/SLAM-Hive/slam_hive_results/mapping_results/3114/2319_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720542599.914930996]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720542599.916556843]: init begins[0m
[31m[ERROR] [1720542599.917695053]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7c6c4178-3e10-11ef-9af9-0242ac110005/roslaunch-62170beac1e2-118.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://62170beac1e2:37447/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://62170beac1e2:11311/[0m
]2;roscore http://62170beac1e2:11311/
[1msetting /run_id to 7c6c4178-3e10-11ef-9af9-0242ac110005[0m
[0m[ INFO] [1720542601.070583843]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720542601.073482609]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720542601.079387264]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720542601.079597456]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720542601.079619406]: ROW: 240 COL: 376 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 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 9.81007
[0m[ INFO] [1720542601.079853315]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720542601.080090339]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720542601.080379097]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [235][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720542610.076455166]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316906031.35 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
[33m[ WARN] [1720542613.370417209]: gyroscope bias initial calibration -0.00473223   0.0208598   0.0781764[0m
[0m[ INFO] [1720542613.397248210]: Initialization finish![0m
time: 1403636581.863555, t: -0.000062 0.004939 -0.058814 q: -0.028923 0.798830 0.037351 0.599700 
time: 1403636582.063555, t: -0.005384 0.005849 -0.176896 q: -0.038330 0.815207 0.040368 0.576488 
time: 1403636582.263556, t: -0.009089 0.009924 -0.217576 q: -0.031247 0.835288 0.037918 0.547612 
time: 1403636582.463556, t: -0.004841 0.012708 -0.141940 q: -0.066150 0.829474 0.057693 0.551606 
time: 1403636582.663555, t: 0.001411 0.006367 -0.013694 q: -0.078699 0.819069 0.067346 0.564266 
time: 1403636582.863555, t: 0.012110 -0.005854 0.115328 q: -0.083226 0.810455 0.058333 0.576917 
time: 1403636583.063555, t: 0.014626 -0.017268 0.204998 q: -0.080354 0.793112 0.049271 0.601738 
time: 1403636583.263556, t: 0.016892 -0.017034 0.178236 q: -0.069363 0.792882 0.048964 0.603432 
time: 1403636583.463556, t: 0.016908 -0.019803 0.066921 q: -0.055552 0.796548 0.041650 0.600575 
time: 1403636583.663555, t: 0.014532 -0.022365 -0.071071 q: -0.047284 0.808168 0.040763 0.585634 
time: 1403636583.863555, t: 0.009268 -0.021147 -0.185527 q: -0.053488 0.830701 0.035917 0.552978 
time: 1403636584.063555, t: -0.002630 -0.018959 -0.237198 q: -0.044873 0.836002 0.041712 0.545296 
time: 1403636584.263556, t: 0.006647 -0.010578 -0.186905 q: -0.060540 0.835421 0.052928 0.543696 
time: 1403636584.463556, t: 0.015803 -0.014984 -0.063312 q: -0.044581 0.830886 0.050139 0.552383 
time: 1403636584.663555, t: 0.029187 -0.017053 0.081629 q: -0.037693 0.813561 0.039970 0.578878 
time: 1403636584.863555, t: 0.030387 -0.016930 0.198625 q: -0.030631 0.792505 0.027578 0.608471 
time: 1403636585.063555, t: 0.027756 -0.018201 0.226964 q: -0.033381 0.788986 0.020203 0.613172 
time: 1403636585.263556, t: 0.033238 -0.021003 0.157299 q: -0.017452 0.795625 0.012404 0.605410 
time: 1403636585.463556, t: 0.036711 -0.028614 0.052933 q: 0.001988 0.803016 0.012527 0.595822 
time: 1403636585.663555, t: 0.023480 -0.032781 -0.036021 q: -0.016645 0.815776 0.027293 0.577483 
time: 1403636585.863555, t: 0.002109 -0.033458 -0.070192 q: -0.039516 0.833850 0.029517 0.549783 
time: 1403636586.063555, t: -0.013850 -0.033594 -0.070648 q: -0.034850 0.858546 0.018756 0.511207 
time: 1403636586.263556, t: -0.027349 -0.026901 -0.062533 q: -0.025451 0.879148 0.004399 0.475848 
time: 1403636586.463556, t: -0.047928 -0.027150 -0.057019 q: -0.026350 0.900924 -0.002261 0.433170 
time: 1403636586.663555, t: -0.062061 -0.040089 -0.049088 q: -0.031222 0.910986 0.004872 0.411224 
time: 1403636586.863555, t: -0.057255 -0.057394 -0.044015 q: -0.036990 0.905597 0.007701 0.422454 
time: 1403636587.063555, t: -0.047820 -0.061436 -0.043963 q: -0.038648 0.903601 0.017293 0.426277 
time: 1403636587.263556, t: -0.035262 -0.073947 -0.043886 q: -0.038033 0.907122 0.021527 0.418592 
time: 1403636587.463556, t: -0.017701 -0.113278 -0.045560 q: -0.038349 0.908890 0.015915 0.414964 
time: 1403636587.663555, t: -0.001057 -0.177312 -0.045906 q: -0.037667 0.908766 0.005720 0.415562 
time: 1403636587.863555, t: 0.016055 -0.250892 -0.044549 q: -0.032840 0.904374 -0.009891 0.425360 
time: 1403636588.063555, t: 0.027091 -0.316253 -0.053858 q: -0.022300 0.910954 -0.022101 0.411313 
time: 1403636588.263556, t: 0.033989 -0.355353 -0.063251 q: -0.023499 0.913114 -0.022424 0.406408 
time: 1403636588.463556, t: 0.034230 -0.361601 -0.067061 q: -0.028469 0.910729 -0.023315 0.411361 
time: 1403636588.663555, t: 0.024416 -0.336060 -0.059632 q: -0.024633 0.910651 -0.023272 0.411784 
time: 1403636588.863555, t: 0.009070 -0.281276 -0.055916 q: -0.030358 0.912529 -0.016945 0.407531 
time: 1403636589.063555, t: -0.008558 -0.204387 -0.049082 q: -0.037553 0.910257 -0.007759 0.412264 
time: 1403636589.263556, t: -0.026732 -0.115822 -0.037481 q: -0.042648 0.907454 0.001685 0.417978 
time: 1403636589.463556, t: -0.044842 -0.021485 -0.033888 q: -0.044820 0.909648 0.012866 0.412754 
time: 1403636589.663555, t: -0.061992 0.072219 -0.034289 q: -0.047320 0.907525 0.018462 0.416916 
time: 1403636589.863555, t: -0.077382 0.157726 -0.040301 q: -0.054956 0.909159 0.028293 0.411837 
time: 1403636590.063555, t: -0.087939 0.219780 -0.047417 q: -0.067241 0.909148 0.038725 0.409182 
time: 1403636590.263556, t: -0.099104 0.242450 -0.042361 q: -0.074158 0.904162 0.045055 0.418285 
time: 1403636590.463556, t: -0.103602 0.212160 -0.035678 q: -0.065894 0.905652 0.042799 0.416678 
time: 1403636590.863555, t: -0.087452 0.060323 -0.031850 q: -0.051494 0.907921 0.026963 0.415091 
time: 1403636591.063555, t: -0.069695 -0.032063 -0.037869 q: -0.052009 0.909370 0.023938 0.412030 
time: 1403636591.263556, t: -0.050763 -0.115903 -0.043861 q: -0.055383 0.910024 0.020188 0.410343 
time: 1403636591.463556, t: -0.034277 -0.172432 -0.058507 q: -0.051761 0.911820 0.012400 0.407126 
time: 1403636591.663555, t: -0.016802 -0.203729 -0.074866 q: -0.034624 0.903890 -0.003760 0.426346 
time: 1403636591.863555, t: -0.003393 -0.216281 -0.078114 q: -0.016514 0.885783 -0.016952 0.463496 
time: 1403636592.063555, t: 0.014389 -0.231279 -0.077961 q: -0.007443 0.886088 -0.038083 0.461891 
time: 1403636592.263556, t: 0.055037 -0.252990 -0.080975 q: -0.000114 0.893237 -0.056304 0.446047 
time: 1403636592.463556, t: 0.112155 -0.255820 -0.080108 q: -0.010622 0.898158 -0.052141 0.436442 
time: 1403636592.663555, t: 0.177579 -0.219447 -0.077495 q: -0.029139 0.891476 -0.020725 0.451654 
time: 1403636592.863555, t: 0.219763 -0.142716 -0.078535 q: -0.059429 0.889767 0.020852 0.452049 
time: 1403636593.063555, t: 0.206319 -0.033551 -0.080021 q: -0.096244 0.890761 0.066375 0.439176 
time: 1403636593.263556, t: 0.137181 0.079567 -0.074438 q: -0.131579 0.887102 0.099632 0.431058 
time: 1403636593.463556, t: 0.042260 0.147213 -0.074383 q: -0.138952 0.888995 0.110297 0.422156 
time: 1403636593.663555, t: -0.050098 0.140166 -0.087035 q: -0.126845 0.897682 0.087911 0.412734 
time: 1403636593.863555, t: -0.120031 0.070119 -0.099780 q: -0.094152 0.906896 0.032033 0.409450 
