/SLAM-Hive/slam_hive_results/mapping_results/2894/2102_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720480374.581609418]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720480374.585836902]: init begins[0m
[31m[ERROR] [1720480374.587287540]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9b3c0bf6-3d7f-11ef-a393-0242ac110005/roslaunch-18cf205dd453-118.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://18cf205dd453:45103/[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://18cf205dd453:11311/[0m
]2;roscore http://18cf205dd453:11311/
[1msetting /run_id to 9b3c0bf6-3d7f-11ef-a393-0242ac110005[0m
[0m[ INFO] [1720480375.739486442]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720480375.742376999]: 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] [1720480375.748545779]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720480375.748742511]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720480375.748769387]: ROW: 288 COL: 451 [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] [1720480375.748979845]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720480375.749232062]: 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 [219][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720480384.735484207]: 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: 316842257.63 
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] [1720480386.087216172]: IMU excitation not enouth![0m
[0m[ INFO] [1720480386.087775381]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480386.272635327]: IMU excitation not enouth![0m
[0m[ INFO] [1720480386.272840455]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480386.377004017]: IMU excitation not enouth![0m
[0m[ INFO] [1720480386.377350008]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480386.585077895]: IMU excitation not enouth![0m
[0m[ INFO] [1720480386.585674467]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480386.781066366]: IMU excitation not enouth![0m
[0m[ INFO] [1720480386.781723346]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480386.873184728]: IMU excitation not enouth![0m
[0m[ INFO] [1720480386.873413025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480387.088686382]: IMU excitation not enouth![0m
[33m[ WARN] [1720480387.175559880]: gyroscope bias initial calibration -0.0050474  0.0312337  0.0678321[0m
[0m[ INFO] [1720480387.241755191]: Initialization finish![0m
time: 1403638129.295097, t: 0.004996 -0.002916 0.013964 q: -0.022509 0.829925 -0.015756 0.557198 
time: 1403638129.395097, t: 0.002183 -0.005332 0.023974 q: -0.047528 0.815780 -0.038183 0.575139 
time: 1403638129.495097, t: 0.001146 -0.005682 0.030667 q: -0.048860 0.821466 -0.035860 0.567028 
wait for imu ... 
time: 1403638129.595097, t: 0.001866 -0.002793 0.037689 q: -0.031707 0.834156 -0.011745 0.550491 
wait for imu ... 
time: 1403638129.695097, t: 0.003466 -0.000781 0.048531 q: -0.019534 0.836183 0.001346 0.548100 
wait for imu ... 
time: 1403638129.795097, t: 0.004517 0.000529 0.063232 q: -0.022019 0.833883 -0.000127 0.551502 
wait for imu ... 
time: 1403638129.895097, t: 0.005580 0.003527 0.082926 q: -0.021008 0.840563 0.006121 0.541272 
time: 1403638129.995097, t: 0.007604 0.006408 0.113338 q: -0.021480 0.839818 0.009403 0.542362 
wait for imu ... 
time: 1403638130.095097, t: 0.010064 0.007654 0.151603 q: -0.031011 0.830635 0.001293 0.555952 
time: 1403638130.195097, t: 0.011952 0.010161 0.190623 q: -0.036267 0.828373 0.003617 0.558991 
wait for imu ... 
time: 1403638130.295097, t: 0.013951 0.012916 0.231458 q: -0.041177 0.825878 0.006063 0.562311 
wait for imu ... 
time: 1403638130.395097, t: 0.015768 0.014760 0.273612 q: -0.053246 0.819168 -0.003333 0.571067 
time: 1403638130.495097, t: 0.015410 0.016887 0.313080 q: -0.056583 0.819092 0.002122 0.570861 
time: 1403638130.595097, t: 0.016372 0.020744 0.351558 q: -0.049744 0.820841 0.011255 0.568876 
time: 1403638130.695097, t: 0.015293 0.021827 0.390254 q: -0.053242 0.814156 0.006104 0.578168 
wait for imu ... 
wait for imu ... 
time: 1403638130.795097, t: 0.014143 0.022166 0.425219 q: -0.070740 0.807269 -0.007626 0.585879 
wait for imu ... 
time: 1403638130.895097, t: 0.010639 0.021764 0.450492 q: -0.076997 0.805398 -0.008630 0.587649 
time: 1403638130.995097, t: 0.006018 0.017895 0.461770 q: -0.075342 0.795509 -0.015443 0.601042 
wait for imu ... 
time: 1403638131.095097, t: 0.002933 0.015499 0.455184 q: -0.072582 0.788901 -0.019386 0.609911 
wait for imu ... 
time: 1403638131.195097, t: 0.001893 0.016382 0.434961 q: -0.063675 0.797192 -0.009603 0.600282 
time: 1403638131.295097, t: 0.001843 0.019274 0.405517 q: -0.052041 0.808395 0.004009 0.586322 
wait for imu ... 
time: 1403638131.395097, t: 0.001643 0.019131 0.374987 q: -0.049263 0.810925 0.005117 0.583051 
wait for imu ... 
time: 1403638131.495097, t: -0.001365 0.018206 0.342080 q: -0.042913 0.810684 0.006278 0.583875 
time: 1403638131.595097, t: -0.008063 0.016499 0.303163 q: -0.040158 0.814311 0.008025 0.578983 
wait for imu ... 
time: 1403638131.695097, t: -0.007562 0.015457 0.261184 q: -0.036519 0.815746 0.011659 0.577138 
wait for imu ... 
time: 1403638131.795097, t: -0.007703 0.007641 0.217097 q: -0.029799 0.816232 0.016278 0.576725 
wait for imu ... 
time: 1403638131.895097, t: -0.008648 0.003878 0.174663 q: -0.020476 0.817913 0.019827 0.574636 
time: 1403638131.995097, t: -0.010610 0.001155 0.142015 q: -0.013878 0.819785 0.026149 0.571906 
wait for imu ... 
time: 1403638132.095097, t: -0.011179 0.000885 0.128263 q: -0.004889 0.825555 0.041981 0.562737 
time: 1403638132.195097, t: -0.009862 0.001386 0.140171 q: -0.004798 0.826159 0.048610 0.561316 
wait for imu ... 
time: 1403638132.295097, t: -0.007526 0.002518 0.180267 q: -0.017398 0.818048 0.040916 0.573429 
time: 1403638132.395097, t: -0.006969 0.005252 0.234926 q: -0.029954 0.813564 0.035401 0.579623 
time: 1403638132.495097, t: -0.005191 0.008480 0.292628 q: -0.049278 0.805136 0.024240 0.590542 
wait for imu ... 
time: 1403638132.595097, t: -0.003767 0.011471 0.346963 q: -0.067712 0.790928 0.009857 0.608071 
wait for imu ... 
time: 1403638132.695097, t: -0.001970 0.019187 0.387521 q: -0.074281 0.790956 0.006004 0.607318 
wait for imu ... 
time: 1403638132.795097, t: -0.001803 0.029799 0.413616 q: -0.076365 0.796492 0.004365 0.599792 
time: 1403638132.895097, t: -0.003446 0.037847 0.424328 q: -0.082033 0.788973 -0.004172 0.608912 
wait for imu ... 
time: 1403638132.995097, t: -0.004439 0.039112 0.418715 q: -0.088433 0.782348 -0.004926 0.616512 
time: 1403638133.095097, t: -0.002993 0.029569 0.400388 q: -0.078794 0.787299 0.009374 0.611444 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638133.195097, t: -0.000582 0.007971 0.379162 q: -0.067284 0.791682 0.011038 0.607117 
wait for imu ... 
time: 1403638133.295097, t: 0.001470 -0.025102 0.355493 q: -0.051745 0.793336 0.001019 0.606580 
wait for imu ... 
time: 1403638133.395097, t: 0.000241 -0.065853 0.331388 q: -0.033967 0.799516 -0.006326 0.599650 
wait for imu ... 
time: 1403638133.495097, t: -0.006263 -0.111483 0.310131 q: -0.014321 0.802775 -0.020452 0.595759 
wait for imu ... 
wait for imu ... 
time: 1403638133.595097, t: -0.017594 -0.157448 0.291611 q: -0.006450 0.804293 -0.042863 0.592650 
wait for imu ... 
wait for imu ... 
time: 1403638133.695097, t: -0.031367 -0.196899 0.272782 q: -0.004790 0.807756 -0.060700 0.586364 
time: 1403638133.795097, t: -0.045705 -0.232342 0.253885 q: 0.009279 0.809566 -0.074735 0.582178 
time: 1403638133.895097, t: -0.053942 -0.260454 0.237688 q: 0.025396 0.811943 -0.082581 0.577308 
time: 1403638133.995097, t: -0.049238 -0.270747 0.228065 q: 0.032269 0.810972 -0.088269 0.577488 
time: 1403638134.095097, t: -0.030523 -0.259100 0.223419 q: 0.035343 0.813863 -0.083205 0.573982 
wait for imu ... 
wait for imu ... 
time: 1403638134.195097, t: 0.000324 -0.240206 0.225760 q: 0.037648 0.815335 -0.076592 0.572665 
time: 1403638134.295097, t: 0.031700 -0.209369 0.231034 q: 0.033588 0.806113 -0.084232 0.584772 
wait for imu ... 
time: 1403638134.395097, t: 0.066994 -0.168791 0.233094 q: 0.024619 0.807488 -0.089058 0.582603 
wait for imu ... 
time: 1403638134.495097, t: 0.099711 -0.124744 0.235677 q: 0.017331 0.808650 -0.092857 0.580657 
wait for imu ... 
time: 1403638134.595097, t: 0.125810 -0.080884 0.239608 q: 0.006841 0.806921 -0.097828 0.582461 
time: 1403638134.695097, t: 0.139793 -0.036124 0.242438 q: 0.001800 0.810389 -0.096561 0.577877 
wait for imu ... 
time: 1403638134.795097, t: 0.153036 0.009865 0.246968 q: -0.000589 0.817608 -0.090923 0.568551 
wait for imu ... 
time: 1403638134.895097, t: 0.159559 0.051579 0.257185 q: 0.001932 0.819692 -0.086737 0.566196 
time: 1403638134.995097, t: 0.166467 0.085793 0.264690 q: 0.001452 0.815676 -0.087321 0.571879 
time: 1403638135.095097, t: 0.166271 0.115183 0.264191 q: 0.004825 0.819584 -0.079550 0.567390 
time: 1403638135.195097, t: 0.164637 0.132552 0.258858 q: 0.006214 0.823951 -0.072043 0.562028 
wait for imu ... 
time: 1403638135.295097, t: 0.164209 0.132268 0.250398 q: 0.008276 0.825779 -0.068981 0.559698 
time: 1403638135.395097, t: 0.153149 0.122224 0.240003 q: 0.011247 0.823147 -0.070950 0.563266 
wait for imu ... 
time: 1403638135.495097, t: 0.142088 0.099162 0.230198 q: 0.020122 0.825528 -0.069913 0.559652 
time: 1403638135.595097, t: 0.136048 0.072582 0.224808 q: 0.027913 0.830244 -0.070051 0.552276 
wait for imu ... 
time: 1403638135.695097, t: 0.124798 0.037419 0.225029 q: 0.032585 0.826031 -0.079595 0.557024 
time: 1403638135.795097, t: 0.109224 0.002852 0.219840 q: 0.029565 0.822762 -0.092425 0.560041 
time: 1403638135.895097, t: 0.088098 -0.026954 0.217232 q: 0.039844 0.828009 -0.088196 0.552300 
time: 1403638135.995097, t: 0.065595 -0.056541 0.223455 q: 0.051437 0.833387 -0.083974 0.543846 
wait for imu ... 
time: 1403638136.095097, t: 0.043673 -0.095324 0.241784 q: 0.060414 0.826122 -0.089807 0.552999 
time: 1403638136.195097, t: 0.021843 -0.139037 0.256396 q: 0.057885 0.815732 -0.103436 0.566155 
time: 1403638136.295097, t: -0.001896 -0.181921 0.258128 q: 0.064123 0.813237 -0.108601 0.568101 
wait for imu ... 
time: 1403638136.395097, t: -0.023376 -0.217115 0.249999 q: 0.073484 0.815130 -0.109582 0.564052 
wait for imu ... 
time: 1403638136.495097, t: -0.038079 -0.237536 0.243437 q: 0.079239 0.817581 -0.111799 0.559270 
wait for imu ... 
time: 1403638136.595097, t: -0.045320 -0.237602 0.247052 q: 0.073372 0.818002 -0.122486 0.557213 
time: 1403638136.695097, t: -0.042642 -0.220908 0.259450 q: 0.059762 0.816764 -0.124237 0.560259 
wait for imu ... 
time: 1403638136.795097, t: -0.034519 -0.188839 0.274662 q: 0.042691 0.816501 -0.120169 0.563083 
time: 1403638136.895097, t: -0.024242 -0.147882 0.286147 q: 0.017994 0.809188 -0.121783 0.574509 
wait for imu ... 
time: 1403638136.995097, t: -0.011949 -0.103483 0.281940 q: -0.000701 0.799247 -0.124926 0.587875 
wait for imu ... 
time: 1403638137.095097, t: -0.000929 -0.061336 0.257817 q: -0.007587 0.799756 -0.119255 0.588313 
time: 1403638137.195097, t: 0.006153 -0.026656 0.222597 q: -0.004805 0.807973 -0.105896 0.579606 
wait for imu ... 
time: 1403638137.295097, t: 0.009432 0.000776 0.182830 q: -0.001334 0.816944 -0.091893 0.569348 
time: 1403638137.395097, t: 0.009729 0.020262 0.142798 q: 0.000954 0.822435 -0.084648 0.562525 
wait for imu ... 
time: 1403638137.495097, t: 0.009858 0.034365 0.105592 q: 0.011241 0.830476 -0.076185 0.551706 
time: 1403638137.595097, t: 0.012636 0.042017 0.073826 q: 0.025967 0.839245 -0.065144 0.539212 
wait for imu ... 
time: 1403638137.695097, t: 0.014590 0.047309 0.049150 q: 0.034033 0.839990 -0.065205 0.537594 
time: 1403638137.795097, t: 0.012192 0.050259 0.030382 q: 0.036497 0.839159 -0.070607 0.538048 
wait for imu ... 
time: 1403638137.895097, t: 0.010955 0.051729 0.016678 q: 0.042794 0.844874 -0.067159 0.529005 
time: 1403638137.995097, t: 0.009894 0.054648 0.006005 q: 0.048656 0.853491 -0.059549 0.515403 
wait for imu ... 
time: 1403638138.095097, t: 0.011003 0.056076 -0.000165 q: 0.050323 0.853783 -0.056045 0.515152 
time: 1403638138.195097, t: 0.009383 0.054547 -0.000595 q: 0.046992 0.845789 -0.063928 0.527585 
wait for imu ... 
optimize pose graph 
time: 1403638138.295097, t: 0.008445 0.054232 -0.001998 q: 0.044948 0.841948 -0.066843 0.533512 
wait for imu ... 
wait for imu ... 
time: 1403638138.395097, t: 0.007081 0.054579 -0.001494 q: 0.045425 0.837365 -0.067595 0.540544 
wait for imu ... 
time: 1403638138.495097, t: 0.006708 0.054428 -0.001502 q: 0.046217 0.837147 -0.066630 0.540933 
time: 1403638138.595097, t: 0.006548 0.054412 -0.001682 q: 0.045779 0.837075 -0.066691 0.541075 
time: 1403638138.695097, t: 0.006933 0.054770 -0.001797 q: 0.044916 0.837017 -0.067302 0.541162 
time: 1403638138.795097, t: 0.006912 0.054683 -0.001749 q: 0.044904 0.837113 -0.066798 0.541076 
wait for imu ... 
time: 1403638138.895097, t: 0.007105 0.055077 -0.001908 q: 0.043503 0.836916 -0.067832 0.541367 
time: 1403638138.995097, t: 0.007062 0.054973 -0.001839 q: 0.043666 0.837015 -0.067416 0.541252 
time: 1403638139.095097, t: 0.007063 0.054866 -0.001867 q: 0.043824 0.837067 -0.067080 0.541202 
wait for imu ... 
time: 1403638139.295097, t: 0.007020 0.054810 -0.001908 q: 0.043918 0.837001 -0.066788 0.541331 
time: 1403638139.395097, t: 0.007028 0.054845 -0.001925 q: 0.043621 0.837001 -0.066878 0.541344 
wait for imu ... 
time: 1403638139.495097, t: 0.007019 0.054884 -0.001948 q: 0.043321 0.837004 -0.066963 0.541354 
wait for imu ... 
wait for imu ... 
time: 1403638139.595097, t: 0.007036 0.054913 -0.001970 q: 0.043122 0.836983 -0.066955 0.541403 
time: 1403638139.695097, t: 0.007023 0.054925 -0.001985 q: 0.042999 0.836981 -0.066940 0.541418 
wait for imu ... 
time: 1403638139.795097, t: 0.007028 0.054927 -0.001989 q: 0.042800 0.836992 -0.066918 0.541419 
time: 1403638139.895097, t: 0.007024 0.054928 -0.001980 q: 0.042815 0.836976 -0.066848 0.541451 
time: 1403638139.995097, t: 0.007010 0.054911 -0.001981 q: 0.042654 0.837006 -0.066777 0.541426 
time: 1403638140.095097, t: 0.007021 0.054920 -0.001977 q: 0.042513 0.837014 -0.066716 0.541432 
wait for imu ... 
time: 1403638140.195097, t: 0.007009 0.054925 -0.001987 q: 0.042344 0.837003 -0.066679 0.541467 
wait for imu ... 
