/SLAM-Hive/slam_hive_results/mapping_results/3077/2285_vins-fusion-stereo+MH_05_difficult+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720511600.647941126]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720511600.649827137]: init begins[0m
[31m[ERROR] [1720511600.650939432]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4f6aeb0e-3dc8-11ef-89ab-0242ac110005/roslaunch-3db9c7617bd5-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://3db9c7617bd5:36511/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720511601.754189326]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720511601.756146924]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720511601.762009956]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720511601.762193530]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720511601.762217852]: ROW: 96 COL: 150 [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] [1720511601.762455284]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720511601.762667666]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720511601.762825930]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://3db9c7617bd5:11311/[0m
]2;roscore http://3db9c7617bd5:11311/
[1msetting /run_id to 4f6aeb0e-3dc8-11ef-89ab-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720511610.801171183]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316873092.87 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720511612.174507542]: Initialization finish![0m
time: 1403638519.127830, t: 0.000000 0.000000 0.000000 q: 1.000000 0.000000 -0.000001 0.000000 
time: 1403638519.227829, t: 0.000000 0.000000 0.000000 q: 1.000000 0.000000 -0.000001 0.000000 
time: 1403638519.327830, t: 0.000012 -0.000004 -0.000003 q: 1.000000 -0.000053 -0.000086 -0.000079 
time: 1403638519.427830, t: 0.002309 0.005146 -0.005363 q: 1.000000 0.000056 -0.000315 -0.000357 
time: 1403638519.527829, t: 0.002313 0.005113 -0.005341 q: 1.000000 -0.000004 -0.000386 -0.000452 
time: 1403638519.627830, t: 0.002173 0.004806 -0.005023 q: 1.000000 0.000015 -0.000236 -0.000449 
time: 1403638519.727829, t: 0.001076 0.002350 -0.002464 q: 1.000000 -0.000054 -0.000234 -0.000293 
time: 1403638519.827830, t: 0.001225 0.002681 -0.002808 q: 1.000000 -0.000035 -0.000239 -0.000323 
time: 1403638519.927830, t: 0.001083 0.002365 -0.002481 q: 1.000000 -0.000052 -0.000194 -0.000301 
time: 1403638520.027829, t: 0.001714 0.003727 -0.003910 q: 1.000000 -0.000041 -0.000211 -0.000529 
time: 1403638520.127830, t: 0.001006 0.002137 -0.002255 q: 1.000000 -0.000102 -0.000241 -0.000442 
time: 1403638520.227829, t: 0.001890 0.004137 -0.004330 q: 1.000000 -0.000014 -0.000272 -0.000500 
time: 1403638520.327830, t: 0.001662 0.003615 -0.003783 q: 1.000000 -0.000017 -0.000339 -0.000491 
time: 1403638520.427830, t: 0.001438 0.002975 -0.003158 q: 1.000000 -0.000165 -0.000287 -0.000849 
time: 1403638520.527829, t: 0.000760 0.001405 -0.001536 q: 0.999999 -0.000288 -0.000371 -0.000895 
time: 1403638520.627830, t: 0.000895 0.001810 -0.001933 q: 1.000000 -0.000167 -0.000291 -0.000635 
time: 1403638520.827830, t: 0.001517 0.003166 -0.003354 q: 1.000000 -0.000163 -0.000345 -0.000801 
time: 1403638520.927830, t: 0.001594 0.003354 -0.003549 q: 1.000000 -0.000184 -0.000384 -0.000762 
time: 1403638521.027829, t: 0.001687 0.003517 -0.003735 q: 0.999999 -0.000243 -0.000388 -0.000902 
time: 1403638521.127830, t: 0.001711 0.003599 -0.003816 q: 1.000000 -0.000256 -0.000371 -0.000816 
time: 1403638521.227829, t: 0.001754 0.003542 -0.003807 q: 0.999999 -0.000456 -0.000372 -0.001255 
time: 1403638521.327830, t: 0.001800 0.003556 -0.003827 q: 0.999999 -0.000472 -0.000537 -0.001498 
time: 1403638521.427830, t: 0.001721 0.003591 -0.003784 q: 1.000000 -0.000070 -0.000389 -0.000910 
time: 1403638521.527829, t: 0.001650 0.003619 -0.003764 q: 1.000000 0.000110 -0.000258 -0.000363 
time: 1403638521.627830, t: 0.001734 0.003562 -0.003804 q: 0.999999 -0.000358 -0.000292 -0.001037 
time: 1403638521.727829, t: 0.001694 0.003574 -0.003776 q: 1.000000 -0.000223 -0.000637 -0.000669 
time: 1403638521.827830, t: 0.001772 0.003550 -0.003782 q: 0.999999 -0.000258 -0.000597 -0.001277 
time: 1403638521.927830, t: 0.001743 0.003563 -0.003709 q: 0.999999 0.000264 -0.000770 -0.000950 
time: 1403638522.027829, t: 0.002016 0.003464 -0.003459 q: 0.999993 0.001809 -0.001352 -0.002853 
time: 1403638522.127830, t: 0.002561 0.003344 -0.003198 q: 0.999966 0.002804 -0.006002 -0.005009 
time: 1403638522.227829, t: 0.002921 0.003418 -0.003069 q: 0.999973 0.006277 -0.001764 -0.003340 
time: 1403638522.327830, t: 0.028903 0.015888 0.042626 q: 0.999880 0.012445 0.008425 -0.003657 
time: 1403638522.427830, t: 0.050877 0.024225 0.075574 q: 0.999711 0.020099 0.013046 -0.001733 
time: 1403638522.527829, t: 0.058066 0.061642 0.080367 q: 0.999492 0.030172 0.008944 0.005089 
time: 1403638522.627830, t: -0.463539 2.456538 -0.431467 q: 0.995068 0.095678 0.013518 -0.022414 
time: 1403638522.727829, t: 0.025126 8.573646 0.700530 q: 0.963727 0.239498 0.027446 -0.114536 
time: 1403638522.827830, t: -0.082876 2.364599 -0.437067 q: 0.993460 0.108746 0.023031 -0.026113 
time: 1403638522.927830, t: 0.039003 5.043883 -1.138809 q: 0.982202 0.181349 0.015392 -0.046429 
time: 1403638523.027829, t: 0.147291 4.850393 -1.112751 q: 0.983003 0.178407 0.020277 -0.038277 
time: 1403638523.127830, t: 0.188711 4.798720 -1.103814 q: 0.983146 0.177509 0.022145 -0.037723 
time: 1403638523.227829, t: 0.215112 4.774203 -1.101771 q: 0.983547 0.174400 0.025100 -0.039868 
time: 1403638523.327830, t: 0.201337 4.739590 -1.066636 q: 0.984787 0.165560 0.030932 -0.042761 
time: 1403638523.427830, t: 0.180346 4.727703 -1.038495 q: 0.985172 0.163036 0.029632 -0.044478 
time: 1403638523.527829, t: 0.148516 4.791973 -1.031481 q: 0.985460 0.160980 0.019012 -0.050914 
time: 1403638523.627830, t: 0.106856 4.800466 -1.006643 q: 0.985886 0.155837 0.003116 -0.061113 
time: 1403638523.727829, t: 0.061154 4.814654 -0.978737 q: 0.985869 0.153226 -0.008014 -0.067226 
time: 1403638523.827830, t: 0.027643 4.841308 -0.966395 q: 0.985562 0.153124 -0.012332 -0.071199 
time: 1403638523.927830, t: 0.001194 4.853129 -0.984947 q: 0.985558 0.149346 -0.011660 -0.078962 
time: 1403638524.027829, t: 0.125524 3.981657 -1.137578 q: 0.988323 0.126184 -0.020392 -0.082942 
time: 1403638524.127830, t: -0.443602 4.159905 0.272892 q: 0.987502 0.134702 0.004813 -0.081683 
time: 1403638524.227829, t: 0.087300 7.382983 4.151284 q: 0.814416 -0.191462 -0.187847 -0.514570 
time: 1403638524.327830, t: -18.397800 9.975947 23.829458 q: 0.284000 -0.390210 -0.347400 0.803986 
time: 1403638524.427830, t: -26.603369 11.069293 34.180111 q: 0.290317 -0.392557 -0.380530 0.785374 
time: 1403638524.527829, t: -65.776761 18.856478 30.803180 q: 0.549632 0.040405 -0.714747 -0.430592 
time: 1403638524.627830, t: -58.801131 -34.968763 -20.887589 q: -0.067666 -0.654180 0.752100 0.042616 
time: 1403638524.727829, t: -92.136431 -72.085151 -69.582632 q: -0.027186 0.023314 0.976185 -0.213963 
time: 1403638524.827830, t: 35.608848 -179.157819 -466.864355 q: 0.182262 -0.145274 0.151377 0.960605 
time: 1403638524.927830, t: 16090.737760 200699.656582 -153542.351626 q: 0.437984 0.031094 0.730033 -0.523694 
time: 1403638525.027829, t: 7517.596618 209137.393568 -135158.440744 q: -0.278688 0.122416 0.728486 -0.613722 
time: 1403638525.127830, t: -236258.586465 2118052.712794 -532261.863649 q: 0.887227 0.316266 -0.168015 0.290817 
time: 1403638525.227829, t: -512933.416418 2040088.467093 -198021.927652 q: 0.648628 -0.297678 -0.675166 0.186605 
unstable tracking...
unstable tracking...
time: 1403638525.427830, t: -779646.695601 1735534.503664 -1765856.780916 q: 0.630708 0.017779 -0.423576 -0.649981 
unstable tracking...
time: 1403638525.527829, t: -778780.383295 1735255.821538 -1765827.751138 q: -0.265539 0.275719 -0.360102 0.850761 
unstable tracking...
time: 1403638525.627830, t: -779409.368849 1738959.133222 -1764931.878666 q: -0.063453 0.437572 -0.146560 0.884887 
unstable tracking...
time: 1403638525.727829, t: -773793.297785 1733964.754470 -1865328.972694 q: 0.727896 0.149418 0.138414 0.654739 
unstable tracking...
time: 1403638525.827830, t: -770712.765804 1740850.970232 -1885854.458480 q: 0.533994 0.166387 0.143110 0.816508 
unstable tracking...
time: 1403638525.927830, t: -770256.480840 1737972.332568 -1885847.335582 q: -0.294401 0.086691 -0.275930 0.910865 
unstable tracking...
time: 1403638526.027829, t: -715197.106319 1592806.505582 -1671196.783646 q: 0.928810 0.152221 -0.204246 -0.269116 
unstable tracking...
time: 1403638526.127830, t: -750661.002181 1651091.958260 -1596349.783381 q: 0.985994 -0.004747 -0.089266 -0.140802 
unstable tracking...
time: 1403638526.227829, t: -749783.338228 1672242.156263 -1628989.412068 q: 0.430486 0.222389 -0.234225 0.842831 
unstable tracking...
time: 1403638526.327830, t: -719174.005729 1665053.678004 -1711213.017206 q: 0.181662 0.217303 -0.340173 0.896694 
unstable tracking...
time: 1403638526.427830, t: -1500995.912947 2403131.346287 164712.614429 q: 0.400769 -0.145883 -0.357837 0.830695 
unstable tracking...
time: 1403638526.527829, t: -1500995.935929 2403131.369355 164712.068442 q: 0.400769 -0.145883 -0.357837 0.830695 
unstable tracking...
time: 1403638526.627830, t: -1535038.267960 1803423.272181 863966.535870 q: 0.971301 0.203496 -0.097964 0.074612 
unstable tracking...
time: 1403638526.727829, t: -1535266.521304 2000900.135128 47047.158579 q: -0.094129 0.504738 0.531378 0.673807 
unstable tracking...
unstable tracking...
time: 1403638526.927830, t: -1528843.587490 1980728.287491 97749.490182 q: -0.185748 0.148923 0.844232 0.480200 
unstable tracking...
unstable tracking...
time: 1403638527.127830, t: -2306841.679291 2573686.291715 -59125.587140 q: 0.764357 -0.345259 -0.317118 -0.442708 
unstable tracking...
time: 1403638527.227829, t: -2267740.963332 2648758.550884 22948.683541 q: 0.902523 0.142638 -0.404432 -0.039252 
unstable tracking...
time: 1403638527.327830, t: -2274212.039814 2651990.489156 26560.755347 q: 0.827970 -0.003566 -0.549223 -0.113170 
unstable tracking...
time: 1403638527.427830, t: -7801905.266442 1752571.352394 -389578.789255 q: 0.200597 -0.586098 -0.184630 0.762995 
unstable tracking...
time: 1403638527.527829, t: -7801913.295043 1752567.626931 -389495.391022 q: -0.266891 0.737849 0.328084 -0.526032 
unstable tracking...
time: 1403638527.627830, t: -7800794.876260 1752854.468269 -391223.220654 q: -0.399086 0.567277 0.591772 -0.410771 
unstable tracking...
time: 1403638527.727829, t: -7801127.602902 1752834.210641 -388775.474468 q: -0.384316 0.578709 0.572651 -0.435279 
unstable tracking...
time: 1403638527.827830, t: -7801796.347331 1752973.032185 -389388.794966 q: -0.073670 0.833749 0.425350 -0.344257 
unstable tracking...
time: 1403638527.927830, t: -7801790.495024 1752958.390818 -389404.551785 q: -0.073668 0.833749 0.425350 -0.344257 
unstable tracking...
unstable tracking...
time: 1403638528.127830, t: -7801791.869919 1752958.757644 -389404.134164 q: -0.063951 0.855799 0.420857 -0.293935 
unstable tracking...
unstable tracking...
time: 1403638528.327830, t: -7801792.257686 1752958.964204 -389404.299914 q: -0.090948 0.852675 0.407103 -0.314549 
unstable tracking...
time: 1403638528.427830, t: -7801792.093417 1752958.920234 -389404.299646 q: -0.102285 0.844603 0.420017 -0.315861 
unstable tracking...
time: 1403638528.527829, t: -7801792.073901 1752958.793610 -389404.370707 q: -0.104136 0.850176 0.405016 -0.319872 
unstable tracking...
unstable tracking...
time: 1403638528.727829, t: -7801792.148317 1752958.840756 -389404.439574 q: -0.091348 0.854599 0.400126 -0.318143 
unstable tracking...
unstable tracking...
time: 1403638528.927830, t: -7801792.266382 1752958.896445 -389404.487514 q: -0.080955 0.860697 0.392978 -0.313393 
unstable tracking...
time: 1403638529.127830, t: -7801792.159767 1752958.879308 -389404.407316 q: -0.077584 0.859431 0.397714 -0.311741 
time: 1403638529.227829, t: -7801792.392171 1752958.743928 -389404.395640 q: -0.076099 0.861743 0.402135 -0.299824 
time: 1403638529.327830, t: -7801792.208391 1752958.840500 -389404.344184 q: -0.073292 0.850346 0.421009 -0.307069 
time: 1403638529.427830, t: -7801792.267666 1752958.851533 -389404.349325 q: -0.067692 0.844485 0.426415 -0.316913 
time: 1403638529.527829, t: -7801792.568484 1752958.938958 -389404.277924 q: -0.052802 0.840924 0.427269 -0.327872 
time: 1403638529.627830, t: -7801792.348840 1752958.609040 -389404.052094 q: -0.064047 0.841632 0.417178 -0.336922 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638529.927830, t: -7801792.114550 1752959.006015 -389403.451372 q: -0.078525 0.935791 0.217106 -0.266446 
time: 1403638530.027829, t: -7802364.020832 1754390.550492 -255768.036397 q: -0.337226 -0.101350 -0.192763 0.915887 
time: 1403638530.127830, t: -6973297.321028 1525475.064651 -125131.173697 q: 0.794908 0.262523 0.543761 -0.059376 
time: 1403638530.227829, t: -7018259.968834 1516553.706730 -119762.955508 q: -0.027099 0.656676 -0.243291 0.713338 
time: 1403638530.327830, t: -6757007.969446 1896285.951203 -399405.282777 q: -0.074756 0.779589 0.023545 -0.621368 
time: 1403638530.427830, t: -6796325.726661 1781900.229681 -154207.004213 q: 0.052638 0.601060 0.661889 -0.444813 
time: 1403638530.527829, t: -6879032.183434 2431491.962624 -1370921.102297 q: 0.864038 0.058426 -0.442850 0.232184 
time: 1403638530.627830, t: -6850411.226776 2482628.019927 -1421648.955438 q: 0.861590 0.061330 -0.449534 0.227642 
time: 1403638530.727829, t: -6828962.279572 2437908.564521 -1425603.680530 q: 0.954125 0.150385 -0.249046 0.070755 
time: 1403638530.827830, t: -6834680.982035 2442402.426763 -1422379.157521 q: 0.880917 0.201708 -0.418005 0.092583 
unstable tracking...
time: 1403638530.927830, t: -6975410.551158 2470328.811464 -1297939.895433 q: 0.881942 0.022153 -0.460619 0.097562 
unstable tracking...
time: 1403638531.027829, t: -6980755.000459 2478334.879577 -1300201.146381 q: 0.881999 0.022043 -0.460553 0.097384 
unstable tracking...
time: 1403638531.127830, t: -6970518.395622 2479606.237223 -1299131.202195 q: 0.914650 0.061974 -0.389576 -0.088348 
unstable tracking...
time: 1403638531.227829, t: -6967520.675134 2475885.896692 -1299754.507364 q: 0.918467 0.187851 -0.340033 0.074221 
unstable tracking...
unstable tracking...
time: 1403638531.427830, t: -6976645.545900 2469023.807859 -1298076.754969 q: 0.851174 0.229757 -0.448174 -0.147834 
unstable tracking...
time: 1403638531.527829, t: -6986560.149008 2470131.755840 -1295530.155931 q: -0.049411 -0.462108 0.481710 0.742947 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638531.827830, t: -7213909.878844 2585946.021670 -1231883.774671 q: 0.719859 -0.271189 -0.633920 -0.080036 
unstable tracking...
time: 1403638531.927830, t: -7213937.658814 2586077.243030 -1231857.017397 q: 0.718545 -0.300646 -0.623971 -0.062977 
unstable tracking...
unstable tracking...
time: 1403638532.127830, t: -7213937.906564 2586077.482042 -1231856.888907 q: 0.718901 -0.301175 -0.623236 -0.063654 
unstable tracking...
time: 1403638532.227829, t: -7213937.906403 2586077.474176 -1231856.845860 q: 0.718360 -0.300839 -0.624066 -0.063215 
unstable tracking...
time: 1403638532.327830, t: -7213937.889598 2586077.470620 -1231856.856664 q: 0.718392 -0.300767 -0.624029 -0.063559 
unstable tracking...
time: 1403638532.427830, t: -7213937.888240 2586077.469055 -1231856.848515 q: 0.718255 -0.300696 -0.624212 -0.063654 
unstable tracking...
time: 1403638532.527829, t: -7213937.885878 2586077.458265 -1231856.823075 q: 0.717681 -0.301029 -0.624698 -0.063774 
unstable tracking...
unstable tracking...