time: 1403636594.063555, t: -0.165253 -0.035398 -0.096151 q: -0.047748 0.901309 -0.035211 0.429095 
time: 1403636594.263556, t: -0.140991 -0.146270 -0.100871 q: -0.007506 0.899168 -0.086287 0.428947 
time: 1403636594.463556, t: -0.057502 -0.248258 -0.105966 q: 0.019405 0.895221 -0.098239 0.434225 
time: 1403636594.663555, t: 0.046784 -0.306803 -0.108801 q: 0.019772 0.886258 -0.097005 0.452489 
time: 1403636594.863555, t: 0.118678 -0.266377 -0.110602 q: 0.000858 0.884145 -0.069820 0.461965 
time: 1403636595.063555, t: 0.150406 -0.144005 -0.110326 q: -0.037485 0.883088 -0.004436 0.467686 
time: 1403636595.263556, t: 0.140344 0.007257 -0.119170 q: -0.086447 0.884249 0.056752 0.455422 
time: 1403636595.463556, t: 0.086348 0.083926 -0.122401 q: -0.111063 0.883889 0.088862 0.445542 
time: 1403636595.663555, t: 0.022473 0.059310 -0.130037 q: -0.108019 0.888031 0.090920 0.437569 
time: 1403636595.863555, t: -0.033855 -0.048128 -0.136591 q: -0.071579 0.892982 0.060912 0.440169 
time: 1403636596.063555, t: -0.086296 -0.159904 -0.145764 q: -0.030936 0.899014 0.011135 0.436684 
time: 1403636596.263556, t: -0.152851 -0.181983 -0.143498 q: -0.015747 0.900443 -0.020482 0.434206 
time: 1403636596.463556, t: -0.231452 -0.125575 -0.119366 q: -0.014752 0.896012 -0.022848 0.443196 
time: 1403636596.663555, t: -0.298040 -0.063210 -0.103936 q: -0.012567 0.894185 -0.013715 0.447311 
time: 1403636596.863555, t: -0.298658 -0.041109 -0.103099 q: -0.009511 0.892184 -0.005351 0.451539 
time: 1403636597.063555, t: -0.212807 -0.055907 -0.111216 q: -0.002579 0.894198 -0.001373 0.447661 
time: 1403636597.263556, t: -0.081797 -0.078552 -0.113000 q: -0.014590 0.900447 0.015861 0.434431 
time: 1403636597.463556, t: 0.055260 -0.084004 -0.105459 q: -0.031514 0.895713 0.047680 0.440944 
time: 1403636597.663555, t: 0.134971 -0.058195 -0.106945 q: -0.062905 0.886317 0.082373 0.451331 
time: 1403636597.863555, t: 0.119249 -0.013748 -0.110894 q: -0.084725 0.875579 0.107938 0.463177 
time: 1403636598.063555, t: 0.042640 0.006352 -0.116194 q: -0.084547 0.876044 0.123645 0.458379 
time: 1403636598.263556, t: -0.039609 -0.000927 -0.134982 q: -0.075329 0.891584 0.122466 0.429425 
time: 1403636598.463556, t: -0.059931 -0.022338 -0.164818 q: -0.059419 0.898652 0.118705 0.418096 
time: 1403636598.663555, t: -0.010906 -0.039744 -0.190616 q: -0.070273 0.887209 0.124436 0.438677 
time: 1403636598.863555, t: 0.057820 -0.047445 -0.227514 q: -0.094524 0.864272 0.132615 0.475934 
time: 1403636599.063555, t: 0.108611 -0.053311 -0.272474 q: -0.102583 0.845695 0.131239 0.507003 
time: 1403636599.263556, t: 0.138868 -0.053995 -0.296993 q: -0.119297 0.815911 0.127045 0.551287 
time: 1403636599.463556, t: 0.158709 -0.053688 -0.314627 q: -0.115558 0.799123 0.119926 0.577639 
time: 1403636599.663555, t: 0.166922 -0.055718 -0.331240 q: -0.106581 0.806894 0.109657 0.570560 
time: 1403636599.863555, t: 0.166294 -0.059559 -0.334271 q: -0.110273 0.792402 0.106955 0.590339 
time: 1403636600.063555, t: 0.165645 -0.063126 -0.336606 q: -0.114255 0.792570 0.101450 0.590327 
time: 1403636600.263556, t: 0.165115 -0.064685 -0.336894 q: -0.116652 0.790538 0.099677 0.592879 
time: 1403636600.463556, t: 0.164642 -0.064947 -0.337182 q: -0.117808 0.790591 0.098642 0.592754 
time: 1403636600.663555, t: 0.164884 -0.064662 -0.336760 q: -0.117498 0.790643 0.098871 0.592708 
time: 1403636600.863555, t: 0.164702 -0.065006 -0.336792 q: -0.117695 0.790763 0.098759 0.592527 
time: 1403636601.063555, t: 0.164638 -0.065030 -0.336797 q: -0.117548 0.790835 0.098674 0.592474 
time: 1403636601.263556, t: 0.164590 -0.065090 -0.336821 q: -0.117493 0.790906 0.098678 0.592389 
time: 1403636601.463556, t: 0.164571 -0.065149 -0.336871 q: -0.117327 0.790941 0.098697 0.592373 
time: 1403636601.663555, t: 0.164559 -0.065218 -0.336941 q: -0.117172 0.790906 0.098687 0.592452 
time: 1403636601.863555, t: 0.164600 -0.065240 -0.337014 q: -0.117145 0.790953 0.098683 0.592394 
time: 1403636602.063555, t: 0.164524 -0.065304 -0.337044 q: -0.116957 0.791006 0.098782 0.592345 
time: 1403636602.263556, t: 0.164509 -0.065326 -0.337043 q: -0.116789 0.791044 0.098857 0.592315 
time: 1403636602.463556, t: 0.164515 -0.065346 -0.337088 q: -0.116920 0.791059 0.098746 0.592287 
time: 1403636602.663555, t: 0.164469 -0.065363 -0.337072 q: -0.116813 0.791129 0.098745 0.592215 
time: 1403636602.863555, t: 0.164428 -0.065382 -0.337097 q: -0.116783 0.791132 0.098702 0.592224 
time: 1403636603.063555, t: 0.164404 -0.065401 -0.337124 q: -0.116733 0.791154 0.098729 0.592201 
time: 1403636603.263556, t: 0.164400 -0.065436 -0.337156 q: -0.116655 0.791190 0.098773 0.592160 
time: 1403636603.463556, t: 0.164402 -0.065451 -0.337186 q: -0.116574 0.791188 0.098844 0.592167 
time: 1403636603.663555, t: 0.164360 -0.065477 -0.337167 q: -0.116498 0.791253 0.098814 0.592100 
time: 1403636603.863555, t: 0.164362 -0.065511 -0.337197 q: -0.116488 0.791252 0.098773 0.592110 
time: 1403636604.063555, t: 0.164325 -0.065556 -0.337232 q: -0.116451 0.791288 0.098778 0.592069 
time: 1403636604.263556, t: 0.164303 -0.065569 -0.337255 q: -0.116450 0.791307 0.098770 0.592045 
time: 1403636604.463556, t: 0.164307 -0.065596 -0.337285 q: -0.116383 0.791351 0.098830 0.591990 
time: 1403636604.663555, t: 0.164304 -0.065589 -0.337297 q: -0.116374 0.791369 0.098790 0.591974 
time: 1403636604.863555, t: 0.164289 -0.065601 -0.337290 q: -0.116301 0.791404 0.098835 0.591933 
time: 1403636605.063555, t: 0.164280 -0.065631 -0.337300 q: -0.116318 0.791461 0.098829 0.591855 
time: 1403636605.263556, t: 0.164242 -0.065644 -0.337303 q: -0.116283 0.791456 0.098747 0.591883 
time: 1403636605.463556, t: 0.164234 -0.065667 -0.337313 q: -0.116266 0.791491 0.098734 0.591840 
time: 1403636605.663555, t: 0.164224 -0.065696 -0.337327 q: -0.116226 0.791522 0.098742 0.591807 
time: 1403636605.863555, t: 0.163917 -0.065716 -0.337139 q: -0.116067 0.791563 0.098727 0.591784 
time: 1403636606.063555, t: 0.163890 -0.066019 -0.337066 q: -0.116070 0.791566 0.098740 0.591778 
time: 1403636606.263556, t: 0.163886 -0.065997 -0.337069 q: -0.115974 0.791573 0.098719 0.591791 
time: 1403636606.463556, t: 0.163848 -0.066015 -0.337067 q: -0.115972 0.791591 0.098673 0.591775 
time: 1403636606.663555, t: 0.163857 -0.066021 -0.337096 q: -0.115932 0.791591 0.098711 0.591776 
time: 1403636606.863555, t: 0.163857 -0.066042 -0.337101 q: -0.115938 0.791634 0.098737 0.591714 
time: 1403636607.063555, t: 0.163816 -0.066054 -0.337084 q: -0.115864 0.791675 0.098701 0.591679 
time: 1403636607.263556, t: 0.163811 -0.066070 -0.337088 q: -0.115803 0.791717 0.098705 0.591635 
time: 1403636607.463556, t: 0.163797 -0.066089 -0.337092 q: -0.115799 0.791739 0.098718 0.591604 
time: 1403636607.663555, t: 0.163803 -0.066089 -0.337106 q: -0.115689 0.791776 0.098753 0.591570 
time: 1403636607.863555, t: 0.163813 -0.066104 -0.337126 q: -0.115731 0.791802 0.098752 0.591526 
time: 1403636608.063555, t: 0.163787 -0.066105 -0.337111 q: -0.115666 0.791821 0.098718 0.591519 
time: 1403636608.463556, t: 0.163764 -0.066125 -0.337120 q: -0.115704 0.791827 0.098696 0.591508 
time: 1403636608.663555, t: 0.163769 -0.066127 -0.337145 q: -0.115642 0.791823 0.098727 0.591520 
time: 1403636608.863555, t: 0.163762 -0.066137 -0.337140 q: -0.115605 0.791864 0.098742 0.591471 
time: 1403636609.063555, t: 0.163746 -0.066148 -0.337127 q: -0.115601 0.791871 0.098712 0.591466 
time: 1403636609.263556, t: 0.163740 -0.066154 -0.337149 q: -0.115646 0.791852 0.098685 0.591488 
time: 1403636609.463556, t: 0.163723 -0.066164 -0.337142 q: -0.115606 0.791893 0.098696 0.591438 
