/SLAM-Hive/slam_hive_results/mapping_results/2895/2103_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720480516.611974552]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720480516.614040917]: init begins[0m
[31m[ERROR] [1720480516.615146902]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/efe29ab2-3d7f-11ef-bbbd-0242ac110005/roslaunch-0aad84566e14-118.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://0aad84566e14:33697/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720480517.718993878]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720480517.720909611]: 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] [1720480517.726711776]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720480517.726906829]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720480517.726932301]: ROW: 240 COL: 376 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720480517.727099403]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720480517.727371139]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://0aad84566e14:11311/[0m
]2;roscore http://0aad84566e14:11311/
[1msetting /run_id to efe29ab2-3d7f-11ef-bbbd-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720480526.765877965]: 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: 316842399.66 
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 ... 
[0m[ INFO] [1720480528.109488771]: IMU excitation not enouth![0m
[0m[ INFO] [1720480528.109970619]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720480528.298435271]: IMU excitation not enouth![0m
[0m[ INFO] [1720480528.298675066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480528.405355659]: IMU excitation not enouth![0m
[0m[ INFO] [1720480528.406080537]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480528.605389628]: IMU excitation not enouth![0m
[0m[ INFO] [1720480528.606058948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480528.802086487]: IMU excitation not enouth![0m
[0m[ INFO] [1720480528.802315397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480528.906058642]: IMU excitation not enouth![0m
[0m[ INFO] [1720480528.906713646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480529.105787265]: IMU excitation not enouth![0m
[33m[ WARN] [1720480529.184018025]: gyroscope bias initial calibration -0.00137433    0.030053   0.0761459[0m
[0m[ INFO] [1720480529.223679536]: Initialization finish![0m
time: 1403638129.295097, t: 0.004102 -0.000674 0.013728 q: -0.022815 0.829701 -0.009479 0.557661 
time: 1403638129.395097, t: 0.002075 -0.004170 0.023970 q: -0.047881 0.815874 -0.034947 0.575184 
time: 1403638129.495097, t: 0.001345 -0.004926 0.030702 q: -0.049216 0.821579 -0.034293 0.566930 
wait for imu ... 
wait for imu ... 
time: 1403638129.595097, t: 0.001921 -0.002373 0.037859 q: -0.032166 0.834182 -0.010776 0.550444 
time: 1403638129.695097, t: 0.002890 -0.001052 0.049451 q: -0.020127 0.836136 0.002167 0.548149 
wait for imu ... 
wait for imu ... 
time: 1403638129.795097, t: 0.004509 0.000473 0.063585 q: -0.022471 0.833892 0.000582 0.551470 
wait for imu ... 
time: 1403638129.895097, t: 0.005844 0.003468 0.083250 q: -0.021415 0.840583 0.006777 0.541216 
wait for imu ... 
wait for imu ... 
time: 1403638129.995097, t: 0.007757 0.006417 0.113451 q: -0.021870 0.839824 0.010048 0.542325 
time: 1403638130.095097, t: 0.009848 0.007901 0.151523 q: -0.031361 0.830612 0.001944 0.555965 
wait for imu ... 
wait for imu ... 
time: 1403638130.195097, t: 0.011092 0.010398 0.190672 q: -0.036675 0.828313 0.004298 0.559048 
time: 1403638130.295097, t: 0.012335 0.013293 0.231701 q: -0.041601 0.825780 0.006755 0.562415 
wait for imu ... 
time: 1403638130.395097, t: 0.013231 0.014803 0.274299 q: -0.053755 0.819051 -0.002579 0.571191 
time: 1403638130.495097, t: 0.011315 0.018357 0.314059 q: -0.056887 0.818950 0.002791 0.571032 
time: 1403638130.595097, t: 0.011256 0.020770 0.352791 q: -0.050299 0.820661 0.012043 0.569071 
wait for imu ... 
time: 1403638130.695097, t: 0.009784 0.021750 0.391756 q: -0.053825 0.814002 0.006886 0.578322 
wait for imu ... 
time: 1403638130.795097, t: 0.006999 0.022609 0.426853 q: -0.071328 0.807092 -0.006796 0.586061 
time: 1403638130.895097, t: 0.003768 0.021752 0.452643 q: -0.077677 0.805241 -0.007749 0.587787 
wait for imu ... 
time: 1403638130.995097, t: -0.000734 0.016966 0.463563 q: -0.076110 0.795377 -0.014534 0.601141 
wait for imu ... 
time: 1403638131.095097, t: -0.003624 0.013625 0.456796 q: -0.073408 0.788769 -0.018490 0.610011 
wait for imu ... 
time: 1403638131.195097, t: -0.003910 0.014682 0.433964 q: -0.064362 0.797074 -0.008761 0.600378 
wait for imu ... 
time: 1403638131.295097, t: -0.003099 0.016628 0.403757 q: -0.052665 0.808304 0.004813 0.586385 
time: 1403638131.395097, t: -0.002552 0.016666 0.372132 q: -0.049794 0.810847 0.005842 0.583106 
wait for imu ... 
time: 1403638131.495097, t: -0.003740 0.016890 0.339503 q: -0.043147 0.810671 0.006827 0.583871 
time: 1403638131.595097, t: -0.005133 0.018429 0.301882 q: -0.039977 0.814466 0.008317 0.578773 
wait for imu ... 
time: 1403638131.695097, t: -0.008709 0.015509 0.259299 q: -0.036471 0.815775 0.012054 0.577093 
wait for imu ... 
time: 1403638131.795097, t: -0.009172 0.012373 0.215184 q: -0.029237 0.816261 0.016359 0.576710 
wait for imu ... 
wait for imu ... 
time: 1403638131.895097, t: -0.011679 0.011350 0.172024 q: -0.019676 0.817896 0.019775 0.574689 
wait for imu ... 
time: 1403638131.995097, t: -0.017227 0.007081 0.138529 q: -0.013394 0.819641 0.026268 0.572118 
wait for imu ... 
time: 1403638132.095097, t: -0.020152 0.004482 0.123687 q: -0.004777 0.825313 0.042267 0.563070 
wait for imu ... 
wait for imu ... 
time: 1403638132.195097, t: -0.012794 0.003796 0.137795 q: -0.004454 0.826137 0.048541 0.561358 
time: 1403638132.295097, t: -0.007608 0.004040 0.177764 q: -0.016866 0.818041 0.040780 0.573465 
wait for imu ... 
time: 1403638132.395097, t: -0.007074 0.006756 0.232656 q: -0.029498 0.813522 0.035382 0.579707 
time: 1403638132.495097, t: -0.005370 0.009733 0.290341 q: -0.048764 0.805115 0.024277 0.590612 
wait for imu ... 
wait for imu ... 
time: 1403638132.595097, t: -0.003581 0.012794 0.344768 q: -0.067094 0.790923 0.009884 0.608145 
wait for imu ... 
wait for imu ... 
time: 1403638132.695097, t: -0.001353 0.020995 0.385333 q: -0.073634 0.790974 0.006055 0.607372 
time: 1403638132.795097, t: 0.001378 0.032327 0.410369 q: -0.075726 0.796509 0.004453 0.599849 
wait for imu ... 
time: 1403638132.895097, t: -0.001500 0.042177 0.421607 q: -0.081271 0.788959 -0.004074 0.609034 
wait for imu ... 
wait for imu ... 
time: 1403638132.995097, t: -0.001621 0.043327 0.416221 q: -0.087763 0.782358 -0.004724 0.616596 
time: 1403638133.095097, t: 0.000026 0.035540 0.398260 q: -0.078157 0.787292 0.009670 0.611530 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638133.195097, t: 0.003281 0.017585 0.375995 q: -0.066501 0.791680 0.011308 0.607201 
wait for imu ... 
time: 1403638133.295097, t: 0.003254 -0.012962 0.352966 q: -0.050944 0.793266 0.001310 0.606739 
wait for imu ... 
time: 1403638133.395097, t: 0.001401 -0.053864 0.328430 q: -0.033360 0.799413 -0.005939 0.599826 
time: 1403638133.495097, t: -0.006206 -0.100772 0.308263 q: -0.014037 0.802657 -0.019872 0.595945 
wait for imu ... 
time: 1403638133.595097, t: -0.019953 -0.147524 0.291459 q: -0.006508 0.804144 -0.042063 0.592908 
time: 1403638133.795097, t: -0.050706 -0.225054 0.258588 q: 0.008504 0.809383 -0.073381 0.582616 
time: 1403638133.895097, t: -0.057960 -0.251579 0.242712 q: 0.024565 0.811813 -0.081152 0.577729 
time: 1403638133.995097, t: -0.052988 -0.259951 0.233827 q: 0.031446 0.810843 -0.086811 0.577935 
time: 1403638134.095097, t: -0.035152 -0.248945 0.230551 q: 0.034303 0.813752 -0.081524 0.574443 
wait for imu ... 
wait for imu ... 
time: 1403638134.195097, t: -0.004358 -0.234653 0.230067 q: 0.036130 0.815255 -0.074503 0.573152 
time: 1403638134.295097, t: 0.023395 -0.194168 0.238085 q: 0.032890 0.805908 -0.082780 0.585302 
wait for imu ... 
time: 1403638134.395097, t: 0.058702 -0.155344 0.243095 q: 0.023799 0.807361 -0.087477 0.583052 
wait for imu ... 
time: 1403638134.495097, t: 0.091206 -0.112629 0.244521 q: 0.016480 0.808528 -0.091261 0.581104 
time: 1403638134.595097, t: 0.117943 -0.070122 0.248238 q: 0.005954 0.806818 -0.096224 0.582881 
time: 1403638134.695097, t: 0.135476 -0.025161 0.251176 q: 0.000975 0.810316 -0.095071 0.578229 
time: 1403638134.795097, t: 0.148434 0.019175 0.256202 q: -0.001414 0.817502 -0.089409 0.568942 
wait for imu ... 
time: 1403638134.895097, t: 0.156624 0.059855 0.265266 q: 0.001109 0.819566 -0.085281 0.566602 
time: 1403638134.995097, t: 0.162299 0.094493 0.271939 q: 0.000601 0.815537 -0.085899 0.572294 
time: 1403638135.095097, t: 0.161835 0.123043 0.271280 q: 0.004155 0.819402 -0.078235 0.567840 
wait for imu ... 
time: 1403638135.195097, t: 0.159216 0.139940 0.265481 q: 0.005715 0.823725 -0.070826 0.562520 
time: 1403638135.295097, t: 0.156656 0.140371 0.256000 q: 0.008144 0.825485 -0.068026 0.560251 
wait for imu ... 
time: 1403638135.395097, t: 0.144218 0.128527 0.246046 q: 0.011322 0.822802 -0.070155 0.563868 
wait for imu ... 
time: 1403638135.495097, t: 0.137024 0.107860 0.234850 q: 0.020567 0.825164 -0.069439 0.560232 
wait for imu ... 
time: 1403638135.595097, t: 0.128975 0.080013 0.230696 q: 0.028317 0.829866 -0.069582 0.552882 
time: 1403638135.695097, t: 0.118259 0.046526 0.230505 q: 0.033357 0.825606 -0.079435 0.557630 
time: 1403638135.795097, t: 0.103028 0.010975 0.228251 q: 0.030465 0.822407 -0.092374 0.560522 
time: 1403638135.895097, t: 0.077533 -0.016330 0.223738 q: 0.041023 0.827558 -0.088256 0.552879 
time: 1403638135.995097, t: 0.053798 -0.044198 0.231731 q: 0.052904 0.832922 -0.084251 0.544375 
wait for imu ... 
wait for imu ... 
time: 1403638136.095097, t: 0.030314 -0.081229 0.251692 q: 0.062147 0.825620 -0.090280 0.553479 
time: 1403638136.195097, t: 0.006450 -0.125112 0.268040 q: 0.059833 0.815181 -0.103971 0.566648 
time: 1403638136.295097, t: -0.017970 -0.167328 0.270170 q: 0.066223 0.812646 -0.109245 0.568583 
wait for imu ... 
wait for imu ... 
time: 1403638136.395097, t: -0.039656 -0.202590 0.262038 q: 0.075624 0.814528 -0.110305 0.564498 
wait for imu ... 
wait for imu ... 
time: 1403638136.495097, t: -0.054434 -0.223171 0.254647 q: 0.081418 0.816969 -0.112563 0.559699 
wait for imu ... 
wait for imu ... 
time: 1403638136.595097, t: -0.060558 -0.224445 0.258604 q: 0.075493 0.817405 -0.123218 0.557644 
wait for imu ... 
time: 1403638136.695097, t: -0.057826 -0.208547 0.270722 q: 0.061858 0.816180 -0.124940 0.560727 
time: 1403638136.795097, t: -0.049493 -0.174674 0.283816 q: 0.044920 0.815884 -0.120942 0.563638 
time: 1403638136.895097, t: -0.037584 -0.135825 0.294749 q: 0.019900 0.808674 -0.122340 0.575051 
wait for imu ... 
time: 1403638136.995097, t: -0.024307 -0.093264 0.289985 q: 0.000952 0.798767 -0.125292 0.588449 
time: 1403638137.095097, t: -0.012957 -0.052802 0.265360 q: -0.006059 0.799308 -0.119516 0.588885 
time: 1403638137.195097, t: -0.004472 -0.018285 0.229025 q: -0.003371 0.807570 -0.106107 0.580138 
time: 1403638137.295097, t: 0.000830 0.009292 0.187463 q: 0.000127 0.816553 -0.092117 0.569873 
time: 1403638137.395097, t: 0.002109 0.028913 0.147196 q: 0.002180 0.822070 -0.084700 0.563047 
wait for imu ... 
wait for imu ... 
time: 1403638137.495097, t: 0.003468 0.042783 0.109504 q: 0.012213 0.830127 -0.076037 0.552230 
wait for imu ... 
time: 1403638137.595097, t: 0.007015 0.049681 0.077002 q: 0.026565 0.838910 -0.064703 0.539758 
wait for imu ... 
time: 1403638137.695097, t: 0.009309 0.055049 0.052048 q: 0.034419 0.839647 -0.064541 0.538184 
time: 1403638137.795097, t: 0.005892 0.058910 0.032740 q: 0.036905 0.838774 -0.069886 0.538714 
wait for imu ... 
time: 1403638137.895097, t: 0.001252 0.060467 0.018704 q: 0.042920 0.844423 -0.066136 0.529843 
wait for imu ... 
wait for imu ... 
time: 1403638137.995097, t: -0.001464 0.063918 0.008264 q: 0.048589 0.853038 -0.058306 0.516301 
wait for imu ... 
time: 1403638138.095097, t: -0.003238 0.064747 0.001547 q: 0.049956 0.853341 -0.054568 0.516077 
wait for imu ... 
time: 1403638138.195097, t: -0.003881 0.063149 0.001664 q: 0.046522 0.845443 -0.062418 0.528362 
optimize pose graph 
wait for imu ... 
time: 1403638138.295097, t: -0.004560 0.062554 0.000661 q: 0.044266 0.841593 -0.065156 0.534337 
wait for imu ... 
time: 1403638138.395097, t: -0.006278 0.063026 0.001354 q: 0.044477 0.837020 -0.065720 0.541388 
time: 1403638138.495097, t: -0.006697 0.062892 0.001279 q: 0.045140 0.836798 -0.064676 0.541801 
time: 1403638138.595097, t: -0.006909 0.062963 0.001176 q: 0.044504 0.836745 -0.064638 0.541940 
time: 1403638138.695097, t: -0.006818 0.063224 0.001095 q: 0.043481 0.836706 -0.065136 0.542023 
wait for imu ... 
time: 1403638138.795097, t: -0.006835 0.063150 0.001176 q: 0.043240 0.836828 -0.064486 0.541933 
time: 1403638138.895097, t: -0.006619 0.063568 0.001069 q: 0.041614 0.836655 -0.065371 0.542220 
wait for imu ... 
time: 1403638138.995097, t: -0.006683 0.063466 0.001180 q: 0.041550 0.836774 -0.064808 0.542110 
time: 1403638139.095097, t: -0.006679 0.063372 0.001190 q: 0.041472 0.836844 -0.064315 0.542066 
wait for imu ... 
time: 1403638139.195097, t: -0.006686 0.063321 0.001211 q: 0.041401 0.836820 -0.063951 0.542152 
time: 1403638139.295097, t: -0.006685 0.063335 0.001214 q: 0.041159 0.836816 -0.063764 0.542198 
wait for imu ... 
time: 1403638139.395097, t: -0.006670 0.063378 0.001242 q: 0.040675 0.836834 -0.063735 0.542211 
time: 1403638139.495097, t: -0.006678 0.063423 0.001266 q: 0.040200 0.836855 -0.063712 0.542217 
wait for imu ... 
wait for imu ... 
time: 1403638139.595097, t: -0.006657 0.063458 0.001277 q: 0.039835 0.836849 -0.063601 0.542265 
time: 1403638139.695097, t: -0.006663 0.063483 0.001296 q: 0.039550 0.836864 -0.063483 0.542277 
wait for imu ... 
time: 1403638139.795097, t: -0.006644 0.063491 0.001329 q: 0.039211 0.836890 -0.063375 0.542274 
time: 1403638139.895097, t: -0.006642 0.063495 0.001371 q: 0.039087 0.836888 -0.063222 0.542305 
time: 1403638139.995097, t: -0.006644 0.063486 0.001395 q: 0.038818 0.836931 -0.063085 0.542272 
time: 1403638140.095097, t: -0.006613 0.063495 0.001424 q: 0.038569 0.836952 -0.062962 0.542272 
wait for imu ... 
time: 1403638140.195097, t: -0.006615 0.063500 0.001441 q: 0.038306 0.836952 -0.062870 0.542302 
wait for imu ... 
