345 -0.024307 0.549187 
time: 1403638214.595097, t: 2.349506 4.205940 0.829888 q: -0.000146 0.829172 -0.020199 0.558628 
time: 1403638214.795097, t: 2.417246 3.820264 0.816537 q: -0.003462 0.817447 -0.013387 0.575838 
time: 1403638214.895097, t: 2.448054 3.629704 0.801377 q: -0.004603 0.814401 -0.010385 0.580191 
time: 1403638214.995097, t: 2.477550 3.447229 0.780534 q: -0.005478 0.812609 -0.008549 0.582720 
time: 1403638215.095097, t: 2.503919 3.266933 0.754886 q: -0.005207 0.812464 -0.006600 0.582951 
time: 1403638215.195097, t: 2.527075 3.090391 0.725367 q: -0.004931 0.813675 -0.005635 0.581272 
wait for imu ... 
time: 1403638215.295097, t: 2.548736 2.915674 0.694106 q: -0.001447 0.815642 -0.003222 0.578545 
time: 1403638215.395097, t: 2.570045 2.744721 0.663446 q: 0.002770 0.816291 -0.000762 0.577633 
time: 1403638215.495097, t: 2.591101 2.578450 0.639221 q: 0.006599 0.815930 0.002041 0.578110 
time: 1403638215.595097, t: 2.611431 2.418222 0.623077 q: 0.008048 0.814693 0.002850 0.579829 
time: 1403638215.695097, t: 2.630199 2.263501 0.613519 q: 0.004858 0.813963 0.000789 0.580895 
time: 1403638215.795097, t: 2.646284 2.111746 0.605828 q: 0.002003 0.813453 -0.003071 0.581619 
time: 1403638215.895097, t: 2.658450 1.968095 0.592109 q: 0.003143 0.813521 -0.008894 0.581458 
time: 1403638215.995097, t: 2.667116 1.825087 0.573233 q: 0.004566 0.813253 -0.013667 0.581732 
time: 1403638216.095097, t: 2.672791 1.687346 0.551385 q: 0.008112 0.813012 -0.015931 0.581972 
time: 1403638216.195097, t: 2.676393 1.555005 0.533750 q: 0.010631 0.812980 -0.017549 0.581930 
time: 1403638216.295097, t: 2.678083 1.424167 0.522754 q: 0.013082 0.811838 -0.018640 0.583439 
time: 1403638216.395097, t: 2.678222 1.298244 0.517700 q: 0.014991 0.810405 -0.019119 0.585366 
time: 1403638216.495097, t: 2.675252 1.177914 0.518021 q: 0.015629 0.809909 -0.019705 0.586016 
time: 1403638216.595097, t: 2.669442 1.064047 0.514980 q: 0.017834 0.810654 -0.019240 0.584937 
time: 1403638216.695097, t: 2.661859 0.953587 0.504144 q: 0.020788 0.812496 -0.017699 0.582326 
time: 1403638216.795097, t: 2.653931 0.847837 0.487879 q: 0.024241 0.811641 -0.016254 0.583428 
time: 1403638216.895097, t: 2.643681 0.746106 0.466766 q: 0.028448 0.807839 -0.020744 0.588351 
time: 1403638216.995097, t: 2.631564 0.647957 0.442911 q: 0.031924 0.806779 -0.031328 0.589158 
time: 1403638217.095097, t: 2.615332 0.557827 0.415420 q: 0.036124 0.808460 -0.046360 0.585610 
time: 1403638217.195097, t: 2.595825 0.470207 0.385935 q: 0.042294 0.810159 -0.061055 0.581486 
time: 1403638217.295097, t: 2.575640 0.387456 0.358087 q: 0.049067 0.811416 -0.070472 0.578126 
time: 1403638217.495097, t: 2.530684 0.234793 0.327228 q: 0.059742 0.812894 -0.080118 0.573773 
time: 1403638217.595097, t: 2.507475 0.162824 0.324576 q: 0.066598 0.813876 -0.079607 0.571693 
time: 1403638217.695097, t: 2.483724 0.095262 0.329207 q: 0.075081 0.814271 -0.075647 0.570617 
time: 1403638217.795097, t: 2.459097 0.033560 0.340474 q: 0.081269 0.815760 -0.071141 0.568217 
time: 1403638217.995097, t: 2.414207 -0.064897 0.372629 q: 0.084637 0.814053 -0.065916 0.570797 
time: 1403638218.195097, t: 2.376691 -0.134267 0.382783 q: 0.082445 0.810920 -0.063453 0.575835 
time: 1403638218.295097, t: 2.357802 -0.157972 0.381029 q: 0.080217 0.807278 -0.062097 0.581387 
time: 1403638218.395097, t: 2.340862 -0.175845 0.377673 q: 0.073508 0.805115 -0.064025 0.585053 
time: 1403638218.495097, t: 2.317409 -0.183285 0.383165 q: 0.068134 0.805339 -0.065749 0.585205 
time: 1403638218.595097, t: 2.295813 -0.187913 0.394288 q: 0.065843 0.806476 -0.066112 0.583859 
optimize pose graph 
time: 1403638218.695097, t: 2.265528 -0.184510 0.410362 q: 0.063387 0.810280 -0.068015 0.578620 