time: 1403638140.295097, t: 0.007002 0.054936 -0.002003 q: 0.042186 0.836983 -0.066618 0.541517 
time: 1403638140.395097, t: 0.007007 0.054945 -0.002004 q: 0.042037 0.836978 -0.066595 0.541540 
time: 1403638140.495097, t: 0.006993 0.054961 -0.002015 q: 0.041901 0.836985 -0.066565 0.541543 
time: 1403638140.595097, t: 0.006985 0.054961 -0.002009 q: 0.041762 0.836966 -0.066494 0.541592 
time: 1403638140.695097, t: 0.006973 0.054969 -0.002021 q: 0.041670 0.836950 -0.066397 0.541637 
wait for imu ... 
time: 1403638140.795097, t: 0.006965 0.054977 -0.002012 q: 0.041535 0.836930 -0.066357 0.541683 
time: 1403638140.895097, t: 0.006967 0.054986 -0.001999 q: 0.041423 0.836933 -0.066324 0.541690 
wait for imu ... 
time: 1403638140.995097, t: 0.006963 0.055000 -0.001992 q: 0.041294 0.836934 -0.066237 0.541709 
wait for imu ... 
time: 1403638141.095097, t: 0.006960 0.055019 -0.001993 q: 0.041186 0.836890 -0.066172 0.541793 
time: 1403638141.195097, t: 0.006989 0.054998 -0.002006 q: 0.041109 0.836876 -0.066194 0.541819 
time: 1403638141.295097, t: 0.006965 0.055008 -0.002022 q: 0.041099 0.836874 -0.066156 0.541826 
wait for imu ... 
time: 1403638141.495097, t: 0.006952 0.054995 -0.002027 q: 0.040976 0.836853 -0.066141 0.541871 
wait for imu ... 
time: 1403638141.595097, t: 0.006955 0.054999 -0.002021 q: 0.040989 0.836838 -0.066126 0.541895 
time: 1403638141.695097, t: 0.006960 0.054989 -0.002025 q: 0.040948 0.836843 -0.066120 0.541890 
time: 1403638141.795097, t: 0.006955 0.054998 -0.002020 q: 0.040913 0.836837 -0.066084 0.541907 
time: 1403638141.895097, t: 0.006960 0.054995 -0.002023 q: 0.040863 0.836821 -0.066060 0.541938 
time: 1403638141.995097, t: 0.006944 0.054999 -0.002009 q: 0.040815 0.836813 -0.066018 0.541960 
time: 1403638142.095097, t: 0.006949 0.055039 -0.001946 q: 0.040772 0.836834 -0.065950 0.541938 
time: 1403638142.195097, t: 0.006928 0.055023 -0.001906 q: 0.040887 0.836785 -0.066177 0.541977 
time: 1403638142.295097, t: 0.006918 0.054927 -0.001915 q: 0.041159 0.836786 -0.066488 0.541917 
wait for imu ... 
time: 1403638142.395097, t: 0.006898 0.055001 -0.001853 q: 0.041252 0.836832 -0.066385 0.541852 
time: 1403638142.495097, t: 0.006928 0.055053 -0.001853 q: 0.040923 0.836910 -0.066237 0.541774 
wait for imu ... 
wait for imu ... 
time: 1403638142.595097, t: 0.006994 0.055127 -0.001873 q: 0.040290 0.836943 -0.065693 0.541838 
wait for imu ... 
time: 1403638142.795097, t: 0.006967 0.055030 -0.001794 q: 0.040942 0.837070 -0.066000 0.541554 
time: 1403638142.895097, t: 0.006989 0.055013 -0.001761 q: 0.040891 0.837103 -0.065843 0.541526 
time: 1403638142.995097, t: 0.007018 0.055077 -0.001784 q: 0.040752 0.837088 -0.065455 0.541608 
wait for imu ... 
time: 1403638143.095097, t: 0.007049 0.055074 -0.001819 q: 0.040793 0.837150 -0.065454 0.541509 
wait for imu ... 
time: 1403638143.195097, t: 0.007050 0.055040 -0.001826 q: 0.040685 0.837191 -0.065565 0.541440 
time: 1403638143.295097, t: 0.007063 0.055031 -0.001886 q: 0.040604 0.837159 -0.065610 0.541491 
wait for imu ... 
wait for imu ... 
time: 1403638143.395097, t: 0.007060 0.055039 -0.001868 q: 0.040694 0.837148 -0.065626 0.541499 
time: 1403638143.495097, t: 0.007048 0.055045 -0.001856 q: 0.040794 0.837145 -0.065638 0.541494 
time: 1403638143.595097, t: 0.007045 0.054996 -0.001848 q: 0.040925 0.837144 -0.065803 0.541465 
time: 1403638143.695097, t: 0.007078 0.055019 -0.001851 q: 0.040772 0.837128 -0.065777 0.541504 
wait for imu ... 
time: 1403638143.795097, t: 0.007100 0.055005 -0.001840 q: 0.040713 0.837130 -0.065736 0.541511 
time: 1403638143.995097, t: 0.007089 0.055012 -0.001845 q: 0.040694 0.837100 -0.065831 0.541548 
wait for imu ... 
time: 1403638144.095097, t: 0.007090 0.055005 -0.001838 q: 0.040643 0.837132 -0.065820 0.541504 
time: 1403638144.195097, t: 0.007062 0.054998 -0.001846 q: 0.040682 0.837094 -0.065806 0.541561 
time: 1403638144.295097, t: 0.007068 0.055001 -0.001845 q: 0.040612 0.837073 -0.065729 0.541607 
time: 1403638144.395097, t: 0.007093 0.054987 -0.001848 q: 0.040579 0.837052 -0.065746 0.541641 
wait for imu ... 
time: 1403638144.495097, t: 0.007071 0.054974 -0.001853 q: 0.040602 0.837047 -0.065777 0.541644 
time: 1403638144.595097, t: 0.007069 0.054987 -0.001846 q: 0.040545 0.837053 -0.065807 0.541634 
wait for imu ... 
time: 1403638144.695097, t: 0.007082 0.054998 -0.001828 q: 0.040472 0.837004 -0.065684 0.541730 
time: 1403638144.795097, t: 0.007067 0.055009 -0.001837 q: 0.040435 0.837010 -0.065722 0.541720 
wait for imu ... 
time: 1403638144.895097, t: 0.007075 0.055005 -0.001836 q: 0.040446 0.837033 -0.065708 0.541685 
time: 1403638144.995097, t: 0.007099 0.054981 -0.001808 q: 0.040493 0.837004 -0.065682 0.541730 
wait for imu ... 
time: 1403638145.095097, t: 0.007080 0.054986 -0.001819 q: 0.040438 0.837011 -0.065688 0.541722 
time: 1403638145.195097, t: 0.007090 0.054996 -0.001794 q: 0.040470 0.837003 -0.065660 0.541734 
time: 1403638145.295097, t: 0.007109 0.054988 -0.001778 q: 0.040441 0.837022 -0.065663 0.541708 
wait for imu ... 
time: 1403638145.395097, t: 0.007047 0.054979 -0.001766 q: 0.040509 0.837008 -0.065648 0.541726 
time: 1403638145.495097, t: 0.007066 0.054999 -0.001718 q: 0.040398 0.836979 -0.065547 0.541791 
wait for imu ... 
wait for imu ... 
time: 1403638145.595097, t: 0.007098 0.054970 -0.001710 q: 0.040331 0.836997 -0.065494 0.541774 
wait for imu ... 
time: 1403638145.795097, t: 0.007103 0.054970 -0.001683 q: 0.040352 0.837013 -0.065430 0.541756 
time: 1403638145.895097, t: 0.007103 0.054976 -0.001681 q: 0.040330 0.836976 -0.065429 0.541815 
time: 1403638145.995097, t: 0.007128 0.054983 -0.001685 q: 0.040282 0.836974 -0.065432 0.541822 
wait for imu ... 
time: 1403638146.095097, t: 0.007143 0.054982 -0.001659 q: 0.040225 0.837021 -0.065343 0.541765 
time: 1403638146.195097, t: 0.007136 0.054982 -0.001658 q: 0.040249 0.836962 -0.065360 0.541851 
wait for imu ... 
time: 1403638146.295097, t: 0.007150 0.054996 -0.001624 q: 0.040313 0.836974 -0.065356 0.541828 
time: 1403638146.395097, t: 0.007167 0.054989 -0.001601 q: 0.040344 0.836997 -0.065305 0.541797 
wait for imu ... 
time: 1403638146.495097, t: 0.007182 0.054981 -0.001573 q: 0.040359 0.837029 -0.065385 0.541737 
time: 1403638146.595097, t: 0.007169 0.055002 -0.001583 q: 0.040423 0.836985 -0.065351 0.541804 
time: 1403638146.695097, t: 0.007185 0.054991 -0.001542 q: 0.040462 0.837034 -0.065338 0.541726 
time: 1403638146.795097, t: 0.007167 0.055007 -0.001583 q: 0.040436 0.836942 -0.065293 0.541876 
time: 1403638146.895097, t: 0.007219 0.055005 -0.001524 q: 0.040529 0.837022 -0.065198 0.541758 
time: 1403638146.995097, t: 0.007217 0.055012 -0.001503 q: 0.040599 0.837141 -0.065254 0.541561 
time: 1403638147.095097, t: 0.007262 0.055129 -0.001553 q: 0.040472 0.837213 -0.065145 0.541472 
time: 1403638147.195097, t: 0.007295 0.055148 -0.001580 q: 0.040529 0.837311 -0.065005 0.541334 
wait for imu ... 
time: 1403638147.295097, t: 0.007281 0.055185 -0.001550 q: 0.040433 0.837278 -0.065108 0.541379 
wait for imu ... 
time: 1403638147.395097, t: 0.007309 0.055196 -0.001537 q: 0.040487 0.837152 -0.065044 0.541578 
time: 1403638147.495097, t: 0.007237 0.055078 -0.001349 q: 0.040374 0.836690 -0.064853 0.542322 
wait for imu ... 
time: 1403638147.595097, t: 0.007267 0.055079 -0.001186 q: 0.039825 0.836228 -0.064981 0.543060 
time: 1403638147.695097, t: 0.007730 0.055051 -0.001296 q: 0.039383 0.836380 -0.064130 0.542960 
time: 1403638147.795097, t: 0.009583 0.054600 -0.000140 q: 0.039993 0.834151 -0.064651 0.546272 
time: 1403638147.895097, t: 0.014255 0.053265 0.004146 q: 0.042764 0.826966 -0.067575 0.556535 
time: 1403638147.995097, t: 0.022471 0.051965 0.014624 q: 0.043361 0.820240 -0.069384 0.566138 
wait for imu ... 
time: 1403638148.095097, t: 0.032112 0.050310 0.032424 q: 0.044074 0.815113 -0.068578 0.573537 
time: 1403638148.195097, t: 0.041724 0.048453 0.059616 q: 0.044680 0.812286 -0.065371 0.577860 
wait for imu ... 
time: 1403638148.295097, t: 0.049576 0.046965 0.101558 q: 0.042961 0.812014 -0.062496 0.578690 
wait for imu ... 
time: 1403638148.395097, t: 0.055951 0.045473 0.152254 q: 0.041258 0.811757 -0.059433 0.579496 
wait for imu ... 
wait for imu ... 
time: 1403638148.495097, t: 0.060385 0.044598 0.186988 q: 0.041078 0.815637 -0.056366 0.574345 
wait for imu ... 
time: 1403638148.595097, t: 0.064374 0.044394 0.196965 q: 0.041028 0.819685 -0.053922 0.568793 
time: 1403638148.695097, t: 0.079553 0.043822 0.190788 q: 0.040275 0.823510 -0.051843 0.563490 
wait for imu ... 
time: 1403638148.795097, t: 0.080477 0.047861 0.180475 q: 0.038276 0.825897 -0.050636 0.560236 
wait for imu ... 
time: 1403638148.895097, t: 0.096275 0.049539 0.191765 q: 0.036881 0.826670 -0.049257 0.559313 
time: 1403638148.995097, t: 0.109661 0.051656 0.198707 q: 0.035569 0.824826 -0.047926 0.562228 
wait for imu ... 
wait for imu ... 
time: 1403638149.095097, t: 0.125912 0.055699 0.222711 q: 0.035315 0.821112 -0.046322 0.567787 
time: 1403638149.195097, t: 0.144168 0.061226 0.252952 q: 0.034985 0.818830 -0.045689 0.571144 
wait for imu ... 
time: 1403638149.295097, t: 0.166945 0.066200 0.283240 q: 0.032981 0.817576 -0.046975 0.572954 
wait for imu ... 
time: 1403638149.395097, t: 0.187941 0.070431 0.310962 q: 0.032192 0.816266 -0.047057 0.574856 
time: 1403638149.495097, t: 0.209530 0.076241 0.333183 q: 0.032799 0.815496 -0.046586 0.575951 
wait for imu ... 
wait for imu ... 
time: 1403638149.595097, t: 0.227181 0.080486 0.348598 q: 0.033493 0.815393 -0.045028 0.576181 
wait for imu ... 
time: 1403638149.695097, t: 0.246062 0.086934 0.357341 q: 0.030784 0.815655 -0.040356 0.576307 
wait for imu ... 
wait for imu ... 
time: 1403638149.795097, t: 0.264289 0.091885 0.366651 q: 0.027628 0.815990 -0.035086 0.576339 
wait for imu ... 
time: 1403638149.895097, t: 0.283064 0.099322 0.370082 q: 0.024822 0.816047 -0.031304 0.576603 
time: 1403638149.995097, t: 0.306152 0.106372 0.377452 q: 0.024555 0.816603 -0.027541 0.576019 
time: 1403638150.095097, t: 0.323841 0.117709 0.374341 q: 0.030725 0.816699 -0.021102 0.575859 
wait for imu ... 
wait for imu ... 
time: 1403638150.195097, t: 0.348168 0.132499 0.373856 q: 0.038183 0.816913 -0.015153 0.575297 
optimize pose graph 
time: 1403638150.295097, t: 0.371931 0.150719 0.361666 q: 0.041706 0.817964 -0.012762 0.573613 
wait for imu ... 
time: 1403638150.395097, t: 0.398125 0.175120 0.348100 q: 0.039022 0.822133 -0.013910 0.567786 
wait for imu ... 
time: 1403638150.495097, t: 0.427365 0.206642 0.341641 q: 0.028109 0.827834 -0.014494 0.560080 
wait for imu ... 
time: 1403638150.595097, t: 0.455184 0.239621 0.336625 q: 0.020346 0.831522 -0.010500 0.555020 
time: 1403638150.695097, t: 0.489122 0.277511 0.346522 q: 0.014678 0.831752 -0.006766 0.554911 
wait for imu ... 
time: 1403638150.795097, t: 0.528261 0.316850 0.359841 q: 0.011416 0.830654 -0.000304 0.556672 
wait for imu ... 
wait for imu ... 
time: 1403638150.895097, t: 0.572783 0.354215 0.376706 q: 0.007439 0.828140 0.009027 0.560400 
wait for imu ... 
time: 1403638150.995097, t: 0.618777 0.395023 0.389339 q: 0.003622 0.823876 0.017240 0.566497 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638151.095097, t: 0.668673 0.439161 0.395244 q: -0.001973 0.821794 0.029446 0.569020 
wait for imu ... 
time: 1403638151.195097, t: 0.715835 0.485833 0.396093 q: -0.011159 0.819613 0.046766 0.570897 
wait for imu ... 
wait for imu ... 
time: 1403638151.295097, t: 0.762714 0.534879 0.388969 q: -0.025310 0.819466 0.065627 0.568795 
time: 1403638151.395097, t: 0.808129 0.585892 0.381947 q: -0.040737 0.818329 0.085920 0.566830 
time: 1403638151.495097, t: 0.851370 0.639292 0.379794 q: -0.056767 0.816178 0.105405 0.565261 
time: 1403638151.595097, t: 0.895391 0.693977 0.382820 q: -0.069522 0.814135 0.122071 0.563427 
time: 1403638151.695097, t: 0.937104 0.750659 0.393395 q: -0.078578 0.811779 0.134611 0.562778 
wait for imu ... 
wait for imu ... 
time: 1403638151.795097, t: 0.977761 0.808862 0.412833 q: -0.083789 0.811086 0.143360 0.560862 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638152.095097, t: 1.101124 0.997255 0.498936 q: -0.087595 0.810939 0.153474 0.557809 
time: 1403638152.195097, t: 1.144411 1.063826 0.520202 q: -0.087190 0.810873 0.153960 0.557835 
wait for imu ... 
time: 1403638152.295097, t: 1.181897 1.133213 0.535545 q: -0.084907 0.810341 0.155553 0.558518 
optimize pose graph 
wait for imu ... 
time: 1403638152.395097, t: 1.223103 1.205437 0.542582 q: -0.081535 0.810103 0.156829 0.559007 
wait for imu ... 
time: 1403638152.495097, t: 1.262259 1.281000 0.541971 q: -0.078129 0.810499 0.157652 0.558689 
time: 1403638152.595097, t: 1.293396 1.359199 0.538921 q: -0.078786 0.810365 0.157414 0.558858 
time: 1403638152.695097, t: 1.333726 1.443142 0.531198 q: -0.084454 0.812112 0.155836 0.555928 
time: 1403638152.795097, t: 1.375298 1.532255 0.530942 q: -0.092490 0.810514 0.159324 0.555993 
time: 1403638152.895097, t: 1.410404 1.620120 0.540210 q: -0.104099 0.806409 0.165630 0.558063 
time: 1403638152.995097, t: 1.445594 1.707967 0.557800 q: -0.115356 0.802334 0.177279 0.558145 
wait for imu ... 
time: 1403638153.095097, t: 1.478963 1.793937 0.579752 q: -0.124506 0.802604 0.189815 0.551630 
wait for imu ... 
