/SLAM-Hive/slam_hive_results/mapping_results/2958/2166_vins-fusion-stereo+MH_01_easy+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720490347.665794491]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720490347.667650036]: init begins[0m
[31m[ERROR] [1720490347.668749453]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d3a79dae-3d96-11ef-aae7-0242ac110005/roslaunch-44a4ad480486-118.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://44a4ad480486:35841/[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] [1720490348.771749024]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720490348.774339669]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://44a4ad480486:11311/[0m
]2;roscore http://44a4ad480486:11311/
[1msetting /run_id to d3a79dae-3d96-11ef-aae7-0242ac110005[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
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
result path /home/output/vio.csv
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[33m[ WARN] [1720490349.679198456]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720490349.679435296]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720490349.679465276]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 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
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720490349.679749617]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720490349.679967977]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720490349.680136580]: waiting for image and imu...[0m
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720490357.787835109]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316853779.07 
[0m[ INFO] [1720490361.210679609]: Initialization finish![0m
time: 1403636581.863555, t: 0.234748 -0.040597 -0.128672 q: 0.999071 -0.021621 -0.024374 -0.028200 
time: 1403636582.063555, t: 0.285978 -0.039464 -0.139656 q: 0.996930 -0.030908 -0.064052 -0.032750 
time: 1403636582.263556, t: 0.032438 -0.121292 -0.103338 q: 0.984921 0.007165 -0.125958 0.118378 
time: 1403636582.463556, t: -0.160995 -0.011233 0.031942 q: 0.999157 -0.011156 -0.039220 -0.004858 
time: 1403636582.663555, t: -0.039040 -0.016193 -0.003868 q: 0.999493 -0.020118 -0.022238 -0.010726 
time: 1403636582.863555, t: 0.076997 0.023341 -0.088079 q: 0.999527 -0.029993 -0.004744 -0.004807 
time: 1403636583.063555, t: 0.160378 0.026416 -0.113219 q: 0.998994 -0.036280 0.026125 -0.003588 
time: 1403636583.263556, t: 0.134847 0.031636 -0.105530 q: 0.998880 -0.038697 0.025581 -0.009315 
time: 1403636583.463556, t: 0.027925 0.040340 -0.070390 q: 0.999289 -0.032586 0.015697 -0.010653 
time: 1403636583.663555, t: -0.107794 0.050987 -0.025226 q: 0.999449 -0.030300 -0.005543 -0.012329 
time: 1403636583.863555, t: -0.224177 0.056343 0.006007 q: 0.998656 -0.026212 -0.044710 -0.000257 
time: 1403636584.063555, t: -0.274650 0.053960 0.015906 q: 0.998281 -0.018892 -0.054745 -0.009023 
time: 1403636584.263556, t: -0.223211 0.047940 0.002567 q: 0.998439 -0.013066 -0.053422 -0.009789 
time: 1403636584.463556, t: -0.099888 0.044035 -0.026351 q: 0.998620 -0.021476 -0.044439 -0.017947 
time: 1403636584.663555, t: 0.044763 0.039049 -0.060057 q: 0.999278 -0.031313 -0.013574 -0.016677 
time: 1403636584.863555, t: 0.156283 0.033418 -0.093832 q: 0.998818 -0.040530 0.022817 -0.014096 
time: 1403636585.063555, t: 0.184691 0.030161 -0.106212 q: 0.998599 -0.044341 0.028049 -0.006815 
time: 1403636585.263556, t: 0.119793 0.037501 -0.083086 q: 0.998418 -0.052947 0.016526 -0.009180 
time: 1403636585.463556, t: 0.019869 0.051149 -0.047507 q: 0.998341 -0.053943 0.001867 -0.020032 
time: 1403636585.663555, t: -0.070653 0.057490 -0.033829 q: 0.999025 -0.032539 -0.022562 -0.019544 
time: 1403636585.863555, t: -0.108279 0.058901 -0.041938 q: 0.998368 -0.014373 -0.054970 -0.005800 
time: 1403636586.063555, t: -0.113991 0.057235 -0.059803 q: 0.994825 -0.022597 -0.098993 0.003517 
time: 1403636586.263556, t: -0.109517 0.047936 -0.074655 q: 0.989731 -0.038409 -0.137173 0.011858 
time: 1403636586.463556, t: -0.111340 0.045894 -0.095946 q: 0.983105 -0.040957 -0.177188 0.020765 
time: 1403636586.663555, t: -0.107440 0.057124 -0.112586 q: 0.979525 -0.038161 -0.196669 0.019882 
time: 1403636586.863555, t: -0.100714 0.073779 -0.110613 q: 0.982493 -0.031740 -0.182505 0.019818 
time: 1403636587.063555, t: -0.096726 0.078959 -0.101367 q: 0.983757 -0.023841 -0.177476 0.012499 
time: 1403636587.263556, t: -0.092254 0.093084 -0.091245 q: 0.982533 -0.021862 -0.184569 0.009217 
time: 1403636587.463556, t: -0.087144 0.134663 -0.079565 q: 0.981714 -0.025708 -0.188047 0.014684 
time: 1403636587.663555, t: -0.080942 0.200682 -0.072535 q: 0.981616 -0.031245 -0.186921 0.022690 
time: 1403636587.863555, t: -0.072294 0.275361 -0.066144 q: 0.982914 -0.044344 -0.175812 0.031670 
time: 1403636588.063555, t: -0.076621 0.341117 -0.061205 q: 0.979093 -0.061501 -0.190435 0.036458 
time: 1403636588.263556, t: -0.084271 0.380799 -0.056810 q: 0.978230 -0.061801 -0.194556 0.037353 
time: 1403636588.463556, t: -0.087846 0.387241 -0.056480 q: 0.979430 -0.058163 -0.188892 0.040674 
time: 1403636588.663555, t: -0.084767 0.360224 -0.063423 q: 0.979468 -0.059984 -0.188539 0.038687 
time: 1403636588.863555, t: -0.087873 0.304133 -0.071376 q: 0.979190 -0.051146 -0.192864 0.037067 
time: 1403636589.063555, t: -0.087947 0.225165 -0.080662 q: 0.980782 -0.039434 -0.188154 0.033312 
time: 1403636589.263556, t: -0.083697 0.133807 -0.091424 q: 0.982386 -0.029698 -0.182374 0.027851 
time: 1403636589.463556, t: -0.087267 0.037773 -0.098633 q: 0.981699 -0.020892 -0.188183 0.020419 
time: 1403636589.663555, t: -0.094713 -0.058050 -0.104435 q: 0.982721 -0.015291 -0.183687 0.016881 
time: 1403636589.863555, t: -0.106688 -0.145390 -0.107059 q: 0.981869 -0.002919 -0.189047 0.013636 
time: 1403636590.063555, t: -0.118234 -0.207239 -0.108841 q: 0.981465 0.013531 -0.190718 0.013037 
time: 1403636590.263556, t: -0.117723 -0.228481 -0.112705 q: 0.983151 0.021125 -0.181190 0.011717 
time: 1403636590.463556, t: -0.113790 -0.200117 -0.118784 q: 0.982885 0.011546 -0.183628 0.009172 
time: 1403636590.663555, t: -0.105595 -0.132397 -0.126387 q: 0.983906 -0.001625 -0.178507 0.007810 
time: 1403636590.863555, t: -0.102662 -0.045388 -0.126135 q: 0.982487 -0.009732 -0.185544 0.014100 
time: 1403636591.063555, t: -0.101608 0.049430 -0.119163 q: 0.981867 -0.012201 -0.188412 0.016987 
time: 1403636591.263556, t: -0.099606 0.134885 -0.109192 q: 0.981543 -0.012959 -0.189585 0.021496 
time: 1403636591.463556, t: -0.106939 0.193263 -0.097648 q: 0.980722 -0.020528 -0.192599 0.025875 
time: 1403636591.663555, t: -0.115240 0.226646 -0.079944 q: 0.983714 -0.044083 -0.172096 0.027331 
time: 1403636591.863555, t: -0.112771 0.239956 -0.067214 q: 0.988814 -0.066390 -0.131435 0.023748 
time: 1403636592.063555, t: -0.105706 0.256342 -0.050089 q: 0.986965 -0.085003 -0.131861 0.035878 
time: 1403636592.263556, t: -0.095451 0.284373 -0.012401 q: 0.982648 -0.100086 -0.148401 0.048606 
time: 1403636592.463556, t: -0.077250 0.292681 0.042236 q: 0.981906 -0.088598 -0.159129 0.051848 
time: 1403636592.663555, t: -0.053926 0.264299 0.105168 q: 0.987264 -0.056766 -0.144334 0.035433 
time: 1403636592.863555, t: -0.042257 0.195263 0.157224 q: 0.989284 -0.007593 -0.144510 0.019419 
time: 1403636593.063555, t: -0.050933 0.084779 0.166396 q: 0.986419 0.049492 -0.156558 0.004134 
time: 1403636593.263556, t: -0.069934 -0.037290 0.111382 q: 0.981940 0.098172 -0.161709 -0.002536 
time: 1403636593.463556, t: -0.102060 -0.112790 0.029150 q: 0.978993 0.112376 -0.170013 -0.006281 
time: 1403636593.663555, t: -0.142991 -0.116357 -0.059973 q: 0.979108 0.091248 -0.181623 0.005908 
time: 1403636593.863555, t: -0.181258 -0.053748 -0.131908 q: 0.981305 0.035477 -0.186080 0.034014 
time: 1403636594.063555, t: -0.193460 0.045807 -0.178778 q: 0.983560 -0.043787 -0.164512 0.060239 
time: 1403636594.263556, t: -0.179627 0.162537 -0.193480 q: 0.977841 -0.103656 -0.165084 0.076346 
time: 1403636594.463556, t: -0.394934 0.171311 -0.520058 q: 0.950901 -0.219676 -0.057632 -0.210260 
time: 1403636594.663555, t: -0.130525 0.335982 -0.021761 q: 0.979487 -0.132416 -0.135036 0.069542 
time: 1403636594.863555, t: -0.166115 0.280273 0.170352 q: 0.985659 -0.105858 -0.117044 0.059751 
time: 1403636595.063555, t: -0.113304 0.220724 -0.003298 q: 0.991596 -0.039588 -0.122956 -0.007276 
time: 1403636595.263556, t: -0.176134 0.054736 0.116468 q: 0.990156 0.026464 -0.126044 -0.054801 
time: 1403636595.463556, t: -0.182944 -0.062633 0.007336 q: 0.986763 0.067889 -0.141923 -0.039338 
time: 1403636595.663555, t: -0.197012 -0.042156 -0.061850 q: 0.985184 0.069579 -0.152921 -0.034450 
time: 1403636595.863555, t: -0.217875 0.059179 -0.120399 q: 0.987718 0.023211 -0.151699 -0.029348 
time: 1403636596.063555, t: -0.235074 0.157075 -0.171903 q: 0.987077 -0.040135 -0.154770 -0.010687 
time: 1403636596.263556, t: -0.254010 0.177350 -0.255344 q: 0.985266 -0.073358 -0.154461 -0.003343 
time: 1403636596.463556, t: -0.272223 0.108158 -0.323914 q: 0.986834 -0.075099 -0.143236 -0.001689 
time: 1403636596.663555, t: -0.283181 0.036434 -0.372866 q: 0.987534 -0.071673 -0.139822 -0.009438 
time: 1403636596.863555, t: -0.284546 0.013835 -0.368514 q: 0.988166 -0.069348 -0.135683 -0.017572 
time: 1403636597.063555, t: -0.260524 0.039066 -0.285396 q: 0.987139 -0.072404 -0.140431 -0.024374 
time: 1403636597.263556, t: -0.213854 0.073249 -0.164347 q: 0.985828 -0.052491 -0.156395 -0.030463 
time: 1403636597.663555, t: -0.130500 0.071221 0.036863 q: 0.988125 0.023377 -0.139246 -0.060604 
time: 1403636597.863555, t: -0.141850 0.026967 0.028561 q: 0.987961 0.058055 -0.125590 -0.069205 
time: 1403636598.063555, t: -0.176494 -0.001087 -0.037755 q: 0.985754 0.067583 -0.130710 -0.081467 
time: 1403636598.263556, t: -0.222095 -0.000437 -0.108919 q: 0.981291 0.058675 -0.163139 -0.083725 
time: 1403636598.463556, t: -0.256780 0.023458 -0.123693 q: 0.979620 0.043658 -0.175196 -0.088002 
time: 1403636598.663555, t: -0.262502 0.048163 -0.068986 q: 0.982833 0.055301 -0.152202 -0.088410 
time: 1403636598.863555, t: -0.271353 0.067953 0.007482 q: 0.987117 0.080631 -0.109282 -0.084594 
time: 1403636599.063555, t: -0.294668 0.085453 0.070468 q: 0.990125 0.087864 -0.072538 -0.081678 
time: 1403636599.263556, t: -0.305821 0.092954 0.105752 q: 0.992113 0.100363 -0.019099 -0.072620 
time: 1403636599.463556, t: -0.315399 0.097741 0.132580 q: 0.992943 0.094583 0.012584 -0.070431 
time: 1403636599.663555, t: -0.328463 0.102028 0.147367 q: 0.994472 0.081036 0.003274 -0.066697 
time: 1403636599.863555, t: -0.331286 0.106408 0.146976 q: 0.994032 0.083229 0.028060 -0.064703 
time: 1403636600.063555, t: -0.332956 0.109347 0.146480 q: 0.994416 0.083097 0.028632 -0.058416 
time: 1403636600.263556, t: -0.332936 0.110112 0.146015 q: 0.994326 0.084581 0.031953 -0.056041 
time: 1403636600.463556, t: -0.333049 0.109923 0.145449 q: 0.994347 0.085275 0.032015 -0.054558 
time: 1403636600.663555, t: -0.333001 0.110029 0.145461 q: 0.994351 0.085103 0.032126 -0.054703 
time: 1403636600.863555, t: -0.333017 0.109978 0.145453 q: 0.994360 0.085173 0.032056 -0.054455 