time: 1403638218.795097, t: 2.236257 -0.177695 0.423092 q: 0.066481 0.814620 -0.073581 0.571455 
time: 1403638218.895097, t: 2.211234 -0.168881 0.428001 q: 0.070201 0.816476 -0.081498 0.567271 
time: 1403638218.995097, t: 2.188210 -0.155220 0.427163 q: 0.060828 0.815637 -0.096546 0.567200 
time: 1403638219.095097, t: 2.162962 -0.140791 0.424007 q: 0.053490 0.812912 -0.108538 0.569678 
time: 1403638219.195097, t: 2.142214 -0.127997 0.417771 q: 0.057297 0.810403 -0.110821 0.572435 
time: 1403638219.295097, t: 2.115671 -0.117922 0.410984 q: 0.066441 0.804805 -0.107802 0.579873 
time: 1403638219.395097, t: 2.088252 -0.108082 0.403463 q: 0.072926 0.797322 -0.104924 0.589873 
time: 1403638219.495097, t: 2.063804 -0.097553 0.398500 q: 0.076976 0.792235 -0.102503 0.596601 
time: 1403638219.595097, t: 2.033354 -0.085928 0.398226 q: 0.074641 0.792951 -0.104050 0.595676 
time: 1403638219.695097, t: 1.992085 -0.069684 0.402254 q: 0.068892 0.795396 -0.107616 0.592468 
time: 1403638219.795097, t: 1.946212 -0.053053 0.403466 q: 0.061526 0.798711 -0.112367 0.587919 
time: 1403638219.895097, t: 1.896956 -0.038320 0.398765 q: 0.052841 0.801567 -0.118122 0.583734 
time: 1403638219.995097, t: 1.845160 -0.029249 0.389238 q: 0.045507 0.803916 -0.123051 0.580093 
time: 1403638220.095097, t: 1.791348 -0.022963 0.373375 q: 0.043345 0.806170 -0.124544 0.576801 
time: 1403638220.195097, t: 1.734919 -0.024784 0.362638 q: 0.051478 0.808472 -0.119189 0.574035 
time: 1403638220.295097, t: 1.681357 -0.029511 0.358391 q: 0.066707 0.811053 -0.108826 0.570877 
time: 1403638220.395097, t: 1.622499 -0.035158 0.363958 q: 0.075485 0.811627 -0.103171 0.570017 
time: 1403638220.495097, t: 1.562598 -0.038124 0.375683 q: 0.078924 0.811874 -0.101019 0.569584 
time: 1403638220.595097, t: 1.506926 -0.038697 0.389181 q: 0.079818 0.811274 -0.101485 0.570232 
time: 1403638220.695097, t: 1.448690 -0.038927 0.400300 q: 0.080718 0.810777 -0.102346 0.570657 
optimize pose graph 
time: 1403638220.795097, t: 1.394282 -0.036900 0.402580 q: 0.080030 0.810915 -0.104298 0.570205 
time: 1403638220.895097, t: 1.339365 -0.032490 0.398136 q: 0.080261 0.810765 -0.105569 0.570152 
time: 1403638220.995097, t: 1.284436 -0.025496 0.385519 q: 0.079371 0.811516 -0.107453 0.568855 
time: 1403638221.095097, t: 1.231347 -0.017847 0.369780 q: 0.079590 0.811906 -0.108399 0.568087 
time: 1403638221.195097, t: 1.173857 -0.008967 0.356352 q: 0.079622 0.813148 -0.109122 0.566166 
time: 1403638221.295097, t: 1.123734 0.001415 0.350750 q: 0.078128 0.814545 -0.110707 0.564053 
time: 1403638221.395097, t: 1.073899 0.012333 0.350820 q: 0.075935 0.815619 -0.113058 0.562332 
time: 1403638221.495097, t: 1.023618 0.021669 0.351436 q: 0.073648 0.815813 -0.115155 0.561930 
time: 1403638221.595097, t: 0.979246 0.031883 0.346344 q: 0.072172 0.815027 -0.117144 0.562850 
time: 1403638221.695097, t: 0.937187 0.040233 0.337227 q: 0.071501 0.813331 -0.117669 0.565274 
time: 1403638221.795097, t: 0.896925 0.046970 0.328895 q: 0.069333 0.811218 -0.118901 0.568315 
time: 1403638221.895097, t: 0.858067 0.053032 0.326962 q: 0.071381 0.810133 -0.116946 0.570011 
time: 1403638221.995097, t: 0.822755 0.056719 0.335635 q: 0.075253 0.809546 -0.113702 0.571003 
time: 1403638222.095097, t: 0.782057 0.062338 0.347454 q: 0.078620 0.811279 -0.111283 0.568560 
time: 1403638222.195097, t: 0.742856 0.068282 0.356096 q: 0.078939 0.815134 -0.111320 0.562968 
time: 1403638222.295097, t: 0.704732 0.075185 0.358865 q: 0.077999 0.818556 -0.112506 0.557875 
time: 1403638222.395097, t: 0.676620 0.081049 0.355416 q: 0.077191 0.821441 -0.113519 0.553525 
time: 1403638222.495097, t: 0.645317 0.088031 0.348278 q: 0.076905 0.823735 -0.113543 0.550141 
