/SLAM-Hive/slam_hive_results/mapping_results/2983/2191_vins-fusion-stereo+MH_02_easy+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720495952.786371014]: init begins[0m
[31m[ERROR] [1720495952.787529831]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720495952.787832095]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e0916862-3da3-11ef-b29d-0242ac110005/roslaunch-e60ab7b9ad93-119.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://e60ab7b9ad93:40335/[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 [156][0m
[1mROS_MASTER_URI=http://e60ab7b9ad93:11311/[0m
]2;roscore http://e60ab7b9ad93:11311/
[1msetting /run_id to e0916862-3da3-11ef-b29d-0242ac110005[0m
[0m[ INFO] [1720495953.944868640]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720495953.949327753]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720495953.996635945]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720495953.998420808]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720495953.998604581]: ROW: 384 COL: 601 [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] [1720495954.003148747]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720495954.003670772]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720495954.004272659]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [188][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720495962.943084983]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316859106.32 
[0m[ INFO] [1720495966.307422582]: Initialization finish![0m
time: 1403636859.701667, t: 0.277872 0.068248 -0.081021 q: 0.998267 -0.054685 -0.017260 -0.013204 
time: 1403636859.801666, t: 0.316593 0.066008 -0.085837 q: 0.997893 -0.061845 -0.006422 -0.018524 
time: 1403636859.901666, t: 0.364992 0.058197 -0.106517 q: 0.997407 -0.067905 -0.001071 -0.023807 
time: 1403636860.001667, t: 0.385190 0.063794 -0.105836 q: 0.997260 -0.070141 0.001787 -0.023427 
time: 1403636860.101666, t: 0.395602 0.067775 -0.109324 q: 0.997080 -0.073497 -0.002083 -0.020641 
time: 1403636860.201667, t: 0.373648 0.074503 -0.101664 q: 0.997092 -0.073803 -0.009646 -0.016384 
time: 1403636860.301666, t: 0.326566 0.080635 -0.089931 q: 0.997169 -0.070959 -0.022926 -0.009612 
time: 1403636860.401666, t: 0.268730 0.086571 -0.076605 q: 0.996489 -0.071332 -0.043751 -0.002736 
time: 1403636860.501667, t: 0.211657 0.090229 -0.062985 q: 0.995184 -0.071330 -0.067053 0.004984 
time: 1403636860.601666, t: 0.166452 0.091899 -0.053784 q: 0.993897 -0.068910 -0.085456 0.010851 
time: 1403636860.701667, t: 0.138516 0.092223 -0.050259 q: 0.993608 -0.063967 -0.092257 0.011812 
time: 1403636860.801666, t: 0.130614 0.093070 -0.051924 q: 0.993637 -0.063010 -0.093247 0.004492 
time: 1403636860.901666, t: 0.148589 0.092509 -0.058325 q: 0.993786 -0.061124 -0.092994 -0.002460 
time: 1403636861.001667, t: 0.190588 0.090785 -0.069993 q: 0.994239 -0.058657 -0.089445 -0.006902 
time: 1403636861.101666, t: 0.247588 0.088600 -0.083835 q: 0.995410 -0.058299 -0.075420 -0.008474 
time: 1403636861.201667, t: 0.308953 0.086672 -0.097648 q: 0.996788 -0.058708 -0.053315 -0.011162 
time: 1403636861.301666, t: 0.369796 0.085286 -0.113400 q: 0.997797 -0.058281 -0.029008 -0.012787 
time: 1403636861.401666, t: 0.418969 0.084896 -0.124863 q: 0.998139 -0.059203 -0.009022 -0.011538 
time: 1403636861.501667, t: 0.443084 0.086716 -0.131848 q: 0.998045 -0.061437 0.003268 -0.010996 
time: 1403636861.601666, t: 0.435836 0.090206 -0.128747 q: 0.997917 -0.063480 0.002075 -0.011330 
time: 1403636861.701667, t: 0.399577 0.093766 -0.115914 q: 0.998002 -0.061809 -0.008818 -0.009654 
time: 1403636861.801666, t: 0.348868 0.096778 -0.102062 q: 0.997871 -0.060824 -0.021020 -0.010568 
time: 1403636861.901666, t: 0.292494 0.097051 -0.087558 q: 0.997715 -0.057251 -0.034895 -0.008379 
time: 1403636862.001667, t: 0.235126 0.096385 -0.073260 q: 0.996989 -0.054215 -0.055346 -0.003109 
time: 1403636862.201667, t: 0.145717 0.092108 -0.051516 q: 0.995491 -0.049580 -0.080727 0.004775 
time: 1403636862.301666, t: 0.133648 0.092374 -0.050060 q: 0.994794 -0.050260 -0.088628 -0.001793 
time: 1403636862.401666, t: 0.152809 0.091733 -0.055903 q: 0.994247 -0.049178 -0.095042 -0.004685 
time: 1403636862.501667, t: 0.198515 0.090391 -0.068397 q: 0.994599 -0.049565 -0.090985 -0.006151 
time: 1403636862.601666, t: 0.259775 0.090489 -0.082313 q: 0.994954 -0.059586 -0.079686 -0.012920 
time: 1403636862.701667, t: 0.326742 0.088734 -0.097774 q: 0.995437 -0.067616 -0.065023 -0.017495 
time: 1403636862.801666, t: 0.394025 0.085592 -0.114094 q: 0.995908 -0.070520 -0.055174 -0.012264 
time: 1403636862.901666, t: 0.455953 0.081586 -0.130243 q: 0.996134 -0.073278 -0.048219 -0.004610 
time: 1403636863.001667, t: 0.497062 0.078412 -0.144535 q: 0.996697 -0.071937 -0.037695 0.000075 
time: 1403636863.101666, t: 0.505448 0.079763 -0.148726 q: 0.996840 -0.073955 -0.027859 -0.008058 
time: 1403636863.201667, t: 0.480654 0.082938 -0.141105 q: 0.996568 -0.077110 -0.024501 -0.017497 
time: 1403636863.301666, t: 0.431569 0.086177 -0.126075 q: 0.996170 -0.079630 -0.027613 -0.023289 
time: 1403636863.401666, t: 0.369943 0.090646 -0.107696 q: 0.995590 -0.084513 -0.031451 -0.025857 
time: 1403636863.501667, t: 0.303785 0.094526 -0.089766 q: 0.995252 -0.086699 -0.039083 -0.020723 
time: 1403636863.601666, t: 0.237659 0.097408 -0.074796 q: 0.995475 -0.078799 -0.052258 -0.009474 
time: 1403636863.701667, t: 0.179418 0.099427 -0.061573 q: 0.995107 -0.072523 -0.067094 0.000446 
time: 1403636863.901666, t: 0.136900 0.103199 -0.056218 q: 0.993262 -0.069703 -0.092275 0.007616 
time: 1403636864.001667, t: 0.167687 0.102281 -0.066447 q: 0.993285 -0.066198 -0.094650 0.006685 
time: 1403636864.101666, t: 0.225335 0.098837 -0.083454 q: 0.993939 -0.064876 -0.088749 0.000375 
time: 1403636864.201667, t: 0.295653 0.095741 -0.102282 q: 0.994251 -0.070182 -0.080554 -0.007110 
time: 1403636864.301666, t: 0.363664 0.090042 -0.118519 q: 0.994594 -0.071489 -0.074834 -0.008510 
time: 1403636864.401666, t: 0.423255 0.084355 -0.133723 q: 0.995155 -0.071540 -0.067155 -0.006154 
time: 1403636864.501667, t: 0.472478 0.080481 -0.145663 q: 0.996069 -0.074577 -0.047791 -0.000811 
time: 1403636864.601666, t: 0.499914 0.077030 -0.150683 q: 0.996857 -0.074574 -0.026486 0.003663 
time: 1403636864.701667, t: 0.497227 0.076558 -0.149243 q: 0.996846 -0.077339 -0.017554 -0.003030 
time: 1403636864.801666, t: 0.464651 0.079700 -0.138997 q: 0.996571 -0.078853 -0.023118 -0.009685 
time: 1403636864.901666, t: 0.412444 0.082930 -0.122494 q: 0.996224 -0.079845 -0.032563 -0.010129 
time: 1403636865.001667, t: 0.355283 0.086347 -0.105173 q: 0.995252 -0.085965 -0.043961 -0.012293 
time: 1403636865.101666, t: 0.296090 0.090896 -0.086818 q: 0.994565 -0.086705 -0.056689 -0.010491 
time: 1403636865.201667, t: 0.243186 0.093651 -0.069790 q: 0.994674 -0.079764 -0.064952 0.006464 
time: 1403636865.301666, t: 0.201943 0.095388 -0.058058 q: 0.994833 -0.072465 -0.068288 0.019816 
time: 1403636865.401666, t: 0.176887 0.097099 -0.050961 q: 0.994641 -0.073266 -0.070190 0.019850 
time: 1403636865.501667, t: 0.227574 0.110709 -0.056638 q: 0.993147 -0.076171 -0.088445 0.005800 
time: 1403636865.601666, t: 0.193356 0.095955 -0.054005 q: 0.993092 -0.074116 -0.090721 0.006673 
time: 1403636865.701667, t: 0.238680 0.089001 -0.066657 q: 0.993521 -0.069221 -0.089919 0.006230 
time: 1403636865.801666, t: 0.299633 0.080552 -0.082269 q: 0.994672 -0.067818 -0.077370 0.006491 
time: 1403636865.901666, t: 0.364586 0.075249 -0.099777 q: 0.995967 -0.067440 -0.058666 0.007709 
time: 1403636866.001667, t: 0.429461 0.070524 -0.118744 q: 0.997166 -0.066825 -0.033200 0.009588 
time: 1403636866.101666, t: 0.486545 0.065936 -0.136043 q: 0.997472 -0.070344 -0.005605 0.008363 
time: 1403636866.201667, t: 0.526391 0.059859 -0.152515 q: 0.997246 -0.073229 0.011225 0.003330 
time: 1403636866.301666, t: 0.536303 0.060014 -0.157412 q: 0.996946 -0.077111 0.012272 -0.001362 
time: 1403636866.401666, t: 0.520614 0.061092 -0.152705 q: 0.996544 -0.082833 0.001238 -0.006146 
time: 1403636866.501667, t: 0.479877 0.065216 -0.139813 q: 0.996313 -0.084778 -0.010423 -0.008061 
time: 1403636866.601666, t: 0.428652 0.072043 -0.122736 q: 0.995925 -0.087045 -0.021976 -0.008528 
time: 1403636866.701667, t: 0.378889 0.080779 -0.108638 q: 0.995222 -0.090614 -0.035069 -0.009633 
time: 1403636866.801666, t: 0.337075 0.087057 -0.100488 q: 0.995219 -0.085859 -0.045566 -0.009541 
time: 1403636866.901666, t: 0.302038 0.090137 -0.097767 q: 0.995536 -0.075091 -0.057096 -0.002926 
time: 1403636867.001667, t: 0.274226 0.090802 -0.096626 q: 0.995031 -0.068094 -0.072491 0.004607 
time: 1403636867.201667, t: 0.247500 0.090161 -0.103929 q: 0.994021 -0.060627 -0.090333 0.009325 
time: 1403636867.401666, t: 0.244619 0.085156 -0.121777 q: 0.993530 -0.048429 -0.102324 0.009063 
time: 1403636867.501667, t: 0.249095 0.082165 -0.132358 q: 0.991888 -0.051824 -0.115844 0.007257 
time: 1403636867.601666, t: 0.248104 0.081028 -0.140961 q: 0.987561 -0.054040 -0.147581 0.004707 
time: 1403636867.701667, t: 0.245732 0.088222 -0.116689 q: 0.976275 -0.054111 -0.209394 0.010624 
time: 1403636867.801666, t: 0.231253 0.078649 -0.157144 q: 0.964285 -0.057887 -0.257962 0.016119 
time: 1403636867.901666, t: 0.226719 0.080580 -0.161238 q: 0.954432 -0.061910 -0.291022 0.023070 
optimize pose graph 
time: 1403636868.001667, t: 0.230890 0.079766 -0.161639 q: 0.953676 -0.064287 -0.292613 0.027332 
time: 1403636868.101666, t: 0.236323 0.077296 -0.163311 q: 0.958163 -0.065292 -0.277419 0.026457 
time: 1403636868.201667, t: 0.239391 0.075715 -0.166247 q: 0.961043 -0.063407 -0.267688 0.026819 
time: 1403636868.301666, t: 0.237996 0.072615 -0.171598 q: 0.961320 -0.062362 -0.266675 0.029307 
time: 1403636868.401666, t: 0.236262 0.066371 -0.177868 q: 0.960308 -0.063275 -0.269643 0.033131 
time: 1403636868.501667, t: 0.236405 0.058661 -0.183776 q: 0.961749 -0.066176 -0.263694 0.033553 
time: 1403636868.601666, t: 0.239052 0.051662 -0.190351 q: 0.964033 -0.071909 -0.253584 0.034136 
time: 1403636868.701667, t: 0.241249 0.045853 -0.197321 q: 0.963770 -0.074837 -0.253614 0.035017 
time: 1403636868.801666, t: 0.239151 0.039458 -0.204043 q: 0.962056 -0.072780 -0.261070 0.031537 
time: 1403636868.901666, t: 0.238436 0.034666 -0.207943 q: 0.961405 -0.073339 -0.263923 0.025813 
time: 1403636869.001667, t: 0.239652 0.029976 -0.208591 q: 0.963138 -0.070536 -0.258386 0.025013 
time: 1403636869.101666, t: 0.240807 0.026044 -0.208739 q: 0.964726 -0.065250 -0.253635 0.026756 
time: 1403636869.201667, t: 0.240024 0.021928 -0.208289 q: 0.965077 -0.062288 -0.253109 0.026110 
time: 1403636869.301666, t: 0.238177 0.020902 -0.206905 q: 0.965158 -0.061149 -0.253232 0.024601 
time: 1403636869.401666, t: 0.237575 0.020648 -0.205103 q: 0.965342 -0.059581 -0.252898 0.024649 
time: 1403636869.501667, t: 0.237178 0.022746 -0.203764 q: 0.965440 -0.059417 -0.252546 0.024818 
time: 1403636869.601666, t: 0.236929 0.031920 -0.203001 q: 0.965373 -0.059968 -0.252626 0.025287 
time: 1403636869.701667, t: 0.237271 0.050604 -0.202288 q: 0.964308 -0.061905 -0.256189 0.025379 
time: 1403636869.801666, t: 0.239141 0.078861 -0.200844 q: 0.963487 -0.065613 -0.258145 0.027357 
time: 1403636869.901666, t: 0.243598 0.115805 -0.196982 q: 0.964254 -0.072425 -0.253006 0.030918 
time: 1403636870.001667, t: 0.246873 0.159913 -0.192646 q: 0.965519 -0.078946 -0.245631 0.034720 
time: 1403636870.101666, t: 0.250648 0.208774 -0.187774 q: 0.964397 -0.086541 -0.246654 0.040143 
time: 1403636870.201667, t: 0.255350 0.259702 -0.184102 q: 0.962413 -0.095072 -0.251200 0.040256 
time: 1403636870.301666, t: 0.263778 0.309635 -0.179252 q: 0.961649 -0.100995 -0.251577 0.041725 
time: 1403636870.401666, t: 0.269378 0.360446 -0.174969 q: 0.962788 -0.107531 -0.244355 0.042027 
time: 1403636870.501667, t: 0.271155 0.406183 -0.171471 q: 0.962558 -0.112366 -0.242613 0.044658 
time: 1403636870.601666, t: 0.270065 0.442350 -0.169694 q: 0.959681 -0.119238 -0.249825 0.048810 
time: 1403636870.701667, t: 0.269152 0.474289 -0.167950 q: 0.957906 -0.126853 -0.253001 0.048123 
time: 1403636870.901666, t: 0.265450 0.508886 -0.161412 q: 0.962698 -0.124939 -0.233875 0.053891 
time: 1403636871.001667, t: 0.261615 0.514623 -0.160082 q: 0.964222 -0.121802 -0.228391 0.057252 
time: 1403636871.101666, t: 0.256356 0.515255 -0.158697 q: 0.962256 -0.122277 -0.235065 0.062105 
time: 1403636871.201667, t: 0.254754 0.511607 -0.158974 q: 0.958995 -0.128441 -0.245016 0.061638 
time: 1403636871.301666, t: 0.257246 0.499641 -0.159734 q: 0.958852 -0.129543 -0.244815 0.062342 
time: 1403636871.401666, t: 0.260232 0.477863 -0.160267 q: 0.959440 -0.128229 -0.244323 0.057778 
time: 1403636871.501667, t: 0.261241 0.445993 -0.159828 q: 0.960277 -0.124649 -0.243450 0.055336 
time: 1403636871.601666, t: 0.261368 0.404637 -0.159488 q: 0.960366 -0.121680 -0.244658 0.055073 
time: 1403636871.701667, t: 0.261567 0.354442 -0.158868 q: 0.960509 -0.114535 -0.246993 0.057431 
time: 1403636871.801666, t: 0.260556 0.300220 -0.156047 q: 0.961321 -0.106059 -0.247346 0.058602 
time: 1403636871.901666, t: 0.259097 0.245243 -0.153201 q: 0.962508 -0.098431 -0.246592 0.055526 
time: 1403636872.001667, t: 0.255131 0.185734 -0.147215 q: 0.965218 -0.088888 -0.239741 0.054568 
time: 1403636872.101666, t: 0.251815 0.126658 -0.139732 q: 0.967479 -0.078401 -0.234345 0.054040 
time: 1403636872.201667, t: 0.246156 0.073018 -0.132174 q: 0.968272 -0.072184 -0.233772 0.050883 
time: 1403636872.301666, t: 0.238114 0.025825 -0.128142 q: 0.967510 -0.063062 -0.239936 0.048769 
time: 1403636872.401666, t: 0.231828 -0.014890 -0.124012 q: 0.965867 -0.056857 -0.248556 0.045686 
time: 1403636872.501667, t: 0.228838 -0.040039 -0.121880 q: 0.965403 -0.052538 -0.251577 0.044101 
time: 1403636872.601666, t: 0.229112 -0.049747 -0.120682 q: 0.966296 -0.049086 -0.249353 0.041054 
time: 1403636872.801666, t: 0.233248 -0.033112 -0.123256 q: 0.967403 -0.051428 -0.245394 0.035606 
time: 1403636872.901666, t: 0.234551 -0.006030 -0.124112 q: 0.966624 -0.055493 -0.247106 0.038686 
time: 1403636873.001667, t: 0.236044 0.036329 -0.124904 q: 0.965980 -0.061552 -0.247863 0.040714 
time: 1403636873.101666, t: 0.237189 0.087766 -0.124829 q: 0.965767 -0.068034 -0.246819 0.041782 
time: 1403636873.201667, t: 0.238181 0.145933 -0.124879 q: 0.965159 -0.074336 -0.246564 0.046363 
time: 1403636873.301666, t: 0.241066 0.205328 -0.125040 q: 0.964207 -0.083660 -0.246544 0.050219 
time: 1403636873.501667, t: 0.244699 0.322455 -0.130563 q: 0.961861 -0.099439 -0.248544 0.056221 
time: 1403636873.601666, t: 0.242856 0.375744 -0.134307 q: 0.959673 -0.109088 -0.252460 0.058229 
time: 1403636873.701667, t: 0.239393 0.420671 -0.137412 q: 0.957819 -0.116518 -0.255544 0.060862 
time: 1403636873.801666, t: 0.235722 0.452449 -0.142177 q: 0.956821 -0.118501 -0.258147 0.061738 
time: 1403636873.901666, t: 0.234340 0.471149 -0.143829 q: 0.956253 -0.119427 -0.259622 0.062562 
time: 1403636874.001667, t: 0.232321 0.478321 -0.144400 q: 0.956236 -0.122214 -0.258098 0.063737 
time: 1403636874.101666, t: 0.230830 0.476733 -0.142396 q: 0.956133 -0.123094 -0.257953 0.064171 
time: 1403636874.201667, t: 0.230782 0.467492 -0.140785 q: 0.955954 -0.121751 -0.259272 0.064079 
time: 1403636874.301666, t: 0.231832 0.446656 -0.138530 q: 0.955868 -0.118182 -0.261928 0.061177 
time: 1403636874.401666, t: 0.231922 0.411991 -0.133596 q: 0.956297 -0.110947 -0.263910 0.059489 
time: 1403636874.501667, t: 0.232514 0.365928 -0.127583 q: 0.957614 -0.104284 -0.262293 0.057465 
time: 1403636874.601666, t: 0.231572 0.312643 -0.121665 q: 0.959696 -0.099264 -0.257456 0.053349 
time: 1403636874.701667, t: 0.228529 0.252954 -0.115657 q: 0.961515 -0.089869 -0.254644 0.050682 
time: 1403636874.801666, t: 0.224417 0.193181 -0.108792 q: 0.962232 -0.081042 -0.254985 0.050244 
time: 1403636874.901666, t: 0.214242 0.137397 -0.100815 q: 0.963272 -0.071552 -0.253926 0.050080 
time: 1403636875.001667, t: 0.210816 0.090381 -0.093334 q: 0.963409 -0.066668 -0.254461 0.051455 
time: 1403636875.101666, t: 0.209558 0.056729 -0.083744 q: 0.966041 -0.071642 -0.242473 0.053280 
time: 1403636875.201667, t: 0.207210 0.032628 -0.076532 q: 0.968869 -0.087305 -0.223853 0.059672 
time: 1403636875.301666, t: 0.201494 0.010827 -0.074937 q: 0.968853 -0.108189 -0.210183 0.073774 
time: 1403636875.401666, t: 0.193256 -0.008017 -0.080130 q: 0.966080 -0.124111 -0.205597 0.094952 
time: 1403636875.501667, t: 0.185006 -0.020903 -0.097284 q: 0.962082 -0.130988 -0.210239 0.114189 
time: 1403636875.601666, t: 0.172667 -0.028022 -0.127661 q: 0.958700 -0.137158 -0.213563 0.128346 
time: 1403636875.701667, t: 0.161018 -0.023175 -0.164970 q: 0.956001 -0.147572 -0.213700 0.136443 
time: 1403636875.801666, t: 0.148162 -0.007294 -0.205604 q: 0.953145 -0.163961 -0.210427 0.142662 
time: 1403636875.901666, t: 0.135315 0.014747 -0.247069 q: 0.948173 -0.183584 -0.211582 0.149990 
time: 1403636876.001667, t: 0.126915 0.044787 -0.286322 q: 0.942076 -0.207160 -0.210382 0.159114 
time: 1403636876.201667, t: 0.122311 0.130620 -0.340735 q: 0.930838 -0.259480 -0.192862 0.170336 
time: 1403636876.301666, t: 0.125946 0.183348 -0.349289 q: 0.924498 -0.275804 -0.193421 0.178395 
time: 1403636876.401666, t: 0.132546 0.236128 -0.344786 q: 0.917717 -0.292122 -0.197655 0.182738 
time: 1403636876.501667, t: 0.103496 0.275766 -0.282145 q: 0.910687 -0.335141 -0.176858 0.164474 
time: 1403636876.601666, t: 0.165091 0.340862 -0.296160 q: 0.914069 -0.313075 -0.198094 0.164988 
time: 1403636876.701667, t: 0.179284 0.399405 -0.251609 q: 0.922176 -0.302417 -0.187180 0.151987 
time: 1403636876.801666, t: 0.138241 0.394639 -0.181341 q: 0.933121 -0.311134 -0.118986 0.135361 
time: 1403636876.901666, t: 0.181418 0.419894 0.064643 q: 0.931476 -0.310687 -0.165752 0.091395 
time: 1403636877.001667, t: 0.221495 0.454748 0.052388 q: 0.949141 -0.246916 -0.169086 0.097852 
time: 1403636877.101666, t: 0.186932 0.447826 -0.099728 q: 0.963001 -0.176437 -0.128319 0.158219 
time: 1403636877.201667, t: 0.767128 0.427372 0.281921 q: 0.952344 -0.190763 -0.237984 0.003844 
time: 1403636877.301666, t: 0.397892 0.326110 0.345890 q: 0.970302 -0.139465 -0.194634 0.034373 