time: 1403638532.727829, t: -7213937.886430 2586077.471668 -1231856.843893 q: 0.718228 -0.300581 -0.624308 -0.063550 
time: 1403638532.827830, t: -7213937.890949 2586077.471810 -1231856.855559 q: 0.718577 -0.300572 -0.623916 -0.063501 
time: 1403638532.927830, t: -7213937.899098 2586077.454735 -1231856.817166 q: 0.717731 -0.301259 -0.624500 -0.064066 
time: 1403638533.027829, t: -7213937.905714 2586077.460901 -1231856.824032 q: 0.717850 -0.300959 -0.624470 -0.064443 
time: 1403638533.127830, t: -7213937.901111 2586077.451003 -1231856.814694 q: 0.717540 -0.301105 -0.624721 -0.064784 
time: 1403638533.227829, t: -7213937.898608 2586077.454347 -1231856.820756 q: 0.717601 -0.300937 -0.624737 -0.064725 
time: 1403638533.327830, t: -7213937.901011 2586077.452748 -1231856.813283 q: 0.717515 -0.301023 -0.624782 -0.064841 
time: 1403638533.427830, t: -7213937.899107 2586077.453361 -1231856.813269 q: 0.717453 -0.300918 -0.624897 -0.064913 
time: 1403638533.527829, t: -7213937.899971 2586077.452971 -1231856.816409 q: 0.717553 -0.300969 -0.624759 -0.064895 
time: 1403638533.627830, t: -7213937.898816 2586077.452192 -1231856.811792 q: 0.717451 -0.300894 -0.624905 -0.064963 
time: 1403638533.727829, t: -7213937.897650 2586077.453206 -1231856.810197 q: 0.717364 -0.300889 -0.625006 -0.064986 
time: 1403638533.827830, t: -7213937.897657 2586077.453726 -1231856.807628 q: 0.717282 -0.300847 -0.625097 -0.065197 
time: 1403638533.927830, t: -7213937.895103 2586077.443139 -1231856.794625 q: 0.716752 -0.301084 -0.625535 -0.065738 
time: 1403638534.027829, t: -7213937.882640 2586077.446645 -1231856.803106 q: 0.716949 -0.300857 -0.625453 -0.065413 
time: 1403638534.127830, t: -7213937.888722 2586077.450209 -1231856.796871 q: 0.716872 -0.301028 -0.625467 -0.065334 
time: 1403638534.327830, t: -7213937.903497 2586077.441691 -1231856.811550 q: 0.717385 -0.301214 -0.624835 -0.064883 
time: 1403638534.427830, t: -7213937.888743 2586077.443498 -1231856.811950 q: 0.717304 -0.301031 -0.625017 -0.064879 
time: 1403638534.527829, t: -7213937.891809 2586077.436299 -1231856.810875 q: 0.717167 -0.301309 -0.624994 -0.065321 
time: 1403638534.627830, t: -7213937.925331 2586077.439954 -1231856.799455 q: 0.717400 -0.301410 -0.624687 -0.065226 
time: 1403638534.727829, t: -7213937.890746 2586077.435786 -1231856.804082 q: 0.717069 -0.301021 -0.625252 -0.065259 
time: 1403638534.827830, t: -7213937.892302 2586077.437160 -1231856.803942 q: 0.717076 -0.301091 -0.625201 -0.065347 
time: 1403638534.927830, t: -7213937.890407 2586077.433452 -1231856.800061 q: 0.716842 -0.301305 -0.625316 -0.065831 
time: 1403638535.027829, t: -7213937.893217 2586077.434969 -1231856.800212 q: 0.716727 -0.301150 -0.625482 -0.066202 
time: 1403638535.127830, t: -7213937.891013 2586077.436017 -1231856.799933 q: 0.716751 -0.301171 -0.625456 -0.066091 
time: 1403638535.227829, t: -7213937.890609 2586077.438710 -1231856.799267 q: 0.716820 -0.301008 -0.625465 -0.066008 
time: 1403638535.327830, t: -7213937.890228 2586077.436243 -1231856.799792 q: 0.716798 -0.301077 -0.625446 -0.066117 
time: 1403638535.527829, t: -7213937.891237 2586077.444015 -1231856.796531 q: 0.716813 -0.300864 -0.625524 -0.066182 
time: 1403638535.627830, t: -7213937.890118 2586077.436671 -1231856.799817 q: 0.716873 -0.300918 -0.625425 -0.066222 
time: 1403638535.727829, t: -7213937.890184 2586077.436679 -1231856.799775 q: 0.716986 -0.300955 -0.625278 -0.066222 
time: 1403638535.827830, t: -7213937.889462 2586077.438764 -1231856.796274 q: 0.716801 -0.300810 -0.625557 -0.066248 
time: 1403638535.927830, t: -7213937.890014 2586077.436120 -1231856.799644 q: 0.716818 -0.300877 -0.625490 -0.066390 
time: 1403638536.027829, t: -7213937.890167 2586077.436339 -1231856.799682 q: 0.716815 -0.300813 -0.625519 -0.066433 
time: 1403638536.127830, t: -7213937.890067 2586077.436283 -1231856.799676 q: 0.716931 -0.300849 -0.625378 -0.066350 
time: 1403638536.227829, t: -7213937.893262 2586077.439646 -1231856.800498 q: 0.716937 -0.300835 -0.625367 -0.066452 
time: 1403638536.327830, t: -7213937.890134 2586077.436200 -1231856.799691 q: 0.716836 -0.300771 -0.625502 -0.066560 
time: 1403638536.427830, t: -7213937.890150 2586077.436273 -1231856.799738 q: 0.716824 -0.300749 -0.625521 -0.066608 
time: 1403638536.627830, t: -7213937.893398 2586077.431708 -1231856.788940 q: 0.716531 -0.300912 -0.625753 -0.066848 
time: 1403638536.727829, t: -7213937.890851 2586077.435318 -1231856.797223 q: 0.716733 -0.300690 -0.625627 -0.066858 
time: 1403638536.927830, t: -7213937.892229 2586077.434688 -1231856.791563 q: 0.716636 -0.300804 -0.625683 -0.066867 
time: 1403638537.027829, t: -7213937.895357 2586077.428710 -1231856.785376 q: 0.716484 -0.300939 -0.625769 -0.067074 
time: 1403638537.127830, t: -7213937.886758 2586077.434368 -1231856.793177 q: 0.716647 -0.300621 -0.625768 -0.066765 
time: 1403638537.227829, t: -7213937.891434 2586077.431404 -1231856.790895 q: 0.716608 -0.300730 -0.625728 -0.067074 
time: 1403638537.327830, t: -7213937.890564 2586077.434350 -1231856.788792 q: 0.716637 -0.300723 -0.625706 -0.067008 
time: 1403638537.427830, t: -7213937.889303 2586077.430694 -1231856.790339 q: 0.716564 -0.300733 -0.625768 -0.067152 
time: 1403638537.527829, t: -7213937.890470 2586077.432876 -1231856.790671 q: 0.716598 -0.300637 -0.625777 -0.067150 
time: 1403638537.627830, t: -7213937.893006 2586077.432745 -1231856.791238 q: 0.716632 -0.300681 -0.625704 -0.067263 
time: 1403638537.827830, t: -7213937.906067 2586077.428125 -1231856.793591 q: 0.716780 -0.300890 -0.625429 -0.067307 
time: 1403638537.927830, t: -7213937.889734 2586077.436030 -1231856.791753 q: 0.716684 -0.300565 -0.625709 -0.067178 
time: 1403638538.027829, t: -7213937.890282 2586077.436640 -1231856.790891 q: 0.716597 -0.300553 -0.625795 -0.067355 
time: 1403638538.127830, t: -7213937.871997 2586077.427533 -1231856.738704 q: 0.715469 -0.301159 -0.626818 -0.067128 
time: 1403638538.227829, t: -7213937.881087 2586077.434613 -1231856.790876 q: 0.716378 -0.300410 -0.626092 -0.067573 
time: 1403638538.327830, t: -7213937.888705 2586077.434207 -1231856.784307 q: 0.716266 -0.300589 -0.626146 -0.067452 
time: 1403638538.427830, t: -7213937.885235 2586077.433880 -1231856.781015 q: 0.716215 -0.300484 -0.626224 -0.067736 
time: 1403638538.627830, t: -7213937.883954 2586077.437711 -1231856.787306 q: 0.717169 -0.300792 -0.625074 -0.066896 
time: 1403638538.727829, t: -7213937.884313 2586077.430149 -1231856.778747 q: 0.716698 -0.300835 -0.625496 -0.067799 
time: 1403638538.827830, t: -7213937.888094 2586077.434251 -1231856.785107 q: 0.717724 -0.300358 -0.624537 -0.067903 
time: 1403638538.927830, t: -7213937.857083 2586077.413851 -1231856.767488 q: 0.720598 -0.299564 -0.621393 -0.069786 
time: 1403638539.027829, t: -7213937.861499 2586077.458629 -1231856.711408 q: 0.724829 -0.299232 -0.616391 -0.071726 
time: 1403638539.127830, t: -7213937.845409 2586077.486890 -1231856.719206 q: 0.731741 -0.298787 -0.607991 -0.075022 
time: 1403638539.227829, t: -7213937.901523 2586077.518093 -1231856.844880 q: 0.741089 -0.296799 -0.597473 -0.075656 
time: 1403638539.427830, t: -7213937.823425 2586077.559244 -1231857.008133 q: 0.744543 -0.294091 -0.594702 -0.074131 
time: 1403638539.527829, t: -7213937.904929 2586077.545601 -1231856.659645 q: 0.737144 -0.295539 -0.602831 -0.076622 
time: 1403638539.627830, t: -7213937.872007 2586077.544983 -1231856.562207 q: 0.735402 -0.294845 -0.605311 -0.076478 
time: 1403638539.727829, t: -7213938.012526 2586077.787790 -1231856.458499 q: 0.735595 -0.293246 -0.605809 -0.076821 
time: 1403638539.827830, t: -7213937.833381 2586077.525118 -1231856.467818 q: 0.731021 -0.292795 -0.611507 -0.077062 
time: 1403638539.927830, t: -7213937.773326 2586077.577578 -1231856.131487 q: 0.717579 -0.290817 -0.627561 -0.081691 
time: 1403638540.027829, t: -7213937.936263 2586077.517799 -1231856.505489 q: 0.724054 -0.294907 -0.619596 -0.069836 
time: 1403638540.127830, t: -7213937.667092 2586077.834850 -1231856.437975 q: 0.714045 -0.282559 -0.636719 -0.069921 
time: 1403638540.227829, t: -7213937.898602 2586077.536799 -1231856.542425 q: 0.717971 -0.293063 -0.627659 -0.068374 
time: 1403638540.327830, t: -7213937.859868 2586077.575217 -1231856.450740 q: 0.722900 -0.290265 -0.622809 -0.072600 
time: 1403638540.427830, t: -7213937.929487 2586077.627334 -1231856.503707 q: 0.731385 -0.285163 -0.615064 -0.073853 
time: 1403638540.527829, t: -7213937.924726 2586077.689250 -1231856.391871 q: 0.731532 -0.273995 -0.620311 -0.070716 
time: 1403638540.627830, t: -7213938.061817 2586077.663740 -1231856.400110 q: 0.737177 -0.261698 -0.619212 -0.068265 
time: 1403638540.727829, t: -7213938.097280 2586077.694737 -1231856.375159 q: 0.742726 -0.239523 -0.621682 -0.067063 
time: 1403638540.827830, t: -7213938.098844 2586077.696771 -1231856.296676 q: 0.745382 -0.212688 -0.628219 -0.067156 
time: 1403638540.927830, t: -7213938.123046 2586077.605886 -1231856.182146 q: 0.746298 -0.186076 -0.635565 -0.066878 
time: 1403638541.127830, t: -7213938.227543 2586077.628013 -1231856.091165 q: 0.754195 -0.142336 -0.638973 -0.051416 
time: 1403638541.227829, t: -7213938.267361 2586077.643103 -1231856.062580 q: 0.755121 -0.129813 -0.640828 -0.047754 
time: 1403638541.327830, t: -7213938.314364 2586077.613331 -1231855.994151 q: 0.754404 -0.123085 -0.643076 -0.046663 
time: 1403638541.427830, t: -7213938.381708 2586077.638687 -1231855.975459 q: 0.755633 -0.119247 -0.642582 -0.043445 
time: 1403638541.527829, t: -7213938.419451 2586077.642588 -1231855.949999 q: 0.757128 -0.118546 -0.640860 -0.044746 
time: 1403638541.627830, t: -7213938.432880 2586077.638551 -1231855.892463 q: 0.758237 -0.115509 -0.640088 -0.044973 
time: 1403638541.727829, t: -7213938.474402 2586077.594312 -1231855.839139 q: 0.760380 -0.110577 -0.638642 -0.041617 
time: 1403638541.827830, t: -7213938.535235 2586077.511836 -1231855.711046 q: 0.759374 -0.102859 -0.641536 -0.034674 
time: 1403638541.927830, t: -7213938.597618 2586077.424343 -1231855.634527 q: 0.759915 -0.091636 -0.642886 -0.028788 
time: 1403638542.027829, t: -7213938.580534 2586077.494430 -1231855.653527 q: 0.763914 -0.066334 -0.641688 -0.016455 
time: 1403638542.127830, t: -7213938.642708 2586077.465153 -1231855.643328 q: 0.766479 -0.046042 -0.640586 -0.006310 
time: 1403638542.227829, t: -7213938.730746 2586077.425326 -1231855.579205 q: 0.766449 -0.020991 -0.641949 0.004031 
time: 1403638542.327830, t: -7213938.788862 2586077.333212 -1231855.505729 q: 0.764976 0.002441 -0.643987 0.009287 
time: 1403638542.427830, t: -7213938.852671 2586077.291062 -1231855.472411 q: 0.772522 0.024995 -0.634388 0.011682 
time: 1403638542.727829, t: -7213938.986423 2586077.170617 -1231855.291893 q: 0.780271 0.065231 -0.622030 -0.000440 
time: 1403638542.827830, t: -7213939.038330 2586077.182061 -1231855.324368 q: 0.778942 0.065487 -0.623508 0.014097 
time: 1403638542.927830, t: -7213939.023762 2586077.035806 -1231855.209062 q: 0.772654 0.060565 -0.631636 0.019346 
time: 1403638543.027829, t: -7213939.028024 2586076.933003 -1231855.143971 q: 0.769033 0.055168 -0.636349 0.024604 
time: 1403638543.127830, t: -7213939.071567 2586076.903582 -1231855.117305 q: 0.768443 0.053063 -0.637004 0.030097 
time: 1403638543.227829, t: -7213939.092537 2586076.862468 -1231855.061532 q: 0.767636 0.052314 -0.637956 0.031779 
time: 1403638543.327830, t: -7213939.119396 2586076.823589 -1231855.036361 q: 0.768106 0.050865 -0.637445 0.033001 
time: 1403638543.427830, t: -7213939.154802 2586076.723938 -1231855.014465 q: 0.767951 0.050678 -0.637674 0.032470 
time: 1403638543.527829, t: -7213939.185983 2586076.661521 -1231854.995040 q: 0.767164 0.057016 -0.637952 0.035020 
time: 1403638543.627830, t: -7213939.194173 2586076.506393 -1231854.892705 q: 0.763622 0.072296 -0.640769 0.032697 
time: 1403638543.827830, t: -7213939.284186 2586076.483219 -1231854.801829 q: 0.760679 0.123973 -0.635537 0.045728 
time: 1403638543.927830, t: -7213939.339467 2586076.434259 -1231854.777410 q: 0.759682 0.150698 -0.630184 0.055147 
time: 1403638544.027829, t: -7213939.398744 2586076.319415 -1231854.739427 q: 0.757032 0.167098 -0.628367 0.064308 
time: 1403638544.127830, t: -7213939.442930 2586076.355912 -1231854.696289 q: 0.753837 0.184015 -0.625541 0.081029 
time: 1403638544.227829, t: -7213939.460384 2586076.294972 -1231854.613582 q: 0.751544 0.192186 -0.624906 0.087974 
time: 1403638544.327830, t: -7213939.521544 2586076.189354 -1231854.585915 q: 0.752035 0.197504 -0.622326 0.090259 
time: 1403638544.427830, t: -7213939.560534 2586076.112152 -1231854.517482 q: 0.749335 0.199321 -0.624956 0.090540 
time: 1403638544.527829, t: -7213939.619742 2586076.049934 -1231854.470496 q: 0.749797 0.199764 -0.624248 0.090624 
time: 1403638544.627830, t: -7213939.634973 2586076.094425 -1231854.426643 q: 0.754141 0.202726 -0.617363 0.095060 
time: 1403638544.727829, t: -7213939.680752 2586075.869344 -1231854.358451 q: 0.758384 0.201855 -0.612852 0.092310 
time: 1403638544.827830, t: -7213939.715488 2586075.777280 -1231854.310139 q: 0.755872 0.202797 -0.615846 0.090908 
time: 1403638544.927830, t: -7213939.750582 2586075.687446 -1231854.276194 q: 0.752263 0.203196 -0.620208 0.090299 
time: 1403638545.027829, t: -7213939.805993 2586075.612522 -1231854.227625 q: 0.752063 0.204567 -0.619841 0.091385 
time: 1403638545.127830, t: -7213939.860456 2586075.544181 -1231854.184981 q: 0.752417 0.205853 -0.618887 0.092051 
time: 1403638545.227829, t: -7213939.869331 2586075.473368 -1231854.165753 q: 0.751792 0.204145 -0.620460 0.090347 
time: 1403638545.327830, t: -7213939.943215 2586075.398429 -1231854.110063 q: 0.752090 0.205031 -0.619525 0.092262 
time: 1403638545.427830, t: -7213940.022907 2586075.346453 -1231854.088098 q: 0.753048 0.206689 -0.617565 0.093874 
time: 1403638545.527829, t: -7213940.067801 2586075.265801 -1231854.079375 q: 0.752438 0.209722 -0.616903 0.096353 
time: 1403638545.627830, t: -7213940.172537 2586075.200744 -1231854.085598 q: 0.750647 0.221786 -0.614020 0.101583 
time: 1403638545.727829, t: -7213940.228820 2586075.133788 -1231854.068878 q: 0.746571 0.239875 -0.611496 0.105664 
time: 1403638545.827830, t: -7213940.259578 2586075.070501 -1231854.016522 q: 0.741456 0.261482 -0.607959 0.110708 
time: 1403638545.927830, t: -7213940.339245 2586074.866801 -1231854.090333 q: 0.743343 0.280965 -0.597612 0.106581 
time: 1403638546.127830, t: -7213940.432029 2586074.850528 -1231853.870007 q: 0.725301 0.331275 -0.590936 0.122432 
time: 1403638546.227829, t: -7213940.466721 2586074.750763 -1231853.820731 q: 0.721329 0.342635 -0.588801 0.124900 
time: 1403638546.327830, t: -7213940.553038 2586074.700289 -1231853.760240 q: 0.715702 0.352629 -0.588031 0.132827 
time: 1403638546.427830, t: -7213940.583405 2586074.618781 -1231853.738992 q: 0.713207 0.356051 -0.587914 0.137552 
time: 1403638546.627830, t: -7213940.688452 2586074.468737 -1231853.674480 q: 0.710261 0.366056 -0.585135 0.138379 
time: 1403638546.727829, t: -7213940.731551 2586074.389013 -1231853.642029 q: 0.708559 0.373786 -0.581740 0.140736 
time: 1403638546.827830, t: -7213940.775017 2586074.316178 -1231853.578481 q: 0.706497 0.381263 -0.579694 0.139480 
time: 1403638546.927830, t: -7213940.801554 2586074.219618 -1231853.530104 q: 0.705465 0.384611 -0.579393 0.136739 
time: 1403638547.027829, t: -7213940.829532 2586074.139864 -1231853.497420 q: 0.705782 0.387266 -0.577955 0.133658 
time: 1403638547.127830, t: -7213940.842843 2586074.033592 -1231853.459898 q: 0.706309 0.391408 -0.576462 0.124973 
time: 1403638547.227829, t: -7213940.857735 2586073.946520 -1231853.435796 q: 0.706624 0.392597 -0.576133 0.120918 
time: 1403638547.427830, t: -7213940.923306 2586073.782619 -1231853.435842 q: 0.706178 0.389736 -0.577129 0.127830 
time: 1403638547.527829, t: -7213940.967080 2586073.702806 -1231853.434329 q: 0.704930 0.387122 -0.578883 0.134556 
time: 1403638547.627830, t: -7213941.044912 2586073.579332 -1231853.371280 q: 0.702498 0.385736 -0.581952 0.137974 
time: 1403638547.727829, t: -7213941.093390 2586073.509882 -1231853.377362 q: 0.703645 0.385140 -0.580895 0.138248 
time: 1403638547.827830, t: -7213941.146677 2586073.417320 -1231853.350747 q: 0.704405 0.387173 -0.579523 0.134403 
time: 1403638547.927830, t: -7213941.225318 2586073.301210 -1231853.336460 q: 0.704711 0.387344 -0.578954 0.134755 
time: 1403638548.027829, t: -7213941.253798 2586073.198544 -1231853.322221 q: 0.703496 0.389557 -0.578737 0.135655 
time: 1403638548.127830, t: -7213941.299092 2586073.078631 -1231853.301063 q: 0.700587 0.394881 -0.578090 0.138054 
time: 1403638548.327830, t: -7213941.257414 2586072.770015 -1231853.187033 q: 0.690066 0.414938 -0.576152 0.140298 
time: 1403638548.627830, t: -7213941.360764 2586072.407894 -1231852.981814 q: 0.669348 0.455955 -0.566074 0.153749 
time: 1403638548.727829, t: -7213941.359953 2586072.265623 -1231852.902477 q: 0.664724 0.462978 -0.565842 0.153673 
time: 1403638548.827830, t: -7213941.387984 2586072.127173 -1231852.883573 q: 0.663011 0.466530 -0.564617 0.154835 
time: 1403638548.927830, t: -7213941.418351 2586071.983761 -1231852.844620 q: 0.661671 0.468536 -0.564181 0.156097 
time: 1403638549.027829, t: -7213941.437907 2586071.851884 -1231852.827567 q: 0.661949 0.469157 -0.563603 0.155134 
time: 1403638549.127830, t: -7213941.466983 2586071.730736 -1231852.776159 q: 0.661666 0.468243 -0.563874 0.158091 
time: 1403638549.227829, t: -7213941.494367 2586071.604893 -1231852.767999 q: 0.664039 0.466310 -0.561951 0.160679 
time: 1403638549.327830, t: -7213941.504531 2586071.478360 -1231852.726134 q: 0.664887 0.463012 -0.562619 0.164335 
time: 1403638549.427830, t: -7213941.512956 2586071.341071 -1231852.671221 q: 0.666270 0.460519 -0.562045 0.167665 
time: 1403638549.527829, t: -7213941.550124 2586071.205739 -1231852.651149 q: 0.667191 0.458053 -0.561799 0.171537 