time: 1403638153.195097, t: 1.513963 1.880344 0.601774 q: -0.130445 0.803102 0.199938 0.545927 
wait for imu ... 
time: 1403638153.295097, t: 1.555133 1.967934 0.617696 q: -0.134272 0.802222 0.208876 0.542938 
time: 1403638153.395097, t: 1.595660 2.055650 0.630492 q: -0.140857 0.800349 0.219595 0.539795 
time: 1403638153.495097, t: 1.639728 2.147274 0.642153 q: -0.143362 0.796698 0.236329 0.537464 
time: 1403638153.595097, t: 1.684205 2.240314 0.658973 q: -0.146330 0.792351 0.255117 0.534493 
wait for imu ... 
time: 1403638153.795097, t: 1.769074 2.439743 0.701717 q: -0.168646 0.779936 0.285363 0.530874 
wait for imu ... 
time: 1403638153.895097, t: 1.811223 2.544886 0.716575 q: -0.179484 0.773852 0.294914 0.531004 
time: 1403638153.995097, t: 1.852170 2.653620 0.726038 q: -0.189215 0.768671 0.299214 0.532741 
time: 1403638154.095097, t: 1.890957 2.762938 0.729804 q: -0.195141 0.764744 0.302015 0.534671 
wait for imu ... 
time: 1403638154.195097, t: 1.928564 2.873016 0.728809 q: -0.197801 0.759561 0.303831 0.540026 
wait for imu ... 
time: 1403638154.295097, t: 1.963881 2.986040 0.724735 q: -0.198308 0.755388 0.304922 0.545056 
time: 1403638154.395097, t: 1.997860 3.101439 0.718522 q: -0.201184 0.750095 0.302509 0.552604 
time: 1403638154.495097, t: 2.027567 3.212765 0.705427 q: -0.203572 0.746740 0.299667 0.557798 
wait for imu ... 
time: 1403638154.595097, t: 2.050287 3.326186 0.698197 q: -0.205439 0.747907 0.299314 0.555735 
time: 1403638154.695097, t: 2.064300 3.431275 0.693864 q: -0.208382 0.750467 0.303805 0.548706 
wait for imu ... 
time: 1403638154.795097, t: 2.073604 3.539285 0.700838 q: -0.207896 0.751490 0.313628 0.541921 
time: 1403638154.895097, t: 2.080214 3.646224 0.713610 q: -0.207119 0.750116 0.322858 0.538693 
wait for imu ... 
time: 1403638154.995097, t: 2.079560 3.751877 0.735325 q: -0.208800 0.746558 0.332297 0.537245 
wait for imu ... 
time: 1403638155.095097, t: 2.072570 3.855209 0.762649 q: -0.215109 0.741155 0.342368 0.535912 
time: 1403638155.195097, t: 2.067083 3.969308 0.786804 q: -0.223359 0.735902 0.349648 0.535075 
time: 1403638155.295097, t: 2.056113 4.077989 0.806566 q: -0.230487 0.729709 0.354587 0.537279 
time: 1403638155.395097, t: 2.040882 4.186405 0.819399 q: -0.235873 0.722679 0.361538 0.539805 
time: 1403638155.495097, t: 2.021119 4.296991 0.826083 q: -0.240515 0.716120 0.371199 0.539941 
time: 1403638155.595097, t: 1.992597 4.404369 0.825396 q: -0.254570 0.710773 0.378195 0.535690 
wait for imu ... 
time: 1403638155.695097, t: 1.956661 4.506909 0.820368 q: -0.273063 0.702252 0.386380 0.531967 
wait for imu ... 
time: 1403638155.795097, t: 1.916139 4.604360 0.809399 q: -0.288136 0.694213 0.399317 0.524968 
wait for imu ... 
time: 1403638155.895097, t: 1.871934 4.698581 0.795180 q: -0.301497 0.687906 0.415617 0.512978 
time: 1403638155.995097, t: 1.823513 4.786012 0.782216 q: -0.311616 0.683625 0.436808 0.494723 
wait for imu ... 
time: 1403638156.095097, t: 1.773808 4.866709 0.776977 q: -0.320784 0.678169 0.459341 0.475594 
wait for imu ... 
wait for imu ... 
time: 1403638156.195097, t: 1.725435 4.949593 0.780865 q: -0.332747 0.670632 0.475463 0.462024 
wait for imu ... 
time: 1403638156.295097, t: 1.678225 5.029659 0.790749 q: -0.340821 0.663626 0.491686 0.449095 
wait for imu ... 
time: 1403638156.395097, t: 1.634221 5.111673 0.799536 q: -0.347134 0.658799 0.503469 0.438179 
wait for imu ... 
time: 1403638156.495097, t: 1.592192 5.192400 0.802873 q: -0.351059 0.655827 0.511252 0.430431 
time: 1403638156.595097, t: 1.553376 5.276615 0.800971 q: -0.354207 0.652883 0.515390 0.427380 
wait for imu ... 
wait for imu ... 
time: 1403638156.695097, t: 1.518118 5.363707 0.792926 q: -0.354964 0.652045 0.517413 0.425584 
time: 1403638156.795097, t: 1.482829 5.453887 0.781371 q: -0.354898 0.651361 0.518237 0.425685 
time: 1403638156.895097, t: 1.453559 5.549557 0.765145 q: -0.353684 0.651999 0.517928 0.426094 
wait for imu ... 
time: 1403638156.995097, t: 1.422950 5.646524 0.753216 q: -0.351857 0.653459 0.516747 0.426803 
time: 1403638157.095097, t: 1.397749 5.750648 0.747691 q: -0.349356 0.656470 0.515825 0.425350 
wait for imu ... 
time: 1403638157.195097, t: 1.374184 5.857764 0.748757 q: -0.345107 0.659841 0.515868 0.423546 
wait for imu ... 
time: 1403638157.295097, t: 1.351708 5.966701 0.757692 q: -0.346267 0.659832 0.514935 0.423748 
time: 1403638157.395097, t: 1.334116 6.081307 0.769623 q: -0.345489 0.655757 0.517907 0.427075 
wait for imu ... 
time: 1403638157.495097, t: 1.318795 6.203814 0.778423 q: -0.346977 0.650028 0.520613 0.431316 
wait for imu ... 
time: 1403638157.595097, t: 1.298644 6.327803 0.784388 q: -0.353127 0.641224 0.525424 0.433663 
wait for imu ... 
time: 1403638157.695097, t: 1.277260 6.453701 0.787019 q: -0.360671 0.627611 0.534344 0.436460 
wait for imu ... 
time: 1403638157.795097, t: 1.255195 6.578180 0.792889 q: -0.368739 0.613338 0.547179 0.434101 
time: 1403638157.895097, t: 1.232670 6.699731 0.807404 q: -0.381424 0.600237 0.559513 0.425649 
time: 1403638157.995097, t: 1.207242 6.818775 0.828086 q: -0.391682 0.588691 0.571100 0.416981 
wait for imu ... 
time: 1403638158.095097, t: 1.182013 6.938459 0.846139 q: -0.401154 0.583544 0.579193 0.403841 
time: 1403638158.195097, t: 1.157260 7.060423 0.857737 q: -0.409947 0.580102 0.583086 0.394254 
wait for imu ... 
time: 1403638158.295097, t: 1.135091 7.182015 0.863860 q: -0.413490 0.575547 0.586949 0.391489 
time: 1403638158.395097, t: 1.114272 7.300467 0.864987 q: -0.412449 0.571963 0.591017 0.391719 
wait for imu ... 
time: 1403638158.495097, t: 1.095426 7.414734 0.862846 q: -0.410207 0.567401 0.594197 0.395874 
time: 1403638158.595097, t: 1.075921 7.532177 0.856297 q: -0.408274 0.564794 0.595441 0.399712 
wait for imu ... 
wait for imu ... 
time: 1403638158.695097, t: 1.055406 7.644187 0.848723 q: -0.409414 0.565209 0.593710 0.400535 
time: 1403638158.795097, t: 1.031883 7.758418 0.842196 q: -0.410447 0.569753 0.591870 0.395733 
time: 1403638158.895097, t: 1.009001 7.870335 0.842102 q: -0.409392 0.576075 0.590739 0.389311 
time: 1403638158.995097, t: 0.985432 7.982056 0.849931 q: -0.407359 0.581019 0.590601 0.384275 
wait for imu ... 
time: 1403638159.095097, t: 0.965696 8.095107 0.865890 q: -0.400523 0.587183 0.593877 0.376972 
wait for imu ... 
time: 1403638159.195097, t: 0.945788 8.212010 0.880927 q: -0.391004 0.594371 0.598739 0.367899 
wait for imu ... 
time: 1403638159.295097, t: 0.929608 8.333511 0.892945 q: -0.391888 0.594567 0.596894 0.369637 
wait for imu ... 
time: 1403638159.395097, t: 0.915923 8.458269 0.902577 q: -0.405982 0.588293 0.586771 0.380512 
wait for imu ... 
time: 1403638159.495097, t: 0.903420 8.591204 0.912393 q: -0.424098 0.580181 0.573466 0.393279 
wait for imu ... 
wait for imu ... 
time: 1403638159.595097, t: 0.894767 8.718208 0.928501 q: -0.444228 0.577457 0.558755 0.396230 
wait for imu ... 
time: 1403638159.695097, t: 0.892739 8.842175 0.952329 q: -0.458171 0.577350 0.548489 0.394850 
wait for imu ... 
time: 1403638159.795097, t: 0.898548 8.954352 0.984782 q: -0.461260 0.576044 0.546594 0.395787 
wait for imu ... 
time: 1403638159.895097, t: 0.915521 9.055519 1.024558 q: -0.454173 0.570087 0.552545 0.404254 
time: 1403638159.995097, t: 0.939361 9.140523 1.073416 q: -0.444264 0.564536 0.560493 0.412039 
wait for imu ... 
time: 1403638160.095097, t: 0.966839 9.213622 1.129654 q: -0.437484 0.563060 0.566552 0.413025 
wait for imu ... 
time: 1403638160.195097, t: 0.996559 9.280263 1.192045 q: -0.427707 0.566949 0.575069 0.406117 
time: 1403638160.295097, t: 1.026191 9.346664 1.263625 q: -0.416319 0.573677 0.584332 0.395131 
wait for imu ... 
time: 1403638160.395097, t: 1.057416 9.410927 1.339748 q: -0.407902 0.577341 0.590957 0.388667 
wait for imu ... 
time: 1403638160.495097, t: 1.088998 9.476399 1.414133 q: -0.405825 0.579166 0.592536 0.385712 
time: 1403638160.595097, t: 1.118655 9.542794 1.485503 q: -0.404718 0.579870 0.593271 0.384685 
wait for imu ... 
wait for imu ... 
time: 1403638160.695097, t: 1.148111 9.616027 1.550800 q: -0.404930 0.580163 0.592841 0.384686 
wait for imu ... 
wait for imu ... 
time: 1403638160.795097, t: 1.179290 9.680138 1.608894 q: -0.413670 0.580182 0.586043 0.385771 
wait for imu ... 
time: 1403638160.895097, t: 1.212472 9.759527 1.670308 q: -0.424596 0.581628 0.571621 0.393289 
wait for imu ... 
time: 1403638160.995097, t: 1.250042 9.822617 1.722017 q: -0.427791 0.585645 0.556955 0.404742 
wait for imu ... 
wait for imu ... 
time: 1403638161.095097, t: 1.290979 9.884612 1.771790 q: -0.423423 0.594293 0.543684 0.414653 
wait for imu ... 
time: 1403638161.195097, t: 1.335442 9.935894 1.817202 q: -0.410678 0.606365 0.532559 0.424319 
wait for imu ... 
time: 1403638161.295097, t: 1.383841 9.986975 1.862155 q: -0.395173 0.622001 0.518892 0.433248 
wait for imu ... 
time: 1403638161.395097, t: 1.434676 10.035161 1.907160 q: -0.378602 0.638367 0.506736 0.438596 
wait for imu ... 
wait for imu ... 
time: 1403638161.595097, t: 1.538429 10.129063 1.989094 q: -0.352522 0.661682 0.493859 0.440464 
wait for imu ... 
time: 1403638161.695097, t: 1.590155 10.177234 2.021939 q: -0.349097 0.668869 0.486976 0.440000 
time: 1403638161.795097, t: 1.644836 10.226640 2.050305 q: -0.349952 0.672264 0.479480 0.442372 
wait for imu ... 
time: 1403638161.895097, t: 1.702478 10.275735 2.073862 q: -0.349174 0.673483 0.471098 0.450072 
wait for imu ... 
time: 1403638161.995097, t: 1.762941 10.321954 2.093651 q: -0.345239 0.676987 0.463508 0.455697 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638162.195097, t: 1.891238 10.411723 2.146984 q: -0.340573 0.685770 0.454335 0.455313 
wait for imu ... 
time: 1403638162.295097, t: 1.959293 10.455076 2.177588 q: -0.339149 0.690070 0.451698 0.452494 
time: 1403638162.395097, t: 2.032246 10.499379 2.204893 q: -0.341847 0.692218 0.447779 0.451075 
time: 1403638162.495097, t: 2.109584 10.542744 2.224608 q: -0.342809 0.691065 0.446084 0.453784 
wait for imu ... 
time: 1403638162.595097, t: 2.192058 10.583860 2.249396 q: -0.339354 0.689224 0.448899 0.456397 
wait for imu ... 
time: 1403638162.695097, t: 2.278057 10.621710 2.274454 q: -0.335200 0.686971 0.453045 0.458763 
time: 1403638162.795097, t: 2.367483 10.657970 2.311063 q: -0.333504 0.688345 0.454002 0.456988 
time: 1403638162.895097, t: 2.459063 10.696253 2.349062 q: -0.334702 0.691677 0.447994 0.457010 
wait for imu ... 
time: 1403638162.995097, t: 2.555694 10.732420 2.398496 q: -0.340025 0.691175 0.438690 0.462829 
wait for imu ... 
time: 1403638163.095097, t: 2.656325 10.766985 2.437846 q: -0.344043 0.689584 0.429344 0.470927 
wait for imu ... 
time: 1403638163.195097, t: 2.758811 10.793607 2.460033 q: -0.337990 0.693253 0.423190 0.475472 
wait for imu ... 
time: 1403638163.295097, t: 2.865491 10.819625 2.468975 q: -0.325592 0.698624 0.417641 0.481134 
wait for imu ... 
time: 1403638163.395097, t: 2.976377 10.842655 2.473145 q: -0.312541 0.704111 0.409040 0.489114 
time: 1403638163.495097, t: 3.090547 10.864215 2.475797 q: -0.302243 0.710687 0.398488 0.494753 
wait for imu ... 
time: 1403638163.595097, t: 3.236702 10.917594 2.501486 q: -0.295404 0.716414 0.390506 0.496984 
time: 1403638163.695097, t: 3.316026 10.899731 2.503576 q: -0.290408 0.718394 0.385347 0.501080 
time: 1403638163.795097, t: 3.431795 10.924183 2.532971 q: -0.287252 0.719715 0.382459 0.503211 
wait for imu ... 
time: 1403638163.895097, t: 3.530390 10.920701 2.564992 q: -0.289080 0.720508 0.378748 0.503836 
time: 1403638163.995097, t: 3.634583 10.925702 2.604688 q: -0.292242 0.723245 0.375954 0.500170 
time: 1403638164.095097, t: 3.742291 10.930282 2.651760 q: -0.296036 0.724823 0.374481 0.496748 
time: 1403638164.195097, t: 3.848500 10.927512 2.702192 q: -0.301136 0.724644 0.372383 0.495519 
time: 1403638164.295097, t: 3.960049 10.925390 2.749713 q: -0.305105 0.722749 0.371599 0.496447 
time: 1403638164.395097, t: 4.068359 10.911539 2.790510 q: -0.307845 0.721158 0.371478 0.497159 
wait for imu ... 
time: 1403638164.495097, t: 4.180382 10.893682 2.826154 q: -0.309919 0.720764 0.372000 0.496050 
time: 1403638164.595097, t: 4.299982 10.874986 2.856053 q: -0.313137 0.721340 0.370517 0.494299 
time: 1403638164.695097, t: 4.419879 10.849784 2.881597 q: -0.310551 0.723428 0.367374 0.495224 
time: 1403638164.795097, t: 4.542906 10.815642 2.903983 q: -0.300783 0.721324 0.367057 0.504470 
wait for imu ... 
time: 1403638164.895097, t: 4.664487 10.775363 2.923322 q: -0.287126 0.715927 0.370209 0.517641 
wait for imu ... 
time: 1403638164.995097, t: 4.783904 10.733823 2.938009 q: -0.283685 0.713742 0.367047 0.524758 
time: 1403638165.095097, t: 4.898931 10.689050 2.945824 q: -0.290122 0.716385 0.353772 0.526752 
wait for imu ... 
wait for imu ... 
time: 1403638165.195097, t: 5.009817 10.637796 2.948081 q: -0.287692 0.724118 0.346888 0.522068 
wait for imu ... 
time: 1403638165.295097, t: 5.115037 10.579991 2.942810 q: -0.280095 0.735756 0.345298 0.510861 
wait for imu ... 
time: 1403638165.395097, t: 5.223652 10.520018 2.935828 q: -0.279379 0.742723 0.339498 0.505026 
wait for imu ... 
time: 1403638165.495097, t: 5.330664 10.456848 2.925289 q: -0.278037 0.740479 0.335690 0.511564 
wait for imu ... 
time: 1403638165.595097, t: 5.440608 10.388971 2.912316 q: -0.277694 0.732596 0.332111 0.525253 
wait for imu ... 
time: 1403638165.695097, t: 5.543865 10.313823 2.893065 q: -0.276071 0.723309 0.330731 0.539653 
time: 1403638165.795097, t: 5.648697 10.233676 2.869201 q: -0.271917 0.720047 0.332525 0.544995 
wait for imu ... 