time: 1403636601.063555, t: -0.333007 0.109967 0.145460 q: 0.994364 0.085163 0.032038 -0.054418 
time: 1403636601.263556, t: -0.333008 0.109973 0.145461 q: 0.994365 0.085154 0.032017 -0.054426 
time: 1403636601.463556, t: -0.333029 0.110000 0.145471 q: 0.994366 0.085110 0.032033 -0.054459 
time: 1403636601.663555, t: -0.333039 0.110012 0.145457 q: 0.994366 0.085026 0.032131 -0.054539 
time: 1403636601.863555, t: -0.333115 0.110058 0.145557 q: 0.994369 0.085046 0.032123 -0.054462 
time: 1403636602.063555, t: -0.333080 0.110081 0.145458 q: 0.994361 0.085035 0.032102 -0.054629 
time: 1403636602.263556, t: -0.333062 0.110073 0.145437 q: 0.994363 0.084998 0.032089 -0.054659 
time: 1403636602.463556, t: -0.333053 0.110036 0.145442 q: 0.994367 0.085005 0.032069 -0.054595 
time: 1403636602.663555, t: -0.333070 0.110049 0.145462 q: 0.994368 0.085027 0.032076 -0.054540 
time: 1403636602.863555, t: -0.333066 0.110030 0.145438 q: 0.994368 0.085048 0.032094 -0.054481 
time: 1403636603.063555, t: -0.333072 0.110022 0.145422 q: 0.994369 0.085057 0.032088 -0.054457 
time: 1403636603.263556, t: -0.333082 0.110038 0.145428 q: 0.994369 0.085045 0.032118 -0.054465 
time: 1403636603.463556, t: -0.333079 0.110030 0.145418 q: 0.994368 0.085036 0.032113 -0.054489 
time: 1403636603.663555, t: -0.333080 0.110036 0.145414 q: 0.994369 0.085022 0.032107 -0.054503 
time: 1403636603.863555, t: -0.333087 0.110040 0.145440 q: 0.994369 0.085010 0.032183 -0.054472 
time: 1403636604.063555, t: -0.333090 0.110044 0.145406 q: 0.994369 0.084995 0.032113 -0.054540 
time: 1403636604.263556, t: -0.333092 0.110040 0.145411 q: 0.994369 0.085028 0.032123 -0.054491 
time: 1403636604.463556, t: -0.333102 0.110047 0.145420 q: 0.994368 0.085023 0.032113 -0.054507 
time: 1403636604.663555, t: -0.333091 0.110030 0.145417 q: 0.994370 0.085031 0.032090 -0.054479 
time: 1403636604.863555, t: -0.333090 0.110032 0.145418 q: 0.994370 0.085039 0.032095 -0.054474 
time: 1403636605.063555, t: -0.333088 0.110028 0.145427 q: 0.994370 0.085049 0.032069 -0.054463 
time: 1403636605.263556, t: -0.333085 0.110023 0.145423 q: 0.994371 0.085044 0.032077 -0.054452 
time: 1403636605.463556, t: -0.333095 0.110032 0.145429 q: 0.994370 0.085033 0.032112 -0.054473 
time: 1403636605.663555, t: -0.333086 0.110029 0.145425 q: 0.994369 0.085026 0.032087 -0.054501 
time: 1403636605.863555, t: -0.333096 0.110059 0.145386 q: 0.994371 0.085025 0.032093 -0.054475 
time: 1403636606.063555, t: -0.333102 0.110076 0.145386 q: 0.994369 0.085039 0.032087 -0.054483 
time: 1403636606.263556, t: -0.333104 0.110083 0.145389 q: 0.994369 0.085038 0.032087 -0.054497 
time: 1403636606.463556, t: -0.333110 0.110083 0.145383 q: 0.994369 0.085038 0.032091 -0.054485 
time: 1403636606.663555, t: -0.333105 0.110077 0.145391 q: 0.994370 0.085034 0.032076 -0.054490 
time: 1403636606.863555, t: -0.333108 0.110082 0.145385 q: 0.994370 0.085035 0.032073 -0.054488 
time: 1403636607.063555, t: -0.333110 0.110081 0.145383 q: 0.994370 0.085040 0.032080 -0.054480 
time: 1403636607.263556, t: -0.333106 0.110083 0.145386 q: 0.994369 0.085035 0.032082 -0.054501 
time: 1403636607.463556, t: -0.333110 0.110083 0.145388 q: 0.994369 0.085031 0.032078 -0.054502 
time: 1403636607.663555, t: -0.333110 0.110082 0.145386 q: 0.994370 0.085028 0.032081 -0.054494 
time: 1403636607.863555, t: -0.333108 0.110078 0.145391 q: 0.994369 0.085031 0.032079 -0.054497 
time: 1403636608.063555, t: -0.333111 0.110077 0.145387 q: 0.994369 0.085041 0.032073 -0.054490 
time: 1403636608.263556, t: -0.333112 0.110076 0.145388 q: 0.994369 0.085040 0.032076 -0.054486 
time: 1403636608.463556, t: -0.333110 0.110079 0.145390 q: 0.994370 0.085042 0.032071 -0.054484 
time: 1403636608.663555, t: -0.333113 0.110080 0.145386 q: 0.994370 0.085042 0.032068 -0.054480 
time: 1403636608.863555, t: -0.333079 0.110043 0.145351 q: 0.994370 0.085017 0.032067 -0.054510 
time: 1403636609.263556, t: -0.333112 0.110086 0.145390 q: 0.994369 0.085039 0.032064 -0.054495 
time: 1403636609.463556, t: -0.333111 0.110082 0.145383 q: 0.994369 0.085040 0.032075 -0.054501 
time: 1403636609.663555, t: -0.333138 0.110079 0.145370 q: 0.994371 0.085066 0.032048 -0.054437 
time: 1403636609.863555, t: -0.333109 0.110085 0.145391 q: 0.994369 0.085014 0.032122 -0.054504 
time: 1403636610.063555, t: -0.333131 0.110087 0.145367 q: 0.994370 0.085032 0.032093 -0.054484 
time: 1403636610.263556, t: -0.333101 0.110090 0.145380 q: 0.994370 0.084993 0.032043 -0.054568 
time: 1403636610.463556, t: -0.333104 0.110073 0.145401 q: 0.994373 0.085023 0.032082 -0.054450 
time: 1403636610.663555, t: -0.333107 0.110077 0.145382 q: 0.994372 0.085017 0.032061 -0.054483 
time: 1403636610.863555, t: -0.333092 0.110077 0.145372 q: 0.994364 0.085125 0.031823 -0.054598 
time: 1403636611.063555, t: -0.333058 0.110086 0.145375 q: 0.994364 0.085068 0.031794 -0.054706 
time: 1403636611.263556, t: -0.333029 0.110042 0.145446 q: 0.994365 0.085067 0.031820 -0.054668 
time: 1403636611.463556, t: -0.333316 0.110336 0.145561 q: 0.994394 0.085409 0.031651 -0.053697 
time: 1403636611.663555, t: -0.333241 0.110480 0.145576 q: 0.994395 0.085061 0.031796 -0.054149 
time: 1403636611.863555, t: -0.333168 0.110716 0.145597 q: 0.994387 0.084642 0.032302 -0.054659 
time: 1403636612.063555, t: -0.333195 0.110624 0.145608 q: 0.994372 0.084878 0.031913 -0.054779 
time: 1403636612.263556, t: -0.333069 0.111018 0.145698 q: 0.994308 0.084389 0.032401 -0.056388 
time: 1403636612.463556, t: -0.333151 0.110901 0.145637 q: 0.994330 0.084659 0.032243 -0.055687 
time: 1403636612.663555, t: -0.333151 0.110796 0.145607 q: 0.994347 0.084841 0.032156 -0.055152 
time: 1403636612.863555, t: -0.333107 0.110714 0.145590 q: 0.994358 0.084998 0.032109 -0.054746 
time: 1403636613.063555, t: -0.333111 0.110661 0.145554 q: 0.994364 0.085139 0.032174 -0.054371 
time: 1403636613.263556, t: -0.333119 0.110659 0.145533 q: 0.994368 0.085088 0.032125 -0.054400 
time: 1403636613.463556, t: -0.333090 0.110637 0.145505 q: 0.994363 0.085061 0.032180 -0.054505 
time: 1403636613.663555, t: -0.333073 0.110656 0.145518 q: 0.994362 0.085007 0.032159 -0.054623 
time: 1403636613.863555, t: -0.333083 0.110687 0.145510 q: 0.994362 0.084943 0.032236 -0.054681 
time: 1403636614.063555, t: -0.333073 0.110691 0.145497 q: 0.994359 0.084918 0.032241 -0.054767 
time: 1403636614.263556, t: -0.333075 0.110726 0.145542 q: 0.994361 0.084901 0.032222 -0.054771 
time: 1403636614.463556, t: -0.333074 0.110723 0.145507 q: 0.994358 0.084887 0.032248 -0.054831 
time: 1403636614.663555, t: -0.333073 0.110714 0.145521 q: 0.994360 0.084917 0.032241 -0.054749 
time: 1403636614.863555, t: -0.333071 0.110700 0.145489 q: 0.994359 0.084954 0.032177 -0.054753 
time: 1403636615.063555, t: -0.333040 0.110674 0.145447 q: 0.994363 0.084967 0.032221 -0.054639 
time: 1403636615.263556, t: -0.333034 0.110664 0.145449 q: 0.994362 0.084973 0.032239 -0.054638 
time: 1403636615.463556, t: -0.333043 0.110672 0.145459 q: 0.994362 0.084961 0.032209 -0.054676 
time: 1403636615.663555, t: -0.333051 0.110664 0.145442 q: 0.994362 0.084967 0.032223 -0.054651 
time: 1403636615.863555, t: -0.333048 0.110661 0.145450 q: 0.994363 0.084975 0.032193 -0.054643 
time: 1403636616.063555, t: -0.333054 0.110677 0.145456 q: 0.994362 0.084959 0.032182 -0.054676 
time: 1403636616.263556, t: -0.333049 0.110667 0.145444 q: 0.994363 0.084948 0.032189 -0.054675 
time: 1403636616.463556, t: -0.333047 0.110672 0.145457 q: 0.994362 0.084955 0.032195 -0.054675 
time: 1403636616.663555, t: -0.333049 0.110674 0.145455 q: 0.994362 0.084955 0.032206 -0.054674 
time: 1403636616.863555, t: -0.333048 0.110674 0.145450 q: 0.994363 0.084961 0.032230 -0.054637 
time: 1403636617.063555, t: -0.333050 0.110679 0.145453 q: 0.994363 0.084968 0.032242 -0.054623 
time: 1403636617.263556, t: -0.333052 0.110673 0.145452 q: 0.994362 0.084955 0.032208 -0.054679 
time: 1403636617.463556, t: -0.333051 0.110664 0.145447 q: 0.994362 0.084949 0.032219 -0.054671 
time: 1403636617.663555, t: -0.333049 0.110665 0.145452 q: 0.994363 0.084956 0.032201 -0.054663 
time: 1403636617.863555, t: -0.333050 0.110672 0.145457 q: 0.994363 0.084973 0.032230 -0.054615 
time: 1403636618.063555, t: -0.333046 0.110657 0.145448 q: 0.994363 0.084955 0.032221 -0.054647 
time: 1403636618.263556, t: -0.333056 0.110675 0.145460 q: 0.994364 0.084966 0.032223 -0.054621 
time: 1403636618.463556, t: -0.333052 0.110676 0.145449 q: 0.994363 0.084968 0.032240 -0.054614 
time: 1403636618.663555, t: -0.333173 0.110617 0.145444 q: 0.994355 0.085062 0.032311 -0.054584 
time: 1403636618.863555, t: -0.333251 0.110598 0.145450 q: 0.994366 0.084983 0.032346 -0.054472 
time: 1403636619.063555, t: -0.333252 0.110554 0.145460 q: 0.994354 0.085163 0.032286 -0.054451 
time: 1403636619.263556, t: -0.333212 0.110596 0.145444 q: 0.994381 0.084835 0.032360 -0.054423 
time: 1403636619.463556, t: -0.333220 0.110530 0.145454 q: 0.994345 0.085207 0.032302 -0.054538 
time: 1403636619.663555, t: -0.333222 0.110596 0.145457 q: 0.994363 0.085000 0.032337 -0.054511 
time: 1403636619.863555, t: -0.333233 0.110618 0.145460 q: 0.994370 0.084928 0.032315 -0.054516 
time: 1403636620.063555, t: -0.333233 0.110634 0.145461 q: 0.994366 0.084905 0.032312 -0.054617 
time: 1403636620.263556, t: -0.333226 0.110633 0.145465 q: 0.994360 0.084952 0.032288 -0.054676 
time: 1403636620.463556, t: -0.333225 0.110649 0.145459 q: 0.994363 0.084911 0.032368 -0.054637 
time: 1403636620.663555, t: -0.333231 0.110645 0.145468 q: 0.994364 0.084900 0.032332 -0.054656 
time: 1403636620.863555, t: -0.333227 0.110633 0.145463 q: 0.994363 0.084941 0.032361 -0.054590 
time: 1403636621.063555, t: -0.333161 0.110753 0.145495 q: 0.994356 0.084692 0.032489 -0.055028 
time: 1403636621.263556, t: -0.333178 0.110717 0.145497 q: 0.994356 0.084808 0.032409 -0.054896 
time: 1403636621.463556, t: -0.333185 0.110690 0.145483 q: 0.994360 0.084826 0.032402 -0.054799 
time: 1403636621.663555, t: -0.333190 0.110691 0.145479 q: 0.994361 0.084829 0.032406 -0.054773 
time: 1403636621.863555, t: -0.333191 0.110675 0.145481 q: 0.994361 0.084882 0.032353 -0.054721 
time: 1403636622.063555, t: -0.333175 0.110659 0.145491 q: 0.994357 0.084915 0.032417 -0.054701 
time: 1403636622.263556, t: -0.333179 0.110670 0.145481 q: 0.994357 0.084905 0.032393 -0.054736 
time: 1403636622.463556, t: -0.333185 0.110679 0.145478 q: 0.994360 0.084875 0.032370 -0.054743 
time: 1403636622.663555, t: -0.333176 0.110681 0.145487 q: 0.994361 0.084872 0.032375 -0.054732 
time: 1403636622.863555, t: -0.333134 0.110730 0.145486 q: 0.994372 0.084746 0.032478 -0.054662 
time: 1403636623.063555, t: -0.333058 0.110832 0.145487 q: 0.994381 0.084646 0.032741 -0.054495 
time: 1403636623.263556, t: -0.333013 0.110838 0.145477 q: 0.994386 0.084622 0.032764 -0.054426 
time: 1403636623.463556, t: -0.332971 0.110893 0.145494 q: 0.994392 0.084488 0.032854 -0.054477 
time: 1403636623.663555, t: -0.332939 0.110913 0.145547 q: 0.994420 0.084301 0.032579 -0.054411 
time: 1403636623.863555, t: -0.332882 0.111059 0.145497 q: 0.994508 0.083558 0.032525 -0.053987 
time: 1403636624.063555, t: -0.332841 0.111104 0.145433 q: 0.994563 0.083016 0.032352 -0.053910 