time: 1403636609.663555, t: 0.163715 -0.066182 -0.337166 q: -0.115688 0.791920 0.098646 0.591395 
time: 1403636609.863555, t: 0.163737 -0.066208 -0.337157 q: -0.115679 0.791911 0.098687 0.591402 
time: 1403636610.063555, t: 0.163731 -0.066226 -0.337182 q: -0.115714 0.791934 0.098680 0.591365 
time: 1403636610.263556, t: 0.163723 -0.066235 -0.337173 q: -0.115611 0.791963 0.098686 0.591345 
time: 1403636610.463556, t: 0.163713 -0.066228 -0.337171 q: -0.115677 0.791952 0.098576 0.591366 
time: 1403636610.663555, t: 0.163695 -0.066233 -0.337157 q: -0.115607 0.791969 0.098630 0.591348 
time: 1403636610.863555, t: 0.163730 -0.066239 -0.337165 q: -0.115719 0.792093 0.098838 0.591125 
time: 1403636611.063555, t: 0.163750 -0.066241 -0.337172 q: -0.115599 0.792107 0.098925 0.591115 
time: 1403636611.263556, t: 0.163974 -0.066185 -0.337268 q: -0.115611 0.792070 0.098869 0.591172 
time: 1403636611.463556, t: 0.163948 -0.066420 -0.337487 q: -0.116490 0.792235 0.098171 0.590894 
time: 1403636611.663555, t: 0.163845 -0.066538 -0.337365 q: -0.115881 0.792072 0.098265 0.591216 
time: 1403636611.863555, t: 0.163828 -0.066792 -0.337271 q: -0.115230 0.791799 0.098450 0.591679 
time: 1403636612.063555, t: 0.163976 -0.066742 -0.337373 q: -0.115418 0.792023 0.098732 0.591295 
time: 1403636612.263556, t: 0.164016 -0.067096 -0.337258 q: -0.113974 0.791710 0.099850 0.591806 
time: 1403636612.463556, t: 0.163963 -0.067054 -0.337312 q: -0.114662 0.791827 0.099443 0.591586 
time: 1403636612.663555, t: 0.163965 -0.066880 -0.337323 q: -0.114933 0.791953 0.099046 0.591431 
time: 1403636612.863555, t: 0.163968 -0.066776 -0.337326 q: -0.115370 0.791971 0.098733 0.591375 
time: 1403636613.063555, t: 0.163930 -0.067012 -0.337416 q: -0.115818 0.791900 0.098344 0.591447 
time: 1403636613.263556, t: 0.163887 -0.067002 -0.337420 q: -0.115815 0.791925 0.098293 0.591422 
time: 1403636613.463556, t: 0.163948 -0.067006 -0.337463 q: -0.115821 0.791889 0.098276 0.591472 
time: 1403636613.663555, t: 0.163931 -0.067051 -0.337444 q: -0.115747 0.791923 0.098304 0.591436 
time: 1403636613.863555, t: 0.163917 -0.067078 -0.337429 q: -0.115590 0.791928 0.098361 0.591451 
time: 1403636614.063555, t: 0.163872 -0.067100 -0.337404 q: -0.115565 0.791903 0.098366 0.591489 
time: 1403636614.263556, t: 0.163871 -0.067109 -0.337390 q: -0.115445 0.791962 0.098424 0.591424 
time: 1403636614.663555, t: 0.163879 -0.067106 -0.337385 q: -0.115415 0.791973 0.098452 0.591409 
time: 1403636614.863555, t: 0.163887 -0.067093 -0.337394 q: -0.115414 0.792004 0.098450 0.591369 
time: 1403636615.063555, t: 0.163885 -0.067075 -0.337403 q: -0.115429 0.791962 0.098397 0.591430 
time: 1403636615.263556, t: 0.163886 -0.067073 -0.337388 q: -0.115408 0.791949 0.098462 0.591442 
time: 1403636615.463556, t: 0.163881 -0.067071 -0.337390 q: -0.115318 0.791987 0.098452 0.591409 
time: 1403636615.663555, t: 0.163872 -0.067062 -0.337386 q: -0.115304 0.792013 0.098434 0.591380 
time: 1403636615.863555, t: 0.163877 -0.067068 -0.337389 q: -0.115296 0.792040 0.098423 0.591347 
time: 1403636616.063555, t: 0.163874 -0.067083 -0.337391 q: -0.115238 0.792054 0.098466 0.591333 
time: 1403636616.263556, t: 0.163869 -0.067062 -0.337389 q: -0.115156 0.792036 0.098475 0.591373 
time: 1403636616.463556, t: 0.163879 -0.067081 -0.337396 q: -0.115195 0.792040 0.098477 0.591359 
time: 1403636616.663555, t: 0.163874 -0.067082 -0.337398 q: -0.115157 0.792056 0.098461 0.591347 
time: 1403636616.863555, t: 0.163877 -0.067099 -0.337399 q: -0.115196 0.792067 0.098464 0.591324 
time: 1403636617.063555, t: 0.163871 -0.067094 -0.337406 q: -0.115148 0.792049 0.098445 0.591361 
time: 1403636617.263556, t: 0.163881 -0.067093 -0.337406 q: -0.115121 0.792069 0.098490 0.591332 
time: 1403636617.463556, t: 0.163879 -0.067089 -0.337400 q: -0.115099 0.792093 0.098483 0.591305 
time: 1403636617.663555, t: 0.163874 -0.067101 -0.337410 q: -0.115115 0.792104 0.098446 0.591293 
time: 1403636617.863555, t: 0.163873 -0.067094 -0.337413 q: -0.115078 0.792095 0.098437 0.591315 
time: 1403636618.063555, t: 0.163875 -0.067092 -0.337411 q: -0.115061 0.792112 0.098426 0.591297 
time: 1403636618.263556, t: 0.163870 -0.067097 -0.337408 q: -0.115016 0.792102 0.098495 0.591308 
time: 1403636618.463556, t: 0.163874 -0.067098 -0.337418 q: -0.115014 0.792094 0.098469 0.591323 
time: 1403636618.663555, t: 0.163663 -0.067093 -0.337314 q: -0.115117 0.792072 0.098538 0.591320 
time: 1403636618.863555, t: 0.163755 -0.067083 -0.337372 q: -0.115213 0.792073 0.098365 0.591330 
time: 1403636619.063555, t: 0.163860 -0.067048 -0.337414 q: -0.115391 0.792124 0.098508 0.591202 
time: 1403636619.263556, t: 0.163800 -0.067084 -0.337405 q: -0.115145 0.792131 0.098133 0.591304 
time: 1403636619.463556, t: 0.163846 -0.067051 -0.337418 q: -0.115437 0.792083 0.098510 0.591248 
time: 1403636619.663555, t: 0.163829 -0.067099 -0.337409 q: -0.115274 0.792103 0.098371 0.591277 
time: 1403636619.863555, t: 0.163790 -0.067128 -0.337425 q: -0.115324 0.792103 0.098247 0.591288 
time: 1403636620.063555, t: 0.163231 -0.067713 -0.337324 q: -0.115333 0.792109 0.098279 0.591272 
time: 1403636620.263556, t: 0.163242 -0.067694 -0.337306 q: -0.115321 0.792115 0.098326 0.591259 
time: 1403636620.463556, t: 0.163246 -0.067708 -0.337298 q: -0.115243 0.792078 0.098320 0.591325 
time: 1403636620.663555, t: 0.163246 -0.067718 -0.337299 q: -0.115281 0.792131 0.098276 0.591254 
time: 1403636620.863555, t: 0.163240 -0.067707 -0.337333 q: -0.115332 0.792102 0.098289 0.591280 
time: 1403636621.063555, t: 0.163189 -0.067807 -0.337236 q: -0.114803 0.792066 0.098550 0.591388 
time: 1403636621.463556, t: 0.163241 -0.067760 -0.337291 q: -0.115104 0.792051 0.098454 0.591366 
time: 1403636621.663555, t: 0.163250 -0.067748 -0.337274 q: -0.115071 0.792086 0.098472 0.591322 
time: 1403636621.863555, t: 0.163240 -0.067732 -0.337290 q: -0.115137 0.792099 0.098441 0.591296 
time: 1403636622.063555, t: 0.163255 -0.067696 -0.337284 q: -0.115145 0.792046 0.098394 0.591374 
time: 1403636622.263556, t: 0.163258 -0.067728 -0.337263 q: -0.115151 0.792084 0.098497 0.591305 
time: 1403636622.463556, t: 0.163233 -0.067736 -0.337261 q: -0.115085 0.792114 0.098438 0.591287 
time: 1403636622.663555, t: 0.163237 -0.067735 -0.337274 q: -0.115127 0.792057 0.098397 0.591363 
time: 1403636622.863555, t: 0.163208 -0.067795 -0.337246 q: -0.115116 0.792008 0.098233 0.591457 
time: 1403636623.063555, t: 0.163249 -0.067750 -0.337110 q: -0.115321 0.791574 0.098356 0.591978 
time: 1403636623.263556, t: 0.163252 -0.067784 -0.337077 q: -0.115322 0.791579 0.098303 0.591979 
time: 1403636623.463556, t: 0.163300 -0.067853 -0.337044 q: -0.115127 0.791552 0.098311 0.592053 
time: 1403636623.663555, t: 0.163411 -0.067877 -0.337057 q: -0.115016 0.791743 0.098176 0.591841 
time: 1403636623.863555, t: 0.163475 -0.068062 -0.337025 q: -0.114646 0.791908 0.097489 0.591805 
time: 1403636624.063555, t: 0.163493 -0.068174 -0.336999 q: -0.114347 0.792097 0.097091 0.591676 
time: 1403636624.263556, t: 0.163344 -0.068395 -0.336839 q: -0.113840 0.792872 0.096253 0.590872 
time: 1403636624.463556, t: 0.159449 -0.075583 -0.336937 q: -0.107448 0.802731 0.094817 0.578867 
time: 1403636624.663555, t: 0.150243 -0.094611 -0.335960 q: -0.099359 0.807222 0.094789 0.574052 
time: 1403636624.863555, t: 0.136230 -0.125061 -0.335459 q: -0.081768 0.808665 0.108440 0.572377 
time: 1403636625.063555, t: 0.112905 -0.156733 -0.307079 q: -0.060061 0.821464 0.125093 0.553119 
time: 1403636625.263556, t: 0.099331 -0.167332 -0.252870 q: -0.070266 0.823469 0.119359 0.550196 
time: 1403636625.463556, t: 0.098078 -0.169098 -0.236152 q: -0.075442 0.822539 0.118725 0.551037 