time: 1403638165.895097, t: 5.746518 10.149712 2.841277 q: -0.266449 0.725770 0.336706 0.537486 
time: 1403638165.995097, t: 5.838219 10.060736 2.819237 q: -0.261259 0.731969 0.341161 0.528748 
time: 1403638166.095097, t: 5.929791 9.969044 2.807522 q: -0.255455 0.737335 0.346478 0.520609 
time: 1403638166.195097, t: 6.020404 9.881254 2.807786 q: -0.251058 0.738764 0.351827 0.517123 
wait for imu ... 
time: 1403638166.295097, t: 6.109758 9.796233 2.829149 q: -0.249663 0.737908 0.355590 0.516446 
wait for imu ... 
time: 1403638166.395097, t: 6.194825 9.710489 2.870438 q: -0.247895 0.736817 0.359230 0.516337 
wait for imu ... 
time: 1403638166.495097, t: 6.271087 9.632338 2.920695 q: -0.246964 0.736696 0.361433 0.515417 
wait for imu ... 
time: 1403638166.595097, t: 6.340932 9.559439 2.967364 q: -0.248619 0.736071 0.361699 0.515327 
wait for imu ... 
wait for imu ... 
time: 1403638166.695097, t: 6.405982 9.491316 3.007034 q: -0.251542 0.737142 0.360410 0.513277 
wait for imu ... 
time: 1403638166.795097, t: 6.471888 9.425270 3.035867 q: -0.258852 0.741925 0.356253 0.505596 
time: 1403638166.895097, t: 6.543798 9.354751 3.054437 q: -0.264700 0.752580 0.352749 0.489006 
wait for imu ... 
time: 1403638166.995097, t: 6.616250 9.294480 3.067298 q: -0.263071 0.761032 0.353601 0.476016 
time: 1403638167.095097, t: 6.699005 9.234597 3.079948 q: -0.257551 0.763868 0.357466 0.471584 
time: 1403638167.195097, t: 6.788753 9.183193 3.100173 q: -0.251840 0.762135 0.361652 0.474273 
wait for imu ... 
time: 1403638167.295097, t: 6.886055 9.139475 3.128557 q: -0.247307 0.759229 0.364863 0.478838 
wait for imu ... 
time: 1403638167.395097, t: 6.989686 9.102561 3.161356 q: -0.246355 0.757667 0.365061 0.481643 
wait for imu ... 
time: 1403638167.495097, t: 7.098686 9.069039 3.193396 q: -0.249387 0.755565 0.362263 0.485483 
time: 1403638167.595097, t: 7.212490 9.037393 3.218782 q: -0.255953 0.752610 0.356618 0.490805 
wait for imu ... 
time: 1403638167.695097, t: 7.328816 9.005015 3.238236 q: -0.263690 0.753165 0.345912 0.493513 
wait for imu ... 
time: 1403638167.795097, t: 7.448604 8.973826 3.249813 q: -0.266944 0.756360 0.332427 0.496138 
wait for imu ... 
time: 1403638167.895097, t: 7.573780 8.940616 3.258397 q: -0.264823 0.761488 0.318021 0.498866 
wait for imu ... 
wait for imu ... 
time: 1403638167.995097, t: 7.704040 8.904799 3.264924 q: -0.258263 0.766276 0.304219 0.503559 
time: 1403638168.095097, t: 7.840913 8.865216 3.273925 q: -0.252886 0.769907 0.291791 0.508085 
wait for imu ... 
time: 1403638168.195097, t: 7.980950 8.819959 3.290331 q: -0.244605 0.773071 0.281634 0.513042 
time: 1403638168.295097, t: 8.122896 8.769214 3.313441 q: -0.230819 0.777147 0.272831 0.518005 
time: 1403638168.395097, t: 8.266920 8.717147 3.342149 q: -0.218695 0.780137 0.260944 0.524849 
wait for imu ... 
time: 1403638168.495097, t: 8.413583 8.662050 3.373562 q: -0.201824 0.784303 0.255786 0.527930 
time: 1403638168.595097, t: 8.560855 8.608893 3.397776 q: -0.183109 0.789745 0.256887 0.526102 
wait for imu ... 
time: 1403638168.695097, t: 8.708496 8.560237 3.414620 q: -0.168272 0.793488 0.258746 0.524511 
time: 1403638168.795097, t: 8.856527 8.516992 3.424450 q: -0.161715 0.795485 0.259075 0.523386 
time: 1403638168.895097, t: 9.003617 8.480557 3.428865 q: -0.157578 0.796895 0.260099 0.521992 
wait for imu ... 
time: 1403638168.995097, t: 9.150912 8.451774 3.428486 q: -0.157623 0.796785 0.260991 0.521702 
wait for imu ... 
time: 1403638169.095097, t: 9.299134 8.431799 3.425653 q: -0.163986 0.791085 0.259794 0.528962 
wait for imu ... 
time: 1403638169.195097, t: 9.449145 8.418881 3.417366 q: -0.174887 0.787407 0.256233 0.532681 
time: 1403638169.295097, t: 9.600134 8.408401 3.405112 q: -0.188724 0.785593 0.245883 0.535507 
time: 1403638169.395097, t: 9.752640 8.395349 3.388166 q: -0.203821 0.783822 0.226533 0.541075 
wait for imu ... 
time: 1403638169.495097, t: 9.904493 8.376561 3.370343 q: -0.207746 0.782985 0.207890 0.548232 
time: 1403638169.595097, t: 10.057408 8.346882 3.357700 q: -0.200676 0.783819 0.192719 0.555173 
time: 1403638169.695097, t: 10.207982 8.306288 3.349693 q: -0.181865 0.787789 0.181690 0.559734 
wait for imu ... 
time: 1403638169.795097, t: 10.354592 8.253777 3.349810 q: -0.157845 0.791647 0.171041 0.564912 
time: 1403638169.895097, t: 10.496157 8.196084 3.358056 q: -0.129183 0.794822 0.160934 0.570675 
wait for imu ... 
time: 1403638169.995097, t: 10.631571 8.136773 3.374082 q: -0.104567 0.791890 0.147263 0.583343 
wait for imu ... 
time: 1403638170.095097, t: 10.757688 8.079571 3.392166 q: -0.090650 0.789561 0.126052 0.593706 
wait for imu ... 
time: 1403638170.195097, t: 10.877354 8.024143 3.403051 q: -0.081451 0.792098 0.100805 0.596477 
time: 1403638170.295097, t: 10.989537 7.968519 3.406915 q: -0.073882 0.795837 0.074556 0.596344 
wait for imu ... 
wait for imu ... 
time: 1403638170.395097, t: 11.095786 7.910160 3.403270 q: -0.064021 0.801324 0.049955 0.592694 
time: 1403638170.495097, t: 11.194738 7.848937 3.396280 q: -0.054818 0.805528 0.025912 0.589447 
wait for imu ... 
time: 1403638170.595097, t: 11.291648 7.784939 3.393072 q: -0.050380 0.804641 0.000419 0.591621 
time: 1403638170.695097, t: 11.385529 7.714613 3.399229 q: -0.040836 0.801039 -0.021311 0.596837 
time: 1403638170.795097, t: 11.468199 7.637230 3.410660 q: -0.028629 0.799856 -0.039803 0.598186 
time: 1403638170.895097, t: 11.542384 7.553995 3.423188 q: -0.014232 0.799534 -0.056431 0.597795 
wait for imu ... 
time: 1403638170.995097, t: 11.629493 7.460514 3.432182 q: 0.000014 0.798966 -0.072715 0.596964 
time: 1403638171.095097, t: 11.655974 7.369948 3.435831 q: 0.011821 0.795897 -0.089173 0.598712 
wait for imu ... 
time: 1403638171.195097, t: 11.693178 7.273337 3.435699 q: 0.019230 0.793175 -0.101889 0.600101 
wait for imu ... 
time: 1403638171.295097, t: 11.725336 7.173087 3.434055 q: 0.024269 0.791002 -0.110529 0.601257 
time: 1403638171.395097, t: 11.740610 7.071515 3.430648 q: 0.027115 0.788623 -0.116837 0.603066 
wait for imu ... 
time: 1403638171.495097, t: 11.750807 6.964094 3.426091 q: 0.030321 0.786162 -0.123940 0.604705 
wait for imu ... 
wait for imu ... 
time: 1403638171.595097, t: 11.752381 6.852357 3.419033 q: 0.032173 0.783038 -0.131066 0.607155 
time: 1403638171.695097, t: 11.743207 6.737345 3.410210 q: 0.033511 0.779580 -0.141299 0.609235 
wait for imu ... 
time: 1403638171.795097, t: 11.725542 6.616381 3.400024 q: 0.037311 0.776749 -0.151976 0.610059 
wait for imu ... 
time: 1403638171.895097, t: 11.692075 6.492786 3.393069 q: 0.039241 0.771766 -0.162174 0.613627 
time: 1403638171.995097, t: 11.645908 6.362062 3.392419 q: 0.047999 0.768090 -0.165596 0.616694 
time: 1403638172.095097, t: 11.591027 6.222497 3.396978 q: 0.055783 0.767210 -0.167289 0.616677 
wait for imu ... 
wait for imu ... 
time: 1403638172.195097, t: 11.522298 6.080064 3.400202 q: 0.059385 0.767677 -0.168810 0.615344 
wait for imu ... 
time: 1403638172.295097, t: 11.443254 5.934459 3.394433 q: 0.062851 0.768653 -0.168387 0.613896 
time: 1403638172.395097, t: 11.353855 5.785617 3.378579 q: 0.063713 0.768504 -0.167800 0.614154 
time: 1403638172.495097, t: 11.255499 5.636105 3.351701 q: 0.062030 0.766418 -0.167603 0.616980 
time: 1403638172.595097, t: 11.149698 5.484243 3.316281 q: 0.059671 0.764429 -0.166864 0.619874 
wait for imu ... 
wait for imu ... 
time: 1403638172.695097, t: 11.031907 5.330134 3.272783 q: 0.055156 0.763976 -0.166670 0.620903 
wait for imu ... 
time: 1403638172.795097, t: 10.900768 5.174409 3.225839 q: 0.052646 0.764371 -0.165149 0.621040 
wait for imu ... 
time: 1403638172.895097, t: 10.758016 5.015850 3.174800 q: 0.048608 0.764453 -0.164277 0.621500 
time: 1403638172.995097, t: 10.603994 4.851336 3.119776 q: 0.040803 0.767123 -0.165057 0.618557 
wait for imu ... 
time: 1403638173.095097, t: 10.438927 4.682130 3.058242 q: 0.033561 0.772108 -0.165342 0.612686 
wait for imu ... 
time: 1403638173.195097, t: 10.265171 4.506559 2.990447 q: 0.032461 0.777169 -0.163144 0.606909 
time: 1403638173.295097, t: 10.082555 4.324064 2.917651 q: 0.038356 0.780998 -0.157114 0.603230 
wait for imu ... 
wait for imu ... 
time: 1403638173.395097, t: 9.895690 4.137740 2.838475 q: 0.050216 0.784714 -0.148504 0.599708 
wait for imu ... 
time: 1403638173.495097, t: 9.704920 3.950392 2.748310 q: 0.063856 0.789211 -0.139499 0.594650 
wait for imu ... 
time: 1403638173.595097, t: 9.515189 3.759855 2.652758 q: 0.073296 0.790704 -0.133737 0.592899 
wait for imu ... 
wait for imu ... 
time: 1403638173.695097, t: 9.324767 3.571122 2.553611 q: 0.075066 0.790980 -0.133294 0.592409 
wait for imu ... 
time: 1403638173.795097, t: 9.132386 3.384543 2.451150 q: 0.074349 0.791621 -0.134639 0.591338 
wait for imu ... 
time: 1403638173.895097, t: 8.938769 3.205172 2.351602 q: 0.075606 0.793010 -0.134930 0.589248 
wait for imu ... 
time: 1403638173.995097, t: 8.742339 3.027976 2.259303 q: 0.075104 0.792167 -0.135973 0.590205 
time: 1403638174.095097, t: 8.543185 2.855023 2.172498 q: 0.074435 0.792785 -0.136814 0.589265 
time: 1403638174.195097, t: 8.343785 2.686413 2.087815 q: 0.075772 0.796028 -0.136365 0.584811 
wait for imu ... 
wait for imu ... 
time: 1403638174.295097, t: 8.143021 2.521483 1.998684 q: 0.074728 0.801804 -0.136488 0.576972 
time: 1403638174.395097, t: 7.944512 2.354017 1.905955 q: 0.074027 0.805373 -0.136369 0.572099 
wait for imu ... 
time: 1403638174.495097, t: 7.750875 2.191343 1.810668 q: 0.073171 0.808474 -0.135735 0.567972 
time: 1403638174.595097, t: 7.563559 2.029436 1.721083 q: 0.075066 0.812172 -0.133537 0.562946 
time: 1403638174.695097, t: 7.381429 1.865489 1.636975 q: 0.077011 0.816680 -0.131713 0.556556 
wait for imu ... 
time: 1403638174.795097, t: 7.203497 1.705403 1.561810 q: 0.077543 0.820789 -0.131136 0.550542 
wait for imu ... 
time: 1403638174.895097, t: 7.039794 1.548680 1.492533 q: 0.079628 0.822827 -0.129534 0.547574 
time: 1403638174.995097, t: 6.881289 1.395679 1.431073 q: 0.079987 0.824110 -0.130086 0.545456 
time: 1403638175.095097, t: 6.727730 1.243717 1.375212 q: 0.081106 0.822815 -0.130215 0.547213 
wait for imu ... 
time: 1403638175.195097, t: 6.584098 1.093834 1.327125 q: 0.084199 0.822551 -0.129805 0.547239 
wait for imu ... 
time: 1403638175.295097, t: 6.446689 0.945303 1.281438 q: 0.086439 0.824535 -0.129938 0.543863 
time: 1403638175.395097, t: 6.313884 0.798291 1.242443 q: 0.088709 0.829796 -0.129739 0.535478 
wait for imu ... 
time: 1403638175.495097, t: 6.191945 0.651346 1.212305 q: 0.092224 0.835896 -0.127912 0.525749 
wait for imu ... 
time: 1403638175.595097, t: 6.083543 0.507089 1.191998 q: 0.092649 0.843343 -0.127326 0.513788 
wait for imu ... 
time: 1403638175.695097, t: 5.984936 0.364975 1.178014 q: 0.090544 0.850386 -0.127912 0.502279 
wait for imu ... 
time: 1403638175.795097, t: 5.900456 0.226420 1.167588 q: 0.089093 0.854389 -0.127901 0.495704 
time: 1403638175.895097, t: 5.834596 0.089556 1.147110 q: 0.091143 0.856271 -0.125164 0.492775 
time: 1403638175.995097, t: 5.781227 -0.047552 1.116380 q: 0.098442 0.854952 -0.118049 0.495409 
wait for imu ... 
time: 1403638176.095097, t: 5.750068 -0.177849 1.086562 q: 0.106278 0.846304 -0.110675 0.510123 
wait for imu ... 
time: 1403638176.195097, t: 5.732155 -0.300951 1.063072 q: 0.108386 0.830729 -0.108042 0.535228 
time: 1403638176.295097, t: 5.724054 -0.415749 1.044299 q: 0.106156 0.818104 -0.109530 0.554473 
time: 1403638176.395097, t: 5.719921 -0.523398 1.030170 q: 0.106301 0.812549 -0.109947 0.562474 
wait for imu ... 
wait for imu ... 
time: 1403638176.595097, t: 5.721392 -0.713582 1.022380 q: 0.108674 0.813490 -0.109707 0.560703 
time: 1403638176.695097, t: 5.728861 -0.795960 1.024080 q: 0.109770 0.814224 -0.109686 0.559428 
wait for imu ... 
time: 1403638176.795097, t: 5.736349 -0.876905 1.036652 q: 0.108191 0.814571 -0.110719 0.559026 
time: 1403638176.895097, t: 5.747537 -0.946156 1.050821 q: 0.103322 0.814800 -0.114252 0.558903 
time: 1403638176.995097, t: 5.757894 -1.017084 1.066029 q: 0.103945 0.815232 -0.113740 0.558261 
time: 1403638177.095097, t: 5.773850 -1.075293 1.073790 q: 0.106555 0.816407 -0.112064 0.556388 
time: 1403638177.195097, t: 5.793243 -1.130949 1.073031 q: 0.109727 0.816859 -0.110177 0.555484 
time: 1403638177.295097, t: 5.814794 -1.186359 1.065943 q: 0.111004 0.816927 -0.109364 0.555291 
time: 1403638177.395097, t: 5.837859 -1.227528 1.055081 q: 0.111497 0.816784 -0.109299 0.555415 
wait for imu ... 
time: 1403638177.495097, t: 5.864978 -1.269247 1.037573 q: 0.107527 0.816824 -0.113144 0.555369 
time: 1403638177.595097, t: 5.896784 -1.298659 1.016259 q: 0.094418 0.815434 -0.123275 0.557634 
wait for imu ... 
time: 1403638177.695097, t: 5.929602 -1.328821 0.990889 q: 0.085184 0.814058 -0.131435 0.559265 
wait for imu ... 
time: 1403638177.795097, t: 5.963491 -1.363669 0.962705 q: 0.077787 0.809744 -0.140563 0.564363 
time: 1403638177.895097, t: 5.996135 -1.391863 0.935522 q: 0.074345 0.801944 -0.146345 0.574405 
wait for imu ... 
time: 1403638177.995097, t: 6.027098 -1.429049 0.911904 q: 0.075030 0.796218 -0.148714 0.581628 
time: 1403638178.095097, t: 6.056116 -1.467559 0.895195 q: 0.083465 0.792838 -0.149693 0.584837 
wait for imu ... 