time: 1403636624.263556, t: -0.332738 0.110975 0.145341 q: 0.994695 0.082034 0.031349 -0.053572 
time: 1403636624.463556, t: -0.333883 0.117146 0.141251 q: 0.995516 0.075483 0.016009 -0.054725 
time: 1403636624.663555, t: -0.334623 0.132973 0.131423 q: 0.995873 0.068373 0.009505 -0.058923 
time: 1403636624.863555, t: -0.336835 0.159402 0.114093 q: 0.994937 0.061199 0.006366 -0.079469 
time: 1403636625.063555, t: -0.317925 0.183992 0.079043 q: 0.993087 0.051881 -0.018152 -0.103716 
time: 1403636625.263556, t: -0.272845 0.189124 0.044677 q: 0.993818 0.056789 -0.021163 -0.093023 
time: 1403636625.463556, t: -0.258151 0.189404 0.036000 q: 0.993932 0.060977 -0.019957 -0.089348 
time: 1403636625.663555, t: -0.262306 0.186794 0.048234 q: 0.993608 0.062657 -0.021339 -0.091439 
time: 1403636625.863555, t: -0.205909 0.168298 0.054581 q: 0.993753 0.067328 -0.002040 -0.088985 
time: 1403636626.063555, t: -0.110885 0.139313 0.051140 q: 0.993999 0.071965 0.007867 -0.082002 
time: 1403636626.263556, t: -0.028942 0.117822 0.045023 q: 0.994661 0.078661 0.009011 -0.066184 
optimize pose graph 
time: 1403636626.463556, t: 0.006826 0.114731 0.053710 q: 0.994419 0.078086 0.011287 -0.070046 
time: 1403636626.663555, t: 0.017867 0.128441 0.062725 q: 0.993200 0.076924 0.025273 -0.083656 
time: 1403636627.063555, t: -0.016665 0.173093 0.056230 q: 0.992940 0.077231 -0.001448 -0.090023 
time: 1403636627.263556, t: -0.016850 0.191976 0.043280 q: 0.992857 0.078077 0.001388 -0.090202 
time: 1403636627.463556, t: 0.019558 0.204725 0.017703 q: 0.993067 0.080073 0.007252 -0.085755 
time: 1403636627.663555, t: 0.044587 0.224071 -0.007921 q: 0.994586 0.067467 0.001521 -0.079028 
time: 1403636627.863555, t: 0.024889 0.254313 -0.013891 q: 0.996130 0.042628 -0.018757 -0.074537 
time: 1403636628.063555, t: 0.023544 0.281501 -0.008144 q: 0.996837 0.024041 -0.023936 -0.071867 
time: 1403636628.263556, t: 0.066293 0.296906 0.003232 q: 0.997870 0.020498 0.006818 -0.061554 
optimize pose graph 
time: 1403636628.463556, t: 0.119870 0.313050 0.009792 q: 0.998352 0.022942 0.013143 -0.050928 
time: 1403636628.663555, t: 0.153908 0.343408 0.017859 q: 0.998425 0.026469 0.010956 -0.048235 
time: 1403636628.863555, t: 0.163626 0.392001 0.034272 q: 0.998353 0.012144 0.001709 -0.056043 
time: 1403636629.063555, t: 0.187655 0.446487 0.038599 q: 0.998367 -0.002311 -0.010123 -0.056172 
time: 1403636629.263556, t: 0.225697 0.498547 0.055959 q: 0.998480 -0.019884 -0.006794 -0.050946 
time: 1403636629.463556, t: 0.250050 0.555834 0.083887 q: 0.998852 -0.032608 0.005728 -0.034635 
time: 1403636629.663555, t: 0.252546 0.616513 0.131174 q: 0.997868 -0.062045 0.001112 -0.020214 
time: 1403636629.863555, t: 0.237537 0.705592 0.179972 q: 0.994344 -0.105186 -0.011527 -0.009075 
time: 1403636630.063555, t: 0.226813 0.798200 0.243353 q: 0.990402 -0.137896 -0.009318 0.000955 
time: 1403636630.263556, t: 0.260765 0.886521 0.311819 q: 0.988075 -0.153065 0.016379 0.003273 
optimize pose graph 
time: 1403636630.463556, t: 0.323637 0.980655 0.358684 q: 0.987494 -0.156997 0.014306 0.001582 
time: 1403636630.663555, t: 0.395439 1.064408 0.413880 q: 0.987640 -0.156313 0.008082 -0.008243 
time: 1403636630.863555, t: 0.453869 1.135766 0.483321 q: 0.988578 -0.150415 0.006567 -0.006824 
time: 1403636631.063555, t: 0.494105 1.211221 0.557826 q: 0.989359 -0.145224 0.008114 -0.003596 
time: 1403636631.263556, t: 0.518807 1.289550 0.632581 q: 0.989592 -0.143037 0.014986 -0.004937 
time: 1403636631.463556, t: 0.532781 1.365030 0.711432 q: 0.989822 -0.141387 0.014973 -0.006143 
time: 1403636631.663555, t: 0.536959 1.435304 0.799416 q: 0.989886 -0.140792 0.013261 -0.011285 
time: 1403636631.863555, t: 0.558548 1.499020 0.879859 q: 0.989975 -0.140002 0.011698 -0.014549 
time: 1403636632.063555, t: 0.592560 1.555161 0.948254 q: 0.989858 -0.140621 0.012130 -0.016111 
time: 1403636632.263556, t: 0.630941 1.603871 1.022046 q: 0.989284 -0.143724 0.015213 -0.020707 
time: 1403636632.463556, t: 0.647152 1.640331 1.099315 q: 0.989360 -0.144209 0.012312 -0.014772 
time: 1403636632.663555, t: 0.640920 1.671213 1.185147 q: 0.992080 -0.125531 -0.004483 0.000410 
time: 1403636632.863555, t: 0.648740 1.706749 1.280610 q: 0.995967 -0.088219 -0.006531 -0.014974 
time: 1403636633.063555, t: 0.682984 1.744438 1.373285 q: 0.997468 -0.054864 0.001522 -0.045214 
time: 1403636633.263556, t: 0.720362 1.781550 1.467031 q: 0.997893 -0.035322 -0.000052 -0.054424 
time: 1403636633.463556, t: 0.738974 1.819584 1.570773 q: 0.998490 -0.026648 -0.007643 -0.047417 
time: 1403636633.663555, t: 0.749631 1.860235 1.685309 q: 0.998525 -0.029271 -0.014256 -0.043442 
time: 1403636633.863555, t: 0.788634 1.896290 1.807161 q: 0.998587 -0.034118 -0.012141 -0.038900 
time: 1403636634.063555, t: 0.839145 1.939072 1.933586 q: 0.999072 -0.035006 -0.006522 -0.024238 
time: 1403636634.263556, t: 0.898303 1.992237 2.064407 q: 0.998771 -0.036322 -0.009389 -0.032379 
time: 1403636634.463556, t: 0.976857 2.055180 2.189880 q: 0.998301 -0.036140 0.005346 -0.045382 
time: 1403636634.663555, t: 1.033587 2.113699 2.327089 q: 0.998059 -0.030463 0.012100 -0.052943 
time: 1403636634.863555, t: 1.076584 2.172920 2.454884 q: 0.998086 -0.016819 0.006266 -0.059183 
time: 1403636635.063555, t: 1.144591 2.218129 2.574946 q: 0.997837 -0.006301 -0.000901 -0.065426 
time: 1403636635.263556, t: 1.199117 2.261334 2.699120 q: 0.997824 0.000585 -0.006438 -0.065620 
time: 1403636635.463556, t: 1.241256 2.301584 2.830527 q: 0.998299 0.006173 -0.010613 -0.056989 
time: 1403636635.663555, t: 1.311792 2.338839 2.962487 q: 0.998603 0.007205 -0.009850 -0.051421 
time: 1403636635.863555, t: 1.412942 2.378764 3.093690 q: 0.999112 0.009036 0.001091 -0.041134 
time: 1403636636.063555, t: 1.525301 2.432891 3.217122 q: 0.998995 0.005528 -0.012954 -0.042547 
time: 1403636636.263556, t: 1.643997 2.501300 3.343852 q: 0.998232 0.000158 -0.002789 -0.059378 
time: 1403636636.463556, t: 1.777336 2.561724 3.462982 q: 0.997564 0.000292 0.024677 -0.065244 
time: 1403636636.663555, t: 1.870560 2.620440 3.582112 q: 0.996291 -0.005162 0.029028 -0.080839 
time: 1403636636.863555, t: 1.929981 2.665521 3.689246 q: 0.994722 -0.011331 0.026159 -0.098563 
time: 1403636637.063555, t: 1.950225 2.689509 3.789221 q: 0.996861 -0.001377 0.016982 -0.077322 
time: 1403636637.263556, t: 1.954322 2.704826 3.882256 q: 0.997668 0.003289 0.003008 -0.068105 
time: 1403636637.463556, t: 1.973335 2.713777 3.968328 q: 0.997571 0.004863 -0.004317 -0.069353 
time: 1403636637.663555, t: 2.023456 2.714204 4.046520 q: 0.997696 0.007696 -0.007713 -0.066966 
time: 1403636637.863555, t: 2.099251 2.708643 4.119632 q: 0.997605 0.009499 -0.001647 -0.068493 
time: 1403636638.063555, t: 2.170924 2.704267 4.194888 q: 0.997540 0.011472 0.006272 -0.068868 
time: 1403636638.463556, t: 2.186862 2.711275 4.377292 q: 0.998284 0.017300 -0.017432 -0.053159 
time: 1403636638.663555, t: 2.192807 2.727005 4.475921 q: 0.997893 0.016518 -0.031341 -0.054362 
time: 1403636638.863555, t: 2.243783 2.743587 4.589964 q: 0.997828 0.015107 -0.013894 -0.062590 
time: 1403636639.063555, t: 2.317377 2.765252 4.705822 q: 0.998602 0.021770 -0.006952 -0.047661 
time: 1403636639.263556, t: 2.368448 2.805507 4.830303 q: 0.999017 0.026654 -0.008625 -0.034362 
time: 1403636639.463556, t: 2.385466 2.867178 4.973830 q: 0.998128 0.018440 -0.009058 -0.057602 
time: 1403636639.663555, t: 2.394064 2.937410 5.126824 q: 0.996780 0.012217 -0.000513 -0.079242 
time: 1403636639.863555, t: 2.413189 2.996799 5.274704 q: 0.997292 0.016929 0.010712 -0.070756 
time: 1403636640.063555, t: 2.452520 3.048966 5.400944 q: 0.997233 0.021518 0.012498 -0.070049 
time: 1403636640.263556, t: 2.511290 3.095817 5.508754 q: 0.996052 0.036613 0.011165 -0.080091 
time: 1403636640.663555, t: 2.592968 3.180985 5.696885 q: 0.994793 0.052102 0.009386 -0.087085 
time: 1403636640.863555, t: 2.610980 3.217384 5.791887 q: 0.994616 0.053702 0.004258 -0.088528 
time: 1403636641.063555, t: 2.649084 3.246563 5.873651 q: 0.994656 0.053085 0.004667 -0.088433 
time: 1403636641.263556, t: 2.669643 3.274873 5.954518 q: 0.994791 0.051808 0.006959 -0.087509 
time: 1403636641.463556, t: 2.668731 3.306260 6.030564 q: 0.995671 0.054683 0.005634 -0.074951 
time: 1403636641.663555, t: 2.676667 3.336137 6.103035 q: 0.995335 0.050689 0.005515 -0.081908 
time: 1403636641.863555, t: 2.704395 3.366526 6.156052 q: 0.995218 0.049039 0.007687 -0.084122 
time: 1403636642.263556, t: 2.796818 3.419203 6.222650 q: 0.996887 0.022637 0.014868 -0.074041 
time: 1403636642.463556, t: 2.807284 3.452768 6.250789 q: 0.997616 0.006569 0.017722 -0.066364 
time: 1403636642.663555, t: 2.791814 3.483167 6.279604 q: 0.998085 -0.003980 0.005687 -0.061471 
time: 1403636642.863555, t: 2.777213 3.514854 6.308170 q: 0.998247 -0.007710 -0.006505 -0.058320 
time: 1403636643.063555, t: 2.792033 3.542538 6.334074 q: 0.998347 -0.007103 -0.004560 -0.056848 
time: 1403636643.263556, t: 2.809710 3.573178 6.365391 q: 0.998419 -0.004876 0.006630 -0.055596 
time: 1403636643.463556, t: 2.818398 3.605681 6.402828 q: 0.998469 -0.003964 -0.001793 -0.055141 
time: 1403636643.663555, t: 2.853332 3.639127 6.434338 q: 0.998242 -0.002938 -0.016018 -0.056996 
time: 1403636643.863555, t: 2.911450 3.673642 6.473194 q: 0.997847 -0.002644 -0.026040 -0.060140 
time: 1403636644.063555, t: 2.960400 3.711060 6.539232 q: 0.997582 -0.002923 -0.031302 -0.061974 
time: 1403636644.263556, t: 3.006009 3.746026 6.635601 q: 0.998314 0.000032 -0.018791 -0.054913 
time: 1403636644.463556, t: 3.031172 3.792934 6.751052 q: 0.999278 0.007943 0.008093 -0.036270 
time: 1403636644.663555, t: 3.033466 3.856208 6.876478 q: 0.999322 0.010357 0.017763 -0.030554 
time: 1403636644.863555, t: 3.010120 3.943663 6.996327 q: 0.998013 -0.002488 0.016370 -0.060796 
time: 1403636645.063555, t: 2.977601 4.028618 7.103866 q: 0.998119 -0.006876 -0.007917 -0.060401 
time: 1403636645.263556, t: 2.974495 4.109837 7.212688 q: 0.997346 -0.010473 -0.043303 -0.057590 
time: 1403636645.463556, t: 3.016348 4.186442 7.340071 q: 0.997818 -0.011039 -0.029000 -0.058284 
time: 1403636645.663555, t: 3.056635 4.258826 7.493090 q: 0.997884 -0.012227 -0.020904 -0.060347 
time: 1403636645.863555, t: 3.106316 4.326552 7.658430 q: 0.998037 -0.011536 -0.018881 -0.058580 
time: 1403636646.063555, t: 3.197720 4.394163 7.824130 q: 0.998718 -0.016779 -0.005961 -0.047379 
time: 1403636646.263556, t: 3.309363 4.475610 7.982634 q: 0.998475 -0.049330 0.010004 -0.022683 
time: 1403636646.463556, t: 3.389540 4.570065 8.138446 q: 0.994484 -0.100026 0.031461 -0.002491 
time: 1403636646.663555, t: 3.476977 4.669869 8.276142 q: 0.989660 -0.138337 0.037730 -0.003459 
time: 1403636646.863555, t: 3.580001 4.763538 8.384773 q: 0.987210 -0.155242 0.036274 -0.000799 
time: 1403636647.063555, t: 3.685684 4.853187 8.475534 q: 0.986743 -0.159504 0.029941 0.000271 
time: 1403636647.263556, t: 3.762788 4.943089 8.562670 q: 0.987096 -0.158772 0.020780 0.000533 
time: 1403636647.463556, t: 3.820421 5.036130 8.651870 q: 0.987824 -0.153064 0.027670 0.002961 
time: 1403636647.663555, t: 3.869067 5.130954 8.731643 q: 0.988128 -0.147635 0.041861 0.007442 