time: 1403636625.663555, t: 0.107986 -0.163685 -0.244667 q: -0.075436 0.822719 0.121325 0.550202 
time: 1403636625.863555, t: 0.133658 -0.146885 -0.192851 q: -0.081094 0.811570 0.120168 0.565984 
time: 1403636626.063555, t: 0.159593 -0.125590 -0.098690 q: -0.088985 0.805977 0.116285 0.573550 
time: 1403636626.263556, t: 0.179426 -0.109556 -0.018237 q: -0.103894 0.805585 0.106448 0.573505 
time: 1403636626.463556, t: 0.200220 -0.106389 0.013326 q: -0.101125 0.804271 0.109135 0.575335 
time: 1403636626.663555, t: 0.214004 -0.123476 0.018508 q: -0.092783 0.795440 0.118330 0.587082 
time: 1403636626.863555, t: 0.214675 -0.144398 0.006252 q: -0.092221 0.800537 0.123046 0.579219 
time: 1403636627.063555, t: 0.202415 -0.166757 -0.018755 q: -0.089310 0.810197 0.125969 0.565453 
time: 1403636627.263556, t: 0.191336 -0.187529 -0.016188 q: -0.089957 0.808324 0.126379 0.567934 
time: 1403636627.463556, t: 0.182206 -0.206054 0.024655 q: -0.094335 0.805102 0.123290 0.572460 
time: 1403636627.663555, t: 0.170716 -0.228975 0.052931 q: -0.087425 0.810667 0.111136 0.568177 
time: 1403636627.863555, t: 0.161409 -0.256898 0.031205 q: -0.069607 0.825209 0.094976 0.552417 
time: 1403636628.063555, t: 0.170286 -0.280929 0.023497 q: -0.055535 0.830112 0.083008 0.548579 
time: 1403636628.263556, t: 0.200001 -0.296227 0.056984 q: -0.058710 0.814045 0.070011 0.573570 
time: 1403636628.463556, t: 0.227374 -0.315643 0.102296 q: -0.067183 0.810706 0.061767 0.578297 
time: 1403636628.663555, t: 0.248202 -0.346959 0.127716 q: -0.071432 0.811710 0.061154 0.576442 
time: 1403636628.863555, t: 0.266952 -0.394227 0.128261 q: -0.054675 0.818121 0.060286 0.569258 
time: 1403636629.063555, t: 0.283627 -0.446897 0.142592 q: -0.043000 0.825866 0.053618 0.559662 
time: 1403636629.263556, t: 0.302717 -0.502484 0.170640 q: -0.032538 0.825670 0.040091 0.561786 
time: 1403636629.463556, t: 0.340074 -0.554981 0.179696 q: -0.033169 0.820114 0.019932 0.570891 
time: 1403636629.663555, t: 0.378517 -0.617635 0.162785 q: -0.018560 0.824563 -0.007192 0.565421 
time: 1403636629.863555, t: 0.430259 -0.690968 0.121780 q: 0.010039 0.832672 -0.038157 0.552360 
time: 1403636630.063555, t: 0.491044 -0.768561 0.082803 q: 0.030035 0.831619 -0.064084 0.550819 
time: 1403636630.263556, t: 0.566046 -0.847584 0.074769 q: 0.039222 0.816742 -0.074910 0.570774 
time: 1403636630.463556, t: 0.645277 -0.924637 0.088471 q: 0.042229 0.817420 -0.075241 0.569544 
time: 1403636630.663555, t: 0.756491 -0.984649 0.115151 q: 0.042602 0.821536 -0.063074 0.565054 
time: 1403636630.863555, t: 0.845208 -1.052218 0.130960 q: 0.036353 0.822556 -0.060467 0.564291 
time: 1403636631.063555, t: 0.943259 -1.114832 0.124871 q: 0.029551 0.821594 -0.060173 0.566118 
time: 1403636631.263556, t: 1.043830 -1.177090 0.114819 q: 0.028555 0.817779 -0.058770 0.571812 
time: 1403636631.463556, t: 1.131668 -1.242190 0.090627 q: 0.028637 0.817635 -0.057361 0.572157 
time: 1403636631.663555, t: 1.220750 -1.303258 0.059205 q: 0.031453 0.818369 -0.053184 0.571363 
time: 1403636632.063555, t: 1.385721 -1.414433 0.049883 q: 0.035963 0.818500 -0.050324 0.571168 
time: 1403636632.263556, t: 1.466695 -1.452735 0.049286 q: 0.041942 0.816169 -0.049124 0.574191 
time: 1403636632.463556, t: 1.540300 -1.480418 0.032641 q: 0.039669 0.817909 -0.054239 0.571410 
time: 1403636632.663555, t: 1.615495 -1.497611 -0.005275 q: 0.016284 0.828228 -0.054572 0.557489 
time: 1403636632.863555, t: 1.712237 -1.517022 -0.037331 q: -0.006394 0.828952 -0.020563 0.558905 
time: 1403636633.063555, t: 1.813726 -1.539393 -0.037162 q: -0.016715 0.822606 0.023244 0.567890 
time: 1403636633.263556, t: 1.915597 -1.562648 -0.042744 q: -0.027721 0.821892 0.042223 0.567400 
time: 1403636633.463556, t: 2.022947 -1.582243 -0.069528 q: -0.038646 0.825928 0.042056 0.560875 
time: 1403636633.663555, t: 2.139688 -1.603635 -0.101810 q: -0.038258 0.830141 0.037861 0.554949 
time: 1403636633.863555, t: 2.267766 -1.627535 -0.111765 q: -0.037431 0.829178 0.031060 0.556864 
time: 1403636634.063555, t: 2.408989 -1.653074 -0.112630 q: -0.045177 0.826715 0.018155 0.560510 
time: 1403636634.263556, t: 2.558615 -1.690724 -0.109349 q: -0.039233 0.828128 0.024861 0.558611 
time: 1403636634.463556, t: 2.717710 -1.735858 -0.090692 q: -0.032166 0.819216 0.034234 0.571558 
time: 1403636634.663555, t: 2.873987 -1.778733 -0.094924 q: -0.033158 0.814480 0.043647 0.577596 
time: 1403636634.863555, t: 3.021650 -1.815427 -0.102295 q: -0.040358 0.817048 0.057579 0.572265 
time: 1403636635.063555, t: 3.164750 -1.844189 -0.087481 q: -0.045320 0.819677 0.069210 0.566821 
time: 1403636635.263556, t: 3.301161 -1.870640 -0.083027 q: -0.050816 0.822149 0.073468 0.562220 
time: 1403636635.463556, t: 3.439968 -1.892846 -0.091246 q: -0.060269 0.824664 0.070203 0.558004 
time: 1403636635.663555, t: 3.584061 -1.918703 -0.079501 q: -0.064969 0.824334 0.066125 0.558462 
time: 1403636635.863555, t: 3.741299 -1.951367 -0.040233 q: -0.072984 0.818464 0.057585 0.566987 
time: 1403636636.063555, t: 3.900758 -2.001531 0.017100 q: -0.069260 0.826604 0.057921 0.555495 
time: 1403636636.263556, t: 4.072155 -2.058132 0.076989 q: -0.055274 0.820389 0.067638 0.565095 
time: 1403636636.463556, t: 4.242417 -2.114201 0.153602 q: -0.052914 0.804135 0.069753 0.587964 
time: 1403636636.663555, t: 4.392485 -2.163203 0.201646 q: -0.039937 0.800971 0.079110 0.592109 
time: 1403636636.863555, t: 4.518585 -2.198592 0.210349 q: -0.024881 0.801631 0.090340 0.590430 
time: 1403636637.263556, t: 4.709665 -2.209106 0.161024 q: -0.053532 0.816465 0.076690 0.569770 
time: 1403636637.463556, t: 4.804328 -2.202914 0.151934 q: -0.054333 0.820416 0.079669 0.563576 
time: 1403636637.663555, t: 4.894097 -2.191245 0.172066 q: -0.058307 0.822146 0.080027 0.560599 
time: 1403636637.863555, t: 4.998201 -2.175572 0.219467 q: -0.058948 0.818561 0.082002 0.565472 
time: 1403636638.063555, t: 5.105736 -2.151620 0.262321 q: -0.060801 0.813717 0.082579 0.572144 
time: 1403636638.263556, t: 5.199951 -2.128940 0.247559 q: -0.062445 0.810775 0.083136 0.576049 
time: 1403636638.463556, t: 5.278815 -2.117243 0.205617 q: -0.075306 0.826967 0.075629 0.552028 
time: 1403636638.663555, t: 5.376060 -2.110580 0.173344 q: -0.073550 0.834466 0.077656 0.540580 
time: 1403636638.863555, t: 5.483550 -2.120093 0.182989 q: -0.068929 0.824373 0.082328 0.555769 
time: 1403636639.063555, t: 5.611533 -2.131771 0.215434 q: -0.083169 0.821035 0.073463 0.559989 
time: 1403636639.263556, t: 5.750326 -2.153964 0.214229 q: -0.094741 0.822276 0.065659 0.557293 
time: 1403636639.463556, t: 5.901724 -2.192156 0.174566 q: -0.074673 0.822333 0.080607 0.558297 
time: 1403636639.663555, t: 6.063415 -2.235572 0.117735 q: -0.057478 0.816546 0.094218 0.566632 
time: 1403636639.863555, t: 6.215060 -2.270317 0.073946 q: -0.066684 0.810435 0.088919 0.575189 
time: 1403636640.063555, t: 6.356478 -2.303100 0.060820 q: -0.071097 0.809014 0.090708 0.576380 
time: 1403636640.263556, t: 6.491362 -2.334905 0.079071 q: -0.077935 0.807345 0.107407 0.574965 
time: 1403636640.463556, t: 6.611005 -2.365678 0.089910 q: -0.083578 0.806035 0.117271 0.574082 
time: 1403636640.663555, t: 6.718799 -2.393605 0.075788 q: -0.086674 0.805548 0.122180 0.573281 
time: 1403636640.863555, t: 6.813916 -2.422980 0.054679 q: -0.087853 0.807958 0.125166 0.569051 
time: 1403636641.063555, t: 6.908216 -2.444253 0.059858 q: -0.087731 0.807738 0.124834 0.569455 
time: 1403636641.263556, t: 6.985750 -2.465430 0.039542 q: -0.088007 0.806376 0.123101 0.571715 
time: 1403636641.463556, t: 7.061028 -2.474098 0.008496 q: -0.097007 0.807928 0.114463 0.569859 