time: 1403638178.195097, t: 6.076808 -1.504142 0.886932 q: 0.092548 0.789522 -0.157466 0.585914 
wait for imu ... 
time: 1403638178.295097, t: 6.093227 -1.546721 0.886063 q: 0.101978 0.784724 -0.171364 0.586893 
wait for imu ... 
time: 1403638178.395097, t: 6.101927 -1.590672 0.891776 q: 0.113505 0.779721 -0.188878 0.586069 
wait for imu ... 
time: 1403638178.495097, t: 6.102512 -1.630823 0.896716 q: 0.124481 0.776951 -0.211340 0.579817 
time: 1403638178.595097, t: 6.096233 -1.670943 0.895121 q: 0.134605 0.775948 -0.235864 0.569346 
wait for imu ... 
time: 1403638178.695097, t: 6.082740 -1.712346 0.889738 q: 0.144760 0.772154 -0.259113 0.561857 
time: 1403638178.795097, t: 6.064775 -1.755929 0.880941 q: 0.157174 0.766512 -0.279458 0.556469 
wait for imu ... 
time: 1403638178.895097, t: 6.043983 -1.801634 0.869083 q: 0.168403 0.764548 -0.296019 0.547247 
time: 1403638178.995097, t: 6.021756 -1.850297 0.853518 q: 0.175646 0.765486 -0.308152 0.536863 
wait for imu ... 
time: 1403638179.095097, t: 5.999095 -1.902678 0.834173 q: 0.182880 0.768003 -0.314870 0.526862 
time: 1403638179.195097, t: 5.977392 -1.960281 0.810762 q: 0.191472 0.769339 -0.320398 0.518460 
wait for imu ... 
time: 1403638179.295097, t: 5.958390 -2.023057 0.783573 q: 0.200646 0.770245 -0.326547 0.509737 
time: 1403638179.395097, t: 5.942424 -2.090764 0.755547 q: 0.211288 0.765888 -0.336013 0.505834 
time: 1403638179.495097, t: 5.930358 -2.163214 0.727369 q: 0.221649 0.752191 -0.350121 0.512344 
time: 1403638179.595097, t: 5.918670 -2.238249 0.696423 q: 0.234219 0.738573 -0.366269 0.515265 
time: 1403638179.695097, t: 5.904925 -2.312997 0.667160 q: 0.246959 0.726508 -0.383525 0.513913 
time: 1403638179.795097, t: 5.890545 -2.387013 0.644983 q: 0.260314 0.715788 -0.401334 0.508739 
wait for imu ... 
time: 1403638179.895097, t: 5.871497 -2.461234 0.630427 q: 0.272974 0.705749 -0.418719 0.502074 
time: 1403638179.995097, t: 5.853415 -2.535807 0.619009 q: 0.279636 0.701378 -0.434774 0.490759 
time: 1403638180.095097, t: 5.833632 -2.612553 0.611625 q: 0.282103 0.697860 -0.447812 0.482570 
wait for imu ... 
time: 1403638180.195097, t: 5.817675 -2.692108 0.607360 q: 0.286348 0.694309 -0.454698 0.478737 
wait for imu ... 
time: 1403638180.295097, t: 5.800009 -2.773671 0.601019 q: 0.288237 0.692789 -0.459133 0.475563 
time: 1403638180.395097, t: 5.783246 -2.858832 0.588503 q: 0.289403 0.692512 -0.461062 0.473385 
time: 1403638180.495097, t: 5.765450 -2.946821 0.571451 q: 0.292618 0.693784 -0.459466 0.471094 
wait for imu ... 
time: 1403638180.695097, t: 5.733177 -3.131384 0.532111 q: 0.295272 0.699298 -0.454894 0.465691 
time: 1403638180.795097, t: 5.719831 -3.229313 0.520756 q: 0.291476 0.703841 -0.454527 0.461579 
time: 1403638180.895097, t: 5.708862 -3.331365 0.516629 q: 0.288033 0.705624 -0.453377 0.462148 
time: 1403638180.995097, t: 5.702840 -3.438674 0.515466 q: 0.285258 0.705215 -0.452243 0.465592 
wait for imu ... 
time: 1403638181.095097, t: 5.697471 -3.550200 0.505281 q: 0.282723 0.704532 -0.450794 0.469560 
time: 1403638181.195097, t: 5.688972 -3.665384 0.490676 q: 0.280389 0.702038 -0.450149 0.475280 
time: 1403638181.295097, t: 5.686115 -3.783316 0.472586 q: 0.280548 0.693994 -0.451850 0.485279 
wait for imu ... 
time: 1403638181.395097, t: 5.674371 -3.904012 0.451247 q: 0.283995 0.682999 -0.459257 0.491876 
wait for imu ... 
time: 1403638181.495097, t: 5.659536 -4.026901 0.424346 q: 0.289320 0.668337 -0.472701 0.496159 
time: 1403638181.595097, t: 5.637029 -4.150730 0.398389 q: 0.303588 0.647606 -0.484835 0.503364 
time: 1403638181.695097, t: 5.605058 -4.271999 0.374601 q: 0.320578 0.636324 -0.496899 0.495391 
time: 1403638181.795097, t: 5.565793 -4.389495 0.359248 q: 0.336144 0.629038 -0.510148 0.480695 
time: 1403638181.895097, t: 5.519663 -4.508258 0.353858 q: 0.351028 0.624512 -0.522939 0.461842 
wait for imu ... 
time: 1403638181.995097, t: 5.471602 -4.616368 0.356149 q: 0.358338 0.619255 -0.536624 0.447383 
time: 1403638182.095097, t: 5.423481 -4.721178 0.364605 q: 0.359652 0.616026 -0.548858 0.435795 
wait for imu ... 
time: 1403638182.195097, t: 5.375456 -4.828674 0.378909 q: 0.360300 0.613293 -0.557788 0.427701 
time: 1403638182.295097, t: 5.328059 -4.937149 0.388196 q: 0.355070 0.609868 -0.567100 0.424715 
wait for imu ... 
time: 1403638182.395097, t: 5.278302 -5.045548 0.394326 q: 0.350139 0.607962 -0.572933 0.423712 
time: 1403638182.495097, t: 5.224653 -5.154643 0.405097 q: 0.353165 0.612487 -0.571374 0.416732 
wait for imu ... 
time: 1403638182.595097, t: 5.170089 -5.265950 0.425080 q: 0.359363 0.619253 -0.566157 0.408472 
time: 1403638182.695097, t: 5.116274 -5.386945 0.450349 q: 0.360431 0.623200 -0.563065 0.405795 
time: 1403638182.795097, t: 5.065192 -5.508305 0.478601 q: 0.359578 0.623843 -0.561318 0.407976 
time: 1403638182.895097, t: 5.017495 -5.630171 0.503896 q: 0.360202 0.622926 -0.558771 0.412302 
wait for imu ... 
time: 1403638182.995097, t: 4.970485 -5.757682 0.523665 q: 0.363160 0.619965 -0.554830 0.419431 
time: 1403638183.095097, t: 4.922843 -5.890001 0.537794 q: 0.368122 0.617851 -0.549341 0.425407 
wait for imu ... 
time: 1403638183.195097, t: 4.875920 -6.024053 0.546442 q: 0.373294 0.618320 -0.544363 0.426616 
time: 1403638183.295097, t: 4.829598 -6.156855 0.550405 q: 0.373003 0.623144 -0.543440 0.420990 
time: 1403638183.395097, t: 4.785729 -6.289176 0.550211 q: 0.366916 0.627660 -0.547034 0.414932 
time: 1403638183.495097, t: 4.743806 -6.424545 0.547651 q: 0.364008 0.632506 -0.548762 0.407794 
wait for imu ... 
time: 1403638183.595097, t: 4.704791 -6.562583 0.543152 q: 0.362774 0.634970 -0.549272 0.404361 
time: 1403638183.695097, t: 4.670902 -6.705397 0.540017 q: 0.368552 0.632391 -0.545184 0.408686 
time: 1403638183.795097, t: 4.642074 -6.850170 0.544010 q: 0.376410 0.627272 -0.539842 0.416433 
wait for imu ... 
time: 1403638183.895097, t: 4.616809 -6.993764 0.554269 q: 0.383806 0.622693 -0.534777 0.423036 
time: 1403638183.995097, t: 4.596179 -7.132545 0.570037 q: 0.384665 0.621865 -0.534621 0.423671 
time: 1403638184.095097, t: 4.580374 -7.266740 0.590822 q: 0.380455 0.623730 -0.538076 0.420344 
time: 1403638184.195097, t: 4.568163 -7.396990 0.610752 q: 0.374086 0.627441 -0.543314 0.413748 
time: 1403638184.295097, t: 4.558890 -7.527630 0.626023 q: 0.371072 0.628918 -0.546196 0.410411 
wait for imu ... 
time: 1403638184.395097, t: 4.553661 -7.659511 0.636940 q: 0.373967 0.626783 -0.544687 0.413048 
time: 1403638184.495097, t: 4.553138 -7.793849 0.644873 q: 0.378410 0.624827 -0.542012 0.415476 
wait for imu ... 
time: 1403638184.595097, t: 4.555763 -7.928288 0.652152 q: 0.380230 0.622938 -0.541362 0.417494 
time: 1403638184.695097, t: 4.562061 -8.061755 0.659869 q: 0.381019 0.622201 -0.541096 0.418217 
time: 1403638184.795097, t: 4.570247 -8.197301 0.668567 q: 0.380252 0.620909 -0.541782 0.419944 
time: 1403638184.895097, t: 4.582526 -8.328764 0.676940 q: 0.381468 0.621430 -0.541607 0.418292 
time: 1403638184.995097, t: 4.596002 -8.462052 0.687992 q: 0.382522 0.620038 -0.541106 0.420041 
wait for imu ... 
time: 1403638185.095097, t: 4.611519 -8.592646 0.701781 q: 0.382278 0.620789 -0.541226 0.418998 
time: 1403638185.195097, t: 4.626986 -8.726576 0.714483 q: 0.382833 0.622074 -0.540318 0.417755 
time: 1403638185.295097, t: 4.650347 -8.848538 0.728204 q: 0.385973 0.624347 -0.537640 0.414919 
time: 1403638185.395097, t: 4.673778 -8.974711 0.742800 q: 0.389789 0.625756 -0.533253 0.414893 
wait for imu ... 
time: 1403638185.495097, t: 4.703942 -9.098649 0.758236 q: 0.392567 0.629209 -0.523561 0.419370 
wait for imu ... 
time: 1403638185.595097, t: 4.744469 -9.215104 0.773906 q: 0.390804 0.635354 -0.512100 0.425853 
time: 1403638185.695097, t: 4.789291 -9.329013 0.792875 q: 0.386643 0.640270 -0.502536 0.433612 
time: 1403638185.795097, t: 4.838857 -9.439444 0.811994 q: 0.374315 0.641747 -0.501008 0.443892 
time: 1403638185.895097, t: 4.890420 -9.547931 0.826962 q: 0.351943 0.640630 -0.509292 0.454259 
wait for imu ... 
time: 1403638185.995097, t: 4.941863 -9.649578 0.834566 q: 0.337071 0.640592 -0.514549 0.459635 
time: 1403638186.095097, t: 4.988427 -9.758245 0.838919 q: 0.336680 0.645736 -0.512088 0.455453 
time: 1403638186.195097, t: 5.031464 -9.867045 0.839115 q: 0.341439 0.650080 -0.507593 0.450738 
time: 1403638186.295097, t: 5.073393 -9.981236 0.840563 q: 0.343961 0.652297 -0.505225 0.448272 
time: 1403638186.395097, t: 5.115315 -10.095732 0.848235 q: 0.345725 0.653835 -0.504085 0.445950 
time: 1403638186.495097, t: 5.157659 -10.201645 0.862258 q: 0.347644 0.653081 -0.503294 0.446457 
wait for imu ... 
time: 1403638186.595097, t: 5.200699 -10.307030 0.876959 q: 0.350394 0.654302 -0.502303 0.443627 
time: 1403638186.695097, t: 5.245369 -10.412676 0.886675 q: 0.354542 0.656095 -0.500203 0.440040 
wait for imu ... 
time: 1403638186.795097, t: 5.294325 -10.516925 0.891518 q: 0.359592 0.660177 -0.493402 0.437509 
time: 1403638186.895097, t: 5.347297 -10.619711 0.892316 q: 0.359864 0.667445 -0.484161 0.436581 
time: 1403638186.995097, t: 5.407028 -10.719976 0.891264 q: 0.352351 0.675970 -0.473464 0.441300 
time: 1403638187.095097, t: 5.474500 -10.818025 0.896625 q: 0.337637 0.682197 -0.459918 0.457257 
time: 1403638187.195097, t: 5.547340 -10.914245 0.910345 q: 0.322223 0.688448 -0.441482 0.476766 
time: 1403638187.295097, t: 5.621004 -11.005495 0.932041 q: 0.308461 0.694849 -0.419576 0.495976 
time: 1403638187.395097, t: 5.693822 -11.094095 0.961121 q: 0.297666 0.700557 -0.399408 0.510968 
wait for imu ... 
time: 1403638187.495097, t: 5.763874 -11.176986 0.994309 q: 0.289366 0.705982 -0.384281 0.519793 
time: 1403638187.595097, t: 5.829729 -11.253702 1.026701 q: 0.280491 0.713907 -0.376578 0.519471 
wait for imu ... 
time: 1403638187.695097, t: 5.892455 -11.325022 1.056207 q: 0.273872 0.721324 -0.373262 0.515133 
time: 1403638187.795097, t: 5.953915 -11.393047 1.080713 q: 0.273517 0.725957 -0.369519 0.511499 
wait for imu ... 
time: 1403638187.895097, t: 6.015041 -11.456186 1.100192 q: 0.278851 0.728152 -0.364677 0.508967 
wait for imu ... 
time: 1403638187.995097, t: 6.077340 -11.515036 1.117461 q: 0.286420 0.726624 -0.360242 0.510104 
wait for imu ... 
time: 1403638188.095097, t: 6.140910 -11.566974 1.130600 q: 0.295186 0.724668 -0.355879 0.510952 
wait for imu ... 
time: 1403638188.195097, t: 6.206473 -11.611432 1.139625 q: 0.302654 0.721551 -0.352672 0.513213 
wait for imu ... 
time: 1403638188.295097, t: 6.274945 -11.646020 1.143444 q: 0.302963 0.711028 -0.354078 0.526575 
time: 1403638188.395097, t: 6.343744 -11.670463 1.143765 q: 0.302254 0.697905 -0.355551 0.543281 
wait for imu ... 
time: 1403638188.495097, t: 6.408444 -11.682915 1.141695 q: 0.301064 0.688035 -0.357239 0.555291 
time: 1403638188.595097, t: 6.468532 -11.685328 1.139028 q: 0.299722 0.682718 -0.357518 0.562356 
time: 1403638188.695097, t: 6.521886 -11.673674 1.142008 q: 0.295205 0.686780 -0.355258 0.561230 
time: 1403638188.795097, t: 6.566293 -11.646453 1.152603 q: 0.286931 0.696452 -0.352861 0.555080 
wait for imu ... 
time: 1403638188.895097, t: 6.605482 -11.613151 1.171853 q: 0.279807 0.704242 -0.350426 0.550411 
time: 1403638188.995097, t: 6.639209 -11.570611 1.202248 q: 0.274254 0.710380 -0.348227 0.546701 
wait for imu ... 
time: 1403638189.095097, t: 6.667347 -11.517894 1.239318 q: 0.266396 0.714679 -0.343357 0.548064 
wait for imu ... 
time: 1403638189.295097, t: 6.705682 -11.387220 1.300717 q: 0.242063 0.728170 -0.323217 0.553809 
time: 1403638189.395097, t: 6.717359 -11.313671 1.320242 q: 0.227785 0.742007 -0.312444 0.547648 
time: 1403638189.495097, t: 6.724088 -11.236463 1.338333 q: 0.214841 0.756498 -0.304384 0.537498 
wait for imu ... 
time: 1403638189.595097, t: 6.728446 -11.158622 1.363653 q: 0.205269 0.765074 -0.298792 0.532212 
time: 1403638189.695097, t: 6.733753 -11.083027 1.393904 q: 0.196468 0.771468 -0.296581 0.527520 
wait for imu ... 
time: 1403638189.795097, t: 6.740418 -11.010440 1.418993 q: 0.188561 0.776729 -0.297777 0.521983 
time: 1403638189.895097, t: 6.751871 -10.942680 1.437577 q: 0.185782 0.782027 -0.297990 0.514898 
time: 1403638189.995097, t: 6.759714 -10.879693 1.449083 q: 0.185811 0.783390 -0.297620 0.513027 
time: 1403638190.095097, t: 6.778055 -10.823945 1.457944 q: 0.189966 0.778068 -0.295610 0.520710 
time: 1403638190.195097, t: 6.801374 -10.773290 1.460965 q: 0.197275 0.770477 -0.292288 0.531051 
time: 1403638190.295097, t: 6.825775 -10.724360 1.459355 q: 0.211348 0.764051 -0.281430 0.540699 
time: 1403638190.395097, t: 6.849970 -10.673365 1.452547 q: 0.223533 0.761896 -0.264861 0.547172 
time: 1403638190.495097, t: 6.873198 -10.617410 1.440334 q: 0.228050 0.763955 -0.251948 0.548533 
wait for imu ... 