time: 1403638549.727829, t: -7213941.640358 2586070.986902 -1231852.591923 q: 0.672155 0.456909 -0.555442 0.175858 
time: 1403638549.827830, t: -7213941.668265 2586070.851649 -1231852.563384 q: 0.672207 0.454841 -0.556552 0.177504 
time: 1403638549.927830, t: -7213941.703087 2586070.741506 -1231852.511986 q: 0.671866 0.454887 -0.556942 0.177454 
time: 1403638550.027829, t: -7213941.688980 2586070.605916 -1231852.405461 q: 0.669902 0.453957 -0.560017 0.177583 
time: 1403638550.127830, t: -7213941.750892 2586070.503582 -1231852.415025 q: 0.672111 0.451120 -0.557790 0.183378 
time: 1403638550.227829, t: -7213941.759997 2586070.385576 -1231852.355454 q: 0.672654 0.450595 -0.557176 0.184542 
time: 1403638550.327830, t: -7213941.805026 2586070.264906 -1231852.326841 q: 0.675029 0.448972 -0.554713 0.187225 
time: 1403638550.427830, t: -7213941.817036 2586070.159871 -1231852.172492 q: 0.673916 0.448793 -0.555405 0.189598 
time: 1403638550.527829, t: -7213941.920583 2586070.105578 -1231852.118307 q: 0.673560 0.449067 -0.552935 0.197280 
time: 1403638550.627830, t: -7213941.875405 2586069.960731 -1231852.005389 q: 0.674484 0.446775 -0.552630 0.200160 
time: 1403638550.727829, t: -7213941.882719 2586069.829381 -1231851.945305 q: 0.677553 0.444247 -0.549708 0.203438 
time: 1403638550.827830, t: -7213941.885941 2586069.716679 -1231851.845086 q: 0.680313 0.442998 -0.546807 0.204765 
time: 1403638550.927830, t: -7213941.949039 2586069.638255 -1231851.754839 q: 0.684974 0.443444 -0.538335 0.210625 
time: 1403638551.027829, t: -7213941.960382 2586069.530721 -1231851.717793 q: 0.690955 0.440762 -0.531802 0.213298 
time: 1403638551.127830, t: -7213942.031455 2586069.439163 -1231851.679240 q: 0.693713 0.439777 -0.526621 0.219155 
time: 1403638551.227829, t: -7213942.082294 2586069.382313 -1231851.613634 q: 0.692515 0.439078 -0.526208 0.225251 
time: 1403638551.327830, t: -7213942.120519 2586069.307083 -1231851.538917 q: 0.690276 0.438206 -0.529842 0.225304 
time: 1403638551.427830, t: -7213942.171108 2586069.277397 -1231851.464612 q: 0.689524 0.430494 -0.537240 0.224954 
time: 1403638551.527829, t: -7213942.254340 2586069.309577 -1231851.353232 q: 0.689865 0.419217 -0.546139 0.223775 
time: 1403638551.627830, t: -7213942.314277 2586069.272115 -1231851.291034 q: 0.694309 0.397364 -0.556364 0.224712 
time: 1403638551.727829, t: -7213942.413025 2586069.277993 -1231851.173410 q: 0.698506 0.378148 -0.565060 0.223161 
time: 1403638551.827830, t: -7213942.255378 2586068.970663 -1231851.281496 q: 0.718239 0.334299 -0.572596 0.210975 
time: 1403638551.927830, t: -7213942.327912 2586068.902685 -1231851.207034 q: 0.727655 0.317837 -0.574078 0.199832 
time: 1403638552.027829, t: -7213942.376312 2586068.846353 -1231851.134590 q: 0.737946 0.306384 -0.571495 0.186969 
time: 1403638552.127830, t: -7213942.449634 2586068.800623 -1231851.074620 q: 0.742793 0.297593 -0.571961 0.180440 
time: 1403638552.227829, t: -7213942.477564 2586068.753504 -1231851.026722 q: 0.743206 0.290765 -0.576230 0.176237 
time: 1403638552.327830, t: -7213942.550487 2586068.748176 -1231850.971267 q: 0.743425 0.287025 -0.577388 0.177647 
time: 1403638552.427830, t: -7213942.613667 2586068.727453 -1231850.881490 q: 0.746304 0.281707 -0.574766 0.182529 
time: 1403638552.527829, t: -7213942.640008 2586068.703198 -1231850.796037 q: 0.750250 0.276200 -0.570310 0.188642 
time: 1403638552.627830, t: -7213942.715252 2586068.749108 -1231850.703686 q: 0.751868 0.276821 -0.566595 0.192447 
time: 1403638552.727829, t: -7213942.786483 2586068.743561 -1231850.686817 q: 0.754292 0.276710 -0.564071 0.190524 
time: 1403638552.827830, t: -7213942.859230 2586068.783927 -1231850.623827 q: 0.753500 0.280375 -0.564044 0.188365 
time: 1403638552.927830, t: -7213942.936846 2586068.804480 -1231850.609017 q: 0.754580 0.283622 -0.562687 0.183169 
time: 1403638553.027829, t: -7213943.053216 2586068.887326 -1231850.586232 q: 0.755304 0.290845 -0.559580 0.178313 
time: 1403638553.127830, t: -7213943.098762 2586068.935077 -1231850.502151 q: 0.754738 0.294560 -0.559110 0.176073 
time: 1403638553.227829, t: -7213943.162167 2586068.959173 -1231850.495126 q: 0.761240 0.293293 -0.549763 0.179593 
time: 1403638553.327830, t: -7213943.163831 2586068.888626 -1231850.434702 q: 0.767563 0.288221 -0.545168 0.174838 
time: 1403638553.427830, t: -7213943.292610 2586069.145458 -1231850.416842 q: 0.769515 0.300882 -0.534516 0.177792 
time: 1403638553.527829, t: -7213943.363691 2586069.263497 -1231850.406354 q: 0.773639 0.305886 -0.527172 0.173224 
time: 1403638553.627830, t: -7213943.414722 2586069.370024 -1231850.394389 q: 0.776985 0.308470 -0.522144 0.168837 
time: 1403638553.727829, t: -7213943.384586 2586069.477551 -1231850.329075 q: 0.774552 0.309361 -0.526080 0.166147 
time: 1403638553.827830, t: -7213943.416556 2586069.574121 -1231850.314557 q: 0.774551 0.309471 -0.526480 0.164671 
time: 1403638553.927830, t: -7213943.422944 2586069.667955 -1231850.282553 q: 0.773427 0.308731 -0.529175 0.162696 
time: 1403638554.027829, t: -7213943.417326 2586069.704431 -1231850.269014 q: 0.771301 0.305183 -0.534539 0.161946 
time: 1403638554.127830, t: -7213943.433139 2586069.789588 -1231850.286008 q: 0.771683 0.303954 -0.535205 0.160223 
time: 1403638554.227829, t: -7213943.398560 2586069.853117 -1231850.302270 q: 0.767480 0.302684 -0.544760 0.150314 
time: 1403638554.327830, t: -7213943.389788 2586069.886793 -1231850.360308 q: 0.766364 0.298331 -0.550306 0.144389 
time: 1403638554.427830, t: -7213943.371201 2586069.963136 -1231850.377313 q: 0.764057 0.297078 -0.555234 0.140274 
time: 1403638554.527829, t: -7213943.372941 2586070.028523 -1231850.390115 q: 0.763998 0.295715 -0.556541 0.138285 
time: 1403638554.627830, t: -7213943.357333 2586070.098195 -1231850.381694 q: 0.762325 0.294610 -0.559186 0.139197 
time: 1403638554.727829, t: -7213943.403619 2586070.229795 -1231850.373852 q: 0.762253 0.295345 -0.556666 0.147870 
time: 1403638554.827830, t: -7213943.413557 2586070.367546 -1231850.357873 q: 0.760623 0.295851 -0.556900 0.154232 
time: 1403638554.927830, t: -7213943.388050 2586070.475714 -1231850.294012 q: 0.758705 0.295731 -0.558888 0.156699 
time: 1403638555.027829, t: -7213943.411184 2586070.610245 -1231850.257544 q: 0.759054 0.293250 -0.559073 0.158992 
time: 1403638555.127830, t: -7213943.426390 2586070.769112 -1231850.167973 q: 0.757020 0.289474 -0.564898 0.154971 
time: 1403638555.227829, t: -7213943.443039 2586070.877214 -1231850.153396 q: 0.758399 0.278559 -0.569419 0.151650 
time: 1403638555.327830, t: -7213943.552568 2586071.065157 -1231850.140086 q: 0.759834 0.274525 -0.569254 0.152442 
time: 1403638555.427830, t: -7213943.641525 2586071.178141 -1231850.159574 q: 0.764078 0.270018 -0.567101 0.147211 
time: 1403638555.527829, t: -7213943.618207 2586071.231346 -1231850.177685 q: 0.766181 0.261551 -0.569273 0.143133 
time: 1403638555.627830, t: -7213943.699409 2586071.382993 -1231850.250580 q: 0.769608 0.261504 -0.564416 0.144061 
time: 1403638555.727829, t: -7213943.679214 2586071.458940 -1231850.241783 q: 0.769040 0.257353 -0.567246 0.143452 
time: 1403638555.827830, t: -7213943.673752 2586071.555792 -1231850.204022 q: 0.768268 0.258028 -0.568777 0.140278 
time: 1403638555.927830, t: -7213943.725249 2586071.670637 -1231850.212993 q: 0.769039 0.260252 -0.566829 0.139832 
time: 1403638556.027829, t: -7213943.723798 2586071.787533 -1231850.189739 q: 0.770019 0.261828 -0.565376 0.137354 
time: 1403638556.127830, t: -7213943.739782 2586071.890492 -1231850.172940 q: 0.768134 0.263640 -0.567410 0.136051 
time: 1403638556.227829, t: -7213943.729515 2586071.992548 -1231850.154605 q: 0.763494 0.263086 -0.574190 0.134792 
time: 1403638556.327830, t: -7213943.696651 2586072.048689 -1231850.106104 q: 0.758896 0.261372 -0.581665 0.132012 
time: 1403638556.427830, t: -7213943.767932 2586072.162721 -1231850.093817 q: 0.757708 0.264162 -0.581745 0.132930 
time: 1403638556.527829, t: -7213943.746385 2586072.247661 -1231850.058261 q: 0.752625 0.262021 -0.589778 0.130625 
time: 1403638556.627830, t: -7213943.791445 2586072.343771 -1231850.009231 q: 0.749376 0.260737 -0.593045 0.136927 
time: 1403638556.727829, t: -7213943.820012 2586072.433279 -1231849.959927 q: 0.750674 0.257558 -0.590809 0.145249 
time: 1403638556.827830, t: -7213943.794607 2586072.500959 -1231849.893345 q: 0.753654 0.254101 -0.587840 0.147928 
time: 1403638557.027829, t: -7213943.882513 2586072.668084 -1231849.802696 q: 0.757987 0.252606 -0.581475 0.153405 
time: 1403638557.127830, t: -7213943.888285 2586072.780670 -1231849.773084 q: 0.760118 0.253787 -0.579286 0.149133 
time: 1403638557.227829, t: -7213943.940467 2586072.869012 -1231849.743524 q: 0.761473 0.254463 -0.577824 0.146721 
time: 1403638557.327830, t: -7213944.002727 2586072.976476 -1231849.695003 q: 0.761374 0.255594 -0.577870 0.145079 
time: 1403638557.427830, t: -7213944.068082 2586073.085238 -1231849.630255 q: 0.760809 0.258339 -0.578297 0.141437 
time: 1403638557.527829, t: -7213944.118226 2586073.177056 -1231849.575089 q: 0.761953 0.260266 -0.577667 0.134127 
time: 1403638557.627830, t: -7213944.151687 2586073.291442 -1231849.510127 q: 0.762414 0.262215 -0.577093 0.130123 
time: 1403638557.727829, t: -7213944.203900 2586073.386913 -1231849.462865 q: 0.763274 0.262183 -0.576477 0.127856 
time: 1403638557.827830, t: -7213944.239754 2586073.477096 -1231849.417015 q: 0.764433 0.261544 -0.575900 0.124803 
time: 1403638557.927830, t: -7213944.288302 2586073.594036 -1231849.418341 q: 0.765201 0.261645 -0.575234 0.122939 
time: 1403638558.027829, t: -7213944.255831 2586073.615253 -1231849.501441 q: 0.770754 0.255905 -0.572047 0.114946 
time: 1403638558.127830, t: -7213944.299247 2586073.674902 -1231849.526357 q: 0.768752 0.252377 -0.576512 0.113847 
time: 1403638558.227829, t: -7213944.343776 2586073.758917 -1231849.501324 q: 0.762054 0.252028 -0.585421 0.114180 
time: 1403638558.327830, t: -7213944.386425 2586073.860832 -1231849.372948 q: 0.755021 0.255119 -0.593902 0.110178 
time: 1403638558.427830, t: -7213944.430320 2586073.909243 -1231849.368335 q: 0.755486 0.253330 -0.595475 0.102345 
time: 1403638558.527829, t: -7213944.454345 2586073.961522 -1231849.282936 q: 0.750695 0.251434 -0.602826 0.099189 
time: 1403638558.627830, t: -7213944.501474 2586074.018842 -1231849.209108 q: 0.750986 0.248559 -0.602876 0.103821 
time: 1403638558.727829, t: -7213944.568197 2586074.081553 -1231849.111877 q: 0.752737 0.244092 -0.600517 0.114824 
time: 1403638558.827830, t: -7213944.621080 2586074.143517 -1231849.066365 q: 0.757643 0.240652 -0.594605 0.120450 
time: 1403638558.927830, t: -7213944.683669 2586074.187507 -1231849.002793 q: 0.762895 0.239341 -0.588916 0.117838 
time: 1403638559.027829, t: -7213944.757651 2586074.225585 -1231848.947626 q: 0.770395 0.237389 -0.580358 0.115422 
time: 1403638559.127830, t: -7213944.846289 2586074.283502 -1231848.839708 q: 0.772701 0.238380 -0.577080 0.114395 
time: 1403638559.227829, t: -7213944.936135 2586074.360307 -1231848.764211 q: 0.774427 0.241275 -0.574197 0.111117 
time: 1403638559.327830, t: -7213944.969077 2586074.375998 -1231848.628376 q: 0.772673 0.242796 -0.577095 0.104820 
time: 1403638559.427830, t: -7213945.075242 2586074.411342 -1231848.550407 q: 0.773861 0.245679 -0.575583 0.097390 
time: 1403638559.527829, t: -7213945.173842 2586074.467598 -1231848.477555 q: 0.774117 0.247938 -0.574658 0.095067 
time: 1403638559.627830, t: -7213945.286378 2586074.543310 -1231848.424333 q: 0.774580 0.249832 -0.572880 0.097048 
time: 1403638559.727829, t: -7213945.362542 2586074.552864 -1231848.462354 q: 0.781862 0.248162 -0.564177 0.093872 
time: 1403638559.827830, t: -7213945.444648 2586074.587155 -1231848.397271 q: 0.779815 0.250175 -0.565960 0.094818 
time: 1403638559.927830, t: -7213945.518998 2586074.636608 -1231848.317375 q: 0.778598 0.250404 -0.567649 0.094119 
time: 1403638560.027829, t: -7213945.594971 2586074.702608 -1231848.215553 q: 0.777960 0.240851 -0.572460 0.095177 
time: 1403638560.127830, t: -7213945.684005 2586074.721188 -1231848.167520 q: 0.781910 0.220275 -0.576050 0.090897 
time: 1403638560.227829, t: -7213945.765100 2586074.777277 -1231848.120517 q: 0.786385 0.196373 -0.579221 0.086833 
time: 1403638560.327830, t: -7213945.822624 2586074.845947 -1231848.030935 q: 0.790514 0.170018 -0.582781 0.080911 
time: 1403638560.427830, t: -7213945.911478 2586074.902417 -1231848.058211 q: 0.801107 0.140747 -0.576587 0.077231 
time: 1403638560.527829, t: -7213945.998955 2586074.987630 -1231848.017122 q: 0.806658 0.112579 -0.575413 0.074360 
time: 1403638560.627830, t: -7213946.093044 2586075.058870 -1231847.982160 q: 0.809214 0.082890 -0.576880 0.074242 
time: 1403638560.727829, t: -7213946.198894 2586075.130180 -1231847.975287 q: 0.811331 0.054195 -0.576393 0.081098 
time: 1403638560.827830, t: -7213946.283310 2586075.199447 -1231847.976416 q: 0.813728 0.028151 -0.574710 0.082235 
time: 1403638560.927830, t: -7213946.395250 2586075.194159 -1231847.977236 q: 0.817221 -0.001551 -0.570968 0.078377 
time: 1403638561.027829, t: -7213946.473685 2586075.242420 -1231847.945581 q: 0.820554 -0.026989 -0.566353 0.072161 
time: 1403638561.127830, t: -7213946.525196 2586075.315318 -1231847.910943 q: 0.822151 -0.049102 -0.563267 0.066239 
time: 1403638561.227829, t: -7213946.584311 2586075.355192 -1231847.900208 q: 0.824305 -0.069549 -0.558488 0.061451 
time: 1403638561.327830, t: -7213946.631693 2586075.452271 -1231847.838530 q: 0.822717 -0.079881 -0.559527 0.060713 
time: 1403638561.427830, t: -7213946.663296 2586075.450885 -1231847.833240 q: 0.818092 -0.087668 -0.566316 0.048225 
time: 1403638561.527829, t: -7213946.717690 2586075.496339 -1231847.833364 q: 0.813331 -0.088828 -0.573862 0.035831 
time: 1403638561.627830, t: -7213946.712783 2586075.596036 -1231847.836518 q: 0.809748 -0.084877 -0.579753 0.031464 
time: 1403638561.727829, t: -7213946.699411 2586075.679759 -1231847.851629 q: 0.808826 -0.082461 -0.581356 0.032023 
time: 1403638561.827830, t: -7213946.744424 2586075.730313 -1231847.874337 q: 0.809581 -0.082494 -0.580451 0.029142 
time: 1403638561.927830, t: -7213946.746186 2586075.836656 -1231847.882402 q: 0.809199 -0.082287 -0.581122 0.026910 
time: 1403638562.027829, t: -7213946.775417 2586075.878150 -1231847.871532 q: 0.807278 -0.090734 -0.582728 0.022325 
time: 1403638562.127830, t: -7213946.758499 2586076.007525 -1231847.891207 q: 0.806272 -0.099906 -0.582651 0.021497 
time: 1403638562.227829, t: -7213946.853409 2586075.973907 -1231847.947267 q: 0.807543 -0.116576 -0.578033 0.012729 
time: 1403638562.327830, t: -7213946.875316 2586076.039424 -1231847.944073 q: 0.805769 -0.127761 -0.578198 0.010005 
time: 1403638562.427830, t: -7213946.902001 2586076.070624 -1231847.956154 q: 0.805813 -0.144074 -0.574345 0.006011 
time: 1403638562.527829, t: -7213946.869799 2586076.124393 -1231847.928388 q: 0.801037 -0.163742 -0.575780 0.002453 
time: 1403638562.627830, t: -7213946.879732 2586076.158419 -1231847.952473 q: 0.799247 -0.190322 -0.570071 0.001248 
time: 1403638562.727829, t: -7213946.771528 2586076.318685 -1231847.889130 q: 0.791838 -0.210717 -0.573207 0.005019 
time: 1403638562.827830, t: -7213946.757651 2586076.306930 -1231847.886750 q: 0.786597 -0.238342 -0.569594 -0.004499 
time: 1403638562.927830, t: -7213946.750379 2586076.374598 -1231847.995770 q: 0.784541 -0.262837 -0.561567 -0.007381 
time: 1403638563.027829, t: -7213946.741218 2586076.431657 -1231848.107081 q: 0.782123 -0.283031 -0.554943 -0.014693 
time: 1403638563.127830, t: -7213946.625797 2586076.595657 -1231848.059949 q: 0.773701 -0.301697 -0.557018 -0.009821 
time: 1403638563.227829, t: -7213946.622690 2586076.612155 -1231848.012683 q: 0.766616 -0.319994 -0.556257 -0.021955 
time: 1403638563.327830, t: -7213946.631476 2586076.721864 -1231848.150494 q: 0.770857 -0.328155 -0.545200 -0.029169 
time: 1403638563.427830, t: -7213946.632715 2586076.767561 -1231848.133765 q: 0.773432 -0.337330 -0.535559 -0.034486 
time: 1403638563.527829, t: -7213946.549143 2586076.918701 -1231848.104631 q: 0.770865 -0.337473 -0.539127 -0.034937 
time: 1403638563.627830, t: -7213946.504045 2586076.887067 -1231848.102730 q: 0.764731 -0.342277 -0.544274 -0.042419 
time: 1403638563.727829, t: -7213946.429517 2586076.964853 -1231848.110695 q: 0.761246 -0.341350 -0.549964 -0.039046 
time: 1403638563.827830, t: -7213946.417426 2586077.007653 -1231848.161351 q: 0.760771 -0.342138 -0.550338 -0.036006 
time: 1403638563.927830, t: -7213946.391992 2586077.044788 -1231848.152906 q: 0.759262 -0.342186 -0.552359 -0.036453 
time: 1403638564.027829, t: -7213946.358413 2586077.028722 -1231848.101528 q: 0.756730 -0.343052 -0.555025 -0.040283 
time: 1403638564.127830, t: -7213946.200582 2586077.015800 -1231848.205310 q: 0.757672 -0.343145 -0.553586 -0.041556 
time: 1403638564.227829, t: -7213946.285736 2586076.955551 -1231848.322847 q: 0.762584 -0.345292 -0.545012 -0.046918 
time: 1403638564.327830, t: -7213946.118056 2586077.030896 -1231848.346128 q: 0.762386 -0.338463 -0.548992 -0.053088 
time: 1403638564.427830, t: -7213946.020896 2586077.066940 -1231848.453695 q: 0.766326 -0.336990 -0.544112 -0.055896 
time: 1403638564.527829, t: -7213945.907892 2586077.139455 -1231848.517673 q: 0.767183 -0.336436 -0.543678 -0.051538 
time: 1403638564.627830, t: -7213945.896781 2586077.450865 -1231848.851788 q: 0.783712 -0.314762 -0.533623 -0.044354 
time: 1403638564.727829, t: -7213945.830679 2586077.465685 -1231848.953382 q: 0.786236 -0.317569 -0.528338 -0.042929 
time: 1403638564.827830, t: -7213945.711303 2586077.351253 -1231848.918877 q: 0.777675 -0.332013 -0.531854 -0.046055 
time: 1403638564.927830, t: -7213945.544782 2586077.150135 -1231848.874515 q: 0.777675 -0.332013 -0.531854 -0.046055 
feature tracking not enough, please slowly move you device! 