time: 1403636877.401666, t: 0.418060 0.255825 0.367763 q: 0.973873 -0.100769 -0.202679 0.018393 
time: 1403636877.501667, t: 0.448479 0.198887 0.432086 q: 0.973495 -0.072804 -0.216740 0.005598 
time: 1403636877.601666, t: 0.514599 0.169947 0.493695 q: 0.968163 -0.052241 -0.244796 -0.002430 
time: 1403636877.701667, t: 0.567656 0.116479 0.482198 q: 0.962913 -0.037567 -0.267116 -0.006075 
time: 1403636877.801666, t: 0.290872 0.066573 0.413128 q: 0.970767 -0.019679 -0.237316 0.030102 
time: 1403636877.901666, t: 0.346975 0.196500 0.404759 q: 0.943364 0.072585 -0.317301 0.064151 
time: 1403636878.001667, t: 0.359060 0.147229 0.443281 q: 0.887660 0.042438 -0.442669 0.119594 
time: 1403636878.101666, t: 0.383594 0.087243 0.332805 q: 0.904735 -0.037680 -0.417044 0.078162 
time: 1403636878.201667, t: 0.364896 0.090100 0.259852 q: 0.919091 -0.064949 -0.378178 0.089641 
time: 1403636878.301666, t: 0.346287 0.129125 0.232735 q: 0.918126 -0.088694 -0.372442 0.102297 
time: 1403636878.401666, t: 0.340768 0.172599 0.199101 q: 0.915131 -0.116365 -0.367943 0.116675 
time: 1403636878.501667, t: 0.339398 0.222236 0.170138 q: 0.911273 -0.149782 -0.363466 0.122634 
time: 1403636878.601666, t: 0.346294 0.278436 0.153872 q: 0.905927 -0.183517 -0.360319 0.125651 
time: 1403636878.701667, t: 0.352406 0.345137 0.150592 q: 0.901962 -0.206910 -0.356017 0.130016 
time: 1403636878.801666, t: 0.368230 0.408166 0.158463 q: 0.899220 -0.225454 -0.353640 0.124550 
time: 1403636878.901666, t: 0.369976 0.463375 0.178855 q: 0.899649 -0.235900 -0.345596 0.124684 
time: 1403636879.001667, t: 0.374997 0.516197 0.207125 q: 0.898259 -0.235457 -0.348980 0.126110 
time: 1403636879.101666, t: 0.381013 0.550150 0.241979 q: 0.899541 -0.235648 -0.345644 0.125805 
time: 1403636879.201667, t: 0.388237 0.572906 0.284517 q: 0.905641 -0.231359 -0.333503 0.122733 
time: 1403636879.301666, t: 0.395668 0.583059 0.330435 q: 0.913260 -0.221908 -0.321607 0.115250 
time: 1403636879.401666, t: 0.402224 0.575121 0.374647 q: 0.921677 -0.203968 -0.313307 0.103667 
time: 1403636879.501667, t: 0.407682 0.549662 0.412243 q: 0.929741 -0.176405 -0.309467 0.093235 
time: 1403636879.601666, t: 0.414242 0.510720 0.442958 q: 0.934975 -0.146297 -0.311787 0.084904 
time: 1403636879.701667, t: 0.420161 0.458831 0.464466 q: 0.938524 -0.118597 -0.313350 0.083185 
time: 1403636879.801666, t: 0.426428 0.400514 0.472981 q: 0.939794 -0.093333 -0.317976 0.083467 
time: 1403636879.901666, t: 0.430759 0.340142 0.466472 q: 0.938385 -0.075483 -0.326910 0.082864 
time: 1403636880.001667, t: 0.433239 0.289896 0.444676 q: 0.935533 -0.064538 -0.336901 0.084323 
time: 1403636880.101666, t: 0.450882 0.376238 0.399096 q: 0.928324 -0.009069 -0.350095 0.124760 
time: 1403636880.201667, t: 0.433140 0.249066 0.372900 q: 0.932542 -0.063962 -0.345299 0.083921 
time: 1403636880.301666, t: 0.434843 0.251595 0.323177 q: 0.931990 -0.086110 -0.341507 0.085745 
time: 1403636880.401666, t: 0.433973 0.268894 0.273456 q: 0.931452 -0.112278 -0.334584 0.088573 
time: 1403636880.501667, t: 0.441200 0.275689 0.221826 q: 0.929499 -0.142857 -0.328516 0.087756 
time: 1403636880.601666, t: 0.448655 0.272729 0.173099 q: 0.925693 -0.166874 -0.327819 0.088213 
time: 1403636880.701667, t: 0.455045 0.258514 0.130074 q: 0.920574 -0.178419 -0.334728 0.093100 
time: 1403636880.801666, t: 0.459300 0.229670 0.100694 q: 0.916927 -0.180342 -0.342149 0.098262 
time: 1403636880.901666, t: 0.462169 0.192525 0.082949 q: 0.917802 -0.171209 -0.343606 0.101301 
time: 1403636881.001667, t: 0.464472 0.154325 0.082631 q: 0.922954 -0.158609 -0.336467 0.098935 
time: 1403636881.101666, t: 0.466342 0.119366 0.096313 q: 0.930553 -0.142054 -0.325084 0.090618 
time: 1403636881.201667, t: 0.469036 0.087786 0.119292 q: 0.937397 -0.117040 -0.316772 0.085107 
time: 1403636881.301666, t: 0.473080 0.063879 0.150908 q: 0.942270 -0.090022 -0.312726 0.078904 
time: 1403636881.401666, t: 0.477064 0.055417 0.189263 q: 0.945154 -0.070850 -0.311064 0.070021 
time: 1403636881.501667, t: 0.479906 0.063353 0.233621 q: 0.947786 -0.061055 -0.307545 0.058226 
time: 1403636881.601666, t: 0.482203 0.087865 0.279763 q: 0.950472 -0.055274 -0.302391 0.045910 
time: 1403636881.701667, t: 0.480322 0.128211 0.324648 q: 0.951981 -0.050053 -0.300049 0.034612 
time: 1403636881.801666, t: 0.475236 0.178802 0.364737 q: 0.951353 -0.051252 -0.302501 0.028188 
time: 1403636881.901666, t: 0.468131 0.234156 0.396642 q: 0.949935 -0.059525 -0.305143 0.031103 
time: 1403636882.001667, t: 0.458987 0.289134 0.416005 q: 0.948464 -0.069993 -0.306664 0.038405 
time: 1403636882.101666, t: 0.447778 0.341680 0.421031 q: 0.947823 -0.081127 -0.305038 0.044742 
time: 1403636882.201667, t: 0.432326 0.383128 0.414322 q: 0.947813 -0.092955 -0.301295 0.047228 
time: 1403636882.301666, t: 0.416346 0.410070 0.397398 q: 0.948569 -0.102553 -0.295702 0.047553 
time: 1403636882.401666, t: 0.400288 0.418211 0.375944 q: 0.950060 -0.101699 -0.290955 0.048883 
time: 1403636882.501667, t: 0.384271 0.409926 0.359450 q: 0.951845 -0.092939 -0.287320 0.052912 
time: 1403636882.601666, t: 0.371464 0.392894 0.354530 q: 0.954954 -0.080716 -0.280347 0.054346 
time: 1403636882.701667, t: 0.360902 0.374392 0.364467 q: 0.961697 -0.065921 -0.260643 0.053470 
time: 1403636882.801666, t: 0.347574 0.356644 0.385536 q: 0.970805 -0.042594 -0.230619 0.050374 
time: 1403636882.901666, t: 0.329490 0.341542 0.409837 q: 0.977477 -0.017733 -0.205250 0.045778 
time: 1403636883.001667, t: 0.306465 0.326968 0.433690 q: 0.979644 0.008348 -0.195913 0.042956 
time: 1403636883.101666, t: 0.282762 0.314039 0.455409 q: 0.979513 0.029759 -0.195483 0.038155 
time: 1403636883.201667, t: 0.260781 0.303342 0.474767 q: 0.980681 0.041764 -0.189041 0.028014 
time: 1403636883.301666, t: 0.240538 0.294462 0.490667 q: 0.982030 0.051092 -0.180184 0.023242 
time: 1403636883.401666, t: 0.224764 0.288430 0.502979 q: 0.982579 0.057914 -0.174995 0.023710 
time: 1403636883.501667, t: 0.214779 0.285002 0.511101 q: 0.983451 0.064793 -0.167666 0.022660 
time: 1403636883.601666, t: 0.208596 0.282867 0.517149 q: 0.984680 0.072890 -0.157081 0.020442 
time: 1403636883.701667, t: 0.203219 0.281487 0.522109 q: 0.984772 0.080577 -0.153172 0.016445 
time: 1403636883.801666, t: 0.199806 0.280716 0.525400 q: 0.984465 0.085116 -0.152810 0.015280 
time: 1403636883.901666, t: 0.195364 0.280591 0.527901 q: 0.984022 0.091434 -0.151433 0.020233 
time: 1403636884.101666, t: 0.192050 0.281376 0.530314 q: 0.984694 0.100068 -0.141120 0.021198 
time: 1403636884.201667, t: 0.192076 0.282424 0.529897 q: 0.985538 0.100184 -0.135556 0.017398 
time: 1403636884.301666, t: 0.192511 0.281953 0.528890 q: 0.986184 0.099452 -0.131360 0.017153 
time: 1403636884.401666, t: 0.192517 0.281556 0.528469 q: 0.986221 0.099847 -0.130638 0.018216 
time: 1403636884.501667, t: 0.192509 0.281775 0.528436 q: 0.986274 0.099681 -0.130511 0.017173 
time: 1403636884.601666, t: 0.192557 0.281630 0.528385 q: 0.986267 0.099925 -0.130316 0.017606 
time: 1403636884.701667, t: 0.192493 0.281668 0.528458 q: 0.986222 0.099890 -0.130675 0.017645 
time: 1403636884.801666, t: 0.192476 0.281723 0.528489 q: 0.986233 0.099795 -0.130687 0.017482 
time: 1403636884.901666, t: 0.192470 0.281725 0.528496 q: 0.986229 0.099797 -0.130711 0.017519 
time: 1403636885.001667, t: 0.192461 0.281695 0.528495 q: 0.986217 0.099834 -0.130754 0.017681 
time: 1403636885.101666, t: 0.192456 0.281657 0.528457 q: 0.986214 0.099880 -0.130719 0.017826 
time: 1403636885.201667, t: 0.192454 0.281644 0.528462 q: 0.986209 0.099887 -0.130747 0.017883 
time: 1403636885.301666, t: 0.192454 0.281657 0.528460 q: 0.986213 0.099860 -0.130744 0.017819 
time: 1403636885.401666, t: 0.192432 0.281688 0.528467 q: 0.986225 0.099826 -0.130682 0.017824 
time: 1403636885.501667, t: 0.192424 0.281686 0.528466 q: 0.986228 0.099807 -0.130665 0.017873 
time: 1403636885.601666, t: 0.192414 0.281686 0.528455 q: 0.986235 0.099809 -0.130608 0.017893 
time: 1403636885.701667, t: 0.192406 0.281676 0.528502 q: 0.986213 0.099820 -0.130752 0.017969 
time: 1403636885.801666, t: 0.192406 0.281682 0.528500 q: 0.986225 0.099782 -0.130701 0.017938 
time: 1403636885.901666, t: 0.192400 0.281662 0.528497 q: 0.986207 0.099827 -0.130789 0.018013 
time: 1403636886.001667, t: 0.192403 0.281655 0.528482 q: 0.986218 0.099839 -0.130693 0.018027 
time: 1403636886.101666, t: 0.192397 0.281688 0.528476 q: 0.986228 0.099792 -0.130673 0.017871 
time: 1403636886.201667, t: 0.192403 0.281709 0.528486 q: 0.986225 0.099765 -0.130733 0.017768 
time: 1403636886.301666, t: 0.192406 0.281713 0.528469 q: 0.986234 0.099760 -0.130677 0.017731 
time: 1403636886.401666, t: 0.192403 0.281690 0.528459 q: 0.986231 0.099796 -0.130655 0.017849 
time: 1403636886.501667, t: 0.192399 0.281680 0.528448 q: 0.986231 0.099816 -0.130635 0.017893 
time: 1403636886.601666, t: 0.192389 0.281689 0.528448 q: 0.986230 0.099807 -0.130651 0.017891 
time: 1403636886.701667, t: 0.192384 0.281697 0.528445 q: 0.986235 0.099798 -0.130617 0.017864 
time: 1403636886.801666, t: 0.192387 0.281693 0.528435 q: 0.986238 0.099799 -0.130596 0.017882 
time: 1403636886.901666, t: 0.192384 0.281685 0.528448 q: 0.986228 0.099825 -0.130644 0.017936 
time: 1403636887.001667, t: 0.192381 0.281692 0.528442 q: 0.986234 0.099798 -0.130628 0.017872 
time: 1403636887.101666, t: 0.192382 0.281693 0.528441 q: 0.986234 0.099792 -0.130633 0.017868 
time: 1403636887.201667, t: 0.192362 0.281694 0.528436 q: 0.986237 0.099800 -0.130599 0.017920 
time: 1403636887.301666, t: 0.192359 0.281707 0.528454 q: 0.986237 0.099790 -0.130607 0.017920 
time: 1403636887.401666, t: 0.192369 0.281707 0.528457 q: 0.986236 0.099769 -0.130637 0.017867 
time: 1403636887.501667, t: 0.192365 0.281710 0.528453 q: 0.986232 0.099770 -0.130667 0.017857 
time: 1403636887.601666, t: 0.192371 0.281692 0.528440 q: 0.986238 0.099782 -0.130603 0.017923 
time: 1403636887.701667, t: 0.192368 0.281677 0.528437 q: 0.986231 0.099802 -0.130637 0.017972 
time: 1403636887.801666, t: 0.192369 0.281674 0.528439 q: 0.986227 0.099813 -0.130650 0.017988 
time: 1403636887.901666, t: 0.192376 0.281673 0.528443 q: 0.986226 0.099806 -0.130667 0.017961 
time: 1403636888.001667, t: 0.192366 0.281686 0.528448 q: 0.986224 0.099790 -0.130696 0.017953 
time: 1403636888.101666, t: 0.192375 0.281682 0.528446 q: 0.986228 0.099802 -0.130660 0.017939 
time: 1403636888.201667, t: 0.192369 0.281689 0.528439 q: 0.986226 0.099797 -0.130680 0.017935 
time: 1403636888.301666, t: 0.192374 0.281692 0.528448 q: 0.986230 0.099787 -0.130662 0.017913 
time: 1403636888.401666, t: 0.192364 0.281711 0.528452 q: 0.986229 0.099773 -0.130687 0.017859 
time: 1403636888.501667, t: 0.192375 0.281705 0.528448 q: 0.986231 0.099769 -0.130675 0.017846 
time: 1403636888.601666, t: 0.192384 0.281683 0.528426 q: 0.986247 0.099708 -0.130605 0.017845 
time: 1403636888.701667, t: 0.192420 0.281634 0.528404 q: 0.986259 0.099886 -0.130386 0.017762 
time: 1403636888.801666, t: 0.192416 0.281550 0.528362 q: 0.986225 0.100200 -0.130404 0.017758 
time: 1403636888.901666, t: 0.192345 0.281542 0.528338 q: 0.986203 0.100027 -0.130669 0.017984 
time: 1403636889.001667, t: 0.192382 0.281506 0.528358 q: 0.986206 0.100275 -0.130441 0.018087 
time: 1403636889.101666, t: 0.192392 0.281557 0.528314 q: 0.986241 0.099861 -0.130504 0.018038 
time: 1403636889.201667, t: 0.192347 0.281725 0.528247 q: 0.986246 0.099775 -0.130508 0.018216 
time: 1403636889.301666, t: 0.192300 0.281748 0.528347 q: 0.986250 0.099646 -0.130575 0.018228 
time: 1403636889.401666, t: 0.192283 0.281743 0.528378 q: 0.986239 0.099880 -0.130496 0.018102 
time: 1403636889.501667, t: 0.192301 0.281805 0.528367 q: 0.986255 0.099724 -0.130520 0.017929 
time: 1403636889.601666, t: 0.192297 0.281883 0.528311 q: 0.986300 0.099431 -0.130411 0.017845 
time: 1403636889.701667, t: 0.192352 0.281894 0.528198 q: 0.986313 0.099594 -0.130198 0.017803 
time: 1403636889.801666, t: 0.192339 0.281866 0.528172 q: 0.986299 0.099753 -0.130187 0.017757 
time: 1403636889.901666, t: 0.192314 0.281919 0.528170 q: 0.986313 0.099511 -0.130238 0.017950 
time: 1403636890.001667, t: 0.192285 0.281875 0.528146 q: 0.986283 0.099683 -0.130343 0.017890 
time: 1403636890.101666, t: 0.192313 0.282007 0.528175 q: 0.986374 0.099022 -0.130125 0.018144 
time: 1403636890.201667, t: 0.192403 0.281854 0.528138 q: 0.986375 0.099692 -0.129636 0.017916 
time: 1403636890.301666, t: 0.192297 0.281777 0.528120 q: 0.986262 0.100127 -0.130184 0.017724 
time: 1403636890.401666, t: 0.192267 0.281904 0.528126 q: 0.986303 0.099466 -0.130353 0.017933 
time: 1403636890.501667, t: 0.192389 0.281940 0.528148 q: 0.986405 0.099282 -0.129712 0.017994 
time: 1403636890.601666, t: 0.192399 0.281778 0.528141 q: 0.986331 0.100010 -0.129748 0.017725 
time: 1403636890.701667, t: 0.192270 0.281787 0.528088 q: 0.986246 0.099998 -0.130400 0.017740 
time: 1403636890.801666, t: 0.192306 0.281936 0.528125 q: 0.986352 0.099272 -0.130109 0.018062 
time: 1403636890.901666, t: 0.192375 0.281893 0.528126 q: 0.986393 0.099424 -0.129689 0.018024 
time: 1403636891.001667, t: 0.192341 0.281846 0.528071 q: 0.986353 0.099601 -0.129856 0.018046 
time: 1403636891.101666, t: 0.192345 0.281847 0.528127 q: 0.986346 0.099591 -0.129926 0.017941 
time: 1403636891.201667, t: 0.192361 0.281826 0.528141 q: 0.986348 0.099627 -0.129900 0.017853 
time: 1403636891.301666, t: 0.192329 0.281854 0.528100 q: 0.986335 0.099678 -0.129947 0.017904 
time: 1403636891.401666, t: 0.192345 0.281838 0.528136 q: 0.986345 0.099647 -0.129900 0.017876 
time: 1403636891.501667, t: 0.192346 0.281812 0.528161 q: 0.986340 0.099675 -0.129920 0.017887 
time: 1403636891.601666, t: 0.192330 0.281846 0.528096 q: 0.986338 0.099689 -0.129915 0.017915 
time: 1403636891.701667, t: 0.192334 0.281840 0.528106 q: 0.986344 0.099650 -0.129907 0.017887 
time: 1403636891.801666, t: 0.192331 0.281828 0.528124 q: 0.986334 0.099710 -0.129931 0.017936 
time: 1403636891.901666, t: 0.192328 0.281829 0.528097 q: 0.986334 0.099724 -0.129921 0.017913 
time: 1403636892.001667, t: 0.192331 0.281835 0.528132 q: 0.986339 0.099682 -0.129928 0.017850 
time: 1403636892.101666, t: 0.192347 0.281817 0.528151 q: 0.986335 0.099676 -0.129961 0.017830 
time: 1403636892.201667, t: 0.192324 0.281854 0.528107 q: 0.986338 0.099691 -0.129930 0.017826 
time: 1403636892.301666, t: 0.192321 0.281942 0.528166 q: 0.986352 0.099558 -0.129967 0.017514 
time: 1403636892.401666, t: 0.192348 0.281904 0.528158 q: 0.986362 0.099481 -0.129907 0.017813 
time: 1403636892.501667, t: 0.192369 0.281866 0.528139 q: 0.986364 0.099569 -0.129831 0.017789 
time: 1403636892.601666, t: 0.192360 0.281867 0.528093 q: 0.986358 0.099624 -0.129830 0.017808 
time: 1403636892.701667, t: 0.192372 0.281846 0.528125 q: 0.986356 0.099640 -0.129842 0.017733 
time: 1403636892.801666, t: 0.192384 0.281836 0.528130 q: 0.986354 0.099700 -0.129816 0.017694 
time: 1403636892.901666, t: 0.192345 0.281866 0.528106 q: 0.986336 0.099682 -0.129963 0.017741 
time: 1403636893.001667, t: 0.192362 0.281864 0.528133 q: 0.986353 0.099660 -0.129858 0.017688 
time: 1403636893.101666, t: 0.192377 0.281851 0.528149 q: 0.986350 0.099674 -0.129868 0.017677 
time: 1403636893.201667, t: 0.192350 0.281866 0.528107 q: 0.986345 0.099681 -0.129894 0.017762 
time: 1403636893.301666, t: 0.192350 0.281859 0.528105 q: 0.986342 0.099679 -0.129909 0.017788 
time: 1403636893.401666, t: 0.192354 0.281853 0.528125 q: 0.986342 0.099679 -0.129918 0.017733 
time: 1403636893.501667, t: 0.192356 0.281866 0.528134 q: 0.986344 0.099662 -0.129919 0.017741 
time: 1403636893.601666, t: 0.192360 0.281861 0.528132 q: 0.986346 0.099636 -0.129919 0.017740 
time: 1403636893.701667, t: 0.192360 0.281854 0.528130 q: 0.986342 0.099692 -0.129912 0.017741 
time: 1403636893.801666, t: 0.192352 0.281840 0.528126 q: 0.986333 0.099705 -0.129955 0.017816 
time: 1403636893.901666, t: 0.192343 0.281841 0.528116 q: 0.986333 0.099711 -0.129949 0.017833 
time: 1403636894.001667, t: 0.192345 0.281827 0.528110 q: 0.986334 0.099706 -0.129943 0.017845 
time: 1403636894.101666, t: 0.192346 0.281837 0.528092 q: 0.986335 0.099694 -0.129950 0.017831 
time: 1403636894.201667, t: 0.192347 0.281832 0.528094 q: 0.986339 0.099672 -0.129940 0.017803 
time: 1403636894.301666, t: 0.192348 0.281839 0.528092 q: 0.986341 0.099691 -0.129902 0.017829 
time: 1403636894.401666, t: 0.192342 0.281847 0.528087 q: 0.986335 0.099684 -0.129954 0.017830 
time: 1403636894.601666, t: 0.192340 0.281829 0.528115 q: 0.986333 0.099681 -0.129966 0.017883 
time: 1403636894.701667, t: 0.192330 0.281842 0.528066 q: 0.986335 0.099722 -0.129913 0.017900 
time: 1403636894.801666, t: 0.192328 0.281847 0.528085 q: 0.986334 0.099674 -0.129965 0.017875 
time: 1403636894.901666, t: 0.192347 0.281908 0.528140 q: 0.986359 0.099512 -0.129915 0.017775 
time: 1403636895.101666, t: 0.192344 0.281878 0.528150 q: 0.986345 0.099587 -0.129956 0.017815 
time: 1403636895.201667, t: 0.192343 0.281897 0.528131 q: 0.986357 0.099537 -0.129896 0.017879 
time: 1403636895.301666, t: 0.192361 0.281857 0.528152 q: 0.986353 0.099585 -0.129887 0.017871 
time: 1403636895.401666, t: 0.192356 0.281866 0.528133 q: 0.986349 0.099599 -0.129912 0.017818 
time: 1403636895.501667, t: 0.192371 0.281857 0.528141 q: 0.986352 0.099619 -0.129882 0.017777 
time: 1403636895.601666, t: 0.192363 0.281863 0.528140 q: 0.986351 0.099599 -0.129900 0.017807 
time: 1403636895.701667, t: 0.192375 0.281872 0.528146 q: 0.986357 0.099592 -0.129866 0.017762 
time: 1403636895.801666, t: 0.192398 0.281888 0.528146 q: 0.986372 0.099584 -0.129770 0.017671 
time: 1403636895.901666, t: 0.192406 0.281882 0.528179 q: 0.986354 0.099685 -0.129842 0.017603 
time: 1403636896.001667, t: 0.192421 0.281883 0.528143 q: 0.986345 0.099716 -0.129885 0.017596 
time: 1403636896.101666, t: 0.192327 0.281962 0.528315 q: 0.986243 0.099808 -0.130570 0.017735 
time: 1403636896.201667, t: 0.192155 0.282121 0.528577 q: 0.986070 0.099937 -0.131736 0.017983 
time: 1403636896.301666, t: 0.192213 0.282127 0.528523 q: 0.986090 0.099981 -0.131589 0.017754 
time: 1403636896.401666, t: 0.192313 0.282055 0.528376 q: 0.986173 0.099963 -0.130998 0.017617 