time: 1403638140.395097, t: -0.006602 0.063526 0.001463 q: 0.037842 0.836946 -0.062702 0.542364 
time: 1403638140.495097, t: -0.006606 0.063541 0.001466 q: 0.037664 0.836960 -0.062653 0.542360 
time: 1403638140.595097, t: -0.006606 0.063541 0.001497 q: 0.037468 0.836948 -0.062555 0.542402 
time: 1403638140.695097, t: -0.006604 0.063543 0.001494 q: 0.037344 0.836938 -0.062445 0.542440 
wait for imu ... 
time: 1403638140.795097, t: -0.006599 0.063553 0.001508 q: 0.037162 0.836923 -0.062377 0.542484 
time: 1403638140.895097, t: -0.006593 0.063562 0.001539 q: 0.036995 0.836931 -0.062317 0.542488 
wait for imu ... 
time: 1403638140.995097, t: -0.006591 0.063577 0.001559 q: 0.036843 0.836937 -0.062223 0.542501 
wait for imu ... 
time: 1403638141.095097, t: -0.006587 0.063593 0.001568 q: 0.036714 0.836895 -0.062153 0.542583 
wait for imu ... 
time: 1403638141.195097, t: -0.006592 0.063589 0.001575 q: 0.036503 0.836887 -0.062078 0.542618 
time: 1403638141.295097, t: -0.006581 0.063592 0.001587 q: 0.036398 0.836891 -0.061991 0.542629 
time: 1403638141.395097, t: -0.006582 0.063595 0.001594 q: 0.036264 0.836866 -0.061940 0.542681 
time: 1403638141.495097, t: -0.006579 0.063587 0.001611 q: 0.036108 0.836876 -0.061874 0.542684 
wait for imu ... 
time: 1403638141.595097, t: -0.006572 0.063593 0.001635 q: 0.036044 0.836865 -0.061814 0.542712 
wait for imu ... 
time: 1403638141.695097, t: -0.006570 0.063586 0.001642 q: 0.035935 0.836876 -0.061762 0.542709 
time: 1403638141.795097, t: -0.006563 0.063592 0.001654 q: 0.035844 0.836871 -0.061700 0.542730 
time: 1403638141.895097, t: -0.006558 0.063594 0.001661 q: 0.035740 0.836857 -0.061641 0.542764 
time: 1403638141.995097, t: -0.006538 0.063587 0.001647 q: 0.035641 0.836848 -0.061576 0.542793 
wait for imu ... 
time: 1403638142.095097, t: -0.006521 0.063624 0.001657 q: 0.035572 0.836868 -0.061475 0.542777 
time: 1403638142.195097, t: -0.006556 0.063618 0.001703 q: 0.035670 0.836825 -0.061688 0.542814 
time: 1403638142.295097, t: -0.006576 0.063520 0.001716 q: 0.035939 0.836833 -0.062019 0.542745 
time: 1403638142.395097, t: -0.006560 0.063595 0.001743 q: 0.036074 0.836886 -0.061951 0.542663 
wait for imu ... 
wait for imu ... 
time: 1403638142.495097, t: -0.006539 0.063650 0.001750 q: 0.035769 0.836965 -0.061825 0.542575 
time: 1403638142.595097, t: -0.006482 0.063705 0.001739 q: 0.035142 0.837000 -0.061296 0.542622 
wait for imu ... 
time: 1403638142.695097, t: -0.006483 0.063698 0.001773 q: 0.035369 0.837112 -0.061365 0.542427 
wait for imu ... 
time: 1403638142.795097, t: -0.006494 0.063609 0.001810 q: 0.035896 0.837153 -0.061656 0.542296 
time: 1403638142.895097, t: -0.006468 0.063599 0.001831 q: 0.035910 0.837188 -0.061551 0.542253 
time: 1403638142.995097, t: -0.006479 0.063645 0.001796 q: 0.035832 0.837161 -0.061223 0.542336 
wait for imu ... 
time: 1403638143.095097, t: -0.006478 0.063645 0.001830 q: 0.035947 0.837220 -0.061275 0.542232 
time: 1403638143.195097, t: -0.006471 0.063611 0.001838 q: 0.035880 0.837268 -0.061409 0.542148 
time: 1403638143.295097, t: -0.006446 0.063578 0.001779 q: 0.035865 0.837236 -0.061510 0.542186 
time: 1403638143.395097, t: -0.006469 0.063605 0.001832 q: 0.036018 0.837222 -0.061565 0.542192 
time: 1403638143.495097, t: -0.006467 0.063593 0.001795 q: 0.036147 0.837215 -0.061593 0.542191 
time: 1403638143.595097, t: -0.006492 0.063564 0.001829 q: 0.036328 0.837208 -0.061798 0.542167 
time: 1403638143.695097, t: -0.006454 0.063567 0.001792 q: 0.036191 0.837187 -0.061791 0.542208 
time: 1403638143.795097, t: -0.006458 0.063571 0.001824 q: 0.036145 0.837184 -0.061752 0.542220 
time: 1403638143.895097, t: -0.006458 0.063571 0.001814 q: 0.036107 0.837172 -0.061837 0.542232 
time: 1403638143.995097, t: -0.006469 0.063563 0.001814 q: 0.036132 0.837144 -0.061850 0.542272 
wait for imu ... 
time: 1403638144.095097, t: -0.006464 0.063552 0.001808 q: 0.036086 0.837173 -0.061847 0.542231 
time: 1403638144.195097, t: -0.006470 0.063534 0.001782 q: 0.036127 0.837129 -0.061839 0.542297 
time: 1403638144.295097, t: -0.006483 0.063546 0.001799 q: 0.036059 0.837103 -0.061767 0.542350 
time: 1403638144.395097, t: -0.006459 0.063527 0.001752 q: 0.036005 0.837080 -0.061759 0.542389 
wait for imu ... 
time: 1403638144.495097, t: -0.006492 0.063530 0.001796 q: 0.036046 0.837071 -0.061812 0.542395 
time: 1403638144.595097, t: -0.006469 0.063525 0.001762 q: 0.035977 0.837077 -0.061839 0.542388 
wait for imu ... 
time: 1403638144.695097, t: -0.006464 0.063534 0.001813 q: 0.035897 0.837023 -0.061704 0.542491 
wait for imu ... 
time: 1403638144.795097, t: -0.006481 0.063551 0.001821 q: 0.035870 0.837025 -0.061744 0.542485 
wait for imu ... 
wait for imu ... 
time: 1403638144.895097, t: -0.006471 0.063542 0.001815 q: 0.035893 0.837045 -0.061743 0.542453 
time: 1403638144.995097, t: -0.006455 0.063527 0.001823 q: 0.035942 0.837013 -0.061712 0.542503 
time: 1403638145.095097, t: -0.006463 0.063521 0.001819 q: 0.035902 0.837015 -0.061738 0.542499 
wait for imu ... 
time: 1403638145.195097, t: -0.006454 0.063529 0.001842 q: 0.035941 0.837001 -0.061713 0.542521 
time: 1403638145.295097, t: -0.006454 0.063527 0.001857 q: 0.035903 0.837013 -0.061705 0.542506 
wait for imu ... 
time: 1403638145.395097, t: -0.006481 0.063511 0.001878 q: 0.035991 0.836994 -0.061713 0.542529 
time: 1403638145.495097, t: -0.006465 0.063525 0.001913 q: 0.035962 0.836977 -0.061684 0.542560 
wait for imu ... 
time: 1403638145.595097, t: -0.006436 0.063498 0.001927 q: 0.035893 0.836987 -0.061620 0.542556 
time: 1403638145.695097, t: -0.006410 0.063483 0.001928 q: 0.035875 0.836955 -0.061615 0.542607 
time: 1403638145.795097, t: -0.006421 0.063490 0.001942 q: 0.035927 0.836989 -0.061557 0.542558 
wait for imu ... 
time: 1403638145.895097, t: -0.006422 0.063492 0.001935 q: 0.035929 0.836947 -0.061579 0.542620 
time: 1403638145.995097, t: -0.006400 0.063500 0.001950 q: 0.035905 0.836943 -0.061595 0.542627 
wait for imu ... 
time: 1403638146.095097, t: -0.006382 0.063493 0.001972 q: 0.035874 0.836991 -0.061521 0.542563 
wait for imu ... 
time: 1403638146.195097, t: -0.006390 0.063489 0.001968 q: 0.035933 0.836930 -0.061565 0.542649 
wait for imu ... 
time: 1403638146.295097, t: -0.006367 0.063497 0.001983 q: 0.036042 0.836942 -0.061585 0.542620 
time: 1403638146.395097, t: -0.006353 0.063487 0.002001 q: 0.036110 0.836970 -0.061554 0.542576 
wait for imu ... 
time: 1403638146.495097, t: -0.006354 0.063478 0.002000 q: 0.036148 0.837004 -0.061641 0.542511 
time: 1403638146.595097, t: -0.006361 0.063501 0.002002 q: 0.036262 0.836961 -0.061652 0.542569 
time: 1403638146.695097, t: -0.006330 0.063484 0.002036 q: 0.036341 0.837019 -0.061667 0.542471 
time: 1403638146.795097, t: -0.006358 0.063507 0.002001 q: 0.036366 0.836929 -0.061659 0.542610 
time: 1403638146.895097, t: -0.006290 0.063492 0.002053 q: 0.036499 0.837024 -0.061589 0.542463 
time: 1403638146.995097, t: -0.006304 0.063501 0.002055 q: 0.036606 0.837152 -0.061667 0.542248 
time: 1403638147.095097, t: -0.006281 0.063623 0.002015 q: 0.036493 0.837217 -0.061568 0.542168 
wait for imu ... 
time: 1403638147.195097, t: -0.006257 0.063650 0.001985 q: 0.036562 0.837303 -0.061426 0.542046 
time: 1403638147.295097, t: -0.006242 0.063676 0.002030 q: 0.036459 0.837267 -0.061518 0.542098 
time: 1403638147.395097, t: -0.006227 0.063679 0.002076 q: 0.036522 0.837128 -0.061454 0.542316 
wait for imu ... 
time: 1403638147.495097, t: -0.006276 0.063548 0.002283 q: 0.036384 0.836672 -0.061229 0.543053 
time: 1403638147.595097, t: -0.006263 0.063540 0.002446 q: 0.035824 0.836215 -0.061349 0.543780 
wait for imu ... 
time: 1403638147.695097, t: -0.005779 0.063542 0.002307 q: 0.035400 0.836356 -0.060520 0.543684 
time: 1403638147.795097, t: -0.003843 0.063125 0.003619 q: 0.036044 0.834145 -0.061170 0.546956 
wait for imu ... 
time: 1403638147.895097, t: 0.001314 0.061647 0.007615 q: 0.038637 0.826921 -0.063899 0.557338 
time: 1403638147.995097, t: 0.010156 0.060283 0.018527 q: 0.039329 0.820229 -0.065909 0.566863 
wait for imu ... 
wait for imu ... 
time: 1403638148.095097, t: 0.020212 0.058693 0.036367 q: 0.040094 0.815103 -0.065206 0.574237 
time: 1403638148.195097, t: 0.030695 0.056680 0.063438 q: 0.040724 0.812269 -0.062025 0.578545 
wait for imu ... 
wait for imu ... 
time: 1403638148.295097, t: 0.039368 0.055294 0.105252 q: 0.039054 0.811979 -0.059129 0.579369 
time: 1403638148.395097, t: 0.046252 0.053752 0.155710 q: 0.037348 0.811728 -0.056083 0.580135 
wait for imu ... 
wait for imu ... 
time: 1403638148.495097, t: 0.051719 0.053176 0.190272 q: 0.037224 0.815607 -0.052958 0.574974 
wait for imu ... 
time: 1403638148.595097, t: 0.059379 0.052321 0.200027 q: 0.037188 0.819696 -0.050489 0.569357 
time: 1403638148.695097, t: 0.063992 0.054209 0.191460 q: 0.036438 0.823356 -0.048353 0.564287 
wait for imu ... 
time: 1403638148.795097, t: 0.074701 0.055726 0.185309 q: 0.034428 0.825860 -0.047150 0.560845 
wait for imu ... 
time: 1403638148.895097, t: 0.089278 0.058391 0.190456 q: 0.032990 0.826622 -0.045746 0.559925 
time: 1403638148.995097, t: 0.101852 0.061093 0.201252 q: 0.031643 0.824771 -0.044392 0.562833 
wait for imu ... 
time: 1403638149.095097, t: 0.118316 0.064960 0.227159 q: 0.031384 0.821036 -0.042810 0.568403 
time: 1403638149.195097, t: 0.138661 0.071139 0.259413 q: 0.031134 0.818747 -0.042239 0.571751 
wait for imu ... 
time: 1403638149.295097, t: 0.158277 0.077155 0.290611 q: 0.029133 0.817485 -0.043520 0.573563 
wait for imu ... 
time: 1403638149.395097, t: 0.180488 0.082708 0.317457 q: 0.028401 0.816188 -0.043644 0.575436 
time: 1403638149.495097, t: 0.201881 0.087965 0.338544 q: 0.028929 0.815429 -0.043144 0.576522 
time: 1403638149.595097, t: 0.219691 0.094133 0.353145 q: 0.029700 0.815316 -0.041610 0.576755 
wait for imu ... 
time: 1403638149.695097, t: 0.237522 0.100767 0.361577 q: 0.026941 0.815552 -0.036889 0.576878 
wait for imu ... 
time: 1403638149.795097, t: 0.257680 0.107924 0.369422 q: 0.023809 0.815859 -0.031628 0.576894 
time: 1403638149.895097, t: 0.273895 0.115154 0.371953 q: 0.020813 0.815888 -0.027699 0.577170 
time: 1403638149.995097, t: 0.296079 0.123798 0.375433 q: 0.020495 0.816423 -0.023878 0.576597 
time: 1403638150.095097, t: 0.316500 0.134655 0.372324 q: 0.026493 0.816551 -0.017342 0.576404 
wait for imu ... 
wait for imu ... 
time: 1403638150.195097, t: 0.342716 0.150070 0.368073 q: 0.033867 0.816750 -0.011273 0.575886 
optimize pose graph 
time: 1403638150.295097, t: 0.366914 0.169235 0.354917 q: 0.037417 0.817806 -0.008883 0.574208 
wait for imu ... 
time: 1403638150.395097, t: 0.393294 0.194623 0.340152 q: 0.034381 0.822034 -0.009705 0.568316 
wait for imu ... 
wait for imu ... 
time: 1403638150.495097, t: 0.423185 0.227186 0.332638 q: 0.023366 0.827729 -0.010092 0.560551 
time: 1403638150.595097, t: 0.451542 0.260360 0.326717 q: 0.015242 0.831432 -0.005791 0.555387 
time: 1403638150.695097, t: 0.486397 0.296659 0.336656 q: 0.009454 0.831631 -0.001959 0.555245 
time: 1403638150.795097, t: 0.525150 0.334722 0.351077 q: 0.005946 0.830473 0.004623 0.557008 
wait for imu ... 
wait for imu ... 
time: 1403638150.895097, t: 0.567966 0.371696 0.368910 q: 0.002008 0.827865 0.013850 0.560753 
wait for imu ... 
time: 1403638150.995097, t: 0.613226 0.411325 0.381624 q: -0.001778 0.823557 0.021910 0.566807 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638151.095097, t: 0.661867 0.455469 0.387574 q: -0.007279 0.821350 0.034044 0.569361 
wait for imu ... 
wait for imu ... 
time: 1403638151.195097, t: 0.707028 0.500843 0.388400 q: -0.016403 0.819005 0.051332 0.571250 
wait for imu ... 
time: 1403638151.295097, t: 0.752868 0.549123 0.381623 q: -0.030418 0.818715 0.070159 0.569085 
time: 1403638151.395097, t: 0.798094 0.599537 0.374058 q: -0.045681 0.817435 0.090423 0.567042 
time: 1403638151.495097, t: 0.839791 0.651816 0.372271 q: -0.061551 0.815142 0.109874 0.565405 
time: 1403638151.595097, t: 0.880520 0.706183 0.376260 q: -0.074126 0.812955 0.126490 0.563569 
time: 1403638151.695097, t: 0.922318 0.762338 0.386162 q: -0.083018 0.810542 0.138957 0.562868 
wait for imu ... 
wait for imu ... 
time: 1403638151.795097, t: 0.962807 0.820575 0.404670 q: -0.088051 0.809819 0.147626 0.560933 
wait for imu ... 
wait for imu ... 
time: 1403638151.895097, t: 1.002610 0.880938 0.430909 q: -0.091254 0.809388 0.152564 0.559721 
time: 1403638151.995097, t: 1.045035 0.944293 0.460149 q: -0.091002 0.809434 0.156314 0.558660 
wait for imu ... 
time: 1403638152.095097, t: 1.086881 1.010504 0.486327 q: -0.091007 0.809797 0.157167 0.557894 
time: 1403638152.195097, t: 1.127919 1.076724 0.507347 q: -0.090461 0.809735 0.157579 0.557957 
optimize pose graph 
wait for imu ... 
wait for imu ... 
time: 1403638152.295097, t: 1.167043 1.146094 0.520711 q: -0.087851 0.809266 0.158957 0.558661 
wait for imu ... 
time: 1403638152.395097, t: 1.207108 1.218088 0.527277 q: -0.084211 0.809074 0.160030 0.559195 
wait for imu ... 
time: 1403638152.495097, t: 1.246199 1.293715 0.526057 q: -0.080604 0.809512 0.160712 0.558896 
time: 1403638152.595097, t: 1.280688 1.371724 0.520959 q: -0.080916 0.809468 0.160255 0.559046 
time: 1403638152.695097, t: 1.318288 1.455997 0.512737 q: -0.086585 0.811198 0.158688 0.556128 
time: 1403638152.795097, t: 1.359720 1.546001 0.511440 q: -0.094339 0.809635 0.161975 0.556197 
wait for imu ... 
time: 1403638152.895097, t: 1.398159 1.635479 0.519661 q: -0.105726 0.805549 0.168155 0.558244 
wait for imu ... 