time: 1403638565.127830, t: -7213945.073083 2586073.197189 -1231850.571499 q: 0.736376 -0.433047 -0.519828 0.000401 
time: 1403638565.227829, t: -7213943.655355 2586073.876727 -1231852.203749 q: 0.697790 -0.412664 -0.584265 -0.037843 
time: 1403638565.327830, t: -7213943.786660 2586073.789132 -1231852.186461 q: 0.693476 -0.424572 -0.580741 -0.039607 
time: 1403638565.427830, t: -7213943.585720 2586073.641281 -1231852.320777 q: 0.690100 -0.434510 -0.577153 -0.043100 
time: 1403638565.527829, t: -7213943.333030 2586073.613518 -1231852.425125 q: 0.688135 -0.442291 -0.573408 -0.045297 
time: 1403638565.627830, t: -7213943.247427 2586073.564745 -1231852.562638 q: 0.685633 -0.433199 -0.580933 -0.069019 
time: 1403638565.727829, t: -7213943.074309 2586073.593547 -1231852.645374 q: 0.677410 -0.424486 -0.595058 -0.082670 
time: 1403638565.827830, t: -7213942.932805 2586073.628872 -1231852.791494 q: 0.672576 -0.414780 -0.605634 -0.093847 
time: 1403638565.927830, t: -7213943.315066 2586073.586282 -1231852.707631 q: 0.669937 -0.424162 -0.601529 -0.097131 
time: 1403638566.027829, t: -7213943.530867 2586074.082273 -1231852.992239 q: 0.684833 -0.409155 -0.596520 -0.088084 
time: 1403638566.127830, t: -7213942.935208 2586073.947079 -1231853.271214 q: 0.680642 -0.410117 -0.599332 -0.096598 
time: 1403638566.227829, t: -7213942.597554 2586073.983662 -1231853.498671 q: 0.682222 -0.403621 -0.600906 -0.102836 
time: 1403638566.327830, t: -7213942.234258 2586074.425485 -1231853.832419 q: 0.688457 -0.386253 -0.606258 -0.096373 
time: 1403638566.427830, t: -7213942.107012 2586074.961261 -1231855.119023 q: 0.723224 -0.361060 -0.582579 -0.084760 
time: 1403638566.527829, t: -7213944.697159 2586076.789519 -1231857.734460 q: 0.829213 -0.297556 -0.468252 -0.067869 
time: 1403638566.627830, t: -7213943.439123 2586074.465865 -1231856.438299 q: 0.756379 -0.380802 -0.520215 -0.110717 
time: 1403638566.727829, t: -7213941.625318 2586075.220707 -1231855.682912 q: 0.708993 -0.348215 -0.607932 -0.080581 
time: 1403638566.827830, t: -7213942.325178 2586075.210041 -1231856.088100 q: 0.713361 -0.357949 -0.595727 -0.089987 
time: 1403638566.927830, t: -7213942.653875 2586075.434489 -1231856.695915 q: 0.725386 -0.352657 -0.583467 -0.094946 
time: 1403638567.027829, t: -7213942.448895 2586075.455927 -1231856.759132 q: 0.721481 -0.352269 -0.589240 -0.090375 
time: 1403638567.127830, t: -7213942.381781 2586075.529110 -1231856.932408 q: 0.734223 -0.347790 -0.574156 -0.101506 
time: 1403638567.227829, t: -7213942.269926 2586075.599445 -1231857.013647 q: 0.743717 -0.341434 -0.563429 -0.113385 
time: 1403638567.327830, t: -7213942.250728 2586075.674565 -1231857.223601 q: 0.750932 -0.337229 -0.554231 -0.123313 
time: 1403638567.427830, t: -7213942.194602 2586075.737389 -1231857.483097 q: 0.754951 -0.332983 -0.550557 -0.126726 
time: 1403638567.527829, t: -7213942.108009 2586075.838607 -1231857.746518 q: 0.756507 -0.330623 -0.550333 -0.124575 
time: 1403638567.627830, t: -7213941.967834 2586075.899012 -1231857.940824 q: 0.753183 -0.331124 -0.555407 -0.120809 
time: 1403638567.727829, t: -7213941.854220 2586075.934462 -1231858.063046 q: 0.748249 -0.333960 -0.560748 -0.118977 
time: 1403638567.827830, t: -7213941.776983 2586075.921733 -1231858.120637 q: 0.739033 -0.338780 -0.569537 -0.121184 
time: 1403638567.927830, t: -7213941.718702 2586075.876663 -1231858.144910 q: 0.732815 -0.345801 -0.573651 -0.119699 
time: 1403638568.027829, t: -7213941.567562 2586075.970143 -1231858.242313 q: 0.731412 -0.344953 -0.577204 -0.113490 
time: 1403638568.127830, t: -7213941.483576 2586075.992399 -1231858.318304 q: 0.730217 -0.345966 -0.577495 -0.116573 
time: 1403638568.227829, t: -7213941.393259 2586076.006094 -1231858.333932 q: 0.727371 -0.345906 -0.580416 -0.119991 
time: 1403638568.327830, t: -7213941.277912 2586076.045106 -1231858.378579 q: 0.724425 -0.346717 -0.583818 -0.118961 
time: 1403638568.527829, t: -7213941.158222 2586076.028635 -1231858.552713 q: 0.721439 -0.348375 -0.585548 -0.123666 
time: 1403638568.627830, t: -7213941.046734 2586075.976026 -1231858.530237 q: 0.713117 -0.349778 -0.593706 -0.128969 
time: 1403638568.727829, t: -7213941.125042 2586075.951018 -1231858.474294 q: 0.706751 -0.353364 -0.597697 -0.135629 
time: 1403638568.827830, t: -7213940.980065 2586075.936716 -1231858.498196 q: 0.704126 -0.354125 -0.601166 -0.131915 
time: 1403638568.927830, t: -7213940.874194 2586075.994770 -1231858.789269 q: 0.713610 -0.348213 -0.593503 -0.131389 
time: 1403638569.027829, t: -7213940.837413 2586076.032359 -1231858.868237 q: 0.716269 -0.346392 -0.591486 -0.130830 
time: 1403638569.127830, t: -7213940.797831 2586076.069679 -1231858.915376 q: 0.716284 -0.344806 -0.592166 -0.131857 
time: 1403638569.227829, t: -7213940.794765 2586076.082498 -1231858.989621 q: 0.716469 -0.344177 -0.591606 -0.134968 
time: 1403638569.327830, t: -7213940.721853 2586076.113302 -1231859.020322 q: 0.715394 -0.343647 -0.593787 -0.132420 
time: 1403638569.527829, t: -7213940.662243 2586076.158701 -1231859.109151 q: 0.718947 -0.340707 -0.590999 -0.133246 
time: 1403638569.627830, t: -7213940.628091 2586076.184640 -1231859.139141 q: 0.720687 -0.339365 -0.589912 -0.132085 
time: 1403638569.727829, t: -7213940.606102 2586076.207825 -1231859.149117 q: 0.721160 -0.338476 -0.589852 -0.132050 
time: 1403638569.827830, t: -7213940.600903 2586076.212998 -1231859.145689 q: 0.721149 -0.338793 -0.589709 -0.131933 
time: 1403638569.927830, t: -7213940.603101 2586076.207238 -1231859.164699 q: 0.723390 -0.338042 -0.586871 -0.134228 
time: 1403638570.027829, t: -7213940.595327 2586076.207634 -1231859.174670 q: 0.725995 -0.338504 -0.583715 -0.132753 
time: 1403638570.127830, t: -7213940.607437 2586076.198593 -1231859.162191 q: 0.726318 -0.340152 -0.583154 -0.129192 
time: 1403638570.227829, t: -7213940.618984 2586076.193795 -1231859.150769 q: 0.727577 -0.341373 -0.582224 -0.122925 
time: 1403638570.327830, t: -7213940.634213 2586076.179875 -1231859.143989 q: 0.729327 -0.344915 -0.579795 -0.113818 
time: 1403638570.427830, t: -7213940.657790 2586076.167819 -1231859.153227 q: 0.729260 -0.352607 -0.576303 -0.108275 
time: 1403638570.527829, t: -7213940.672776 2586076.177701 -1231859.168551 q: 0.728598 -0.366977 -0.570114 -0.097171 
time: 1403638570.627830, t: -7213940.707486 2586076.124728 -1231859.217868 q: 0.727648 -0.392256 -0.555505 -0.089876 
time: 1403638570.727829, t: -7213940.694611 2586076.171423 -1231859.229428 q: 0.725908 -0.414011 -0.542247 -0.087294 
time: 1403638570.827830, t: -7213940.652170 2586076.229424 -1231859.267804 q: 0.727636 -0.434980 -0.522813 -0.089468 
time: 1403638570.927830, t: -7213940.690189 2586076.251151 -1231859.456737 q: 0.732958 -0.451171 -0.498792 -0.102094 
time: 1403638571.027829, t: -7213940.685416 2586076.262398 -1231859.617424 q: 0.731984 -0.467463 -0.482900 -0.111742 
time: 1403638571.127830, t: -7213940.650632 2586076.261000 -1231859.862713 q: 0.727069 -0.481794 -0.473170 -0.123917 
time: 1403638571.227829, t: -7213940.715927 2586076.248503 -1231859.836813 q: 0.706460 -0.501200 -0.478438 -0.144260 
time: 1403638571.327830, t: -7213940.651021 2586076.293810 -1231859.887374 q: 0.695163 -0.510651 -0.481372 -0.155772 
time: 1403638571.427830, t: -7213940.572772 2586076.335568 -1231859.955980 q: 0.692276 -0.516229 -0.478511 -0.159024 
time: 1403638571.527829, t: -7213940.531820 2586076.349467 -1231860.080431 q: 0.694981 -0.518885 -0.469769 -0.164552 
time: 1403638571.627830, t: -7213940.455220 2586076.378922 -1231860.121205 q: 0.688499 -0.527608 -0.468738 -0.166983 
time: 1403638571.727829, t: -7213940.409938 2586076.396417 -1231860.141693 q: 0.676491 -0.542849 -0.468717 -0.167271 
time: 1403638571.827830, t: -7213940.343463 2586076.398093 -1231860.168403 q: 0.662947 -0.560479 -0.466737 -0.168883 
time: 1403638571.927830, t: -7213940.288584 2586076.418883 -1231860.234886 q: 0.653819 -0.578699 -0.457262 -0.168936 
time: 1403638572.127830, t: -7213940.156353 2586076.498187 -1231860.395306 q: 0.635521 -0.612282 -0.436134 -0.176099 
time: 1403638572.227829, t: -7213940.055678 2586076.512276 -1231860.531628 q: 0.627196 -0.626379 -0.424591 -0.184384 
time: 1403638572.327830, t: -7213939.960620 2586076.551424 -1231860.609179 q: 0.611399 -0.644689 -0.418885 -0.187356 
time: 1403638572.427830, t: -7213939.841921 2586076.588668 -1231860.660147 q: 0.594624 -0.662085 -0.414862 -0.189618 
time: 1403638572.527829, t: -7213939.717347 2586076.625773 -1231860.715096 q: 0.581091 -0.674362 -0.412101 -0.194275 
time: 1403638572.627830, t: -7213939.725567 2586076.757166 -1231860.706657 q: 0.567959 -0.684346 -0.410627 -0.201192 
time: 1403638572.727829, t: -7213939.548936 2586076.684104 -1231860.812417 q: 0.562494 -0.688610 -0.409058 -0.205154 
time: 1403638572.827830, t: -7213939.486308 2586076.738604 -1231860.845870 q: 0.553586 -0.690849 -0.413493 -0.212822 
time: 1403638572.927830, t: -7213939.373197 2586076.744503 -1231860.877495 q: 0.549106 -0.692726 -0.415480 -0.214453 
time: 1403638573.027829, t: -7213939.273848 2586076.767799 -1231860.902610 q: 0.544713 -0.694716 -0.417599 -0.215103 
time: 1403638573.127830, t: -7213939.192417 2586076.818666 -1231860.872929 q: 0.537951 -0.694198 -0.425231 -0.218808 
time: 1403638573.227829, t: -7213939.090733 2586076.840409 -1231860.866001 q: 0.535918 -0.693296 -0.428356 -0.220553 
time: 1403638573.327830, t: -7213939.014897 2586076.884683 -1231860.880915 q: 0.533972 -0.692766 -0.430294 -0.223152 
time: 1403638573.427830, t: -7213938.921707 2586076.916507 -1231860.925662 q: 0.531518 -0.694084 -0.430656 -0.224213 
time: 1403638573.527829, t: -7213938.799373 2586076.949404 -1231860.870439 q: 0.524502 -0.695834 -0.434435 -0.227990 
time: 1403638573.627830, t: -7213938.708000 2586077.004873 -1231860.922994 q: 0.524184 -0.697622 -0.431826 -0.228211 
time: 1403638573.727829, t: -7213938.734467 2586077.099484 -1231861.023274 q: 0.522698 -0.700070 -0.426825 -0.233473 
time: 1403638573.827830, t: -7213938.641231 2586077.239122 -1231861.129575 q: 0.525385 -0.705119 -0.413256 -0.236639 
time: 1403638573.927830, t: -7213938.360891 2586077.253945 -1231860.905875 q: 0.507955 -0.710174 -0.415071 -0.255637 
time: 1403638574.027829, t: -7213938.291890 2586077.291799 -1231860.874839 q: 0.503379 -0.724088 -0.390269 -0.264566 
time: 1403638574.127830, t: -7213938.143460 2586077.347354 -1231861.054431 q: 0.511938 -0.735872 -0.357555 -0.261852 
time: 1403638574.227829, t: -7213938.096987 2586077.508818 -1231861.107834 q: 0.508840 -0.751542 -0.328213 -0.261805 
time: 1403638574.327830, t: -7213938.028467 2586077.561104 -1231861.032452 q: -0.489484 0.774034 0.305199 0.261017 
time: 1403638574.427830, t: -7213937.986400 2586077.745152 -1231861.069039 q: -0.465204 0.789864 0.297160 0.267201 
time: 1403638574.527829, t: -7213937.857084 2586077.835953 -1231861.228716 q: -0.454473 0.800265 0.285650 0.267271 
time: 1403638574.627830, t: -7213937.819577 2586077.965026 -1231861.194044 q: -0.436266 0.812156 0.275475 0.272373 
time: 1403638574.727829, t: -7213937.710808 2586077.993453 -1231861.282484 q: -0.426147 0.816042 0.272911 0.279273 
time: 1403638574.827830, t: -7213937.594954 2586078.187212 -1231861.240546 q: -0.408306 0.820581 0.283799 0.281765 
time: 1403638574.927830, t: -7213937.499755 2586078.236441 -1231861.332552 q: -0.406129 0.823727 0.284119 0.275337 
time: 1403638575.027829, t: -7213937.476547 2586078.313729 -1231861.350212 q: -0.402786 0.828012 0.281828 0.269690 
time: 1403638575.127830, t: -7213937.357648 2586078.353892 -1231861.398309 q: -0.410047 0.829064 0.274380 0.263117 
time: 1403638575.227829, t: -7213937.287267 2586078.403227 -1231861.410383 q: -0.412225 0.829391 0.272720 0.260394 
time: 1403638575.327830, t: -7213937.183726 2586078.456365 -1231861.459956 q: -0.414695 0.829932 0.271814 0.255652 
time: 1403638575.427830, t: -7213937.108191 2586078.492301 -1231861.515658 q: -0.414655 0.830499 0.274912 0.250510 
time: 1403638575.527829, t: -7213937.012489 2586078.570735 -1231861.593247 q: -0.413516 0.829420 0.281238 0.248943 
time: 1403638575.627830, t: -7213936.911121 2586078.606944 -1231861.603138 q: -0.410956 0.828680 0.288242 0.247632 
time: 1403638575.727829, t: -7213936.813213 2586078.708213 -1231861.596513 q: -0.402701 0.828673 0.298693 0.248828 
time: 1403638575.827830, t: -7213936.722189 2586078.825361 -1231861.714661 q: -0.396359 0.827864 0.307722 0.250695 
time: 1403638575.927830, t: -7213936.620888 2586078.911264 -1231861.736868 q: -0.396399 0.827737 0.308766 0.249764 
time: 1403638576.027829, t: -7213936.521532 2586079.001690 -1231861.765159 q: -0.395708 0.827574 0.309820 0.250096 
time: 1403638576.127830, t: -7213936.389026 2586079.121991 -1231861.807196 q: -0.394533 0.827107 0.310910 0.252136 
time: 1403638576.227829, t: -7213936.272550 2586079.229365 -1231861.840461 q: -0.394651 0.826444 0.310102 0.255104 
time: 1403638576.327830, t: -7213936.151763 2586079.298597 -1231861.898967 q: -0.393621 0.824764 0.312478 0.259199 
time: 1403638576.427830, t: -7213936.035350 2586079.456467 -1231861.949340 q: -0.390156 0.823773 0.315550 0.263825 
time: 1403638576.527829, t: -7213935.891108 2586079.631692 -1231862.074107 q: -0.384110 0.822710 0.322687 0.267361 
time: 1403638576.627830, t: -7213935.740515 2586079.787557 -1231862.137333 q: -0.382180 0.822815 0.324458 0.267658 
time: 1403638576.727829, t: -7213935.724442 2586079.786716 -1231861.948146 q: -0.377840 0.823922 0.324915 0.269851 
time: 1403638576.827830, t: -7213935.520387 2586080.045993 -1231862.200804 q: -0.383012 0.819131 0.322736 0.279584 
time: 1403638576.927830, t: -7213935.431802 2586080.138910 -1231862.258821 q: -0.390012 0.817461 0.315107 0.283470 
time: 1403638577.027829, t: -7213935.302790 2586080.189166 -1231862.282118 q: -0.397197 0.817296 0.308704 0.281006 
time: 1403638577.127830, t: -7213935.671482 2586081.204797 -1231862.515780 q: -0.400121 0.820322 0.292226 0.285619 
time: 1403638577.227829, t: -7213935.333136 2586080.824244 -1231862.423426 q: -0.403813 0.818458 0.296991 0.280817 
time: 1403638577.327830, t: -7213935.128716 2586080.852050 -1231862.381289 q: -0.399379 0.817974 0.303885 0.281191 
time: 1403638577.427830, t: -7213935.429538 2586081.381008 -1231862.613349 q: -0.398146 0.818539 0.296302 0.289273 
time: 1403638577.527829, t: -7213934.870221 2586081.143328 -1231862.196333 q: -0.388705 0.817210 0.316454 0.284488 
time: 1403638577.627830, t: -7213934.719260 2586081.075818 -1231862.381646 q: -0.394497 0.815773 0.314689 0.282589 
time: 1403638577.727829, t: -7213934.589310 2586080.927120 -1231862.417983 q: -0.397542 0.814689 0.316355 0.279573 
time: 1403638577.827830, t: -7213934.469032 2586080.857125 -1231862.534096 q: -0.402183 0.812910 0.316758 0.277653 
time: 1403638577.927830, t: -7213934.459492 2586080.998352 -1231862.569184 q: -0.402587 0.812614 0.316503 0.278223 
time: 1403638578.027829, t: -7213934.294077 2586080.766270 -1231862.648143 q: -0.405562 0.809559 0.319829 0.279003 