time: 1403638222.595097, t: 0.623967 0.093851 0.336516 q: 0.077156 0.819986 -0.113321 0.555723 
time: 1403638222.695097, t: 0.600820 0.099588 0.323517 q: 0.076242 0.814634 -0.113921 0.563543 
time: 1403638222.795097, t: 0.580864 0.105970 0.307229 q: 0.077180 0.812271 -0.113389 0.566923 
optimize pose graph 
time: 1403638222.895097, t: 0.560097 0.112263 0.290743 q: 0.078685 0.806698 -0.112029 0.574888 
time: 1403638222.995097, t: 0.542517 0.118439 0.272167 q: 0.077817 0.802029 -0.112143 0.581480 
time: 1403638223.095097, t: 0.515867 0.126679 0.258597 q: 0.077961 0.804773 -0.111821 0.577718 
time: 1403638223.195097, t: 0.486677 0.135521 0.250123 q: 0.075412 0.813776 -0.114124 0.564852 
time: 1403638223.295097, t: 0.458698 0.145886 0.244358 q: 0.069627 0.821310 -0.118508 0.553676 
time: 1403638223.395097, t: 0.433125 0.153054 0.240029 q: 0.066691 0.819409 -0.120957 0.556319 
time: 1403638223.495097, t: 0.409685 0.159101 0.234108 q: 0.056528 0.814309 -0.128049 0.563302 
time: 1403638223.595097, t: 0.389684 0.158743 0.224414 q: 0.055472 0.811822 -0.128860 0.566800 
time: 1403638223.695097, t: 0.366969 0.155071 0.217224 q: 0.066290 0.811745 -0.121624 0.567347 
time: 1403638223.895097, t: 0.322617 0.144996 0.190092 q: 0.082376 0.813528 -0.110461 0.564964 
time: 1403638223.995097, t: 0.304809 0.140671 0.179134 q: 0.086089 0.813940 -0.107760 0.564339 
time: 1403638224.095097, t: 0.286753 0.138996 0.160848 q: 0.085281 0.817943 -0.108126 0.558575 
time: 1403638224.195097, t: 0.278315 0.138689 0.141836 q: 0.082924 0.824251 -0.109785 0.549255 
time: 1403638224.295097, t: 0.271582 0.141782 0.127854 q: 0.082403 0.823626 -0.110064 0.550214 
time: 1403638224.395097, t: 0.267004 0.144854 0.116641 q: 0.079961 0.817410 -0.112409 0.559295 
time: 1403638224.495097, t: 0.265730 0.149843 0.104505 q: 0.075127 0.809795 -0.115667 0.570271 
time: 1403638224.595097, t: 0.263166 0.154453 0.092592 q: 0.076966 0.806492 -0.114155 0.574992 
time: 1403638224.695097, t: 0.258603 0.159575 0.078479 q: 0.077444 0.814003 -0.113934 0.564288 
time: 1403638224.895097, t: 0.257524 0.172355 0.059755 q: 0.072815 0.818858 -0.117098 0.557187 
optimize pose graph 
time: 1403638224.995097, t: 0.264392 0.177356 0.062545 q: 0.064940 0.810802 -0.121682 0.568838 
time: 1403638225.095097, t: 0.269325 0.180320 0.065549 q: 0.064207 0.807011 -0.121277 0.574371 
time: 1403638225.195097, t: 0.272560 0.181035 0.069057 q: 0.069743 0.810485 -0.116602 0.569785 
time: 1403638225.295097, t: 0.274733 0.181106 0.073761 q: 0.073003 0.817905 -0.113570 0.559288 
time: 1403638225.395097, t: 0.278680 0.180369 0.079908 q: 0.075383 0.817153 -0.111360 0.560515 
time: 1403638225.495097, t: 0.284601 0.179891 0.080589 q: 0.077743 0.809085 -0.109610 0.572122 
time: 1403638225.595097, t: 0.289691 0.179498 0.073989 q: 0.080737 0.798310 -0.107798 0.586995 
time: 1403638225.695097, t: 0.290541 0.180617 0.059952 q: 0.081976 0.793169 -0.106686 0.593954 
time: 1403638225.795097, t: 0.285532 0.184994 0.033640 q: 0.081095 0.800326 -0.107348 0.584276 
time: 1403638225.895097, t: 0.278704 0.191555 -0.000892 q: 0.080361 0.812846 -0.108016 0.566706 
time: 1403638225.995097, t: 0.273194 0.199549 -0.038982 q: 0.076154 0.821117 -0.110901 0.554678 
time: 1403638226.095097, t: 0.278079 0.211082 -0.039420 q: 0.056610 0.824362 -0.120970 0.550081 
time: 1403638226.195097, t: 0.287454 0.219777 -0.036874 q: 0.057074 0.829582 -0.118426 0.542689 
time: 1403638226.295097, t: 0.290477 0.224580 -0.038878 q: 0.069795 0.821425 -0.117092 0.553786 
time: 1403638226.495097, t: 0.289859 0.235579 -0.054248 q: 0.075938 0.825888 -0.108590 0.548042 
time: 1403638226.595097, t: 0.286900 0.231190 -0.052472 q: 0.076241 0.825541 -0.107976 0.548645 
wait for imu ... 