time: 1403636896.501667, t: 0.192386 0.282001 0.528335 q: 0.986214 0.099968 -0.130698 0.017497 
time: 1403636896.601666, t: 0.192376 0.282039 0.528321 q: 0.986214 0.099939 -0.130717 0.017514 
time: 1403636896.701667, t: 0.192348 0.282123 0.528449 q: 0.986138 0.100083 -0.131188 0.017438 
time: 1403636896.801666, t: 0.192309 0.282147 0.528518 q: 0.986047 0.100280 -0.131716 0.017508 
time: 1403636896.901666, t: 0.192352 0.282222 0.528516 q: 0.986053 0.100356 -0.131649 0.017232 
time: 1403636897.001667, t: 0.192532 0.282075 0.528307 q: 0.986140 0.100524 -0.130867 0.017234 
time: 1403636897.101666, t: 0.192834 0.282113 0.527711 q: 0.985988 0.102677 -0.130471 0.016222 
time: 1403636897.201667, t: 0.192671 0.282146 0.526382 q: 0.985574 0.105826 -0.131174 0.015407 
time: 1403636897.301666, t: 0.192114 0.284605 0.523670 q: 0.985536 0.104548 -0.132449 0.015681 
time: 1403636897.401666, t: 0.191596 0.290993 0.517151 q: 0.985469 0.099018 -0.137237 0.014540 
time: 1403636897.501667, t: 0.191141 0.300479 0.506566 q: 0.985057 0.092142 -0.145100 0.010917 
time: 1403636897.601666, t: 0.190796 0.311758 0.493136 q: 0.983756 0.085301 -0.157830 0.006073 
time: 1403636897.701667, t: 0.195592 0.290547 0.514540 q: 0.981505 0.066132 -0.179059 -0.014586 
time: 1403636897.801666, t: 0.207178 0.334235 0.466728 q: 0.978851 0.076129 -0.189544 -0.011333 
time: 1403636897.901666, t: 0.223930 0.345028 0.453622 q: 0.976941 0.075682 -0.199062 -0.015285 
time: 1403636898.001667, t: 0.245872 0.353656 0.448642 q: 0.978546 0.077517 -0.190167 -0.016600 
time: 1403636898.101666, t: 0.262338 0.362278 0.447704 q: 0.980191 0.080994 -0.180102 -0.015128 
time: 1403636898.201667, t: 0.274334 0.367411 0.450259 q: 0.980813 0.084462 -0.175089 -0.014716 
time: 1403636898.301666, t: 0.287749 0.371443 0.453923 q: 0.980741 0.087836 -0.173815 -0.014863 
time: 1403636898.401666, t: 0.305986 0.374587 0.457680 q: 0.980437 0.091477 -0.173625 -0.015157 
time: 1403636898.501667, t: 0.327388 0.376025 0.463565 q: 0.979893 0.095427 -0.174636 -0.014369 
time: 1403636898.601666, t: 0.349629 0.376027 0.471160 q: 0.979514 0.098137 -0.175156 -0.015571 
time: 1403636898.701667, t: 0.368680 0.375383 0.481939 q: 0.979168 0.100164 -0.175787 -0.017217 
time: 1403636898.801666, t: 0.386803 0.373237 0.494109 q: 0.978950 0.102455 -0.175776 -0.016213 
time: 1403636898.901666, t: 0.402990 0.369668 0.508568 q: 0.978506 0.104303 -0.177424 -0.012972 
time: 1403636899.001667, t: 0.416783 0.366391 0.526021 q: 0.978127 0.105854 -0.178969 -0.005699 
time: 1403636899.101666, t: 0.428469 0.365589 0.546091 q: 0.979038 0.100444 -0.177186 0.000910 
time: 1403636899.201667, t: 0.439040 0.369229 0.568897 q: 0.981365 0.087475 -0.171062 0.002786 
time: 1403636899.301666, t: 0.449266 0.375298 0.593512 q: 0.984715 0.068174 -0.160114 0.007247 
time: 1403636899.401666, t: 0.457406 0.384700 0.617464 q: 0.987461 0.042487 -0.151748 0.009403 
time: 1403636899.501667, t: 0.465640 0.395098 0.636718 q: 0.987825 0.019554 -0.153282 0.017986 
time: 1403636899.601666, t: 0.471016 0.407061 0.653575 q: 0.986397 0.003348 -0.162144 0.026819 
time: 1403636899.701667, t: 0.477192 0.421344 0.670168 q: 0.985358 -0.008341 -0.167251 0.032056 
time: 1403636899.801666, t: 0.482707 0.438825 0.686860 q: 0.984518 -0.017474 -0.171460 0.031954 
time: 1403636899.901666, t: 0.486001 0.459698 0.705088 q: 0.984526 -0.024346 -0.171677 0.025374 
optimize pose graph 
time: 1403636900.001667, t: 0.487626 0.482279 0.724129 q: 0.985533 -0.028450 -0.165932 0.019522 
time: 1403636900.101666, t: 0.487175 0.505489 0.744781 q: 0.986952 -0.029725 -0.157314 0.017183 
time: 1403636900.201667, t: 0.491421 0.527797 0.766515 q: 0.987989 -0.029484 -0.150962 0.014806 
time: 1403636900.301666, t: 0.508922 0.553177 0.778698 q: 0.987820 -0.028036 -0.152517 0.012814 
time: 1403636900.401666, t: 0.531118 0.575768 0.790163 q: 0.986627 -0.024889 -0.160502 0.013685 
time: 1403636900.501667, t: 0.555915 0.596583 0.800791 q: 0.985596 -0.021518 -0.167267 0.012589 
time: 1403636900.601666, t: 0.575721 0.618136 0.815772 q: 0.985062 -0.018510 -0.170707 0.012999 
time: 1403636900.701667, t: 0.590366 0.639483 0.827461 q: 0.983653 -0.015823 -0.178823 0.014074 
time: 1403636900.801666, t: 0.596915 0.660329 0.844239 q: 0.982422 -0.012830 -0.185430 0.017255 
time: 1403636900.901666, t: 0.603379 0.684432 0.861708 q: 0.982891 -0.009709 -0.182203 0.025142 
time: 1403636901.001667, t: 0.604458 0.710560 0.883220 q: 0.983719 -0.008130 -0.176912 0.030540 
time: 1403636901.101666, t: 0.602374 0.740956 0.904839 q: 0.984068 -0.006830 -0.174224 0.034776 
time: 1403636901.201667, t: 0.594573 0.775754 0.931028 q: 0.984338 -0.006586 -0.172417 0.036175 
time: 1403636901.301666, t: 0.592241 0.814604 0.958236 q: 0.984684 -0.007364 -0.171313 0.031543 
time: 1403636901.401666, t: 0.599124 0.858610 0.985136 q: 0.984867 -0.008314 -0.170957 0.027249 
time: 1403636901.501667, t: 0.607574 0.904766 1.015845 q: 0.985177 -0.009787 -0.169951 0.021165 
time: 1403636901.601666, t: 0.615493 0.953972 1.044922 q: 0.985452 -0.010740 -0.168722 0.017355 
time: 1403636901.701667, t: 0.621122 1.001613 1.074915 q: 0.985962 -0.011339 -0.165790 0.016245 
time: 1403636901.801666, t: 0.618369 1.048860 1.103984 q: 0.986111 -0.011296 -0.164799 0.017278 
time: 1403636901.901666, t: 0.611827 1.098177 1.133876 q: 0.986102 -0.011247 -0.164975 0.016115 
optimize pose graph 
time: 1403636902.001667, t: 0.596003 1.146108 1.159638 q: 0.986223 -0.011107 -0.164409 0.014529 
time: 1403636902.101666, t: 0.588972 1.195478 1.186188 q: 0.986379 -0.010412 -0.163615 0.013360 
time: 1403636902.201667, t: 0.583487 1.241346 1.210226 q: 0.986345 -0.010037 -0.163925 0.012279 
time: 1403636902.301666, t: 0.584734 1.288289 1.240195 q: 0.986205 -0.010180 -0.164475 0.015600 
time: 1403636902.401666, t: 0.574061 1.334521 1.266919 q: 0.985990 -0.011362 -0.165500 0.017440 
time: 1403636902.501667, t: 0.546466 1.384371 1.292015 q: 0.985759 -0.013676 -0.166824 0.016164 
time: 1403636902.701667, t: 0.495717 1.477319 1.351149 q: 0.985891 -0.020975 -0.165936 0.006691 
time: 1403636902.801666, t: 0.479712 1.521248 1.376461 q: 0.986030 -0.022650 -0.164853 0.007391 
time: 1403636902.901666, t: 0.468072 1.564918 1.399559 q: 0.986747 -0.021290 -0.160639 0.008525 
time: 1403636903.001667, t: 0.469704 1.607557 1.421211 q: 0.986736 -0.019331 -0.160928 0.009020 
time: 1403636903.101666, t: 0.478238 1.649028 1.440821 q: 0.986645 -0.016945 -0.161697 0.009957 
time: 1403636903.201667, t: 0.493592 1.688041 1.458772 q: 0.986458 -0.014617 -0.163006 0.010737 
time: 1403636903.301666, t: 0.515173 1.724659 1.477976 q: 0.986059 -0.012700 -0.165641 0.009493 
time: 1403636903.501667, t: 0.552334 1.794969 1.518200 q: 0.985747 -0.011087 -0.167804 0.004715 
time: 1403636903.601666, t: 0.558675 1.828326 1.534045 q: 0.985674 -0.010014 -0.168299 0.004671 
time: 1403636903.701667, t: 0.560444 1.861116 1.555414 q: 0.984787 -0.008627 -0.173336 0.008693 
time: 1403636903.801666, t: 0.559074 1.891165 1.577776 q: 0.983985 -0.007362 -0.177596 0.013405 
time: 1403636903.901666, t: 0.562432 1.924704 1.601450 q: 0.983854 -0.006173 -0.177917 0.018415 
time: 1403636904.001667, t: 0.571965 1.959365 1.625261 q: 0.984377 -0.005270 -0.174563 0.022412 
time: 1403636904.101666, t: 0.589946 1.995268 1.652668 q: 0.984924 -0.004988 -0.171080 0.025112 
time: 1403636904.201667, t: 0.613846 2.037086 1.679991 q: 0.985025 -0.004487 -0.169935 0.028760 
time: 1403636904.301666, t: 0.643545 2.081830 1.706942 q: 0.985259 -0.005116 -0.168512 0.029033 
time: 1403636904.401666, t: 0.667452 2.129455 1.732130 q: 0.985645 -0.006494 -0.166476 0.027333 
time: 1403636904.501667, t: 0.687348 2.175851 1.760596 q: 0.985796 -0.008154 -0.165991 0.024215 
time: 1403636904.601666, t: 0.700482 2.226087 1.789728 q: 0.985883 -0.010097 -0.165912 0.020171 
time: 1403636904.701667, t: 0.712078 2.275169 1.818153 q: 0.985818 -0.012626 -0.166540 0.016357 
time: 1403636904.901666, t: 0.727782 2.376721 1.873531 q: 0.985773 -0.017187 -0.166916 0.009790 
time: 1403636905.001667, t: 0.729803 2.427308 1.899814 q: 0.985742 -0.019352 -0.166984 0.007391 
time: 1403636905.101666, t: 0.727479 2.475139 1.928170 q: 0.985867 -0.021799 -0.166015 0.005405 
time: 1403636905.201667, t: 0.729779 2.520737 1.957168 q: 0.985927 -0.024180 -0.165367 0.004171 
time: 1403636905.301666, t: 0.738001 2.565253 1.984554 q: 0.985555 -0.026388 -0.167270 0.002463 
time: 1403636905.401666, t: 0.751421 2.606449 2.011504 q: 0.984713 -0.027782 -0.171938 0.002272 
time: 1403636905.501667, t: 0.768538 2.644426 2.037798 q: 0.984579 -0.024072 -0.173271 -0.001452 
time: 1403636905.601666, t: 0.784623 2.677515 2.066985 q: 0.984646 -0.019456 -0.173376 -0.005940 
time: 1403636905.701667, t: 0.795063 2.705092 2.099018 q: 0.984560 -0.014590 -0.174385 -0.004413 
time: 1403636905.801666, t: 0.798818 2.731303 2.131512 q: 0.984611 -0.010336 -0.174451 -0.001181 
time: 1403636905.901666, t: 0.795754 2.757391 2.165130 q: 0.984366 -0.006979 -0.175998 0.000427 
time: 1403636906.001667, t: 0.786212 2.782088 2.198643 q: 0.983653 -0.004285 -0.180018 0.001314 
time: 1403636906.101666, t: 0.773166 2.803837 2.236545 q: 0.982959 -0.002800 -0.183796 -0.001561 
time: 1403636906.201667, t: 0.764731 2.823940 2.278202 q: 0.983220 -0.001113 -0.182408 -0.001988 
time: 1403636906.301666, t: 0.767247 2.842657 2.322280 q: 0.984849 0.000716 -0.173411 -0.000042 
time: 1403636906.401666, t: 0.773195 2.855465 2.367929 q: 0.986013 0.002044 -0.166544 0.006125 
time: 1403636906.501667, t: 0.782953 2.869676 2.412843 q: 0.986152 0.004300 -0.164528 0.020414 
time: 1403636906.601666, t: 0.791470 2.887115 2.456070 q: 0.985154 0.005359 -0.169381 0.027458 
time: 1403636906.701667, t: 0.795587 2.909651 2.499054 q: 0.985227 0.004287 -0.169833 0.021594 
time: 1403636906.801666, t: 0.794564 2.934264 2.541164 q: 0.985403 0.002756 -0.169820 0.011625 
time: 1403636906.901666, t: 0.788298 2.957264 2.584552 q: 0.985293 0.002806 -0.170762 0.005409 
time: 1403636907.001667, t: 0.787416 2.980287 2.629140 q: 0.985230 0.004038 -0.171183 0.001550 
time: 1403636907.101666, t: 0.791603 3.001461 2.672438 q: 0.985005 0.005563 -0.172436 0.000683 
time: 1403636907.201667, t: 0.793466 3.021576 2.719031 q: 0.984075 0.006819 -0.177625 -0.000473 
time: 1403636907.301666, t: 0.788874 3.041145 2.764359 q: 0.983055 0.008747 -0.183095 0.001301 
time: 1403636907.401666, t: 0.785095 3.059504 2.812531 q: 0.982642 0.011331 -0.185018 0.007398 
time: 1403636907.501667, t: 0.788543 3.079201 2.864077 q: 0.982462 0.013662 -0.185457 0.013689 
time: 1403636907.601666, t: 0.798551 3.097021 2.919968 q: 0.982349 0.015118 -0.185428 0.019437 
time: 1403636907.701667, t: 0.815459 3.115267 2.980556 q: 0.982306 0.015549 -0.185241 0.022774 
time: 1403636907.801666, t: 0.838496 3.140533 3.043004 q: 0.982345 0.016031 -0.184709 0.024971 
time: 1403636907.901666, t: 0.857230 3.170790 3.105208 q: 0.982739 0.016395 -0.182573 0.024965 
time: 1403636908.001667, t: 0.862420 3.200507 3.174554 q: 0.983981 0.015616 -0.176781 0.016894 
time: 1403636908.101666, t: 0.863059 3.232912 3.241933 q: 0.984970 0.015976 -0.171784 0.008318 
time: 1403636908.201667, t: 0.866771 3.261859 3.312738 q: 0.985616 0.017276 -0.168052 0.004652 
time: 1403636908.301666, t: 0.872597 3.291218 3.380113 q: 0.985740 0.019037 -0.167175 0.002704 
time: 1403636908.401666, t: 0.874646 3.322615 3.443909 q: 0.985497 0.021198 -0.168350 0.001962 
time: 1403636908.501667, t: 0.870383 3.352369 3.507920 q: 0.985073 0.023555 -0.170507 0.001796 
time: 1403636908.601666, t: 0.863232 3.382333 3.573504 q: 0.984841 0.025717 -0.171535 0.001358 
time: 1403636908.701667, t: 0.859363 3.411429 3.637811 q: 0.984361 0.027877 -0.173938 0.000899 
time: 1403636908.801666, t: 0.864547 3.437990 3.702915 q: 0.983474 0.029701 -0.178566 0.003210 
time: 1403636908.901666, t: 0.878415 3.467435 3.768593 q: 0.982496 0.030886 -0.183636 0.004968 
time: 1403636909.001667, t: 0.899346 3.497501 3.836773 q: 0.982179 0.032253 -0.185035 0.006797 
time: 1403636909.101666, t: 0.923713 3.525368 3.909177 q: 0.981960 0.032702 -0.185996 0.009554 
time: 1403636909.201667, t: 0.936129 3.557695 3.982088 q: 0.981971 0.032663 -0.185892 0.010507 
time: 1403636909.301666, t: 0.948189 3.588956 4.059770 q: 0.981837 0.032074 -0.186657 0.011287 
time: 1403636909.401666, t: 0.951293 3.624343 4.135380 q: 0.982381 0.031140 -0.183994 0.010150 
time: 1403636909.501667, t: 0.954862 3.657683 4.216439 q: 0.983393 0.029334 -0.178967 0.006913 
time: 1403636909.601666, t: 0.952080 3.693664 4.297345 q: 0.983786 0.028614 -0.176836 0.008646 
time: 1403636909.701667, t: 0.941444 3.728200 4.382124 q: 0.984461 0.028167 -0.172827 0.013207 
time: 1403636909.801666, t: 0.922557 3.764455 4.465317 q: 0.986024 0.026048 -0.164364 0.007859 
time: 1403636909.901666, t: 0.900417 3.796184 4.550749 q: 0.987054 0.022107 -0.158654 -0.007994 
time: 1403636910.001667, t: 0.876452 3.832696 4.629537 q: 0.988068 0.019133 -0.151250 -0.021880 
time: 1403636910.101666, t: 0.851129 3.858565 4.708830 q: 0.988313 0.019446 -0.149772 -0.020699 
time: 1403636910.201667, t: 0.827267 3.879921 4.781262 q: 0.987231 0.021970 -0.157442 -0.010235 
time: 1403636910.301666, t: 0.813570 3.900119 4.848201 q: 0.986145 0.023926 -0.164095 -0.004207 
time: 1403636910.401666, t: 0.806138 3.921157 4.912905 q: 0.985380 0.025603 -0.168430 -0.001375 
time: 1403636910.501667, t: 0.806873 3.938435 4.977498 q: 0.985106 0.027203 -0.169778 -0.001330 
time: 1403636910.601666, t: 0.806703 3.957772 5.039586 q: 0.984973 0.027849 -0.170414 -0.003264 
time: 1403636910.701667, t: 0.799970 3.974030 5.102874 q: 0.984941 0.028461 -0.170498 -0.003474 
time: 1403636910.801666, t: 0.790177 3.991669 5.164551 q: 0.984800 0.029224 -0.171206 -0.001999 
time: 1403636910.901666, t: 0.774254 4.005789 5.229950 q: 0.984612 0.030164 -0.172129 0.001379 
time: 1403636911.001667, t: 0.759047 4.021182 5.293872 q: 0.986337 0.031658 -0.161524 0.006821 
time: 1403636911.101666, t: 0.750886 4.033545 5.356218 q: 0.988241 0.031978 -0.149286 0.008428 
time: 1403636911.201667, t: 0.744595 4.050488 5.415506 q: 0.987367 0.031573 -0.155166 0.005808 
time: 1403636911.301666, t: 0.744671 4.067014 5.473266 q: 0.985881 0.031047 -0.164516 0.002895 
time: 1403636911.401666, t: 0.751974 4.081736 5.528211 q: 0.985479 0.030088 -0.167109 -0.000105 
time: 1403636911.501667, t: 0.766430 4.098927 5.580133 q: 0.985322 0.029506 -0.168128 -0.001510 
time: 1403636911.601666, t: 0.780701 4.114397 5.631763 q: 0.985217 0.029268 -0.168782 -0.001921 
time: 1403636911.701667, t: 0.789850 4.124021 5.689496 q: 0.985216 0.028668 -0.168889 -0.001922 
time: 1403636911.801666, t: 0.793070 4.136432 5.743497 q: 0.985189 0.028951 -0.168975 0.003572 
time: 1403636911.901666, t: 0.789283 4.148793 5.795235 q: 0.984526 0.030068 -0.172116 0.013439 
time: 1403636912.001667, t: 0.782874 4.161586 5.850730 q: 0.983942 0.029853 -0.175077 0.017751 
time: 1403636912.101666, t: 0.772714 4.178541 5.906296 q: 0.983986 0.028541 -0.175246 0.015701 
time: 1403636912.201667, t: 0.762845 4.198750 5.963702 q: 0.984448 0.027849 -0.173021 0.012246 
time: 1403636912.301666, t: 0.759934 4.219895 6.020870 q: 0.984983 0.026629 -0.170428 0.007377 
time: 1403636912.401666, t: 0.758811 4.247697 6.074535 q: 0.985061 0.026183 -0.170068 0.006848 
time: 1403636912.501667, t: 0.764217 4.270714 6.130135 q: 0.984921 0.026912 -0.170370 0.013414 
time: 1403636912.601666, t: 0.761129 4.296464 6.187299 q: 0.984807 0.026420 -0.170948 0.015294 
time: 1403636912.701667, t: 0.753162 4.322527 6.241379 q: 0.984664 0.026719 -0.171056 0.021505 
time: 1403636912.801666, t: 0.740594 4.352711 6.296485 q: 0.984617 0.027450 -0.170432 0.027008 
time: 1403636912.901666, t: 0.721857 4.386112 6.353669 q: 0.984940 0.026372 -0.169273 0.023330 
time: 1403636913.001667, t: 0.707681 4.420185 6.417272 q: 0.985964 0.024726 -0.164362 0.015759 
time: 1403636913.101666, t: 0.680511 4.462108 6.470919 q: 0.986882 0.023996 -0.159308 0.010415 
time: 1403636913.201667, t: 0.659805 4.503421 6.522873 q: 0.987558 0.023630 -0.155330 0.006554 
time: 1403636913.301666, t: 0.645796 4.541161 6.572530 q: 0.987394 0.023516 -0.156449 0.004979 
time: 1403636913.401666, t: 0.639916 4.579839 6.619280 q: 0.986356 0.024859 -0.162427 0.010037 
time: 1403636913.501667, t: 0.638495 4.620635 6.663177 q: 0.985597 0.025677 -0.166419 0.015638 
time: 1403636913.601666, t: 0.635679 4.664952 6.703627 q: 0.985506 0.024778 -0.167388 0.012026 
time: 1403636913.701667, t: 0.626205 4.707718 6.748509 q: 0.985465 0.023425 -0.168009 0.009118 
time: 1403636913.801666, t: 0.616520 4.751306 6.795111 q: 0.985532 0.022962 -0.167757 0.007603 
time: 1403636913.901666, t: 0.610364 4.790169 6.841497 q: 0.985696 0.022263 -0.166957 0.005690 
time: 1403636914.001667, t: 0.611311 4.831739 6.883571 q: 0.985800 0.022351 -0.166377 0.004259 
time: 1403636914.101666, t: 0.615974 4.875102 6.922418 q: 0.985845 0.023083 -0.165886 0.007697 
time: 1403636914.201667, t: 0.620860 4.918312 6.961505 q: 0.985754 0.023341 -0.166246 0.010343 
time: 1403636914.301666, t: 0.620557 4.962387 7.000666 q: 0.985601 0.022532 -0.167351 0.008748 
time: 1403636914.401666, t: 0.618414 5.008639 7.039149 q: 0.985853 0.021590 -0.166160 0.004389 
time: 1403636914.501667, t: 0.621693 5.049551 7.081046 q: 0.985844 0.020409 -0.166416 0.000998 
time: 1403636914.601666, t: 0.628096 5.090371 7.116692 q: 0.985940 0.019606 -0.165944 0.000014 
time: 1403636914.701667, t: 0.643950 5.133526 7.150319 q: 0.986280 0.019260 -0.163951 -0.000332 
time: 1403636914.801666, t: 0.658394 5.174931 7.182168 q: 0.986512 0.018217 -0.162670 -0.000932 
time: 1403636915.001667, t: 0.674037 5.253163 7.243267 q: 0.985670 0.016137 -0.167905 -0.001156 
time: 1403636915.101666, t: 0.673215 5.291028 7.272309 q: 0.985223 0.015501 -0.170566 -0.001687 
time: 1403636915.201667, t: 0.668416 5.324767 7.302145 q: 0.984491 0.014632 -0.174815 -0.002042 
time: 1403636915.301666, t: 0.658998 5.358161 7.333008 q: 0.982914 0.014124 -0.183505 -0.002457 
time: 1403636915.401666, t: 0.647923 5.389430 7.366981 q: 0.981639 0.014010 -0.190209 -0.002948 
time: 1403636915.501667, t: 0.638453 5.417417 7.403370 q: 0.982259 0.014724 -0.186950 0.000760 