time: 1403638152.995097, t: 1.436780 1.725392 0.534424 q: -0.116489 0.801508 0.179517 0.558380 
wait for imu ... 
time: 1403638153.095097, t: 1.474404 1.814446 0.553343 q: -0.125141 0.801832 0.191782 0.551928 
wait for imu ... 
time: 1403638153.195097, t: 1.508928 1.899863 0.574823 q: -0.130845 0.802369 0.201784 0.546229 
wait for imu ... 
time: 1403638153.295097, t: 1.554388 1.994314 0.587314 q: -0.134337 0.801536 0.210447 0.543328 
wait for imu ... 
time: 1403638153.395097, t: 1.598121 2.086463 0.598262 q: -0.140729 0.799706 0.220941 0.540232 
time: 1403638153.495097, t: 1.642037 2.179434 0.608881 q: -0.143159 0.796073 0.237507 0.537926 
time: 1403638153.595097, t: 1.688663 2.274820 0.624263 q: -0.146071 0.791785 0.256210 0.534880 
time: 1403638153.695097, t: 1.734563 2.374881 0.645917 q: -0.154853 0.786034 0.273177 0.532489 
wait for imu ... 
time: 1403638153.795097, t: 1.778771 2.476451 0.664928 q: -0.168021 0.779523 0.286163 0.531247 
wait for imu ... 
time: 1403638153.895097, t: 1.821311 2.579329 0.679324 q: -0.178818 0.773491 0.295651 0.531344 
time: 1403638153.995097, t: 1.862513 2.684871 0.687943 q: -0.188751 0.768335 0.300047 0.532923 
time: 1403638154.095097, t: 1.903727 2.793396 0.690437 q: -0.194656 0.764482 0.302817 0.534769 
time: 1403638154.195097, t: 1.943343 2.905627 0.690440 q: -0.197283 0.759353 0.304599 0.540076 
wait for imu ... 
time: 1403638154.295097, t: 1.979609 3.018585 0.686640 q: -0.197859 0.755169 0.305738 0.545064 
wait for imu ... 
time: 1403638154.395097, t: 2.012701 3.131415 0.680811 q: -0.200942 0.749813 0.303427 0.552572 
time: 1403638154.495097, t: 2.042094 3.242122 0.666759 q: -0.203397 0.746423 0.300623 0.557770 
wait for imu ... 
time: 1403638154.595097, t: 2.063459 3.352535 0.659835 q: -0.205486 0.747511 0.300377 0.555676 
time: 1403638154.695097, t: 2.077499 3.457134 0.654704 q: -0.208460 0.750047 0.304896 0.548646 
wait for imu ... 
time: 1403638154.795097, t: 2.087648 3.564233 0.662418 q: -0.208065 0.751037 0.314761 0.541829 
time: 1403638154.895097, t: 2.095795 3.670744 0.675007 q: -0.207363 0.749611 0.324008 0.538612 
wait for imu ... 
time: 1403638154.995097, t: 2.098554 3.778467 0.695847 q: -0.209020 0.746010 0.333442 0.537212 
wait for imu ... 
time: 1403638155.095097, t: 2.090555 3.879327 0.723096 q: -0.215451 0.740511 0.343537 0.535916 
time: 1403638155.195097, t: 2.084258 3.986573 0.748306 q: -0.223852 0.735170 0.350907 0.535051 
time: 1403638155.295097, t: 2.073190 4.090650 0.767196 q: -0.231105 0.728873 0.355980 0.537227 
wait for imu ... 
time: 1403638155.395097, t: 2.056387 4.193736 0.779356 q: -0.236631 0.721700 0.363081 0.539748 
time: 1403638155.495097, t: 2.035373 4.301814 0.783780 q: -0.241371 0.715013 0.372802 0.539921 
time: 1403638155.595097, t: 2.008055 4.412142 0.780778 q: -0.255310 0.709687 0.379730 0.535692 
wait for imu ... 
time: 1403638155.695097, t: 1.969529 4.510841 0.775597 q: -0.273811 0.701083 0.387910 0.532012 
wait for imu ... 
time: 1403638155.795097, t: 1.928309 4.612852 0.765974 q: -0.288626 0.693073 0.400717 0.525139 
wait for imu ... 
time: 1403638155.895097, t: 1.881279 4.706164 0.751539 q: -0.301874 0.686722 0.416967 0.513249 
time: 1403638155.995097, t: 1.830439 4.792299 0.739149 q: -0.311969 0.682379 0.438201 0.494990 
wait for imu ... 
time: 1403638156.095097, t: 1.778650 4.876332 0.735146 q: -0.320994 0.676930 0.460675 0.475928 
wait for imu ... 
wait for imu ... 
time: 1403638156.195097, t: 1.727953 4.961610 0.740477 q: -0.332846 0.669411 0.476780 0.462367 
wait for imu ... 
wait for imu ... 
time: 1403638156.295097, t: 1.679492 5.047194 0.750844 q: -0.340728 0.662513 0.492912 0.449466 
wait for imu ... 
time: 1403638156.395097, t: 1.633807 5.132161 0.760211 q: -0.346926 0.657741 0.504651 0.438573 
wait for imu ... 
time: 1403638156.495097, t: 1.639654 5.251215 0.753671 q: -0.349649 0.656208 0.512421 0.429605 
time: 1403638156.595097, t: 1.563974 5.307968 0.757373 q: -0.353019 0.652622 0.516107 0.427897 
wait for imu ... 
wait for imu ... 
time: 1403638156.695097, t: 1.525447 5.397902 0.748022 q: -0.354250 0.651415 0.518404 0.425938 
time: 1403638156.795097, t: 1.490893 5.491840 0.734283 q: -0.354382 0.650587 0.519381 0.425904 
time: 1403638156.895097, t: 1.460326 5.588999 0.718235 q: -0.353253 0.651155 0.519128 0.426282 
wait for imu ... 
wait for imu ... 
time: 1403638156.995097, t: 1.427386 5.687379 0.704560 q: -0.351627 0.652442 0.518084 0.426927 
time: 1403638157.095097, t: 1.402063 5.794151 0.698061 q: -0.349229 0.655379 0.517255 0.425400 
wait for imu ... 
time: 1403638157.195097, t: 1.377129 5.903307 0.697690 q: -0.345021 0.658720 0.517325 0.423585 
wait for imu ... 
time: 1403638157.295097, t: 1.350230 6.007602 0.705774 q: -0.346459 0.658456 0.516586 0.423722 
time: 1403638157.395097, t: 1.331910 6.130903 0.714594 q: -0.345511 0.654502 0.519438 0.427123 
wait for imu ... 
time: 1403638157.495097, t: 1.310739 6.253645 0.721884 q: -0.347190 0.648619 0.522209 0.431336 
time: 1403638157.595097, t: 1.295263 6.375603 0.724709 q: -0.353277 0.639839 0.527026 0.433641 
wait for imu ... 
time: 1403638157.695097, t: 1.270329 6.502232 0.725295 q: -0.360922 0.626125 0.535945 0.436424 
wait for imu ... 
time: 1403638157.795097, t: 1.245911 6.633247 0.727871 q: -0.368959 0.611821 0.548732 0.434094 
time: 1403638157.895097, t: 1.220404 6.761962 0.739528 q: -0.381607 0.598733 0.560977 0.425675 
wait for imu ... 
time: 1403638158.095097, t: 1.170353 7.007334 0.773404 q: -0.401422 0.581975 0.580681 0.403702 
wait for imu ... 
wait for imu ... 
time: 1403638158.195097, t: 1.147079 7.126663 0.784187 q: -0.410371 0.578476 0.584575 0.393997 
wait for imu ... 
time: 1403638158.295097, t: 1.125224 7.241815 0.790031 q: -0.414104 0.573792 0.588462 0.391144 
time: 1403638158.395097, t: 1.103782 7.355210 0.792432 q: -0.413208 0.570108 0.592553 0.391303 
time: 1403638158.495097, t: 1.083541 7.467331 0.790634 q: -0.411017 0.565497 0.595735 0.395446 
time: 1403638158.595097, t: 1.062020 7.583925 0.784247 q: -0.409141 0.562847 0.596980 0.399277 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638158.695097, t: 1.038576 7.696369 0.778867 q: -0.410259 0.563264 0.595256 0.400115 
time: 1403638158.795097, t: 1.012867 7.811670 0.771834 q: -0.411283 0.567812 0.593412 0.395345 
time: 1403638158.895097, t: 0.986212 7.926300 0.773267 q: -0.410137 0.574173 0.592282 0.388993 
time: 1403638158.995097, t: 0.960612 8.037222 0.779963 q: -0.408113 0.579089 0.592164 0.383982 
wait for imu ... 
time: 1403638159.095097, t: 0.938122 8.154532 0.796033 q: -0.401170 0.585273 0.595473 0.376736 
time: 1403638159.195097, t: 0.916838 8.272612 0.811442 q: -0.391653 0.592449 0.600373 0.367646 
wait for imu ... 
time: 1403638159.295097, t: 0.897875 8.399078 0.823827 q: -0.392418 0.592708 0.598550 0.369383 
wait for imu ... 
time: 1403638159.395097, t: 0.880190 8.524535 0.833173 q: -0.406462 0.586449 0.588439 0.380272 
wait for imu ... 
time: 1403638159.495097, t: 0.864203 8.656669 0.842657 q: -0.424638 0.578344 0.575114 0.392995 
time: 1403638159.595097, t: 0.853754 8.783601 0.857657 q: -0.444780 0.575631 0.560470 0.395845 
wait for imu ... 
wait for imu ... 
time: 1403638159.795097, t: 0.853445 9.018524 0.911426 q: -0.461810 0.574199 0.548378 0.395359 
wait for imu ... 
wait for imu ... 
time: 1403638159.895097, t: 0.869531 9.115002 0.952380 q: -0.454802 0.568151 0.554371 0.403773 
time: 1403638159.995097, t: 0.893467 9.190335 1.002281 q: -0.445101 0.562421 0.562388 0.411447 
wait for imu ... 
wait for imu ... 
time: 1403638160.095097, t: 0.922361 9.256430 1.058377 q: -0.438448 0.560828 0.568544 0.412301 
wait for imu ... 
wait for imu ... 
time: 1403638160.195097, t: 0.953140 9.308445 1.120641 q: -0.428809 0.564588 0.577133 0.405315 
time: 1403638160.295097, t: 0.980532 9.366787 1.192365 q: -0.417431 0.571268 0.586393 0.394395 
wait for imu ... 
time: 1403638160.395097, t: 1.011324 9.421568 1.268825 q: -0.409063 0.574871 0.593057 0.387910 
wait for imu ... 
time: 1403638160.495097, t: 1.043071 9.489023 1.344407 q: -0.406908 0.576677 0.594744 0.384902 
time: 1403638160.595097, t: 1.071684 9.564066 1.417238 q: -0.405677 0.577462 0.595479 0.383886 
wait for imu ... 
wait for imu ... 
time: 1403638160.695097, t: 1.099404 9.637718 1.484534 q: -0.405849 0.577767 0.595054 0.383906 
wait for imu ... 
wait for imu ... 
time: 1403638160.795097, t: 1.130501 9.709270 1.545041 q: -0.414457 0.577795 0.588385 0.384942 
wait for imu ... 
wait for imu ... 
time: 1403638160.895097, t: 1.163959 9.777772 1.603879 q: -0.425687 0.579055 0.574091 0.392308 
wait for imu ... 
time: 1403638160.995097, t: 1.200748 9.841223 1.657764 q: -0.428882 0.583110 0.559504 0.403731 
wait for imu ... 
time: 1403638161.095097, t: 1.242729 9.904778 1.709018 q: -0.424574 0.591774 0.546317 0.413617 
wait for imu ... 
time: 1403638161.195097, t: 1.288472 9.963587 1.755887 q: -0.411677 0.603991 0.535256 0.423342 
wait for imu ... 
wait for imu ... 
time: 1403638161.295097, t: 1.336737 10.018680 1.801204 q: -0.396107 0.619708 0.521676 0.432337 
wait for imu ... 
time: 1403638161.395097, t: 1.387317 10.072546 1.846931 q: -0.379448 0.636142 0.509621 0.437754 
wait for imu ... 
wait for imu ... 
time: 1403638161.495097, t: 1.437337 10.124773 1.890974 q: -0.363085 0.650058 0.503002 0.438844 
wait for imu ... 
time: 1403638161.595097, t: 1.487082 10.174604 1.929906 q: -0.353191 0.659574 0.496734 0.439856 
wait for imu ... 
time: 1403638161.695097, t: 1.539000 10.223769 1.963329 q: -0.349797 0.666803 0.489813 0.439430 
wait for imu ... 
time: 1403638161.795097, t: 1.593162 10.274573 1.990793 q: -0.350654 0.670223 0.482318 0.441828 
wait for imu ... 
time: 1403638161.895097, t: 1.650442 10.324862 2.014600 q: -0.349928 0.671468 0.473926 0.449528 
time: 1403638161.995097, t: 1.710118 10.372199 2.035003 q: -0.346017 0.675005 0.466316 0.455181 
wait for imu ... 
time: 1403638162.095097, t: 1.772195 10.419489 2.058694 q: -0.343041 0.678424 0.460997 0.457761 
wait for imu ... 
wait for imu ... 
time: 1403638162.195097, t: 1.836849 10.464024 2.088822 q: -0.341412 0.683816 0.457171 0.454784 
wait for imu ... 
time: 1403638162.295097, t: 1.904481 10.508209 2.120171 q: -0.340015 0.688110 0.454585 0.451937 
time: 1403638162.395097, t: 1.976647 10.553168 2.147809 q: -0.342744 0.690258 0.450674 0.450514 
time: 1403638162.495097, t: 2.053074 10.595158 2.168543 q: -0.343766 0.689081 0.448971 0.453230 
time: 1403638162.595097, t: 2.134393 10.635509 2.195037 q: -0.340347 0.687209 0.451757 0.455877 
wait for imu ... 
time: 1403638162.695097, t: 2.217931 10.675105 2.221212 q: -0.336077 0.685001 0.455884 0.458253 
time: 1403638162.795097, t: 2.305278 10.713252 2.257781 q: -0.334389 0.686378 0.456839 0.456473 
wait for imu ... 
wait for imu ... 
time: 1403638162.895097, t: 2.395814 10.753324 2.297560 q: -0.335541 0.689793 0.450839 0.456445 
time: 1403638162.995097, t: 2.490145 10.789031 2.347374 q: -0.340915 0.689278 0.441537 0.462296 
time: 1403638163.095097, t: 2.589701 10.824722 2.386082 q: -0.344918 0.687740 0.432206 0.470364 
wait for imu ... 
time: 1403638163.195097, t: 2.691143 10.854492 2.407625 q: -0.338815 0.691475 0.426081 0.474891 
wait for imu ... 
wait for imu ... 
time: 1403638163.295097, t: 2.795541 10.879864 2.416337 q: -0.326410 0.696862 0.420545 0.480606 
time: 1403638163.495097, t: 3.009610 10.918982 2.422053 q: -0.302959 0.708972 0.401397 0.494424 
wait for imu ... 
time: 1403638163.595097, t: 3.112768 10.931262 2.428468 q: -0.296376 0.714219 0.392977 0.497616 
time: 1403638163.695097, t: 3.215858 10.942029 2.445204 q: -0.290990 0.716674 0.388203 0.501000 
time: 1403638163.795097, t: 3.319590 10.953310 2.471629 q: -0.288118 0.717738 0.385304 0.503370 
wait for imu ... 
time: 1403638163.895097, t: 3.421253 10.961185 2.506999 q: -0.289646 0.718802 0.381688 0.503730 
wait for imu ... 
wait for imu ... 
time: 1403638163.995097, t: 3.523039 10.967673 2.547938 q: -0.292822 0.721561 0.378959 0.499995 
time: 1403638164.095097, t: 3.625065 10.971645 2.594576 q: -0.296592 0.723145 0.377480 0.496591 
time: 1403638164.195097, t: 3.729735 10.968325 2.644731 q: -0.301791 0.722920 0.375451 0.495324 
wait for imu ... 
time: 1403638164.295097, t: 3.835008 10.962326 2.692152 q: -0.305789 0.720984 0.374633 0.496311 
time: 1403638164.395097, t: 3.938574 10.948161 2.732708 q: -0.308530 0.719395 0.374501 0.497021 
wait for imu ... 
time: 1403638164.495097, t: 4.050249 10.933320 2.766244 q: -0.310658 0.718988 0.375072 0.495852 
time: 1403638164.595097, t: 4.163565 10.913237 2.796639 q: -0.313810 0.719574 0.373593 0.494130 
time: 1403638164.695097, t: 4.283540 10.888131 2.820260 q: -0.311350 0.721594 0.370553 0.495029 
wait for imu ... 
wait for imu ... 
time: 1403638164.795097, t: 4.403103 10.856709 2.844073 q: -0.301563 0.719508 0.370229 0.504279 
wait for imu ... 
time: 1403638164.895097, t: 4.531462 10.823076 2.863297 q: -0.288057 0.714083 0.373520 0.517292 
wait for imu ... 
wait for imu ... 
time: 1403638164.995097, t: 4.657722 10.786277 2.879673 q: -0.284795 0.711869 0.370497 0.524277 
time: 1403638165.095097, t: 4.774027 10.741797 2.890640 q: -0.291319 0.714545 0.357286 0.526217 
wait for imu ... 
wait for imu ... 
time: 1403638165.195097, t: 4.889336 10.692130 2.895387 q: -0.288983 0.722288 0.350509 0.521472 
wait for imu ... 
time: 1403638165.295097, t: 4.995625 10.635866 2.891705 q: -0.281407 0.733913 0.348999 0.510277 
wait for imu ... 
time: 1403638165.395097, t: 5.103298 10.577477 2.884776 q: -0.280710 0.740883 0.343245 0.504457 
wait for imu ... 