time: 1403638226.695097, t: 0.287332 0.224508 -0.028727 q: 0.075968 0.825951 -0.107618 0.548135 
wait for imu ... 
time: 1403638226.795097, t: 0.291030 0.212496 -0.023700 q: 0.075635 0.825984 -0.107229 0.548208 
time: 1403638226.895097, t: 0.290549 0.211339 -0.016072 q: 0.075416 0.826134 -0.107458 0.547967 
time: 1403638226.995097, t: 0.291143 0.211496 -0.009827 q: 0.074648 0.826251 -0.108325 0.547725 
wait for imu ... 
time: 1403638227.095097, t: 0.292590 0.212395 -0.004232 q: 0.074651 0.826195 -0.108569 0.547761 
time: 1403638227.195097, t: 0.292888 0.210507 0.000109 q: 0.074840 0.826241 -0.108383 0.547703 
time: 1403638227.295097, t: 0.292181 0.206136 0.003140 q: 0.074995 0.826332 -0.108045 0.547610 
time: 1403638227.395097, t: 0.290280 0.202000 0.005975 q: 0.075073 0.826388 -0.107817 0.547560 
time: 1403638227.495097, t: 0.289846 0.199713 0.009104 q: 0.074905 0.826460 -0.107915 0.547455 
time: 1403638227.595097, t: 0.287884 0.201768 0.014208 q: 0.074782 0.826440 -0.108082 0.547470 
wait for imu ... 
time: 1403638227.695097, t: 0.287578 0.204895 0.018649 q: 0.074759 0.826505 -0.108300 0.547332 
time: 1403638227.795097, t: 0.289227 0.204605 0.020469 q: 0.074740 0.826543 -0.108356 0.547265 
time: 1403638227.895097, t: 0.290663 0.203994 0.021082 q: 0.074807 0.826619 -0.108301 0.547153 
time: 1403638227.995097, t: 0.291678 0.202849 0.020961 q: 0.074792 0.826645 -0.108326 0.547110 
time: 1403638228.095097, t: 0.292455 0.201691 0.020238 q: 0.074814 0.826704 -0.108270 0.547029 
time: 1403638228.195097, t: 0.294733 0.201493 0.018800 q: 0.074770 0.826738 -0.108334 0.546972 
wait for imu ... 
time: 1403638228.295097, t: 0.297506 0.202379 0.016428 q: 0.074714 0.826750 -0.108440 0.546939 
time: 1403638228.395097, t: 0.299701 0.203707 0.013326 q: 0.074648 0.826798 -0.108557 0.546853 
wait for imu ... 
time: 1403638228.495097, t: 0.300507 0.205391 0.010296 q: 0.074675 0.826797 -0.108566 0.546848 
time: 1403638228.595097, t: 0.301313 0.205479 0.006815 q: 0.074616 0.826872 -0.108528 0.546751 
time: 1403638228.695097, t: 0.304376 0.205604 0.001479 q: 0.074661 0.826890 -0.108559 0.546712 
wait for imu ... 
time: 1403638228.795097, t: 0.304854 0.207692 -0.001790 q: 0.074685 0.826938 -0.108588 0.546631 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720480346.401576269]: Shutdown request received.[0m
[33m[ WARN] [1720480346.401618732]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720480346.402481552]: Shutdown request received.[0m
[33m[ WARN] [1720480346.402509753]: Reason given for shutdown: [user request][0m
killed