time: 1403638578.127830, t: -7213934.339181 2586080.944179 -1231862.716244 q: -0.410104 0.809554 0.314017 0.278982 
time: 1403638578.227829, t: -7213934.369799 2586081.160399 -1231862.794215 q: -0.418967 0.810461 0.303088 0.275239 
time: 1403638578.327830, t: -7213934.342724 2586081.308824 -1231862.779718 q: -0.423065 0.811656 0.297456 0.271569 
time: 1403638578.427830, t: -7213934.302806 2586081.466280 -1231862.779013 q: -0.424477 0.812485 0.293811 0.270855 
time: 1403638578.527829, t: -7213934.237922 2586081.610714 -1231862.772267 q: -0.424525 0.813157 0.292549 0.270127 
time: 1403638578.627830, t: -7213934.144065 2586081.701748 -1231862.810412 q: -0.424613 0.813071 0.292538 0.270262 
time: 1403638578.727829, t: -7213934.103631 2586081.812797 -1231862.769995 q: -0.420907 0.813043 0.295342 0.273080 
time: 1403638578.827830, t: -7213934.076988 2586081.944007 -1231862.779071 q: -0.414518 0.812425 0.301997 0.277378 
time: 1403638578.927830, t: -7213933.971458 2586081.939229 -1231862.737198 q: -0.410924 0.810627 0.308361 0.280962 
time: 1403638579.027829, t: -7213934.018270 2586082.187226 -1231862.778148 q: -0.410504 0.810119 0.308438 0.282946 
time: 1403638579.127830, t: -7213933.991165 2586082.312033 -1231862.761766 q: -0.410218 0.809509 0.309086 0.284397 
time: 1403638579.227829, t: -7213934.016827 2586082.355211 -1231862.589471 q: -0.407523 0.810048 0.310639 0.285046 
time: 1403638579.427830, t: -7213933.845250 2586082.571549 -1231862.608086 q: -0.418667 0.810969 0.301266 0.276198 
time: 1403638579.527829, t: -7213933.804542 2586082.641683 -1231862.564026 q: -0.422278 0.811968 0.296942 0.272423 
time: 1403638579.627830, t: -7213933.781529 2586082.797787 -1231862.550004 q: -0.429379 0.804925 0.297373 0.281599 
time: 1403638579.727829, t: -7213933.753301 2586082.953725 -1231862.608603 q: -0.443120 0.793772 0.301670 0.287341 
time: 1403638579.827830, t: -7213933.789813 2586083.045275 -1231862.498719 q: -0.451381 0.781562 0.318808 0.289442 
time: 1403638579.927830, t: -7213933.754651 2586083.327611 -1231862.764712 q: -0.474766 0.761994 0.338646 0.281570 
time: 1403638580.027829, t: -7213933.740158 2586083.268987 -1231862.615085 q: -0.493651 0.737914 0.365296 0.279911 
time: 1403638580.127830, t: -7213933.776364 2586083.165537 -1231862.403502 q: 0.518285 -0.710875 -0.383548 -0.280940 
time: 1403638580.227829, t: -7213933.701442 2586083.125979 -1231862.418068 q: 0.548772 -0.674372 -0.410296 -0.275187 
time: 1403638580.327830, t: -7213933.564406 2586083.063831 -1231862.325236 q: 0.571670 -0.645291 -0.437684 -0.255393 
time: 1403638580.427830, t: -7213933.594251 2586083.145073 -1231862.309262 q: 0.593847 -0.624188 -0.450754 -0.233569 
time: 1403638580.527829, t: -7213933.651164 2586083.320270 -1231862.442121 q: 0.611947 -0.607341 -0.456565 -0.219558 
time: 1403638580.627830, t: -7213933.660556 2586083.253307 -1231862.343772 q: 0.617858 -0.596473 -0.469004 -0.206174 
time: 1403638580.727829, t: -7213933.685583 2586083.357275 -1231862.355658 q: 0.624875 -0.583728 -0.480998 -0.193478 
time: 1403638580.827830, t: -7213933.672622 2586083.361330 -1231862.366360 q: 0.623859 -0.571113 -0.497762 -0.191996 
time: 1403638580.927830, t: -7213933.644232 2586083.455844 -1231862.424849 q: 0.629938 -0.561376 -0.502552 -0.188354 
time: 1403638581.027829, t: -7213933.668490 2586083.503752 -1231862.416590 q: 0.631532 -0.560229 -0.502799 -0.185752 
time: 1403638581.127830, t: -7213933.640314 2586083.562614 -1231862.429312 q: 0.632562 -0.557971 -0.503468 -0.187227 
time: 1403638581.227829, t: -7213933.621145 2586083.593799 -1231862.417235 q: 0.631887 -0.559531 -0.502179 -0.188309 
time: 1403638581.327830, t: -7213933.609110 2586083.647468 -1231862.401393 q: 0.628359 -0.560132 -0.504018 -0.193345 
time: 1403638581.427830, t: -7213933.615853 2586083.710404 -1231862.403951 q: 0.628137 -0.561259 -0.501883 -0.196333 
time: 1403638581.527829, t: -7213933.594621 2586083.762387 -1231862.382669 q: 0.627220 -0.563257 -0.500172 -0.197900 
time: 1403638581.627830, t: -7213933.583781 2586083.850974 -1231862.409558 q: 0.628871 -0.563694 -0.496119 -0.201585 
time: 1403638581.727829, t: -7213933.569146 2586083.902485 -1231862.386400 q: 0.630713 -0.563537 -0.491448 -0.207617 
time: 1403638581.827830, t: -7213933.531956 2586083.979364 -1231862.374589 q: 0.631382 -0.564966 -0.488762 -0.208045 
time: 1403638581.927830, t: -7213933.556474 2586084.022391 -1231862.367892 q: 0.635669 -0.563388 -0.482122 -0.214656 
time: 1403638582.027829, t: -7213933.519284 2586084.035887 -1231862.360697 q: 0.638215 -0.562389 -0.478561 -0.217667 
time: 1403638582.127830, t: -7213933.497349 2586084.054811 -1231862.364673 q: 0.633128 -0.564459 -0.485767 -0.211106 
time: 1403638582.227829, t: -7213933.493911 2586084.086509 -1231862.344936 q: 0.627820 -0.566420 -0.493040 -0.204750 
time: 1403638582.327830, t: -7213933.480389 2586084.096438 -1231862.317463 q: 0.628303 -0.565293 -0.492303 -0.208126 
time: 1403638582.427830, t: -7213933.468203 2586084.128953 -1231862.252840 q: 0.630082 -0.563739 -0.490412 -0.211405 
time: 1403638582.527829, t: -7213933.534209 2586084.174839 -1231862.206205 q: 0.630994 -0.563296 -0.487814 -0.215829 
time: 1403638582.627830, t: -7213933.494862 2586084.162109 -1231862.201343 q: 0.632295 -0.563141 -0.486301 -0.215838 
time: 1403638582.727829, t: -7213933.401015 2586084.166962 -1231862.137421 q: 0.630507 -0.563378 -0.490169 -0.211658 
time: 1403638582.827830, t: -7213933.424413 2586084.188833 -1231862.089691 q: 0.628677 -0.564306 -0.491468 -0.211619 
time: 1403638582.927830, t: -7213933.485055 2586084.207960 -1231862.060545 q: 0.628607 -0.566482 -0.489054 -0.211608 
time: 1403638583.027829, t: -7213933.398135 2586084.185315 -1231862.045211 q: 0.627932 -0.566407 -0.491560 -0.207973 
time: 1403638583.127830, t: -7213933.437511 2586084.186849 -1231862.036790 q: 0.626866 -0.567232 -0.492035 -0.207818 
time: 1403638583.227829, t: -7213933.495562 2586084.148499 -1231861.975906 q: 0.626080 -0.569663 -0.490694 -0.206707 
time: 1403638583.327830, t: -7213933.367645 2586084.179745 -1231861.940711 q: 0.626255 -0.567912 -0.493496 -0.204310 
time: 1403638583.427830, t: -7213933.335028 2586084.167644 -1231861.902376 q: 0.625744 -0.567247 -0.495311 -0.203327 
time: 1403638583.527829, t: -7213933.329575 2586084.162069 -1231861.868731 q: 0.625523 -0.567128 -0.496117 -0.202374 
time: 1403638583.727829, t: -7213933.379469 2586084.202557 -1231861.798825 q: 0.625936 -0.565624 -0.495596 -0.206539 
time: 1403638583.827830, t: -7213933.371118 2586084.224461 -1231861.738443 q: 0.625374 -0.564150 -0.497376 -0.207990 
time: 1403638583.927830, t: -7213933.495166 2586084.267380 -1231861.708831 q: 0.626317 -0.563911 -0.495101 -0.211203 
time: 1403638584.027829, t: -7213933.514503 2586084.288322 -1231861.677169 q: 0.626640 -0.562683 -0.495068 -0.213582 
time: 1403638584.127830, t: -7213933.534575 2586084.293744 -1231861.663194 q: 0.633141 -0.559346 -0.486611 -0.222426 
time: 1403638584.227829, t: -7213933.535017 2586084.325005 -1231861.628042 q: 0.641162 -0.553171 -0.478154 -0.232985 
time: 1403638584.327830, t: -7213933.592380 2586084.334611 -1231861.595271 q: 0.646161 -0.550769 -0.471417 -0.238527 
time: 1403638584.427830, t: -7213933.615936 2586084.331247 -1231861.591777 q: 0.648716 -0.549836 -0.469324 -0.237872 
time: 1403638584.527829, t: -7213933.613803 2586084.301930 -1231861.579236 q: 0.650258 -0.548823 -0.468747 -0.237136 
time: 1403638584.627830, t: -7213933.663525 2586084.263620 -1231861.543285 q: 0.649388 -0.548553 -0.470744 -0.236188 
time: 1403638584.727829, t: -7213933.735171 2586084.228250 -1231861.545461 q: 0.648685 -0.550054 -0.472424 -0.231222 
time: 1403638584.827830, t: -7213933.785323 2586084.183094 -1231861.517103 q: 0.642076 -0.553558 -0.481203 -0.223060 
time: 1403638584.927830, t: -7213933.866766 2586084.133754 -1231861.504953 q: 0.638279 -0.557825 -0.484555 -0.215959 
time: 1403638585.027829, t: -7213933.903658 2586084.062924 -1231861.478889 q: 0.635613 -0.559195 -0.487205 -0.214309 
time: 1403638585.127830, t: -7213933.908036 2586084.002521 -1231861.437041 q: 0.634566 -0.560265 -0.487985 -0.212835 
time: 1403638585.227829, t: -7213933.961757 2586083.930498 -1231861.403570 q: 0.635295 -0.560482 -0.486482 -0.213533 
time: 1403638585.327830, t: -7213933.863024 2586083.773395 -1231861.273261 q: 0.632766 -0.560461 -0.489742 -0.213643 
time: 1403638585.427830, t: -7213934.001875 2586083.767895 -1231861.288365 q: 0.635727 -0.561109 -0.484839 -0.214332 
time: 1403638585.527829, t: -7213934.091531 2586083.695203 -1231861.295991 q: 0.635618 -0.561519 -0.484416 -0.214540 
time: 1403638585.627830, t: -7213934.248833 2586083.717397 -1231861.322163 q: 0.635924 -0.561494 -0.483151 -0.216542 
time: 1403638585.727829, t: -7213934.309994 2586083.659224 -1231861.276546 q: 0.631887 -0.562959 -0.488089 -0.213462 
time: 1403638585.827830, t: -7213934.335557 2586083.572566 -1231861.223170 q: 0.627233 -0.565341 -0.493979 -0.207250 
time: 1403638585.927830, t: -7213934.362914 2586083.515909 -1231861.172402 q: 0.624256 -0.567578 -0.497040 -0.202758 
time: 1403638586.027829, t: -7213934.351868 2586083.427501 -1231861.146415 q: 0.628496 -0.566166 -0.493198 -0.202991 
time: 1403638586.127830, t: -7213934.365827 2586083.401913 -1231861.081100 q: 0.630676 -0.565612 -0.489499 -0.206691 
time: 1403638586.227829, t: -7213934.339729 2586083.303284 -1231861.063072 q: 0.634245 -0.563817 -0.486643 -0.207418 
time: 1403638586.327830, t: -7213934.359542 2586083.279132 -1231861.045146 q: 0.636307 -0.561891 -0.483598 -0.213366 
time: 1403638586.427830, t: -7213934.324286 2586083.246585 -1231861.015301 q: 0.637225 -0.558079 -0.483119 -0.221559 
time: 1403638586.527829, t: -7213934.211739 2586083.184028 -1231861.025618 q: 0.637618 -0.552979 -0.485987 -0.226879 
time: 1403638586.627830, t: -7213934.244456 2586083.145278 -1231860.999556 q: 0.638230 -0.552980 -0.486860 -0.223255 
time: 1403638586.727829, t: -7213934.195627 2586083.177593 -1231861.092328 q: 0.640869 -0.551421 -0.486919 -0.219388 
time: 1403638586.827830, t: -7213934.235314 2586083.027114 -1231860.938427 q: 0.639861 -0.553309 -0.487478 -0.216317 
time: 1403638586.927830, t: -7213934.250305 2586082.942384 -1231860.897098 q: 0.639853 -0.553014 -0.488070 -0.215758 
time: 1403638587.027829, t: -7213934.103256 2586082.835168 -1231860.897719 q: 0.640730 -0.550003 -0.492240 -0.211331 
time: 1403638587.127830, t: -7213934.021322 2586082.817514 -1231861.061595 q: 0.645675 -0.544839 -0.492606 -0.208790 
time: 1403638587.227829, t: -7213934.487498 2586082.751521 -1231860.930513 q: 0.639613 -0.552842 -0.488844 -0.215156 
time: 1403638587.327830, t: -7213934.512269 2586082.685363 -1231860.932363 q: 0.638971 -0.552818 -0.490468 -0.213424 
time: 1403638587.427830, t: -7213934.540819 2586082.598158 -1231860.861141 q: 0.638068 -0.553743 -0.491603 -0.211104 
time: 1403638587.527829, t: -7213934.568466 2586082.554825 -1231860.838654 q: 0.637966 -0.553322 -0.492412 -0.210626 
time: 1403638587.627830, t: -7213934.506069 2586082.552917 -1231860.892410 q: 0.640237 -0.551913 -0.492122 -0.208099 
time: 1403638587.727829, t: -7213934.605222 2586082.401216 -1231860.799492 q: 0.639007 -0.552596 -0.492861 -0.208317 
time: 1403638587.827830, t: -7213934.607239 2586082.347728 -1231860.794937 q: 0.639908 -0.552475 -0.492573 -0.206545 
time: 1403638587.927830, t: -7213934.615484 2586082.281906 -1231860.807156 q: 0.641113 -0.551586 -0.492628 -0.205049 
time: 1403638588.027829, t: -7213934.629524 2586082.187040 -1231860.768702 q: 0.640237 -0.551915 -0.493411 -0.205018 
time: 1403638588.127830, t: -7213934.712629 2586082.115125 -1231860.810238 q: 0.640528 -0.550576 -0.492753 -0.209249 
time: 1403638588.227829, t: -7213934.814408 2586082.074305 -1231860.784107 q: 0.637700 -0.550087 -0.494719 -0.214469 
time: 1403638588.327830, t: -7213934.872504 2586082.013161 -1231860.799714 q: 0.639368 -0.548828 -0.493415 -0.215727 
time: 1403638588.427830, t: -7213934.909441 2586081.944699 -1231860.738254 q: 0.636176 -0.549162 -0.496822 -0.216493 
time: 1403638588.527829, t: -7213934.971045 2586081.867273 -1231860.719201 q: 0.636934 -0.549842 -0.495947 -0.214535 
time: 1403638588.627830, t: -7213935.000354 2586081.735335 -1231860.630259 q: 0.637584 -0.550117 -0.495792 -0.212248 
time: 1403638588.727829, t: -7213935.037036 2586081.667185 -1231860.611938 q: 0.640051 -0.551512 -0.492222 -0.209493 
time: 1403638588.827830, t: -7213935.079031 2586081.594278 -1231860.564573 q: 0.640507 -0.552054 -0.491274 -0.208896 
time: 1403638589.027829, t: -7213935.154318 2586081.453842 -1231860.474289 q: 0.639565 -0.554027 -0.491505 -0.205996 
time: 1403638589.127830, t: -7213935.216185 2586081.355270 -1231860.450876 q: 0.638816 -0.553329 -0.492645 -0.207465 
time: 1403638589.227829, t: -7213935.246938 2586081.262944 -1231860.426086 q: 0.638712 -0.553605 -0.492710 -0.206894 
time: 1403638589.327830, t: -7213935.328160 2586081.187831 -1231860.417362 q: 0.638716 -0.553478 -0.492127 -0.208603 
time: 1403638589.427830, t: -7213935.369584 2586081.171596 -1231860.276868 q: 0.634979 -0.556653 -0.494853 -0.205086 
time: 1403638589.527829, t: -7213935.350435 2586080.995634 -1231860.432803 q: 0.640034 -0.551365 -0.493553 -0.206781 
time: 1403638589.627830, t: -7213935.495998 2586080.943297 -1231860.430672 q: 0.640168 -0.551864 -0.491809 -0.209179 
time: 1403638589.827830, t: -7213935.555193 2586080.829218 -1231860.355409 q: 0.637963 -0.554827 -0.493610 -0.203764 
time: 1403638589.927830, t: -7213935.593735 2586080.698833 -1231860.367753 q: 0.639096 -0.553890 -0.492655 -0.205067 
time: 1403638590.027829, t: -7213935.646002 2586080.600228 -1231860.358203 q: 0.639331 -0.554967 -0.491309 -0.204651 
time: 1403638590.127830, t: -7213935.690539 2586080.530704 -1231860.280185 q: 0.635173 -0.556049 -0.494921 -0.205958 
time: 1403638590.227829, t: -7213935.578864 2586080.436973 -1231860.287700 q: 0.638639 -0.552453 -0.495738 -0.202929 
time: 1403638590.327830, t: -7213935.666128 2586080.261206 -1231860.307845 q: 0.639443 -0.553588 -0.492864 -0.204299 
time: 1403638590.427830, t: -7213935.691653 2586080.168399 -1231860.319395 q: 0.639093 -0.553547 -0.493638 -0.203638 
time: 1403638590.527829, t: -7213935.747974 2586080.098649 -1231860.327456 q: 0.639422 -0.553786 -0.493404 -0.202517 
time: 1403638590.627830, t: -7213935.794496 2586080.003910 -1231860.324088 q: 0.638230 -0.554656 -0.494827 -0.200414 
time: 1403638590.727829, t: -7213935.849482 2586079.926989 -1231860.313940 q: 0.637437 -0.555331 -0.495817 -0.198612 
time: 1403638590.827830, t: -7213935.909252 2586079.966666 -1231860.400264 q: 0.639395 -0.554309 -0.494582 -0.198254 
time: 1403638590.927830, t: -7213935.918473 2586079.770665 -1231860.260822 q: 0.636333 -0.555374 -0.497783 -0.197108 
time: 1403638591.027829, t: -7213935.952484 2586079.708836 -1231860.255541 q: 0.636843 -0.556020 -0.497029 -0.195536 
time: 1403638591.127830, t: -7213935.996749 2586079.647970 -1231860.207339 q: 0.632868 -0.557233 -0.501403 -0.193814 