time: 1403636641.663555, t: 7.128540 -2.490512 -0.024028 q: -0.089806 0.807729 0.117718 0.570658 
time: 1403636641.863555, t: 7.206490 -2.513478 -0.024219 q: -0.086644 0.806809 0.118248 0.572336 
time: 1403636642.063555, t: 7.274479 -2.529858 0.003048 q: -0.079818 0.806920 0.106611 0.575451 
time: 1403636642.263556, t: 7.322120 -2.553576 0.027630 q: -0.070993 0.806870 0.094751 0.578743 
time: 1403636642.463556, t: 7.356366 -2.578482 0.021443 q: -0.062490 0.807284 0.079426 0.581446 
time: 1403636642.663555, t: 7.382701 -2.602424 -0.008906 q: -0.056663 0.815489 0.070932 0.571608 
time: 1403636642.863555, t: 7.405858 -2.627309 -0.040256 q: -0.055447 0.822507 0.067717 0.561981 
time: 1403636643.063555, t: 7.434106 -2.649904 -0.037706 q: -0.056994 0.821432 0.066789 0.563508 
time: 1403636643.263556, t: 7.464086 -2.646716 -0.094425 q: -0.058763 0.813428 0.064302 0.575106 
time: 1403636643.463556, t: 7.515719 -2.700272 -0.049082 q: -0.060643 0.819730 0.066534 0.565631 
time: 1403636643.663555, t: 7.572639 -2.728711 -0.029742 q: -0.059748 0.827563 0.070038 0.553773 
time: 1403636643.863555, t: 7.635452 -2.756724 0.007099 q: -0.057672 0.832837 0.073543 0.545571 
time: 1403636644.063555, t: 7.719106 -2.784168 0.029890 q: -0.055804 0.835720 0.075132 0.541123 
time: 1403636644.263556, t: 7.830882 -2.802001 0.032166 q: -0.062638 0.828946 0.069531 0.551444 
time: 1403636644.463556, t: 7.952166 -2.822625 0.011016 q: -0.079752 0.814230 0.055875 0.572317 
time: 1403636644.663555, t: 8.071219 -2.864791 -0.039328 q: -0.085398 0.808520 0.051470 0.579960 
time: 1403636644.863555, t: 8.184797 -2.929262 -0.111608 q: -0.057858 0.808826 0.069229 0.581086 
time: 1403636645.063555, t: 8.282316 -2.993954 -0.186011 q: -0.054166 0.823151 0.068776 0.561033 
time: 1403636645.263556, t: 8.385614 -3.054309 -0.225940 q: -0.052050 0.843052 0.068210 0.530944 
time: 1403636645.463556, t: 8.522643 -3.108395 -0.242282 q: -0.051523 0.835481 0.067229 0.542952 
time: 1403636645.663555, t: 8.692029 -3.154104 -0.270297 q: -0.049925 0.831269 0.067532 0.549489 
time: 1403636645.863555, t: 8.880101 -3.195691 -0.288474 q: -0.051957 0.830414 0.066655 0.550699 
time: 1403636646.063555, t: 9.083762 -3.240095 -0.260985 q: -0.054539 0.824810 0.053477 0.560226 
time: 1403636646.263556, t: 9.292780 -3.292362 -0.229453 q: -0.041438 0.819414 0.013005 0.571555 
time: 1403636646.463556, t: 9.496049 -3.357373 -0.220533 q: -0.010770 0.809845 -0.034200 0.585548 
time: 1403636646.663555, t: 9.678092 -3.430909 -0.208252 q: 0.021555 0.805895 -0.055820 0.589026 
time: 1403636646.863555, t: 9.836073 -3.505813 -0.166945 q: 0.034278 0.806632 -0.067719 0.586160 
time: 1403636647.063555, t: 9.970288 -3.583349 -0.115682 q: 0.037368 0.810060 -0.070713 0.580866 
time: 1403636647.263556, t: 10.082835 -3.661926 -0.085717 q: 0.037075 0.815033 -0.070320 0.573935 
time: 1403636647.463556, t: 10.191975 -3.742160 -0.072685 q: 0.031034 0.811122 -0.070423 0.579792 
time: 1403636647.663555, t: 10.284587 -3.828503 -0.068853 q: 0.024015 0.802602 -0.073107 0.591530 
time: 1403636647.863555, t: 10.368191 -3.919842 -0.051561 q: 0.033345 0.806021 -0.075451 0.586110 
time: 1403636648.063555, t: 10.430353 -4.019510 -0.056571 q: 0.052704 0.804341 -0.098185 0.583625 
time: 1403636648.263556, t: 10.469321 -4.121704 -0.090815 q: 0.083005 0.798053 -0.140485 0.580074 
time: 1403636648.463556, t: 10.496494 -4.220561 -0.139242 q: 0.116646 0.788856 -0.186908 0.573729 
time: 1403636648.663555, t: 10.504602 -4.320459 -0.191408 q: 0.143878 0.779984 -0.224426 0.566177 
time: 1403636648.863555, t: 10.505312 -4.416526 -0.220054 q: 0.154562 0.786801 -0.242999 0.545899 
time: 1403636649.063555, t: 10.525111 -4.511454 -0.209293 q: 0.158866 0.791008 -0.246301 0.537032 
time: 1403636649.263556, t: 10.554188 -4.610343 -0.158108 q: 0.165141 0.776612 -0.238752 0.559106 
time: 1403636649.463556, t: 10.565203 -4.701140 -0.085382 q: 0.161684 0.781082 -0.233928 0.555920 
time: 1403636649.663555, t: 10.581027 -4.791488 0.012078 q: 0.156730 0.775641 -0.232575 0.565443 
time: 1403636649.863555, t: 10.578785 -4.875711 0.089546 q: 0.166732 0.768392 -0.243374 0.567929 
time: 1403636650.063555, t: 10.568869 -4.956561 0.136377 q: 0.175989 0.764917 -0.250369 0.566785 
time: 1403636650.263556, t: 10.534535 -5.025843 0.144502 q: 0.193214 0.757213 -0.273172 0.560958 
time: 1403636650.463556, t: 10.484925 -5.087890 0.128275 q: 0.219818 0.745715 -0.315456 0.544129 
time: 1403636650.663555, t: 10.422347 -5.135297 0.097351 q: 0.239642 0.737028 -0.350886 0.525586 
time: 1403636650.863555, t: 10.367414 -5.177356 0.074452 q: 0.252441 0.728948 -0.366140 0.520433 
time: 1403636651.063555, t: 10.311253 -5.219739 0.081772 q: 0.260876 0.720338 -0.365738 0.528482 
time: 1403636651.263556, t: 10.250635 -5.252066 0.110803 q: 0.257813 0.723380 -0.363658 0.527263 
time: 1403636651.463556, t: 10.189881 -5.278677 0.144476 q: 0.250335 0.730721 -0.360433 0.522942 
time: 1403636651.663555, t: 10.128846 -5.297481 0.156458 q: 0.249188 0.727323 -0.353381 0.532943 
time: 1403636651.863555, t: 10.055571 -5.301385 0.148114 q: 0.245578 0.716711 -0.364560 0.541400 
time: 1403636652.063555, t: 9.957207 -5.301021 0.120528 q: 0.263935 0.699150 -0.395617 0.533869 
time: 1403636652.263556, t: 9.838835 -5.304983 0.072244 q: 0.301790 0.681296 -0.441329 0.499987 
time: 1403636652.463556, t: 9.713584 -5.292198 0.014152 q: 0.326272 0.660436 -0.492377 0.463612 
time: 1403636652.663555, t: 9.596091 -5.294572 -0.022611 q: 0.334121 0.650342 -0.521486 0.439853 
time: 1403636652.863555, t: 9.490212 -5.317966 -0.018046 q: 0.339476 0.646686 -0.528881 0.432247 
time: 1403636653.063555, t: 9.397747 -5.365520 0.011008 q: 0.346259 0.644692 -0.522743 0.437283 
time: 1403636653.263556, t: 9.311085 -5.430781 0.003935 q: 0.354018 0.640070 -0.510491 0.452085 
time: 1403636653.463556, t: 9.229756 -5.488622 0.004178 q: 0.355733 0.641377 -0.500390 0.460108 
time: 1403636653.663555, t: 9.150370 -5.532946 0.035334 q: 0.353278 0.643280 -0.494902 0.465250 
time: 1403636653.863555, t: 9.076446 -5.574175 0.060440 q: 0.356342 0.641855 -0.489211 0.470867 
time: 1403636654.063555, t: 9.001271 -5.591785 0.049760 q: 0.349947 0.641921 -0.493319 0.471286 
time: 1403636654.263556, t: 8.923671 -5.597950 0.036464 q: 0.356350 0.633645 -0.502673 0.467792 
time: 1403636654.463556, t: 8.835090 -5.588366 0.047836 q: 0.370325 0.620583 -0.524853 0.449740 
time: 1403636654.663555, t: 8.750181 -5.572876 0.083074 q: 0.383333 0.601669 -0.553145 0.430211 
time: 1403636654.863555, t: 8.671056 -5.553852 0.099403 q: 0.390524 0.591034 -0.569757 0.416589 
time: 1403636655.063555, t: 8.600578 -5.532716 0.092288 q: 0.404600 0.578755 -0.570259 0.419697 
time: 1403636655.263556, t: 8.533787 -5.501172 0.072719 q: -0.411545 -0.569346 0.569833 -0.426340 
time: 1403636655.463556, t: 8.464072 -5.453686 0.052980 q: -0.418402 -0.556063 0.579214 -0.424552 
time: 1403636655.663555, t: 8.390965 -5.379659 0.044238 q: -0.417424 -0.545044 0.604189 -0.404525 
time: 1403636655.863555, t: 8.309879 -5.298273 0.004735 q: -0.417668 -0.530344 0.628971 -0.385596 
time: 1403636656.063555, t: 8.218578 -5.219606 -0.056989 q: -0.430009 -0.504924 0.650088 -0.370850 
time: 1403636656.263556, t: 8.115502 -5.147859 -0.084190 q: -0.439336 -0.496529 0.658954 -0.355279 
time: 1403636656.463556, t: 8.007006 -5.088934 -0.071665 q: -0.439862 -0.494997 0.662418 -0.350288 
time: 1403636656.663555, t: 7.895343 -5.050018 -0.035388 q: -0.445539 -0.496499 0.655993 -0.353068 
time: 1403636656.863555, t: 7.780329 -5.016778 -0.019128 q: -0.460991 -0.493066 0.640478 -0.366279 
wait for imu ... 