time: 1403638190.595097, t: 6.896673 -10.553957 1.423595 q: 0.222055 0.767172 -0.247202 0.548662 
time: 1403638190.695097, t: 6.920442 -10.485041 1.404620 q: 0.215127 0.768990 -0.245339 0.549712 
time: 1403638190.795097, t: 6.946528 -10.408480 1.389263 q: 0.206742 0.769207 -0.245835 0.552398 
time: 1403638190.895097, t: 6.973372 -10.325560 1.380748 q: 0.195564 0.769630 -0.250056 0.553982 
time: 1403638190.995097, t: 6.999526 -10.239271 1.380551 q: 0.190373 0.769654 -0.251363 0.555164 
time: 1403638191.095097, t: 7.023100 -10.149753 1.387879 q: 0.189461 0.766689 -0.250785 0.559821 
time: 1403638191.195097, t: 7.042991 -10.058251 1.399986 q: 0.187106 0.770556 -0.252177 0.554654 
wait for imu ... 
time: 1403638191.295097, t: 7.062452 -9.967357 1.419799 q: 0.182638 0.777751 -0.256042 0.544232 
time: 1403638191.395097, t: 7.081747 -9.878353 1.444438 q: 0.182974 0.782523 -0.256643 0.536948 
time: 1403638191.495097, t: 7.101502 -9.793221 1.465356 q: 0.182041 0.783980 -0.258412 0.534283 
time: 1403638191.595097, t: 7.121451 -9.712243 1.481967 q: 0.184141 0.784180 -0.257840 0.533548 
time: 1403638191.695097, t: 7.144277 -9.634223 1.493279 q: 0.187697 0.785186 -0.256047 0.531688 
time: 1403638191.795097, t: 7.172943 -9.560362 1.499387 q: 0.193458 0.786525 -0.252475 0.529347 
wait for imu ... 
time: 1403638191.895097, t: 7.207824 -9.486232 1.500841 q: 0.195745 0.787093 -0.251514 0.528118 
time: 1403638191.995097, t: 7.244953 -9.409403 1.501146 q: 0.194905 0.787100 -0.252128 0.528126 
time: 1403638192.095097, t: 7.286444 -9.330564 1.507254 q: 0.196352 0.787144 -0.251176 0.527978 
wait for imu ... 
time: 1403638192.195097, t: 7.333970 -9.248731 1.521453 q: 0.194073 0.785486 -0.252487 0.530658 
time: 1403638192.295097, t: 7.386194 -9.166388 1.546991 q: 0.192434 0.780796 -0.253262 0.537760 
wait for imu ... 
time: 1403638192.395097, t: 7.441297 -9.080584 1.580249 q: 0.191843 0.776503 -0.253106 0.544221 
time: 1403638192.495097, t: 7.498988 -8.988227 1.618414 q: 0.191280 0.774187 -0.253262 0.547636 
wait for imu ... 
time: 1403638192.595097, t: 7.556213 -8.891661 1.661329 q: 0.193128 0.770593 -0.252231 0.552510 
time: 1403638192.695097, t: 7.612499 -8.790394 1.703536 q: 0.194676 0.763204 -0.251782 0.562341 
wait for imu ... 
time: 1403638192.795097, t: 7.664518 -8.684918 1.740217 q: 0.195723 0.755935 -0.251527 0.571830 
time: 1403638192.895097, t: 7.708976 -8.576728 1.772289 q: 0.192951 0.747450 -0.253232 0.583063 
wait for imu ... 
time: 1403638192.995097, t: 7.745030 -8.465055 1.800038 q: 0.185447 0.734946 -0.256922 0.599546 
time: 1403638193.095097, t: 7.766948 -8.350252 1.825809 q: 0.176601 0.732549 -0.256409 0.605341 
wait for imu ... 
time: 1403638193.195097, t: 7.772936 -8.234850 1.856666 q: 0.171758 0.742517 -0.249612 0.597379 
time: 1403638193.295097, t: 7.762990 -8.119356 1.896857 q: 0.169638 0.751522 -0.241637 0.589958 
wait for imu ... 
time: 1403638193.395097, t: 7.739324 -8.005561 1.947386 q: 0.172550 0.757612 -0.232112 0.585128 
time: 1403638193.495097, t: 7.705228 -7.893403 2.000784 q: 0.174238 0.758917 -0.225387 0.585565 
time: 1403638193.595097, t: 7.663911 -7.779566 2.047579 q: 0.172819 0.760888 -0.222315 0.584601 
time: 1403638193.695097, t: 7.615319 -7.663879 2.086146 q: 0.169060 0.768545 -0.222649 0.575487 
time: 1403638193.795097, t: 7.564159 -7.546182 2.118136 q: 0.163378 0.775970 -0.225166 0.566108 
wait for imu ... 
time: 1403638193.895097, t: 7.509535 -7.428419 2.145096 q: 0.161524 0.780171 -0.226282 0.560392 
time: 1403638193.995097, t: 7.453311 -7.312258 2.167127 q: 0.159522 0.782527 -0.227592 0.557141 
wait for imu ... 
time: 1403638194.095097, t: 7.396853 -7.198276 2.184008 q: 0.161762 0.780536 -0.226466 0.559740 
time: 1403638194.195097, t: 7.342526 -7.083614 2.195725 q: 0.164527 0.775123 -0.225365 0.566857 
time: 1403638194.295097, t: 7.283931 -6.970812 2.200427 q: 0.165588 0.771958 -0.225033 0.570983 
wait for imu ... 
time: 1403638194.395097, t: 7.222098 -6.857155 2.202042 q: 0.162802 0.775632 -0.227432 0.565831 
time: 1403638194.495097, t: 7.161677 -6.738212 2.210764 q: 0.159630 0.779430 -0.230606 0.560203 
time: 1403638194.595097, t: 7.097254 -6.622978 2.223175 q: 0.159077 0.783134 -0.231819 0.554667 
wait for imu ... 
time: 1403638194.695097, t: 7.034408 -6.508804 2.238017 q: 0.157510 0.788686 -0.233732 0.546382 
time: 1403638194.795097, t: 6.975283 -6.395159 2.251905 q: 0.157596 0.792669 -0.234873 0.540069 
time: 1403638194.895097, t: 6.919566 -6.285312 2.260236 q: 0.158015 0.795698 -0.235797 0.535067 
wait for imu ... 
time: 1403638194.995097, t: 6.868276 -6.179261 2.263244 q: 0.158075 0.797295 -0.236213 0.532481 
wait for imu ... 
time: 1403638195.095097, t: 6.819227 -6.076440 2.261258 q: 0.158341 0.798446 -0.236078 0.530735 
wait for imu ... 
time: 1403638195.195097, t: 6.777147 -5.977937 2.252526 q: 0.155927 0.801760 -0.238139 0.525507 
time: 1403638195.295097, t: 6.739065 -5.883269 2.238697 q: 0.150921 0.809635 -0.241547 0.513195 
time: 1403638195.395097, t: 6.712744 -5.797290 2.222053 q: 0.149732 0.812057 -0.242382 0.509307 
wait for imu ... 
time: 1403638195.495097, t: 6.695175 -5.721222 2.204715 q: 0.153160 0.803386 -0.240199 0.522894 
time: 1403638195.695097, t: 6.669252 -5.572781 2.162157 q: 0.158030 0.791338 -0.236074 0.541369 
time: 1403638195.795097, t: 6.660442 -5.504141 2.144102 q: 0.156073 0.793139 -0.236946 0.538914 
time: 1403638195.895097, t: 6.651826 -5.435338 2.133015 q: 0.154611 0.798067 -0.237359 0.531832 
wait for imu ... 
time: 1403638195.995097, t: 6.649573 -5.374712 2.129568 q: 0.152344 0.802476 -0.238539 0.525283 
time: 1403638196.095097, t: 6.653347 -5.317910 2.135065 q: 0.152458 0.802646 -0.238221 0.525135 
time: 1403638196.195097, t: 6.664213 -5.264751 2.150769 q: 0.154859 0.798067 -0.236119 0.532311 
time: 1403638196.295097, t: 6.675926 -5.211841 2.168922 q: 0.157155 0.793044 -0.234378 0.539861 
time: 1403638196.395097, t: 6.689369 -5.162086 2.184842 q: 0.157259 0.791358 -0.234254 0.542353 
time: 1403638196.495097, t: 6.705445 -5.118381 2.193552 q: 0.156592 0.791869 -0.235000 0.541478 
time: 1403638196.595097, t: 6.725729 -5.078599 2.194622 q: 0.153820 0.794945 -0.237585 0.536614 
time: 1403638196.695097, t: 6.747551 -5.042309 2.189374 q: 0.150168 0.800982 -0.240871 0.527122 
wait for imu ... 
time: 1403638196.795097, t: 6.768093 -5.009408 2.183387 q: 0.149938 0.803268 -0.241445 0.523433 
wait for imu ... 
time: 1403638196.895097, t: 6.797136 -4.980091 2.174152 q: 0.151267 0.800843 -0.240966 0.526977 
time: 1403638196.995097, t: 6.833125 -4.957127 2.164867 q: 0.153545 0.795747 -0.238998 0.534875 
time: 1403638197.095097, t: 6.872738 -4.940824 2.161627 q: 0.155290 0.792234 -0.238031 0.539992 
time: 1403638197.195097, t: 6.910460 -4.926523 2.166479 q: 0.158411 0.791054 -0.235829 0.541780 
time: 1403638197.295097, t: 6.952421 -4.912874 2.177607 q: 0.165925 0.788857 -0.230299 0.545101 
time: 1403638197.395097, t: 6.992675 -4.900563 2.197626 q: 0.174712 0.786516 -0.223952 0.548374 
time: 1403638197.495097, t: 7.034402 -4.882219 2.222304 q: 0.178289 0.784448 -0.221318 0.551246 
time: 1403638197.595097, t: 7.075907 -4.864496 2.252786 q: 0.177140 0.783221 -0.221478 0.553293 
time: 1403638197.695097, t: 7.117081 -4.838605 2.288302 q: 0.177255 0.783052 -0.221150 0.553627 
time: 1403638197.795097, t: 7.158117 -4.812820 2.321977 q: 0.176502 0.783148 -0.220965 0.553806 
time: 1403638197.895097, t: 7.199454 -4.782211 2.349131 q: 0.172315 0.779545 -0.223246 0.559266 
time: 1403638197.995097, t: 7.239859 -4.748459 2.368227 q: 0.171362 0.770385 -0.223086 0.572167 
wait for imu ... 
time: 1403638198.095097, t: 7.276183 -4.714467 2.368956 q: 0.170246 0.767907 -0.223397 0.575699 
wait for imu ... 
time: 1403638198.195097, t: 7.307733 -4.674812 2.350685 q: 0.167010 0.770797 -0.225645 0.571895 
wait for imu ... 
time: 1403638198.295097, t: 7.339132 -4.629257 2.318889 q: 0.166858 0.774170 -0.225989 0.567229 
time: 1403638198.395097, t: 7.367585 -4.580388 2.283270 q: 0.168151 0.778064 -0.224974 0.561897 
wait for imu ... 
time: 1403638198.495097, t: 7.396157 -4.529462 2.244926 q: 0.173705 0.781466 -0.221072 0.557014 
wait for imu ... 
time: 1403638198.595097, t: 7.422175 -4.475154 2.201682 q: 0.186738 0.783951 -0.211545 0.552991 
time: 1403638198.695097, t: 7.453908 -4.416356 2.157778 q: 0.203984 0.783504 -0.198877 0.552232 
wait for imu ... 
time: 1403638198.795097, t: 7.478579 -4.345854 2.119006 q: 0.216772 0.781623 -0.189132 0.553447 
time: 1403638198.895097, t: 7.514436 -4.262057 2.090140 q: 0.219608 0.781225 -0.186433 0.553808 
wait for imu ... 
time: 1403638198.995097, t: 7.543854 -4.163943 2.068152 q: 0.217073 0.782375 -0.188343 0.552535 
time: 1403638199.095097, t: 7.582423 -4.051692 2.055787 q: 0.213799 0.783058 -0.191054 0.551913 
wait for imu ... 
time: 1403638199.195097, t: 7.624788 -3.928923 2.052470 q: 0.211414 0.781953 -0.193452 0.553562 
time: 1403638199.295097, t: 7.669416 -3.795178 2.058653 q: 0.209944 0.778423 -0.194418 0.558733 
wait for imu ... 
time: 1403638199.395097, t: 7.713853 -3.649893 2.071142 q: 0.212321 0.777292 -0.193257 0.559811 
time: 1403638199.495097, t: 7.755435 -3.491584 2.090302 q: 0.216288 0.779562 -0.191605 0.555689 
wait for imu ... 
time: 1403638199.595097, t: 7.801943 -3.321982 2.115489 q: 0.216643 0.783743 -0.187970 0.550890 
time: 1403638199.695097, t: 7.847559 -3.141566 2.151085 q: 0.207383 0.786219 -0.183886 0.552302 
time: 1403638199.795097, t: 7.896249 -2.952303 2.186164 q: 0.188213 0.789023 -0.186793 0.554190 
time: 1403638199.895097, t: 7.943088 -2.758152 2.219409 q: 0.172675 0.791435 -0.189115 0.555023 
time: 1403638199.995097, t: 7.989984 -2.559206 2.246076 q: 0.163361 0.792937 -0.187980 0.556082 
wait for imu ... 
time: 1403638200.095097, t: 8.036202 -2.358967 2.269340 q: 0.158077 0.795381 -0.179406 0.556950 
wait for imu ... 
time: 1403638200.195097, t: 8.082868 -2.157349 2.294299 q: 0.157377 0.795647 -0.162389 0.561968 
time: 1403638200.295097, t: 8.131095 -1.950692 2.324036 q: 0.150645 0.793176 -0.145693 0.571797 
time: 1403638200.395097, t: 8.178823 -1.739132 2.362440 q: 0.142500 0.791839 -0.129170 0.579655 
time: 1403638200.495097, t: 8.221169 -1.522836 2.406656 q: 0.141342 0.794783 -0.111621 0.579554 
wait for imu ... 
time: 1403638200.595097, t: 8.261292 -1.300156 2.459126 q: 0.138527 0.798215 -0.096248 0.578272 
time: 1403638200.695097, t: 8.300356 -1.069928 2.517007 q: 0.137655 0.800896 -0.077495 0.577591 
time: 1403638200.795097, t: 8.338757 -0.830277 2.574800 q: 0.132524 0.805241 -0.065784 0.574192 
time: 1403638200.895097, t: 8.376529 -0.581176 2.626730 q: 0.124644 0.808880 -0.061413 0.571319 
time: 1403638200.995097, t: 8.413403 -0.323592 2.670174 q: 0.108461 0.809322 -0.066642 0.573405 
wait for imu ... 
time: 1403638201.095097, t: 8.450522 -0.061831 2.705971 q: 0.096456 0.808675 -0.071966 0.575814 
wait for imu ... 
time: 1403638201.195097, t: 8.486469 0.201682 2.733200 q: 0.090848 0.808270 -0.075737 0.576810 
time: 1403638201.295097, t: 8.518561 0.466009 2.752554 q: 0.088681 0.807731 -0.078822 0.577489 
wait for imu ... 
time: 1403638201.395097, t: 8.543842 0.729792 2.765284 q: 0.091183 0.808023 -0.078695 0.576708 
time: 1403638201.495097, t: 8.564475 0.990733 2.768728 q: 0.091636 0.806615 -0.080648 0.578334 
wait for imu ... 
time: 1403638201.595097, t: 8.583003 1.250676 2.765308 q: 0.094998 0.804966 -0.080627 0.580090 
time: 1403638201.695097, t: 8.596481 1.508239 2.753400 q: 0.094508 0.803357 -0.082499 0.582134 
wait for imu ... 
time: 1403638201.795097, t: 8.606084 1.764145 2.732171 q: 0.096113 0.803148 -0.082995 0.582088 
wait for imu ... 
time: 1403638201.895097, t: 8.615524 2.021963 2.705502 q: 0.094137 0.803136 -0.084414 0.582224 
time: 1403638201.995097, t: 8.616388 2.282109 2.680169 q: 0.089937 0.804150 -0.079971 0.582116 
time: 1403638202.095097, t: 8.609994 2.546160 2.659388 q: 0.079260 0.805721 -0.077471 0.581833 
wait for imu ... 
time: 1403638202.195097, t: 8.600540 2.809540 2.643600 q: 0.067330 0.809515 -0.077366 0.578071 
time: 1403638202.295097, t: 8.590685 3.072848 2.634908 q: 0.059461 0.814511 -0.076370 0.572017 
wait for imu ... 
time: 1403638202.395097, t: 8.584128 3.330195 2.633058 q: 0.055632 0.816168 -0.074750 0.570251 
time: 1403638202.495097, t: 8.579683 3.583131 2.626854 q: 0.053119 0.816959 -0.073480 0.569524 
wait for imu ... 
time: 1403638202.595097, t: 8.577559 3.832106 2.613746 q: 0.048745 0.817666 -0.075297 0.568663 
wait for imu ... 
time: 1403638202.695097, t: 8.575479 4.075292 2.594110 q: 0.047865 0.818899 -0.075836 0.566887 
wait for imu ... 
time: 1403638202.795097, t: 8.575595 4.311063 2.569386 q: 0.049237 0.818406 -0.075360 0.567546 
time: 1403638202.895097, t: 8.574849 4.539752 2.541323 q: 0.051008 0.817081 -0.074639 0.569391 
wait for imu ... 
time: 1403638202.995097, t: 8.574587 4.764154 2.514388 q: 0.049943 0.816237 -0.076040 0.570509 
wait for imu ... 
time: 1403638203.095097, t: 8.572133 4.981698 2.491656 q: 0.049469 0.815503 -0.076541 0.571533 
time: 1403638203.195097, t: 8.568229 5.194539 2.477610 q: 0.053060 0.812808 -0.074422 0.575317 wait for imu ... 