time: 1403638165.495097, t: 5.212387 10.515193 2.875008 q: -0.279535 0.738594 0.339494 0.510962 
time: 1403638165.595097, t: 5.319424 10.448397 2.860820 q: -0.279269 0.730727 0.335853 0.524643 
time: 1403638165.695097, t: 5.421247 10.373655 2.842052 q: -0.277736 0.721430 0.334454 0.539020 
time: 1403638165.795097, t: 5.523701 10.294925 2.818495 q: -0.273535 0.718186 0.336204 0.544384 
wait for imu ... 
time: 1403638165.895097, t: 5.619383 10.212742 2.791344 q: -0.267957 0.723926 0.340394 0.536901 
time: 1403638165.995097, t: 5.709711 10.123588 2.770630 q: -0.262764 0.730104 0.344888 0.528163 
time: 1403638166.095097, t: 5.795346 10.032069 2.760925 q: -0.256721 0.735470 0.350128 0.520181 
time: 1403638166.195097, t: 5.885167 9.944216 2.763527 q: -0.252314 0.736829 0.355560 0.516719 
wait for imu ... 
time: 1403638166.295097, t: 5.974114 9.859555 2.785208 q: -0.250930 0.735918 0.359399 0.516035 
wait for imu ... 
time: 1403638166.395097, t: 6.059755 9.778319 2.827594 q: -0.249127 0.734839 0.363130 0.515833 
wait for imu ... 
time: 1403638166.495097, t: 6.137379 9.700843 2.876965 q: -0.248284 0.734663 0.365450 0.514852 
wait for imu ... 
time: 1403638166.595097, t: 6.207444 9.629632 2.923976 q: -0.249990 0.734033 0.365799 0.514677 
wait for imu ... 
wait for imu ... 
time: 1403638166.695097, t: 6.279193 9.558641 2.962300 q: -0.253173 0.735022 0.364743 0.512453 
wait for imu ... 
time: 1403638166.795097, t: 6.347462 9.491790 2.991251 q: -0.260645 0.739787 0.360702 0.504651 
time: 1403638166.895097, t: 6.416772 9.426149 3.010448 q: -0.266346 0.750535 0.357209 0.488015 
time: 1403638166.995097, t: 6.493588 9.357564 3.022775 q: -0.264949 0.758840 0.358246 0.474999 
time: 1403638167.095097, t: 6.577760 9.298703 3.035733 q: -0.259472 0.761689 0.362139 0.470489 
time: 1403638167.195097, t: 6.669347 9.245225 3.056868 q: -0.253873 0.759937 0.366318 0.473134 
time: 1403638167.295097, t: 6.766641 9.202303 3.085756 q: -0.249394 0.757036 0.369520 0.477655 
wait for imu ... 
wait for imu ... 
time: 1403638167.395097, t: 6.869066 9.170221 3.120167 q: -0.248393 0.755557 0.369692 0.480378 
time: 1403638167.495097, t: 6.978735 9.140092 3.152246 q: -0.251471 0.753475 0.366916 0.484159 
wait for imu ... 
wait for imu ... 
time: 1403638167.595097, t: 7.092885 9.111543 3.177836 q: -0.258067 0.750559 0.361332 0.489389 
time: 1403638167.695097, t: 7.209386 9.082714 3.196665 q: -0.265844 0.751160 0.350730 0.492010 
wait for imu ... 
wait for imu ... 
time: 1403638167.795097, t: 7.330269 9.053678 3.207997 q: -0.269180 0.754383 0.337344 0.494619 
wait for imu ... 
time: 1403638167.895097, t: 7.456364 9.021374 3.217327 q: -0.267122 0.759553 0.323010 0.497383 
wait for imu ... 
time: 1403638167.995097, t: 7.587677 8.985813 3.222403 q: -0.260629 0.764346 0.309286 0.502185 
time: 1403638168.095097, t: 7.724890 8.947058 3.231621 q: -0.255255 0.768009 0.296884 0.506820 
wait for imu ... 
wait for imu ... 
time: 1403638168.195097, t: 7.865004 8.902386 3.248384 q: -0.246988 0.771191 0.286758 0.511889 
wait for imu ... 
wait for imu ... 
time: 1403638168.295097, t: 8.007363 8.851383 3.273185 q: -0.233191 0.775303 0.277945 0.516985 
time: 1403638168.395097, t: 8.152550 8.797467 3.305252 q: -0.221113 0.778335 0.266045 0.523950 
wait for imu ... 
time: 1403638168.495097, t: 8.298498 8.741583 3.338733 q: -0.204231 0.782512 0.260862 0.527177 
time: 1403638168.595097, t: 8.444337 8.687134 3.364975 q: -0.185498 0.787914 0.261945 0.525516 
wait for imu ... 
time: 1403638168.695097, t: 8.589941 8.635403 3.383605 q: -0.170716 0.791568 0.263794 0.524107 
wait for imu ... 
time: 1403638168.795097, t: 8.736386 8.590029 3.395540 q: -0.164220 0.793513 0.264143 0.523065 
time: 1403638168.895097, t: 8.883808 8.550865 3.401387 q: -0.160220 0.794856 0.265252 0.521704 
wait for imu ... 
time: 1403638168.995097, t: 9.032807 8.522411 3.402180 q: -0.160362 0.794702 0.266266 0.521378 
time: 1403638169.095097, t: 9.182101 8.501112 3.399451 q: -0.166853 0.788958 0.265121 0.528598 
wait for imu ... 
time: 1403638169.195097, t: 9.330419 8.485646 3.390951 q: -0.177820 0.785255 0.261602 0.532278 
wait for imu ... 
wait for imu ... 
time: 1403638169.295097, t: 9.478448 8.472018 3.377828 q: -0.191727 0.783435 0.251313 0.535081 
time: 1403638169.395097, t: 9.629482 8.457466 3.360878 q: -0.206898 0.781769 0.232007 0.540558 
time: 1403638169.495097, t: 9.781129 8.435529 3.342803 q: -0.210977 0.781002 0.213425 0.547699 
time: 1403638169.595097, t: 9.935318 8.403136 3.330319 q: -0.204092 0.781880 0.198335 0.554684 
time: 1403638169.695097, t: 10.085599 8.360828 3.322478 q: -0.185373 0.785883 0.187349 0.559397 
wait for imu ... 
time: 1403638169.795097, t: 10.232634 8.308941 3.322177 q: -0.161425 0.789799 0.176714 0.564740 
wait for imu ... 
time: 1403638169.895097, t: 10.374418 8.254076 3.331422 q: -0.132732 0.793069 0.166585 0.570678 
wait for imu ... 
time: 1403638169.995097, t: 10.509708 8.196454 3.348198 q: -0.108175 0.790218 0.152879 0.583508 
wait for imu ... 
time: 1403638170.095097, t: 10.637089 8.141021 3.367900 q: -0.094330 0.788064 0.131659 0.593905 
wait for imu ... 
wait for imu ... 
time: 1403638170.195097, t: 10.758837 8.085681 3.379874 q: -0.085164 0.790794 0.106443 0.596709 
time: 1403638170.295097, t: 10.874216 8.029029 3.383710 q: -0.077654 0.794734 0.080252 0.596597 
wait for imu ... 
wait for imu ... 
time: 1403638170.395097, t: 10.978739 7.969474 3.382540 q: -0.067765 0.800383 0.055650 0.593041 
time: 1403638170.495097, t: 11.082710 7.908414 3.376395 q: -0.058529 0.804819 0.031646 0.589780 
wait for imu ... 
time: 1403638170.595097, t: 11.180586 7.843586 3.375175 q: -0.054116 0.804110 0.006148 0.591981 
wait for imu ... 
time: 1403638170.695097, t: 11.278216 7.773781 3.383032 q: -0.044576 0.800689 -0.015643 0.597215 
time: 1403638170.795097, t: 11.359480 7.695261 3.397522 q: -0.032390 0.799623 -0.034175 0.598653 
wait for imu ... 
time: 1403638170.995097, t: 11.520053 7.517592 3.420034 q: -0.003727 0.798876 -0.067315 0.597706 
time: 1403638171.095097, t: 11.552209 7.425221 3.422225 q: 0.008055 0.795989 -0.083823 0.599425 
time: 1403638171.195097, t: 11.595678 7.327437 3.421100 q: 0.015388 0.793402 -0.096540 0.600797 
time: 1403638171.295097, t: 11.619765 7.227384 3.418031 q: 0.020608 0.791181 -0.105442 0.602071 
time: 1403638171.395097, t: 11.638833 7.123040 3.413797 q: 0.023451 0.788883 -0.111813 0.603831 
wait for imu ... 
time: 1403638171.495097, t: 11.646721 7.012994 3.409277 q: 0.026604 0.786455 -0.118952 0.605501 
wait for imu ... 
time: 1403638171.595097, t: 11.647432 6.898326 3.402205 q: 0.028418 0.783397 -0.126075 0.607936 
time: 1403638171.695097, t: 11.641400 6.778146 3.394209 q: 0.029644 0.780063 -0.136246 0.609968 
wait for imu ... 
time: 1403638171.795097, t: 11.622893 6.654634 3.384424 q: 0.033463 0.777312 -0.146991 0.610787 
wait for imu ... 
time: 1403638171.995097, t: 11.558960 6.383758 3.376581 q: 0.043793 0.768955 -0.160494 0.617278 
time: 1403638172.095097, t: 11.508225 6.237207 3.381062 q: 0.051480 0.768136 -0.162093 0.617286 
wait for imu ... 
wait for imu ... 
time: 1403638172.295097, t: 11.365701 5.939735 3.377380 q: 0.058658 0.769630 -0.163102 0.614513 
time: 1403638172.395097, t: 11.276973 5.788833 3.360980 q: 0.059646 0.769453 -0.162584 0.614777 
time: 1403638172.495097, t: 11.180614 5.634438 3.334276 q: 0.057941 0.767358 -0.162408 0.617599 
time: 1403638172.695097, t: 10.959830 5.321105 3.256303 q: 0.051173 0.764905 -0.161548 0.621454 
wait for imu ... 
time: 1403638172.795097, t: 10.833556 5.155940 3.209265 q: 0.048536 0.765352 -0.159919 0.621536 
wait for imu ... 
time: 1403638172.895097, t: 10.694386 4.990173 3.157682 q: 0.044489 0.765459 -0.159034 0.621934 
wait for imu ... 
time: 1403638172.995097, t: 10.542773 4.822739 3.101592 q: 0.036853 0.768141 -0.159885 0.618901 
wait for imu ... 
time: 1403638173.095097, t: 10.381154 4.649486 3.038950 q: 0.029743 0.773167 -0.160187 0.612917 
wait for imu ... 
time: 1403638173.195097, t: 10.210645 4.471269 2.970221 q: 0.028802 0.778244 -0.158024 0.607071 
wait for imu ... 
time: 1403638173.295097, t: 10.032782 4.286449 2.895606 q: 0.034825 0.782076 -0.152075 0.603339 
wait for imu ... 
wait for imu ... 
time: 1403638173.395097, t: 9.849614 4.095283 2.815556 q: 0.046693 0.785758 -0.143402 0.599866 
time: 1403638173.495097, t: 9.662707 3.901393 2.724440 q: 0.060296 0.790206 -0.134299 0.594897 
wait for imu ... 
wait for imu ... 
time: 1403638173.595097, t: 9.476242 3.705838 2.627835 q: 0.069776 0.791661 -0.128541 0.593195 
time: 1403638173.695097, t: 9.288802 3.512881 2.527978 q: 0.071617 0.791923 -0.128133 0.592715 
wait for imu ... 
time: 1403638173.795097, t: 9.099761 3.320202 2.424759 q: 0.070896 0.792571 -0.129457 0.591647 
wait for imu ... 
time: 1403638173.895097, t: 8.910086 3.133164 2.324449 q: 0.072107 0.793971 -0.129694 0.589567 
wait for imu ... 
time: 1403638173.995097, t: 8.717192 2.954178 2.230742 q: 0.071750 0.793115 -0.130839 0.590509 
time: 1403638174.095097, t: 8.519256 2.780435 2.143196 q: 0.071239 0.793699 -0.131724 0.589589 
time: 1403638174.195097, t: 8.319647 2.610679 2.057968 q: 0.072722 0.796891 -0.131269 0.585188 
wait for imu ... 
time: 1403638174.295097, t: 8.118349 2.443564 1.968884 q: 0.071796 0.802630 -0.131357 0.577386 
wait for imu ... 
time: 1403638174.395097, t: 7.922234 2.273548 1.875433 q: 0.071148 0.806208 -0.131231 0.572490 
wait for imu ... 
time: 1403638174.495097, t: 7.730045 2.110947 1.779718 q: 0.070423 0.809291 -0.130659 0.568346 
time: 1403638174.595097, t: 7.545907 1.948882 1.688703 q: 0.072439 0.812975 -0.128518 0.563301 
time: 1403638174.695097, t: 7.364631 1.788230 1.604422 q: 0.074578 0.817428 -0.126784 0.556934 
time: 1403638174.795097, t: 7.192504 1.628568 1.526023 q: 0.075167 0.821556 -0.126247 0.550869 
time: 1403638174.895097, t: 7.025671 1.474259 1.455605 q: 0.077367 0.823526 -0.124680 0.547972 
wait for imu ... 
time: 1403638174.995097, t: 6.870132 1.321437 1.390145 q: 0.077790 0.824823 -0.125270 0.545823 
time: 1403638175.095097, t: 6.714982 1.172230 1.332905 q: 0.078961 0.823474 -0.125464 0.547644 
wait for imu ... 
time: 1403638175.195097, t: 6.568858 1.025194 1.283707 q: 0.082129 0.823155 -0.125107 0.547739 
wait for imu ... 
time: 1403638175.295097, t: 6.433236 0.881371 1.239437 q: 0.084447 0.825113 -0.125315 0.544383 
wait for imu ... 
time: 1403638175.395097, t: 6.306730 0.740701 1.204240 q: 0.086816 0.830386 -0.125142 0.535968 
wait for imu ... 
time: 1403638175.495097, t: 6.191140 0.602890 1.177106 q: 0.090518 0.836465 -0.123416 0.526214 
time: 1403638175.595097, t: 6.089796 0.465268 1.158543 q: 0.091020 0.843915 -0.122891 0.514219 
wait for imu ... 
time: 1403638175.695097, t: 5.999745 0.327552 1.145252 q: 0.088921 0.850997 -0.123474 0.502645 
wait for imu ... 
time: 1403638175.795097, t: 5.921924 0.188755 1.132092 q: 0.087387 0.855034 -0.123423 0.496031 
wait for imu ... 
time: 1403638175.895097, t: 5.862236 0.057660 1.113463 q: 0.089445 0.856922 -0.120711 0.493064 
time: 1403638175.995097, t: 5.815092 -0.073401 1.087614 q: 0.096698 0.855576 -0.113560 0.495726 
time: 1403638176.095097, t: 5.785580 -0.203150 1.060217 q: 0.104302 0.846884 -0.106115 0.510537 
wait for imu ... 
time: 1403638176.195097, t: 5.773135 -0.324508 1.038110 q: 0.106171 0.831334 -0.103437 0.535642 
time: 1403638176.295097, t: 5.768766 -0.438010 1.022269 q: 0.103714 0.818737 -0.104883 0.554899 
time: 1403638176.395097, t: 5.766044 -0.545696 1.010473 q: 0.103687 0.813174 -0.105269 0.562953 
time: 1403638176.495097, t: 5.762928 -0.646308 1.004928 q: 0.105405 0.812746 -0.104570 0.563382 
wait for imu ... 
time: 1403638176.595097, t: 5.762124 -0.739412 1.004756 q: 0.105853 0.814057 -0.104950 0.561331 
wait for imu ... 
time: 1403638176.695097, t: 5.770925 -0.821305 1.006388 q: 0.106913 0.814791 -0.104904 0.560072 
wait for imu ... 
time: 1403638176.795097, t: 5.777493 -0.905193 1.019306 q: 0.105237 0.815162 -0.105841 0.559674 
time: 1403638176.895097, t: 5.788256 -0.975044 1.033394 q: 0.100338 0.815403 -0.109352 0.559547 
wait for imu ... 
time: 1403638176.995097, t: 5.799609 -1.049218 1.048849 q: 0.100884 0.815876 -0.108720 0.558882 
time: 1403638177.095097, t: 5.816712 -1.107972 1.056567 q: 0.103487 0.817050 -0.107033 0.557013 
wait for imu ... 
time: 1403638177.195097, t: 5.836800 -1.164920 1.055922 q: 0.106625 0.817497 -0.105127 0.556128 
time: 1403638177.295097, t: 5.863158 -1.221535 1.047587 q: 0.107857 0.817626 -0.104217 0.555872 
time: 1403638177.395097, t: 5.889280 -1.258778 1.036010 q: 0.108395 0.817480 -0.104176 0.555989 
wait for imu ... 
time: 1403638177.495097, t: 5.918994 -1.301418 1.017831 q: 0.104320 0.817576 -0.107917 0.555914 
time: 1403638177.595097, t: 5.948629 -1.329421 0.997076 q: 0.091241 0.816211 -0.118060 0.558154 
wait for imu ... 
time: 1403638177.695097, t: 5.981466 -1.357714 0.971865 q: 0.082006 0.814876 -0.126212 0.559753 
time: 1403638177.795097, t: 6.018379 -1.392404 0.942539 q: 0.074505 0.810622 -0.135277 0.564837 
wait for imu ... 
time: 1403638177.995097, t: 6.083126 -1.455969 0.890692 q: 0.071692 0.797106 -0.143433 0.582159 
time: 1403638178.095097, t: 6.112040 -1.495067 0.873968 q: 0.080102 0.793678 -0.144386 0.585501 
wait for imu ... 
time: 1403638178.195097, t: 6.133941 -1.534427 0.865831 q: 0.088979 0.790491 -0.152094 0.586578 
wait for imu ... 