time: 1403636647.863555, t: 3.923082 5.227521 8.785320 q: 0.987124 -0.155975 0.035168 0.004661 
time: 1403636648.063555, t: 3.955044 5.329436 8.830084 q: 0.982197 -0.184200 0.034721 0.012375 
time: 1403636648.263556, t: 3.953961 5.440448 8.866346 q: 0.971621 -0.231589 0.037607 0.030088 
time: 1403636648.463556, t: 3.928925 5.549869 8.892663 q: 0.956636 -0.284019 0.040886 0.050085 
time: 1403636648.663555, t: 3.890431 5.661366 8.911627 q: 0.941904 -0.326536 0.042697 0.066085 
time: 1403636648.863555, t: 3.878890 5.761814 8.914857 q: 0.934440 -0.346762 0.023807 0.077534 
time: 1403636649.063555, t: 3.898192 5.863566 8.889100 q: 0.932658 -0.351710 0.015220 0.078849 
time: 1403636649.263556, t: 3.956233 5.967031 8.856764 q: 0.933178 -0.350763 0.041111 0.066741 
time: 1403636649.463556, t: 4.037038 6.054017 8.828937 q: 0.935572 -0.345304 0.034895 0.065207 
time: 1403636649.663555, t: 4.125207 6.132452 8.796621 q: 0.936756 -0.340717 0.046586 0.065032 
time: 1403636649.863555, t: 4.203028 6.205123 8.750604 q: 0.931041 -0.354514 0.053530 0.067944 
time: 1403636650.063555, t: 4.239588 6.273528 8.704840 q: 0.926449 -0.365858 0.055949 0.068624 
time: 1403636650.263556, t: 4.253708 6.335015 8.653939 q: 0.914784 -0.392159 0.056297 0.078818 
time: 1403636650.463556, t: 4.228710 6.392049 8.609820 q: 0.892337 -0.436918 0.052286 0.100519 
time: 1403636650.663555, t: 4.182193 6.434510 8.556127 q: 0.872185 -0.472056 0.044456 0.120332 
time: 1403636650.863555, t: 4.146742 6.472602 8.511599 q: 0.860643 -0.491054 0.045959 0.126679 
time: 1403636651.063555, t: 4.152733 6.507730 8.457270 q: 0.856737 -0.498237 0.055796 0.121029 
time: 1403636651.263556, t: 4.164976 6.523393 8.393226 q: 0.858077 -0.496171 0.052558 0.121472 
time: 1403636651.463556, t: 4.180481 6.528348 8.324476 q: 0.861634 -0.490174 0.044355 0.123892 
time: 1403636651.663555, t: 4.171476 6.533154 8.258428 q: 0.864629 -0.485494 0.053660 0.117612 
time: 1403636651.863555, t: 4.138307 6.531485 8.192584 q: 0.860895 -0.487783 0.067686 0.127855 
time: 1403636652.063555, t: 4.077714 6.525903 8.109536 q: 0.839886 -0.518229 0.073856 0.143442 
time: 1403636652.263556, t: 3.982829 6.510355 8.011790 q: 0.801186 -0.572889 0.060060 0.162148 
time: 1403636652.463556, t: 3.897763 6.488007 7.923438 q: 0.759238 -0.619447 0.046077 0.194217 
time: 1403636652.663555, t: 3.823128 6.471698 7.828637 q: 0.735542 -0.641214 0.035122 0.215844 
time: 1403636652.863555, t: 3.802766 6.481740 7.727626 q: 0.727194 -0.649706 0.030670 0.219388 
time: 1403636653.063555, t: 3.792103 6.504439 7.629291 q: 0.727297 -0.652685 0.035324 0.209271 
time: 1403636653.263556, t: 3.757367 6.550800 7.541249 q: 0.731242 -0.652526 0.048399 0.192750 
time: 1403636653.463556, t: 3.729313 6.591151 7.457288 q: 0.736879 -0.648749 0.053423 0.182429 
time: 1403636653.663555, t: 3.727514 6.620330 7.368314 q: 0.741895 -0.643790 0.056120 0.178821 
time: 1403636653.863555, t: 3.717541 6.639050 7.281113 q: 0.743836 -0.643011 0.061501 0.171647 
time: 1403636654.063555, t: 3.678813 6.644767 7.214944 q: 0.744659 -0.640083 0.062482 0.178529 
time: 1403636654.263556, t: 3.631900 6.639237 7.142747 q: 0.735632 -0.649046 0.065273 0.182548 
time: 1403636654.463556, t: 3.610177 6.617769 7.066681 q: 0.712656 -0.671376 0.059518 0.194511 
time: 1403636654.663555, t: 3.608991 6.585417 6.983654 q: 0.684358 -0.695392 0.056848 0.211784 
time: 1403636654.863555, t: 3.598633 6.552235 6.913326 q: 0.666747 -0.709416 0.052847 0.222224 
time: 1403636655.063555, t: 3.573360 6.525200 6.853857 q: 0.657085 -0.720031 0.061844 0.214405 
time: 1403636655.263556, t: 3.535277 6.495427 6.802523 q: 0.652746 -0.724445 0.072005 0.209567 
time: 1403636655.463556, t: 3.485373 6.446760 6.754680 q: 0.640165 -0.733783 0.078844 0.213387 
time: 1403636655.663555, t: 3.446337 6.369436 6.703472 q: 0.619258 -0.745449 0.071179 0.236134 
time: 1403636655.863555, t: 3.371740 6.288836 6.659966 q: 0.595939 -0.757736 0.066462 0.257442 
time: 1403636656.063555, t: 3.279205 6.212157 6.608745 q: 0.565000 -0.777002 0.070250 0.268529 
time: 1403636656.263556, t: 3.216490 6.134502 6.535779 q: 0.547698 -0.788621 0.062949 0.272290 
time: 1403636656.463556, t: 3.182582 6.062309 6.436637 q: 0.543507 -0.790602 0.060542 0.275468 
time: 1403636656.663555, t: 3.170320 5.996601 6.331342 q: 0.545473 -0.792142 0.061541 0.266801 
time: 1403636656.863555, t: 3.138727 5.939133 6.227807 q: 0.548589 -0.796332 0.072655 0.244187 
time: 1403636657.063555, t: 3.085595 5.877491 6.142487 q: 0.552292 -0.794915 0.079641 0.238205 
time: 1403636657.263556, t: 3.019124 5.799690 6.066342 q: 0.555304 -0.790338 0.085690 0.244256 
time: 1403636657.463556, t: 2.963719 5.700921 5.989958 q: 0.556332 -0.784738 0.080870 0.261038 
time: 1403636657.663555, t: 2.897086 5.595855 5.911231 q: 0.556396 -0.782087 0.076057 0.270146 
time: 1403636657.863555, t: 2.808555 5.490220 5.831375 q: 0.551299 -0.783374 0.081382 0.275267 
time: 1403636658.063555, t: 2.721441 5.382957 5.726139 q: 0.547276 -0.783167 0.079473 0.284294 
time: 1403636658.263556, t: 2.658241 5.275817 5.592278 q: 0.543740 -0.790779 0.061885 0.274200 
time: 1403636658.463556, t: 2.579932 5.178395 5.458927 q: 0.541359 -0.794275 0.051392 0.270953 
time: 1403636658.663555, t: 2.497548 5.104323 5.328204 q: 0.539932 -0.797976 0.040162 0.264755 
time: 1403636658.863555, t: 2.409742 5.042003 5.220989 q: 0.538207 -0.803906 0.036667 0.250448 
time: 1403636659.063555, t: 2.321391 4.997651 5.128557 q: 0.537408 -0.804738 0.055036 0.246088 
time: 1403636659.263556, t: 2.224510 4.954235 5.058083 q: 0.537307 -0.805176 0.062016 0.243200 
time: 1403636659.463556, t: 2.148050 4.902097 4.996235 q: 0.538609 -0.801300 0.051509 0.255275 
time: 1403636659.663555, t: 2.090813 4.849201 4.935935 q: 0.537616 -0.802475 0.051133 0.253749 
time: 1403636659.863555, t: 2.023969 4.802271 4.893924 q: 0.534936 -0.804964 0.053134 0.251102 
time: 1403636660.063555, t: 1.938369 4.757654 4.872330 q: 0.533126 -0.802811 0.044891 0.263166 
time: 1403636660.263556, t: 1.846809 4.725987 4.864294 q: 0.532023 -0.800817 0.037700 0.272437 
time: 1403636660.463556, t: 1.779726 4.715877 4.855858 q: 0.531455 -0.795639 0.024609 0.289671 
time: 1403636660.663555, t: 1.723705 4.735468 4.839090 q: 0.531730 -0.801764 0.031591 0.271000 
time: 1403636660.863555, t: 1.656391 4.773396 4.838294 q: 0.530904 -0.811566 0.032495 0.241758 
time: 1403636661.063555, t: 1.576536 4.821603 4.866207 q: 0.531140 -0.811707 0.042408 0.239212 
time: 1403636661.263556, t: 1.497299 4.867001 4.916594 q: 0.531622 -0.809715 0.054702 0.242379 
time: 1403636661.463556, t: 1.452807 4.901604 4.973936 q: 0.531960 -0.809177 0.057686 0.242740 
time: 1403636661.663555, t: 1.436043 4.925746 5.035151 q: 0.533388 -0.806253 0.061222 0.248406 
time: 1403636661.863555, t: 1.449900 4.940138 5.093345 q: 0.534478 -0.803558 0.075802 0.250760 
time: 1403636662.063555, t: 1.485840 4.937148 5.140215 q: 0.535499 -0.803230 0.078287 0.248863 
time: 1403636662.263556, t: 1.524985 4.915728 5.183747 q: 0.535298 -0.805866 0.063808 0.244875 
time: 1403636662.463556, t: 1.545205 4.890245 5.243550 q: 0.533666 -0.806170 0.048923 0.250793 
time: 1403636662.663555, t: 1.547235 4.869477 5.319732 q: 0.532805 -0.800265 0.057457 0.269059 
time: 1403636662.863555, t: 1.540984 4.855038 5.395545 q: 0.531526 -0.796484 0.076904 0.277811 
time: 1403636663.063555, t: 1.513189 4.842896 5.456092 q: 0.531108 -0.791797 0.074493 0.292290 
time: 1403636663.263556, t: 1.490870 4.832339 5.485432 q: 0.530150 -0.793583 0.062376 0.292020 
time: 1403636663.463556, t: 1.451100 4.839067 5.496781 q: 0.529644 -0.798359 0.029698 0.284988 
time: 1403636663.663555, t: 1.397548 4.876540 5.511198 q: 0.529474 -0.797792 0.017531 0.287885 
time: 1403636663.863555, t: 1.360834 4.954580 5.521228 q: 0.530789 -0.803959 0.003560 0.268140 
time: 1403636664.063555, t: 1.360374 5.066585 5.541190 q: 0.533240 -0.810545 0.005920 0.242151 
time: 1403636664.263556, t: 1.393807 5.203226 5.586102 q: 0.538473 -0.808104 0.031595 0.236676 
time: 1403636664.463556, t: 1.405910 5.346523 5.665607 q: 0.544312 -0.803942 0.046550 0.235020 
time: 1403636664.663555, t: 1.394072 5.485573 5.768410 q: 0.552204 -0.797163 0.062086 0.236109 
time: 1403636664.863555, t: 1.415620 5.613818 5.872851 q: 0.558559 -0.792441 0.055857 0.238599 
time: 1403636665.063555, t: 1.467891 5.724710 5.976572 q: 0.563416 -0.785613 0.051402 0.250466 
time: 1403636665.263556, t: 1.536230 5.832379 6.080148 q: 0.566105 -0.780060 0.059129 0.259875 
time: 1403636665.463556, t: 1.609008 5.936406 6.167677 q: 0.566419 -0.782027 0.060967 0.252757 
time: 1403636665.663555, t: 1.687545 6.040057 6.251691 q: 0.563491 -0.787320 0.041970 0.246666 
time: 1403636665.863555, t: 1.776417 6.145053 6.344815 q: 0.559780 -0.790683 0.053106 0.242168 
time: 1403636666.063555, t: 1.858422 6.245979 6.449012 q: 0.557838 -0.786517 0.076010 0.253831 
time: 1403636666.263556, t: 1.916423 6.332413 6.551697 q: 0.557088 -0.789882 0.071302 0.246283 
time: 1403636666.463556, t: 1.957691 6.408579 6.657992 q: 0.558846 -0.786239 0.080235 0.251161 
time: 1403636666.663555, t: 2.010217 6.469414 6.750105 q: 0.562357 -0.783898 0.065763 0.254821 
time: 1403636666.863555, t: 2.077484 6.521172 6.831960 q: 0.565994 -0.777759 0.052249 0.268352 
time: 1403636667.063555, t: 2.124264 6.581975 6.912179 q: 0.568052 -0.767747 0.066382 0.288918 
time: 1403636667.263556, t: 2.153673 6.655436 6.972120 q: 0.567074 -0.782559 0.061904 0.249390 
time: 1403636667.463556, t: 2.165427 6.723199 7.040840 q: 0.567987 -0.784518 0.055497 0.242575 
time: 1403636667.663555, t: 2.177133 6.787134 7.112582 q: 0.570522 -0.775435 0.055040 0.264908 
time: 1403636667.863555, t: 2.215929 6.852549 7.174173 q: 0.570035 -0.773782 0.061874 0.269247 
time: 1403636668.063555, t: 2.249948 6.922409 7.228156 q: 0.567742 -0.775910 0.060378 0.268305 
time: 1403636668.263556, t: 2.254860 6.999412 7.283484 q: 0.563705 -0.780913 0.049308 0.264536 
time: 1403636668.463556, t: 2.243037 7.086053 7.342283 q: 0.558984 -0.785385 0.047950 0.261548 
time: 1403636668.663555, t: 2.229826 7.181163 7.408109 q: 0.555039 -0.788452 0.047499 0.260803 
time: 1403636669.063555, t: 2.247234 7.394222 7.559785 q: 0.550994 -0.798207 0.048901 0.238496 
time: 1403636669.263556, t: 2.297152 7.493756 7.657513 q: 0.549380 -0.797838 0.060152 0.240870 
time: 1403636669.463556, t: 2.329018 7.583238 7.770092 q: 0.548523 -0.798591 0.063243 0.239531 
time: 1403636669.863555, t: 2.397663 7.725341 8.047552 q: 0.550422 -0.796189 0.097325 0.231617 
time: 1403636670.063555, t: 2.453003 7.736514 8.175185 q: 0.554039 -0.780301 0.117490 0.265268 
time: 1403636670.263556, t: 2.512726 7.716555 8.263467 q: 0.562278 -0.768671 0.142169 0.269771 
time: 1403636670.463556, t: 2.538224 7.662619 8.321037 q: 0.577444 -0.752235 0.157396 0.275549 
time: 1403636670.663555, t: 2.548252 7.558148 8.316932 q: 0.608377 -0.728234 0.156770 0.273816 
time: 1403636670.863555, t: 2.546206 7.409336 8.240061 q: 0.647014 -0.696992 0.159252 0.264980 
time: 1403636671.063555, t: 2.515462 7.227639 8.095567 q: 0.693081 -0.653799 0.171877 0.250286 
time: 1403636671.263556, t: 2.475826 7.002293 7.861203 q: 0.737567 -0.620977 0.142560 0.223739 