time: 1403638203.295097, t: 8.564459 5.402869 2.469871 q: 0.053881 0.809909 -0.073675 0.579410 
time: 1403638203.395097, t: 8.558132 5.607281 2.464098 q: 0.052299 0.808654 -0.074398 0.581213 
time: 1403638203.495097, t: 8.551690 5.806989 2.453411 q: 0.050651 0.808692 -0.075594 0.581151 
time: 1403638203.595097, t: 8.542214 6.001071 2.437995 q: 0.047664 0.808994 -0.077575 0.580723 
time: 1403638203.695097, t: 8.534950 6.190062 2.425355 q: 0.047191 0.810287 -0.077639 0.578947 
time: 1403638203.795097, t: 8.524616 6.373901 2.422897 q: 0.048775 0.810239 -0.076446 0.579043 
time: 1403638203.895097, t: 8.509879 6.554863 2.425164 q: 0.049208 0.809882 -0.075387 0.579644 
time: 1403638203.995097, t: 8.495756 6.736179 2.432963 q: 0.047761 0.810581 -0.075354 0.578791 
time: 1403638204.095097, t: 8.477023 6.912256 2.448502 q: 0.045977 0.812953 -0.075333 0.575602 
time: 1403638204.195097, t: 8.456352 7.080240 2.473359 q: 0.040408 0.815598 -0.078134 0.571893 
wait for imu ... 
time: 1403638204.295097, t: 8.435266 7.246761 2.502128 q: 0.031334 0.819058 -0.084492 0.566589 
time: 1403638204.395097, t: 8.417964 7.407069 2.534420 q: 0.020627 0.823299 -0.093231 0.559518 
wait for imu ... 
time: 1403638204.495097, t: 8.406404 7.558995 2.565035 q: 0.016599 0.824637 -0.097902 0.556878 
time: 1403638204.595097, t: 8.394477 7.700195 2.591152 q: 0.015109 0.822827 -0.098521 0.559483 
time: 1403638204.695097, t: 8.386953 7.835628 2.608968 q: 0.015115 0.823065 -0.091195 0.560375 
wait for imu ... 
time: 1403638204.795097, t: 8.379018 7.960682 2.619856 q: 0.017617 0.824216 -0.074199 0.561117 
wait for imu ... 
time: 1403638204.895097, t: 8.371273 8.074714 2.622924 q: 0.021253 0.823363 -0.047196 0.565149 
time: 1403638204.995097, t: 8.366212 8.185107 2.617358 q: 0.014155 0.823381 -0.017487 0.567043 
wait for imu ... 
time: 1403638205.095097, t: 8.361957 8.296247 2.607175 q: -0.000070 0.822734 0.017276 0.568164 
time: 1403638205.195097, t: 8.356384 8.404769 2.597397 q: -0.025415 0.820259 0.054023 0.568869 
wait for imu ... 
time: 1403638205.295097, t: 8.351032 8.515334 2.595426 q: -0.053091 0.815305 0.094495 0.568797 
time: 1403638205.395097, t: 8.345634 8.627198 2.600858 q: -0.081144 0.806600 0.135063 0.569710 
wait for imu ... 
time: 1403638205.495097, t: 8.340767 8.738995 2.614155 q: -0.099646 0.795756 0.173573 0.571591 
wait for imu ... 
time: 1403638205.595097, t: 8.331397 8.852593 2.634569 q: -0.107044 0.785170 0.205364 0.574348 
time: 1403638205.695097, t: 8.314522 8.966734 2.661174 q: -0.109528 0.773487 0.228314 0.581028 
time: 1403638205.795097, t: 8.291551 9.087700 2.693482 q: -0.116013 0.765686 0.245195 0.583220 
time: 1403638205.895097, t: 8.255996 9.212410 2.729459 q: -0.127246 0.761556 0.261761 0.579070 
wait for imu ... 
time: 1403638205.995097, t: 8.211498 9.344088 2.769695 q: -0.145526 0.757711 0.277393 0.572494 
time: 1403638206.095097, t: 8.156345 9.478337 2.817447 q: -0.162559 0.752169 0.294763 0.566508 
wait for imu ... 
time: 1403638206.195097, t: 8.088671 9.609964 2.867777 q: -0.179077 0.744482 0.311809 0.562541 
time: 1403638206.295097, t: 8.014686 9.740164 2.915683 q: -0.196362 0.736794 0.326231 0.558703 
time: 1403638206.395097, t: 7.931963 9.864626 2.956035 q: -0.216729 0.732729 0.332519 0.552783 
time: 1403638206.495097, t: 7.847790 9.990752 2.992121 q: -0.230914 0.729005 0.335405 0.550213 
time: 1403638206.595097, t: 7.758051 10.107473 3.019018 q: -0.239094 0.726085 0.337351 0.549390 
wait for imu ... 
time: 1403638206.695097, t: 7.666082 10.223739 3.038840 q: -0.246696 0.723152 0.339788 0.548395 
time: 1403638206.795097, t: 7.569442 10.334068 3.051584 q: -0.252921 0.720710 0.346772 0.544387 
wait for imu ... 
time: 1403638206.895097, t: 7.467323 10.437709 3.058605 q: -0.257351 0.717337 0.352313 0.543206 
time: 1403638206.995097, t: 7.361133 10.536858 3.061848 q: -0.263558 0.713715 0.353708 0.544094 
wait for imu ... 
time: 1403638207.095097, t: 7.253609 10.632998 3.058442 q: -0.266415 0.710293 0.355050 0.546302 
time: 1403638207.195097, t: 7.141172 10.720607 3.047687 q: -0.270383 0.708879 0.355366 0.545984 
time: 1403638207.295097, t: 7.025443 10.798408 3.027924 q: -0.274765 0.704703 0.360794 0.545642 
time: 1403638207.395097, t: 6.904442 10.871185 3.002806 q: -0.283956 0.697563 0.368792 0.544763 
wait for imu ... 
time: 1403638207.495097, t: 6.779809 10.935099 2.979465 q: -0.294959 0.688390 0.382402 0.541191 
wait for imu ... 
time: 1403638207.595097, t: 6.647450 10.992849 2.963393 q: -0.303013 0.683614 0.398235 0.531286 
wait for imu ... 
time: 1403638207.695097, t: 6.513050 11.040097 2.951874 q: -0.309635 0.685361 0.410595 0.515575 
wait for imu ... 
time: 1403638207.795097, t: 6.380513 11.075890 2.948649 q: -0.315314 0.686579 0.418459 0.504062 
wait for imu ... 
time: 1403638207.895097, t: 6.250667 11.104360 2.953207 q: -0.316697 0.690478 0.424669 0.492544 
time: 1403638207.995097, t: 6.124372 11.129573 2.963564 q: -0.316043 0.692078 0.428378 0.487481 
wait for imu ... 
time: 1403638208.095097, t: 6.000031 11.154089 2.972472 q: -0.316793 0.690969 0.428518 0.488444 
wait for imu ... 
time: 1403638208.195097, t: 5.878126 11.174596 2.975628 q: -0.321459 0.688072 0.424505 0.492967 
wait for imu ... 
time: 1403638208.295097, t: 5.759194 11.191666 2.971584 q: -0.320688 0.687020 0.422863 0.496337 
optimize pose graph 
time: 1403638208.395097, t: 5.643554 11.203744 2.960632 q: -0.316963 0.690255 0.423800 0.493433 
wait for imu ... 
time: 1403638208.495097, t: 5.527481 11.213939 2.945968 q: -0.315402 0.691647 0.426732 0.489945 
wait for imu ... 
time: 1403638208.595097, t: 5.414168 11.218350 2.936484 q: -0.318212 0.689233 0.434509 0.484666 
wait for imu ... 
time: 1403638208.695097, t: 5.301524 11.220016 2.934602 q: -0.325104 0.683827 0.442292 0.480694 
wait for imu ... 
time: 1403638208.795097, t: 5.193416 11.218169 2.940188 q: -0.332109 0.679317 0.448454 0.476572 
wait for imu ... 
time: 1403638208.895097, t: 5.090249 11.212965 2.947969 q: -0.336060 0.674027 0.454252 0.475822 
wait for imu ... 
time: 1403638208.995097, t: 4.991150 11.205808 2.950436 q: -0.338781 0.670090 0.458577 0.475304 
wait for imu ... 
time: 1403638209.095097, t: 4.893609 11.194475 2.945665 q: -0.341689 0.668375 0.460925 0.473362 
time: 1403638209.195097, t: 4.799092 11.179493 2.933437 q: -0.342275 0.667470 0.462902 0.472285 
wait for imu ... 
time: 1403638209.295097, t: 4.706011 11.164241 2.915289 q: -0.344244 0.667583 0.462715 0.470876 
wait for imu ... 
time: 1403638209.395097, t: 4.613355 11.147267 2.890971 q: -0.345385 0.668129 0.462342 0.469629 
wait for imu ... 
time: 1403638209.495097, t: 4.524386 11.129028 2.860274 q: -0.347121 0.667559 0.461125 0.470356 
time: 1403638209.595097, t: 4.438592 11.108151 2.816635 q: -0.348660 0.666143 0.459496 0.472815 
time: 1403638209.695097, t: 4.353464 11.087671 2.754212 q: -0.348006 0.667901 0.458546 0.471738 
time: 1403638209.795097, t: 4.271210 11.063329 2.674258 q: -0.344887 0.666844 0.459921 0.474177 
wait for imu ... 
time: 1403638209.895097, t: 4.189703 11.036245 2.579767 q: -0.343042 0.664822 0.460420 0.477856 
time: 1403638209.995097, t: 4.115686 11.006881 2.478962 q: -0.344512 0.660951 0.458923 0.483575 
wait for imu ... 
time: 1403638210.095097, t: 4.035583 10.970833 2.379016 q: -0.347871 0.656697 0.456052 0.489643 
time: 1403638210.195097, t: 3.965881 10.929732 2.285203 q: -0.351683 0.653160 0.453272 0.494212 
time: 1403638210.295097, t: 3.885580 10.876399 2.196183 q: -0.352474 0.653485 0.452598 0.493837 
wait for imu ... 
time: 1403638210.395097, t: 3.804726 10.817235 2.110365 q: -0.351613 0.654171 0.452937 0.493231 
optimize pose graph 
wait for imu ... 
time: 1403638210.495097, t: 3.723818 10.748236 2.021114 q: -0.352595 0.654337 0.452010 0.493161 
time: 1403638210.595097, t: 3.642282 10.673958 1.926435 q: -0.352421 0.653889 0.451456 0.494383 
time: 1403638210.695097, t: 3.560676 10.597785 1.826703 q: -0.354705 0.654277 0.449145 0.494343 
wait for imu ... 
time: 1403638210.795097, t: 3.478655 10.510933 1.730490 q: -0.354579 0.654383 0.448738 0.494662 
wait for imu ... 
time: 1403638210.895097, t: 3.396933 10.415665 1.640858 q: -0.354269 0.657608 0.449085 0.490273 
time: 1403638210.995097, t: 3.319103 10.315847 1.559197 q: -0.351901 0.661205 0.451057 0.485305 
time: 1403638211.095097, t: 3.242975 10.211650 1.485641 q: -0.350351 0.664210 0.452561 0.480903 
time: 1403638211.195097, t: 3.172163 10.105935 1.422743 q: -0.350018 0.667147 0.453393 0.476274 
wait for imu ... 
time: 1403638211.295097, t: 3.103069 9.999469 1.367181 q: -0.348347 0.668378 0.453953 0.475239 
time: 1403638211.395097, t: 3.039825 9.888913 1.316998 q: -0.345071 0.671406 0.449981 0.477134 
wait for imu ... 
time: 1403638211.495097, t: 2.979723 9.774426 1.263837 q: -0.339259 0.677868 0.441580 0.480006 
wait for imu ... 
time: 1403638211.595097, t: 2.920978 9.655885 1.202472 q: -0.333169 0.686399 0.428338 0.484129 
wait for imu ... 
time: 1403638211.695097, t: 2.866947 9.533170 1.136776 q: -0.326026 0.696087 0.410267 0.490765 
wait for imu ... 
time: 1403638211.795097, t: 2.816203 9.406800 1.064677 q: -0.315472 0.709330 0.389195 0.495839 
wait for imu ... 
time: 1403638211.895097, t: 2.771535 9.277585 0.996299 q: -0.305348 0.722931 0.365690 0.500404 
wait for imu ... 
time: 1403638211.995097, t: 2.733110 9.144234 0.935816 q: -0.291685 0.734504 0.343943 0.507077 
time: 1403638212.095097, t: 2.699078 9.007321 0.882315 q: -0.276728 0.743963 0.323911 0.514804 
time: 1403638212.195097, t: 2.668630 8.867673 0.838524 q: -0.259161 0.751379 0.305879 0.524121 
time: 1403638212.295097, t: 2.637297 8.722953 0.804028 q: -0.243181 0.759222 0.286093 0.531598 
wait for imu ... 
time: 1403638212.395097, t: 2.607174 8.574179 0.776930 q: -0.225896 0.766010 0.267517 0.539105 
time: 1403638212.495097, t: 2.577522 8.422133 0.759114 q: -0.211374 0.772440 0.246731 0.545693 
wait for imu ... 
time: 1403638212.595097, t: 2.547885 8.263992 0.747041 q: -0.196994 0.779588 0.225759 0.549971 
time: 1403638212.695097, t: 2.518208 8.100863 0.741089 q: -0.183009 0.786420 0.203801 0.553639 
time: 1403638212.795097, t: 2.489977 7.934704 0.743449 q: -0.165981 0.792049 0.182662 0.558340 
wait for imu ... 
time: 1403638212.895097, t: 2.459409 7.763790 0.749237 q: -0.150839 0.798223 0.158413 0.561242 
wait for imu ... 
time: 1403638212.995097, t: 2.431138 7.590760 0.759819 q: -0.132831 0.803880 0.134262 0.564009 
wait for imu ... 
time: 1403638213.095097, t: 2.404648 7.416003 0.774822 q: -0.115993 0.808549 0.107835 0.566715 
time: 1403638213.195097, t: 2.379598 7.239955 0.787732 q: -0.101662 0.815352 0.079271 0.564431 
time: 1403638213.295097, t: 2.355833 7.062970 0.795039 q: -0.090202 0.824193 0.048586 0.556964 
time: 1403638213.395097, t: 2.336553 6.883599 0.796367 q: -0.080202 0.831898 0.016823 0.548845 
time: 1403638213.495097, t: 2.324388 6.699044 0.792992 q: -0.071211 0.835626 -0.014588 0.544468 
wait for imu ... 
time: 1403638213.595097, t: 2.321961 6.507739 0.787382 q: -0.053733 0.833095 -0.035051 0.549397 
time: 1403638213.695097, t: 2.324784 6.308785 0.784437 q: -0.030197 0.824300 -0.041336 0.563834 
wait for imu ... 
time: 1403638213.795097, t: 2.332217 6.109112 0.786462 q: -0.010484 0.817408 -0.041972 0.574433 
time: 1403638213.895097, t: 2.340912 5.909586 0.794853 q: 0.000284 0.814454 -0.042356 0.578680 
time: 1403638213.995097, t: 2.348167 5.712321 0.808369 q: 0.004881 0.815116 -0.042124 0.577744 
time: 1403638214.095097, t: 2.357071 5.518761 0.825700 q: 0.007478 0.821077 -0.040048 0.569362 
wait for imu ... 
time: 1403638214.195097, t: 2.365916 5.324839 0.847330 q: 0.006541 0.828054 -0.037563 0.559350 
time: 1403638214.295097, t: 2.381072 5.134825 0.868009 q: 0.004583 0.833426 -0.034591 0.551529 
wait for imu ... 
time: 1403638214.395097, t: 2.398831 4.937392 0.880893 q: 0.002826 0.836927 -0.030525 0.546455 
time: 1403638214.595097, t: 2.458187 4.550059 0.889071 q: 0.000394 0.828830 -0.021917 0.559070 
time: 1403638214.695097, t: 2.491696 4.359576 0.883983 q: -0.001134 0.822286 -0.018354 0.568778 
wait for imu ... 
time: 1403638214.795097, t: 2.523575 4.168231 0.874074 q: -0.003020 0.817076 -0.015082 0.576325 
wait for imu ... 
time: 1403638214.895097, t: 2.553083 3.981362 0.858738 q: -0.004158 0.814027 -0.012131 0.580685 
wait for imu ... 
time: 1403638214.995097, t: 2.581644 3.799042 0.837811 q: -0.005100 0.812248 -0.010321 0.583199 
wait for imu ... 
time: 1403638215.095097, t: 2.607495 3.620684 0.812357 q: -0.004865 0.812104 -0.008426 0.583431 
time: 1403638215.195097, t: 2.631394 3.446504 0.782472 q: -0.004621 0.813348 -0.007525 0.581710 
wait for imu ... 
time: 1403638215.295097, t: 2.653829 3.273384 0.750677 q: -0.001173 0.815348 -0.005146 0.578947 
wait for imu ... 
time: 1403638215.395097, t: 2.675255 3.102164 0.719628 q: 0.003005 0.816010 -0.002691 0.578023 
time: 1403638215.495097, t: 2.696149 2.936800 0.695294 q: 0.006848 0.815662 0.000098 0.578489 
wait for imu ... 
time: 1403638215.595097, t: 2.715737 2.778733 0.679421 q: 0.008335 0.814427 0.000855 0.580206 
time: 1403638215.695097, t: 2.733910 2.626590 0.670173 q: 0.005173 0.813693 -0.001291 0.581270 
time: 1403638215.795097, t: 2.750529 2.476906 0.662408 q: 0.002276 0.813176 -0.005182 0.581990 
time: 1403638215.895097, t: 2.761754 2.333737 0.648731 q: 0.003395 0.813218 -0.010965 0.581846 
time: 1403638215.995097, t: 2.769849 2.189933 0.630752 q: 0.004744 0.812937 -0.015710 0.582121 
wait for imu ... 