time: 1403638591.227829, t: -7213936.054105 2586079.613258 -1231860.228418 q: 0.628781 -0.558936 -0.505822 -0.190709 
time: 1403638591.327830, t: -7213936.064846 2586079.516211 -1231860.106460 q: 0.618779 -0.564520 -0.515556 -0.180643 
time: 1403638591.427830, t: -7213936.140340 2586079.465327 -1231860.093334 q: 0.613437 -0.566138 -0.520779 -0.178807 
time: 1403638591.527829, t: -7213936.227970 2586079.419549 -1231860.004038 q: 0.605668 -0.570453 -0.526486 -0.174818 
time: 1403638591.627830, t: -7213936.262228 2586079.375213 -1231860.017307 q: 0.605600 -0.570885 -0.527064 -0.171877 
time: 1403638591.727829, t: -7213936.210934 2586079.299721 -1231860.020058 q: 0.610226 -0.569885 -0.523586 -0.169449 
time: 1403638591.827830, t: -7213936.315720 2586079.314714 -1231860.012466 q: 0.611257 -0.569813 -0.521152 -0.173430 
time: 1403638591.927830, t: -7213936.374412 2586079.307500 -1231859.981478 q: 0.613411 -0.568546 -0.518915 -0.176661 
time: 1403638592.027829, t: -7213936.414727 2586079.304105 -1231859.959683 q: 0.615349 -0.567845 -0.516466 -0.179332 
time: 1403638592.127830, t: -7213936.453646 2586079.305435 -1231859.937481 q: 0.617840 -0.566170 -0.514668 -0.181224 
time: 1403638592.227829, t: -7213936.481632 2586079.310029 -1231859.913940 q: 0.628425 -0.561204 -0.507087 -0.181645 
time: 1403638592.327830, t: -7213936.520846 2586079.328104 -1231859.855313 q: 0.639763 -0.551615 -0.503101 -0.182522 
time: 1403638592.527829, t: -7213936.484796 2586079.335748 -1231859.775250 q: 0.661794 -0.523974 -0.509367 -0.167408 
time: 1403638592.627830, t: -7213936.544163 2586079.344216 -1231859.778547 q: 0.662309 -0.509079 -0.522219 -0.171674 
time: 1403638592.727829, t: -7213936.530166 2586079.377089 -1231859.739221 q: 0.663700 -0.502722 -0.529052 -0.163940 
time: 1403638592.927830, t: -7213936.511103 2586079.415980 -1231859.672400 q: 0.660413 -0.492530 -0.544486 -0.157491 
time: 1403638593.127830, t: -7213936.510153 2586079.494444 -1231859.596570 q: 0.660013 -0.489332 -0.548150 -0.156423 
time: 1403638593.227829, t: -7213936.492122 2586079.540230 -1231859.545367 q: 0.662611 -0.487899 -0.545285 -0.159888 
time: 1403638593.327830, t: -7213936.493421 2586079.581941 -1231859.494029 q: 0.663349 -0.484285 -0.544229 -0.171030 
time: 1403638593.427830, t: -7213936.488073 2586079.634225 -1231859.420246 q: 0.663195 -0.481346 -0.543023 -0.183315 
time: 1403638593.527829, t: -7213936.456754 2586079.672079 -1231859.368317 q: 0.666306 -0.478747 -0.539418 -0.189382 
time: 1403638593.627830, t: -7213936.433718 2586079.716170 -1231859.319392 q: 0.666899 -0.478037 -0.538590 -0.191436 
time: 1403638593.727829, t: -7213936.434013 2586079.743627 -1231859.247630 q: 0.666374 -0.477958 -0.538068 -0.194898 
time: 1403638593.827830, t: -7213936.409844 2586079.823822 -1231859.159012 q: 0.671270 -0.476972 -0.533697 -0.192516 
time: 1403638593.927830, t: -7213936.421401 2586079.851078 -1231859.087660 q: 0.682192 -0.471144 -0.524595 -0.193488 
time: 1403638594.127830, t: -7213936.404373 2586079.910944 -1231859.020869 q: 0.684001 -0.463260 -0.534657 -0.177973 
time: 1403638594.227829, t: -7213936.421524 2586079.944850 -1231859.031243 q: 0.682606 -0.458439 -0.540613 -0.177820 
time: 1403638594.327830, t: -7213936.420074 2586079.948875 -1231858.999476 q: 0.684261 -0.455104 -0.540987 -0.178886 
time: 1403638594.427830, t: -7213936.433979 2586079.921442 -1231858.989669 q: 0.686707 -0.450289 -0.539002 -0.187484 
time: 1403638594.527829, t: -7213936.408317 2586079.964939 -1231858.938019 q: 0.688093 -0.447114 -0.540799 -0.184808 
time: 1403638594.627830, t: -7213936.404468 2586079.975716 -1231858.852917 q: 0.687969 -0.448258 -0.542155 -0.178413 
time: 1403638594.727829, t: -7213936.370420 2586079.975495 -1231858.775733 q: 0.687703 -0.449997 -0.542943 -0.172571 
time: 1403638594.827830, t: -7213936.356565 2586079.975465 -1231858.722057 q: 0.687273 -0.450999 -0.543491 -0.169920 
time: 1403638594.927830, t: -7213936.368351 2586079.960673 -1231858.748748 q: 0.688704 -0.450541 -0.541836 -0.170625 
time: 1403638595.027829, t: -7213936.369810 2586079.935396 -1231858.732197 q: 0.688525 -0.452136 -0.541362 -0.168622 
time: 1403638595.127830, t: -7213936.373541 2586079.910286 -1231858.694576 q: 0.686365 -0.453494 -0.542802 -0.169152 
time: 1403638595.227829, t: -7213936.371671 2586079.904310 -1231858.669147 q: 0.684965 -0.453411 -0.544434 -0.169804 
time: 1403638595.327830, t: -7213936.377033 2586079.881329 -1231858.681518 q: 0.685851 -0.453916 -0.543101 -0.169143 
time: 1403638595.427830, t: -7213936.393752 2586079.872831 -1231858.667083 q: 0.685605 -0.453841 -0.543577 -0.168813 
time: 1403638595.527829, t: -7213936.416556 2586079.864613 -1231858.644353 q: 0.683720 -0.455894 -0.544199 -0.168924 
time: 1403638595.627830, t: -7213936.412593 2586079.873138 -1231858.631505 q: 0.683006 -0.455579 -0.545946 -0.167012 
time: 1403638595.827830, t: -7213936.399036 2586079.852475 -1231858.649842 q: 0.682502 -0.453163 -0.547451 -0.170681 
time: 1403638595.927830, t: -7213936.409078 2586079.823658 -1231858.613874 q: 0.680933 -0.452916 -0.549182 -0.172036 
time: 1403638596.027829, t: -7213936.426980 2586079.809368 -1231858.638728 q: 0.680879 -0.451561 -0.549097 -0.176036 
time: 1403638596.227829, t: -7213936.498847 2586079.709491 -1231858.665903 q: 0.671519 -0.442222 -0.559315 -0.201666 
time: 1403638596.327830, t: -7213936.537552 2586079.650548 -1231858.646659 q: 0.665974 -0.438053 -0.564186 -0.215135 
time: 1403638596.527829, t: -7213936.580023 2586079.586160 -1231858.627261 q: 0.663521 -0.429511 -0.568403 -0.228425 
time: 1403638596.627830, t: -7213936.612487 2586079.529919 -1231858.582113 q: 0.660553 -0.425515 -0.571988 -0.235448 
time: 1403638596.727829, t: -7213936.638529 2586079.441966 -1231858.518285 q: 0.657481 -0.421528 -0.575323 -0.242972 
time: 1403638596.827830, t: -7213936.648480 2586079.363351 -1231858.503177 q: 0.659620 -0.418222 -0.573635 -0.246850 
time: 1403638596.927830, t: -7213936.722010 2586079.305963 -1231858.495863 q: 0.663820 -0.415286 -0.569575 -0.249928 
time: 1403638597.027829, t: -7213936.787263 2586079.217910 -1231858.444926 q: 0.664658 -0.415714 -0.567273 -0.252216 
time: 1403638597.127830, t: -7213936.899066 2586079.069635 -1231858.380483 q: 0.666241 -0.415703 -0.563179 -0.257183 
time: 1403638597.227829, t: -7213936.940733 2586078.886825 -1231858.221424 q: 0.665306 -0.417679 -0.562889 -0.257037 
time: 1403638597.327830, t: -7213936.979043 2586078.793079 -1231858.148210 q: 0.670345 -0.415675 -0.560964 -0.251337 
time: 1403638597.427830, t: -7213937.022157 2586078.634228 -1231858.036348 q: 0.675521 -0.417913 -0.557164 -0.242050 
time: 1403638597.527829, t: -7213937.198748 2586078.537104 -1231857.679217 q: 0.669355 -0.420615 -0.565342 -0.235448 
time: 1403638597.627830, t: -7213937.347574 2586078.387864 -1231857.600729 q: 0.676452 -0.423185 -0.557946 -0.228086 
time: 1403638597.727829, t: -7213937.608663 2586078.267220 -1231857.907404 q: 0.694879 -0.432130 -0.529541 -0.223594 
time: 1403638597.827830, t: -7213937.669777 2586078.121165 -1231857.736949 q: 0.688678 -0.423261 -0.542419 -0.228812 
time: 1403638597.927830, t: -7213937.985517 2586077.961691 -1231857.693715 q: 0.689661 -0.418751 -0.541618 -0.235937 
time: 1403638598.027829, t: -7213937.839152 2586077.943054 -1231857.395023 q: 0.682586 -0.407015 -0.562058 -0.229144 
time: 1403638598.127830, t: -7213938.191263 2586077.747916 -1231857.428683 q: 0.695651 -0.410327 -0.547886 -0.217996 
time: 1403638598.227829, t: -7213938.400261 2586077.407453 -1231857.523971 q: 0.708501 -0.412606 -0.536825 -0.199002 
time: 1403638598.327830, t: -7213938.547840 2586077.160070 -1231857.593960 q: 0.714453 -0.410935 -0.533815 -0.189025 
time: 1403638598.427830, t: -7213938.885012 2586076.927440 -1231857.477733 q: 0.716415 -0.420867 -0.526984 -0.178632 
time: 1403638598.527829, t: -7213939.176905 2586076.712423 -1231857.532376 q: 0.720505 -0.419278 -0.521569 -0.181781 
time: 1403638598.627830, t: -7213939.264809 2586076.478982 -1231857.525984 q: 0.723117 -0.410140 -0.526719 -0.177351 
time: 1403638598.727829, t: -7213939.292379 2586076.223839 -1231857.226930 q: 0.718125 -0.403851 -0.540719 -0.169775 
time: 1403638598.827830, t: -7213939.404159 2586075.851219 -1231857.018500 q: 0.719185 -0.395741 -0.547580 -0.162230 
time: 1403638598.927830, t: -7213939.654260 2586075.572215 -1231856.995064 q: 0.725936 -0.383216 -0.548132 -0.160354 
time: 1403638599.027829, t: -7213939.684493 2586075.398792 -1231856.824559 q: 0.729291 -0.366039 -0.558484 -0.149150 
time: 1403638599.127830, t: -7213939.541195 2586075.414496 -1231856.807407 q: 0.737260 -0.336072 -0.569341 -0.139118 
time: 1403638599.227829, t: -7213939.958336 2586075.184095 -1231856.784971 q: 0.744771 -0.328838 -0.563180 -0.141458 
time: 1403638599.327830, t: -7213939.448360 2586075.268247 -1231857.268572 q: 0.769280 -0.275948 -0.566760 -0.104138 
time: 1403638599.427830, t: -7213939.574784 2586075.028999 -1231857.147290 q: 0.770980 -0.261463 -0.572477 -0.097451 
time: 1403638599.527829, t: -7213939.434686 2586074.959933 -1231857.096660 q: 0.765167 -0.236356 -0.589718 -0.104346 
time: 1403638599.627830, t: -7213939.591386 2586074.357884 -1231856.978678 q: 0.758739 -0.241456 -0.594927 -0.109893 
time: 1403638599.727829, t: -7213939.644640 2586074.246991 -1231856.919650 q: 0.757795 -0.233010 -0.599433 -0.110150 
time: 1403638599.827830, t: -7213939.719418 2586074.047602 -1231856.853857 q: 0.757823 -0.231781 -0.600432 -0.107067 
time: 1403638599.927830, t: -7213939.769755 2586073.832885 -1231856.807665 q: 0.757416 -0.232456 -0.601745 -0.100935 
time: 1403638600.027829, t: -7213939.821283 2586073.693190 -1231856.675224 q: 0.756524 -0.233495 -0.603851 -0.092281 
time: 1403638600.127830, t: -7213939.930887 2586073.413508 -1231856.631366 q: 0.755595 -0.241655 -0.603309 -0.081837 
time: 1403638600.227829, t: -7213940.036476 2586073.170923 -1231856.608679 q: 0.756200 -0.250110 -0.601232 -0.064242 
time: 1403638600.327830, t: -7213940.093541 2586072.977165 -1231856.476303 q: 0.752020 -0.256081 -0.605089 -0.052507 
time: 1403638600.427830, t: -7213940.223990 2586072.770649 -1231856.363708 q: 0.749013 -0.263384 -0.606355 -0.044061 
time: 1403638600.527829, t: -7213940.545239 2586072.593897 -1231856.464624 q: 0.754231 -0.270458 -0.596676 -0.044345 
time: 1403638600.627830, t: -7213940.379675 2586072.947458 -1231856.434156 q: 0.749841 -0.251741 -0.611658 -0.015432 
time: 1403638600.727829, t: -7213940.872407 2586072.294390 -1231856.302991 q: 0.751250 -0.273399 -0.599439 -0.039373 
time: 1403638600.827830, t: -7213940.776699 2586072.292007 -1231856.226756 q: 0.744147 -0.267688 -0.610696 -0.040478 
time: 1403638600.927830, t: -7213940.852437 2586072.160068 -1231856.109775 q: 0.736210 -0.263599 -0.621103 -0.052365 
time: 1403638601.027829, t: -7213940.925691 2586072.098259 -1231856.089001 q: 0.735468 -0.255696 -0.623832 -0.067379 
time: 1403638601.127830, t: -7213941.005849 2586072.037245 -1231856.006368 q: 0.734080 -0.250911 -0.626253 -0.077311 
time: 1403638601.227829, t: -7213941.093893 2586071.941617 -1231855.934093 q: 0.734865 -0.247772 -0.625194 -0.087836 
time: 1403638601.327830, t: -7213941.187280 2586071.851597 -1231855.842305 q: 0.739922 -0.242935 -0.619633 -0.097738 
time: 1403638601.427830, t: -7213941.298052 2586071.776291 -1231855.765473 q: 0.747337 -0.236535 -0.613885 -0.093183 
time: 1403638601.527829, t: -7213941.414326 2586071.610674 -1231855.646100 q: 0.752371 -0.228184 -0.611418 -0.089654 
time: 1403638601.627830, t: -7213941.479711 2586071.597442 -1231855.588326 q: 0.759611 -0.205931 -0.611242 -0.083471 
time: 1403638601.727829, t: -7213941.624107 2586071.491636 -1231855.534907 q: 0.766574 -0.182575 -0.610275 -0.081218 
time: 1403638601.827830, t: -7213941.727765 2586071.403821 -1231855.481348 q: 0.773691 -0.151613 -0.610018 -0.079336 
time: 1403638601.927830, t: -7213941.879624 2586071.280554 -1231855.455993 q: 0.782749 -0.128419 -0.604537 -0.073124 
time: 1403638602.027829, t: -7213941.844074 2586071.254168 -1231855.381913 q: 0.780795 -0.100338 -0.613302 -0.064437 
time: 1403638602.127830, t: -7213941.964910 2586071.110986 -1231855.336951 q: 0.784758 -0.087066 -0.609929 -0.067534 
time: 1403638602.227829, t: -7213941.908817 2586071.031850 -1231855.143637 q: 0.781230 -0.067175 -0.616768 -0.069025 
time: 1403638602.327830, t: -7213942.101994 2586070.876986 -1231855.097984 q: 0.790145 -0.052286 -0.607198 -0.065175 
time: 1403638602.427830, t: -7213942.155081 2586070.721736 -1231855.007754 q: 0.804817 -0.037579 -0.590668 -0.044379 
time: 1403638602.527829, t: -7213942.209044 2586070.653474 -1231854.891530 q: 0.824739 -0.018254 -0.564991 -0.016055 
time: 1403638602.627830, t: -7213942.318691 2586070.640212 -1231854.845865 q: 0.838627 0.005632 -0.544613 0.008421 
time: 1403638602.727829, t: -7213942.431283 2586070.500894 -1231854.780363 q: 0.839806 0.025409 -0.542080 0.015176 
time: 1403638602.827830, t: -7213942.518031 2586070.427948 -1231854.742961 q: 0.838602 0.048511 -0.542256 0.018750 
time: 1403638602.927830, t: -7213942.581871 2586070.340966 -1231854.657221 q: 0.832931 0.070267 -0.548170 0.028235 
time: 1403638603.027829, t: -7213942.545408 2586070.214221 -1231854.660336 q: 0.828240 0.089267 -0.551379 0.045065 
time: 1403638603.127830, t: -7213942.497294 2586070.144534 -1231854.608261 q: 0.826226 0.109415 -0.549551 0.058085 
time: 1403638603.227829, t: -7213942.451579 2586070.083819 -1231854.580888 q: 0.818574 0.126937 -0.557044 0.059380 
time: 1403638603.427830, t: -7213942.413288 2586069.922057 -1231854.628519 q: 0.790701 0.140481 -0.593549 0.052497 
time: 1403638603.527829, t: -7213942.384684 2586069.833584 -1231854.648220 q: 0.785972 0.141626 -0.599825 0.048991 
time: 1403638603.627830, t: -7213942.330119 2586069.768049 -1231854.632102 q: 0.787829 0.146341 -0.596327 0.048000 
time: 1403638603.727829, t: -7213942.307947 2586069.731774 -1231854.644568 q: 0.792707 0.150571 -0.589157 0.042859 
time: 1403638603.927830, t: -7213942.251020 2586069.680176 -1231854.716681 q: 0.803225 0.159621 -0.573402 0.023705 
time: 1403638604.027829, t: -7213942.211366 2586069.636756 -1231854.782634 q: 0.807690 0.161880 -0.566773 0.014151 
time: 1403638604.127830, t: -7213942.164487 2586069.601799 -1231854.820010 q: 0.809287 0.163677 -0.564086 0.008433 
time: 1403638604.227829, t: -7213942.077066 2586069.664669 -1231854.797336 q: 0.803668 0.171688 -0.569574 0.015059 
time: 1403638604.327830, t: -7213942.058549 2586069.557636 -1231854.904359 q: 0.802187 0.166014 -0.573135 0.021239 
time: 1403638604.427830, t: -7213941.999497 2586069.531888 -1231854.943412 q: 0.794377 0.164911 -0.583867 0.029484 
time: 1403638604.527829, t: -7213941.938447 2586069.482390 -1231855.015980 q: 0.789605 0.162325 -0.591016 0.029581 
time: 1403638604.727829, t: -7213941.807031 2586069.430745 -1231855.119512 q: 0.784459 0.159845 -0.598021 0.038007 
time: 1403638604.827830, t: -7213941.733125 2586069.340004 -1231855.183422 q: 0.783557 0.155093 -0.600147 0.042513 