time: 1403638178.295097, t: 6.145770 -1.574368 0.865573 q: 0.098413 0.785747 -0.165941 0.587690 
time: 1403638178.395097, t: 6.153217 -1.615212 0.874441 q: 0.110017 0.780821 -0.183453 0.586993 
wait for imu ... 
time: 1403638178.495097, t: 6.151943 -1.654920 0.879452 q: 0.121033 0.778142 -0.205927 0.580896 
time: 1403638178.595097, t: 6.144357 -1.696025 0.879061 q: 0.131167 0.777328 -0.230333 0.570529 
wait for imu ... 
time: 1403638178.695097, t: 6.205722 -1.752403 0.806906 q: 0.143410 0.773737 -0.254687 0.562049 
time: 1403638178.795097, t: 6.121704 -1.784647 0.863663 q: 0.153553 0.768413 -0.273372 0.557881 
wait for imu ... 
time: 1403638178.895097, t: 6.103710 -1.830366 0.852215 q: 0.164897 0.766606 -0.289935 0.548690 
time: 1403638178.995097, t: 6.083783 -1.878405 0.836951 q: 0.172323 0.767639 -0.302089 0.538310 
time: 1403638179.095097, t: 6.063778 -1.930631 0.818918 q: 0.179665 0.770239 -0.308766 0.528314 
wait for imu ... 
time: 1403638179.195097, t: 6.045031 -1.988494 0.797007 q: 0.188324 0.771664 -0.314256 0.519915 
wait for imu ... 
time: 1403638179.295097, t: 6.028202 -2.050760 0.771689 q: 0.197573 0.772648 -0.320382 0.511210 
time: 1403638179.395097, t: 6.014418 -2.118172 0.745169 q: 0.208240 0.768393 -0.329839 0.507360 
wait for imu ... 
time: 1403638179.495097, t: 6.004004 -2.189732 0.718210 q: 0.218519 0.754836 -0.343979 0.513956 
time: 1403638179.595097, t: 5.995019 -2.264285 0.688128 q: 0.231023 0.741376 -0.360184 0.516970 
wait for imu ... 
time: 1403638179.695097, t: 5.984157 -2.339182 0.659790 q: 0.243751 0.729464 -0.377481 0.515728 
time: 1403638179.795097, t: 5.972846 -2.412436 0.638123 q: 0.257163 0.718908 -0.395303 0.510660 
time: 1403638179.895097, t: 5.958364 -2.484626 0.622769 q: 0.269974 0.708976 -0.412780 0.504063 
time: 1403638179.995097, t: 5.942161 -2.558248 0.612190 q: 0.276698 0.704737 -0.428822 0.492844 
time: 1403638180.095097, t: 5.926272 -2.632910 0.604371 q: 0.279327 0.701284 -0.441940 0.484631 
wait for imu ... 
wait for imu ... 
time: 1403638180.195097, t: 5.910465 -2.710495 0.600436 q: 0.283604 0.697760 -0.448831 0.480885 
time: 1403638180.295097, t: 5.894032 -2.791073 0.592225 q: 0.285497 0.696272 -0.453246 0.477770 
time: 1403638180.395097, t: 5.878136 -2.874632 0.579022 q: 0.286663 0.696011 -0.455144 0.475643 
wait for imu ... 
time: 1403638180.495097, t: 5.862240 -2.961280 0.561096 q: 0.289876 0.697284 -0.453502 0.473394 
time: 1403638180.595097, t: 5.846437 -3.049932 0.541136 q: 0.292518 0.698971 -0.450788 0.471871 
wait for imu ... 
time: 1403638180.695097, t: 5.833798 -3.141108 0.523803 q: 0.292494 0.702790 -0.448840 0.468056 
wait for imu ... 
time: 1403638180.795097, t: 5.821400 -3.235095 0.514779 q: 0.288737 0.707307 -0.448443 0.463947 
time: 1403638180.895097, t: 5.812311 -3.333883 0.512426 q: 0.285272 0.709089 -0.447256 0.464515 
time: 1403638180.995097, t: 5.809265 -3.437223 0.508846 q: 0.282506 0.708663 -0.446114 0.467942 
wait for imu ... 
time: 1403638181.095097, t: 5.803719 -3.541815 0.500410 q: 0.279974 0.707918 -0.444655 0.471962 
time: 1403638181.195097, t: 5.799131 -3.651280 0.486056 q: 0.277651 0.705393 -0.444042 0.477658 
wait for imu ... 
time: 1403638181.295097, t: 5.793259 -3.767871 0.467824 q: 0.277546 0.697424 -0.445663 0.487803 
time: 1403638181.395097, t: 5.785805 -3.887209 0.444419 q: 0.280896 0.686514 -0.453104 0.494462 
wait for imu ... 
time: 1403638181.495097, t: 5.772649 -4.006803 0.416695 q: 0.286144 0.671969 -0.466564 0.498896 
time: 1403638181.595097, t: 5.752410 -4.126786 0.389751 q: 0.300355 0.651316 -0.478786 0.506299 
time: 1403638181.695097, t: 5.722764 -4.246779 0.365714 q: 0.317375 0.640138 -0.490895 0.498517 
time: 1403638181.795097, t: 5.684426 -4.363744 0.351557 q: 0.332998 0.633001 -0.504141 0.484008 
time: 1403638181.895097, t: 5.642171 -4.483142 0.345462 q: 0.348008 0.628604 -0.516980 0.465274 
time: 1403638181.995097, t: 5.598002 -4.594353 0.347083 q: 0.355387 0.623492 -0.530744 0.450853 
wait for imu ... 
time: 1403638182.095097, t: 5.551747 -4.699839 0.357868 q: 0.356763 0.620399 -0.542999 0.439292 
wait for imu ... 
time: 1403638182.195097, t: 5.504675 -4.807258 0.371978 q: 0.357432 0.617781 -0.551927 0.431237 
time: 1403638182.295097, t: 5.456987 -4.906222 0.385072 q: 0.352280 0.614410 -0.561249 0.428250 
time: 1403638182.395097, t: 5.408060 -5.005514 0.395748 q: 0.347409 0.612531 -0.567120 0.427185 
wait for imu ... 
time: 1403638182.495097, t: 5.356387 -5.112556 0.409442 q: 0.350474 0.617072 -0.565556 0.420163 
time: 1403638182.595097, t: 5.304010 -5.223500 0.431692 q: 0.356696 0.623832 -0.560333 0.411859 
time: 1403638182.695097, t: 5.252917 -5.340256 0.459940 q: 0.357805 0.627753 -0.557254 0.409109 
wait for imu ... 
time: 1403638182.795097, t: 5.203994 -5.462534 0.489422 q: 0.356870 0.628441 -0.555508 0.411238 
time: 1403638182.895097, t: 5.158044 -5.588354 0.514376 q: 0.357323 0.627602 -0.552937 0.415567 
wait for imu ... 
time: 1403638182.995097, t: 5.112766 -5.714546 0.535190 q: 0.360144 0.624663 -0.548988 0.422734 
wait for imu ... 
time: 1403638183.095097, t: 5.066556 -5.844613 0.551379 q: 0.364988 0.622558 -0.543483 0.428756 
time: 1403638183.195097, t: 5.021306 -5.976420 0.562014 q: 0.370089 0.623034 -0.538485 0.429998 
wait for imu ... 
time: 1403638183.295097, t: 4.976689 -6.106265 0.567928 q: 0.369815 0.627890 -0.537505 0.424358 
time: 1403638183.395097, t: 4.934992 -6.237241 0.569403 q: 0.363746 0.632481 -0.541070 0.418209 
wait for imu ... 
time: 1403638183.495097, t: 4.896696 -6.369190 0.567551 q: 0.360908 0.637354 -0.542780 0.410991 
wait for imu ... 
time: 1403638183.595097, t: 4.863194 -6.504356 0.561811 q: 0.359739 0.639819 -0.543340 0.407431 
time: 1403638183.695097, t: 4.834918 -6.643578 0.558646 q: 0.365522 0.637199 -0.539317 0.411713 
wait for imu ... 
time: 1403638183.795097, t: 4.810118 -6.785723 0.562533 q: 0.373281 0.632057 -0.534029 0.419499 
time: 1403638183.895097, t: 4.789152 -6.925204 0.572904 q: 0.380629 0.627425 -0.529024 0.426138 
wait for imu ... 
time: 1403638183.995097, t: 4.770854 -7.059902 0.589348 q: 0.381450 0.626623 -0.528838 0.426815 
time: 1403638184.095097, t: 4.756462 -7.191973 0.610717 q: 0.377199 0.628565 -0.532236 0.423499 
wait for imu ... 
time: 1403638184.195097, t: 4.747477 -7.321135 0.631035 q: 0.370867 0.632338 -0.537469 0.416812 
time: 1403638184.295097, t: 4.742367 -7.450236 0.645532 q: 0.367872 0.633842 -0.540378 0.413408 
wait for imu ... 
time: 1403638184.395097, t: 4.742399 -7.579950 0.655706 q: 0.370789 0.631664 -0.538961 0.415977 
time: 1403638184.495097, t: 4.747200 -7.712240 0.661880 q: 0.375236 0.629650 -0.536369 0.418387 
time: 1403638184.595097, t: 4.754120 -7.843752 0.666498 q: 0.377039 0.627726 -0.535750 0.420444 
wait for imu ... 
time: 1403638184.695097, t: 4.765173 -7.970872 0.673084 q: 0.377874 0.626920 -0.535526 0.421183 
time: 1403638184.795097, t: 4.777892 -8.100992 0.678114 q: 0.377120 0.625592 -0.536225 0.422940 
wait for imu ... 
time: 1403638184.895097, t: 4.792625 -8.230898 0.684595 q: 0.378252 0.626135 -0.535996 0.421413 
time: 1403638184.995097, t: 4.809219 -8.359001 0.693386 q: 0.379251 0.624703 -0.535491 0.423278 
time: 1403638185.095097, t: 4.830326 -8.485457 0.702897 q: 0.379081 0.625383 -0.535645 0.422230 
time: 1403638185.195097, t: 4.852388 -8.610495 0.714862 q: 0.379797 0.626564 -0.534825 0.420872 
time: 1403638185.295097, t: 4.876829 -8.732810 0.728047 q: 0.382831 0.628867 -0.532017 0.418240 
time: 1403638185.395097, t: 4.905227 -8.854124 0.741841 q: 0.386652 0.630244 -0.527631 0.418207 
wait for imu ... 
time: 1403638185.495097, t: 4.938899 -8.974386 0.757191 q: 0.389346 0.633642 -0.517883 0.422734 
wait for imu ... 
time: 1403638185.595097, t: 4.978007 -9.093613 0.774218 q: 0.387286 0.639848 -0.506196 0.429383 
time: 1403638185.695097, t: 5.022611 -9.209801 0.790475 q: 0.382847 0.644806 -0.496429 0.437278 
time: 1403638185.795097, t: 5.071226 -9.322238 0.805747 q: 0.370220 0.646408 -0.494703 0.447620 
wait for imu ... 
time: 1403638185.895097, t: 5.123159 -9.433172 0.818454 q: 0.347602 0.645481 -0.502876 0.457869 
wait for imu ... 
time: 1403638185.995097, t: 5.174033 -9.540210 0.826605 q: 0.332541 0.645599 -0.508015 0.463183 
time: 1403638186.095097, t: 5.221034 -9.646215 0.830710 q: 0.332181 0.650745 -0.505441 0.459038 
wait for imu ... 
time: 1403638186.195097, t: 5.265766 -9.751502 0.829836 q: 0.337068 0.655043 -0.500874 0.454345 
time: 1403638186.295097, t: 5.309146 -9.857055 0.831373 q: 0.339709 0.657214 -0.498464 0.451887 
time: 1403638186.395097, t: 5.352212 -9.965647 0.839567 q: 0.341530 0.658746 -0.497277 0.449585 
time: 1403638186.495097, t: 5.395857 -10.071566 0.853433 q: 0.343455 0.658016 -0.496440 0.450112 
wait for imu ... 
time: 1403638186.595097, t: 5.439223 -10.175488 0.868215 q: 0.346211 0.659269 -0.495364 0.447344 
time: 1403638186.695097, t: 5.485321 -10.279017 0.878201 q: 0.350453 0.661037 -0.493233 0.443774 
wait for imu ... 
time: 1403638186.795097, t: 5.535993 -10.381462 0.883527 q: 0.355572 0.665056 -0.486384 0.441248 
time: 1403638186.895097, t: 5.591123 -10.482135 0.882963 q: 0.355900 0.672248 -0.477071 0.440251 
time: 1403638186.995097, t: 5.656719 -10.579387 0.881268 q: 0.348544 0.680617 -0.466419 0.444669 
wait for imu ... 
time: 1403638187.095097, t: 5.728901 -10.675447 0.885021 q: 0.333773 0.686721 -0.452881 0.460335 
time: 1403638187.195097, t: 5.804490 -10.768260 0.896453 q: 0.318177 0.692834 -0.434387 0.479639 
wait for imu ... 
time: 1403638187.295097, t: 5.880971 -10.858243 0.915868 q: 0.304189 0.699082 -0.412401 0.498677 
time: 1403638187.395097, t: 5.956265 -10.946080 0.941761 q: 0.293179 0.704659 -0.392153 0.513536 
wait for imu ... 
time: 1403638187.495097, t: 6.028935 -11.030772 0.971877 q: 0.284680 0.710011 -0.376926 0.522273 
time: 1403638187.595097, t: 6.097003 -11.109734 1.001990 q: 0.275699 0.717920 -0.369091 0.521875 
time: 1403638187.695097, t: 6.161456 -11.180378 1.030110 q: 0.269078 0.725321 -0.365669 0.517487 
wait for imu ... 
time: 1403638187.795097, t: 6.222895 -11.244369 1.054210 q: 0.268723 0.729911 -0.361827 0.513906 
time: 1403638187.895097, t: 6.282535 -11.302861 1.073811 q: 0.274008 0.732058 -0.356884 0.511512 
time: 1403638187.995097, t: 6.344317 -11.357109 1.090686 q: 0.281561 0.730463 -0.352441 0.512770 
time: 1403638188.095097, t: 6.407888 -11.404668 1.103471 q: 0.290309 0.728459 -0.348096 0.513709 
wait for imu ... 
time: 1403638188.195097, t: 6.472802 -11.444149 1.111288 q: 0.297731 0.725310 -0.344906 0.516064 
wait for imu ... 
wait for imu ... 
time: 1403638188.395097, t: 6.615024 -11.508797 1.113486 q: 0.296820 0.701832 -0.347955 0.546129 
wait for imu ... 
time: 1403638188.495097, t: 6.681575 -11.523037 1.110770 q: 0.295411 0.692042 -0.349723 0.558126 
time: 1403638188.595097, t: 6.741566 -11.525130 1.107630 q: 0.293894 0.686764 -0.350018 0.565215 
time: 1403638188.695097, t: 6.792596 -11.511675 1.108683 q: 0.289292 0.690821 -0.347649 0.564107 
time: 1403638188.795097, t: 6.834140 -11.483734 1.117273 q: 0.280979 0.700491 -0.345078 0.557930 
wait for imu ... 
time: 1403638188.895097, t: 6.869403 -11.446716 1.135906 q: 0.273853 0.708256 -0.342509 0.553232 
time: 1403638188.995097, t: 6.899636 -11.402097 1.165269 q: 0.268311 0.714374 -0.340190 0.549500 
time: 1403638189.095097, t: 6.921148 -11.345640 1.200765 q: 0.260395 0.718614 -0.335191 0.550849 
wait for imu ... 
time: 1403638189.195097, t: 6.937849 -11.282128 1.234074 q: 0.249643 0.723758 -0.326425 0.554346 
time: 1403638189.295097, t: 6.950326 -11.212275 1.259835 q: 0.235932 0.731895 -0.314808 0.556382 
time: 1403638189.395097, t: 6.957266 -11.137057 1.278371 q: 0.221703 0.745611 -0.303849 0.550080 
time: 1403638189.495097, t: 6.961314 -11.059610 1.296376 q: 0.208877 0.760008 -0.295662 0.539760 
wait for imu ... 
time: 1403638189.595097, t: 6.964755 -10.982347 1.321748 q: 0.199410 0.768511 -0.290071 0.534308 
time: 1403638189.695097, t: 6.968002 -10.906474 1.352166 q: 0.190688 0.774877 -0.287846 0.529479 
wait for imu ... 
time: 1403638189.795097, t: 6.971157 -10.832385 1.376478 q: 0.182825 0.780158 -0.288984 0.523847 
time: 1403638189.895097, t: 6.978203 -10.763733 1.393532 q: 0.180023 0.785475 -0.289057 0.516785 
time: 1403638189.995097, t: 6.990001 -10.702536 1.406547 q: 0.180215 0.786826 -0.288894 0.514750 
wait for imu ... 
time: 1403638190.095097, t: 7.009431 -10.648129 1.415184 q: 0.184283 0.781504 -0.287008 0.522415 
time: 1403638190.195097, t: 7.033722 -10.598362 1.417645 q: 0.191477 0.773891 -0.283825 0.532797 
time: 1403638190.295097, t: 7.059217 -10.549743 1.415253 q: 0.205467 0.767354 -0.273099 0.542557 
time: 1403638190.395097, t: 7.084242 -10.498696 1.407368 q: 0.217599 0.765029 -0.256582 0.549133 
wait for imu ... 
time: 1403638190.495097, t: 7.108936 -10.440957 1.394447 q: 0.222202 0.766927 -0.243699 0.550508 
time: 1403638190.595097, t: 7.133484 -10.375030 1.377252 q: 0.216306 0.770064 -0.238951 0.550559 
wait for imu ... 
time: 1403638190.695097, t: 7.157586 -10.301118 1.360176 q: 0.209464 0.771800 -0.237143 0.551555 
time: 1403638190.795097, t: 7.182590 -10.221742 1.345746 q: 0.201065 0.771989 -0.237638 0.554196 
wait for imu ... 