time: 1403636657.063555, t: 7.671105 -4.973234 -0.036081 q: -0.462734 -0.492258 0.634755 -0.375027 
time: 1403636657.263556, t: 7.565061 -4.911313 -0.065766 q: -0.455156 -0.491530 0.637140 -0.381160 
time: 1403636657.463556, t: 7.457984 -4.833175 -0.080991 q: -0.441233 -0.495408 0.646792 -0.376225 
time: 1403636657.663555, t: 7.341104 -4.747256 -0.107248 q: -0.434145 -0.498257 0.651903 -0.371861 
time: 1403636657.863555, t: 7.213146 -4.664894 -0.146946 q: -0.432002 -0.492057 0.657270 -0.373163 
time: 1403636658.063555, t: 7.068283 -4.580158 -0.179409 q: -0.427381 -0.490599 0.664035 -0.368398 
time: 1403636658.263556, t: 6.908167 -4.496006 -0.184341 q: -0.440499 -0.498019 0.658007 -0.353504 
time: 1403636658.463556, t: 6.743171 -4.425371 -0.201037 q: -0.445028 -0.502716 0.656266 -0.344298 
time: 1403636658.663555, t: 6.583315 -4.370272 -0.226185 q: -0.452453 -0.508685 0.651386 -0.334994 
time: 1403636658.863555, t: 6.433790 -4.331254 -0.260292 q: -0.463938 -0.509917 0.643066 -0.333486 
time: 1403636659.063555, t: 6.302279 -4.302471 -0.303640 q: -0.466209 -0.499471 0.641192 -0.349358 
time: 1403636659.263556, t: 6.184837 -4.273511 -0.363168 q: -0.467028 -0.495912 0.639573 -0.356234 
time: 1403636659.463556, t: 6.082836 -4.232025 -0.409694 q: -0.457496 -0.503169 0.645456 -0.347713 
time: 1403636659.663555, t: 5.993273 -4.190842 -0.435469 q: -0.459476 -0.503033 0.644597 -0.346891 
time: 1403636659.863555, t: 5.916452 -4.155167 -0.480781 q: -0.463150 -0.500130 0.643716 -0.347839 
time: 1403636660.063555, t: 5.854287 -4.111630 -0.547396 q: -0.454776 -0.503992 0.651323 -0.339041 
time: 1403636660.263556, t: 5.805323 -4.080645 -0.626646 q: -0.448060 -0.507590 0.656780 -0.332015 
time: 1403636660.463556, t: 5.763589 -4.063421 -0.690887 q: -0.434858 -0.514827 0.665769 -0.320317 
time: 1403636660.663555, t: 5.729446 -4.079208 -0.738836 q: -0.449790 -0.510828 0.654664 -0.328875 
time: 1403636660.863555, t: 5.709759 -4.117961 -0.807652 q: -0.473840 -0.509756 0.636307 -0.332773 
time: 1403636661.063555, t: 5.714318 -4.160033 -0.897806 q: -0.474547 -0.504964 0.635257 -0.340976 
time: 1403636661.263556, t: 5.742553 -4.193840 -0.993590 q: -0.470257 -0.498935 0.638175 -0.350220 
time: 1403636661.463556, t: 5.786020 -4.215002 -1.062799 q: -0.469440 -0.497581 0.638361 -0.352893 
time: 1403636661.663555, t: 5.840329 -4.224858 -1.100331 q: -0.463405 -0.497149 0.641573 -0.355644 
time: 1403636661.863555, t: 5.902398 -4.227056 -1.107307 q: -0.458915 -0.490107 0.643445 -0.367655 
time: 1403636662.063555, t: 5.959110 -4.212074 -1.086472 q: -0.459333 -0.489144 0.642267 -0.370464 
time: 1403636662.263556, t: 6.010609 -4.183130 -1.060825 q: -0.464428 -0.496711 0.639323 -0.358959 
time: 1403636662.463556, t: 6.065547 -4.147176 -1.059521 q: -0.461816 -0.503675 0.643159 -0.345520 
time: 1403636662.663555, t: 6.128311 -4.111042 -1.077110 q: -0.445906 -0.498209 0.656169 -0.349855 
time: 1403636662.863555, t: 6.189878 -4.085108 -1.113427 q: -0.437472 -0.485804 0.663228 -0.364336 
time: 1403636663.063555, t: 6.233703 -4.061248 -1.160282 q: -0.425872 -0.486594 0.672408 -0.360176 
time: 1403636663.263556, t: 6.250675 -4.045929 -1.187844 q: -0.427906 -0.492859 0.672027 -0.349808 
time: 1403636663.463556, t: 6.247643 -4.043319 -1.225965 q: -0.437055 -0.511337 0.665439 -0.323586 
time: 1403636663.663555, t: 6.247737 -4.071205 -1.283769 q: -0.435396 -0.518375 0.666089 -0.313119 
time: 1403636663.863555, t: 6.258705 -4.136808 -1.334039 q: -0.452387 -0.526905 0.651738 -0.304886 
time: 1403636664.063555, t: 6.298447 -4.242518 -1.354878 q: -0.471960 -0.526914 0.634684 -0.311114 
time: 1403636664.263556, t: 6.375293 -4.369012 -1.353960 q: -0.471291 -0.516212 0.631460 -0.335660 
time: 1403636664.463556, t: 6.475634 -4.494880 -1.388819 q: -0.467256 -0.512197 0.629312 -0.351130 
time: 1403636664.663555, t: 6.589325 -4.609994 -1.449962 q: -0.459248 -0.509280 0.628192 -0.367559 
time: 1403636664.863555, t: 6.708546 -4.714108 -1.484421 q: -0.453577 -0.517649 0.626214 -0.366282 
time: 1403636665.063555, t: 6.834237 -4.809518 -1.492895 q: -0.441239 -0.524389 0.630635 -0.364176 
time: 1403636665.263556, t: 6.965550 -4.897736 -1.474160 q: -0.429974 -0.522924 0.635852 -0.370627 
time: 1403636665.463556, t: 7.090267 -4.990767 -1.450706 q: -0.435436 -0.521795 0.632005 -0.372418 
time: 1403636665.663555, t: 7.213082 -5.077940 -1.425366 q: -0.444597 -0.530542 0.627934 -0.355749 
time: 1403636665.863555, t: 7.347441 -5.164586 -1.394131 q: -0.450171 -0.521232 0.627101 -0.363880 
time: 1403636666.063555, t: 7.487097 -5.247887 -1.366698 q: -0.439051 -0.506522 0.637184 -0.380349 
time: 1403636666.263556, t: 7.618054 -5.318193 -1.355866 q: -0.446509 -0.508522 0.632706 -0.376455 
time: 1403636666.463556, t: 7.742402 -5.373309 -1.364766 q: -0.440753 -0.504527 0.635320 -0.384132 
time: 1403636666.663555, t: 7.856999 -5.410050 -1.355492 q: -0.437520 -0.515040 0.635378 -0.373638 
time: 1403636666.863555, t: 7.965383 -5.442680 -1.330094 q: -0.425554 -0.525403 0.641255 -0.362834 
time: 1403636667.063555, t: 8.066036 -5.487500 -1.321121 q: -0.405143 -0.518837 0.653913 -0.372914 
time: 1403636667.263556, t: 8.145591 -5.546320 -1.324224 q: -0.440411 -0.520551 0.629372 -0.372768 
time: 1403636667.463556, t: 8.224937 -5.603923 -1.349160 q: -0.446379 -0.524681 0.624195 -0.368560 
time: 1403636667.663555, t: 8.312904 -5.655740 -1.375375 q: -0.426729 -0.526566 0.637527 -0.366319 
time: 1403636667.863555, t: 8.395978 -5.709998 -1.372087 q: -0.423178 -0.522174 0.640651 -0.371244 
time: 1403636668.063555, t: 8.469169 -5.768134 -1.370841 q: -0.425854 -0.521210 0.640966 -0.368987 
time: 1403636668.263556, t: 8.536003 -5.832776 -1.395024 q: -0.433011 -0.524159 0.640010 -0.357975 
time: 1403636668.463556, t: 8.602326 -5.907129 -1.434863 q: -0.438931 -0.521447 0.640385 -0.354032 
time: 1403636668.663555, t: 8.672974 -5.988021 -1.481645 q: -0.442253 -0.518886 0.641687 -0.351295 
time: 1403636668.863555, t: 8.748584 -6.073213 -1.526595 q: -0.459573 -0.523070 0.631217 -0.341695 
time: 1403636669.063555, t: 8.850711 -6.162801 -1.548022 q: -0.463051 -0.514929 0.629230 -0.352848 
time: 1403636669.263556, t: 8.970349 -6.240485 -1.553286 q: -0.460740 -0.507729 0.631973 -0.361303 
time: 1403636669.463556, t: 9.098660 -6.314662 -1.577230 q: -0.462029 -0.505503 0.631689 -0.363271 
time: 1403636669.663555, t: 9.236683 -6.372041 -1.608085 q: -0.473087 -0.500289 0.622305 -0.372339 
time: 1403636669.863555, t: 9.384978 -6.409397 -1.627408 q: -0.462626 -0.487607 0.626802 -0.394127 
time: 1403636670.063555, t: 9.522703 -6.409148 -1.624736 q: -0.430153 -0.479131 0.646885 -0.408585 
time: 1403636670.263556, t: 9.624686 -6.379352 -1.604329 q: -0.416855 -0.471023 0.645909 -0.432632 
time: 1403636670.463556, t: 9.676023 -6.313114 -1.596959 q: -0.398075 -0.473540 0.642030 -0.452872 
time: 1403636670.663555, t: 9.657427 -6.205106 -1.575427 q: -0.376252 -0.496284 0.625987 -0.469337 
time: 1403636670.863555, t: 9.562221 -6.074599 -1.530735 q: -0.351628 -0.522781 0.600276 -0.492672 
time: 1403636671.063555, t: 9.389287 -5.920113 -1.484141 q: -0.319482 -0.548362 0.563659 -0.528696 
time: 1403636671.263556, t: 9.116408 -5.745050 -1.406121 q: 0.304012 0.597265 -0.518557 0.530989 
time: 1403636671.463556, t: 8.773923 -5.552989 -1.319923 q: 0.311078 0.660848 -0.476239 0.489598 
time: 1403636671.663555, t: 8.423778 -5.370887 -1.251802 q: 0.292627 0.700456 -0.457183 0.463372 
time: 1403636671.863555, t: 8.093937 -5.221728 -1.204012 q: 0.280448 0.717949 -0.454213 0.446754 
time: 1403636672.063555, t: 7.798034 -5.127690 -1.141834 q: 0.280725 0.732198 -0.455660 0.421251 
time: 1403636672.263556, t: 7.560082 -5.082230 -1.048497 q: 0.301767 0.735094 -0.445697 0.412223 
time: 1403636672.463556, t: 7.390538 -5.084655 -0.967968 q: 0.330581 0.729080 -0.427716 0.419784 
time: 1403636672.663555, t: 7.284944 -5.099875 -0.942453 q: 0.333445 0.696910 -0.427693 0.469265 