time: 1403638604.927830, t: -7213941.678563 2586069.271688 -1231855.248566 q: 0.780176 0.152988 -0.605168 0.041141 
time: 1403638605.027829, t: -7213941.599384 2586069.228433 -1231855.314367 q: 0.773429 0.150797 -0.614206 0.042655 
time: 1403638605.127830, t: -7213941.529116 2586069.181741 -1231855.374056 q: 0.768347 0.149222 -0.620942 0.042502 
time: 1403638605.227829, t: -7213941.475589 2586069.128538 -1231855.430977 q: 0.767655 0.149021 -0.622017 0.039923 
time: 1403638605.327830, t: -7213941.397110 2586069.098199 -1231855.443499 q: 0.765374 0.151959 -0.624520 0.032944 
time: 1403638605.427830, t: -7213941.338565 2586069.036818 -1231855.473654 q: 0.770795 0.154700 -0.617658 0.021021 
time: 1403638605.527829, t: -7213941.289699 2586068.983178 -1231855.522218 q: 0.780125 0.158272 -0.605201 0.009331 
time: 1403638605.627830, t: -7213941.214579 2586068.928112 -1231855.541425 q: 0.782763 0.163558 -0.600434 -0.003189 
time: 1403638605.727829, t: -7213941.182347 2586068.840007 -1231855.582841 q: 0.785750 0.163631 -0.596449 -0.008408 
time: 1403638605.827830, t: -7213941.142444 2586068.716337 -1231855.577688 q: 0.781118 0.165133 -0.601814 -0.020144 
time: 1403638605.927830, t: -7213941.113017 2586068.621562 -1231855.639418 q: 0.783171 0.163864 -0.599350 -0.023909 
time: 1403638606.027829, t: -7213941.047394 2586068.563618 -1231855.688014 q: 0.784125 0.165756 -0.597399 -0.028057 
time: 1403638606.127830, t: -7213940.978023 2586068.484476 -1231855.736499 q: 0.784437 0.165692 -0.596839 -0.031440 
time: 1403638606.227829, t: -7213940.883787 2586068.412930 -1231855.801982 q: 0.785299 0.165770 -0.595677 -0.031555 
time: 1403638606.327830, t: -7213940.839240 2586068.264827 -1231855.831628 q: 0.781723 0.162009 -0.601410 -0.031108 
time: 1403638606.427830, t: -7213940.784362 2586068.107736 -1231855.908253 q: 0.775134 0.154514 -0.612264 -0.020631 
time: 1403638606.527829, t: -7213940.690258 2586068.006364 -1231855.989572 q: 0.767783 0.149280 -0.623053 -0.005396 
time: 1403638606.727829, t: -7213940.523257 2586067.827415 -1231856.187736 q: 0.757982 0.158087 -0.632642 0.015329 
time: 1403638606.827830, t: -7213940.471962 2586067.679786 -1231856.247055 q: 0.751350 0.169309 -0.637426 0.022268 
time: 1403638606.927830, t: -7213940.437374 2586067.539328 -1231856.319745 q: 0.746754 0.188466 -0.637246 0.027486 
time: 1403638607.027829, t: -7213940.395136 2586067.372461 -1231856.345642 q: 0.741515 0.207646 -0.637029 0.035095 
time: 1403638607.127830, t: -7213940.325343 2586067.132112 -1231856.375165 q: 0.738096 0.218107 -0.636905 0.044664 
time: 1403638607.227829, t: -7213940.342170 2586067.051410 -1231856.450510 q: 0.746197 0.233416 -0.620848 0.057053 
time: 1403638607.327830, t: -7213940.338571 2586066.876865 -1231856.487753 q: 0.754137 0.241673 -0.607508 0.061680 
time: 1403638607.427830, t: -7213940.344047 2586066.703278 -1231856.523781 q: 0.759246 0.244570 -0.599325 0.067383 
time: 1403638607.527829, t: -7213940.347899 2586066.553488 -1231856.512591 q: 0.755043 0.247168 -0.603037 0.071863 
time: 1403638607.627830, t: -7213940.344706 2586066.427505 -1231856.582759 q: 0.756128 0.248818 -0.600780 0.073637 
time: 1403638607.727829, t: -7213940.325033 2586066.301520 -1231856.618941 q: 0.758114 0.248848 -0.598408 0.072431 
time: 1403638607.827830, t: -7213940.374407 2586066.203124 -1231856.669089 q: 0.758376 0.250380 -0.597273 0.073764 
time: 1403638607.927830, t: -7213940.382768 2586066.102134 -1231856.772244 q: 0.759368 0.246350 -0.597041 0.078827 
time: 1403638608.027829, t: -7213940.420294 2586066.018315 -1231856.811651 q: 0.759147 0.246331 -0.596731 0.083240 
time: 1403638608.127830, t: -7213940.429336 2586065.932167 -1231856.902624 q: 0.765129 0.245224 -0.589897 0.080401 
time: 1403638608.227829, t: -7213940.442949 2586065.847289 -1231856.980168 q: 0.771368 0.245715 -0.582240 0.074914 
time: 1403638608.327830, t: -7213940.448961 2586065.755336 -1231857.000813 q: 0.774855 0.247061 -0.577416 0.071780 
time: 1403638608.427830, t: -7213940.440064 2586065.661444 -1231857.066622 q: 0.779157 0.246698 -0.572160 0.068459 
time: 1403638608.527829, t: -7213940.501255 2586065.585822 -1231857.212224 q: 0.781666 0.245733 -0.569309 0.067091 
time: 1403638608.627830, t: -7213940.440259 2586065.450258 -1231857.327231 q: 0.786719 0.237340 -0.566349 0.063185 
time: 1403638608.727829, t: -7213940.462537 2586065.316969 -1231857.400390 q: 0.791312 0.231243 -0.562227 0.065213 
time: 1403638608.827830, t: -7213940.534490 2586065.245167 -1231857.513175 q: 0.792238 0.231567 -0.560837 0.064783 
time: 1403638609.027829, t: -7213940.643309 2586065.164189 -1231857.753479 q: 0.792435 0.230831 -0.560171 0.070508 
time: 1403638609.127830, t: -7213940.704341 2586065.153195 -1231857.812687 q: 0.791832 0.232846 -0.559887 0.072873 
time: 1403638609.227829, t: -7213940.725687 2586065.101726 -1231857.857831 q: 0.793642 0.230156 -0.557274 0.081278 
time: 1403638609.327830, t: -7213940.747522 2586065.062786 -1231857.895625 q: 0.793942 0.228984 -0.556510 0.086711 
time: 1403638609.427830, t: -7213940.786304 2586065.051631 -1231857.943447 q: 0.793579 0.231308 -0.556305 0.085165 
time: 1403638609.527829, t: -7213940.824887 2586065.042811 -1231857.992252 q: 0.792494 0.233258 -0.557232 0.083887 
time: 1403638609.627830, t: -7213940.852997 2586065.020571 -1231858.035767 q: 0.791685 0.234164 -0.558196 0.082570 
time: 1403638609.727829, t: -7213940.872779 2586065.001165 -1231858.066903 q: 0.791208 0.236170 -0.558575 0.078786 
time: 1403638609.827830, t: -7213940.895458 2586064.977348 -1231858.090418 q: 0.788049 0.236635 -0.562716 0.079586 
time: 1403638609.927830, t: -7213940.911154 2586064.964669 -1231858.133806 q: 0.787974 0.236647 -0.562759 0.079985 
time: 1403638610.027829, t: -7213940.928062 2586064.963264 -1231858.170805 q: 0.788788 0.237283 -0.561015 0.082301 
time: 1403638610.127830, t: -7213940.948169 2586064.970612 -1231858.223803 q: 0.792274 0.237073 -0.555672 0.085594 
time: 1403638610.227829, t: -7213940.973939 2586064.975329 -1231858.226687 q: 0.793557 0.241164 -0.552198 0.084767 
time: 1403638610.327830, t: -7213941.011829 2586064.992582 -1231858.233498 q: 0.793447 0.243506 -0.551195 0.085621 
time: 1403638610.427830, t: -7213941.017447 2586065.057151 -1231858.311370 q: 0.795216 0.243193 -0.548289 0.088704 
time: 1403638610.627830, t: -7213941.005581 2586064.942069 -1231858.365171 q: 0.802324 0.236780 -0.541188 0.085603 
time: 1403638610.827830, t: -7213941.032874 2586064.960796 -1231858.472482 q: 0.793289 0.238710 -0.553634 0.084849 
time: 1403638610.927830, t: -7213941.022203 2586064.981958 -1231858.515042 q: 0.788392 0.239898 -0.560118 0.084584 
time: 1403638611.027829, t: -7213941.025746 2586065.006623 -1231858.560475 q: 0.789289 0.238980 -0.558880 0.086976 
time: 1403638611.227829, t: -7213941.055782 2586065.122478 -1231858.665636 q: 0.791223 0.242656 -0.553952 0.090668 
time: 1403638611.327830, t: -7213941.055521 2586065.221032 -1231858.691752 q: 0.789465 0.247169 -0.554699 0.089225 
time: 1403638611.427830, t: -7213941.006822 2586065.216914 -1231858.811222 q: 0.793628 0.248299 -0.550579 0.073251 
time: 1403638611.527829, t: -7213940.966975 2586065.281495 -1231858.858735 q: 0.793888 0.251279 -0.550434 0.060184 
time: 1403638611.627830, t: -7213940.912680 2586065.286037 -1231858.906704 q: 0.791256 0.249260 -0.555834 0.053224 
time: 1403638611.727829, t: -7213940.865862 2586065.322540 -1231858.959805 q: 0.788209 0.246406 -0.561181 0.055555 
time: 1403638611.827830, t: -7213940.818395 2586065.371209 -1231859.015218 q: 0.784111 0.242799 -0.567292 0.066322 
time: 1403638611.927830, t: -7213940.805834 2586065.434380 -1231859.073401 q: 0.780237 0.240137 -0.572654 0.075045 
time: 1403638612.027829, t: -7213940.746818 2586065.462829 -1231859.106721 q: 0.776537 0.237371 -0.578406 0.078051 
time: 1403638612.127830, t: -7213940.711142 2586065.513111 -1231859.178202 q: 0.775573 0.235636 -0.580040 0.080725 
time: 1403638612.227829, t: -7213940.678970 2586065.567307 -1231859.216627 q: 0.774282 0.235444 -0.581846 0.080678 
time: 1403638612.327830, t: -7213940.645702 2586065.617165 -1231859.269435 q: 0.774887 0.235132 -0.581236 0.080177 
time: 1403638612.427830, t: -7213940.558662 2586065.604148 -1231859.318182 q: 0.776239 0.231045 -0.581648 0.075878 
time: 1403638612.527829, t: -7213940.570975 2586065.743343 -1231859.320777 q: 0.776458 0.236665 -0.579083 0.075932 
time: 1403638612.727829, t: -7213940.508455 2586065.862880 -1231859.388135 q: 0.777952 0.237302 -0.578197 0.064551 
time: 1403638612.827830, t: -7213940.473862 2586065.935460 -1231859.415820 q: 0.778269 0.236087 -0.578361 0.063711 
time: 1403638612.927830, t: -7213940.432005 2586066.002898 -1231859.489376 q: 0.780140 0.234375 -0.576400 0.064911 
time: 1403638613.027829, t: -7213940.378680 2586066.066718 -1231859.542286 q: 0.778102 0.232313 -0.579778 0.066677 
time: 1403638613.127830, t: -7213940.339721 2586066.116166 -1231859.610753 q: 0.777753 0.230803 -0.580670 0.068202 
time: 1403638613.227829, t: -7213940.239180 2586066.131329 -1231859.633967 q: 0.774724 0.228769 -0.585685 0.066640 
time: 1403638613.327830, t: -7213940.213076 2586066.046714 -1231859.761103 q: 0.777442 0.222128 -0.584858 0.064686 
time: 1403638613.427830, t: -7213940.173412 2586066.272845 -1231859.724876 q: 0.774545 0.231301 -0.584766 0.068036 
time: 1403638613.527829, t: -7213940.111080 2586066.357546 -1231859.720384 q: 0.774540 0.230959 -0.584669 0.070056 
time: 1403638613.627830, t: -7213940.021675 2586066.414185 -1231859.775546 q: 0.776360 0.225260 -0.584134 0.072874 
time: 1403638613.727829, t: -7213939.972944 2586066.472276 -1231859.831102 q: 0.780266 0.220121 -0.580321 0.077203 
time: 1403638613.827830, t: -7213939.907544 2586066.523919 -1231859.855509 q: 0.782810 0.213539 -0.579252 0.077954 
time: 1403638613.927830, t: -7213939.860872 2586066.596531 -1231859.920758 q: 0.785095 0.203270 -0.580173 0.075545 
time: 1403638614.127830, t: -7213939.824782 2586066.776887 -1231860.055376 q: 0.789004 0.174102 -0.585959 0.061747 
time: 1403638614.227829, t: -7213939.779605 2586066.847327 -1231860.089798 q: 0.787320 0.155554 -0.594133 0.054182 
time: 1403638614.327830, t: -7213939.686549 2586066.893079 -1231860.127898 q: 0.785918 0.139234 -0.600581 0.047433 
time: 1403638614.427830, t: -7213939.639390 2586066.966722 -1231860.208090 q: 0.786461 0.127970 -0.602509 0.045674 
time: 1403638614.527829, t: -7213939.525623 2586067.039003 -1231860.183987 q: 0.783215 0.120647 -0.608356 0.043849 
time: 1403638614.627830, t: -7213939.465635 2586067.150022 -1231860.228360 q: 0.782875 0.109480 -0.610670 0.046938 
time: 1403638614.727829, t: -7213939.378211 2586067.149257 -1231860.339601 q: 0.784095 0.091324 -0.611987 0.048245 
time: 1403638614.827830, t: -7213939.275815 2586067.229227 -1231860.386603 q: 0.780423 0.071283 -0.619100 0.050737 
time: 1403638614.927830, t: -7213939.190512 2586067.316386 -1231860.443167 q: 0.778922 0.049934 -0.623396 0.046526 
time: 1403638615.027829, t: -7213939.099816 2586067.418859 -1231860.487969 q: 0.779259 0.025804 -0.624959 0.038933 
time: 1403638615.127830, t: -7213938.980798 2586067.549193 -1231860.537395 q: 0.780726 -0.002968 -0.624307 0.026439 
time: 1403638615.227829, t: -7213938.887717 2586067.607557 -1231860.540905 q: 0.785543 -0.031560 -0.617981 0.005006 
time: 1403638615.327830, t: -7213938.752511 2586067.776042 -1231860.565410 q: 0.787887 -0.057155 -0.613093 -0.009195 
time: 1403638615.427830, t: -7213938.647847 2586067.883905 -1231860.652513 q: 0.790512 -0.090806 -0.605300 -0.021383 
time: 1403638615.527829, t: -7213938.563583 2586068.033247 -1231860.562960 q: 0.780919 -0.116566 -0.612968 -0.029117 
time: 1403638615.627830, t: -7213938.515246 2586068.104902 -1231860.617340 q: 0.780261 -0.142339 -0.607973 -0.036070 
time: 1403638615.727829, t: -7213938.630518 2586068.088049 -1231860.679232 q: 0.785167 -0.160535 -0.595996 -0.050290 
time: 1403638615.827830, t: -7213938.479260 2586068.381006 -1231860.678965 q: 0.777559 -0.160935 -0.606853 -0.035103 
time: 1403638615.927830, t: -7213938.367760 2586068.402252 -1231860.670507 q: 0.773007 -0.180790 -0.606592 -0.042678 
time: 1403638616.027829, t: -7213938.221734 2586068.592477 -1231860.482417 q: 0.756323 -0.183203 -0.626271 -0.046868 
time: 1403638616.127830, t: -7213938.149025 2586068.680977 -1231860.481709 q: 0.752042 -0.196311 -0.626859 -0.054250 
time: 1403638616.227829, t: -7213938.116996 2586068.697175 -1231860.579561 q: 0.751260 -0.219875 -0.619239 -0.061697 
time: 1403638616.327830, t: -7213938.045559 2586068.821490 -1231860.617462 q: 0.746559 -0.237831 -0.617609 -0.068159 
time: 1403638616.427830, t: -7213938.005909 2586068.919492 -1231860.701886 q: 0.743029 -0.257922 -0.613131 -0.073853 
time: 1403638616.527829, t: -7213937.919635 2586069.101255 -1231860.784886 q: 0.739546 -0.268908 -0.612852 -0.071922 
time: 1403638616.627830, t: -7213937.866367 2586069.215024 -1231860.865082 q: 0.734183 -0.279657 -0.614260 -0.073842 
time: 1403638616.727829, t: -7213937.805752 2586069.312768 -1231861.001227 q: 0.728365 -0.289885 -0.617062 -0.068450 
time: 1403638616.827830, t: -7213937.746941 2586069.429429 -1231861.096744 q: 0.720092 -0.297816 -0.624165 -0.056488 
time: 1403638616.927830, t: -7213937.709094 2586069.555013 -1231861.135537 q: 0.715364 -0.298620 -0.629295 -0.055388 
time: 1403638617.027829, t: -7213937.652328 2586069.704144 -1231861.249016 q: 0.723385 -0.292011 -0.622635 -0.061399 
time: 1403638617.127830, t: -7213937.606861 2586069.842514 -1231861.292471 q: 0.727348 -0.285148 -0.620226 -0.070532 
time: 1403638617.227829, t: -7213937.582882 2586069.997781 -1231861.372220 q: 0.729514 -0.279358 -0.619916 -0.073975 
time: 1403638617.327830, t: -7213937.574335 2586070.155309 -1231861.450611 q: 0.729135 -0.274756 -0.622349 -0.074514 
time: 1403638617.427830, t: -7213937.570890 2586070.269210 -1231861.443479 q: 0.723029 -0.274782 -0.629336 -0.075236 
time: 1403638617.527829, t: -7213937.541554 2586070.426218 -1231861.482057 q: 0.722375 -0.272725 -0.631482 -0.070899 
time: 1403638617.627830, t: -7213937.529732 2586070.538720 -1231861.489995 q: 0.723159 -0.271959 -0.630715 -0.072655 
time: 1403638617.827830, t: -7213937.483192 2586070.768401 -1231861.461141 q: 0.725372 -0.268763 -0.629035 -0.076921 
time: 1403638617.927830, t: -7213937.518826 2586070.883051 -1231861.454766 q: 0.729359 -0.269469 -0.624213 -0.076028 
time: 1403638618.027829, t: -7213937.473771 2586070.976796 -1231861.403232 q: 0.727849 -0.270743 -0.625240 -0.077515 
time: 1403638618.127830, t: -7213937.454171 2586071.076713 -1231861.384936 q: 0.728754 -0.270120 -0.624389 -0.078039 
time: 1403638618.227829, t: -7213937.439100 2586071.183352 -1231861.358050 q: 0.729121 -0.269913 -0.623983 -0.078581 
time: 1403638618.327830, t: -7213937.439534 2586071.283538 -1231861.349972 q: 0.729484 -0.268515 -0.623724 -0.081987 
time: 1403638618.427830, t: -7213937.440348 2586071.403126 -1231861.323204 q: 0.729356 -0.267133 -0.624377 -0.082660 
time: 1403638618.527829, t: -7213937.429409 2586071.532370 -1231861.287776 q: 0.729082 -0.265425 -0.625541 -0.081776 