time: 1403638190.895097, t: 7.207693 -10.136564 1.337485 q: 0.189870 0.772432 -0.241839 0.555709 
time: 1403638190.995097, t: 7.230984 -10.047972 1.337414 q: 0.184613 0.772437 -0.243118 0.556913 
wait for imu ... 
time: 1403638191.095097, t: 7.251204 -9.955388 1.344820 q: 0.183606 0.769432 -0.242535 0.561640 
time: 1403638191.195097, t: 7.267588 -9.860773 1.357348 q: 0.181264 0.773286 -0.243867 0.556508 
wait for imu ... 
time: 1403638191.295097, t: 7.283864 -9.767465 1.376785 q: 0.176860 0.780496 -0.247650 0.546092 
time: 1403638191.395097, t: 7.300082 -9.674973 1.400022 q: 0.177274 0.785235 -0.248206 0.538863 
wait for imu ... 
time: 1403638191.495097, t: 7.318756 -9.587014 1.420312 q: 0.176426 0.786685 -0.250037 0.536174 
time: 1403638191.595097, t: 7.339487 -9.504604 1.437152 q: 0.178594 0.786882 -0.249537 0.535399 
wait for imu ... 
time: 1403638191.695097, t: 7.363619 -9.427766 1.449366 q: 0.182178 0.787910 -0.247768 0.533498 
time: 1403638191.795097, t: 7.389226 -9.352468 1.456558 q: 0.187915 0.789197 -0.244170 0.531260 
time: 1403638191.895097, t: 7.420994 -9.276368 1.458604 q: 0.190195 0.789735 -0.243184 0.530100 
wait for imu ... 
time: 1403638191.995097, t: 7.456234 -9.197786 1.459467 q: 0.189378 0.789735 -0.243804 0.530108 
time: 1403638192.095097, t: 7.495497 -9.116718 1.466700 q: 0.190832 0.789742 -0.242868 0.530006 
wait for imu ... 
time: 1403638192.195097, t: 7.540179 -9.032638 1.481935 q: 0.188514 0.788075 -0.244200 0.532697 
wait for imu ... 
time: 1403638192.295097, t: 7.589153 -8.947716 1.508265 q: 0.186773 0.783380 -0.245004 0.539820 
time: 1403638192.395097, t: 7.643650 -8.858274 1.541831 q: 0.186182 0.779067 -0.244952 0.546250 
wait for imu ... 
time: 1403638192.495097, t: 7.698081 -8.760764 1.581474 q: 0.185578 0.776720 -0.245152 0.549697 
wait for imu ... 
time: 1403638192.595097, t: 7.752171 -8.659532 1.625338 q: 0.187358 0.773100 -0.244166 0.554613 
time: 1403638192.695097, t: 7.806345 -8.554425 1.668686 q: 0.188789 0.765706 -0.243828 0.564448 
wait for imu ... 
time: 1403638192.795097, t: 7.855422 -8.449598 1.706298 q: 0.189625 0.758479 -0.243639 0.573927 
time: 1403638192.895097, t: 7.897507 -8.339526 1.739325 q: 0.186713 0.750035 -0.245408 0.585116 
wait for imu ... 
time: 1403638192.995097, t: 7.930227 -8.225635 1.769015 q: 0.178986 0.737582 -0.249204 0.601526 
time: 1403638193.095097, t: 7.949517 -8.109768 1.797195 q: 0.170040 0.735197 -0.248710 0.607219 
wait for imu ... 
time: 1403638193.195097, t: 7.952681 -7.993351 1.830182 q: 0.165255 0.745099 -0.241796 0.599211 
time: 1403638193.295097, t: 7.941150 -7.876599 1.871765 q: 0.163235 0.754026 -0.233733 0.591750 
wait for imu ... 
time: 1403638193.395097, t: 7.915702 -7.762395 1.922477 q: 0.166222 0.760030 -0.224137 0.586931 
time: 1403638193.495097, t: 7.881754 -7.650007 1.975704 q: 0.167971 0.761283 -0.217417 0.587336 
wait for imu ... 
time: 1403638193.595097, t: 7.840074 -7.536616 2.022015 q: 0.166617 0.763236 -0.214318 0.586325 
time: 1403638193.695097, t: 7.790300 -7.422482 2.059290 q: 0.162958 0.770918 -0.214542 0.577150 
time: 1403638193.795097, t: 7.734719 -7.307765 2.089509 q: 0.157313 0.778397 -0.216853 0.567736 
wait for imu ... 
time: 1403638193.895097, t: 7.678255 -7.191209 2.115313 q: 0.155569 0.782621 -0.217898 0.561982 
time: 1403638193.995097, t: 7.623689 -7.072552 2.136771 q: 0.153794 0.784974 -0.219285 0.558639 
wait for imu ... 
time: 1403638194.095097, t: 7.569248 -6.954433 2.153504 q: 0.156228 0.782943 -0.218295 0.561196 
time: 1403638194.195097, t: 7.515183 -6.837777 2.162483 q: 0.159038 0.777525 -0.217226 0.568308 
wait for imu ... 
time: 1403638194.295097, t: 7.457689 -6.721791 2.165059 q: 0.160204 0.774359 -0.216932 0.572401 
wait for imu ... 
time: 1403638194.495097, t: 7.335631 -6.490502 2.168016 q: 0.154402 0.781944 -0.222341 0.561505 
time: 1403638194.595097, t: 7.272913 -6.373695 2.178657 q: 0.153999 0.785650 -0.223553 0.555934 
wait for imu ... 
time: 1403638194.695097, t: 7.209847 -6.257668 2.192538 q: 0.152567 0.791197 -0.225421 0.547646 
wait for imu ... 
time: 1403638194.795097, t: 7.149053 -6.145183 2.204134 q: 0.152639 0.795221 -0.226403 0.541357 
time: 1403638194.895097, t: 7.090603 -6.036110 2.211680 q: 0.153034 0.798276 -0.227188 0.536397 
wait for imu ... 
time: 1403638194.995097, t: 7.037500 -5.931262 2.213510 q: 0.153039 0.799894 -0.227526 0.533835 
wait for imu ... 
time: 1403638195.195097, t: 6.943757 -5.731851 2.202770 q: 0.150833 0.804409 -0.229248 0.526897 
time: 1403638195.295097, t: 6.904514 -5.638328 2.188177 q: 0.145886 0.812343 -0.232472 0.514561 
time: 1403638195.395097, t: 6.876489 -5.551541 2.172559 q: 0.144725 0.814769 -0.233259 0.510682 
time: 1403638195.495097, t: 6.855078 -5.471220 2.155664 q: 0.147987 0.806051 -0.231121 0.524371 
time: 1403638195.595097, t: 6.838060 -5.393570 2.134577 q: 0.151617 0.796562 -0.228335 0.538855 
wait for imu ... 
time: 1403638195.695097, t: 6.822337 -5.318292 2.111512 q: 0.152538 0.793932 -0.226967 0.543038 
wait for imu ... 
time: 1403638195.795097, t: 6.808787 -5.246314 2.092552 q: 0.150579 0.795731 -0.227714 0.540633 
time: 1403638195.895097, t: 6.800905 -5.176584 2.080786 q: 0.149211 0.800671 -0.228096 0.533511 
time: 1403638195.995097, t: 6.797651 -5.114093 2.074952 q: 0.147026 0.805089 -0.229192 0.526959 
time: 1403638196.095097, t: 6.803107 -5.057333 2.078961 q: 0.147161 0.805261 -0.228891 0.526789 
time: 1403638196.195097, t: 6.815129 -5.003223 2.092849 q: 0.149514 0.800661 -0.226879 0.533961 
time: 1403638196.295097, t: 6.826920 -4.948907 2.110915 q: 0.151705 0.795629 -0.225179 0.541530 
time: 1403638196.395097, t: 6.843673 -4.903179 2.126355 q: 0.151732 0.793991 -0.225066 0.543967 
wait for imu ... 
time: 1403638196.495097, t: 6.859579 -4.855053 2.138230 q: 0.151100 0.794519 -0.225914 0.543021 
time: 1403638196.595097, t: 6.882030 -4.814790 2.138843 q: 0.148372 0.797640 -0.228460 0.538110 
time: 1403638196.695097, t: 6.904941 -4.778214 2.133259 q: 0.144777 0.803730 -0.231667 0.528572 
wait for imu ... 
time: 1403638196.795097, t: 6.927269 -4.743544 2.129038 q: 0.144612 0.806037 -0.232308 0.524809 
time: 1403638196.895097, t: 6.959115 -4.715794 2.120592 q: 0.145853 0.803639 -0.231875 0.528323 
time: 1403638196.995097, t: 6.995992 -4.690316 2.111169 q: 0.148023 0.798510 -0.229943 0.536281 
wait for imu ... 
time: 1403638197.095097, t: 7.034362 -4.671210 2.108988 q: 0.149655 0.794975 -0.228996 0.541460 
time: 1403638197.195097, t: 7.070887 -4.656287 2.116566 q: 0.152673 0.793765 -0.226869 0.543284 
wait for imu ... 
time: 1403638197.295097, t: 7.114412 -4.642808 2.128083 q: 0.160104 0.791508 -0.221326 0.546713 
time: 1403638197.395097, t: 7.153153 -4.629987 2.148985 q: 0.168773 0.789093 -0.215016 0.550106 
time: 1403638197.495097, t: 7.196281 -4.610036 2.173113 q: 0.172319 0.787001 -0.212393 0.553014 
time: 1403638197.595097, t: 7.236749 -4.591115 2.204564 q: 0.171111 0.785770 -0.212614 0.555052 
time: 1403638197.695097, t: 7.279675 -4.562791 2.239396 q: 0.171260 0.785587 -0.212299 0.555385 
time: 1403638197.795097, t: 7.318797 -4.535120 2.273365 q: 0.170481 0.785677 -0.212102 0.555573 
wait for imu ... 
time: 1403638197.895097, t: 7.360513 -4.502155 2.300346 q: 0.166229 0.782116 -0.214362 0.560991 
time: 1403638197.995097, t: 7.401176 -4.466435 2.318882 q: 0.165124 0.772964 -0.214284 0.573884 
wait for imu ... 
time: 1403638198.095097, t: 7.436255 -4.431646 2.320346 q: 0.163965 0.770501 -0.214589 0.577403 
wait for imu ... 
time: 1403638198.195097, t: 7.466626 -4.392366 2.303034 q: 0.160731 0.773429 -0.216753 0.573577 
time: 1403638198.295097, t: 7.495494 -4.345940 2.271232 q: 0.160598 0.776797 -0.217031 0.568939 
time: 1403638198.395097, t: 7.522092 -4.295944 2.234674 q: 0.161952 0.780663 -0.215953 0.563650 
wait for imu ... 
time: 1403638198.495097, t: 7.548344 -4.243675 2.195616 q: 0.167568 0.784017 -0.211967 0.558845 
wait for imu ... 
time: 1403638198.595097, t: 7.572128 -4.187175 2.152171 q: 0.180647 0.786355 -0.202428 0.555009 
wait for imu ... 
time: 1403638198.695097, t: 7.599078 -4.124358 2.109228 q: 0.197927 0.785714 -0.189738 0.554507 
time: 1403638198.795097, t: 7.622563 -4.054682 2.068385 q: 0.210679 0.783744 -0.180000 0.555842 
time: 1403638198.895097, t: 7.653515 -3.967206 2.040021 q: 0.213530 0.783287 -0.177270 0.556274 
time: 1403638198.995097, t: 7.678549 -3.868519 2.017432 q: 0.210977 0.784471 -0.179129 0.554984 
time: 1403638199.095097, t: 7.716855 -3.754902 2.002791 q: 0.207706 0.785192 -0.181816 0.554324 
wait for imu ... 
time: 1403638199.195097, t: 7.755679 -3.628078 2.001111 q: 0.205318 0.784078 -0.184230 0.555990 
time: 1403638199.295097, t: 7.796573 -3.489693 2.009475 q: 0.203824 0.780537 -0.185274 0.561153 
wait for imu ... 
time: 1403638199.395097, t: 7.838263 -3.340256 2.023317 q: 0.206223 0.779386 -0.184126 0.562252 
wait for imu ... 
time: 1403638199.495097, t: 7.877611 -3.178941 2.043692 q: 0.210282 0.781635 -0.182450 0.558157 
wait for imu ... 
time: 1403638199.595097, t: 7.917520 -3.005962 2.071207 q: 0.210692 0.785736 -0.178695 0.553439 
time: 1403638199.695097, t: 7.958745 -2.821131 2.104040 q: 0.201397 0.788143 -0.174494 0.554817 
time: 1403638199.795097, t: 8.002840 -2.627962 2.139886 q: 0.182213 0.790999 -0.177392 0.556464 
time: 1403638199.895097, t: 8.046310 -2.427111 2.170060 q: 0.166726 0.793438 -0.179759 0.557087 
time: 1403638199.995097, t: 8.088752 -2.224175 2.195945 q: 0.157387 0.794920 -0.178616 0.558057 
time: 1403638200.095097, t: 8.131758 -2.020481 2.219262 q: 0.152091 0.797294 -0.170002 0.558829 
time: 1403638200.195097, t: 8.174746 -1.813626 2.242108 q: 0.151355 0.797370 -0.152987 0.563816 
time: 1403638200.295097, t: 8.218280 -1.604793 2.273918 q: 0.144467 0.794736 -0.136272 0.573545 
wait for imu ... 
time: 1403638200.395097, t: 8.259715 -1.389701 2.312411 q: 0.136195 0.793214 -0.119748 0.581312 
time: 1403638200.495097, t: 8.297956 -1.169907 2.357762 q: 0.135032 0.795965 -0.102171 0.581177 
wait for imu ... 
time: 1403638200.595097, t: 8.335686 -0.943178 2.410107 q: 0.132246 0.799248 -0.086809 0.579809 
time: 1403638200.695097, t: 8.370608 -0.706859 2.466879 q: 0.131438 0.801703 -0.068093 0.579102 
time: 1403638200.795097, t: 8.405654 -0.461233 2.523439 q: 0.126413 0.805929 -0.056391 0.575603 
wait for imu ... 
time: 1403638200.895097, t: 8.440077 -0.207638 2.575322 q: 0.118566 0.809549 -0.052006 0.572598 
time: 1403638200.995097, t: 8.470774 0.054241 2.619780 q: 0.102357 0.810057 -0.057240 0.574503 
wait for imu ... 
time: 1403638201.095097, t: 8.498328 0.321457 2.656052 q: 0.090308 0.809444 -0.062581 0.576825 
wait for imu ... 
time: 1403638201.295097, t: 8.550781 0.859987 2.706034 q: 0.082565 0.808569 -0.069502 0.578419 
time: 1403638201.395097, t: 8.572931 1.129157 2.719415 q: 0.085113 0.808888 -0.069415 0.577614 
wait for imu ... 
time: 1403638201.495097, t: 8.592166 1.396896 2.724755 q: 0.085610 0.807537 -0.071433 0.579183 
wait for imu ... 
time: 1403638201.595097, t: 8.611656 1.664224 2.721979 q: 0.088984 0.805950 -0.071484 0.580876 
time: 1403638201.695097, t: 8.624969 1.929578 2.710141 q: 0.088532 0.804387 -0.073429 0.582865 
wait for imu ... 
time: 1403638201.795097, t: 8.637495 2.193793 2.688932 q: 0.090224 0.804239 -0.073989 0.582739 
wait for imu ... 
time: 1403638201.895097, t: 8.644447 2.454618 2.659850 q: 0.088173 0.804257 -0.075422 0.582845 
time: 1403638201.995097, t: 8.645796 2.719821 2.633517 q: 0.084010 0.805250 -0.070967 0.582648 
wait for imu ... 
time: 1403638202.095097, t: 8.635322 2.984313 2.610685 q: 0.073220 0.806805 -0.068375 0.582262 
wait for imu ... 
time: 1403638202.195097, t: 8.621905 3.248315 2.594114 q: 0.061181 0.810590 -0.068214 0.578400 
time: 1403638202.295097, t: 8.606059 3.509387 2.584190 q: 0.053124 0.815545 -0.067061 0.572334 
wait for imu ... 
time: 1403638202.395097, t: 8.593473 3.767727 2.582030 q: 0.049167 0.817140 -0.065410 0.570601 
time: 1403638202.495097, t: 8.585645 4.021625 2.575821 q: 0.046534 0.817900 -0.064107 0.569881 
wait for imu ... 
time: 1403638202.595097, t: 8.578836 4.271090 2.562053 q: 0.042118 0.818590 -0.065853 0.569034 
wait for imu ... 
time: 1403638202.695097, t: 8.573042 4.514828 2.543107 q: 0.041194 0.819830 -0.066349 0.567256 
wait for imu ... 
time: 1403638202.795097, t: 8.569675 4.754302 2.518046 q: 0.042598 0.819297 -0.065905 0.567974 
wait for imu ... 
time: 1403638202.895097, t: 8.571249 4.989332 2.491632 q: 0.044484 0.817982 -0.065299 0.569793 
time: 1403638202.995097, t: 8.570863 5.217821 2.465613 q: 0.043445 0.817161 -0.066743 0.570881 
wait for imu ... 
time: 1403638203.095097, t: 8.568432 5.441966 2.443610 q: 0.043053 0.816419 -0.067338 0.571902 
wait for imu ... 
time: 1403638203.195097, t: 8.565397 5.659848 2.430809 q: 0.046653 0.813702 -0.065281 0.575718 
time: 1403638203.295097, t: 8.565395 5.874495 2.424378 q: 0.047486 0.810819 -0.064637 0.579776 
wait for imu ... 