time: 1403638216.095097, t: 2.774264 2.052286 0.609589 q: 0.008257 0.812667 -0.017947 0.582394 
wait for imu ... 
time: 1403638216.195097, t: 2.775781 1.920303 0.592612 q: 0.010769 0.812614 -0.019580 0.582374 
wait for imu ... 
time: 1403638216.295097, t: 2.774137 1.791338 0.582328 q: 0.013284 0.811439 -0.020700 0.583919 
wait for imu ... 
time: 1403638216.395097, t: 2.771067 1.666035 0.578240 q: 0.015238 0.809981 -0.021198 0.585875 
wait for imu ... 
time: 1403638216.495097, t: 2.763975 1.546638 0.579349 q: 0.015918 0.809466 -0.021791 0.586546 
wait for imu ... 
time: 1403638216.595097, t: 2.755232 1.431839 0.576730 q: 0.018104 0.810216 -0.021296 0.585464 
time: 1403638216.695097, t: 2.745559 1.322346 0.565386 q: 0.021086 0.812068 -0.019807 0.582846 
wait for imu ... 
time: 1403638216.795097, t: 2.734952 1.216459 0.548829 q: 0.024557 0.811228 -0.018354 0.583926 
time: 1403638216.895097, t: 2.723001 1.114238 0.527884 q: 0.028774 0.807413 -0.022841 0.588841 
wait for imu ... 
time: 1403638216.995097, t: 2.709370 1.017758 0.503836 q: 0.032289 0.806358 -0.033471 0.589596 
time: 1403638217.095097, t: 2.691463 0.924487 0.476457 q: 0.036419 0.808019 -0.048433 0.586031 
wait for imu ... 
time: 1403638217.195097, t: 2.669346 0.834804 0.447249 q: 0.042538 0.809693 -0.063108 0.581898 
wait for imu ... 
time: 1403638217.295097, t: 2.646821 0.751028 0.419721 q: 0.049296 0.810938 -0.072562 0.578519 
wait for imu ... 
time: 1403638217.395097, t: 2.623525 0.671462 0.400320 q: 0.054865 0.811986 -0.079048 0.575691 
wait for imu ... 
time: 1403638217.495097, t: 2.598926 0.596247 0.388828 q: 0.060001 0.812418 -0.082216 0.574124 
time: 1403638217.595097, t: 2.574638 0.524765 0.385483 q: 0.066935 0.813405 -0.081711 0.572027 
time: 1403638217.695097, t: 2.550849 0.458369 0.388971 q: 0.075520 0.813800 -0.077849 0.570935 
time: 1403638217.795097, t: 2.526499 0.399032 0.399200 q: 0.081829 0.815295 -0.073442 0.568510 
time: 1403638217.895097, t: 2.502823 0.347992 0.414704 q: 0.084291 0.815805 -0.071064 0.567722 
time: 1403638217.995097, t: 2.480051 0.303987 0.430439 q: 0.085401 0.813584 -0.068328 0.571069 
wait for imu ... 
time: 1403638218.095097, t: 2.462909 0.268663 0.437395 q: 0.085766 0.812184 -0.066342 0.573236 
time: 1403638218.195097, t: 2.443162 0.239907 0.439915 q: 0.083446 0.810447 -0.065980 0.576072 
time: 1403638218.295097, t: 2.423902 0.217436 0.437936 q: 0.081273 0.806806 -0.064646 0.581618 
time: 1403638218.395097, t: 2.408819 0.201495 0.434229 q: 0.074672 0.804633 -0.066599 0.585282 
time: 1403638218.495097, t: 2.384262 0.194920 0.440235 q: 0.069300 0.804840 -0.068340 0.585457 
optimize pose graph 
time: 1403638218.595097, t: 2.362960 0.190696 0.451279 q: 0.067038 0.805962 -0.068713 0.584131 
time: 1403638218.695097, t: 2.333141 0.193174 0.467847 q: 0.064544 0.809773 -0.070600 0.578893 
time: 1403638218.795097, t: 2.303569 0.199574 0.480736 q: 0.067604 0.814104 -0.076179 0.571717 
time: 1403638218.895097, t: 2.279284 0.207688 0.485633 q: 0.071327 0.815937 -0.084099 0.567527 
time: 1403638218.995097, t: 2.256039 0.220236 0.484503 q: 0.061952 0.815034 -0.099135 0.567497 
time: 1403638219.095097, t: 2.233899 0.233888 0.479263 q: 0.054602 0.812252 -0.111175 0.570005 
time: 1403638219.195097, t: 2.208612 0.246088 0.473940 q: 0.058447 0.809713 -0.113414 0.572787 
time: 1403638219.295097, t: 2.187651 0.256251 0.463823 q: 0.067602 0.804130 -0.110445 0.580178 
time: 1403638219.395097, t: 2.159020 0.266233 0.456524 q: 0.074141 0.796635 -0.107586 0.590171 
time: 1403638219.495097, t: 2.134238 0.277192 0.449200 q: 0.078277 0.791485 -0.105187 0.596959 
time: 1403638219.595097, t: 2.101294 0.290533 0.445082 q: 0.076000 0.792123 -0.106765 0.596127 
time: 1403638219.695097, t: 2.059004 0.306810 0.447806 q: 0.070244 0.794553 -0.110340 0.592939 
time: 1403638219.795097, t: 2.013086 0.323410 0.447292 q: 0.062852 0.797852 -0.115088 0.588418 
time: 1403638219.895097, t: 1.963469 0.338183 0.441114 q: 0.054150 0.800692 -0.120837 0.584259 
time: 1403638219.995097, t: 1.911881 0.350470 0.429681 q: 0.046890 0.802952 -0.125888 0.580707 
time: 1403638220.095097, t: 1.857380 0.357096 0.413434 q: 0.044721 0.805219 -0.127399 0.577401 
time: 1403638220.195097, t: 1.800548 0.357307 0.402555 q: 0.052926 0.807543 -0.122043 0.574612 
time: 1403638220.295097, t: 1.745384 0.353640 0.398701 q: 0.068183 0.810173 -0.111716 0.571393 
time: 1403638220.395097, t: 1.686815 0.350879 0.403862 q: 0.077026 0.810752 -0.106099 0.570519 
time: 1403638220.495097, t: 1.626721 0.348466 0.414555 q: 0.080471 0.810989 -0.103879 0.570114 
optimize pose graph 
time: 1403638220.695097, t: 1.512199 0.348303 0.437621 q: 0.082264 0.809875 -0.105189 0.571201 
time: 1403638220.795097, t: 1.457365 0.351820 0.439958 q: 0.081603 0.810011 -0.107169 0.570734 
time: 1403638220.895097, t: 1.402428 0.356483 0.435623 q: 0.081830 0.809866 -0.108432 0.570669 
time: 1403638220.995097, t: 1.347387 0.363351 0.423187 q: 0.080929 0.810623 -0.110301 0.569363 
time: 1403638221.095097, t: 1.289867 0.370786 0.411225 q: 0.081109 0.810979 -0.111204 0.568655 
time: 1403638221.295097, t: 1.186141 0.393012 0.392322 q: 0.079722 0.813677 -0.113540 0.564519 
time: 1403638221.395097, t: 1.135006 0.403211 0.393555 q: 0.077471 0.814725 -0.115928 0.562833 
time: 1403638221.495097, t: 1.086044 0.414430 0.392925 q: 0.075249 0.814975 -0.117972 0.562349 
time: 1403638221.595097, t: 1.039893 0.425676 0.386044 q: 0.073774 0.814159 -0.119992 0.563298 
time: 1403638221.695097, t: 0.998758 0.432522 0.377089 q: 0.073043 0.812435 -0.120561 0.565755 
time: 1403638221.795097, t: 0.954920 0.441158 0.367783 q: 0.070912 0.810303 -0.121811 0.568808 
time: 1403638221.895097, t: 0.913847 0.448277 0.364952 q: 0.072976 0.809216 -0.119866 0.570505 
time: 1403638221.995097, t: 0.874051 0.453934 0.371226 q: 0.076891 0.808678 -0.116503 0.571449 
time: 1403638222.095097, t: 0.834968 0.459066 0.383500 q: 0.080228 0.810433 -0.114090 0.568986 
time: 1403638222.195097, t: 0.803736 0.462545 0.393893 q: 0.080478 0.814328 -0.114155 0.563348 
time: 1403638222.295097, t: 0.761660 0.470175 0.394999 q: 0.079527 0.817736 -0.115328 0.558286 
time: 1403638222.395097, t: 0.728731 0.478261 0.392984 q: 0.078725 0.820634 -0.116307 0.553927 
time: 1403638222.495097, t: 0.694944 0.484754 0.385697 q: 0.078395 0.822927 -0.116329 0.550558 
wait for imu ... 
time: 1403638222.595097, t: 0.674119 0.490206 0.375752 q: 0.078640 0.819208 -0.116001 0.556110 
time: 1403638222.695097, t: 0.649739 0.496482 0.362118 q: 0.077764 0.813841 -0.116604 0.563931 
optimize pose graph 
time: 1403638222.795097, t: 0.628964 0.502515 0.345607 q: 0.078702 0.811481 -0.116061 0.567304 
time: 1403638222.895097, t: 0.607561 0.509233 0.328591 q: 0.080248 0.805908 -0.114699 0.575254 
time: 1403638222.995097, t: 0.600458 0.515578 0.309101 q: 0.079458 0.801256 -0.114804 0.581804 
time: 1403638223.095097, t: 0.571182 0.524757 0.294880 q: 0.079587 0.803995 -0.114510 0.578053 
wait for imu ... 
time: 1403638223.195097, t: 0.541659 0.534049 0.285696 q: 0.076989 0.812997 -0.116760 0.565222 
time: 1403638223.295097, t: 0.512868 0.544629 0.278418 q: 0.071181 0.820516 -0.121157 0.554083 
time: 1403638223.395097, t: 0.489474 0.552384 0.273080 q: 0.068265 0.818613 -0.123612 0.556715 
wait for imu ... 
time: 1403638223.495097, t: 0.465963 0.559885 0.265685 q: 0.058142 0.813486 -0.130684 0.563722 
wait for imu ... 
time: 1403638223.595097, t: 0.444539 0.560769 0.254121 q: 0.057123 0.810994 -0.131498 0.567215 
wait for imu ... 
time: 1403638223.695097, t: 0.421759 0.556964 0.243498 q: 0.067920 0.810922 -0.124314 0.567748 
time: 1403638223.795097, t: 0.398201 0.554054 0.230244 q: 0.078679 0.812085 -0.117225 0.566204 
time: 1403638223.895097, t: 0.380790 0.543825 0.218145 q: 0.083844 0.812802 -0.113157 0.565260 
wait for imu ... 
time: 1403638224.095097, t: 0.348833 0.533212 0.186728 q: 0.086596 0.817287 -0.110690 0.558829 
time: 1403638224.195097, t: 0.325957 0.534462 0.166950 q: 0.084198 0.823569 -0.112309 0.549574 
time: 1403638224.295097, t: 0.322308 0.535041 0.152172 q: 0.083636 0.823004 -0.112536 0.550459 
wait for imu ... 
time: 1403638224.395097, t: 0.318086 0.538236 0.142776 q: 0.081289 0.816813 -0.114854 0.559479 
time: 1403638224.495097, t: 0.315974 0.543572 0.129845 q: 0.076492 0.809167 -0.118078 0.570486 
wait for imu ... 
time: 1403638224.595097, t: 0.320676 0.548210 0.123175 q: 0.078453 0.805951 -0.116521 0.575074 
wait for imu ... 
time: 1403638224.695097, t: 0.317604 0.553298 0.109978 q: 0.078914 0.813497 -0.116295 0.564332 
time: 1403638224.795097, t: 0.315853 0.559675 0.097463 q: 0.078337 0.822202 -0.117027 0.551500 
optimize pose graph 
time: 1403638224.895097, t: 0.318135 0.565260 0.095912 q: 0.074227 0.818447 -0.119430 0.557110 
wait for imu ... 
time: 1403638224.995097, t: 0.325416 0.569307 0.101307 q: 0.066371 0.810416 -0.123935 0.568737 
wait for imu ... 
time: 1403638225.095097, t: 0.331381 0.572822 0.102420 q: 0.065670 0.806593 -0.123542 0.574310 
wait for imu ... 
time: 1403638225.195097, t: 0.335188 0.573231 0.106183 q: 0.071138 0.810093 -0.118814 0.569712 
wait for imu ... 
time: 1403638225.295097, t: 0.337924 0.572838 0.110684 q: 0.074291 0.817510 -0.115780 0.559243 
time: 1403638225.395097, t: 0.341777 0.572040 0.117520 q: 0.076698 0.816740 -0.113580 0.560493 
time: 1403638225.495097, t: 0.347468 0.571159 0.118200 q: 0.079105 0.808658 -0.111827 0.572109 
time: 1403638225.595097, t: 0.352255 0.571267 0.111382 q: 0.082139 0.797875 -0.110008 0.586981 
wait for imu ... 
time: 1403638225.695097, t: 0.352345 0.572350 0.097505 q: 0.083361 0.792709 -0.108909 0.593972 
time: 1403638225.795097, t: 0.347566 0.576683 0.071598 q: 0.082435 0.799887 -0.109596 0.584273 
wait for imu ... 
time: 1403638225.895097, t: 0.340807 0.583383 0.037623 q: 0.081644 0.812421 -0.110280 0.566697 
time: 1403638225.995097, t: 0.334485 0.591362 0.000582 q: 0.077391 0.820682 -0.113173 0.554693 
wait for imu ... 
time: 1403638226.095097, t: 0.339240 0.602962 0.000856 q: 0.057854 0.823887 -0.123254 0.550156 
time: 1403638226.195097, t: 0.349642 0.610849 0.002310 q: 0.058247 0.829138 -0.120684 0.542746 
wait for imu ... 
time: 1403638226.295097, t: 0.350324 0.617011 -0.000959 q: 0.071057 0.820903 -0.119315 0.553925 
time: 1403638226.395097, t: 0.348334 0.622725 -0.008809 q: 0.077182 0.825617 -0.108431 0.548309 
time: 1403638226.495097, t: 0.350955 0.622689 -0.013329 q: 0.076834 0.825464 -0.110562 0.548162 
time: 1403638226.595097, t: 0.319399 0.630646 0.013830 q: 0.077954 0.824581 -0.110334 0.549377 
time: 1403638226.695097, t: 0.353601 0.610257 0.028721 q: 0.076983 0.825552 -0.109660 0.548189 
wait for imu ... 
time: 1403638226.795097, t: 0.356742 0.602303 0.027349 q: 0.076920 0.825515 -0.109412 0.548304 
time: 1403638226.895097, t: 0.355518 0.601806 0.036576 q: 0.076722 0.825645 -0.109663 0.548085 
time: 1403638226.995097, t: 0.359886 0.602658 0.030856 q: 0.076018 0.825859 -0.110567 0.547679 
time: 1403638227.095097, t: 0.361818 0.604391 0.038882 q: 0.076041 0.825768 -0.110834 0.547761 
time: 1403638227.195097, t: 0.362768 0.603642 0.043944 q: 0.076265 0.825798 -0.110671 0.547716 
time: 1403638227.295097, t: 0.362220 0.600310 0.048340 q: 0.076451 0.825874 -0.110350 0.547641 
time: 1403638227.395097, t: 0.360106 0.596906 0.052470 q: 0.076544 0.825914 -0.110128 0.547612 
time: 1403638227.495097, t: 0.359868 0.595530 0.056708 q: 0.076391 0.825973 -0.110236 0.547522 
time: 1403638227.595097, t: 0.360409 0.596205 0.061111 q: 0.076223 0.825959 -0.110362 0.547542 
time: 1403638227.695097, t: 0.361577 0.597205 0.065419 q: 0.076131 0.826028 -0.110522 0.547419 
time: 1403638227.795097, t: 0.364299 0.597314 0.068469 q: 0.076113 0.826060 -0.110580 0.547360 
time: 1403638227.895097, t: 0.364909 0.596131 0.071001 q: 0.076157 0.826123 -0.110503 0.547275 
time: 1403638227.995097, t: 0.365286 0.597573 0.074585 q: 0.076200 0.826131 -0.110579 0.547242 
time: 1403638228.095097, t: 0.364765 0.596216 0.076570 q: 0.076207 0.826176 -0.110509 0.547187 
time: 1403638228.195097, t: 0.364786 0.595905 0.078508 q: 0.076142 0.826193 -0.110560 0.547161 
wait for imu ... 
time: 1403638228.295097, t: 0.367779 0.596468 0.079054 q: 0.076069 0.826204 -0.110662 0.547133 
time: 1403638228.395097, t: 0.367139 0.597509 0.079765 q: 0.075977 0.826237 -0.110770 0.547074 
time: 1403638228.495097, t: 0.367354 0.597842 0.079358 q: 0.075970 0.826236 -0.110763 0.547079 
time: 1403638228.595097, t: 0.369771 0.596413 0.077552 q: 0.075881 0.826323 -0.110720 0.546968 
time: 1403638228.695097, t: 0.371775 0.596323 0.073843 q: 0.075904 0.826348 -0.110759 0.546919 
time: 1403638228.795097, t: 0.373386 0.597043 0.068410 q: 0.075900 0.826411 -0.110786 0.546819 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720480488.292104286]: Shutdown request received.[0m
[33m[ WARN] [1720480488.292135230]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720480488.293120217]: Shutdown request received.[0m
[33m[ WARN] [1720480488.293146276]: Reason given for shutdown: [user request][0m
killed