time: 1403636671.463556, t: 2.413242 6.756076 7.565620 q: 0.767312 -0.608044 0.068920 0.191740 
time: 1403636671.663555, t: 2.337674 6.528105 7.266730 q: 0.788111 -0.584871 0.023453 0.190415 
time: 1403636671.863555, t: 2.252741 6.325845 6.992820 q: 0.794632 -0.574429 0.000171 0.196447 
time: 1403636672.063555, t: 2.185555 6.180495 6.724247 q: 0.792853 -0.575331 -0.028230 0.198951 
time: 1403636672.263556, t: 2.178318 6.098895 6.485273 q: 0.788757 -0.586408 -0.038820 0.180225 
time: 1403636672.463556, t: 2.199086 6.059252 6.287787 q: 0.786574 -0.598374 -0.032886 0.148892 
time: 1403636672.663555, t: 2.177724 6.052621 6.177098 q: 0.787759 -0.599069 0.025687 0.141044 
time: 1403636672.863555, t: 2.099646 6.048500 6.115181 q: 0.792822 -0.587220 0.028615 0.160585 
time: 1403636673.063555, t: 2.040745 6.046439 6.073667 q: 0.810725 -0.565590 0.021158 0.149619 
time: 1403636673.263556, t: 2.023376 6.044071 6.048529 q: 0.826454 -0.541993 -0.003301 0.152334 
time: 1403636673.463556, t: 2.034879 6.063217 6.038480 q: 0.834093 -0.529504 -0.013711 0.154032 
time: 1403636673.663555, t: 2.051562 6.112770 6.063787 q: 0.837514 -0.528216 0.001727 0.139841 
time: 1403636673.863555, t: 2.073127 6.178063 6.116761 q: 0.838900 -0.529542 0.023755 0.123562 
time: 1403636674.063555, t: 2.110998 6.236974 6.185172 q: 0.839212 -0.528989 0.021475 0.124232 
time: 1403636674.263556, t: 2.140295 6.296230 6.281202 q: 0.839298 -0.527206 0.030925 0.129134 
time: 1403636674.463556, t: 2.143794 6.350362 6.397127 q: 0.844938 -0.511939 0.048834 0.147016 
time: 1403636674.663555, t: 2.127567 6.406738 6.515180 q: 0.856724 -0.493045 0.054126 0.141424 
time: 1403636674.863555, t: 2.090678 6.467322 6.627783 q: 0.864858 -0.477684 0.035302 0.150306 
time: 1403636675.063555, t: 2.075036 6.541332 6.725352 q: 0.867910 -0.470351 0.012704 0.159188 
time: 1403636675.263556, t: 2.101623 6.645215 6.809882 q: 0.866996 -0.479052 -0.005348 0.137109 
time: 1403636675.463556, t: 2.168053 6.770030 6.904934 q: 0.869046 -0.481753 0.008032 0.112289 
time: 1403636675.663555, t: 2.230006 6.894163 7.033982 q: 0.877847 -0.470676 0.021999 0.085814 
time: 1403636675.863555, t: 2.278665 7.002167 7.181752 q: 0.893908 -0.436943 0.046302 0.088685 
time: 1403636676.063555, t: 2.297096 7.103301 7.341246 q: 0.913919 -0.389105 0.048725 0.104762 
time: 1403636676.263556, t: 2.309193 7.190718 7.493100 q: 0.930123 -0.360910 0.022971 0.063935 
time: 1403636676.463556, t: 2.317314 7.283109 7.649229 q: 0.945606 -0.324303 0.005577 0.025033 
time: 1403636676.663555, t: 2.359881 7.344012 7.814819 q: 0.959685 -0.279621 0.010364 0.026629 
time: 1403636676.863555, t: 2.430873 7.391535 7.972142 q: 0.966710 -0.252357 0.018440 0.038059 
time: 1403636677.063555, t: 2.494049 7.440178 8.137086 q: 0.968700 -0.245201 0.020738 0.032672 
time: 1403636677.263556, t: 2.513787 7.497997 8.313755 q: 0.967723 -0.250593 0.022133 0.014986 
time: 1403636677.463556, t: 2.543176 7.540017 8.480741 q: 0.970918 -0.235569 0.042724 0.000669 
time: 1403636677.663555, t: 2.589167 7.556608 8.623538 q: 0.978379 -0.200305 0.051487 -0.001309 
time: 1403636677.863555, t: 2.643167 7.552832 8.736888 q: 0.988104 -0.149512 0.035307 0.007024 
time: 1403636678.063555, t: 2.694453 7.548634 8.833523 q: 0.994984 -0.098518 0.017332 -0.000014 
time: 1403636678.263556, t: 2.727239 7.565844 8.923527 q: 0.996627 -0.073508 0.014770 -0.033354 
time: 1403636678.463556, t: 2.766838 7.587709 9.003421 q: 0.997981 -0.041484 0.011740 -0.046648 
time: 1403636678.663555, t: 2.827451 7.607811 9.066390 q: 0.997809 -0.002534 0.009005 -0.065492 
time: 1403636678.863555, t: 2.875878 7.618522 9.132378 q: 0.992968 0.034519 0.006425 -0.113053 
time: 1403636679.063555, t: 2.898771 7.610784 9.200164 q: 0.987785 0.072071 0.005800 -0.138029 
time: 1403636679.263556, t: 2.894238 7.575919 9.266942 q: 0.983590 0.127577 0.012861 -0.126921 
time: 1403636679.463556, t: 2.903458 7.532858 9.315172 q: 0.974691 0.182946 0.011255 -0.127992 
time: 1403636679.663555, t: 2.927769 7.496952 9.336718 q: 0.965648 0.219465 0.002462 -0.139114 
time: 1403636679.863555, t: 2.977950 7.469940 9.336650 q: 0.960566 0.234179 0.007740 -0.149714 
time: 1403636680.063555, t: 3.048909 7.446190 9.316588 q: 0.957723 0.229720 0.020965 -0.171917 
time: 1403636680.263556, t: 3.110346 7.415461 9.271726 q: 0.957060 0.223866 0.028473 -0.181962 
time: 1403636680.463556, t: 3.135309 7.367354 9.207556 q: 0.956860 0.211279 0.024448 -0.197943 
time: 1403636680.663555, t: 3.121381 7.295129 9.123147 q: 0.959025 0.207212 0.018315 -0.192353 
time: 1403636680.863555, t: 3.081196 7.198937 9.021529 q: 0.963514 0.215297 0.002385 -0.159004 
time: 1403636681.063555, t: 3.017103 7.097605 8.925359 q: 0.965141 0.217206 -0.030289 -0.142851 
time: 1403636681.263556, t: 2.948859 6.994556 8.854007 q: 0.964273 0.213801 -0.019695 -0.155176 
time: 1403636681.463556, t: 2.900723 6.885977 8.781684 q: 0.963965 0.218673 0.001685 -0.151495 
time: 1403636681.663555, t: 2.864930 6.775750 8.701090 q: 0.962929 0.221176 0.004509 -0.154366 
time: 1403636681.863555, t: 2.816906 6.663063 8.617813 q: 0.961843 0.223631 0.006748 -0.157483 
time: 1403636682.063555, t: 2.778033 6.545465 8.519294 q: 0.961381 0.228141 0.006094 -0.153822 
time: 1403636682.263556, t: 2.753893 6.424440 8.407918 q: 0.961500 0.230032 -0.001961 -0.150334 
time: 1403636682.463556, t: 2.710323 6.313809 8.304722 q: 0.961871 0.227719 -0.014992 -0.150744 
time: 1403636682.663555, t: 2.660658 6.202248 8.211913 q: 0.962407 0.224065 0.002296 -0.153497 
time: 1403636682.863555, t: 2.611996 6.090904 8.113304 q: 0.963372 0.222140 0.010710 -0.149845 
time: 1403636683.063555, t: 2.577546 5.979031 8.002007 q: 0.963312 0.216760 0.013950 -0.157642 
time: 1403636683.263556, t: 2.526876 5.870043 7.886894 q: 0.963460 0.219842 0.008369 -0.152789 
time: 1403636683.463556, t: 2.458636 5.758725 7.764774 q: 0.963044 0.224162 0.004307 -0.149258 
time: 1403636683.663555, t: 2.371640 5.650588 7.644949 q: 0.962619 0.225772 -0.000328 -0.149636 
time: 1403636683.863555, t: 2.287141 5.546673 7.525861 q: 0.962330 0.227659 -0.012497 -0.148108 
time: 1403636684.063555, t: 2.234071 5.444352 7.399406 q: 0.961528 0.230517 -0.008935 -0.149152 
time: 1403636684.263556, t: 2.206272 5.343075 7.271727 q: 0.960470 0.235360 -0.003684 -0.148623 
time: 1403636684.463556, t: 2.174615 5.249312 7.154400 q: 0.959579 0.239351 0.002521 -0.148029 
time: 1403636684.663555, t: 2.125175 5.163113 7.035532 q: 0.959532 0.243779 0.003698 -0.140910 
time: 1403636684.863555, t: 2.055109 5.093326 6.924268 q: 0.959370 0.243887 0.005075 -0.141785 
time: 1403636685.063555, t: 1.974755 5.036108 6.810812 q: 0.958831 0.236729 0.006505 -0.156716 
time: 1403636685.263556, t: 1.915260 4.987647 6.683398 q: 0.959525 0.230341 -0.000448 -0.162033 
time: 1403636685.463556, t: 1.877326 4.929003 6.544227 q: 0.960734 0.225195 -0.002669 -0.162081 
time: 1403636685.663555, t: 1.816483 4.859123 6.408729 q: 0.962002 0.223483 -0.003098 -0.156836 
time: 1403636685.863555, t: 1.737869 4.792816 6.287147 q: 0.961668 0.221070 0.002381 -0.162227 
time: 1403636686.063555, t: 1.643903 4.725676 6.158513 q: 0.962327 0.224393 -0.005393 -0.153447 
time: 1403636686.263556, t: 1.576042 4.652381 6.025702 q: 0.962910 0.225048 -0.010110 -0.148514 
time: 1403636686.463556, t: 1.532021 4.584459 5.896440 q: 0.963034 0.224923 -0.015257 -0.147452 
time: 1403636686.663555, t: 1.476154 4.515360 5.784448 q: 0.962710 0.224635 -0.016857 -0.149818 
time: 1403636686.863555, t: 1.416754 4.451290 5.682755 q: 0.962479 0.227139 -0.012176 -0.147967 
time: 1403636687.063555, t: 1.382293 4.386552 5.579299 q: 0.962394 0.229609 -0.009295 -0.144884 
time: 1403636687.463556, t: 1.322920 4.264048 5.390742 q: 0.961709 0.230938 -0.002101 -0.147575 
time: 1403636687.663555, t: 1.262656 4.216169 5.310285 q: 0.961607 0.233392 -0.001295 -0.144352 
time: 1403636687.863555, t: 1.176369 4.183854 5.237678 q: 0.961313 0.235058 -0.000899 -0.143612 
time: 1403636688.063555, t: 1.073379 4.156962 5.172891 q: 0.960588 0.231955 0.000641 -0.153193 
time: 1403636688.263556, t: 0.976715 4.133678 5.105972 q: 0.960358 0.231597 0.001677 -0.155155 
time: 1403636688.463556, t: 0.898001 4.102420 5.028420 q: 0.960684 0.232545 -0.001569 -0.151679 
time: 1403636688.663555, t: 0.806199 4.076700 4.953818 q: 0.959377 0.228068 -0.000258 -0.166073 
time: 1403636688.863555, t: 0.703991 4.038345 4.881586 q: 0.958058 0.231478 -0.002429 -0.168928 
time: 1403636689.063555, t: 0.622605 3.982680 4.795435 q: 0.955135 0.245998 -0.011108 -0.164557 
time: 1403636689.263556, t: 0.572647 3.918132 4.705424 q: 0.951880 0.259313 -0.019582 -0.162168 
time: 1403636689.463556, t: 0.553871 3.846665 4.621658 q: 0.949615 0.266890 -0.020925 -0.162983 
time: 1403636689.663555, t: 0.567654 3.764937 4.537773 q: 0.948932 0.269584 -0.030597 -0.160986 
time: 1403636689.863555, t: 0.578131 3.687640 4.479499 q: 0.950026 0.272183 -0.044927 -0.146114 
time: 1403636690.063555, t: 0.588287 3.618547 4.452071 q: 0.951556 0.273215 -0.040605 -0.135077 
time: 1403636690.263556, t: 0.604828 3.560816 4.454488 q: 0.951436 0.264620 -0.038413 -0.152543 
time: 1403636690.463556, t: 0.648417 3.497766 4.474320 q: 0.951636 0.262254 -0.034734 -0.156220 
time: 1403636690.663555, t: 0.687903 3.437824 4.514924 q: 0.952829 0.268876 -0.035100 -0.136349 
time: 1403636690.863555, t: 0.698416 3.394431 4.587606 q: 0.953766 0.281330 -0.027957 -0.101992 
time: 1403636691.063555, t: 0.707343 3.391138 4.686352 q: 0.953145 0.290374 0.002540 -0.084800 
time: 1403636691.263556, t: 0.748431 3.449915 4.778162 q: 0.951319 0.287369 0.031909 -0.106742 
time: 1403636691.463556, t: 0.814630 3.553929 4.841025 q: 0.949788 0.279688 0.021122 -0.138680 
time: 1403636691.663555, t: 0.902541 3.675551 4.876001 q: 0.948315 0.278198 0.001032 -0.152656 
time: 1403636691.863555, t: 1.003827 3.807092 4.896558 q: 0.946681 0.275037 -0.004096 -0.167730 
time: 1403636692.063555, t: 1.080339 3.943844 4.918719 q: 0.947126 0.280285 0.002082 -0.156165 
time: 1403636692.263556, t: 1.154979 4.074154 4.934982 q: 0.946802 0.274421 0.001139 -0.168100 
time: 1403636692.463556, t: 1.254169 4.205200 4.928095 q: 0.947412 0.272667 -0.003319 -0.167490 
time: 1403636692.663555, t: 1.372182 4.325725 4.904271 q: 0.948072 0.269241 -0.003042 -0.169288 
time: 1403636692.863555, t: 1.484250 4.437438 4.874030 q: 0.946647 0.256148 -0.008326 -0.195392 
time: 1403636693.063555, t: 1.573245 4.519390 4.846312 q: 0.946873 0.256220 -0.012742 -0.193960 
time: 1403636693.263556, t: 1.639837 4.584643 4.820120 q: 0.947477 0.262277 -0.017581 -0.182180 
time: 1403636693.463556, t: 1.677162 4.633413 4.810552 q: 0.947400 0.266284 -0.037067 -0.173646 
time: 1403636693.663555, t: 1.708280 4.666610 4.818224 q: 0.946433 0.265446 -0.057715 -0.174563 
time: 1403636693.863555, t: 1.742510 4.680030 4.855814 q: 0.946781 0.270018 -0.038431 -0.170938 
time: 1403636694.063555, t: 1.770366 4.681246 4.909358 q: 0.947020 0.276547 -0.008360 -0.163112 
time: 1403636694.263556, t: 1.797332 4.683051 4.961518 q: 0.946534 0.278508 -0.001386 -0.162805 
time: 1403636694.463556, t: 1.839205 4.679337 5.000663 q: 0.946444 0.277231 -0.011732 -0.165074 
time: 1403636694.663555, t: 1.865830 4.682999 5.041140 q: 0.946665 0.275160 -0.014496 -0.167041 