time: 1403638203.395097, t: 8.561076 6.085311 2.419802 q: 0.045935 0.809582 -0.065451 0.581535 
time: 1403638203.495097, t: 8.553807 6.290527 2.408939 q: 0.044252 0.809608 -0.066709 0.581486 
time: 1403638203.595097, t: 8.546456 6.489385 2.393833 q: 0.041274 0.809966 -0.068770 0.580967 
time: 1403638203.695097, t: 8.536352 6.681028 2.380485 q: 0.040687 0.811236 -0.068798 0.579230 
wait for imu ... 
time: 1403638203.795097, t: 8.522338 6.869328 2.374681 q: 0.042188 0.811132 -0.067627 0.579407 
time: 1403638203.895097, t: 8.508208 7.053321 2.375752 q: 0.042550 0.810777 -0.066588 0.579997 
time: 1403638203.995097, t: 8.491071 7.234078 2.382209 q: 0.040949 0.811442 -0.066442 0.579198 
time: 1403638204.095097, t: 8.468986 7.412202 2.396107 q: 0.039129 0.813763 -0.066316 0.576074 
time: 1403638204.195097, t: 8.443363 7.586472 2.417152 q: 0.033602 0.816346 -0.069079 0.572432 
time: 1403638204.295097, t: 8.423985 7.753160 2.445358 q: 0.024524 0.819901 -0.075376 0.566991 
wait for imu ... 
time: 1403638204.395097, t: 8.399973 7.918135 2.474143 q: 0.013833 0.824131 -0.084034 0.559960 
time: 1403638204.495097, t: 8.382087 8.066827 2.503608 q: 0.009636 0.825450 -0.088571 0.557401 
wait for imu ... 
time: 1403638204.595097, t: 8.365405 8.208244 2.528474 q: 0.008048 0.823590 -0.089167 0.560075 
time: 1403638204.695097, t: 8.351560 8.341533 2.545740 q: 0.007922 0.823687 -0.081719 0.561070 
time: 1403638204.795097, t: 8.338657 8.466021 2.556196 q: 0.010369 0.824601 -0.064629 0.561916 
wait for imu ... 
time: 1403638204.895097, t: 8.326965 8.580960 2.559615 q: 0.013913 0.823393 -0.037612 0.566053 
time: 1403638204.995097, t: 8.316278 8.694739 2.555056 q: 0.006802 0.823007 -0.007876 0.567936 
wait for imu ... 
time: 1403638205.095097, t: 8.307756 8.806651 2.545915 q: -0.007479 0.821913 0.026963 0.568925 
time: 1403638205.195097, t: 8.298381 8.913930 2.537307 q: -0.032867 0.818963 0.063765 0.569345 
wait for imu ... 
time: 1403638205.295097, t: 8.289758 9.021891 2.535364 q: -0.060582 0.813480 0.104266 0.568954 
time: 1403638205.395097, t: 8.281911 9.131427 2.540880 q: -0.088643 0.804266 0.144770 0.569509 
wait for imu ... 
time: 1403638205.495097, t: 8.271610 9.241069 2.554624 q: -0.107195 0.792896 0.183212 0.571191 
wait for imu ... 
time: 1403638205.595097, t: 8.257145 9.349558 2.575439 q: -0.114680 0.781873 0.214944 0.573866 
wait for imu ... 
time: 1403638205.695097, t: 8.235662 9.461042 2.603020 q: -0.117203 0.769917 0.237773 0.580478 
time: 1403638205.795097, t: 8.208401 9.578974 2.635978 q: -0.123653 0.761924 0.254568 0.582561 
wait for imu ... 
time: 1403638205.895097, t: 8.168078 9.702337 2.673126 q: -0.134727 0.757600 0.271070 0.578283 
time: 1403638205.995097, t: 8.120356 9.831511 2.714736 q: -0.152793 0.753601 0.286624 0.571478 
time: 1403638206.095097, t: 8.059725 9.958745 2.763778 q: -0.169759 0.747796 0.303980 0.565313 
wait for imu ... 
time: 1403638206.195097, t: 7.992446 10.087517 2.815149 q: -0.186068 0.740013 0.320850 0.561084 
wait for imu ... 
time: 1403638206.295097, t: 7.916339 10.213539 2.863532 q: -0.203221 0.732196 0.335160 0.557009 
time: 1403638206.395097, t: 7.832750 10.335060 2.904615 q: -0.223481 0.728122 0.341398 0.550764 
time: 1403638206.495097, t: 7.747034 10.455893 2.941163 q: -0.237681 0.724392 0.344266 0.547947 
wait for imu ... 
time: 1403638206.595097, t: 7.656630 10.568583 2.967173 q: -0.245914 0.721463 0.346209 0.546952 
wait for imu ... 
time: 1403638206.695097, t: 7.562456 10.681328 2.987621 q: -0.253545 0.718505 0.348651 0.545809 
time: 1403638206.795097, t: 7.463274 10.790588 3.001131 q: -0.259688 0.716007 0.355626 0.541689 
wait for imu ... 
time: 1403638206.895097, t: 7.359141 10.887788 3.008765 q: -0.264206 0.712546 0.361167 0.540399 
time: 1403638206.995097, t: 7.254483 10.981184 3.009668 q: -0.270532 0.708911 0.362616 0.541080 
wait for imu ... 
time: 1403638207.095097, t: 7.146511 11.070852 3.004292 q: -0.273493 0.705457 0.363952 0.543204 
time: 1403638207.195097, t: 7.034287 11.153582 2.990447 q: -0.277475 0.704047 0.364221 0.542833 
time: 1403638207.295097, t: 6.917894 11.228245 2.970358 q: -0.281822 0.699858 0.369525 0.542427 
time: 1403638207.395097, t: 6.795269 11.298945 2.946024 q: -0.290922 0.692679 0.377352 0.541448 
wait for imu ... 
time: 1403638207.495097, t: 6.664570 11.368154 2.925429 q: -0.301541 0.683497 0.390629 0.537880 
wait for imu ... 
time: 1403638207.595097, t: 6.530952 11.427442 2.909404 q: -0.309324 0.678611 0.406349 0.527908 
wait for imu ... 
time: 1403638207.695097, t: 6.394566 11.470126 2.898770 q: -0.315811 0.680183 0.418736 0.512127 
wait for imu ... 
time: 1403638207.795097, t: 6.263052 11.500453 2.895048 q: -0.321466 0.681231 0.426726 0.500489 
time: 1403638207.895097, t: 6.132639 11.525691 2.900449 q: -0.322682 0.685073 0.432961 0.488974 
wait for imu ... 
time: 1403638207.995097, t: 6.006141 11.548992 2.911524 q: -0.321933 0.686667 0.436666 0.483911 
time: 1403638208.095097, t: 5.885493 11.566084 2.921877 q: -0.322864 0.685477 0.436939 0.484732 
wait for imu ... 
time: 1403638208.195097, t: 5.764896 11.581203 2.927225 q: -0.327624 0.682633 0.432954 0.489107 
time: 1403638208.295097, t: 5.645810 11.596203 2.924876 q: -0.326803 0.681674 0.431260 0.492479 
time: 1403638208.395097, t: 5.528594 11.605192 2.913705 q: -0.322999 0.684916 0.432198 0.489659 
wait for imu ... 
time: 1403638208.495097, t: 5.413387 11.609501 2.899917 q: -0.321458 0.686225 0.435206 0.486164 
time: 1403638208.595097, t: 5.300710 11.612466 2.890581 q: -0.324100 0.683751 0.442956 0.480867 
wait for imu ... 
time: 1403638208.695097, t: 5.188562 11.611432 2.887877 q: -0.330923 0.678273 0.450642 0.476820 
wait for imu ... 
time: 1403638208.795097, t: 5.079501 11.608413 2.893953 q: -0.337758 0.673752 0.456683 0.472673 
time: 1403638208.895097, t: 4.977367 11.602221 2.902564 q: -0.341589 0.668455 0.462403 0.471877 
wait for imu ... 
time: 1403638208.995097, t: 4.879270 11.595436 2.905657 q: -0.344234 0.664504 0.466696 0.471308 
wait for imu ... 
time: 1403638209.095097, t: 4.781678 11.581451 2.900915 q: -0.347149 0.662736 0.469044 0.469325 
time: 1403638209.195097, t: 4.688876 11.567097 2.889846 q: -0.347634 0.661847 0.471040 0.468220 
wait for imu ... 
time: 1403638209.295097, t: 4.599425 11.548439 2.872020 q: -0.349678 0.661890 0.470958 0.466718 
wait for imu ... 
time: 1403638209.395097, t: 4.510022 11.534076 2.849002 q: -0.350619 0.662546 0.470618 0.465422 
time: 1403638209.495097, t: 4.426370 11.513932 2.820357 q: -0.352430 0.661933 0.469509 0.466045 
time: 1403638209.595097, t: 4.344658 11.491646 2.777804 q: -0.354062 0.660510 0.467903 0.468437 
time: 1403638209.695097, t: 4.265208 11.469009 2.716142 q: -0.353505 0.662245 0.467039 0.467270 
time: 1403638209.795097, t: 4.188595 11.442577 2.636413 q: -0.350502 0.661137 0.468424 0.469707 
wait for imu ... 
time: 1403638209.895097, t: 4.109533 11.412570 2.541987 q: -0.348787 0.659107 0.468870 0.473378 
wait for imu ... 
time: 1403638209.995097, t: 4.038020 11.379000 2.442019 q: -0.350416 0.655193 0.467331 0.479095 
wait for imu ... 
time: 1403638210.095097, t: 3.965773 11.342532 2.341933 q: -0.353914 0.651034 0.464359 0.485047 
time: 1403638210.195097, t: 3.893947 11.304720 2.248285 q: -0.357563 0.647595 0.461509 0.489672 
optimize pose graph 
time: 1403638210.295097, t: 3.819161 11.253049 2.159202 q: -0.358336 0.648003 0.460787 0.489247 
wait for imu ... 
time: 1403638210.395097, t: 3.739008 11.195616 2.073064 q: -0.357349 0.648795 0.461000 0.488719 
wait for imu ... 
time: 1403638210.495097, t: 3.659860 11.127001 1.984129 q: -0.358273 0.649027 0.459990 0.488686 
time: 1403638210.595097, t: 3.579853 11.053062 1.889292 q: -0.358065 0.648632 0.459353 0.489960 
time: 1403638210.695097, t: 3.500084 10.973615 1.791084 q: -0.360420 0.649016 0.457004 0.489921 
wait for imu ... 
time: 1403638210.795097, t: 3.426535 10.884553 1.697126 q: -0.360443 0.649003 0.456712 0.490195 
wait for imu ... 
time: 1403638210.895097, t: 3.345774 10.788600 1.609168 q: -0.360000 0.652187 0.457116 0.485899 
wait for imu ... 
time: 1403638210.995097, t: 3.270633 10.689735 1.530088 q: -0.357462 0.655728 0.459147 0.481067 
time: 1403638211.095097, t: 3.195991 10.586788 1.457863 q: -0.355729 0.658705 0.460688 0.476793 
time: 1403638211.195097, t: 3.125175 10.479624 1.394886 q: -0.355285 0.661623 0.461519 0.472259 
wait for imu ... 
time: 1403638211.295097, t: 3.059157 10.372234 1.341321 q: -0.353623 0.662808 0.462100 0.471275 
wait for imu ... 
time: 1403638211.395097, t: 2.997597 10.262795 1.291788 q: -0.350300 0.665901 0.458137 0.473262 
wait for imu ... 
time: 1403638211.495097, t: 2.938657 10.148362 1.238598 q: -0.344493 0.672466 0.449797 0.476233 
wait for imu ... 
time: 1403638211.595097, t: 2.882824 10.030541 1.179678 q: -0.338419 0.681146 0.436659 0.480460 
wait for imu ... 
time: 1403638211.695097, t: 2.830730 9.909516 1.114530 q: -0.331295 0.691037 0.418727 0.487216 
wait for imu ... 
time: 1403638211.795097, t: 2.782033 9.785898 1.044679 q: -0.320722 0.704541 0.397801 0.492457 
wait for imu ... 
time: 1403638211.895097, t: 2.737924 9.659860 0.976650 q: -0.310549 0.718449 0.374410 0.497200 
time: 1403638211.995097, t: 2.699878 9.529791 0.915174 q: -0.296905 0.730268 0.352783 0.504084 
time: 1403638212.095097, t: 2.667565 9.396225 0.862014 q: -0.282029 0.739931 0.332885 0.512005 
time: 1403638212.195097, t: 2.642090 9.260436 0.819446 q: -0.264660 0.747518 0.315035 0.521465 
time: 1403638212.295097, t: 2.618567 9.119959 0.786981 q: -0.248924 0.755524 0.295546 0.529030 
wait for imu ... 
time: 1403638212.395097, t: 2.597361 8.977492 0.762290 q: -0.231842 0.762490 0.277241 0.536653 
time: 1403638212.495097, t: 2.576561 8.831779 0.745943 q: -0.217491 0.769151 0.256679 0.543342 
wait for imu ... 
time: 1403638212.595097, t: 2.554791 8.680652 0.734969 q: -0.203176 0.776562 0.235866 0.547757 
wait for imu ... 
time: 1403638212.695097, t: 2.531713 8.523488 0.728936 q: -0.189247 0.783650 0.214038 0.551604 
time: 1403638212.795097, t: 2.510401 8.365837 0.732881 q: -0.172207 0.789539 0.193004 0.556527 
wait for imu ... 
time: 1403638212.895097, t: 2.487771 8.201615 0.737785 q: -0.157131 0.796027 0.168908 0.559572 
wait for imu ... 
time: 1403638212.995097, t: 2.466725 8.032319 0.745872 q: -0.139256 0.801985 0.144912 0.562520 
wait for imu ... 
time: 1403638213.095097, t: 2.447341 7.862594 0.759658 q: -0.122498 0.806978 0.118597 0.565434 
time: 1403638213.195097, t: 2.429165 7.690393 0.771335 q: -0.108222 0.814142 0.090163 0.563322 
wait for imu ... 
time: 1403638213.295097, t: 2.413769 7.516380 0.776394 q: -0.096799 0.823401 0.059699 0.555947 
time: 1403638213.395097, t: 2.404688 7.338650 0.774298 q: -0.086889 0.831570 0.028204 0.547856 
wait for imu ... 
time: 1403638213.495097, t: 2.403374 7.158138 0.769534 q: -0.077952 0.835784 -0.003050 0.543488 
wait for imu ... 
time: 1403638213.595097, t: 2.407945 6.970613 0.761531 q: -0.060564 0.833524 -0.023553 0.548648 
time: 1403638213.695097, t: 2.420941 6.778205 0.758148 q: -0.037200 0.824854 -0.029937 0.563325 
wait for imu ... 
time: 1403638213.795097, t: 2.436420 6.585117 0.759572 q: -0.017579 0.817970 -0.030697 0.574172 
time: 1403638213.895097, t: 2.453041 6.392948 0.767545 q: -0.006777 0.815023 -0.031147 0.578551 
wait for imu ... 
time: 1403638213.995097, t: 2.465804 6.201837 0.782575 q: -0.002079 0.815646 -0.030976 0.577717 
time: 1403638214.095097, t: 2.479878 6.014247 0.801486 q: 0.000682 0.821546 -0.028883 0.569410 
wait for imu ... 
time: 1403638214.195097, t: 2.494208 5.826796 0.824811 q: -0.000076 0.828476 -0.026372 0.559404 
time: 1403638214.295097, t: 2.509898 5.640052 0.844586 q: -0.001971 0.833718 -0.023326 0.551695 
wait for imu ... 
time: 1403638214.395097, t: 2.530577 5.452146 0.860236 q: -0.003525 0.837129 -0.019294 0.546654 
time: 1403638214.495097, t: 2.557261 5.268861 0.870267 q: -0.004907 0.835077 -0.014771 0.549912 
time: 1403638214.595097, t: 2.587881 5.084482 0.872878 q: -0.005997 0.828827 -0.010809 0.559369 
time: 1403638214.695097, t: 2.621616 4.899354 0.869179 q: -0.007753 0.822204 -0.007203 0.569095 
time: 1403638214.795097, t: 2.653413 4.717099 0.860566 q: -0.009718 0.816935 -0.003924 0.576634 
wait for imu ... 
time: 1403638214.895097, t: 2.683732 4.535777 0.846666 q: -0.011018 0.813823 -0.000908 0.581008 
time: 1403638214.995097, t: 2.711760 4.357372 0.827141 q: -0.012129 0.811970 0.001062 0.583572 
wait for imu ... 
time: 1403638215.095097, t: 2.736400 4.180848 0.802703 q: -0.012075 0.811759 0.003110 0.583860 
time: 1403638215.195097, t: 2.759366 4.004802 0.774591 q: -0.012020 0.812957 0.004229 0.582184 
wait for imu ... 
time: 1403638215.295097, t: 2.782506 3.829406 0.743411 q: -0.008715 0.814910 0.006850 0.579481 
time: 1403638215.395097, t: 2.805903 3.654144 0.712096 q: -0.004757 0.815532 0.009543 0.578614 
time: 1403638215.495097, t: 2.830195 3.484522 0.687711 q: -0.001137 0.815167 0.012525 0.579089 
time: 1403638215.595097, t: 2.854089 3.320142 0.672566 q: 0.000099 0.813959 0.013483 0.580766 
time: 1403638215.695097, t: 2.876302 3.163557 0.664637 q: -0.003204 0.813302 0.011483 0.581719 
wait for imu ... 
time: 1403638215.795097, t: 2.896016 3.014280 0.659307 q: -0.006027 0.812887 0.007638 0.582340 
time: 1403638215.895097, t: 2.909994 2.871678 0.646624 q: -0.004932 0.813040 0.001870 0.582183 
time: 1403638215.995097, t: 2.923046 2.730602 0.629508 q: -0.003497 0.812902 -0.002872 0.582382 
wait for imu ... 
time: 1403638216.095097, t: 2.932456 2.594620 0.608792 q: 0.000060 0.812739 -0.005071 0.582606 
time: 1403638216.195097, t: 2.940212 2.460521 0.591861 q: 0.002528 0.812781 -0.006583 0.582527 
wait for imu ... 