time: 1403636915.601666, t: 0.630616 5.447561 7.439020 q: 0.984136 0.016847 -0.176282 0.010848 
time: 1403636915.701667, t: 0.633468 5.476717 7.481318 q: 0.985176 0.018776 -0.169384 0.019616 
time: 1403636915.801666, t: 0.642517 5.508474 7.520984 q: 0.985654 0.019370 -0.166347 0.020980 
time: 1403636915.901666, t: 0.658671 5.544521 7.560377 q: 0.985931 0.019975 -0.164668 0.020648 
time: 1403636916.001667, t: 0.675907 5.582043 7.599026 q: 0.986266 0.018803 -0.163577 0.013009 
time: 1403636916.101666, t: 0.690453 5.622604 7.635608 q: 0.986350 0.017358 -0.163726 0.002384 
time: 1403636916.201667, t: 0.698273 5.660092 7.670974 q: 0.986205 0.016938 -0.164630 -0.003241 
time: 1403636916.301666, t: 0.707509 5.697789 7.704437 q: 0.986168 0.017707 -0.164795 -0.001593 
time: 1403636916.401666, t: 0.721863 5.735008 7.736778 q: 0.986002 0.017339 -0.165808 -0.002502 
time: 1403636916.501667, t: 0.735914 5.773720 7.766116 q: 0.986257 0.009676 -0.164877 -0.004299 
time: 1403636916.601666, t: 0.745198 5.811472 7.793988 q: 0.986326 -0.004417 -0.164682 -0.004582 
time: 1403636916.701667, t: 0.750708 5.847779 7.818381 q: 0.986180 -0.017526 -0.164717 -0.003050 
time: 1403636916.801666, t: 0.749530 5.875069 7.848621 q: 0.986085 -0.027914 -0.163884 -0.000193 
time: 1403636916.901666, t: 0.743628 5.900532 7.876738 q: 0.985817 -0.035857 -0.163951 -0.000277 
time: 1403636917.001667, t: 0.732958 5.923712 7.904957 q: 0.985700 -0.040799 -0.163498 0.000401 
time: 1403636917.101666, t: 0.717219 5.944658 7.932620 q: 0.985534 -0.043411 -0.163769 0.004162 
time: 1403636917.201667, t: 0.697111 5.961962 7.959772 q: 0.985403 -0.046504 -0.163506 0.009178 
time: 1403636917.301666, t: 0.672892 5.978677 7.987856 q: 0.984972 -0.057348 -0.162488 0.011780 
time: 1403636917.401666, t: 0.643821 5.999523 8.010531 q: 0.983825 -0.076156 -0.161674 0.012284 
time: 1403636917.501667, t: 0.610701 6.015907 8.034628 q: 0.982000 -0.096768 -0.161470 0.015448 
time: 1403636917.601666, t: 0.581391 6.032097 8.055532 q: 0.980434 -0.112062 -0.160523 0.020577 
time: 1403636917.701667, t: 0.557718 6.046590 8.070485 q: 0.979301 -0.123486 -0.158630 0.023606 
time: 1403636917.801666, t: 0.541569 6.060663 8.087038 q: 0.978145 -0.133368 -0.157615 0.024551 
time: 1403636917.901666, t: 0.533919 6.073258 8.094682 q: 0.977257 -0.141202 -0.156313 0.024422 
time: 1403636918.001667, t: 0.530771 6.081788 8.106234 q: 0.976326 -0.146241 -0.157474 0.024548 
time: 1403636918.101666, t: 0.522958 6.086956 8.117657 q: 0.975540 -0.149657 -0.159339 0.023158 
time: 1403636918.201667, t: 0.511722 6.090318 8.127027 q: 0.974907 -0.151362 -0.161943 0.020493 
time: 1403636918.301666, t: 0.505102 6.091680 8.136156 q: 0.974603 -0.151687 -0.163759 0.017970 
time: 1403636918.501667, t: 0.511045 6.082802 8.159805 q: 0.971151 -0.150110 -0.184333 0.018827 
time: 1403636918.601666, t: 0.526764 6.073252 8.176644 q: 0.970746 -0.148915 -0.187461 0.018326 
time: 1403636918.701667, t: 0.551851 6.063866 8.197924 q: 0.971651 -0.146318 -0.184677 0.019465 
time: 1403636918.801666, t: 0.583549 6.051604 8.227009 q: 0.973214 -0.142175 -0.177755 0.032306 
time: 1403636918.901666, t: 0.618974 6.042677 8.254151 q: 0.975105 -0.139631 -0.165967 0.046143 
time: 1403636919.001667, t: 0.656383 6.039357 8.280441 q: 0.975427 -0.143811 -0.156884 0.056991 
time: 1403636919.101666, t: 0.695900 6.040956 8.302607 q: 0.975102 -0.148778 -0.151681 0.063512 
time: 1403636919.201667, t: 0.735945 6.046738 8.322296 q: 0.974612 -0.154190 -0.148751 0.065040 
time: 1403636919.301666, t: 0.776742 6.058783 8.337389 q: 0.974011 -0.159146 -0.147923 0.063977 
time: 1403636919.401666, t: 0.813788 6.075558 8.349130 q: 0.973192 -0.165604 -0.147602 0.060713 
time: 1403636919.501667, t: 0.844425 6.097132 8.354721 q: 0.972522 -0.172036 -0.148500 0.050513 
time: 1403636919.601666, t: 0.870863 6.117754 8.359962 q: 0.971795 -0.177641 -0.150073 0.039195 
time: 1403636919.701667, t: 0.890303 6.136863 8.365566 q: 0.971464 -0.181056 -0.149626 0.032988 
time: 1403636919.801666, t: 0.904628 6.157267 8.367523 q: 0.971431 -0.181980 -0.148550 0.033740 
time: 1403636919.901666, t: 0.910307 6.175655 8.364169 q: 0.971544 -0.181936 -0.147345 0.035932 
time: 1403636920.001667, t: 0.908516 6.194366 8.356698 q: 0.972031 -0.180683 -0.144319 0.040992 
time: 1403636920.101666, t: 0.902404 6.211775 8.346889 q: 0.972524 -0.178829 -0.141398 0.047149 
time: 1403636920.201667, t: 0.890820 6.229498 8.333216 q: 0.972881 -0.176969 -0.139416 0.052418 
time: 1403636920.401666, t: 0.854997 6.269300 8.292199 q: 0.972864 -0.178973 -0.142446 0.034828 
time: 1403636920.501667, t: 0.839735 6.288052 8.264686 q: 0.972241 -0.179423 -0.147417 0.028673 
time: 1403636920.601666, t: 0.831185 6.303857 8.234988 q: 0.971264 -0.179472 -0.153853 0.027652 
time: 1403636920.701667, t: 0.832060 6.317198 8.202781 q: 0.969956 -0.179692 -0.161482 0.028642 
time: 1403636920.801666, t: 0.839058 6.328985 8.170974 q: 0.968730 -0.180104 -0.167937 0.030350 
time: 1403636920.901666, t: 0.854521 6.339485 8.139680 q: 0.968107 -0.180065 -0.171206 0.032156 
time: 1403636921.001667, t: 0.872068 6.348041 8.112336 q: 0.967853 -0.180822 -0.171824 0.032264 
time: 1403636921.101666, t: 0.886055 6.354597 8.088881 q: 0.967831 -0.181648 -0.170978 0.032770 
time: 1403636921.201667, t: 0.894719 6.361744 8.065516 q: 0.968190 -0.182370 -0.168336 0.031807 
time: 1403636921.301666, t: 0.898917 6.367816 8.044334 q: 0.969815 -0.182935 -0.158401 0.030061 
time: 1403636921.401666, t: 0.897060 6.372310 8.022261 q: 0.971030 -0.182439 -0.150387 0.034644 
time: 1403636921.501667, t: 0.889691 6.375626 7.998454 q: 0.971412 -0.181312 -0.147241 0.042494 
time: 1403636921.601666, t: 0.875867 6.379345 7.970463 q: 0.970553 -0.180346 -0.151487 0.050530 
time: 1403636921.701667, t: 0.856242 6.383082 7.942036 q: 0.967758 -0.180460 -0.167060 0.054489 
time: 1403636921.801666, t: 0.834674 6.392159 7.909953 q: 0.964774 -0.181294 -0.182900 0.053772 
time: 1403636921.901666, t: 0.815125 6.403947 7.884451 q: 0.964315 -0.183146 -0.184629 0.049662 
time: 1403636922.001667, t: 0.796446 6.415008 7.864001 q: 0.965710 -0.186839 -0.174993 0.043271 
time: 1403636922.101666, t: 0.777999 6.428809 7.845902 q: 0.966506 -0.192653 -0.165208 0.038182 
time: 1403636922.201667, t: 0.766192 6.445496 7.826967 q: 0.966094 -0.198347 -0.161400 0.035644 
time: 1403636922.301666, t: 0.753656 6.455879 7.807014 q: 0.963792 -0.203754 -0.168478 0.034703 
time: 1403636922.401666, t: 0.749343 6.465321 7.788833 q: 0.961651 -0.208038 -0.175024 0.036255 
time: 1403636922.501667, t: 0.740571 6.476711 7.769005 q: 0.958970 -0.214657 -0.181201 0.038278 
time: 1403636922.601666, t: 0.730286 6.484924 7.762585 q: 0.955852 -0.225385 -0.184093 0.040717 
time: 1403636922.701667, t: 0.714535 6.496083 7.752712 q: 0.955044 -0.235617 -0.175575 0.039350 
time: 1403636922.801666, t: 0.700128 6.505196 7.750179 q: 0.955896 -0.242899 -0.159735 0.041813 
time: 1403636922.901666, t: 0.689625 6.510628 7.745990 q: 0.956461 -0.246674 -0.147784 0.049938 
time: 1403636923.001667, t: 0.686099 6.515253 7.739149 q: 0.956594 -0.248600 -0.140156 0.059011 
time: 1403636923.101666, t: 0.684790 6.521088 7.726061 q: 0.955339 -0.253108 -0.139564 0.061526 
time: 1403636923.201667, t: 0.677508 6.524912 7.711555 q: 0.952001 -0.263122 -0.143167 0.062965 
time: 1403636923.301666, t: 0.661191 6.535148 7.688711 q: 0.947255 -0.275104 -0.152829 0.060569 
time: 1403636923.401666, t: 0.644097 6.542972 7.668915 q: 0.942476 -0.284700 -0.164908 0.059087 
time: 1403636923.501667, t: 0.624025 6.551135 7.650686 q: 0.938082 -0.291403 -0.177227 0.060633 
time: 1403636923.601666, t: 0.602481 6.561389 7.631315 q: 0.934502 -0.295027 -0.188511 0.064261 
time: 1403636923.701667, t: 0.591117 6.571683 7.619250 q: 0.932454 -0.297731 -0.194167 0.064690 
time: 1403636923.901666, t: 0.596438 6.598237 7.620662 q: 0.931883 -0.299903 -0.194226 0.062684 
time: 1403636924.001667, t: 0.595830 6.615526 7.630318 q: 0.931980 -0.299809 -0.194576 0.060568 
time: 1403636924.101666, t: 0.589853 6.637401 7.645103 q: 0.932325 -0.299561 -0.193783 0.058998 
time: 1403636924.201667, t: 0.579677 6.659410 7.665831 q: 0.933117 -0.298785 -0.191861 0.056654 
time: 1403636924.301666, t: 0.568389 6.682652 7.691755 q: 0.933997 -0.297638 -0.189420 0.056401 
time: 1403636924.401666, t: 0.564247 6.705026 7.725782 q: 0.935168 -0.295604 -0.184662 0.063084 
time: 1403636924.501667, t: 0.572948 6.729648 7.765286 q: 0.937334 -0.293689 -0.174219 0.069282 
time: 1403636924.601666, t: 0.583173 6.757552 7.804196 q: 0.939687 -0.291133 -0.162441 0.076433 
time: 1403636924.701667, t: 0.589860 6.785777 7.841457 q: 0.941359 -0.289235 -0.153624 0.081151 
time: 1403636924.801666, t: 0.593243 6.816898 7.879102 q: 0.943268 -0.286555 -0.144418 0.085297 
time: 1403636924.901666, t: 0.587899 6.856412 7.909134 q: 0.944320 -0.286325 -0.137526 0.085821 
time: 1403636925.001667, t: 0.577406 6.900058 7.930944 q: 0.942270 -0.293108 -0.136997 0.086299 
time: 1403636925.101666, t: 0.556150 6.946146 7.946744 q: 0.939227 -0.302475 -0.141673 0.079317 
time: 1403636925.201667, t: 0.530353 6.989896 7.961525 q: 0.935668 -0.311590 -0.151438 0.067106 
time: 1403636925.301666, t: 0.501892 7.036845 7.970296 q: 0.931767 -0.317587 -0.165027 0.060946 
time: 1403636925.401666, t: 0.467342 7.081534 7.978757 q: 0.927583 -0.321582 -0.180389 0.060292 
time: 1403636925.501667, t: 0.442524 7.125415 8.004094 q: 0.924051 -0.324652 -0.191966 0.062290 
time: 1403636925.601666, t: 0.414199 7.170876 8.019146 q: 0.921413 -0.326033 -0.201204 0.064937 
time: 1403636925.701667, t: 0.394324 7.218026 8.048518 q: 0.919623 -0.327209 -0.206569 0.067504 
time: 1403636925.801666, t: 0.388884 7.266225 8.088115 q: 0.918881 -0.328566 -0.208124 0.066232 
time: 1403636925.901666, t: 0.393355 7.319618 8.134193 q: 0.921157 -0.329444 -0.197580 0.062435 
time: 1403636926.001667, t: 0.403789 7.374823 8.189242 q: 0.924893 -0.330569 -0.179768 0.054591 
time: 1403636926.101666, t: 0.408128 7.425863 8.252819 q: 0.928677 -0.330615 -0.159248 0.053782 
time: 1403636926.201667, t: 0.404843 7.479148 8.312960 q: 0.931550 -0.328480 -0.144258 0.059212 
time: 1403636926.301666, t: 0.396057 7.529116 8.368656 q: 0.933248 -0.326013 -0.136226 0.064857 
time: 1403636926.401666, t: 0.379697 7.577324 8.418885 q: 0.934574 -0.322993 -0.131007 0.071304 
time: 1403636926.501667, t: 0.353781 7.620717 8.458610 q: 0.935239 -0.320671 -0.130289 0.074318 
time: 1403636926.601666, t: 0.334849 7.666008 8.492420 q: 0.935036 -0.319599 -0.136202 0.070807 
time: 1403636926.701667, t: 0.322601 7.708392 8.519972 q: 0.934655 -0.319203 -0.141605 0.066918 
time: 1403636926.801666, t: 0.316406 7.749582 8.542093 q: 0.932548 -0.321714 -0.147658 0.071069 
time: 1403636926.901666, t: 0.317280 7.793396 8.561719 q: 0.928748 -0.329019 -0.151353 0.079154 
time: 1403636927.001667, t: 0.317824 7.837133 8.582730 q: 0.923349 -0.342497 -0.150741 0.086023 
time: 1403636927.101666, t: 0.309212 7.882802 8.597729 q: 0.916500 -0.360337 -0.149012 0.089340 
time: 1403636927.201667, t: 0.299975 7.932560 8.603206 q: 0.908128 -0.380956 -0.146695 0.093036 
time: 1403636927.301666, t: 0.282470 7.979556 8.612753 q: 0.898159 -0.403947 -0.145881 0.094104 
time: 1403636927.401666, t: 0.257922 8.029726 8.620448 q: 0.888676 -0.421874 -0.153711 0.093007 
time: 1403636927.501667, t: 0.238889 8.083623 8.620241 q: 0.880241 -0.433240 -0.168401 0.095497 
time: 1403636927.601666, t: 0.218754 8.139181 8.625738 q: 0.873314 -0.440958 -0.181391 0.099883 
time: 1403636927.701667, t: 0.197564 8.192785 8.640220 q: 0.868965 -0.446987 -0.187193 0.100304 
time: 1403636927.801666, t: 0.189994 8.255994 8.658978 q: 0.867089 -0.450040 -0.187471 0.102345 
time: 1403636927.901666, t: 0.189004 8.320386 8.681726 q: 0.866661 -0.451586 -0.185518 0.102722 
time: 1403636928.101666, t: 0.183019 8.466614 8.754011 q: 0.868002 -0.453186 -0.177643 0.098171 
time: 1403636928.301666, t: 0.160862 8.624817 8.830041 q: 0.874091 -0.452141 -0.151904 0.091975 
time: 1403636928.401666, t: 0.144250 8.700651 8.872184 q: 0.876390 -0.451539 -0.141875 0.089026 
time: 1403636928.501667, t: 0.125328 8.776936 8.902628 q: 0.877670 -0.450938 -0.138330 0.084947 
time: 1403636928.601666, t: 0.110094 8.847909 8.938645 q: 0.877439 -0.450550 -0.141960 0.083383 
time: 1403636928.701667, t: 0.102837 8.917497 8.972376 q: 0.876020 -0.449851 -0.151864 0.084624 
time: 1403636928.801666, t: 0.101680 8.985097 9.005341 q: 0.874557 -0.449207 -0.161374 0.085562 
time: 1403636928.901666, t: 0.107026 9.052323 9.039990 q: 0.873828 -0.449248 -0.165127 0.085644 
time: 1403636929.001667, t: 0.119333 9.121090 9.073618 q: 0.875863 -0.449526 -0.154651 0.082903 
time: 1403636929.101666, t: 0.138653 9.187116 9.108750 q: 0.878698 -0.448761 -0.138301 0.085892 
time: 1403636929.201667, t: 0.163439 9.250620 9.144875 q: 0.880065 -0.447778 -0.129475 0.090641 
time: 1403636929.301666, t: 0.190249 9.313270 9.175022 q: 0.880447 -0.446071 -0.127921 0.097310 
time: 1403636929.401666, t: 0.212129 9.375773 9.200064 q: 0.880807 -0.444886 -0.128970 0.098092 
time: 1403636929.501667, t: 0.223776 9.433982 9.220121 q: 0.880740 -0.444754 -0.132927 0.093924 
time: 1403636929.601666, t: 0.232506 9.494075 9.235640 q: 0.880460 -0.445304 -0.138224 0.085958 
time: 1403636929.701667, t: 0.237100 9.555280 9.248069 q: 0.880289 -0.445696 -0.142442 0.078461 
time: 1403636929.801666, t: 0.235216 9.610338 9.261485 q: 0.880065 -0.445917 -0.145201 0.074562 
time: 1403636929.901666, t: 0.227940 9.663573 9.274192 q: 0.880689 -0.445306 -0.142816 0.075451 
time: 1403636930.001667, t: 0.231086 9.713602 9.288514 q: 0.881257 -0.444381 -0.139644 0.080073 
time: 1403636930.101666, t: 0.237288 9.760372 9.299177 q: 0.881322 -0.443766 -0.139371 0.083178 
time: 1403636930.201667, t: 0.251160 9.808343 9.306942 q: 0.881363 -0.443114 -0.138528 0.087514 
time: 1403636930.301666, t: 0.270189 9.851183 9.312519 q: 0.880981 -0.442592 -0.140099 0.091414 
time: 1403636930.401666, t: 0.294429 9.896252 9.315871 q: 0.880863 -0.443332 -0.140273 0.088663 
time: 1403636930.501667, t: 0.315215 9.941797 9.316547 q: 0.880401 -0.444691 -0.142647 0.082431 
time: 1403636930.601666, t: 0.335520 9.993326 9.314573 q: 0.880648 -0.444436 -0.143306 0.079994 
time: 1403636930.701667, t: 0.342374 10.031813 9.312218 q: 0.881255 -0.443433 -0.140023 0.084567 
time: 1403636930.901666, t: 0.338230 10.105777 9.305006 q: 0.881880 -0.441782 -0.131621 0.098954 
time: 1403636931.001667, t: 0.330944 10.144579 9.294335 q: 0.879149 -0.446321 -0.126757 0.108757 
time: 1403636931.101666, t: 0.319052 10.184291 9.277968 q: 0.874471 -0.456238 -0.124031 0.108458 
time: 1403636931.201667, t: 0.314937 10.223820 9.255243 q: 0.870379 -0.466925 -0.123136 0.096226 
time: 1403636931.301666, t: 0.320591 10.264297 9.224992 q: 0.867635 -0.474996 -0.119300 0.085761 
time: 1403636931.401666, t: 0.330303 10.295574 9.194262 q: 0.864743 -0.481292 -0.120373 0.078023 
time: 1403636931.501667, t: 0.345070 10.323143 9.157406 q: 0.861842 -0.486190 -0.127219 0.068291 
time: 1403636931.601666, t: 0.360808 10.343957 9.121363 q: 0.859117 -0.490354 -0.134413 0.058344 
time: 1403636931.701667, t: 0.375419 10.355320 9.086016 q: 0.857749 -0.492759 -0.136588 0.052901 
time: 1403636931.801666, t: 0.379469 10.359614 9.055067 q: 0.857466 -0.491595 -0.136791 0.066141 
time: 1403636931.901666, t: 0.377307 10.358199 9.025753 q: 0.856883 -0.490413 -0.138472 0.077929 
time: 1403636932.001667, t: 0.369513 10.355323 8.997139 q: 0.856492 -0.489973 -0.138647 0.084411 
time: 1403636932.101666, t: 0.362756 10.352413 8.971142 q: 0.856789 -0.490529 -0.134632 0.084665 
time: 1403636932.201667, t: 0.350885 10.346728 8.941003 q: 0.856922 -0.491885 -0.130590 0.081732 
time: 1403636932.401666, t: 0.347863 10.323923 8.875260 q: 0.854386 -0.498901 -0.132080 0.060639 
time: 1403636932.501667, t: 0.359609 10.303675 8.845829 q: 0.851598 -0.503744 -0.132516 0.058839 
time: 1403636932.601666, t: 0.376916 10.273639 8.818377 q: 0.845357 -0.513336 -0.132797 0.064982 
time: 1403636932.701667, t: 0.397327 10.235855 8.790229 q: 0.837747 -0.525312 -0.128807 0.075069 
time: 1403636932.801666, t: 0.426918 10.195892 8.762222 q: 0.830837 -0.536065 -0.126101 0.080264 
time: 1403636932.901666, t: 0.459072 10.149612 8.732855 q: 0.824179 -0.545351 -0.127097 0.084660 
time: 1403636933.001667, t: 0.479497 10.096846 8.704709 q: 0.818436 -0.552729 -0.129471 0.088831 
time: 1403636933.101666, t: 0.485157 10.045299 8.672714 q: 0.811574 -0.562038 -0.130259 0.092157 
time: 1403636933.201667, t: 0.480253 9.990417 8.643854 q: 0.805317 -0.568292 -0.135959 0.100121 
time: 1403636933.301666, t: 0.466667 9.932380 8.619928 q: 0.798350 -0.571539 -0.152658 0.112586 
time: 1403636933.401666, t: 0.453636 9.877027 8.593735 q: 0.794822 -0.572235 -0.161023 0.121972 
time: 1403636933.501667, t: 0.435642 9.829708 8.575520 q: 0.794749 -0.573855 -0.156677 0.120487 
time: 1403636933.601666, t: 0.423098 9.788650 8.555262 q: 0.796377 -0.574618 -0.149344 0.115297 
time: 1403636933.701667, t: 0.417433 9.748061 8.539743 q: 0.798159 -0.574950 -0.142727 0.109562 
time: 1403636933.801666, t: 0.420121 9.710005 8.527319 q: 0.800141 -0.574687 -0.136867 0.103812 
time: 1403636933.901666, t: 0.429880 9.673440 8.513059 q: 0.801520 -0.574353 -0.130544 0.103165 
time: 1403636934.001667, t: 0.438655 9.632172 8.497799 q: 0.798506 -0.578661 -0.127409 0.106330 
time: 1403636934.101666, t: 0.444495 9.594315 8.474005 q: 0.790663 -0.589228 -0.125327 0.109342 
time: 1403636934.201667, t: 0.433537 9.546474 8.457948 q: 0.777433 -0.606753 -0.123544 0.110388 
time: 1403636934.301666, t: 0.417670 9.501111 8.436886 q: 0.761724 -0.626373 -0.121158 0.112936 
time: 1403636934.401666, t: 0.399026 9.454997 8.413114 q: 0.744675 -0.646413 -0.114081 0.120814 
time: 1403636934.501667, t: 0.385440 9.404525 8.391007 q: 0.726023 -0.666596 -0.107043 0.130694 
time: 1403636934.601666, t: 0.381954 9.357177 8.363711 q: 0.706266 -0.686983 -0.103844 0.135865 
time: 1403636934.701667, t: 0.383110 9.310455 8.331829 q: 0.688285 -0.704024 -0.103870 0.140801 
time: 1403636934.801666, t: 0.389096 9.264028 8.297452 q: 0.674353 -0.715869 -0.112025 0.142233 