time: 1403636694.863555, t: 1.873584 4.686289 5.089884 q: 0.947838 0.276838 -0.011619 -0.157569 
time: 1403636695.063555, t: 1.867202 4.697207 5.143419 q: 0.949183 0.277388 -0.016873 -0.147727 
time: 1403636695.263556, t: 1.878524 4.715635 5.195666 q: 0.949636 0.270779 -0.012234 -0.157225 
time: 1403636695.463556, t: 1.915539 4.731695 5.237175 q: 0.950279 0.266346 -0.008077 -0.161134 
time: 1403636695.863555, t: 1.960564 4.754505 5.312555 q: 0.951361 0.260641 -0.004117 -0.164202 
time: 1403636696.063555, t: 1.955156 4.766279 5.351651 q: 0.952074 0.258615 -0.013689 -0.162744 
time: 1403636696.263556, t: 1.942890 4.776655 5.391201 q: 0.951795 0.253211 -0.015750 -0.172401 
time: 1403636696.463556, t: 1.925260 4.773607 5.429841 q: 0.952779 0.258793 0.007158 -0.158705 
time: 1403636696.663555, t: 1.918099 4.768030 5.448616 q: 0.953528 0.258133 0.004462 -0.155347 
time: 1403636696.863555, t: 1.916169 4.767837 5.451982 q: 0.953628 0.256486 0.001078 -0.157503 
time: 1403636697.063555, t: 1.897753 4.772182 5.450689 q: 0.952057 0.248434 0.006793 -0.178385 
time: 1403636697.263556, t: 1.885621 4.762754 5.426399 q: 0.950696 0.241331 0.012427 -0.194376 
time: 1403636697.463556, t: 1.890636 4.726755 5.370466 q: 0.952968 0.247234 -0.003290 -0.175264 
time: 1403636697.663555, t: 1.912055 4.674209 5.298308 q: 0.957143 0.236530 -0.006869 -0.166983 
time: 1403636697.863555, t: 1.919340 4.622058 5.232204 q: 0.967966 0.198566 -0.005430 -0.153567 
time: 1403636698.063555, t: 1.898926 4.561176 5.172509 q: 0.975494 0.169999 -0.003572 -0.139641 
time: 1403636698.263556, t: 1.859437 4.493810 5.119456 q: 0.979643 0.153348 -0.002647 -0.129527 
optimize pose graph 
time: 1403636698.463556, t: 1.807970 4.426095 5.070831 q: 0.985377 0.121202 -0.001627 -0.119748 
time: 1403636698.663555, t: 1.745610 4.350401 5.027644 q: 0.991714 0.076614 -0.000891 -0.103120 
time: 1403636698.863555, t: 1.674130 4.277667 4.988265 q: 0.996630 0.024797 0.000194 -0.078189 
time: 1403636699.063555, t: 1.599366 4.199217 4.961477 q: 0.998213 -0.027793 0.004474 -0.052701 
time: 1403636699.263556, t: 1.563535 4.123822 4.920576 q: 0.996649 -0.079141 0.009532 -0.018339 
time: 1403636699.463556, t: 1.538069 4.063339 4.886486 q: 0.991296 -0.130337 0.010845 0.015090 
time: 1403636699.663555, t: 1.523643 4.021109 4.852846 q: 0.983105 -0.177737 0.014954 0.041116 
time: 1403636699.863555, t: 1.496336 4.003240 4.828135 q: 0.973845 -0.221639 0.022024 0.044902 
time: 1403636700.063555, t: 1.463140 3.998506 4.807736 q: 0.969600 -0.238165 0.028425 0.048439 
time: 1403636700.263556, t: 1.414019 4.008279 4.794028 q: 0.968672 -0.241154 0.030213 0.051046 
time: 1403636700.463556, t: 1.345405 4.033155 4.782086 q: 0.964900 -0.253785 0.029174 0.060913 
optimize pose graph 
time: 1403636700.663555, t: 1.262548 4.076277 4.774429 q: 0.958179 -0.277849 0.038772 0.056476 
time: 1403636700.863555, t: 1.182730 4.128740 4.755898 q: 0.951701 -0.298858 0.038677 0.058761 
time: 1403636701.063555, t: 1.127849 4.173771 4.721415 q: 0.949881 -0.304991 0.024891 0.063928 
time: 1403636701.263556, t: 1.109613 4.217377 4.683301 q: 0.950776 -0.302858 0.013943 0.064090 
time: 1403636701.463556, t: 1.119188 4.264279 4.644735 q: 0.952545 -0.298117 0.017277 0.059035 
time: 1403636701.663555, t: 1.136896 4.317635 4.621803 q: 0.954244 -0.293406 0.029667 0.049508 
time: 1403636701.863555, t: 1.141049 4.375324 4.599796 q: 0.951277 -0.301861 0.031991 0.054110 
time: 1403636702.063555, t: 1.120919 4.437883 4.589628 q: 0.940319 -0.331082 0.034650 0.070593 
time: 1403636702.263556, t: 1.082658 4.501835 4.579707 q: 0.924562 -0.368843 0.038435 0.087535 
time: 1403636702.463556, t: 1.024506 4.572885 4.576424 q: 0.914418 -0.392674 0.029052 0.093820 
time: 1403636702.663555, t: 0.956991 4.644135 4.585716 q: 0.909718 -0.403774 0.021101 0.094521 
time: 1403636702.863555, t: 0.874845 4.725047 4.618901 q: 0.908907 -0.405821 0.015320 0.094671 
time: 1403636703.063555, t: 0.816343 4.800720 4.659606 q: 0.909684 -0.403449 0.019785 0.096503 
time: 1403636703.263556, t: 0.791775 4.879169 4.702117 q: 0.910908 -0.395749 0.044327 0.108000 
time: 1403636703.463556, t: 0.789493 4.965452 4.724394 q: 0.911031 -0.396492 0.048045 0.102507 
time: 1403636703.663555, t: 0.808058 5.046467 4.728418 q: 0.911069 -0.400629 0.033735 0.091170 
time: 1403636703.863555, t: 0.824488 5.126252 4.734019 q: 0.912210 -0.397134 0.038773 0.093032 
time: 1403636704.063555, t: 0.824137 5.201994 4.747335 q: 0.913684 -0.392117 0.045329 0.096802 
time: 1403636704.263556, t: 0.806422 5.284180 4.762551 q: 0.915024 -0.390397 0.032396 0.096289 
time: 1403636704.463556, t: 0.799790 5.364688 4.777144 q: 0.915380 -0.391107 0.021746 0.092966 
time: 1403636704.663555, t: 0.817083 5.453918 4.792253 q: 0.915560 -0.391171 0.012447 0.092630 
time: 1403636704.863555, t: 0.825761 5.550122 4.825685 q: 0.916169 -0.389295 -0.001955 0.095289 
time: 1403636705.063555, t: 0.824920 5.663262 4.890738 q: 0.916878 -0.387550 -0.010813 0.094983 
time: 1403636705.263556, t: 0.834761 5.792991 4.981389 q: 0.917294 -0.389810 0.016254 0.079726 
time: 1403636705.463556, t: 0.874075 5.918230 5.076260 q: 0.917461 -0.389400 0.019892 0.078978 
time: 1403636705.663555, t: 0.911493 6.043172 5.189173 q: 0.917220 -0.389310 0.010183 0.083908 
time: 1403636705.863555, t: 0.940507 6.170942 5.321819 q: 0.917309 -0.388301 0.024082 0.084772 
time: 1403636706.063555, t: 0.991943 6.295110 5.449194 q: 0.918745 -0.379210 0.045035 0.100394 
time: 1403636706.263556, t: 1.041078 6.424918 5.564142 q: 0.919223 -0.380663 0.045855 0.089565 
time: 1403636706.463556, t: 1.064691 6.557687 5.672638 q: 0.919358 -0.385411 0.029472 0.073279 
time: 1403636706.663555, t: 1.090103 6.681751 5.785173 q: 0.919097 -0.386901 0.022414 0.071178 
time: 1403636706.863555, t: 1.144985 6.797621 5.893856 q: 0.918411 -0.387881 0.013575 0.076713 
time: 1403636707.063555, t: 1.221571 6.906698 6.004433 q: 0.916451 -0.392230 0.018688 0.076972 
time: 1403636707.263556, t: 1.301735 7.019086 6.127895 q: 0.913862 -0.397926 0.020826 0.077964 
time: 1403636707.463556, t: 1.406605 7.123135 6.252022 q: 0.912061 -0.401982 0.017232 0.079105 
time: 1403636707.663555, t: 1.517878 7.379483 6.251715 q: 0.918775 -0.382330 0.019483 0.096418 
time: 1403636707.863555, t: 1.642273 7.318912 6.517827 q: 0.913527 -0.393344 0.022872 0.101125 
time: 1403636708.063555, t: 1.697816 7.433717 6.680767 q: 0.915019 -0.391598 0.027749 0.092851 
time: 1403636708.263556, t: 1.735201 7.556492 6.852918 q: 0.916726 -0.388097 0.034171 0.088464 
time: 1403636708.463556, t: 1.763827 7.681738 7.017501 q: 0.918174 -0.377841 0.051614 0.107372 
time: 1403636708.663555, t: 1.808204 7.818344 7.152220 q: 0.917430 -0.382616 0.050877 0.096638 
optimize pose graph 
time: 1403636708.863555, t: 1.844228 7.949363 7.269874 q: 0.914371 -0.396081 0.043687 0.071673 
time: 1403636709.063555, t: 1.874816 8.062680 7.386293 q: 0.910448 -0.405701 0.048577 0.064274 
time: 1403636709.263556, t: 1.920322 8.150076 7.487244 q: 0.908228 -0.410691 0.042445 0.068211 
time: 1403636709.463556, t: 1.979801 8.210648 7.591477 q: 0.907892 -0.411596 0.033104 0.072286 
time: 1403636709.663555, t: 2.013149 8.260759 7.705519 q: 0.908303 -0.410966 0.027771 0.072955 
time: 1403636709.863555, t: 2.043668 8.300316 7.835522 q: 0.909898 -0.407488 0.027231 0.072786 
time: 1403636710.063555, t: 2.096233 8.316846 7.968343 q: 0.911180 -0.404935 0.028537 0.070461 
time: 1403636710.263556, t: 2.141656 8.322399 8.112491 q: 0.913294 -0.400198 0.031115 0.069050 
time: 1403636710.463556, t: 2.153805 8.320989 8.270626 q: 0.920057 -0.379177 0.043089 0.088680 
time: 1403636710.663555, t: 2.153927 8.317795 8.421414 q: 0.930600 -0.351668 0.046650 0.090202 
optimize pose graph 
time: 1403636710.863555, t: 2.145042 8.323006 8.566154 q: 0.942670 -0.324792 0.042113 0.064101 
time: 1403636711.063555, t: 2.157190 8.321988 8.686651 q: 0.952491 -0.300818 0.032504 0.034815 
time: 1403636711.263556, t: 2.184956 8.304646 8.792823 q: 0.956318 -0.289907 0.031313 0.020713 
time: 1403636711.663555, t: 2.262539 8.216550 8.979446 q: 0.955164 -0.288696 0.063304 0.017578 
time: 1403636711.863555, t: 2.295225 8.135437 9.040921 q: 0.954607 -0.291413 0.056369 0.025019 
time: 1403636712.063555, t: 2.329834 8.032698 9.087422 q: 0.955689 -0.285413 0.049514 0.052402 
time: 1403636712.263556, t: 2.372701 7.929639 9.107433 q: 0.957443 -0.280971 0.048704 0.044569 
time: 1403636712.463556, t: 2.427316 7.824023 9.102047 q: 0.963407 -0.263389 0.047039 0.016113 
time: 1403636712.663555, t: 2.485219 7.704695 9.078428 q: 0.968735 -0.241977 0.054241 0.007626 
time: 1403636712.863555, t: 2.515346 7.578728 9.043257 q: 0.972159 -0.227408 0.055909 0.008098 
optimize pose graph 
time: 1403636713.063555, t: 2.515778 7.443301 9.005504 q: 0.973116 -0.225004 0.048595 0.007534 
time: 1403636713.263556, t: 2.523623 7.299329 8.947703 q: 0.974216 -0.220843 0.044374 0.012760 
time: 1403636713.463556, t: 2.552032 7.150713 8.863384 q: 0.974459 -0.220156 0.040720 0.017414 
time: 1403636713.663555, t: 2.586242 7.003512 8.763828 q: 0.974714 -0.218121 0.038018 0.030169 
time: 1403636713.863555, t: 2.599724 6.869311 8.663100 q: 0.974391 -0.218328 0.036024 0.039974 
time: 1403636714.063555, t: 2.594273 6.752599 8.560134 q: 0.973004 -0.226361 0.032244 0.031375 
time: 1403636714.263556, t: 2.566660 6.647896 8.465765 q: 0.971829 -0.230877 0.034669 0.032273 
time: 1403636714.463556, t: 2.523867 6.551071 8.370417 q: 0.971676 -0.231827 0.026283 0.037553 
time: 1403636714.663555, t: 2.460542 6.464862 8.280008 q: 0.976170 -0.214091 0.011305 0.033593 
time: 1403636714.863555, t: 2.425506 6.391622 8.193993 q: 0.984107 -0.177274 0.004148 0.009501 
optimize pose graph 
time: 1403636715.063555, t: 2.428724 6.323491 8.114431 q: 0.990751 -0.134930 -0.002200 -0.014170 
time: 1403636715.263556, t: 2.449325 6.259254 8.044776 q: 0.993482 -0.110732 -0.004849 -0.026615 
time: 1403636715.463556, t: 2.461302 6.205766 7.989892 q: 0.994959 -0.097696 0.006536 -0.021650 
time: 1403636715.663555, t: 2.450040 6.167757 7.951993 q: 0.995701 -0.090524 0.018556 -0.006364 
time: 1403636715.863555, t: 2.429726 6.146006 7.916488 q: 0.994003 -0.099626 0.038563 -0.023366 
time: 1403636716.063555, t: 2.420345 6.124784 7.856900 q: 0.992916 -0.105939 0.046234 -0.027530 
time: 1403636716.263556, t: 2.412950 6.097983 7.777111 q: 0.993253 -0.110461 0.030566 -0.017705 
time: 1403636716.463556, t: 2.392669 6.075895 7.690362 q: 0.992823 -0.116504 0.023034 -0.014092 
time: 1403636716.663555, t: 2.349601 6.060958 7.609414 q: 0.992942 -0.114459 0.024203 -0.019504 
time: 1403636716.863555, t: 2.293329 6.041488 7.531469 q: 0.995272 -0.090233 0.022581 -0.027959 
time: 1403636717.063555, t: 2.249064 6.017329 7.446978 q: 0.997669 -0.048786 0.017331 -0.044452 
time: 1403636717.263556, t: 2.226120 5.993346 7.347484 q: 0.997753 -0.016859 0.013655 -0.063389 
time: 1403636717.463556, t: 2.204095 5.965871 7.249779 q: 0.995920 -0.008630 0.013268 -0.088843 
time: 1403636717.663555, t: 2.161768 5.927869 7.160467 q: 0.996394 -0.002372 0.013459 -0.083735 
time: 1403636717.863555, t: 2.099290 5.877055 7.075021 q: 0.995836 0.002340 0.011987 -0.090345 