time: 1403638216.295097, t: 2.944375 2.331052 0.581856 q: 0.005000 0.811675 -0.007625 0.584037 
wait for imu ... 
time: 1403638216.395097, t: 2.945025 2.207907 0.578188 q: 0.006942 0.810240 -0.008085 0.586002 
wait for imu ... 
time: 1403638216.495097, t: 2.942349 2.088458 0.580049 q: 0.007562 0.809742 -0.008590 0.586674 
wait for imu ... 
time: 1403638216.595097, t: 2.935513 1.976359 0.578061 q: 0.009780 0.810470 -0.008035 0.585644 
time: 1403638216.695097, t: 2.928550 1.865852 0.567788 q: 0.012749 0.812290 -0.006489 0.583078 
wait for imu ... 
time: 1403638216.795097, t: 2.920153 1.756564 0.552357 q: 0.016093 0.811414 -0.004943 0.584229 
wait for imu ... 
time: 1403638216.895097, t: 2.911338 1.653157 0.532082 q: 0.020148 0.807685 -0.009427 0.589195 
time: 1403638216.995097, t: 2.898156 1.556033 0.508177 q: 0.023663 0.806772 -0.019968 0.590052 
time: 1403638217.095097, t: 2.881787 1.459589 0.481695 q: 0.027763 0.808677 -0.034798 0.586566 
wait for imu ... 
time: 1403638217.195097, t: 2.860661 1.366282 0.453850 q: 0.033868 0.810583 -0.049329 0.582558 
time: 1403638217.295097, t: 2.839317 1.278808 0.427264 q: 0.040594 0.811982 -0.058663 0.579306 
wait for imu ... 
time: 1403638217.395097, t: 2.816744 1.197731 0.408832 q: 0.046142 0.813131 -0.065047 0.576591 
time: 1403638217.495097, t: 2.792339 1.123025 0.398951 q: 0.051246 0.813610 -0.068181 0.575121 
time: 1403638217.595097, t: 2.767833 1.050624 0.397083 q: 0.058131 0.814582 -0.067620 0.573154 
time: 1403638217.695097, t: 2.744025 0.985065 0.402389 q: 0.066680 0.814909 -0.063705 0.572205 
time: 1403638217.795097, t: 2.720360 0.924135 0.414323 q: 0.072956 0.816345 -0.059222 0.569869 
time: 1403638217.895097, t: 2.696673 0.871317 0.431910 q: 0.075365 0.816812 -0.056790 0.569133 
time: 1403638217.995097, t: 2.675074 0.825602 0.448985 q: 0.076389 0.814570 -0.054066 0.572467 
time: 1403638218.095097, t: 2.656624 0.788160 0.457185 q: 0.076656 0.813133 -0.052067 0.574654 
time: 1403638218.195097, t: 2.636917 0.757491 0.460204 q: 0.074269 0.811402 -0.051713 0.577440 
time: 1403638218.295097, t: 2.617010 0.733220 0.459047 q: 0.071972 0.807743 -0.050424 0.582948 
optimize pose graph 
time: 1403638218.395097, t: 2.600071 0.714514 0.454915 q: 0.065245 0.805608 -0.052418 0.586507 
time: 1403638218.495097, t: 2.575757 0.705213 0.460982 q: 0.059860 0.805866 -0.054128 0.586572 
time: 1403638218.595097, t: 2.553825 0.700972 0.471889 q: 0.057629 0.807003 -0.054531 0.585193 
time: 1403638218.695097, t: 2.523636 0.700717 0.488118 q: 0.055213 0.810864 -0.056351 0.579893 
time: 1403638218.795097, t: 2.491595 0.707567 0.502298 q: 0.058422 0.815282 -0.061868 0.572778 
time: 1403638218.895097, t: 2.467661 0.714194 0.506523 q: 0.062202 0.817280 -0.069824 0.568603 
time: 1403638218.995097, t: 2.447743 0.725528 0.505151 q: 0.052829 0.816679 -0.084940 0.568357 
wait for imu ... 
time: 1403638219.095097, t: 2.425842 0.740308 0.501352 q: 0.045468 0.814134 -0.097086 0.570695 
time: 1403638219.195097, t: 2.399169 0.751677 0.496918 q: 0.049273 0.811625 -0.099355 0.573555 
time: 1403638219.295097, t: 2.378119 0.762408 0.488932 q: 0.058329 0.806021 -0.096528 0.581043 
time: 1403638219.395097, t: 2.348391 0.771084 0.482030 q: 0.064684 0.798466 -0.093772 0.591164 
time: 1403638219.495097, t: 2.324796 0.783696 0.476892 q: 0.068778 0.793325 -0.091532 0.597936 
wait for imu ... 
time: 1403638219.595097, t: 2.293308 0.797963 0.474700 q: 0.066592 0.794028 -0.093191 0.596993 
time: 1403638219.695097, t: 2.251162 0.812996 0.478115 q: 0.060873 0.796518 -0.096718 0.593717 
time: 1403638219.795097, t: 2.205720 0.828700 0.477849 q: 0.053564 0.799907 -0.101421 0.589061 
time: 1403638219.895097, t: 2.156429 0.841706 0.472518 q: 0.044922 0.802862 -0.107109 0.584742 
time: 1403638219.995097, t: 2.107265 0.852881 0.462014 q: 0.037690 0.805272 -0.112103 0.580990 
time: 1403638220.095097, t: 2.055039 0.858644 0.445881 q: 0.035576 0.807562 -0.113582 0.577647 
time: 1403638220.195097, t: 2.002289 0.856633 0.436177 q: 0.043776 0.809851 -0.108199 0.574907 
time: 1403638220.295097, t: 1.949810 0.851252 0.431379 q: 0.059060 0.812292 -0.097811 0.571950 
time: 1403638220.395097, t: 1.896740 0.844011 0.438097 q: 0.067810 0.812849 -0.092140 0.571129 
optimize pose graph 
time: 1403638220.495097, t: 1.840022 0.838306 0.449850 q: 0.071218 0.813093 -0.089925 0.570721 
time: 1403638220.595097, t: 1.786768 0.835581 0.463270 q: 0.072074 0.812498 -0.090360 0.571390 
time: 1403638220.695097, t: 1.730637 0.833276 0.474666 q: 0.072961 0.812028 -0.091245 0.571805 
wait for imu ... 
time: 1403638220.795097, t: 1.678559 0.834058 0.476655 q: 0.072285 0.812192 -0.093211 0.571341 
time: 1403638220.895097, t: 1.626046 0.836133 0.471816 q: 0.072497 0.812060 -0.094471 0.571295 
time: 1403638220.995097, t: 1.573851 0.840404 0.459492 q: 0.071609 0.812844 -0.096314 0.569983 
time: 1403638221.095097, t: 1.518553 0.844353 0.444416 q: 0.071736 0.813197 -0.097219 0.569310 
time: 1403638221.195097, t: 1.469860 0.853548 0.431317 q: 0.071920 0.814516 -0.097934 0.567275 
time: 1403638221.295097, t: 1.419552 0.863019 0.424477 q: 0.070463 0.815907 -0.099502 0.565181 
time: 1403638221.395097, t: 1.362435 0.871504 0.425452 q: 0.068212 0.816934 -0.101835 0.563556 
time: 1403638221.495097, t: 1.318018 0.880863 0.424145 q: 0.066013 0.817223 -0.103883 0.563024 
time: 1403638221.595097, t: 1.273856 0.889801 0.416679 q: 0.064515 0.816440 -0.105904 0.563958 
time: 1403638221.695097, t: 1.226425 0.895107 0.405929 q: 0.063705 0.814664 -0.106460 0.566508 
time: 1403638221.795097, t: 1.184839 0.900827 0.395617 q: 0.061507 0.812551 -0.107712 0.569540 
time: 1403638221.895097, t: 1.144663 0.906185 0.392939 q: 0.063548 0.811418 -0.105778 0.571291 
time: 1403638221.995097, t: 1.104938 0.911548 0.399062 q: 0.067479 0.810802 -0.102433 0.572324 
time: 1403638222.095097, t: 1.065891 0.915401 0.410628 q: 0.070860 0.812496 -0.099987 0.569941 
wait for imu ... 
time: 1403638222.195097, t: 1.030727 0.919434 0.422007 q: 0.071200 0.816339 -0.100025 0.564373 
time: 1403638222.295097, t: 0.992915 0.925256 0.422527 q: 0.070340 0.819770 -0.101155 0.559282 
wait for imu ... 
time: 1403638222.395097, t: 0.953434 0.932582 0.420634 q: 0.069562 0.822645 -0.102088 0.554972 
time: 1403638222.495097, t: 0.918355 0.941268 0.413576 q: 0.069387 0.824925 -0.102113 0.551595 
wait for imu ... 
optimize pose graph 
time: 1403638222.595097, t: 0.892647 0.946053 0.403845 q: 0.069529 0.821181 -0.101872 0.557179 
time: 1403638222.695097, t: 0.869582 0.950644 0.390298 q: 0.068500 0.815827 -0.102548 0.564994 
time: 1403638222.795097, t: 0.846790 0.955236 0.374554 q: 0.069337 0.813452 -0.102019 0.568402 
time: 1403638222.895097, t: 0.825167 0.961110 0.357519 q: 0.070743 0.807849 -0.100745 0.576391 
wait for imu ... 
time: 1403638222.995097, t: 0.803813 0.965279 0.340598 q: 0.069757 0.803203 -0.100884 0.582943 
time: 1403638223.095097, t: 0.776354 0.972407 0.327108 q: 0.069944 0.805940 -0.100548 0.579188 
wait for imu ... 
time: 1403638223.195097, t: 0.742193 0.981994 0.316827 q: 0.067616 0.814962 -0.102655 0.566328 
time: 1403638223.295097, t: 0.717359 0.991499 0.309509 q: 0.062024 0.822568 -0.106927 0.555069 
wait for imu ... 
time: 1403638223.395097, t: 0.686578 1.000530 0.304460 q: 0.059114 0.820677 -0.109418 0.557694 
wait for imu ... 
time: 1403638223.495097, t: 0.659228 1.008085 0.296598 q: 0.048883 0.815658 -0.116538 0.564564 
wait for imu ... 
time: 1403638223.595097, t: 0.635095 1.010501 0.286707 q: 0.047831 0.813188 -0.117427 0.568022 
wait for imu ... 
time: 1403638223.695097, t: 0.613947 1.006923 0.274600 q: 0.058687 0.812961 -0.110226 0.568771 
wait for imu ... 
time: 1403638223.795097, t: 0.595700 1.001621 0.258719 q: 0.069450 0.814000 -0.103129 0.567402 
time: 1403638223.895097, t: 0.579752 0.993699 0.244758 q: 0.074729 0.814637 -0.099100 0.566535 
wait for imu ... 
time: 1403638223.995097, t: 0.563297 0.987886 0.229129 q: 0.078367 0.814990 -0.096375 0.566006 
time: 1403638224.095097, t: 0.545908 0.982607 0.210592 q: 0.077514 0.819014 -0.096594 0.560247 
time: 1403638224.195097, t: 0.531522 0.981641 0.190338 q: 0.075215 0.825318 -0.098113 0.550969 
time: 1403638224.295097, t: 0.517471 0.987161 0.172694 q: 0.074750 0.824630 -0.098460 0.552000 
wait for imu ... 
time: 1403638224.395097, t: 0.510682 0.990429 0.156883 q: 0.072198 0.818407 -0.100860 0.561092 
time: 1403638224.495097, t: 0.514441 0.997217 0.143206 q: 0.067368 0.810846 -0.104319 0.571933 
wait for imu ... 
time: 1403638224.595097, t: 0.516002 1.002397 0.132842 q: 0.069251 0.807537 -0.102817 0.576643 
wait for imu ... 
time: 1403638224.695097, t: 0.515056 1.008549 0.113971 q: 0.069944 0.815003 -0.102448 0.566024 
optimize pose graph 
time: 1403638224.795097, t: 0.510918 1.015611 0.100251 q: 0.069636 0.823725 -0.103070 0.553177 
wait for imu ... 
time: 1403638224.895097, t: 0.512261 1.022594 0.097176 q: 0.065501 0.819961 -0.105531 0.558782 
wait for imu ... 
time: 1403638224.995097, t: 0.519156 1.026505 0.103641 q: 0.057326 0.812007 -0.110070 0.570301 
time: 1403638225.095097, t: 0.524226 1.028638 0.109048 q: 0.056423 0.808214 -0.109659 0.575831 
wait for imu ... 
time: 1403638225.195097, t: 0.527530 1.028287 0.114590 q: 0.061948 0.811638 -0.104914 0.571313 
wait for imu ... 
time: 1403638225.295097, t: 0.529603 1.028221 0.119048 q: 0.065355 0.819027 -0.101809 0.560855 
time: 1403638225.395097, t: 0.533284 1.027476 0.125470 q: 0.067703 0.818237 -0.099610 0.562123 
time: 1403638225.495097, t: 0.539207 1.027217 0.126241 q: 0.069926 0.810155 -0.098002 0.573720 
time: 1403638225.595097, t: 0.544553 1.027000 0.119430 q: 0.072690 0.799362 -0.096325 0.588607 
wait for imu ... 
time: 1403638225.695097, t: 0.544531 1.028347 0.105229 q: 0.073818 0.794200 -0.095340 0.595573 
wait for imu ... 
time: 1403638225.795097, t: 0.539468 1.032194 0.078826 q: 0.072982 0.801377 -0.095826 0.585906 
wait for imu ... 
time: 1403638225.895097, t: 0.531873 1.038442 0.044912 q: 0.072472 0.813903 -0.096316 0.568360 
time: 1403638225.995097, t: 0.525079 1.046046 0.007691 q: 0.068427 0.822214 -0.099087 0.556295 
time: 1403638226.095097, t: 0.529852 1.057995 0.007361 q: 0.049032 0.825622 -0.109132 0.551393 
time: 1403638226.195097, t: 0.537564 1.066470 0.007786 q: 0.049496 0.830777 -0.106422 0.544090 
wait for imu ... 
time: 1403638226.295097, t: 0.539998 1.071165 0.009795 q: 0.062048 0.822595 -0.105177 0.555361 
wait for imu ... 
time: 1403638226.395097, t: 0.535856 1.078039 0.000494 q: 0.068338 0.827072 -0.094248 0.549909 
time: 1403638226.495097, t: 0.541918 1.075044 0.011958 q: 0.067863 0.827082 -0.096319 0.549593 
time: 1403638226.595097, t: 0.540791 1.074581 0.018939 q: 0.068656 0.826597 -0.095992 0.550281 
wait for imu ... 
time: 1403638226.695097, t: 0.541623 1.062652 0.029799 q: 0.067915 0.827134 -0.095256 0.549694 
wait for imu ... 
time: 1403638226.795097, t: 0.541218 1.061829 0.030864 q: 0.068281 0.827004 -0.095359 0.549827 
time: 1403638226.895097, t: 0.542545 1.058696 0.026756 q: 0.067938 0.827271 -0.095476 0.549447 
wait for imu ... 
time: 1403638226.995097, t: 0.545732 1.053288 0.037207 q: 0.066816 0.827587 -0.096007 0.549015 
time: 1403638227.095097, t: 0.544163 1.058273 0.041813 q: 0.067061 0.827340 -0.096498 0.549272 
wait for imu ... 
time: 1403638227.195097, t: 0.546525 1.055788 0.048888 q: 0.067204 0.827405 -0.096285 0.549193 
time: 1403638227.295097, t: 0.545356 1.053997 0.054313 q: 0.067508 0.827421 -0.096048 0.549173 
time: 1403638227.395097, t: 0.547074 1.051241 0.060211 q: 0.067645 0.827473 -0.095873 0.549110 
time: 1403638227.495097, t: 0.545518 1.049559 0.066948 q: 0.067488 0.827517 -0.095979 0.549044 
time: 1403638227.595097, t: 0.543827 1.049349 0.073964 q: 0.067299 0.827486 -0.096080 0.549095 
time: 1403638227.695097, t: 0.542649 1.049354 0.081238 q: 0.067191 0.827541 -0.096213 0.549003 
time: 1403638227.795097, t: 0.534322 1.047445 0.089801 q: 0.067109 0.827513 -0.096201 0.549058 
time: 1403638227.895097, t: 0.531741 1.046076 0.097090 q: 0.067156 0.827552 -0.096126 0.549006 
time: 1403638227.995097, t: 0.528432 1.044524 0.104599 q: 0.067142 0.827543 -0.096152 0.549017 
time: 1403638228.095097, t: 0.513526 1.041463 0.112517 q: 0.067101 0.827518 -0.096035 0.549080 
time: 1403638228.195097, t: 0.502203 1.042378 0.120222 q: 0.067062 0.827479 -0.096105 0.549131 
wait for imu ... 
time: 1403638228.295097, t: 0.497087 1.043353 0.128257 q: 0.066995 0.827450 -0.096193 0.549167 
time: 1403638228.395097, t: 0.494729 1.041649 0.136454 q: 0.066831 0.827516 -0.096257 0.549077 
time: 1403638228.495097, t: 0.488435 1.040757 0.144133 q: 0.066800 0.827492 -0.096231 0.549121 
time: 1403638228.595097, t: 0.482742 1.039509 0.152135 q: 0.066717 0.827548 -0.096189 0.549055 
time: 1403638228.695097, t: 0.483686 1.040157 0.162112 q: 0.066775 0.827572 -0.096240 0.549003 
time: 1403638228.795097, t: 0.479559 1.040126 0.171179 q: 0.066771 0.827619 -0.096254 0.548930 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720480630.201107480]: Shutdown request received.[0m
[33m[ WARN] [1720480630.201155147]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720480630.202027458]: Shutdown request received.[0m
[33m[ WARN] [1720480630.202071562]: Reason given for shutdown: [user request][0m
killed