time: 1403636934.901666, t: 0.408122 9.219061 8.262957 q: 0.664513 -0.723235 -0.120931 0.143980 
time: 1403636935.001667, t: 0.430022 9.176747 8.228542 q: 0.659562 -0.726917 -0.125171 0.144573 
time: 1403636935.101666, t: 0.457147 9.139387 8.195591 q: 0.659377 -0.728645 -0.121937 0.139389 
time: 1403636935.201667, t: 0.489160 9.102523 8.163572 q: 0.662368 -0.728106 -0.112779 0.135686 
time: 1403636935.301666, t: 0.516982 9.063269 8.135308 q: 0.665298 -0.726320 -0.107245 0.135416 
time: 1403636935.401666, t: 0.537629 9.027588 8.104660 q: 0.668246 -0.723719 -0.104344 0.137080 
time: 1403636935.501667, t: 0.552688 8.985790 8.076987 q: 0.670581 -0.721706 -0.103468 0.136950 
time: 1403636935.601666, t: 0.561764 8.946692 8.044996 q: 0.672618 -0.719801 -0.103304 0.137115 
time: 1403636935.801666, t: 0.564270 8.868487 7.972162 q: 0.674501 -0.716122 -0.111960 0.140299 
time: 1403636935.901666, t: 0.554748 8.827842 7.937774 q: 0.673633 -0.714392 -0.120893 0.145769 
time: 1403636936.001667, t: 0.535257 8.788307 7.893838 q: 0.672477 -0.711256 -0.130596 0.157587 
time: 1403636936.101666, t: 0.516367 8.755361 7.850337 q: 0.671738 -0.709499 -0.136678 0.163398 
time: 1403636936.201667, t: 0.495994 8.729497 7.803550 q: 0.671619 -0.709989 -0.138143 0.160503 
time: 1403636936.301666, t: 0.479839 8.710305 7.762671 q: 0.672056 -0.712045 -0.134109 0.152799 
time: 1403636936.401666, t: 0.468136 8.699867 7.720757 q: 0.672630 -0.714316 -0.127231 0.145375 
time: 1403636936.501667, t: 0.466587 8.691820 7.680770 q: 0.672951 -0.716643 -0.119731 0.138649 
time: 1403636936.601666, t: 0.470650 8.686125 7.642541 q: 0.671930 -0.718863 -0.115763 0.135444 
time: 1403636936.701667, t: 0.466251 8.676522 7.604806 q: 0.670274 -0.720626 -0.114413 0.135423 
time: 1403636936.801666, t: 0.458365 8.669504 7.564007 q: 0.668847 -0.722104 -0.115098 0.134026 
time: 1403636936.901666, t: 0.447047 8.660609 7.526130 q: 0.667149 -0.723643 -0.117616 0.131982 
time: 1403636937.001667, t: 0.435404 8.652977 7.486478 q: 0.666128 -0.724621 -0.119431 0.130132 
time: 1403636937.101666, t: 0.440194 8.648890 7.448930 q: 0.665164 -0.725308 -0.120192 0.130530 
time: 1403636937.201667, t: 0.448551 8.644101 7.413712 q: 0.664911 -0.725565 -0.116430 0.133768 
time: 1403636937.301666, t: 0.455283 8.639806 7.379333 q: 0.664198 -0.726133 -0.115510 0.135014 
time: 1403636937.401666, t: 0.457528 8.636506 7.345632 q: 0.663559 -0.726883 -0.114627 0.134879 
time: 1403636937.501667, t: 0.455035 8.633163 7.313354 q: 0.662900 -0.727535 -0.114279 0.134897 
time: 1403636937.601666, t: 0.445959 8.628391 7.280960 q: 0.661952 -0.728568 -0.114414 0.133855 
time: 1403636937.701667, t: 0.432925 8.624782 7.248964 q: 0.660114 -0.730206 -0.120195 0.128851 
time: 1403636937.801666, t: 0.413815 8.622200 7.220487 q: 0.658407 -0.732001 -0.125251 0.122423 
time: 1403636937.901666, t: 0.393031 8.619762 7.192803 q: 0.658009 -0.734318 -0.121746 0.113925 
time: 1403636938.001667, t: 0.366901 8.613518 7.175225 q: 0.657048 -0.737232 -0.118376 0.103751 
time: 1403636938.101666, t: 0.337514 8.603639 7.156645 q: 0.655882 -0.740107 -0.111848 0.097727 
time: 1403636938.201667, t: 0.304650 8.590762 7.145683 q: 0.653065 -0.743703 -0.101287 0.100761 
time: 1403636938.301666, t: 0.276048 8.571435 7.135506 q: 0.650971 -0.745822 -0.090069 0.108966 
time: 1403636938.401666, t: 0.253910 8.545525 7.127743 q: 0.650021 -0.744994 -0.075336 0.129545 
time: 1403636938.501667, t: 0.238282 8.514425 7.116253 q: 0.647990 -0.743781 -0.067456 0.149494 
time: 1403636938.601666, t: 0.229365 8.474888 7.099889 q: 0.645038 -0.743983 -0.069786 0.159829 
time: 1403636938.701667, t: 0.226779 8.432537 7.076272 q: 0.643049 -0.744869 -0.071412 0.162969 
time: 1403636938.801666, t: 0.225671 8.389849 7.045010 q: 0.640891 -0.746838 -0.077589 0.159597 
time: 1403636938.901666, t: 0.226952 8.344013 7.003398 q: 0.638757 -0.748785 -0.089385 0.152712 
time: 1403636939.001667, t: 0.232345 8.298729 6.962613 q: 0.636356 -0.750233 -0.101133 0.148236 
time: 1403636939.101666, t: 0.234759 8.253413 6.915974 q: 0.635895 -0.750463 -0.105857 0.145730 
time: 1403636939.201667, t: 0.230729 8.210812 6.867339 q: 0.637194 -0.750210 -0.104431 0.142348 
time: 1403636939.301666, t: 0.221549 8.166552 6.823016 q: 0.638612 -0.749729 -0.102488 0.139923 
time: 1403636939.401666, t: 0.209841 8.128039 6.772664 q: 0.640716 -0.748228 -0.102320 0.138454 
time: 1403636939.501667, t: 0.204878 8.085808 6.724609 q: 0.643242 -0.747057 -0.100612 0.134250 
time: 1403636939.601666, t: 0.206993 8.040827 6.676890 q: 0.645872 -0.746673 -0.096578 0.126495 
time: 1403636939.701667, t: 0.217817 7.991978 6.631001 q: 0.647757 -0.746275 -0.090594 0.123603 
time: 1403636939.801666, t: 0.225616 7.940057 6.584522 q: 0.648050 -0.746396 -0.090016 0.121742 
time: 1403636939.901666, t: 0.225907 7.884947 6.537569 q: 0.647734 -0.746072 -0.090403 0.125080 
time: 1403636940.001667, t: 0.219058 7.824528 6.487226 q: 0.644263 -0.748549 -0.088161 0.129723 
time: 1403636940.101666, t: 0.206739 7.763778 6.437729 q: 0.637692 -0.753305 -0.088747 0.134180 
time: 1403636940.201667, t: 0.188072 7.691016 6.388873 q: 0.632020 -0.756952 -0.088459 0.140535 
time: 1403636940.301666, t: 0.165680 7.618011 6.334374 q: 0.627764 -0.760145 -0.087555 0.142918 
time: 1403636940.401666, t: 0.138565 7.544928 6.282893 q: 0.623988 -0.763381 -0.085831 0.143256 
time: 1403636940.501667, t: 0.110961 7.470466 6.223373 q: 0.621022 -0.765784 -0.085057 0.143777 
time: 1403636940.601666, t: 0.090672 7.395402 6.166752 q: 0.617656 -0.766967 -0.089046 0.149444 
time: 1403636940.701667, t: 0.078158 7.322578 6.104006 q: 0.614468 -0.767867 -0.097690 0.152532 
time: 1403636940.801666, t: 0.074575 7.252412 6.042724 q: 0.612264 -0.768131 -0.104649 0.155421 
time: 1403636940.901666, t: 0.080686 7.184935 5.982117 q: 0.610725 -0.768580 -0.110268 0.155373 
time: 1403636941.001667, t: 0.095736 7.123574 5.918890 q: 0.610869 -0.768900 -0.110483 0.153053 
time: 1403636941.101666, t: 0.116132 7.064239 5.857286 q: 0.611366 -0.769508 -0.108913 0.149089 
time: 1403636941.201667, t: 0.138200 7.007466 5.799091 q: 0.612319 -0.769640 -0.107064 0.145794 
time: 1403636941.301666, t: 0.164191 6.952439 5.739168 q: 0.614158 -0.769334 -0.103450 0.142247 
time: 1403636941.401666, t: 0.181427 6.898107 5.680928 q: 0.616433 -0.768225 -0.102325 0.139180 
time: 1403636941.501667, t: 0.190340 6.846210 5.619428 q: 0.619315 -0.766479 -0.101744 0.136409 
time: 1403636941.601666, t: 0.195433 6.792006 5.561745 q: 0.621451 -0.764594 -0.103368 0.136051 
time: 1403636941.701667, t: 0.193409 6.738882 5.504538 q: 0.623264 -0.762948 -0.104866 0.135848 
time: 1403636941.801666, t: 0.194585 6.683134 5.453332 q: 0.624644 -0.761540 -0.105676 0.136786 
time: 1403636941.901666, t: 0.200239 6.625255 5.404420 q: 0.625531 -0.760316 -0.106454 0.138920 
time: 1403636942.001667, t: 0.211925 6.568929 5.355641 q: 0.626360 -0.759239 -0.105703 0.141620 
time: 1403636942.201667, t: 0.244335 6.460998 5.253055 q: 0.627387 -0.758718 -0.099813 0.144118 
time: 1403636942.301666, t: 0.253485 6.404692 5.201566 q: 0.627147 -0.759111 -0.096991 0.145013 
time: 1403636942.401666, t: 0.257242 6.350721 5.148176 q: 0.626699 -0.759499 -0.092585 0.147775 
time: 1403636942.601666, t: 0.246097 6.237877 5.037903 q: 0.623579 -0.760574 -0.092180 0.155495 
time: 1403636942.701667, t: 0.236372 6.180798 4.980395 q: 0.621143 -0.761319 -0.098382 0.157781 
time: 1403636942.801666, t: 0.225403 6.125172 4.920718 q: 0.619251 -0.762429 -0.102381 0.157314 
time: 1403636942.901666, t: 0.218766 6.071503 4.857873 q: 0.618116 -0.764690 -0.102758 0.150409 
time: 1403636943.001667, t: 0.223195 6.022871 4.793320 q: 0.617180 -0.766317 -0.102747 0.145912 
time: 1403636943.101666, t: 0.232078 5.969207 4.736633 q: 0.615808 -0.768546 -0.101400 0.140839 
time: 1403636943.201667, t: 0.242575 5.921532 4.675559 q: 0.614897 -0.769928 -0.098349 0.139428 
time: 1403636943.301666, t: 0.249254 5.872645 4.613296 q: 0.613437 -0.771310 -0.098398 0.138180 
time: 1403636943.401666, t: 0.248008 5.825492 4.552550 q: 0.611803 -0.772996 -0.097633 0.136533 
time: 1403636943.501667, t: 0.243286 5.773034 4.493366 q: 0.610382 -0.774257 -0.097911 0.135544 
time: 1403636943.701667, t: 0.215342 5.670015 4.378970 q: 0.608497 -0.776434 -0.097957 0.131476 
time: 1403636943.801666, t: 0.191835 5.614145 4.326729 q: 0.607530 -0.777266 -0.099045 0.130212 
time: 1403636943.901666, t: 0.163104 5.557053 4.278795 q: 0.610804 -0.773506 -0.101991 0.134926 
time: 1403636944.001667, t: 0.133482 5.502448 4.229874 q: 0.616655 -0.765077 -0.112659 0.147312 
time: 1403636944.101666, t: 0.099075 5.449012 4.184324 q: 0.620828 -0.757272 -0.125223 0.159471 
time: 1403636944.201667, t: 0.073911 5.399100 4.139267 q: 0.624389 -0.751676 -0.133179 0.165483 
time: 1403636944.301666, t: 0.063132 5.358149 4.094691 q: 0.627905 -0.748532 -0.133722 0.165990 
time: 1403636944.401666, t: 0.061354 5.327808 4.050169 q: 0.632016 -0.747403 -0.128002 0.159877 
time: 1403636944.501667, t: 0.062981 5.304817 4.005178 q: 0.635301 -0.748385 -0.123750 0.144907 
time: 1403636944.601666, t: 0.069627 5.283663 3.962826 q: 0.637162 -0.750102 -0.123804 0.126666 
time: 1403636944.701667, t: 0.082567 5.266261 3.925372 q: 0.639763 -0.749128 -0.127459 0.115175 
time: 1403636944.801666, t: 0.094948 5.246166 3.897169 q: 0.645161 -0.745058 -0.122289 0.117055 
time: 1403636944.901666, t: 0.114367 5.223685 3.874957 q: 0.649519 -0.741569 -0.117511 0.119965 
time: 1403636945.001667, t: 0.133590 5.199078 3.853460 q: 0.652732 -0.739017 -0.114129 0.121527 
time: 1403636945.101666, t: 0.137170 5.173411 3.835046 q: 0.654893 -0.737371 -0.113167 0.120799 
time: 1403636945.201667, t: 0.133777 5.146175 3.820715 q: 0.656154 -0.736180 -0.113547 0.120858 
time: 1403636945.301666, t: 0.129160 5.117983 3.807690 q: 0.657030 -0.735434 -0.113233 0.120946 
time: 1403636945.501667, t: 0.136438 5.055573 3.787557 q: 0.656564 -0.735763 -0.113956 0.120790 
time: 1403636945.601666, t: 0.138999 5.023144 3.780160 q: 0.655079 -0.735717 -0.116408 0.126654 
time: 1403636945.701667, t: 0.134892 4.988200 3.777099 q: 0.651637 -0.735099 -0.126588 0.137750 
time: 1403636945.801666, t: 0.127920 4.954085 3.776450 q: 0.647929 -0.734225 -0.138139 0.148385 
time: 1403636945.901666, t: 0.113628 4.924965 3.775559 q: 0.646166 -0.734609 -0.140002 0.152375 
time: 1403636946.001667, t: 0.098836 4.905698 3.775744 q: 0.646845 -0.737198 -0.132983 0.142989 
time: 1403636946.101666, t: 0.077686 4.889567 3.779081 q: 0.647023 -0.739730 -0.126013 0.135212 
time: 1403636946.201667, t: 0.050272 4.875230 3.785093 q: 0.646111 -0.741430 -0.122373 0.133588 
time: 1403636946.301666, t: 0.015128 4.860949 3.792174 q: 0.645578 -0.743389 -0.118898 0.128319 
time: 1403636946.401666, t: -0.025814 4.846486 3.802965 q: 0.644618 -0.745281 -0.115139 0.125567 
time: 1403636946.501667, t: -0.072075 4.831928 3.816789 q: 0.643050 -0.746846 -0.113576 0.125726 
time: 1403636946.601666, t: -0.115402 4.812028 3.833243 q: 0.641469 -0.748405 -0.112733 0.125296 
time: 1403636946.701667, t: -0.155832 4.795046 3.851062 q: 0.640923 -0.747994 -0.108898 0.133656 
time: 1403636946.801666, t: -0.187763 4.778581 3.867885 q: 0.642102 -0.745713 -0.094374 0.150704 
time: 1403636946.901666, t: -0.216734 4.758017 3.883479 q: 0.642253 -0.744209 -0.086101 0.162020 
time: 1403636947.001667, t: -0.254419 4.739942 3.891031 q: 0.643077 -0.741835 -0.074950 0.174688 
time: 1403636947.101666, t: -0.291700 4.722249 3.889131 q: 0.642690 -0.741336 -0.075560 0.177934 
time: 1403636947.201667, t: -0.329128 4.697900 3.878353 q: 0.639631 -0.743308 -0.094839 0.171380 
time: 1403636947.301666, t: -0.362771 4.675589 3.860689 q: 0.635085 -0.744012 -0.120911 0.168801 
time: 1403636947.401666, t: -0.378356 4.664737 3.839343 q: 0.631739 -0.743162 -0.137768 0.172149 
time: 1403636947.501667, t: -0.384763 4.663858 3.815853 q: 0.631189 -0.743326 -0.138725 0.172691 
time: 1403636947.601666, t: -0.388263 4.668379 3.793720 q: 0.632967 -0.745207 -0.127102 0.166928 
time: 1403636947.701667, t: -0.384852 4.683446 3.771624 q: 0.633553 -0.747044 -0.124213 0.158450 
time: 1403636947.801666, t: -0.385160 4.701220 3.748623 q: 0.633228 -0.748277 -0.128829 0.150024 
time: 1403636947.901666, t: -0.389390 4.720402 3.727500 q: 0.632624 -0.749550 -0.137355 0.138182 
time: 1403636948.001667, t: -0.396320 4.743111 3.711168 q: 0.633029 -0.749077 -0.138941 0.137309 
time: 1403636948.101666, t: -0.409933 4.770340 3.697564 q: 0.634034 -0.746765 -0.138336 0.145625 
time: 1403636948.201667, t: -0.425238 4.800790 3.689130 q: 0.634959 -0.745951 -0.140282 0.143891 
time: 1403636948.301666, t: -0.441835 4.837225 3.684882 q: 0.636090 -0.745379 -0.141511 0.140621 
time: 1403636948.401666, t: -0.462153 4.878190 3.682994 q: 0.637396 -0.744557 -0.143988 0.136490 
time: 1403636948.501667, t: -0.486119 4.922053 3.685091 q: 0.638438 -0.744077 -0.149740 0.127765 
time: 1403636948.601666, t: -0.508702 4.967741 3.694561 q: 0.638509 -0.744811 -0.158253 0.111890 
time: 1403636948.701667, t: -0.530481 5.020756 3.715091 q: 0.640075 -0.744779 -0.158424 0.102516 
time: 1403636948.801666, t: -0.545367 5.072128 3.748982 q: 0.644632 -0.742806 -0.143177 0.110406 
time: 1403636948.901666, t: -0.555075 5.130734 3.789726 q: 0.649713 -0.740281 -0.124779 0.119530 
time: 1403636949.001667, t: -0.558928 5.180438 3.835166 q: 0.654501 -0.737712 -0.104947 0.128041 
time: 1403636949.101666, t: -0.562241 5.231221 3.882518 q: 0.656462 -0.736484 -0.099774 0.129204 
time: 1403636949.201667, t: -0.574259 5.275389 3.926041 q: 0.657271 -0.735830 -0.101759 0.127256 
time: 1403636949.401666, t: -0.611581 5.353951 4.013720 q: 0.659025 -0.734231 -0.099598 0.129115 
time: 1403636949.501667, t: -0.631713 5.389321 4.057258 q: 0.659941 -0.733498 -0.095642 0.131573 
time: 1403636949.601666, t: -0.655826 5.420364 4.097476 q: 0.661038 -0.732416 -0.091708 0.134854 
time: 1403636949.701667, t: -0.674988 5.448917 4.133040 q: 0.660373 -0.731650 -0.095957 0.139243 
time: 1403636949.801666, t: -0.686919 5.470108 4.166202 q: 0.659141 -0.730887 -0.105060 0.142477 
time: 1403636949.901666, t: -0.693114 5.493975 4.194833 q: 0.657944 -0.729460 -0.111842 0.149960 
time: 1403636950.001667, t: -0.690045 5.518849 4.224427 q: 0.656906 -0.728587 -0.115550 0.155832 
time: 1403636950.101666, t: -0.686601 5.547964 4.247181 q: 0.655965 -0.727837 -0.118265 0.161172 
time: 1403636950.201667, t: -0.682859 5.581563 4.267262 q: 0.654586 -0.728575 -0.122775 0.160069 
time: 1403636950.301666, t: -0.684764 5.617864 4.285755 q: 0.653933 -0.729809 -0.125225 0.155145 
time: 1403636950.401666, t: -0.690195 5.656955 4.305625 q: 0.653673 -0.731703 -0.124983 0.147315 
time: 1403636950.501667, t: -0.702767 5.700841 4.321452 q: 0.653742 -0.733781 -0.125202 0.136057 
time: 1403636950.601666, t: -0.716240 5.744951 4.339714 q: 0.653552 -0.735546 -0.127790 0.124545 
time: 1403636950.701667, t: -0.725552 5.790410 4.361699 q: 0.654386 -0.735575 -0.125587 0.122217 
time: 1403636950.801666, t: -0.728625 5.836273 4.388602 q: 0.656380 -0.734784 -0.117727 0.124091 
time: 1403636950.901666, t: -0.727667 5.879453 4.418605 q: 0.658000 -0.733721 -0.112737 0.126412 
time: 1403636951.001667, t: -0.719112 5.921252 4.448008 q: 0.659133 -0.732924 -0.110365 0.127227 
time: 1403636951.101666, t: -0.709628 5.962317 4.479405 q: 0.660614 -0.731458 -0.104237 0.133012 
time: 1403636951.201667, t: -0.701536 5.999133 4.509346 q: 0.660435 -0.729600 -0.105132 0.143027 
time: 1403636951.301666, t: -0.700150 6.036717 4.535058 q: 0.658826 -0.728595 -0.114070 0.148613 
time: 1403636951.401666, t: -0.702716 6.074386 4.560133 q: 0.657110 -0.727583 -0.123353 0.153669 
time: 1403636951.501667, t: -0.707555 6.116140 4.584749 q: 0.655882 -0.727557 -0.128335 0.154951 
time: 1403636951.601666, t: -0.715883 6.162369 4.609078 q: 0.655196 -0.728082 -0.131376 0.152825 
time: 1403636951.701667, t: -0.724027 6.211301 4.632879 q: 0.655060 -0.729399 -0.131030 0.147326 
time: 1403636951.801666, t: -0.726182 6.267553 4.656325 q: 0.655688 -0.730642 -0.127184 0.141631 
time: 1403636951.901666, t: -0.722540 6.326431 4.679992 q: 0.655882 -0.731953 -0.127189 0.133742 
time: 1403636952.001667, t: -0.712455 6.385666 4.707345 q: 0.655241 -0.733147 -0.130011 0.127487 
time: 1403636952.101666, t: -0.707846 6.443859 4.739382 q: 0.655283 -0.733932 -0.128002 0.124756 
time: 1403636952.201667, t: -0.711498 6.501684 4.772317 q: 0.656365 -0.734015 -0.121365 0.125212 
time: 1403636952.301666, t: -0.720532 6.559237 4.808180 q: 0.658250 -0.733457 -0.111015 0.128157 
time: 1403636952.401666, t: -0.734536 6.617549 4.843630 q: 0.659680 -0.732939 -0.102367 0.130932 
time: 1403636952.501667, t: -0.759471 6.670175 4.876887 q: 0.660333 -0.733101 -0.101976 0.126980 
time: 1403636952.601666, t: -0.784069 6.720559 4.909675 q: 0.660223 -0.733373 -0.105164 0.123331 
time: 1403636952.701667, t: -0.805961 6.767762 4.942378 q: 0.660450 -0.733300 -0.106341 0.121524 
time: 1403636952.801666, t: -0.819975 6.809034 4.978439 q: 0.659537 -0.732515 -0.111888 0.126151 
time: 1403636952.901666, t: -0.833401 6.846125 5.017587 q: 0.658782 -0.731466 -0.115702 0.132580 
time: 1403636953.001667, t: -0.844786 6.881641 5.058181 q: 0.658055 -0.729980 -0.115428 0.144114 
time: 1403636953.201667, t: -0.895774 6.961696 5.124595 q: 0.658309 -0.728120 -0.109725 0.156304 
time: 1403636953.301666, t: -0.926220 7.004603 5.153462 q: 0.658496 -0.727956 -0.110922 0.155432 
time: 1403636953.401666, t: -0.950012 7.049743 5.179788 q: 0.658742 -0.728483 -0.113196 0.150195 
time: 1403636953.501667, t: -0.965120 7.097834 5.200361 q: 0.658940 -0.729435 -0.116562 0.141903 
time: 1403636953.601666, t: -0.971337 7.143899 5.223220 q: 0.658992 -0.729813 -0.120163 0.136615 
time: 1403636953.801666, t: -0.965894 7.248629 5.268657 q: 0.658098 -0.728565 -0.137418 0.131212 
time: 1403636953.901666, t: -0.958043 7.307949 5.291490 q: 0.659735 -0.727336 -0.137238 0.129992 
time: 1403636954.001667, t: -0.947152 7.365660 5.322128 q: 0.661362 -0.726136 -0.133290 0.132514 
time: 1403636954.101666, t: -0.937444 7.426049 5.356060 q: 0.662118 -0.725720 -0.130365 0.133921 
time: 1403636954.201667, t: -0.924640 7.482032 5.397941 q: 0.662096 -0.725835 -0.128691 0.135018 