time: 1403636718.063555, t: 2.048779 5.802354 6.983546 q: 0.994290 0.027853 0.010119 -0.102519 
time: 1403636718.263556, t: 2.003013 5.706523 6.886525 q: 0.992541 0.067671 0.006399 -0.101204 
time: 1403636718.463556, t: 1.935011 5.607013 6.806932 q: 0.989821 0.100479 0.001279 -0.100776 
time: 1403636718.663555, t: 1.846908 5.511992 6.741952 q: 0.986527 0.132253 -0.003224 -0.096249 
time: 1403636718.863555, t: 1.757828 5.424979 6.673952 q: 0.983612 0.146401 -0.005544 -0.105084 
time: 1403636719.063555, t: 1.689769 5.347243 6.612839 q: 0.981584 0.147758 0.000337 -0.121084 
optimize pose graph 
time: 1403636719.263556, t: 1.646761 5.270345 6.541228 q: 0.981316 0.149372 0.012848 -0.120588 
time: 1403636719.463556, t: 1.590158 5.201677 6.465678 q: 0.982034 0.149879 0.019186 -0.113040 
time: 1403636719.663555, t: 1.513799 5.143145 6.385595 q: 0.983135 0.146033 0.009881 -0.109645 
time: 1403636719.863555, t: 1.461054 5.088753 6.294286 q: 0.984377 0.139729 0.001338 -0.107124 
time: 1403636720.063555, t: 1.417075 5.044710 6.204795 q: 0.985170 0.135572 -0.001281 -0.105159 
time: 1403636720.263556, t: 1.360543 5.004424 6.125214 q: 0.985342 0.134645 -0.002646 -0.104716 
time: 1403636720.463556, t: 1.294010 4.971177 6.054916 q: 0.985182 0.136695 -0.003249 -0.103537 
time: 1403636720.663555, t: 1.243915 4.944449 5.987321 q: 0.984720 0.139609 -0.004837 -0.103980 
time: 1403636720.863555, t: 1.222887 4.926156 5.919375 q: 0.986181 0.130502 -0.003587 -0.101999 
time: 1403636721.063555, t: 1.196915 4.916646 5.861310 q: 0.990110 0.107099 0.002076 -0.090596 
optimize pose graph 
time: 1403636721.263556, t: 1.156502 4.915799 5.812630 q: 0.993966 0.076976 0.011602 -0.077276 
time: 1403636721.463556, t: 1.139957 4.921226 5.753382 q: 0.995852 0.054583 0.013924 -0.071452 
time: 1403636721.663555, t: 1.126145 4.933006 5.690348 q: 0.997034 0.032150 0.011621 -0.068954 
time: 1403636721.863555, t: 1.091780 4.949904 5.632552 q: 0.997330 0.021784 0.013491 -0.068384 
time: 1403636722.063555, t: 1.049798 4.964213 5.575389 q: 0.996711 0.018111 0.014151 -0.077708 
time: 1403636722.263556, t: 1.026402 4.969342 5.508475 q: 0.996830 0.022601 0.012199 -0.075302 
time: 1403636722.463556, t: 1.003991 4.970295 5.439992 q: 0.997057 0.021129 0.012586 -0.072617 
time: 1403636722.663555, t: 0.963636 4.971474 5.376348 q: 0.997301 0.012644 0.012711 -0.071203 
time: 1403636722.863555, t: 0.921072 4.968679 5.312012 q: 0.997157 0.007227 0.012544 -0.073948 
time: 1403636723.063555, t: 0.906093 4.955805 5.240175 q: 0.997589 0.009200 0.012839 -0.067582 
time: 1403636723.263556, t: 0.897076 4.938562 5.165871 q: 0.997637 0.008728 0.012309 -0.067027 
time: 1403636723.463556, t: 0.871840 4.925299 5.099121 q: 0.997303 -0.003824 0.015970 -0.071535 
time: 1403636723.663555, t: 0.848762 4.905045 5.023592 q: 0.997441 -0.020874 0.035168 -0.058639 
time: 1403636723.863555, t: 0.833788 4.878645 4.937156 q: 0.997957 -0.034386 0.019513 -0.050178 
time: 1403636724.063555, t: 0.800777 4.854778 4.854499 q: 0.997967 -0.046762 0.004835 -0.043029 
time: 1403636724.263556, t: 0.752954 4.837282 4.787576 q: 0.996605 -0.075574 0.001828 -0.032617 
time: 1403636724.463556, t: 0.705905 4.820389 4.727686 q: 0.993478 -0.111116 0.012642 -0.022261 
time: 1403636724.663555, t: 0.689535 4.797410 4.667030 q: 0.990904 -0.131898 0.020393 -0.017198 
time: 1403636724.863555, t: 0.699915 4.764533 4.598416 q: 0.990156 -0.138092 0.018543 -0.013322 
time: 1403636725.063555, t: 0.736174 4.724507 4.528190 q: 0.990965 -0.132774 0.018235 -0.005213 
time: 1403636725.263556, t: 0.792855 4.684961 4.452433 q: 0.991471 -0.129220 0.016596 -0.003399 
optimize pose graph 
time: 1403636725.463556, t: 0.837492 4.655323 4.385511 q: 0.991206 -0.131041 0.015611 -0.009769 
time: 1403636725.663555, t: 0.861847 4.635306 4.331767 q: 0.990895 -0.132932 0.016338 -0.013742 
time: 1403636725.863555, t: 0.864865 4.617133 4.290080 q: 0.990985 -0.132494 0.015135 -0.012883 
time: 1403636726.063555, t: 0.852325 4.604400 4.259819 q: 0.991374 -0.129637 0.015956 -0.010859 
time: 1403636726.263556, t: 0.824175 4.594702 4.238749 q: 0.991403 -0.128593 0.018899 -0.015059 
time: 1403636726.463556, t: 0.806110 4.583016 4.215879 q: 0.991701 -0.125625 0.021714 -0.016612 
time: 1403636726.663555, t: 0.814595 4.569214 4.180404 q: 0.993099 -0.113439 0.029035 0.006493 
time: 1403636726.863555, t: 0.847707 4.566228 4.130146 q: 0.992810 -0.115746 0.029324 -0.008440 
time: 1403636727.063555, t: 0.903559 4.563850 4.062122 q: 0.992919 -0.113341 0.027873 -0.022106 
time: 1403636727.263556, t: 0.950368 4.561241 3.989406 q: 0.992613 -0.114155 0.024037 -0.033312 
time: 1403636727.463556, t: 0.979342 4.552439 3.921591 q: 0.992303 -0.115712 0.020659 -0.038966 
optimize pose graph 
time: 1403636727.663555, t: 1.005969 4.530074 3.852661 q: 0.992872 -0.112197 0.025983 -0.030690 
time: 1403636727.863555, t: 1.050857 4.495465 3.773540 q: 0.992326 -0.115602 0.021833 -0.038063 
time: 1403636728.063555, t: 1.094855 4.451375 3.694576 q: 0.992113 -0.116976 0.021018 -0.039827 
time: 1403636728.263556, t: 1.116816 4.397167 3.620349 q: 0.992622 -0.114128 0.025833 -0.031756 
time: 1403636728.463556, t: 1.109893 4.337748 3.556235 q: 0.993346 -0.110319 0.026119 -0.020283 
time: 1403636728.663555, t: 1.087297 4.282192 3.492941 q: 0.994411 -0.101773 0.025023 -0.012782 
time: 1403636728.863555, t: 1.072971 4.226533 3.423998 q: 0.995553 -0.083186 0.021937 -0.038386 
time: 1403636729.063555, t: 1.064324 4.169250 3.343214 q: 0.996371 -0.062548 0.025635 -0.051733 
time: 1403636729.263556, t: 1.031788 4.112213 3.267591 q: 0.996998 -0.050552 0.022790 -0.054039 
time: 1403636729.463556, t: 0.985326 4.052346 3.190789 q: 0.997136 -0.046569 0.023428 -0.054797 
time: 1403636729.663555, t: 0.953755 3.986197 3.100865 q: 0.997295 -0.045178 0.021679 -0.053773 
time: 1403636729.863555, t: 0.933839 3.915830 3.003945 q: 0.997439 -0.046343 0.015732 -0.052157 
time: 1403636730.063555, t: 0.900737 3.847256 2.910279 q: 0.997636 -0.046349 0.009726 -0.049791 
time: 1403636730.263556, t: 0.853058 3.781014 2.828505 q: 0.997686 -0.045405 0.007834 -0.049991 
time: 1403636730.463556, t: 0.796296 3.717873 2.754381 q: 0.997875 -0.043807 0.003117 -0.048124 
time: 1403636730.663555, t: 0.762185 3.653282 2.684926 q: 0.997902 -0.043612 -0.009429 -0.046907 
time: 1403636730.863555, t: 0.767412 3.589031 2.622343 q: 0.997969 -0.042811 -0.012621 -0.045450 
time: 1403636731.063555, t: 0.781881 3.528776 2.583500 q: 0.999025 -0.036159 -0.004629 -0.024921 
time: 1403636731.263556, t: 0.785967 3.488396 2.558758 q: 0.998897 -0.036836 0.014694 -0.025146 
time: 1403636731.663555, t: 0.750326 3.454984 2.523408 q: 0.998648 -0.039717 0.015428 -0.029784 
time: 1403636731.863555, t: 0.714748 3.457323 2.507406 q: 0.998278 -0.042495 0.014691 -0.037684 
time: 1403636732.063555, t: 0.663346 3.467058 2.495545 q: 0.998085 -0.042182 0.017562 -0.041701 
time: 1403636732.263556, t: 0.601318 3.481504 2.486226 q: 0.997917 -0.041700 0.020099 -0.044931 
time: 1403636732.463556, t: 0.561482 3.492641 2.463979 q: 0.996962 -0.045755 0.024272 -0.058176 
time: 1403636732.663555, t: 0.544313 3.488074 2.422091 q: 0.995022 -0.051027 0.035472 -0.077910 
time: 1403636732.863555, t: 0.535723 3.459863 2.358584 q: 0.996298 -0.043766 0.038797 -0.063004 
time: 1403636733.063555, t: 0.510919 3.418950 2.281817 q: 0.996844 -0.042227 0.029971 -0.060180 
time: 1403636733.263556, t: 0.487765 3.367352 2.192058 q: 0.996764 -0.042762 0.023613 -0.063839 
time: 1403636733.463556, t: 0.486304 3.303034 2.087870 q: 0.997523 -0.039006 0.016658 -0.056115 
time: 1403636733.863555, t: 0.472334 3.167676 1.881653 q: 0.997776 -0.037748 0.005863 -0.054626 
time: 1403636734.063555, t: 0.439132 3.104017 1.796772 q: 0.997247 -0.039735 0.014881 -0.060813 
time: 1403636734.263556, t: 0.405718 3.033780 1.712412 q: 0.997510 -0.037914 0.018828 -0.056409 
time: 1403636734.463556, t: 0.395481 2.959380 1.614950 q: 0.997962 -0.034704 0.012967 -0.051953 
time: 1403636734.663555, t: 0.387128 2.884652 1.521707 q: 0.998082 -0.033210 0.005031 -0.051995 
time: 1403636734.863555, t: 0.355566 2.813533 1.444107 q: 0.998025 -0.031383 0.003195 -0.054326 
time: 1403636735.063555, t: 0.314866 2.747577 1.379085 q: 0.998101 -0.029865 0.003433 -0.053760 
time: 1403636735.263556, t: 0.278021 2.685380 1.320656 q: 0.998360 -0.029453 0.001160 -0.049083 
time: 1403636735.463556, t: 0.275975 2.625005 1.260990 q: 0.998479 -0.032535 0.001564 -0.044473 
time: 1403636735.663555, t: 0.303043 2.568040 1.205024 q: 0.998163 -0.039808 0.006279 -0.045236 
time: 1403636735.863555, t: 0.325690 2.517033 1.156282 q: 0.998063 -0.043698 0.006119 -0.043848 
time: 1403636736.063555, t: 0.336288 2.467850 1.124495 q: 0.998002 -0.040467 0.008020 -0.047851 
time: 1403636736.263556, t: 0.367013 2.415643 1.082977 q: 0.998208 -0.017644 0.013251 -0.055624 
time: 1403636736.463556, t: 0.394420 2.369131 1.042487 q: 0.997574 -0.002324 0.013307 -0.068295 
time: 1403636736.663555, t: 0.398582 2.321704 1.012048 q: 0.996333 0.001767 0.015600 -0.084104 
time: 1403636736.863555, t: 0.384737 2.269001 0.980570 q: 0.996081 0.005465 0.016430 -0.086729 
time: 1403636737.063555, t: 0.360823 2.202403 0.951651 q: 0.996609 0.012788 0.014480 -0.079985 
time: 1403636737.263556, t: 0.317420 2.137316 0.923212 q: 0.997051 0.021694 0.013379 -0.072380 
time: 1403636737.463556, t: 0.278893 2.070539 0.891960 q: 0.996944 0.026080 0.004128 -0.073517 
time: 1403636737.663555, t: 0.268457 2.001160 0.856132 q: 0.997212 0.030521 -0.001795 -0.068076 
optimize pose graph 
time: 1403636737.863555, t: 0.284260 1.939102 0.814708 q: 0.997701 0.033612 -0.005196 -0.058621 
time: 1403636738.063555, t: 0.328423 1.887016 0.777523 q: 0.997793 0.031640 -0.004457 -0.058201 
time: 1403636738.263556, t: 0.379520 1.852118 0.746690 q: 0.997634 0.026915 0.000085 -0.063261 
time: 1403636738.463556, t: 0.410136 1.825513 0.729519 q: 0.997777 0.022094 -0.000479 -0.062865 
time: 1403636738.663555, t: 0.420853 1.816146 0.722450 q: 0.998630 0.000824 -0.003589 -0.052197 
time: 1403636738.863555, t: 0.415524 1.816016 0.731965 q: 0.998833 -0.037003 0.008886 -0.029755 
time: 1403636739.063555, t: 0.388333 1.837649 0.751243 q: 0.996353 -0.083316 0.018413 0.000745 
time: 1403636739.263556, t: 0.350574 1.880857 0.768732 q: 0.989334 -0.143647 0.022027 0.009948 
time: 1403636739.463556, t: 0.311227 1.935059 0.777575 q: 0.978732 -0.203370 0.023685 0.012773 
time: 1403636739.663555, t: 0.296776 1.981042 0.782992 q: 0.969674 -0.240983 0.026455 0.030990 
time: 1403636739.863555, t: 0.291655 2.025585 0.782378 q: 0.965870 -0.253883 0.028784 0.042550 
optimize pose graph 
time: 1403636740.063555, t: 0.267513 2.070669 0.789616 q: 0.965200 -0.256970 0.027142 0.040244 
time: 1403636740.263556, t: 0.227844 2.120839 0.802167 q: 0.965399 -0.258373 0.025177 0.024791 
time: 1403636740.463556, t: 0.171286 2.163583 0.822312 q: 0.967173 -0.250490 0.029425 0.031075 
time: 1403636740.663555, t: 0.111087 2.203871 0.840073 q: 0.968536 -0.244455 0.032244 0.033753 
time: 1403636740.863555, t: 0.066669 2.236733 0.848333 q: 0.969479 -0.241123 0.028072 0.034379 
time: 1403636741.063555, t: 0.005322 2.274025 0.856987 q: 0.968088 -0.248498 0.030070 0.012234 