time: 1403636672.863555, t: 7.205187 -5.105008 -0.988190 q: 0.312190 0.699270 -0.437018 0.471777 
time: 1403636673.063555, t: 7.150873 -5.117850 -1.029305 q: 0.299008 0.716099 -0.414651 0.475249 
time: 1403636673.263556, t: 7.120294 -5.133759 -1.039723 q: 0.277170 0.740766 -0.400254 0.462859 
time: 1403636673.463556, t: 7.117172 -5.154495 -1.028324 q: 0.265454 0.751773 -0.393156 0.458039 
time: 1403636673.663555, t: 7.155340 -5.207923 -1.028884 q: 0.271046 0.745513 -0.382271 0.473934 
time: 1403636673.863555, t: 7.223338 -5.262733 -1.035445 q: 0.280186 0.734072 -0.371855 0.494327 
time: 1403636674.063555, t: 7.311261 -5.310237 -1.033802 q: 0.279344 0.735704 -0.371648 0.492529 
time: 1403636674.263556, t: 7.419039 -5.352449 -1.051453 q: 0.274658 0.730621 -0.375132 0.500033 
time: 1403636674.463556, t: 7.534360 -5.381233 -1.097104 q: 0.250622 0.724495 -0.382784 0.515531 
time: 1403636674.663555, t: 7.643973 -5.409614 -1.165477 q: 0.236622 0.729015 -0.367645 0.526672 
time: 1403636674.863555, t: 7.740847 -5.442810 -1.246048 q: 0.218654 0.745042 -0.364014 0.514389 
time: 1403636675.063555, t: 7.829227 -5.498548 -1.302214 q: 0.207354 0.759878 -0.364473 0.496738 
time: 1403636675.263556, t: 7.931354 -5.589272 -1.319770 q: 0.227177 0.769563 -0.349133 0.484014 
time: 1403636675.463556, t: 8.066322 -5.702709 -1.311122 q: 0.242427 0.763358 -0.331023 0.498937 
time: 1403636675.663555, t: 8.227869 -5.811792 -1.315909 q: 0.246064 0.760932 -0.303855 0.517790 
time: 1403636675.863555, t: 8.406705 -5.895675 -1.343918 q: 0.213998 0.756889 -0.289317 0.545546 
time: 1403636676.063555, t: 8.579263 -5.961425 -1.396405 q: 0.163804 0.767613 -0.275060 0.555231 
time: 1403636676.263556, t: 8.736628 -6.026231 -1.458238 q: 0.162118 0.790652 -0.221881 0.547134 
time: 1403636676.463556, t: 8.899095 -6.085724 -1.516573 q: 0.152869 0.807886 -0.166610 0.544235 
time: 1403636676.663555, t: 9.076237 -6.117107 -1.545142 q: 0.113064 0.812171 -0.142831 0.554251 
time: 1403636676.863555, t: 9.258459 -6.136373 -1.538970 q: 0.082836 0.811203 -0.137021 0.562417 
time: 1403636677.063555, t: 9.432628 -6.155272 -1.535207 q: 0.078889 0.810928 -0.128090 0.565478 
time: 1403636677.263556, t: 9.608744 -6.179044 -1.580335 q: 0.092808 0.809323 -0.116675 0.568129 
time: 1403636677.463556, t: 9.783313 -6.188979 -1.618884 q: 0.087092 0.798256 -0.098686 0.587761 
time: 1403636677.663555, t: 9.938367 -6.178655 -1.626606 q: 0.057999 0.795757 -0.078108 0.597751 
time: 1403636677.863555, t: 10.062240 -6.153945 -1.611851 q: 0.011190 0.807781 -0.054843 0.586819 
time: 1403636678.063555, t: 10.163157 -6.136591 -1.592690 q: -0.027260 0.817898 -0.018034 0.574435 
time: 1403636678.263556, t: 10.268588 -6.136014 -1.590988 q: -0.028989 0.817139 0.023803 0.575220 
time: 1403636678.463556, t: 10.357970 -6.138861 -1.580681 q: -0.047699 0.816202 0.053180 0.573333 
time: 1403636678.663555, t: 10.444094 -6.143432 -1.548546 q: -0.068855 0.812807 0.090591 0.571311 
time: 1403636678.863555, t: 10.517431 -6.145576 -1.523186 q: -0.072702 0.804641 0.150619 0.569720 
time: 1403636679.063555, t: 10.582070 -6.125950 -1.523978 q: -0.089509 0.795762 0.191679 0.567459 
time: 1403636679.263556, t: 10.628930 -6.077703 -1.542305 q: -0.141167 0.783024 0.212694 0.567192 
time: 1403636679.463556, t: 10.661057 -6.026041 -1.546625 q: -0.184563 0.770477 0.244428 0.559068 
time: 1403636679.663555, t: 10.682589 -5.986396 -1.521717 q: -0.206755 0.763650 0.274876 0.546382 
time: 1403636679.863555, t: 10.693901 -5.962809 -1.469106 q: -0.212502 0.754622 0.291078 0.548326 
time: 1403636680.063555, t: 10.695280 -5.945520 -1.390016 q: -0.196397 0.744520 0.305645 0.560089 
time: 1403636680.263556, t: 10.672503 -5.925789 -1.315386 q: -0.185765 0.740228 0.309486 0.567250 
time: 1403636680.463556, t: 10.611079 -5.896713 -1.265200 q: -0.166074 0.742847 0.316129 0.566269 
time: 1403636680.663555, t: 10.514213 -5.843354 -1.236582 q: -0.165707 0.748930 0.309680 0.561910 
time: 1403636680.863555, t: 10.387518 -5.764692 -1.228494 q: -0.190651 0.761855 0.288237 0.547859 
time: 1403636681.063555, t: 10.257115 -5.681699 -1.243238 q: -0.200393 0.781708 0.279271 0.520368 
time: 1403636681.263556, t: 10.142035 -5.595921 -1.264494 q: -0.190939 0.774964 0.286299 0.530101 
time: 1403636681.463556, t: 10.034563 -5.502791 -1.269581 q: -0.197697 0.762428 0.283416 0.547079 
time: 1403636681.663555, t: 9.924851 -5.407868 -1.260846 q: -0.197642 0.759711 0.286874 0.549072 
time: 1403636681.863555, t: 9.805656 -5.311936 -1.263886 q: -0.197841 0.757274 0.290307 0.550560 
time: 1403636682.063555, t: 9.683172 -5.212885 -1.253175 q: -0.203914 0.756842 0.289895 0.549154 
time: 1403636682.263556, t: 9.551009 -5.119421 -1.223830 q: -0.207402 0.761213 0.289126 0.542167 
time: 1403636682.463556, t: 9.420224 -5.031456 -1.216805 q: -0.205055 0.769282 0.289307 0.531469 
time: 1403636682.663555, t: 9.297956 -4.939417 -1.220052 q: -0.201394 0.760348 0.287387 0.546553 
time: 1403636682.863555, t: 9.173572 -4.851819 -1.220693 q: -0.202668 0.756586 0.282392 0.553857 
time: 1403636683.063555, t: 9.039426 -4.765023 -1.198065 q: -0.194177 0.755212 0.285152 0.557349 
time: 1403636683.263556, t: 8.894469 -4.683261 -1.190282 q: -0.199087 0.758149 0.283721 0.552337 
time: 1403636683.463556, t: 8.745582 -4.603161 -1.203123 q: -0.205330 0.759276 0.283615 0.548546 
time: 1403636683.663555, t: 8.595760 -4.523950 -1.231092 q: -0.206795 0.760974 0.285444 0.544680 
time: 1403636683.863555, t: 8.446061 -4.449758 -1.254173 q: -0.209044 0.767057 0.286901 0.534426 
time: 1403636684.063555, t: 8.304958 -4.376839 -1.247968 q: -0.211081 0.763881 0.289155 0.536955 
time: 1403636684.263556, t: 8.164655 -4.305165 -1.211236 q: -0.215310 0.759650 0.290944 0.540301 
time: 1403636684.463556, t: 8.018477 -4.238072 -1.177859 q: -0.218717 0.755535 0.291665 0.544299 
time: 1403636684.663555, t: 7.874557 -4.178502 -1.168748 q: -0.226233 0.754574 0.288326 0.544340 
time: 1403636684.863555, t: 7.732449 -4.134560 -1.181581 q: -0.225758 0.753597 0.289050 0.545504 
time: 1403636685.063555, t: 7.588744 -4.102156 -1.205700 q: -0.211543 0.752806 0.297002 0.548016 
time: 1403636685.263556, t: 7.437069 -4.074163 -1.205450 q: -0.202533 0.758141 0.298374 0.543301 
time: 1403636685.463556, t: 7.285573 -4.043427 -1.188681 q: -0.197937 0.760854 0.295659 0.542686 
time: 1403636685.663555, t: 7.132137 -4.007815 -1.189160 q: -0.200018 0.762455 0.290616 0.542400 
time: 1403636685.863555, t: 6.978484 -3.968849 -1.211694 q: -0.195189 0.759133 0.293047 0.547487 
time: 1403636686.063555, t: 6.815967 -3.926482 -1.243594 q: -0.202849 0.764035 0.288478 0.540262 
time: 1403636686.263556, t: 6.656535 -3.879909 -1.253729 q: -0.206019 0.766995 0.285502 0.536436 
time: 1403636686.463556, t: 6.502418 -3.831302 -1.237695 q: -0.205889 0.770119 0.284651 0.532448 
time: 1403636686.663555, t: 6.363596 -3.786687 -1.245072 q: -0.204370 0.770539 0.286654 0.531350 
time: 1403636686.863555, t: 6.234171 -3.738334 -1.256382 q: -0.207463 0.767614 0.285691 0.534891 
time: 1403636687.063555, t: 6.109569 -3.692548 -1.241976 q: -0.211507 0.765796 0.283858 0.536885 
time: 1403636687.263556, t: 5.996270 -3.659612 -1.220021 q: -0.212312 0.764011 0.284881 0.538566 
time: 1403636687.463556, t: 5.891776 -3.628558 -1.213458 q: -0.212211 0.760709 0.286534 0.542390 
time: 1403636687.663555, t: 5.785803 -3.597328 -1.234059 q: -0.216079 0.760010 0.285467 0.542405 
time: 1403636688.063555, t: 5.584794 -3.557291 -1.349457 q: -0.209995 0.757940 0.292208 0.544099 
time: 1403636688.263556, t: 5.485830 -3.542007 -1.411186 q: -0.208391 0.757310 0.293924 0.544668 
time: 1403636688.463556, t: 5.379150 -3.523690 -1.452092 q: -0.211011 0.759324 0.292520 0.541603 
time: 1403636688.663555, t: 5.276095 -3.513437 -1.505057 q: -0.199257 0.757263 0.302017 0.543724 
time: 1403636688.863555, t: 5.170741 -3.483163 -1.572998 q: -0.200357 0.756905 0.306750 0.541162 