time: 1403636954.401666, t: -0.907842 7.606941 5.477184 q: 0.660673 -0.725580 -0.131872 0.140196 
time: 1403636954.501667, t: -0.896293 7.675799 5.516044 q: 0.659736 -0.725925 -0.131716 0.142941 
time: 1403636954.601666, t: -0.879190 7.743354 5.558387 q: 0.657692 -0.727713 -0.133356 0.141744 
time: 1403636954.701667, t: -0.867781 7.814191 5.603484 q: 0.655667 -0.730469 -0.131200 0.138930 
time: 1403636954.801666, t: -0.879831 7.879932 5.653396 q: 0.654022 -0.733999 -0.123986 0.134641 
time: 1403636954.901666, t: -0.893866 7.951432 5.705396 q: 0.652148 -0.737306 -0.117879 0.131098 
time: 1403636955.001667, t: -0.919032 8.021875 5.758606 q: 0.649496 -0.740791 -0.113637 0.128338 
time: 1403636955.101666, t: -0.932349 8.088244 5.815764 q: 0.645384 -0.744022 -0.116306 0.128000 
time: 1403636955.201667, t: -0.965559 8.158251 5.863756 q: 0.642444 -0.746743 -0.116948 0.126348 
time: 1403636955.301666, t: -0.973829 8.230197 5.912731 q: 0.639462 -0.749479 -0.114823 0.127216 
time: 1403636955.401666, t: -0.976847 8.292022 5.969974 q: 0.636036 -0.752619 -0.113924 0.126667 
time: 1403636955.501667, t: -0.972241 8.358742 6.031515 q: 0.632961 -0.754962 -0.115293 0.126883 
time: 1403636955.601666, t: -0.986638 8.423654 6.087239 q: 0.631231 -0.756506 -0.114584 0.126951 
time: 1403636955.701667, t: -1.004610 8.487609 6.145101 q: 0.629928 -0.757659 -0.114310 0.126797 
time: 1403636955.801666, t: -1.018529 8.554280 6.203807 q: 0.629107 -0.758304 -0.114517 0.126825 
time: 1403636955.901666, t: -1.023726 8.617535 6.267888 q: 0.629167 -0.758219 -0.110591 0.130468 
time: 1403636956.001667, t: -1.019959 8.676379 6.332625 q: 0.629852 -0.757571 -0.100463 0.138853 
time: 1403636956.101666, t: -1.015029 8.737276 6.393114 q: 0.631135 -0.756542 -0.087945 0.146897 
time: 1403636956.201667, t: -1.008192 8.794165 6.449631 q: 0.631082 -0.756331 -0.082192 0.151472 
time: 1403636956.301666, t: -0.993856 8.849077 6.506656 q: 0.629045 -0.757833 -0.085099 0.150828 
time: 1403636956.401666, t: -0.993660 8.898293 6.555425 q: 0.626267 -0.760522 -0.097006 0.141372 
time: 1403636956.501667, t: -0.992017 8.946207 6.603517 q: 0.625598 -0.761611 -0.104796 0.132640 
time: 1403636956.601666, t: -1.003049 9.000537 6.654330 q: 0.632980 -0.757236 -0.099593 0.126531 
time: 1403636956.701667, t: -1.016263 9.046318 6.708854 q: 0.646379 -0.746697 -0.088637 0.129542 
time: 1403636956.801666, t: -1.030057 9.087417 6.758551 q: 0.663860 -0.730440 -0.083657 0.136926 
time: 1403636956.901666, t: -1.033557 9.126347 6.806013 q: 0.683695 -0.710675 -0.088328 0.140358 
time: 1403636957.001667, t: -1.034371 9.163558 6.846376 q: 0.704466 -0.690329 -0.097863 0.132647 
time: 1403636957.101666, t: -1.030143 9.197398 6.886112 q: 0.725189 -0.669045 -0.108921 0.120895 
time: 1403636957.201667, t: -1.015119 9.221303 6.924664 q: 0.743844 -0.647950 -0.119472 0.112177 
time: 1403636957.301666, t: -1.003628 9.246111 6.959582 q: 0.758379 -0.630645 -0.124385 0.108062 
time: 1403636957.401666, t: -0.989992 9.272084 6.995175 q: 0.768667 -0.617777 -0.126875 0.106797 
time: 1403636957.501667, t: -0.988030 9.290492 7.027684 q: 0.775543 -0.609146 -0.126804 0.106750 
time: 1403636957.601666, t: -0.994855 9.310199 7.061163 q: 0.781630 -0.601463 -0.125629 0.107303 
time: 1403636957.701667, t: -1.000539 9.331690 7.093664 q: 0.789585 -0.590894 -0.125489 0.107948 
time: 1403636957.801666, t: -1.017079 9.347151 7.127210 q: 0.801519 -0.574102 -0.126671 0.109217 
time: 1403636957.901666, t: -1.035799 9.362889 7.160740 q: 0.817918 -0.550073 -0.128798 0.108817 
time: 1403636958.001667, t: -1.049718 9.380117 7.194176 q: 0.836075 -0.521870 -0.132298 0.105489 
time: 1403636958.101666, t: -1.059584 9.397424 7.221769 q: 0.853186 -0.493104 -0.136851 0.100967 
time: 1403636958.201667, t: -1.063766 9.413351 7.249532 q: 0.866348 -0.469138 -0.141275 0.096918 
time: 1403636958.301666, t: -1.058894 9.432923 7.270688 q: 0.877735 -0.448012 -0.143194 0.091441 
time: 1403636958.401666, t: -1.044123 9.449333 7.289743 q: 0.886184 -0.430642 -0.148474 0.084737 
time: 1403636958.501667, t: -1.027699 9.469357 7.307507 q: 0.891458 -0.419039 -0.152320 0.080675 
time: 1403636958.601666, t: -1.017120 9.488890 7.323994 q: 0.894505 -0.412602 -0.153498 0.077840 
time: 1403636958.701667, t: -1.010240 9.507785 7.341431 q: 0.895821 -0.410135 -0.153735 0.075231 
time: 1403636958.801666, t: -1.002364 9.528912 7.355671 q: 0.896094 -0.409564 -0.154039 0.074465 
time: 1403636958.901666, t: -0.997661 9.550044 7.372745 q: 0.895115 -0.411017 -0.156137 0.073858 
time: 1403636959.001667, t: -0.998534 9.571347 7.390239 q: 0.893842 -0.413702 -0.156763 0.072959 
time: 1403636959.101666, t: -1.007077 9.593110 7.408100 q: 0.892453 -0.415999 -0.157846 0.074552 
time: 1403636959.201667, t: -1.021471 9.614296 7.427841 q: 0.891294 -0.418378 -0.157644 0.075515 
time: 1403636959.301666, t: -1.038856 9.635208 7.447111 q: 0.889934 -0.421472 -0.159103 0.071163 
time: 1403636959.401666, t: -1.064596 9.655810 7.469689 q: 0.888622 -0.424335 -0.161183 0.065664 
time: 1403636959.501667, t: -1.097049 9.675559 7.494774 q: 0.888300 -0.426380 -0.159104 0.061711 
time: 1403636959.601666, t: -1.126955 9.694057 7.521502 q: 0.889583 -0.426655 -0.149282 0.065744 
time: 1403636959.701667, t: -1.151318 9.709961 7.546026 q: 0.889145 -0.427165 -0.148623 0.069739 
time: 1403636959.801666, t: -1.166106 9.723053 7.572768 q: 0.888129 -0.427979 -0.150712 0.073124 
time: 1403636959.901666, t: -1.173339 9.735461 7.598423 q: 0.887204 -0.428866 -0.152504 0.075403 
time: 1403636960.001667, t: -1.169393 9.746609 7.623352 q: 0.886792 -0.429233 -0.153248 0.076643 
time: 1403636960.101666, t: -1.164263 9.758123 7.648826 q: 0.886822 -0.429409 -0.152697 0.076412 
time: 1403636960.201667, t: -1.155130 9.769251 7.676450 q: 0.886434 -0.430147 -0.154376 0.073328 
time: 1403636960.301666, t: -1.150082 9.778819 7.704008 q: 0.885413 -0.431898 -0.159482 0.063818 
time: 1403636960.401666, t: -1.150127 9.786755 7.734562 q: 0.885480 -0.432730 -0.159194 0.057682 
time: 1403636960.501667, t: -1.152980 9.791187 7.770896 q: 0.887816 -0.429884 -0.155870 0.051831 
time: 1403636960.601666, t: -1.161508 9.791464 7.809590 q: 0.890793 -0.425041 -0.154093 0.045639 
time: 1403636960.701667, t: -1.173467 9.787190 7.850608 q: 0.894018 -0.419046 -0.150712 0.049170 
time: 1403636960.801666, t: -1.190249 9.776170 7.892951 q: 0.897153 -0.411051 -0.149971 0.060517 
time: 1403636960.901666, t: -1.210836 9.763511 7.935923 q: 0.903025 -0.396585 -0.151427 0.065847 
time: 1403636961.001667, t: -1.228929 9.749160 7.978401 q: 0.911674 -0.375962 -0.153289 0.063291 
time: 1403636961.101666, t: -1.239311 9.733064 8.018913 q: 0.921629 -0.351067 -0.154223 0.059724 
time: 1403636961.201667, t: -1.242446 9.717392 8.059523 q: 0.931464 -0.323956 -0.155809 0.056132 
time: 1403636961.301666, t: -1.242535 9.697858 8.102644 q: 0.939911 -0.298393 -0.157756 0.051393 
time: 1403636961.401666, t: -1.236175 9.680022 8.140325 q: 0.946344 -0.277973 -0.158278 0.045966 
time: 1403636961.501667, t: -1.217828 9.662019 8.174597 q: 0.950694 -0.262437 -0.159289 0.044000 
time: 1403636961.601666, t: -1.193085 9.642734 8.207985 q: 0.954981 -0.246541 -0.159570 0.042037 
time: 1403636961.701667, t: -1.159831 9.620919 8.241942 q: 0.959392 -0.229371 -0.159311 0.039694 
time: 1403636961.801666, t: -1.126072 9.602581 8.273701 q: 0.963744 -0.210958 -0.159431 0.035727 
time: 1403636961.901666, t: -1.098353 9.583614 8.305982 q: 0.967642 -0.191604 -0.161398 0.030120 
time: 1403636962.001667, t: -1.073681 9.561501 8.332293 q: 0.971713 -0.169725 -0.162045 0.026632 
time: 1403636962.101666, t: -1.054911 9.541669 8.357894 q: 0.975162 -0.146769 -0.164299 0.022901 
time: 1403636962.201667, t: -1.036217 9.518724 8.388674 q: 0.978363 -0.123453 -0.164960 0.018810 
time: 1403636962.301666, t: -1.010736 9.495063 8.413342 q: 0.981410 -0.099063 -0.163920 0.012323 
time: 1403636962.401666, t: -0.980762 9.468378 8.437682 q: 0.983756 -0.073786 -0.163471 0.007555 
time: 1403636962.501667, t: -0.944310 9.442476 8.459970 q: 0.985294 -0.048827 -0.163742 -0.001080 
time: 1403636962.601666, t: -0.900173 9.409899 8.481011 q: 0.985901 -0.023943 -0.165068 -0.013361 
time: 1403636962.701667, t: -0.861671 9.379841 8.498368 q: 0.985914 -0.002257 -0.165059 -0.026907 
time: 1403636962.801666, t: -0.826500 9.343234 8.515241 q: 0.985540 0.013331 -0.165189 -0.035297 
time: 1403636962.901666, t: -0.805346 9.305314 8.531493 q: 0.985589 0.024039 -0.163483 -0.036193 
time: 1403636963.001667, t: -0.783115 9.260482 8.544515 q: 0.986562 0.030964 -0.157914 -0.028277 
time: 1403636963.101666, t: -0.764911 9.213361 8.553998 q: 0.988050 0.034041 -0.148716 -0.021944 
time: 1403636963.201667, t: -0.754186 9.162741 8.563412 q: 0.988241 0.033333 -0.148067 -0.018584 
time: 1403636963.301666, t: -0.750744 9.111308 8.564958 q: 0.987422 0.031960 -0.154460 -0.010915 
time: 1403636963.401666, t: -0.753514 9.059314 8.562860 q: 0.986901 0.029272 -0.158601 -0.004014 
time: 1403636963.501667, t: -0.761514 9.007226 8.560397 q: 0.986720 0.024937 -0.160411 -0.005492 
time: 1403636963.601666, t: -0.759733 8.956311 8.555532 q: 0.986750 0.020745 -0.160760 -0.007150 
time: 1403636963.701667, t: -0.753381 8.905151 8.550125 q: 0.986710 0.016103 -0.161462 -0.008597 
time: 1403636963.801666, t: -0.741829 8.855942 8.540899 q: 0.986737 0.012453 -0.161604 -0.008850 
time: 1403636963.901666, t: -0.719722 8.804775 8.529792 q: 0.986938 0.009601 -0.160532 -0.009529 
time: 1403636964.001667, t: -0.692053 8.753408 8.515047 q: 0.987078 0.008083 -0.159768 -0.009273 
time: 1403636964.101666, t: -0.659444 8.702455 8.499264 q: 0.987191 0.007776 -0.159048 -0.009845 
time: 1403636964.201667, t: -0.628136 8.649884 8.479812 q: 0.987595 0.008009 -0.156443 -0.010816 
time: 1403636964.301666, t: -0.605020 8.593411 8.459357 q: 0.987539 0.008257 -0.156624 -0.012930 
time: 1403636964.401666, t: -0.586564 8.535424 8.435802 q: 0.987641 0.008957 -0.155819 -0.014330 
time: 1403636964.501667, t: -0.571456 8.477063 8.412923 q: 0.987595 0.010415 -0.155679 -0.017672 
time: 1403636964.601666, t: -0.562634 8.413760 8.387361 q: 0.987457 0.014983 -0.154992 -0.026116 
time: 1403636964.701667, t: -0.555259 8.344648 8.360625 q: 0.986920 0.025421 -0.155726 -0.033036 
time: 1403636964.801666, t: -0.556870 8.274203 8.327492 q: 0.986256 0.040526 -0.154592 -0.041928 
time: 1403636964.901666, t: -0.556232 8.197834 8.291480 q: 0.985641 0.063082 -0.151149 -0.041060 
time: 1403636965.001667, t: -0.552426 8.117534 8.251099 q: 0.984265 0.088487 -0.146619 -0.043527 
time: 1403636965.101666, t: -0.541774 8.032332 8.208557 q: 0.981629 0.112733 -0.147453 -0.044203 
time: 1403636965.201667, t: -0.524566 7.943232 8.162358 q: 0.978221 0.130947 -0.154584 -0.045179 
time: 1403636965.301666, t: -0.503453 7.856967 8.109457 q: 0.973614 0.143293 -0.170967 -0.048098 
time: 1403636965.401666, t: -0.472808 7.766024 8.059324 q: 0.968135 0.150100 -0.193694 -0.051637 
time: 1403636965.501667, t: -0.435197 7.672327 8.014487 q: 0.964590 0.154310 -0.208579 -0.047430 
time: 1403636965.601666, t: -0.384928 7.576934 7.978998 q: 0.966530 0.157510 -0.199386 -0.035420 
time: 1403636965.701667, t: -0.325827 7.482880 7.950617 q: 0.970489 0.160102 -0.179288 -0.019319 
time: 1403636965.901666, t: -0.228263 7.310302 7.904863 q: 0.974672 0.156701 -0.158179 -0.020954 
time: 1403636966.001667, t: -0.192568 7.221706 7.871603 q: 0.975623 0.152941 -0.154418 -0.030389 
time: 1403636966.101666, t: -0.158504 7.136345 7.839805 q: 0.976203 0.150374 -0.152314 -0.034876 
time: 1403636966.201667, t: -0.134935 7.048506 7.810695 q: 0.976626 0.147926 -0.151482 -0.037058 
time: 1403636966.301666, t: -0.120346 6.956990 7.777065 q: 0.977192 0.145641 -0.150133 -0.036666 
time: 1403636966.401666, t: -0.108592 6.875278 7.741305 q: 0.977408 0.146575 -0.150432 -0.023671 
time: 1403636966.501667, t: -0.109145 6.776392 7.701967 q: 0.977416 0.147077 -0.151706 -0.003376 
time: 1403636966.601666, t: -0.107722 6.690498 7.667881 q: 0.977618 0.145231 -0.152197 0.002613 
time: 1403636966.701667, t: -0.114671 6.615138 7.626196 q: 0.978314 0.140129 -0.152280 -0.008748 
time: 1403636966.801666, t: -0.122130 6.547877 7.582491 q: 0.979046 0.136568 -0.150113 -0.016873 
time: 1403636966.901666, t: -0.123125 6.487620 7.537479 q: 0.979197 0.135648 -0.150186 -0.014751 
time: 1403636967.001667, t: -0.116787 6.425210 7.491646 q: 0.979278 0.135031 -0.150513 -0.011231 
time: 1403636967.101666, t: -0.111788 6.368676 7.441634 q: 0.979549 0.132950 -0.150111 -0.016592 
time: 1403636967.201667, t: -0.116666 6.310523 7.387965 q: 0.979787 0.130931 -0.149729 -0.021356 
time: 1403636967.301666, t: -0.126785 6.258795 7.332442 q: 0.979899 0.129798 -0.149746 -0.022934 
time: 1403636967.401666, t: -0.136229 6.204474 7.273423 q: 0.980251 0.128407 -0.148188 -0.025676 
time: 1403636967.501667, t: -0.140933 6.152036 7.209399 q: 0.980514 0.127654 -0.147254 -0.024760 
time: 1403636967.601666, t: -0.140666 6.105328 7.143045 q: 0.980821 0.126563 -0.145835 -0.026545 
time: 1403636967.701667, t: -0.132200 6.053126 7.075405 q: 0.980889 0.124980 -0.146379 -0.028446 
time: 1403636967.801666, t: -0.146301 6.004062 7.003235 q: 0.981069 0.124643 -0.145597 -0.027733 
time: 1403636967.901666, t: -0.168571 5.956449 6.930650 q: 0.981187 0.124593 -0.144812 -0.027900 
time: 1403636968.001667, t: -0.201731 5.905208 6.854208 q: 0.981261 0.124641 -0.144356 -0.027436 
time: 1403636968.201667, t: -0.278037 5.800548 6.688573 q: 0.981180 0.125982 -0.144612 -0.022399 
time: 1403636968.301666, t: -0.313846 5.746877 6.597325 q: 0.981072 0.125592 -0.145640 -0.022659 
time: 1403636968.401666, t: -0.343070 5.697270 6.505899 q: 0.980913 0.125230 -0.147002 -0.022751 
time: 1403636968.501667, t: -0.357321 5.652347 6.415778 q: 0.980725 0.125010 -0.148580 -0.021797 
time: 1403636968.601666, t: -0.366131 5.606432 6.318166 q: 0.980831 0.124415 -0.147986 -0.024339 
time: 1403636968.701667, t: -0.365626 5.556855 6.221666 q: 0.980921 0.122523 -0.147714 -0.031025 
time: 1403636968.801666, t: -0.366339 5.517536 6.120941 q: 0.980840 0.121911 -0.147658 -0.035882 
time: 1403636968.901666, t: -0.368233 5.469655 6.020027 q: 0.980893 0.121885 -0.148162 -0.032256 
time: 1403636969.001667, t: -0.364101 5.426591 5.914853 q: 0.980752 0.122613 -0.149044 -0.029613 
time: 1403636969.101666, t: -0.353656 5.380435 5.803608 q: 0.980601 0.123688 -0.150198 -0.023730 
time: 1403636969.201667, t: -0.335702 5.328651 5.692727 q: 0.979372 0.123292 -0.158475 -0.022712 
time: 1403636969.301666, t: -0.316402 5.283695 5.580375 q: 0.977560 0.123059 -0.169553 -0.022030 
time: 1403636969.401666, t: -0.282736 5.232932 5.469776 q: 0.976298 0.121701 -0.177316 -0.024277 
time: 1403636969.501667, t: -0.251325 5.183773 5.362413 q: 0.975614 0.120282 -0.181800 -0.025655 
time: 1403636969.601666, t: -0.226483 5.142227 5.263846 q: 0.975212 0.119543 -0.184387 -0.025937 
time: 1403636969.701667, t: -0.207397 5.097784 5.166616 q: 0.975362 0.118914 -0.184040 -0.025648 
time: 1403636969.801666, t: -0.194111 5.049223 5.074503 q: 0.975335 0.118280 -0.184471 -0.026487 
time: 1403636969.901666, t: -0.187444 4.997019 4.983512 q: 0.975304 0.117974 -0.184965 -0.025542 
time: 1403636970.001667, t: -0.186174 4.948436 4.898444 q: 0.976094 0.118687 -0.180568 -0.023417 
time: 1403636970.101666, t: -0.190709 4.898843 4.820933 q: 0.977861 0.119364 -0.170211 -0.023825 
time: 1403636970.201667, t: -0.195414 4.852716 4.738149 q: 0.979122 0.120293 -0.162217 -0.023151 
time: 1403636970.301666, t: -0.200889 4.800243 4.659924 q: 0.979419 0.120794 -0.159951 -0.023722 
time: 1403636970.401666, t: -0.208540 4.747279 4.582109 q: 0.978099 0.120787 -0.167748 -0.024344 
time: 1403636970.501667, t: -0.210210 4.698909 4.505352 q: 0.976228 0.121358 -0.177939 -0.024280 
time: 1403636970.601666, t: -0.214924 4.644362 4.431742 q: 0.974671 0.121522 -0.186011 -0.025488 
time: 1403636970.701667, t: -0.213729 4.592230 4.360918 q: 0.973224 0.122228 -0.192707 -0.027544 
time: 1403636970.801666, t: -0.200370 4.536946 4.296520 q: 0.971672 0.123032 -0.199754 -0.028564 
time: 1403636970.901666, t: -0.188830 4.482046 4.239479 q: 0.969617 0.123723 -0.208983 -0.029363 
time: 1403636971.001667, t: -0.185027 4.425764 4.186955 q: 0.968873 0.125190 -0.212169 -0.024426 
time: 1403636971.101666, t: -0.181839 4.366365 4.147955 q: 0.969883 0.127193 -0.207311 -0.013081 
time: 1403636971.201667, t: -0.186378 4.310124 4.114034 q: 0.971594 0.129942 -0.197784 0.001232 
time: 1403636971.401666, t: -0.207916 4.205800 4.069022 q: 0.973234 0.133703 -0.185446 0.023421 
time: 1403636971.501667, t: -0.227944 4.167862 4.051659 q: 0.973665 0.133436 -0.183781 0.019906 
time: 1403636971.801666, t: -0.306397 4.094770 4.012461 q: 0.978119 0.131674 -0.160936 -0.006659 
time: 1403636971.901666, t: -0.337741 4.075685 4.001521 q: 0.978593 0.132371 -0.157413 -0.007405 
time: 1403636972.001667, t: -0.362964 4.060183 3.986302 q: 0.978435 0.133102 -0.157733 -0.008383 
time: 1403636972.101666, t: -0.378600 4.050329 3.968097 q: 0.978432 0.133162 -0.157607 -0.009909 
time: 1403636972.201667, t: -0.390790 4.040661 3.950221 q: 0.977504 0.133307 -0.163276 -0.007463 
time: 1403636972.301666, t: -0.396239 4.036880 3.928019 q: 0.975973 0.133755 -0.171971 -0.003491 
time: 1403636972.401666, t: -0.391702 4.033876 3.913029 q: 0.975344 0.132962 -0.176030 -0.006178 
time: 1403636972.501667, t: -0.380280 4.031816 3.900994 q: 0.975727 0.131891 -0.174511 -0.010359 
time: 1403636972.601666, t: -0.360600 4.032786 3.888277 q: 0.976380 0.130753 -0.171501 -0.013172 
time: 1403636972.701667, t: -0.339210 4.035237 3.876533 q: 0.977092 0.129493 -0.168072 -0.016601 
time: 1403636972.801666, t: -0.324000 4.037840 3.864425 q: 0.977172 0.128869 -0.168030 -0.017147 
time: 1403636972.901666, t: -0.315336 4.039688 3.853868 q: 0.977227 0.127582 -0.168616 -0.017858 
time: 1403636973.001667, t: -0.313688 4.044230 3.842057 q: 0.977555 0.119954 -0.172325 -0.017344 
time: 1403636973.101666, t: -0.318394 4.049191 3.831147 q: 0.978241 0.108160 -0.176444 -0.014605 
time: 1403636973.201667, t: -0.328064 4.052072 3.823774 q: 0.978966 0.097795 -0.178586 -0.012971 
time: 1403636973.301666, t: -0.342029 4.058229 3.814925 q: 0.980006 0.089801 -0.177103 -0.012552 