time: 1403638618.627830, t: -7213937.416606 2586071.645469 -1231861.242653 q: 0.727431 -0.267541 -0.626261 -0.084045 
time: 1403638618.727829, t: -7213937.428197 2586071.756464 -1231861.197484 q: 0.725340 -0.270567 -0.626754 -0.088630 
time: 1403638618.827830, t: -7213937.439939 2586071.866898 -1231861.165826 q: 0.726669 -0.274118 -0.623535 -0.089527 
time: 1403638618.927830, t: -7213937.441573 2586071.978406 -1231861.104853 q: 0.726790 -0.279316 -0.620399 -0.094147 
time: 1403638619.027829, t: -7213937.435253 2586072.083344 -1231861.089522 q: 0.729056 -0.290172 -0.611504 -0.101688 
time: 1403638619.127830, t: -7213937.443133 2586072.175871 -1231860.994808 q: 0.723353 -0.308410 -0.607508 -0.112149 
time: 1403638619.227829, t: -7213937.404329 2586072.346318 -1231860.992675 q: 0.720205 -0.327647 -0.600265 -0.116769 
time: 1403638619.427830, t: -7213937.440608 2586072.609544 -1231860.948093 q: 0.706690 -0.373578 -0.586468 -0.130706 
time: 1403638619.527829, t: -7213937.495750 2586072.690019 -1231860.859082 q: 0.700082 -0.391516 -0.581554 -0.135629 
time: 1403638619.627830, t: -7213937.587111 2586072.801373 -1231860.860828 q: 0.698224 -0.404382 -0.574941 -0.135653 
time: 1403638619.727829, t: -7213937.594787 2586072.861659 -1231860.797104 q: 0.695917 -0.415596 -0.571335 -0.128669 
time: 1403638619.827830, t: -7213937.619851 2586072.963821 -1231860.822996 q: 0.699279 -0.423101 -0.562794 -0.123519 
time: 1403638619.927830, t: -7213937.674187 2586073.102113 -1231860.823096 q: 0.699492 -0.425508 -0.561182 -0.121360 
time: 1403638620.027829, t: -7213937.705329 2586073.161989 -1231860.815143 q: 0.698554 -0.428193 -0.559765 -0.123837 
time: 1403638620.227829, t: -7213937.728348 2586073.325978 -1231860.867493 q: 0.702352 -0.427418 -0.553970 -0.130891 
time: 1403638620.327830, t: -7213937.728783 2586073.398390 -1231860.905652 q: 0.701582 -0.426128 -0.555100 -0.134396 
time: 1403638620.527829, t: -7213937.730799 2586073.551218 -1231860.913524 q: 0.700636 -0.424538 -0.557356 -0.135020 
time: 1403638620.627830, t: -7213937.734322 2586073.581962 -1231860.896981 q: 0.698453 -0.425158 -0.559909 -0.133812 
time: 1403638620.727829, t: -7213937.749084 2586073.643995 -1231860.924086 q: 0.697372 -0.424963 -0.562386 -0.129615 
time: 1403638620.827830, t: -7213937.724785 2586073.696392 -1231860.896306 q: 0.694488 -0.424513 -0.566659 -0.127954 
time: 1403638620.927830, t: -7213937.694031 2586073.755637 -1231860.893564 q: 0.691771 -0.420699 -0.571580 -0.133273 
time: 1403638621.027829, t: -7213937.690669 2586073.848763 -1231860.917100 q: 0.693539 -0.416162 -0.571617 -0.138081 
time: 1403638621.127830, t: -7213937.666806 2586073.930520 -1231860.903384 q: 0.694562 -0.413833 -0.571748 -0.139393 
time: 1403638621.227829, t: -7213937.673006 2586073.994563 -1231860.920561 q: 0.696990 -0.411602 -0.569774 -0.141940 
time: 1403638621.327830, t: -7213937.660921 2586074.073982 -1231860.967386 q: 0.698401 -0.408406 -0.569775 -0.144210 
time: 1403638621.427830, t: -7213937.645966 2586074.138534 -1231860.966376 q: 0.699890 -0.406742 -0.568932 -0.145024 
time: 1403638621.627830, t: -7213937.641918 2586074.254999 -1231860.962290 q: 0.703531 -0.403550 -0.565774 -0.148632 
time: 1403638621.727829, t: -7213937.637155 2586074.312648 -1231860.976001 q: 0.704226 -0.402650 -0.565334 -0.149452 
time: 1403638621.827830, t: -7213937.624093 2586074.354081 -1231860.995121 q: 0.706004 -0.401943 -0.562959 -0.151913 
time: 1403638621.927830, t: -7213937.621159 2586074.402170 -1231860.988993 q: 0.708464 -0.400735 -0.559947 -0.154758 
time: 1403638622.027829, t: -7213937.611641 2586074.472453 -1231861.013217 q: 0.709889 -0.399932 -0.559078 -0.153439 
time: 1403638622.127830, t: -7213937.603780 2586074.522224 -1231861.076468 q: 0.710660 -0.400665 -0.558582 -0.149722 
time: 1403638622.227829, t: -7213937.598952 2586074.559324 -1231861.084402 q: 0.709670 -0.402482 -0.559373 -0.146557 
time: 1403638622.327830, t: -7213937.600561 2586074.589128 -1231861.104136 q: 0.709189 -0.402699 -0.559994 -0.145916 
time: 1403638622.527829, t: -7213937.529414 2586074.634639 -1231861.170293 q: 0.707792 -0.402285 -0.561213 -0.149121 
time: 1403638622.627830, t: -7213937.484907 2586074.667136 -1231861.185370 q: 0.708559 -0.400452 -0.560325 -0.153682 
time: 1403638622.727829, t: -7213937.463866 2586074.676156 -1231861.197310 q: 0.715361 -0.398587 -0.550918 -0.160860 
time: 1403638622.827830, t: -7213937.467758 2586074.656533 -1231861.171148 q: 0.721520 -0.399705 -0.539570 -0.168849 
time: 1403638622.927830, t: -7213937.399873 2586074.649891 -1231861.167712 q: 0.721680 -0.399772 -0.539909 -0.166911 
time: 1403638623.027829, t: -7213937.346024 2586074.630996 -1231861.196686 q: 0.716221 -0.402469 -0.546761 -0.161549 
time: 1403638623.127830, t: -7213937.308507 2586074.585187 -1231861.196060 q: 0.710146 -0.405558 -0.553897 -0.156252 
time: 1403638623.227829, t: -7213937.258931 2586074.567888 -1231861.221012 q: 0.708334 -0.408694 -0.555823 -0.149307 
time: 1403638623.327830, t: -7213937.207002 2586074.525142 -1231861.258861 q: 0.705355 -0.410986 -0.559108 -0.144788 
time: 1403638623.427830, t: -7213937.154680 2586074.493231 -1231861.283002 q: 0.702161 -0.411862 -0.562868 -0.143246 
time: 1403638623.527829, t: -7213937.114714 2586074.463502 -1231861.343004 q: 0.702752 -0.412276 -0.562115 -0.142109 
time: 1403638623.627830, t: -7213937.261822 2586074.191595 -1231861.052343 q: 0.702752 -0.412276 -0.562115 -0.142109 
time: 1403638623.727829, t: -7213936.977202 2586074.397829 -1231861.401188 q: 0.701206 -0.411290 -0.563900 -0.145488 
time: 1403638623.827830, t: -7213936.776067 2586074.392328 -1231861.459165 q: 0.699531 -0.409085 -0.567505 -0.145751 
time: 1403638623.927830, t: -7213936.684310 2586074.332598 -1231861.468242 q: 0.696420 -0.410351 -0.570135 -0.146824 
time: 1403638624.127830, t: -7213936.701901 2586074.214247 -1231861.553657 q: 0.697403 -0.414567 -0.566745 -0.143402 
time: 1403638624.227829, t: -7213936.655974 2586074.158771 -1231861.588912 q: 0.697369 -0.417023 -0.565422 -0.141653 
time: 1403638624.327830, t: -7213936.574818 2586074.122857 -1231861.626265 q: 0.697910 -0.417060 -0.565178 -0.139845 
time: 1403638624.427830, t: -7213936.516397 2586074.090275 -1231861.674711 q: 0.698573 -0.417537 -0.564108 -0.139428 
time: 1403638624.527829, t: -7213936.471423 2586074.042624 -1231861.701569 q: 0.700784 -0.419416 -0.559974 -0.139360 
time: 1403638624.627830, t: -7213936.400244 2586073.951378 -1231861.692467 q: 0.707687 -0.421144 -0.549769 -0.139898 
time: 1403638624.727829, t: -7213936.348764 2586073.921776 -1231861.827690 q: 0.708981 -0.414885 -0.551291 -0.145930 
time: 1403638624.827830, t: -7213936.283316 2586073.889942 -1231861.883897 q: 0.704151 -0.407733 -0.561932 -0.148857 
time: 1403638624.927830, t: -7213936.224237 2586073.841962 -1231861.919300 q: 0.701979 -0.402454 -0.568873 -0.147104 
time: 1403638625.027829, t: -7213936.262724 2586073.800413 -1231861.954005 q: 0.704001 -0.400498 -0.568841 -0.142842 
time: 1403638625.127830, t: -7213936.119335 2586073.726485 -1231861.980022 q: 0.705249 -0.399370 -0.570337 -0.133577 
time: 1403638625.227829, t: -7213936.069279 2586073.661319 -1231862.041663 q: 0.707158 -0.398695 -0.569311 -0.129827 
time: 1403638625.327830, t: -7213936.004053 2586073.590889 -1231862.051735 q: 0.706022 -0.398526 -0.570999 -0.129114 
time: 1403638625.427830, t: -7213935.937142 2586073.543904 -1231862.122011 q: 0.707976 -0.396590 -0.569881 -0.129313 
time: 1403638625.527829, t: -7213935.877479 2586073.495221 -1231862.153745 q: 0.707906 -0.396128 -0.570211 -0.129661 
time: 1403638625.627830, t: -7213935.804490 2586073.443259 -1231862.186415 q: 0.706174 -0.396337 -0.572209 -0.129666 
time: 1403638625.727829, t: -7213935.729008 2586073.386576 -1231862.220349 q: 0.703326 -0.396648 -0.575924 -0.127730 
time: 1403638625.827830, t: -7213935.671084 2586073.346601 -1231862.267254 q: 0.699161 -0.397656 -0.580827 -0.125237 
time: 1403638625.927830, t: -7213935.609388 2586073.308349 -1231862.313743 q: 0.697807 -0.398288 -0.582024 -0.125218 
time: 1403638626.027829, t: -7213935.568420 2586073.265492 -1231862.350755 q: 0.696789 -0.399351 -0.582432 -0.125605 
time: 1403638626.127830, t: -7213935.482925 2586073.217380 -1231862.393385 q: 0.695977 -0.400767 -0.582858 -0.123610 
time: 1403638626.227829, t: -7213935.413879 2586073.173110 -1231862.432922 q: 0.695192 -0.401082 -0.583263 -0.125083 
time: 1403638626.327830, t: -7213935.362959 2586073.122770 -1231862.486663 q: 0.696853 -0.398995 -0.581125 -0.132259 
time: 1403638626.427830, t: -7213935.328433 2586073.103082 -1231862.534412 q: 0.697753 -0.396997 -0.579738 -0.139421 
time: 1403638626.527829, t: -7213935.239178 2586073.069084 -1231862.606855 q: 0.696956 -0.394765 -0.582070 -0.140030 
time: 1403638626.627830, t: -7213935.222783 2586073.029955 -1231862.647833 q: 0.694061 -0.395061 -0.585439 -0.139525 
time: 1403638626.727829, t: -7213935.177796 2586072.993974 -1231862.676430 q: 0.690289 -0.395739 -0.589921 -0.137420 
time: 1403638626.827830, t: -7213935.110582 2586072.949108 -1231862.715541 q: 0.686844 -0.395972 -0.594517 -0.134170 
time: 1403638626.927830, t: -7213935.080568 2586072.912467 -1231862.735611 q: 0.683726 -0.396530 -0.597823 -0.133753 
time: 1403638627.027829, t: -7213935.048843 2586072.895183 -1231862.801711 q: 0.685744 -0.396148 -0.596055 -0.132441 
time: 1403638627.127830, t: -7213935.031184 2586072.854307 -1231862.827550 q: 0.685768 -0.396479 -0.595628 -0.133239 
time: 1403638627.227829, t: -7213934.987123 2586072.839275 -1231862.851899 q: 0.685954 -0.396267 -0.595797 -0.132161 
time: 1403638627.327830, t: -7213934.941220 2586072.828795 -1231862.854859 q: 0.684535 -0.395722 -0.597310 -0.134297 
time: 1403638627.427830, t: -7213934.946246 2586072.787302 -1231862.897230 q: 0.684662 -0.396189 -0.596221 -0.137086 
time: 1403638627.527829, t: -7213934.916909 2586072.774067 -1231862.909034 q: 0.684086 -0.396472 -0.596591 -0.137534 
time: 1403638627.627830, t: -7213934.889082 2586072.762946 -1231862.938080 q: 0.685701 -0.395192 -0.594976 -0.140143 
time: 1403638627.727829, t: -7213934.870668 2586072.733949 -1231862.968283 q: 0.688010 -0.395466 -0.591442 -0.142988 
time: 1403638627.827830, t: -7213934.847575 2586072.697458 -1231862.986921 q: 0.688562 -0.395421 -0.590260 -0.145319 
time: 1403638627.927830, t: -7213934.817447 2586072.677071 -1231863.042574 q: 0.687625 -0.395770 -0.591309 -0.144540 
time: 1403638628.027829, t: -7213934.801710 2586072.657057 -1231863.062840 q: 0.685249 -0.396378 -0.593526 -0.145070 
time: 1403638628.127830, t: -7213934.793788 2586072.561280 -1231863.157815 q: 0.685015 -0.397845 -0.592972 -0.144423 
time: 1403638628.227829, t: -7213934.822901 2586072.655696 -1231863.112026 q: 0.684148 -0.398859 -0.593419 -0.143898 
time: 1403638628.427830, t: -7213935.113968 2586072.580452 -1231863.742158 q: 0.701548 -0.402076 -0.571870 -0.138310 
time: 1403638628.527829, t: -7213934.803297 2586072.550942 -1231863.248619 q: 0.694372 -0.403553 -0.580104 -0.135912 
time: 1403638628.627830, t: -7213934.850525 2586072.579444 -1231863.367613 q: 0.705680 -0.405173 -0.566714 -0.129172 
time: 1403638628.727829, t: -7213934.851084 2586072.569199 -1231863.366986 q: 0.706623 -0.405889 -0.565314 -0.127896 
time: 1403638628.827830, t: -7213934.854992 2586072.580483 -1231863.402147 q: 0.705783 -0.405577 -0.566256 -0.129349 
time: 1403638628.927830, t: -7213934.841683 2586072.598034 -1231863.405384 q: 0.704452 -0.404097 -0.568013 -0.133471 
time: 1403638629.027829, t: -7213934.909131 2586072.570901 -1231863.484192 q: 0.704421 -0.404041 -0.567104 -0.137603 
time: 1403638629.127830, t: -7213934.645020 2586072.531179 -1231863.241512 q: 0.693319 -0.400737 -0.581835 -0.142076 
time: 1403638629.227829, t: -7213934.592686 2586072.685049 -1231863.376501 q: 0.697041 -0.395656 -0.581396 -0.139891 
time: 1403638629.327830, t: -7213934.653014 2586072.569541 -1231863.368434 q: 0.695002 -0.398087 -0.581492 -0.142710 
time: 1403638629.427830, t: -7213934.652368 2586072.557771 -1231863.365002 q: 0.689986 -0.399034 -0.587341 -0.140435 
time: 1403638629.527829, t: -7213934.658027 2586072.530039 -1231863.365950 q: 0.685021 -0.401758 -0.592530 -0.135072 
time: 1403638629.627830, t: -7213934.714257 2586072.536331 -1231863.366736 q: 0.686272 -0.405216 -0.590473 -0.127167 
time: 1403638629.727829, t: -7213934.630937 2586072.540810 -1231863.264268 q: 0.688651 -0.408245 -0.587530 -0.117916 
time: 1403638629.827830, t: -7213934.638085 2586072.559079 -1231863.322820 q: 0.697592 -0.408967 -0.576915 -0.115245 
time: 1403638629.927830, t: -7213934.482468 2586072.510938 -1231863.273545 q: 0.697592 -0.408967 -0.576915 -0.115245 
time: 1403638630.027829, t: -7213934.713208 2586072.569413 -1231863.356627 q: 0.708839 -0.403147 -0.562672 -0.135717 
time: 1403638630.127830, t: -7213934.601083 2586072.586351 -1231863.259811 q: 0.702989 -0.399025 -0.571026 -0.143233 
time: 1403638630.227829, t: -7213934.234137 2586072.798694 -1231863.660775 q: 0.704287 -0.387331 -0.577774 -0.141886 
time: 1403638630.327830, t: -7213935.903549 2586072.010532 -1231863.436228 q: 0.699471 -0.429912 -0.555152 -0.133130 
feature tracking not enough, please slowly move you device! 
time: 1403638630.527829, t: -7213935.639950 2586071.765819 -1231863.113600 q: 0.688352 -0.439675 -0.566668 -0.108373 
time: 1403638630.627830, t: -7213936.735076 2586072.970714 -1231860.404631 q: 0.654721 -0.381264 -0.626326 -0.183560 
time: 1403638630.727829, t: -7213933.350119 2586066.998336 -1231855.384744 q: -0.448077 0.507834 0.674105 -0.294813 
time: 1403638630.827830, t: -7213930.028779 2586069.999557 -1231858.380839 q: -0.394474 0.630338 0.600486 -0.294076 
time: 1403638630.927830, t: -7213928.296456 2586074.785797 -1231856.539781 q: -0.467415 0.594448 0.620184 -0.208630 
time: 1403638631.027829, t: -7213928.251352 2586075.812387 -1231855.529158 q: -0.435112 0.545598 0.696187 -0.168297 
time: 1403638631.127830, t: -7213928.045390 2586075.469199 -1231855.947178 q: -0.447308 0.547351 0.685812 -0.173160 
time: 1403638631.227829, t: -7213928.039286 2586075.464187 -1231855.937142 q: -0.447005 0.547261 0.686070 -0.173205 
time: 1403638631.327830, t: -7213928.040246 2586075.466565 -1231855.937758 q: -0.447261 0.547759 0.685500 -0.173227 
time: 1403638631.427830, t: -7213928.046380 2586075.467070 -1231855.926613 q: -0.446923 0.548173 0.685462 -0.172942 
time: 1403638631.527829, t: -7213928.039528 2586075.479881 -1231855.949978 q: -0.447403 0.547550 0.685630 -0.173006 
time: 1403638631.627830, t: -7213928.038119 2586075.473433 -1231855.932422 q: -0.446787 0.547348 0.686238 -0.172828 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720511726.465859415]: Shutdown request received.[0m
[33m[ WARN] [1720511726.465913633]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720511726.466859303]: Shutdown request received.[0m
[33m[ WARN] [1720511726.466886056]: Reason given for shutdown: [user request][0m
killed