time: 1403636741.263556, t: -0.080349 2.307148 0.872248 q: 0.964974 -0.258532 0.037800 0.023605 
time: 1403636741.463556, t: -0.182874 2.329762 0.886717 q: 0.963226 -0.263609 0.028355 0.043600 
time: 1403636741.663555, t: -0.258189 2.351926 0.892122 q: 0.962275 -0.266994 0.012319 0.050878 
time: 1403636741.863555, t: -0.301724 2.377625 0.897981 q: 0.962201 -0.268573 0.019013 0.040933 
time: 1403636742.063555, t: -0.357467 2.407076 0.913335 q: 0.962852 -0.268416 0.014892 0.025431 
optimize pose graph 
time: 1403636742.263556, t: -0.406394 2.424573 0.938463 q: 0.965152 -0.259142 0.006645 0.035804 
time: 1403636742.463556, t: -0.415940 2.447325 0.966682 q: 0.966631 -0.252882 0.020258 0.035576 
time: 1403636742.663555, t: -0.410345 2.470562 0.988382 q: 0.967325 -0.249959 0.027516 0.032328 
time: 1403636742.863555, t: -0.427750 2.495753 1.015463 q: 0.968007 -0.246587 0.034745 0.030814 
time: 1403636743.063555, t: -0.477587 2.523974 1.048054 q: 0.966918 -0.250859 0.028457 0.036460 
time: 1403636743.263556, t: -0.536596 2.560216 1.081509 q: 0.964122 -0.260427 -0.006845 0.050988 
time: 1403636743.463556, t: -0.557391 2.608806 1.125464 q: 0.962838 -0.263851 -0.007394 0.057189 
time: 1403636743.663555, t: -0.563869 2.671212 1.193099 q: 0.962230 -0.267854 0.008646 0.047889 
time: 1403636743.863555, t: -0.587018 2.742570 1.278086 q: 0.959528 -0.276716 0.025444 0.045671 
time: 1403636744.063555, t: -0.632801 2.815884 1.374675 q: 0.955798 -0.288830 0.033905 0.043330 
optimize pose graph 
time: 1403636744.263556, t: -0.698112 2.885201 1.469555 q: 0.951244 -0.301356 0.040824 0.051494 
time: 1403636744.463556, t: -0.788435 2.954787 1.568103 q: 0.949726 -0.302838 0.045653 0.064998 
time: 1403636744.663555, t: -0.902622 3.021995 1.664875 q: 0.950175 -0.297993 0.054054 0.073793 
time: 1403636744.863555, t: -1.026144 3.095205 1.743719 q: 0.949673 -0.303511 0.050531 0.058733 
time: 1403636745.063555, t: -1.130024 3.161064 1.800449 q: 0.951025 -0.301995 0.034431 0.056263 
time: 1403636745.263556, t: -1.205143 3.220182 1.850868 q: 0.953751 -0.294140 0.026500 0.056031 
time: 1403636745.463556, t: -1.245617 3.281483 1.890611 q: 0.955426 -0.289284 0.038692 0.044474 
time: 1403636745.663555, t: -1.258459 3.336973 1.918211 q: 0.953971 -0.293045 0.045431 0.044713 
time: 1403636745.863555, t: -1.251159 3.375462 1.934269 q: 0.949879 -0.306557 0.043698 0.042931 
time: 1403636746.063555, t: -1.218598 3.393661 1.940016 q: 0.944804 -0.322966 0.039986 0.037951 
time: 1403636746.263556, t: -1.165031 3.388739 1.938114 q: 0.941580 -0.331986 0.044582 0.035013 
time: 1403636746.463556, t: -1.118534 3.355856 1.939456 q: 0.940473 -0.332570 0.060453 0.035405 
time: 1403636746.663555, t: -1.112002 3.304691 1.953105 q: 0.944543 -0.322012 0.027777 0.058094 
time: 1403636746.863555, t: -1.116846 3.257382 1.975108 q: 0.947971 -0.307297 0.013876 0.082015 
time: 1403636747.063555, t: -1.105259 3.232279 2.001740 q: 0.949218 -0.304903 0.021511 0.074548 
time: 1403636747.263556, t: -1.056663 3.219346 2.025202 q: 0.947839 -0.312861 0.031142 0.052428 
time: 1403636747.463556, t: -0.992496 3.203241 2.046303 q: 0.946362 -0.317858 0.032972 0.047733 
time: 1403636747.663555, t: -0.940253 3.184048 2.076908 q: 0.945148 -0.320896 0.029762 0.053257 
time: 1403636747.863555, t: -0.868323 3.157143 2.106795 q: 0.943610 -0.324630 0.030258 0.057452 
time: 1403636748.063555, t: -0.776055 3.129172 2.135205 q: 0.943072 -0.318580 0.043734 0.084906 
time: 1403636748.263556, t: -0.709971 3.111972 2.162311 q: 0.942048 -0.322049 0.040327 0.084870 
time: 1403636748.463556, t: -0.658704 3.108471 2.188746 q: 0.941043 -0.331153 0.032423 0.061019 
time: 1403636748.663555, t: -0.595552 3.104730 2.213877 q: 0.941157 -0.329660 0.037390 0.064419 
time: 1403636748.863555, t: -0.531222 3.101868 2.235131 q: 0.940946 -0.325943 0.044727 0.079879 
time: 1403636749.063555, t: -0.486923 3.108204 2.255856 q: 0.939047 -0.328508 0.049596 0.088397 
time: 1403636749.263556, t: -0.449403 3.128011 2.264492 q: 0.937274 -0.333561 0.051348 0.087277 
time: 1403636749.463556, t: -0.394376 3.151309 2.250746 q: 0.935553 -0.343375 0.045500 0.069021 
time: 1403636749.663555, t: -0.330942 3.167377 2.232546 q: 0.934934 -0.348321 0.039990 0.054508 
time: 1403636749.863555, t: -0.288475 3.177512 2.224637 q: 0.935927 -0.343860 0.053706 0.054014 
time: 1403636750.063555, t: -0.269274 3.175164 2.219225 q: 0.937848 -0.337514 0.061899 0.051898 
time: 1403636750.263556, t: -0.259444 3.156723 2.204582 q: 0.940335 -0.331766 0.053204 0.053576 
time: 1403636750.463556, t: -0.224579 3.121133 2.168264 q: 0.942873 -0.325564 0.044860 0.054654 
time: 1403636750.663555, t: -0.159977 3.077837 2.116495 q: 0.945176 -0.319806 0.042351 0.050721 
time: 1403636750.863555, t: -0.069892 3.026136 2.053546 q: 0.946686 -0.316159 0.037742 0.049036 
time: 1403636751.063555, t: 0.030360 2.966649 1.990433 q: 0.946635 -0.317583 0.031509 0.045061 
time: 1403636751.263556, t: 0.110423 2.906758 1.939266 q: 0.946404 -0.318181 0.020092 0.051729 
time: 1403636751.463556, t: 0.188686 2.846171 1.902116 q: 0.946283 -0.315196 0.027034 0.066849 
time: 1403636751.663555, t: 0.260883 2.797692 1.869196 q: 0.949035 -0.303997 0.038156 0.073914 
time: 1403636751.863555, t: 0.325079 2.764088 1.835019 q: 0.952312 -0.294810 0.020534 0.075947 
time: 1403636752.063555, t: 0.387176 2.755735 1.804757 q: 0.953234 -0.296094 0.011194 0.059574 
time: 1403636752.263556, t: 0.451183 2.758284 1.786584 q: 0.955707 -0.289141 0.025918 0.048471 
time: 1403636752.463556, t: 0.531791 2.758163 1.768116 q: 0.963731 -0.261923 0.036937 0.035414 
time: 1403636752.663555, t: 0.612020 2.752107 1.744149 q: 0.974017 -0.223881 0.028550 0.018778 
time: 1403636752.863555, t: 0.666416 2.747071 1.726666 q: 0.983067 -0.181985 0.021448 0.000072 
time: 1403636753.063555, t: 0.693282 2.743547 1.722274 q: 0.989609 -0.139853 0.016254 -0.029182 
time: 1403636753.263556, t: 0.699259 2.733259 1.722134 q: 0.994164 -0.092426 0.011125 -0.054518 
time: 1403636753.463556, t: 0.686148 2.709335 1.725489 q: 0.996245 -0.050354 0.012006 -0.069406 
time: 1403636753.663555, t: 0.687152 2.667026 1.731541 q: 0.997401 -0.029068 0.014138 -0.064396 
time: 1403636753.863555, t: 0.690766 2.619370 1.733937 q: 0.997398 -0.027475 0.016427 -0.064591 
time: 1403636754.063555, t: 0.677649 2.572804 1.731832 q: 0.997322 -0.031489 0.020703 -0.062684 
time: 1403636754.263556, t: 0.677018 2.521620 1.712771 q: 0.996784 -0.037252 0.030854 -0.063888 
optimize pose graph 
time: 1403636754.463556, t: 0.691625 2.454349 1.673667 q: 0.996659 -0.037455 0.030502 -0.065861 
time: 1403636754.663555, t: 0.692264 2.371128 1.627351 q: 0.996662 -0.020531 0.024227 -0.075212 
time: 1403636754.863555, t: 0.669059 2.282857 1.574801 q: 0.996194 0.010642 0.021221 -0.083863 
time: 1403636755.063555, t: 0.616272 2.191512 1.522811 q: 0.995224 0.030286 0.020759 -0.090451 
time: 1403636755.263556, t: 0.580879 2.081315 1.460041 q: 0.994880 0.038665 0.015631 -0.092059 
time: 1403636755.463556, t: 0.563796 1.974283 1.382415 q: 0.995002 0.038936 -0.004789 -0.091832 
time: 1403636755.663555, t: 0.547523 1.864394 1.311346 q: 0.995021 0.036105 -0.002335 -0.092871 
time: 1403636755.863555, t: 0.514262 1.747944 1.254915 q: 0.995446 0.035806 0.004880 -0.088217 
time: 1403636756.063555, t: 0.478555 1.628384 1.199976 q: 0.995627 0.036720 0.010576 -0.085250 
time: 1403636756.263556, t: 0.460980 1.507399 1.131192 q: 0.995470 0.037307 0.014037 -0.086317 
time: 1403636756.463556, t: 0.436047 1.381603 1.062274 q: 0.995293 0.038618 0.015577 -0.087511 
optimize pose graph 
time: 1403636756.663555, t: 0.391719 1.258060 0.997256 q: 0.995209 0.040849 0.016397 -0.087301 
time: 1403636756.863555, t: 0.355661 1.135387 0.918354 q: 0.995104 0.043676 0.018579 -0.086688 
time: 1403636757.063555, t: 0.334197 1.011657 0.823484 q: 0.995154 0.046096 0.017553 -0.085058 
time: 1403636757.263556, t: 0.299462 0.892525 0.725130 q: 0.995059 0.046726 0.016942 -0.085952 
time: 1403636757.463556, t: 0.234149 0.782113 0.627237 q: 0.994670 0.045634 0.011802 -0.091707 
time: 1403636757.663555, t: 0.180098 0.663050 0.530511 q: 0.993516 0.054702 -0.007522 -0.099379 
time: 1403636757.863555, t: 0.160609 0.530410 0.432340 q: 0.992173 0.067598 -0.026355 -0.101627 
time: 1403636758.063555, t: 0.176416 0.383509 0.351985 q: 0.991883 0.078189 -0.009666 -0.099804 
time: 1403636758.263556, t: 0.166027 0.251650 0.280705 q: 0.991692 0.085498 0.009902 -0.095596 
time: 1403636758.463556, t: 0.136505 0.116501 0.229168 q: 0.992304 0.087716 -0.005954 -0.087197 
time: 1403636758.663555, t: 0.085934 -0.012558 0.193028 q: 0.992784 0.090513 -0.038574 -0.068546 
optimize pose graph 
time: 1403636758.863555, t: 0.060863 -0.110934 0.173978 q: 0.993174 0.088309 -0.006585 -0.075913 
time: 1403636759.063555, t: 0.032716 -0.192193 0.167126 q: 0.992725 0.086453 0.007615 -0.083459 
time: 1403636759.263556, t: -0.016949 -0.255147 0.174357 q: 0.993759 0.101088 0.007425 -0.046576 
time: 1403636759.463556, t: -0.070056 -0.283616 0.176075 q: 0.993163 0.094859 0.010970 -0.067149 
time: 1403636759.663555, t: -0.124195 -0.287250 0.174986 q: 0.991854 0.088457 0.013114 -0.090709 
time: 1403636759.863555, t: -0.149249 -0.289743 0.156941 q: 0.991558 0.088516 0.013040 -0.093854 
time: 1403636760.263556, t: -0.199902 -0.289235 0.116899 q: 0.991945 0.086576 -0.003355 -0.092403 
time: 1403636760.463556, t: -0.231678 -0.284085 0.109958 q: 0.991577 0.087177 0.013327 -0.094859 
time: 1403636760.663555, t: -0.272081 -0.278418 0.098695 q: 0.991232 0.084288 -0.002677 -0.101725 
time: 1403636760.863555, t: -0.305478 -0.278684 0.087278 q: 0.990634 0.083327 0.000729 -0.108166 
optimize pose graph 
time: 1403636761.063555, t: -0.339300 -0.289855 0.074032 q: 0.990736 0.084708 -0.005391 -0.106004 
time: 1403636761.263556, t: -0.373304 -0.307913 0.064329 q: 0.990516 0.084628 -0.031295 -0.103616 
time: 1403636761.463556, t: -0.386038 -0.336902 0.070725 q: 0.990780 0.086075 -0.014873 -0.103558 
time: 1403636761.663555, t: -0.384850 -0.372312 0.083358 q: 0.991391 0.088832 0.005333 -0.096040 
time: 1403636761.863555, t: -0.378067 -0.403664 0.089079 q: 0.992586 0.095179 0.005559 -0.075388 
time: 1403636762.263556, t: -0.350352 -0.436043 0.082250 q: 0.989870 0.074749 -0.004177 -0.120634 
time: 1403636762.463556, t: -0.360407 -0.468475 0.087436 q: 0.991245 0.078748 -0.025740 -0.102805 
time: 1403636762.863555, t: -0.433631 -0.506182 0.153098 q: 0.992460 0.098502 0.034127 -0.064471 
optimize pose graph 
time: 1403636763.063555, t: -0.445066 -0.478303 0.136420 q: 0.995865 0.066378 0.009902 -0.061220 
time: 1403636763.263556, t: -0.449840 -0.465887 0.128262 q: 0.997454 0.052789 0.018497 -0.044245 
time: 1403636763.463556, t: -0.449284 -0.465858 0.127877 q: 0.997425 0.052914 0.020565 -0.043817 
time: 1403636763.663555, t: -0.448892 -0.465597 0.128249 q: 0.997434 0.053178 0.020670 -0.043248 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720490546.398349297]: Shutdown request received.[0m
[33m[ WARN] [1720490546.398392398]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720490546.399292817]: Shutdown request received.[0m
[33m[ WARN] [1720490546.399321562]: Reason given for shutdown: [user request][0m
killed