time: 1403636973.401666, t: -0.364348 4.062507 3.807675 q: 0.980730 0.083712 -0.176094 -0.012302 
time: 1403636973.501667, t: -0.387771 4.065297 3.801509 q: 0.981077 0.079412 -0.176203 -0.011547 
time: 1403636973.601666, t: -0.413892 4.067240 3.797249 q: 0.981915 0.076224 -0.172857 -0.012380 
time: 1403636973.701667, t: -0.442489 4.071722 3.790617 q: 0.982660 0.074820 -0.169200 -0.012351 
time: 1403636973.801666, t: -0.464446 4.069705 3.787480 q: 0.983525 0.073832 -0.164374 -0.014457 
time: 1403636973.901666, t: -0.478713 4.068265 3.782223 q: 0.983794 0.073975 -0.162638 -0.015030 
time: 1403636974.001667, t: -0.485221 4.067716 3.774830 q: 0.983449 0.074000 -0.164988 -0.011473 
time: 1403636974.101666, t: -0.488014 4.066773 3.766402 q: 0.983080 0.067531 -0.170162 -0.006147 
time: 1403636974.201667, t: -0.492668 4.068624 3.755989 q: 0.983272 0.051156 -0.174799 -0.002152 
time: 1403636974.301666, t: -0.501737 4.074694 3.744460 q: 0.984112 0.027009 -0.175479 -0.000860 
time: 1403636974.401666, t: -0.516625 4.077496 3.740648 q: 0.984682 -0.001456 -0.174343 0.001868 
time: 1403636974.501667, t: -0.536234 4.079256 3.733847 q: 0.984818 -0.032508 -0.170403 0.006326 
time: 1403636974.601666, t: -0.560709 4.079291 3.729422 q: 0.983789 -0.064816 -0.166903 0.010100 
time: 1403636974.701667, t: -0.586308 4.080896 3.722098 q: 0.980971 -0.095409 -0.168312 0.016239 
time: 1403636974.801666, t: -0.609060 4.081741 3.714347 q: 0.976985 -0.122798 -0.172513 0.025678 
time: 1403636974.901666, t: -0.619880 4.082732 3.708050 q: 0.972111 -0.146597 -0.178649 0.039927 
time: 1403636975.001667, t: -0.621968 4.084652 3.705270 q: 0.967125 -0.169079 -0.182844 0.051472 
time: 1403636975.101666, t: -0.616166 4.090506 3.700135 q: 0.963385 -0.190125 -0.180839 0.055126 
time: 1403636975.201667, t: -0.612858 4.098289 3.699692 q: 0.961460 -0.206850 -0.173683 0.051393 
time: 1403636975.301666, t: -0.613676 4.108758 3.701384 q: 0.960699 -0.217933 -0.165800 0.045534 
time: 1403636975.401666, t: -0.619798 4.117811 3.703999 q: 0.960236 -0.223899 -0.161518 0.041561 
time: 1403636975.501667, t: -0.632047 4.128057 3.704184 q: 0.959455 -0.225848 -0.163583 0.040968 
time: 1403636975.601666, t: -0.643443 4.135031 3.704631 q: 0.958313 -0.225759 -0.170349 0.040629 
time: 1403636975.701667, t: -0.646690 4.141032 3.707942 q: 0.957910 -0.223576 -0.175483 0.040339 
time: 1403636975.801666, t: -0.642002 4.146177 3.715155 q: 0.957807 -0.221214 -0.179000 0.040367 
time: 1403636975.901666, t: -0.633163 4.150715 3.725829 q: 0.956133 -0.226268 -0.181531 0.040732 
time: 1403636976.001667, t: -0.625834 4.157794 3.735907 q: 0.953585 -0.237927 -0.178628 0.046454 
time: 1403636976.101666, t: -0.622812 4.166739 3.747620 q: 0.950845 -0.254321 -0.167021 0.057597 
time: 1403636976.201667, t: -0.625611 4.175156 3.760096 q: 0.946516 -0.273738 -0.154353 0.073148 
time: 1403636976.301666, t: -0.635598 4.186526 3.771946 q: 0.939756 -0.296960 -0.146169 0.085485 
time: 1403636976.401666, t: -0.643164 4.204828 3.771330 q: 0.931173 -0.322736 -0.141777 0.093051 
time: 1403636976.501667, t: -0.659140 4.226321 3.771596 q: 0.921303 -0.349989 -0.142185 0.092155 
time: 1403636976.601666, t: -0.679566 4.248125 3.765419 q: 0.912619 -0.372309 -0.146809 0.083426 
time: 1403636976.701667, t: -0.706329 4.271853 3.759011 q: 0.906165 -0.387852 -0.150128 0.076796 
time: 1403636976.801666, t: -0.738490 4.292345 3.753322 q: 0.901372 -0.397894 -0.152578 0.077001 
time: 1403636976.901666, t: -0.772779 4.313814 3.748821 q: 0.897696 -0.402488 -0.158655 0.083511 
time: 1403636977.001667, t: -0.803132 4.337303 3.741960 q: 0.896182 -0.403975 -0.160460 0.088968 
time: 1403636977.101666, t: -0.822141 4.361820 3.737006 q: 0.895571 -0.403887 -0.162277 0.092163 
time: 1403636977.201667, t: -0.831608 4.390458 3.731994 q: 0.895868 -0.402081 -0.163689 0.094645 
time: 1403636977.301666, t: -0.836045 4.424144 3.724942 q: 0.897020 -0.399492 -0.163837 0.094443 
time: 1403636977.401666, t: -0.840398 4.459587 3.722209 q: 0.899320 -0.397142 -0.159326 0.090096 
time: 1403636977.501667, t: -0.848848 4.498205 3.718005 q: 0.901851 -0.395124 -0.153659 0.083256 
time: 1403636977.601666, t: -0.863821 4.536658 3.712625 q: 0.903819 -0.393402 -0.148331 0.079651 
time: 1403636977.701667, t: -0.883523 4.573406 3.705055 q: 0.904109 -0.393530 -0.146820 0.078517 
time: 1403636977.801666, t: -0.912478 4.616925 3.697501 q: 0.902330 -0.395652 -0.147475 0.086663 
time: 1403636977.901666, t: -0.941914 4.657511 3.686420 q: 0.900495 -0.398198 -0.148233 0.092594 
time: 1403636978.001667, t: -0.964095 4.699652 3.671018 q: 0.899509 -0.401732 -0.146521 0.089591 
time: 1403636978.101666, t: -0.983105 4.744951 3.654777 q: 0.898345 -0.405228 -0.147725 0.083336 
time: 1403636978.201667, t: -0.990452 4.787109 3.638478 q: 0.896980 -0.407441 -0.151192 0.080987 
time: 1403636978.301666, t: -0.993174 4.830506 3.619624 q: 0.895653 -0.408866 -0.155809 0.079739 
time: 1403636978.401666, t: -0.986240 4.869348 3.602562 q: 0.893951 -0.410202 -0.161541 0.080562 
time: 1403636978.501667, t: -0.975352 4.910408 3.586862 q: 0.891537 -0.411038 -0.171403 0.082642 
time: 1403636978.601666, t: -0.970397 4.955669 3.576069 q: 0.889115 -0.411551 -0.180605 0.086500 
time: 1403636978.701667, t: -0.969638 5.000726 3.568657 q: 0.887442 -0.412161 -0.186535 0.088169 
time: 1403636978.801666, t: -0.974026 5.049660 3.565683 q: 0.886386 -0.412521 -0.190285 0.089094 
time: 1403636978.901666, t: -0.979887 5.102713 3.568860 q: 0.887426 -0.413191 -0.184859 0.087040 
time: 1403636979.001667, t: -0.989702 5.156550 3.575504 q: 0.890016 -0.414714 -0.171925 0.079542 
time: 1403636979.101666, t: -1.004534 5.210684 3.585638 q: 0.892400 -0.415882 -0.159176 0.072988 
time: 1403636979.201667, t: -1.027038 5.262684 3.598651 q: 0.893146 -0.416441 -0.154439 0.070828 
time: 1403636979.301666, t: -1.054525 5.312505 3.612100 q: 0.891664 -0.415840 -0.162958 0.073879 
time: 1403636979.401666, t: -1.077410 5.365883 3.625263 q: 0.889876 -0.414957 -0.173025 0.077424 
time: 1403636979.501667, t: -1.091353 5.418482 3.643109 q: 0.888560 -0.414159 -0.179545 0.081836 
time: 1403636979.601666, t: -1.095747 5.474211 3.664452 q: 0.887688 -0.414201 -0.182931 0.083571 
time: 1403636979.701667, t: -1.092721 5.530739 3.690414 q: 0.886534 -0.415677 -0.185647 0.082495 
time: 1403636979.901666, t: -1.074010 5.651191 3.761592 q: 0.886900 -0.420133 -0.175515 0.078049 
time: 1403636980.001667, t: -1.068061 5.716586 3.800022 q: 0.887117 -0.422696 -0.169770 0.074366 
time: 1403636980.101666, t: -1.064829 5.777378 3.841832 q: 0.886798 -0.424703 -0.167121 0.072716 
time: 1403636980.201667, t: -1.068139 5.836983 3.886143 q: 0.886358 -0.426328 -0.165126 0.073123 
time: 1403636980.301666, t: -1.077496 5.897644 3.931520 q: 0.886623 -0.427276 -0.160605 0.074437 
time: 1403636980.401666, t: -1.090151 5.953369 3.982423 q: 0.887695 -0.427897 -0.153119 0.073863 
time: 1403636980.501667, t: -1.111165 6.011806 4.029396 q: 0.888880 -0.427585 -0.146488 0.074870 
time: 1403636980.601666, t: -1.132827 6.063642 4.076774 q: 0.890034 -0.426258 -0.141603 0.078058 
time: 1403636980.701667, t: -1.152959 6.115719 4.119968 q: 0.890860 -0.425132 -0.139759 0.078088 
time: 1403636980.801666, t: -1.165956 6.164883 4.162056 q: 0.890379 -0.424632 -0.146019 0.074771 
time: 1403636980.901666, t: -1.171153 6.211644 4.201249 q: 0.889467 -0.423496 -0.155478 0.072985 
time: 1403636981.001667, t: -1.170360 6.255796 4.239890 q: 0.888991 -0.422749 -0.161231 0.070586 
time: 1403636981.101666, t: -1.173808 6.296678 4.282496 q: 0.889394 -0.422538 -0.159631 0.070418 
time: 1403636981.201667, t: -1.181605 6.338964 4.325780 q: 0.890114 -0.421950 -0.154159 0.076748 
time: 1403636981.301666, t: -1.193236 6.380635 4.368096 q: 0.891161 -0.421150 -0.143756 0.088306 
time: 1403636981.401666, t: -1.205975 6.426815 4.400122 q: 0.891584 -0.420593 -0.137311 0.096566 
time: 1403636981.501667, t: -1.228818 6.464416 4.438013 q: 0.889803 -0.424131 -0.142441 0.089853 
time: 1403636981.601666, t: -1.245555 6.506328 4.469405 q: 0.886958 -0.428239 -0.153923 0.078894 
time: 1403636981.701667, t: -1.254569 6.547733 4.499259 q: 0.884339 -0.431548 -0.162570 0.072680 
time: 1403636981.801666, t: -1.255676 6.588306 4.530549 q: 0.881989 -0.434036 -0.169104 0.071501 
time: 1403636981.901666, t: -1.249141 6.630117 4.566838 q: 0.879334 -0.435873 -0.176998 0.073884 
time: 1403636982.001667, t: -1.240470 6.672186 4.610056 q: 0.876523 -0.436680 -0.185731 0.080761 
time: 1403636982.101666, t: -1.231874 6.714836 4.654134 q: 0.874276 -0.436525 -0.193063 0.088397 
time: 1403636982.201667, t: -1.230159 6.763546 4.701380 q: 0.873489 -0.435946 -0.194781 0.095012 
time: 1403636982.301666, t: -1.231598 6.816534 4.760234 q: 0.874454 -0.435160 -0.188871 0.101460 
time: 1403636982.401666, t: -1.235559 6.877080 4.819696 q: 0.877016 -0.434926 -0.177039 0.101689 
time: 1403636982.501667, t: -1.237430 6.941595 4.880225 q: 0.880686 -0.434527 -0.161565 0.097337 
time: 1403636982.601666, t: -1.231936 7.006733 4.940373 q: 0.882674 -0.434303 -0.154481 0.091668 
time: 1403636982.701667, t: -1.220431 7.074365 4.997970 q: 0.883376 -0.432359 -0.154956 0.093278 
time: 1403636982.801666, t: -1.208141 7.146345 5.053995 q: 0.883195 -0.430496 -0.161357 0.092758 
time: 1403636982.901666, t: -1.198808 7.219479 5.108771 q: 0.882458 -0.430112 -0.167333 0.090950 
time: 1403636983.001667, t: -1.198705 7.293830 5.165725 q: 0.882766 -0.430492 -0.166979 0.086709 
time: 1403636983.101666, t: -1.202767 7.370032 5.216712 q: 0.884129 -0.430821 -0.161224 0.081956 
time: 1403636983.201667, t: -1.210943 7.444892 5.271837 q: 0.884455 -0.431946 -0.159225 0.076213 
time: 1403636983.301666, t: -1.226561 7.519468 5.325351 q: 0.884517 -0.433096 -0.157804 0.071804 
time: 1403636983.401666, t: -1.245905 7.596363 5.376625 q: 0.884477 -0.433920 -0.156900 0.069255 
time: 1403636983.501667, t: -1.263089 7.671066 5.432516 q: 0.883977 -0.434797 -0.156855 0.070237 
time: 1403636983.601666, t: -1.274455 7.740181 5.487429 q: 0.882545 -0.435985 -0.161213 0.071010 
time: 1403636983.701667, t: -1.280556 7.808934 5.543772 q: 0.880562 -0.437080 -0.167748 0.073711 
time: 1403636983.801666, t: -1.280580 7.875321 5.601155 q: 0.878835 -0.438411 -0.173084 0.074075 
time: 1403636983.901666, t: -1.280550 7.943785 5.655446 q: 0.877656 -0.439066 -0.176714 0.075581 
time: 1403636984.001667, t: -1.266911 8.014081 5.715418 q: 0.876548 -0.439957 -0.178921 0.078032 
time: 1403636984.101666, t: -1.246568 8.080457 5.784980 q: 0.875250 -0.441471 -0.180760 0.079788 
time: 1403636984.201667, t: -1.235271 8.147406 5.859646 q: 0.875111 -0.443671 -0.177085 0.077312 
time: 1403636984.301666, t: -1.231228 8.218486 5.929487 q: 0.875853 -0.445352 -0.170478 0.074034 
time: 1403636984.401666, t: -1.234726 8.290771 6.002037 q: 0.876254 -0.446465 -0.165905 0.072961 
time: 1403636984.501667, t: -1.242970 8.359697 6.076836 q: 0.876436 -0.447791 -0.162377 0.070541 
time: 1403636984.601666, t: -1.253274 8.428062 6.154622 q: 0.876648 -0.447951 -0.161292 0.069382 
time: 1403636984.701667, t: -1.261531 8.491236 6.235889 q: 0.876895 -0.447860 -0.160594 0.068453 
time: 1403636984.801666, t: -1.262705 8.554214 6.318137 q: 0.877768 -0.446761 -0.157734 0.071051 
time: 1403636984.901666, t: -1.259789 8.613066 6.401368 q: 0.878401 -0.445545 -0.155011 0.076640 
time: 1403636985.001667, t: -1.248943 8.669862 6.484624 q: 0.878649 -0.445267 -0.153613 0.078212 
time: 1403636985.101666, t: -1.237471 8.725415 6.566752 q: 0.878241 -0.445868 -0.154866 0.076878 
time: 1403636985.201667, t: -1.233201 8.778529 6.647454 q: 0.877568 -0.446706 -0.157441 0.074434 
time: 1403636985.301666, t: -1.243846 8.825342 6.729576 q: 0.876996 -0.448145 -0.157752 0.071822 
time: 1403636985.401666, t: -1.263153 8.876725 6.810292 q: 0.878329 -0.445501 -0.158888 0.069435 
time: 1403636985.501667, t: -1.268922 8.918944 6.898490 q: 0.881676 -0.438102 -0.162788 0.064921 
time: 1403636985.601666, t: -1.274470 8.969058 6.979068 q: 0.885958 -0.429895 -0.163208 0.060273 
time: 1403636985.701667, t: -1.271914 9.010592 7.066190 q: 0.888961 -0.424383 -0.163525 0.053917 
time: 1403636985.801666, t: -1.263108 9.048697 7.154054 q: 0.891921 -0.419988 -0.160244 0.049074 
time: 1403636985.901666, t: -1.252999 9.082708 7.242918 q: 0.896612 -0.416910 -0.143514 0.040955 
time: 1403636986.001667, t: -1.247490 9.109295 7.326664 q: 0.900674 -0.414787 -0.125219 0.032530 
time: 1403636986.101666, t: -1.249533 9.125458 7.408915 q: 0.901445 -0.413531 -0.124240 0.030866 
time: 1403636986.201667, t: -1.260870 9.130993 7.491194 q: 0.899872 -0.412428 -0.136702 0.038019 
time: 1403636986.301666, t: -1.277799 9.132416 7.564814 q: 0.897690 -0.411271 -0.151617 0.044948 
time: 1403636986.401666, t: -1.292913 9.128766 7.638600 q: 0.896753 -0.409829 -0.158930 0.051146 
time: 1403636986.501667, t: -1.310091 9.118521 7.717169 q: 0.896937 -0.408026 -0.159344 0.060240 
time: 1403636986.601666, t: -1.317988 9.103332 7.801148 q: 0.897501 -0.406521 -0.156969 0.067774 
time: 1403636986.701667, t: -1.319713 9.090750 7.881270 q: 0.897894 -0.405377 -0.155116 0.073453 
time: 1403636986.801666, t: -1.310850 9.077434 7.959492 q: 0.898379 -0.404160 -0.152476 0.079508 
time: 1403636986.901666, t: -1.290944 9.063887 8.036437 q: 0.898449 -0.404462 -0.150572 0.080790 
time: 1403636987.001667, t: -1.264224 9.053160 8.108070 q: 0.898270 -0.405617 -0.150095 0.077826 
time: 1403636987.101666, t: -1.235176 9.041288 8.175264 q: 0.897625 -0.408061 -0.150259 0.071959 
time: 1403636987.201667, t: -1.206721 9.028353 8.241986 q: 0.897071 -0.410102 -0.149196 0.069427 
time: 1403636987.301666, t: -1.184209 9.015561 8.304610 q: 0.896736 -0.411762 -0.146928 0.068768 
time: 1403636987.401666, t: -1.165022 9.002727 8.369082 q: 0.897345 -0.411243 -0.144891 0.068244 
time: 1403636987.501667, t: -1.153387 8.987597 8.427683 q: 0.899561 -0.408572 -0.141035 0.062995 
time: 1403636987.601666, t: -1.150692 8.967662 8.486736 q: 0.901456 -0.406855 -0.136700 0.056208 
time: 1403636987.701667, t: -1.147309 8.946101 8.539680 q: 0.902886 -0.404654 -0.134839 0.053578 
time: 1403636987.801666, t: -1.144905 8.920822 8.586726 q: 0.904354 -0.401677 -0.133721 0.054010 
time: 1403636987.901666, t: -1.132596 8.889692 8.631605 q: 0.905321 -0.398850 -0.133891 0.058192 
time: 1403636988.001667, t: -1.113996 8.853706 8.672086 q: 0.905734 -0.395671 -0.135900 0.067983 
optimize pose graph 
time: 1403636988.101666, t: -1.096015 8.816162 8.708041 q: 0.905286 -0.393583 -0.138943 0.079023 
time: 1403636988.201667, t: -1.084109 8.779207 8.738853 q: 0.904865 -0.392608 -0.139778 0.086833 
time: 1403636988.301666, t: -1.076535 8.742943 8.766717 q: 0.905323 -0.392934 -0.133632 0.090201 
time: 1403636988.401666, t: -1.066936 8.709988 8.784349 q: 0.906629 -0.393827 -0.123236 0.087962 
time: 1403636988.501667, t: -1.048335 8.676119 8.799226 q: 0.907363 -0.395107 -0.117013 0.083017 
time: 1403636988.601666, t: -1.025105 8.646137 8.799193 q: 0.908059 -0.394863 -0.113315 0.081675 
time: 1403636988.701667, t: -1.004991 8.612194 8.790095 q: 0.908343 -0.394829 -0.111130 0.081686 
time: 1403636988.801666, t: -0.987757 8.577982 8.771443 q: 0.908760 -0.394991 -0.108580 0.079677 
time: 1403636988.901666, t: -0.977881 8.541858 8.744805 q: 0.909319 -0.394883 -0.104210 0.079660 
time: 1403636989.001667, t: -0.971337 8.504134 8.705975 q: 0.909771 -0.394829 -0.099894 0.080301 
time: 1403636989.101666, t: -0.970046 8.463742 8.658463 q: 0.909853 -0.395231 -0.097123 0.080788 
time: 1403636989.201667, t: -0.971170 8.422273 8.597269 q: 0.909584 -0.395706 -0.097140 0.081472 
time: 1403636989.301666, t: -0.968488 8.377107 8.526026 q: 0.907651 -0.398125 -0.108145 0.077273 
time: 1403636989.401666, t: -0.961887 8.331399 8.448152 q: 0.904738 -0.400545 -0.125227 0.073010 
time: 1403636989.501667, t: -0.945977 8.283990 8.364028 q: 0.902312 -0.401618 -0.138387 0.073386 
time: 1403636989.601666, t: -0.922360 8.235474 8.275187 q: 0.900878 -0.402747 -0.145293 0.071436 
time: 1403636989.701667, t: -0.900916 8.186360 8.185315 q: 0.899745 -0.403841 -0.151267 0.067007 
time: 1403636989.801666, t: -0.884145 8.138096 8.099983 q: 0.899141 -0.404338 -0.154327 0.065104 
time: 1403636989.901666, t: -0.876987 8.088838 8.013226 q: 0.899708 -0.404204 -0.151325 0.065155 
time: 1403636990.001667, t: -0.869799 8.038318 7.926304 q: 0.901117 -0.404134 -0.143383 0.064078 
time: 1403636990.101666, t: -0.864253 7.987322 7.836948 q: 0.902282 -0.404231 -0.136672 0.061688 
time: 1403636990.201667, t: -0.850720 7.933542 7.752669 q: 0.902340 -0.404421 -0.136559 0.059811 
time: 1403636990.301666, t: -0.832784 7.873971 7.664906 q: 0.901748 -0.403944 -0.141976 0.059356 
time: 1403636990.401666, t: -0.805750 7.812802 7.579335 q: 0.901244 -0.403083 -0.147673 0.058955 
time: 1403636990.501667, t: -0.786608 7.751213 7.492912 q: 0.901301 -0.401149 -0.151322 0.061953 
time: 1403636990.601666, t: -0.778491 7.695586 7.400506 q: 0.901844 -0.399115 -0.153203 0.062558 
time: 1403636990.701667, t: -0.761286 7.629790 7.319113 q: 0.901628 -0.398025 -0.157161 0.062793 
time: 1403636990.801666, t: -0.754998 7.566796 7.241876 q: 0.901683 -0.397165 -0.159340 0.061958 
time: 1403636990.901666, t: -0.758320 7.502645 7.161453 q: 0.901879 -0.396487 -0.159727 0.062452 
time: 1403636991.001667, t: -0.762197 7.442690 7.081270 q: 0.901990 -0.396186 -0.160109 0.061777 
time: 1403636991.101666, t: -0.770898 7.381517 7.002954 q: 0.901943 -0.396575 -0.159720 0.060969 
time: 1403636991.201667, t: -0.786659 7.322241 6.928353 q: 0.901524 -0.397455 -0.160143 0.060322 
time: 1403636991.301666, t: -0.789587 7.259363 6.853331 q: 0.901127 -0.397831 -0.161097 0.061231 
time: 1403636991.401666, t: -0.791710 7.201478 6.784544 q: 0.900523 -0.398657 -0.162011 0.062322 
time: 1403636991.501667, t: -0.780463 7.139159 6.717747 q: 0.899671 -0.400180 -0.162907 0.062527 
time: 1403636991.601666, t: -0.762866 7.082875 6.651187 q: 0.899311 -0.400903 -0.161739 0.066004 
time: 1403636991.701667, t: -0.741228 7.022242 6.585752 q: 0.898911 -0.401483 -0.158607 0.074931 
time: 1403636991.801666, t: -0.714183 6.967278 6.523415 q: 0.898248 -0.402557 -0.155956 0.082320 
time: 1403636991.901666, t: -0.689619 6.911647 6.461507 q: 0.897195 -0.404265 -0.154687 0.087656 
time: 1403636992.001667, t: -0.672659 6.863461 6.399948 q: 0.896147 -0.406755 -0.154986 0.086312 
time: 1403636992.101666, t: -0.658305 6.815977 6.335725 q: 0.895395 -0.410542 -0.154399 0.076710 
time: 1403636992.201667, t: -0.647029 6.774927 6.273727 q: 0.895297 -0.413294 -0.151035 0.069425 
time: 1403636992.301666, t: -0.642193 6.732840 6.209336 q: 0.894802 -0.415169 -0.150113 0.066559 
time: 1403636992.401666, t: -0.642870 6.685984 6.145777 q: 0.893235 -0.416977 -0.154232 0.066882 
time: 1403636992.501667, t: -0.644151 6.640324 6.087817 q: 0.891293 -0.418827 -0.159665 0.068464 
time: 1403636992.601666, t: -0.634366 6.594849 6.026055 q: 0.889773 -0.420645 -0.163416 0.068239 
time: 1403636992.701667, t: -0.621007 6.548137 5.972665 q: 0.888643 -0.422515 -0.164693 0.068339 
time: 1403636992.801666, t: -0.607400 6.504118 5.919330 q: 0.887560 -0.424227 -0.166310 0.067890 
time: 1403636992.901666, t: -0.598319 6.461591 5.871379 q: 0.886655 -0.426281 -0.166736 0.065780 
time: 1403636993.001667, t: -0.593263 6.416331 5.823832 q: 0.886414 -0.427923 -0.164262 0.064571 
time: 1403636993.101666, t: -0.591281 6.374504 5.781350 q: 0.887708 -0.427522 -0.157168 0.067061 
time: 1403636993.201667, t: -0.587990 6.328195 5.739738 q: 0.891637 -0.421063 -0.151165 0.069558 
time: 1403636993.301666, t: -0.579641 6.283337 5.703415 q: 0.897280 -0.409696 -0.149149 0.069223 
time: 1403636993.401666, t: -0.565665 6.234825 5.669437 q: 0.904412 -0.394385 -0.148492 0.066701 
time: 1403636993.501667, t: -0.538677 6.186959 5.632827 q: 0.912242 -0.375927 -0.149636 0.064054 
time: 1403636993.601666, t: -0.509450 6.142586 5.594009 q: 0.919879 -0.356532 -0.151853 0.060390 
time: 1403636993.701667, t: -0.476122 6.096056 5.550813 q: 0.925412 -0.340367 -0.155876 0.058867 
time: 1403636993.801666, t: -0.455896 6.050295 5.511162 q: 0.929028 -0.329179 -0.159044 0.057037 
time: 1403636993.901666, t: -0.438956 6.002599 5.468815 q: 0.931573 -0.321565 -0.161058 0.053171 
time: 1403636994.001667, t: -0.429377 5.957469 5.428593 q: 0.934141 -0.316665 -0.156753 0.050319 
time: 1403636994.101666, t: -0.420852 5.909537 5.385569 q: 0.936388 -0.314706 -0.148889 0.044382 
time: 1403636994.201667, t: -0.418444 5.857601 5.343213 q: 0.938187 -0.313695 -0.140679 0.040128 
time: 1403636994.301666, t: -0.422440 5.804069 5.296752 q: 0.939470 -0.313360 -0.133324 0.037779 
time: 1403636994.401666, t: -0.429895 5.744592 5.246279 q: 0.940002 -0.313703 -0.129266 0.035740 
time: 1403636994.501667, t: -0.438401 5.682160 5.196049 q: 0.939638 -0.314262 -0.130318 0.036559 
time: 1403636994.601666, t: -0.437971 5.612706 5.140510 q: 0.938866 -0.313830 -0.134935 0.042815 
time: 1403636994.701667, t: -0.432723 5.539061 5.078447 q: 0.937451 -0.313007 -0.142800 0.053106 
time: 1403636994.801666, t: -0.418079 5.463891 5.014665 q: 0.935764 -0.311736 -0.150572 0.067037 
time: 1403636994.901666, t: -0.405545 5.391236 4.950469 q: 0.934885 -0.311020 -0.152813 0.076844 
time: 1403636995.001667, t: -0.399124 5.323471 4.883648 q: 0.935135 -0.311582 -0.150013 0.077047 
time: 1403636995.101666, t: -0.395192 5.258256 4.815472 q: 0.936061 -0.312981 -0.145738 0.067767 
time: 1403636995.201667, t: -0.392364 5.191488 4.744046 q: 0.936911 -0.313888 -0.142042 0.059134 
time: 1403636995.301666, t: -0.381921 5.128563 4.672081 q: 0.937561 -0.313721 -0.140148 0.054011 
time: 1403636995.401666, t: -0.363621 5.060607 4.595020 q: 0.937382 -0.312890 -0.144286 0.050950 
time: 1403636995.501667, t: -0.340646 4.992615 4.518533 q: 0.936505 -0.311816 -0.151655 0.052254 
time: 1403636995.601666, t: -0.308546 4.921100 4.436051 q: 0.936243 -0.311080 -0.154442 0.053167 
time: 1403636995.701667, t: -0.279676 4.853210 4.357056 q: 0.936328 -0.310593 -0.153879 0.056067 
time: 1403636995.801666, t: -0.255882 4.783660 4.275648 q: 0.936290 -0.309886 -0.153217 0.062099 
time: 1403636995.901666, t: -0.236543 4.715619 4.198962 q: 0.935763 -0.308824 -0.154452 0.071554 
time: 1403636996.001667, t: -0.221825 4.649583 4.118575 q: 0.935162 -0.308619 -0.156152 0.076443 
time: 1403636996.101666, t: -0.217275 4.588084 4.036499 q: 0.934519 -0.309954 -0.159904 0.070948 
optimize pose graph 
time: 1403636996.201667, t: -0.208965 4.525090 3.955307 q: 0.933960 -0.311445 -0.162796 0.064949 
time: 1403636996.301666, t: -0.196435 4.469772 3.876812 q: 0.933938 -0.311674 -0.164375 0.059998 
time: 1403636996.401666, t: -0.175104 4.413063 3.797949 q: 0.935371 -0.307203 -0.165245 0.058324 
time: 1403636996.501667, t: -0.152710 4.365485 3.719530 q: 0.938488 -0.297680 -0.166158 0.054936 
time: 1403636996.601666, t: -0.116231 4.313622 3.642189 q: 0.942562 -0.283927 -0.168342 0.051214 
time: 1403636996.701667, t: -0.087439 4.261041 3.568123 q: 0.947555 -0.265938 -0.170789 0.047402 
time: 1403636996.801666, t: -0.073459 4.210783 3.502652 q: 0.952891 -0.244969 -0.173272 0.044344 
time: 1403636996.901666, t: -0.075252 4.158722 3.438898 q: 0.958282 -0.221800 -0.175167 0.042634 
time: 1403636997.001667, t: -0.084244 4.107514 3.378031 q: 0.963383 -0.197805 -0.176595 0.039749 
time: 1403636997.101666, t: -0.091959 4.058469 3.320320 q: 0.967320 -0.176063 -0.178734 0.036706 
time: 1403636997.201667, t: -0.103705 4.011919 3.261334 q: 0.969798 -0.160046 -0.180704 0.034971 
time: 1403636997.301666, t: -0.119570 3.969775 3.206628 q: 0.971391 -0.149029 -0.182072 0.032252 
time: 1403636997.401666, t: -0.128817 3.927527 3.154271 q: 0.972137 -0.142855 -0.183411 0.030035 
time: 1403636997.501667, t: -0.127698 3.887070 3.106961 q: 0.972570 -0.140213 -0.183389 0.028566 
time: 1403636997.601666, t: -0.122537 3.850116 3.065771 q: 0.972359 -0.140067 -0.184552 0.028973 
time: 1403636997.701667, t: -0.108358 3.815867 3.021882 q: 0.972057 -0.141320 -0.185332 0.028023 
time: 1403636997.801666, t: -0.087013 3.784376 2.983096 q: 0.971335 -0.143783 -0.187340 0.027184 
time: 1403636997.901666, t: -0.058322 3.752417 2.948253 q: 0.970891 -0.146313 -0.187728 0.026873 
time: 1403636998.001667, t: -0.021551 3.722459 2.916788 q: 0.970535 -0.148630 -0.187646 0.027567 
time: 1403636998.101666, t: 0.019627 3.692492 2.890827 q: 0.970168 -0.150722 -0.187734 0.028524 
time: 1403636998.201667, t: 0.059705 3.665515 2.868767 q: 0.970355 -0.152213 -0.185145 0.031040 
time: 1403636998.301666, t: 0.092561 3.638223 2.852206 q: 0.969887 -0.154055 -0.186018 0.031354 
time: 1403636998.401666, t: 0.119780 3.613797 2.838091 q: 0.969796 -0.155068 -0.185467 0.032414 
optimize pose graph 
time: 1403636998.501667, t: 0.147802 3.592596 2.822912 q: 0.969734 -0.155815 -0.184836 0.034266 
time: 1403636998.601666, t: 0.177211 3.572073 2.815108 q: 0.970655 -0.156868 -0.179403 0.032180 
time: 1403636998.801666, t: 0.257530 3.536358 2.797000 q: 0.974232 -0.159775 -0.157551 0.022834 
time: 1403636998.901666, t: 0.291823 3.518047 2.787270 q: 0.974439 -0.161299 -0.155529 0.016173 
time: 1403636999.001667, t: 0.324665 3.494240 2.778981 q: 0.974033 -0.162794 -0.156877 0.012108 
time: 1403636999.101666, t: 0.350717 3.469227 2.765629 q: 0.973794 -0.163679 -0.157636 0.009232 
time: 1403636999.201667, t: 0.369678 3.439971 2.752568 q: 0.973178 -0.164546 -0.160565 0.008267 
time: 1403636999.401666, t: 0.390850 3.371305 2.724602 q: 0.972708 -0.164071 -0.163270 0.016222 
time: 1403636999.501667, t: 0.394918 3.334355 2.709672 q: 0.972873 -0.163650 -0.162314 0.019790 
time: 1403636999.601666, t: 0.395652 3.296775 2.691767 q: 0.973472 -0.163737 -0.158353 0.021616 
time: 1403636999.701667, t: 0.395064 3.258380 2.671542 q: 0.973900 -0.164023 -0.155302 0.022260 
time: 1403636999.801666, t: 0.390491 3.217793 2.651991 q: 0.973883 -0.164733 -0.154595 0.022706 
time: 1403636999.901666, t: 0.383828 3.176655 2.630021 q: 0.973712 -0.165425 -0.155162 0.021076 
time: 1403637000.001667, t: 0.378372 3.135619 2.602907 q: 0.973559 -0.166388 -0.155653 0.016431 
time: 1403637000.101666, t: 0.376695 3.090126 2.576539 q: 0.973228 -0.166667 -0.157668 0.013776 
time: 1403637000.201667, t: 0.383051 3.042144 2.547494 q: 0.972880 -0.166135 -0.160263 0.014836 
time: 1403637000.301666, t: 0.392843 2.990576 2.521859 q: 0.972493 -0.165988 -0.162568 0.016620 
time: 1403637000.401666, t: 0.402267 2.938688 2.490730 q: 0.972737 -0.165466 -0.161362 0.019129 
time: 1403637000.501667, t: 0.403536 2.885378 2.460868 q: 0.972647 -0.165988 -0.161619 0.016904 
time: 1403637000.601666, t: 0.404860 2.829931 2.427955 q: 0.972598 -0.166119 -0.161850 0.016213 
time: 1403637000.701667, t: 0.413985 2.773448 2.393812 q: 0.972907 -0.165765 -0.160096 0.018522 
time: 1403637000.901666, t: 0.444704 2.656105 2.320237 q: 0.972992 -0.166335 -0.158794 0.020113 
time: 1403637001.001667, t: 0.452154 2.596457 2.282676 q: 0.972964 -0.167134 -0.158061 0.020603 
time: 1403637001.101666, t: 0.456535 2.531828 2.244911 q: 0.972934 -0.167576 -0.157688 0.021258 
time: 1403637001.201667, t: 0.457440 2.470087 2.203230 q: 0.973089 -0.167781 -0.156301 0.022745 
time: 1403637001.301666, t: 0.462595 2.407149 2.163059 q: 0.973023 -0.167985 -0.156275 0.024192 
time: 1403637001.401666, t: 0.478239 2.342687 2.115455 q: 0.972686 -0.167680 -0.158173 0.027342 
time: 1403637001.501667, t: 0.498849 2.280966 2.069253 q: 0.971708 -0.168450 -0.162965 0.029179 
time: 1403637001.601666, t: 0.519382 2.218541 2.017131 q: 0.971088 -0.169338 -0.165574 0.029963 
time: 1403637001.701667, t: 0.536487 2.161020 1.968074 q: 0.970889 -0.169983 -0.166018 0.030308 
time: 1403637001.801666, t: 0.545717 2.100190 1.917209 q: 0.971037 -0.170533 -0.164364 0.031463 
time: 1403637001.901666, t: 0.546301 2.040656 1.871194 q: 0.970460 -0.171320 -0.167004 0.031100 
time: 1403637002.001667, t: 0.545532 1.984159 1.816026 q: 0.970193 -0.171407 -0.168458 0.031107 
time: 1403637002.101666, t: 0.542180 1.927079 1.767121 q: 0.969896 -0.171835 -0.169691 0.031295 
time: 1403637002.201667, t: 0.534159 1.870040 1.718525 q: 0.969853 -0.171711 -0.170002 0.031636 
time: 1403637002.301666, t: 0.524548 1.815395 1.676711 q: 0.969697 -0.172312 -0.170592 0.029916 
time: 1403637002.401666, t: 0.515568 1.760519 1.629068 q: 0.969540 -0.172455 -0.171737 0.027531 
time: 1403637002.501667, t: 0.515030 1.708640 1.581126 q: 0.969685 -0.172692 -0.170963 0.025678 
optimize pose graph 
time: 1403637002.601666, t: 0.521558 1.654154 1.538268 q: 0.969711 -0.173270 -0.170672 0.022573 
time: 1403637002.701667, t: 0.534209 1.598618 1.496853 q: 0.969470 -0.174111 -0.171319 0.021509 
time: 1403637002.801666, t: 0.545915 1.542313 1.454817 q: 0.969400 -0.174936 -0.170804 0.022067 
time: 1403637002.901666, t: 0.552755 1.483877 1.414099 q: 0.969503 -0.175297 -0.169206 0.026531 
time: 1403637003.001667, t: 0.552449 1.425401 1.377320 q: 0.969199 -0.176331 -0.169705 0.027588 
time: 1403637003.101666, t: 0.546761 1.368881 1.337154 q: 0.968902 -0.177409 -0.170024 0.029099 
time: 1403637003.201667, t: 0.536752 1.312326 1.301978 q: 0.968737 -0.178855 -0.169450 0.029094 
time: 1403637003.301666, t: 0.525346 1.254490 1.262716 q: 0.968828 -0.179952 -0.167617 0.029900 
time: 1403637003.401666, t: 0.519462 1.197877 1.229900 q: 0.969013 -0.180875 -0.165464 0.030321 
time: 1403637003.501667, t: 0.521089 1.140514 1.190169 q: 0.969196 -0.181671 -0.163261 0.031624 
time: 1403637003.601666, t: 0.526030 1.084951 1.152894 q: 0.969026 -0.182193 -0.163401 0.033067 
time: 1403637003.701667, t: 0.538351 1.031221 1.114526 q: 0.968880 -0.182696 -0.163580 0.033691 
time: 1403637003.801666, t: 0.546432 0.976162 1.076876 q: 0.968852 -0.182021 -0.164244 0.034891 
time: 1403637003.901666, t: 0.550851 0.921373 1.036568 q: 0.968474 -0.181427 -0.167532 0.032786 
time: 1403637004.001667, t: 0.546070 0.866090 0.997150 q: 0.967997 -0.180020 -0.172034 0.031285 
time: 1403637004.101666, t: 0.542084 0.816431 0.957999 q: 0.967521 -0.178774 -0.176299 0.029352 
time: 1403637004.201667, t: 0.530704 0.765522 0.919122 q: 0.967356 -0.177664 -0.178504 0.028180 
time: 1403637004.301666, t: 0.523777 0.719309 0.889355 q: 0.967659 -0.175850 -0.178448 0.029489 
time: 1403637004.401666, t: 0.526155 0.667987 0.861355 q: 0.968046 -0.175585 -0.176118 0.032235 
time: 1403637004.501667, t: 0.543965 0.620990 0.830005 q: 0.969124 -0.176633 -0.168946 0.032497 
time: 1403637004.601666, t: 0.569041 0.573110 0.802055 q: 0.969442 -0.178455 -0.164841 0.034114 
optimize pose graph 
time: 1403637004.801666, t: 0.621133 0.482723 0.739422 q: 0.968752 -0.179899 -0.161253 0.056153 
time: 1403637004.901666, t: 0.629598 0.441035 0.707279 q: 0.967400 -0.181515 -0.165956 0.060404 
time: 1403637005.001667, t: 0.618634 0.404774 0.673139 q: 0.965759 -0.183678 -0.173473 0.058976 
time: 1403637005.101666, t: 0.647040 0.411446 0.685839 q: 0.964496 -0.184956 -0.181955 0.049301 
time: 1403637005.201667, t: 0.582683 0.349463 0.614382 q: 0.965658 -0.188923 -0.173095 0.043028 
time: 1403637005.301666, t: 0.553335 0.324110 0.575219 q: 0.965110 -0.189540 -0.176233 0.039743 
time: 1403637005.401666, t: 0.534179 0.295929 0.553002 q: 0.964814 -0.189293 -0.178527 0.037831 
time: 1403637005.501667, t: 0.508334 0.271755 0.527174 q: 0.966202 -0.187758 -0.173403 0.033644 
time: 1403637005.601666, t: 0.495954 0.245515 0.504326 q: 0.966707 -0.186058 -0.172465 0.033402 
time: 1403637005.801666, t: 0.492261 0.197208 0.465195 q: 0.965586 -0.181667 -0.180964 0.043504 
time: 1403637005.901666, t: 0.503141 0.176722 0.449581 q: 0.966240 -0.181650 -0.178564 0.038711 
time: 1403637006.001667, t: 0.514129 0.157948 0.434600 q: 0.966950 -0.182136 -0.174959 0.034985 
time: 1403637006.101666, t: 0.519636 0.138693 0.419120 q: 0.967601 -0.181759 -0.171341 0.036800 
time: 1403637006.301666, t: 0.523657 0.102752 0.392635 q: 0.966441 -0.180573 -0.177857 0.041861 
time: 1403637006.401666, t: 0.520104 0.081859 0.392411 q: 0.964335 -0.179960 -0.188485 0.046326 
time: 1403637006.501667, t: 0.517929 0.067952 0.382535 q: 0.963478 -0.178383 -0.192197 0.054317 
time: 1403637006.601666, t: 0.515833 0.058772 0.377231 q: 0.965786 -0.174444 -0.184027 0.054410 
time: 1403637006.701667, t: 0.513127 0.053672 0.374154 q: 0.969168 -0.165941 -0.175910 0.047241 
time: 1403637006.801666, t: 0.506977 0.050430 0.373263 q: 0.972904 -0.152211 -0.169233 0.040620 
time: 1403637006.901666, t: 0.498176 0.046512 0.370611 q: 0.975760 -0.133076 -0.169627 0.037554 
time: 1403637007.001667, t: 0.488628 0.044214 0.368630 q: 0.978198 -0.110822 -0.173174 0.029274 
optimize pose graph 
time: 1403637007.101666, t: 0.478738 0.043825 0.367017 q: 0.980462 -0.092059 -0.172499 0.021537 
time: 1403637007.201667, t: 0.468949 0.043381 0.363673 q: 0.982202 -0.077435 -0.170408 0.015593 
time: 1403637007.301666, t: 0.459699 0.043436 0.361107 q: 0.984150 -0.068499 -0.163425 0.007062 
time: 1403637007.401666, t: 0.450189 0.042466 0.355914 q: 0.985314 -0.063151 -0.158630 0.002274 
time: 1403637007.501667, t: 0.439505 0.039150 0.347563 q: 0.985080 -0.059900 -0.161321 0.002288 
time: 1403637007.601666, t: 0.426008 0.033808 0.337521 q: 0.983877 -0.058549 -0.168945 0.003884 
time: 1403637007.701667, t: 0.411214 0.027118 0.326358 q: 0.981376 -0.058829 -0.182756 0.006377 
time: 1403637007.801666, t: 0.398922 0.018973 0.317273 q: 0.980073 -0.060375 -0.189146 0.005894 
time: 1403637007.901666, t: 0.390219 0.009225 0.311533 q: 0.981709 -0.061444 -0.179897 0.010473 
time: 1403637008.001667, t: 0.383117 -0.000943 0.307247 q: 0.983669 -0.062381 -0.167865 0.018009 
time: 1403637008.101666, t: 0.374963 -0.010429 0.301554 q: 0.982967 -0.065343 -0.170943 0.016891 
time: 1403637008.201667, t: 0.366858 -0.019695 0.295063 q: 0.979890 -0.068445 -0.186772 0.015705 
time: 1403637008.301666, t: 0.362386 -0.028386 0.290889 q: 0.977535 -0.071325 -0.197900 0.013156 
time: 1403637008.401666, t: 0.362875 -0.037573 0.291249 q: 0.977293 -0.073669 -0.198320 0.011883 
time: 1403637008.501667, t: 0.368562 -0.047189 0.296159 q: 0.979808 -0.074845 -0.184746 0.015633 
time: 1403637008.601666, t: 0.374170 -0.056566 0.303423 q: 0.981665 -0.076173 -0.173662 0.019333 
time: 1403637008.701667, t: 0.375282 -0.065602 0.310893 q: 0.982253 -0.076748 -0.169150 0.026024 
time: 1403637008.801666, t: 0.370311 -0.073152 0.317537 q: 0.981021 -0.075229 -0.173572 0.042567 
time: 1403637008.901666, t: 0.361497 -0.076729 0.323560 q: 0.979416 -0.074276 -0.179911 0.053472 
time: 1403637009.001667, t: 0.350540 -0.073516 0.330013 q: 0.979285 -0.076177 -0.180690 0.050486 
time: 1403637009.101666, t: 0.336585 -0.063625 0.337176 q: 0.979786 -0.079498 -0.179784 0.037110 
time: 1403637009.201667, t: 0.320393 -0.050596 0.345014 q: 0.980057 -0.082669 -0.179165 0.023557 
time: 1403637009.301666, t: 0.302341 -0.036172 0.354457 q: 0.979560 -0.086382 -0.181587 0.005103 
time: 1403637009.401666, t: 0.289053 -0.025162 0.359748 q: 0.981745 -0.076049 -0.173888 0.012480 
time: 1403637009.501667, t: 0.285567 -0.013851 0.371767 q: 0.985436 -0.057074 -0.159875 0.009941 
time: 1403637009.601666, t: 0.280590 -0.010123 0.357194 q: 0.991154 -0.035577 -0.120770 0.041972 
time: 1403637009.701667, t: 0.277171 -0.007207 0.345178 q: 0.989135 -0.052783 -0.129762 0.044587 
time: 1403637009.801666, t: 0.277295 -0.003749 0.342345 q: 0.988996 -0.054756 -0.129076 0.047192 
time: 1403637009.901666, t: 0.276941 -0.003525 0.342193 q: 0.989056 -0.054034 -0.128971 0.047074 
time: 1403637010.001667, t: 0.276920 -0.003686 0.342023 q: 0.989092 -0.053975 -0.128770 0.046935 
time: 1403637010.101666, t: 0.277058 -0.004102 0.342197 q: 0.989059 -0.053751 -0.128829 0.047709 
time: 1403637010.201667, t: 0.277060 -0.004112 0.342300 q: 0.989074 -0.053629 -0.128688 0.047913 
time: 1403637010.301666, t: 0.276964 -0.004146 0.342463 q: 0.989044 -0.053488 -0.128888 0.048157 
time: 1403637010.401666, t: 0.277024 -0.004228 0.342571 q: 0.989067 -0.053505 -0.128719 0.048108 
time: 1403637010.501667, t: 0.276980 -0.004198 0.342577 q: 0.989056 -0.053517 -0.128803 0.048101 
time: 1403637010.601666, t: 0.277049 -0.004304 0.342359 q: 0.989052 -0.053467 -0.128815 0.048209 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720496117.689531476]: Shutdown request received.[0m
[33m[ WARN] [1720496117.689570906]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720496117.690515452]: Shutdown request received.[0m
[33m[ WARN] [1720496117.690548152]: Reason given for shutdown: [user request][0m
killed