time: 1403636689.063555, t: 5.051727 -3.446761 -1.610581 q: -0.214420 0.757968 0.312421 0.530944 
time: 1403636689.263556, t: 4.937211 -3.405424 -1.613305 q: -0.226220 0.758878 0.318337 0.521144 
time: 1403636689.463556, t: 4.838396 -3.356409 -1.582569 q: -0.231328 0.757251 0.323412 0.518134 
time: 1403636689.663555, t: 4.747236 -3.304449 -1.529122 q: -0.234695 0.761793 0.324225 0.509380 
time: 1403636689.863555, t: 4.674699 -3.246474 -1.486052 q: -0.244117 0.770958 0.315389 0.496548 
time: 1403636690.063555, t: 4.644887 -3.181044 -1.458930 q: -0.250981 0.770343 0.306634 0.499556 
time: 1403636690.263556, t: 4.644249 -3.121618 -1.437093 q: -0.233985 0.769172 0.316041 0.503729 
time: 1403636690.463556, t: 4.672198 -3.053498 -1.398971 q: -0.230592 0.767249 0.317182 0.507495 
time: 1403636690.663555, t: 4.711374 -2.990516 -1.365632 q: -0.247513 0.768163 0.304762 0.505750 
time: 1403636690.863555, t: 4.772778 -2.937262 -1.374579 q: -0.277283 0.764930 0.282832 0.507939 
time: 1403636691.063555, t: 4.872080 -2.913548 -1.403648 q: -0.296342 0.746851 0.268991 0.531073 
time: 1403636691.263556, t: 4.988782 -2.950773 -1.398428 q: -0.281639 0.729082 0.282202 0.556309 
time: 1403636691.463556, t: 5.095102 -3.039046 -1.375553 q: -0.256642 0.733616 0.304977 0.550392 
time: 1403636691.663555, t: 5.186559 -3.157557 -1.320416 q: -0.247062 0.743234 0.317546 0.534536 
time: 1403636691.863555, t: 5.269429 -3.286852 -1.258780 q: -0.236872 0.743937 0.327203 0.532342 
time: 1403636692.063555, t: 5.338820 -3.421381 -1.220203 q: -0.247978 0.740386 0.319443 0.536928 
time: 1403636692.263556, t: 5.403792 -3.553382 -1.174284 q: -0.236627 0.741164 0.325720 0.537206 
time: 1403636692.463556, t: 5.456530 -3.684164 -1.102376 q: -0.234691 0.744500 0.325158 0.533771 
time: 1403636692.663555, t: 5.502873 -3.807693 -1.002783 q: -0.230537 0.745422 0.325157 0.534296 
time: 1403636692.863555, t: 5.538291 -3.925725 -0.899951 q: -0.204250 0.747740 0.340567 0.532147 
time: 1403636693.063555, t: 5.563098 -4.013834 -0.817761 q: -0.205337 0.750517 0.340001 0.528167 
time: 1403636693.263556, t: 5.580918 -4.077897 -0.758645 q: -0.216571 0.753346 0.334696 0.523016 
time: 1403636693.463556, t: 5.595835 -4.129156 -0.727838 q: -0.223399 0.763846 0.332885 0.505786 
time: 1403636693.663555, t: 5.624805 -4.160325 -0.710582 q: -0.221451 0.774483 0.335443 0.488480 
time: 1403636693.863555, t: 5.676264 -4.164893 -0.698308 q: -0.227668 0.763361 0.333486 0.504217 
time: 1403636694.063555, t: 5.736994 -4.154032 -0.689752 q: -0.238511 0.746413 0.327443 0.527978 
time: 1403636694.263556, t: 5.793612 -4.144426 -0.683531 q: -0.240399 0.741926 0.327038 0.533666 
time: 1403636694.463556, t: 5.842301 -4.141185 -0.658790 q: -0.238291 0.747627 0.328528 0.525681 
time: 1403636694.663555, t: 5.888719 -4.138684 -0.642577 q: -0.234877 0.749690 0.329428 0.523713 
time: 1403636694.863555, t: 5.936969 -4.131502 -0.654422 q: -0.241891 0.749011 0.322462 0.525822 
time: 1403636695.063555, t: 5.983112 -4.129536 -0.681388 q: -0.247507 0.753168 0.315852 0.521264 
time: 1403636695.263556, t: 6.037887 -4.134904 -0.689080 q: -0.236687 0.751486 0.319373 0.526544 
time: 1403636695.463556, t: 6.090110 -4.144463 -0.670833 q: -0.230915 0.750215 0.319636 0.530743 
time: 1403636695.663555, t: 6.139326 -4.154533 -0.655234 q: -0.223079 0.747560 0.322456 0.536108 
time: 1403636695.863555, t: 6.178564 -4.159697 -0.660919 q: -0.225118 0.749341 0.319109 0.534770 
time: 1403636696.063555, t: 6.212568 -4.162475 -0.684058 q: -0.224009 0.755574 0.317623 0.527299 
time: 1403636696.263556, t: 6.245146 -4.160887 -0.712203 q: -0.213980 0.756704 0.322608 0.526817 
time: 1403636696.463556, t: 6.275632 -4.148967 -0.740019 q: -0.227603 0.744745 0.311916 0.544298 
time: 1403636696.663555, t: 6.287641 -4.142305 -0.750644 q: -0.229066 0.747200 0.308892 0.542040 
time: 1403636696.863555, t: 6.290307 -4.144478 -0.753144 q: -0.226489 0.749438 0.310003 0.539392 
time: 1403636697.063555, t: 6.287985 -4.146030 -0.768650 q: -0.208259 0.745180 0.322200 0.545456 
time: 1403636697.263556, t: 6.263410 -4.138628 -0.766490 q: -0.193561 0.741344 0.330704 0.550980 
time: 1403636697.463556, t: 6.210518 -4.109473 -0.737588 q: -0.208274 0.752243 0.320282 0.536816 
time: 1403636697.663555, t: 6.146526 -4.074584 -0.682131 q: -0.204407 0.759153 0.308380 0.535543 
time: 1403636697.863555, t: 6.077828 -4.037687 -0.646066 q: -0.181823 0.771700 0.276623 0.543047 
time: 1403636698.063555, t: 6.002390 -3.994459 -0.634661 q: -0.167334 0.780353 0.249357 0.548517 
time: 1403636698.263556, t: 5.925981 -3.940210 -0.642956 q: -0.159726 0.785536 0.231780 0.551088 
time: 1403636698.463556, t: 5.849502 -3.883510 -0.669197 q: -0.139449 0.793441 0.206069 0.555464 
time: 1403636698.663555, t: 5.772712 -3.823774 -0.706011 q: -0.113050 0.803314 0.168030 0.560065 
time: 1403636698.863555, t: 5.703797 -3.757375 -0.753794 q: -0.084601 0.813118 0.119153 0.563458 
time: 1403636699.063555, t: 5.637696 -3.686003 -0.792219 q: -0.056019 0.819064 0.068542 0.566832 
time: 1403636699.263556, t: 5.573718 -3.614732 -0.804197 q: -0.032434 0.821883 0.011072 0.568624 
time: 1403636699.463556, t: 5.521776 -3.559497 -0.796790 q: -0.007980 0.824107 -0.045255 0.564567 
time: 1403636699.663555, t: 5.482307 -3.523738 -0.792822 q: 0.017488 0.821213 -0.093663 0.562610 
time: 1403636699.863555, t: 5.444561 -3.511745 -0.808054 q: 0.052419 0.814303 -0.122168 0.565012 
time: 1403636700.063555, t: 5.410779 -3.515639 -0.835098 q: 0.063973 0.808941 -0.135207 0.568543 
time: 1403636700.263556, t: 5.376751 -3.531402 -0.880360 q: 0.064473 0.807617 -0.139001 0.569453 
time: 1403636700.463556, t: 5.341511 -3.561610 -0.946761 q: 0.069436 0.806802 -0.153949 0.566170 
time: 1403636700.663555, t: 5.303873 -3.603389 -1.021712 q: 0.091666 0.798356 -0.165182 0.571786 
time: 1403636700.863555, t: 5.269595 -3.657144 -1.096165 q: 0.107965 0.795582 -0.178427 0.568820 
time: 1403636701.063555, t: 5.226828 -3.706183 -1.140878 q: 0.111171 0.802637 -0.184310 0.556278 
time: 1403636701.263556, t: 5.199582 -3.761310 -1.151112 q: 0.109416 0.809288 -0.181507 0.547847 
time: 1403636701.463556, t: 5.183845 -3.818035 -1.136871 q: 0.108028 0.808201 -0.175014 0.551825 
time: 1403636701.663555, t: 5.177909 -3.881785 -1.120530 q: 0.108215 0.801734 -0.165942 0.563894 
time: 1403636701.863555, t: 5.169473 -3.942319 -1.114499 q: 0.113038 0.799109 -0.174913 0.563962 
time: 1403636702.063555, t: 5.158015 -4.007790 -1.130955 q: 0.128688 0.792752 -0.205594 0.559209 
time: 1403636702.263556, t: 5.153391 -4.074489 -1.175056 q: 0.151887 0.782548 -0.241780 0.553255 
time: 1403636702.463556, t: 5.148003 -4.137052 -1.237894 q: 0.169862 0.782158 -0.259723 0.540296 
time: 1403636702.663555, t: 5.147067 -4.197936 -1.312598 q: 0.179770 0.783779 -0.266254 0.531491 
time: 1403636702.863555, t: 5.163388 -4.259195 -1.406074 q: 0.182186 0.786713 -0.267183 0.525837 
time: 1403636703.063555, t: 5.190850 -4.321599 -1.488018 q: 0.178786 0.784474 -0.267774 0.530032 
time: 1403636703.263556, t: 5.232344 -4.391505 -1.537853 q: 0.164400 0.771484 -0.275408 0.549487 
time: 1403636703.463556, t: 5.267776 -4.469691 -1.558894 q: 0.168139 0.769254 -0.271568 0.553379 
time: 1403636703.663555, t: 5.292184 -4.551170 -1.557365 q: 0.178231 0.777091 -0.262978 0.543329 
time: 1403636703.863555, t: 5.319986 -4.631190 -1.556288 q: 0.173902 0.774842 -0.263056 0.547886 
time: 1403636704.063555, t: 5.344579 -4.704662 -1.573379 q: 0.166891 0.771948 -0.263918 0.553707 
time: 1403636704.263556, t: 5.359123 -4.779628 -1.602378 q: 0.165877 0.780102 -0.260972 0.543892 
time: 1403636704.463556, t: 5.383086 -4.856622 -1.627422 q: 0.168577 0.786152 -0.256940 0.536217 
time: 1403636704.663555, t: 5.419058 -4.935793 -1.624253 q: 0.169406 0.791621 -0.255549 0.528520 
time: 1403636704.863555, t: 5.472270 -5.022326 -1.638058 q: 0.166745 0.800165 -0.254948 0.516656 
time: 1403636705.063555, t: 5.552340 -5.117742 -1.674116 q: 0.165750 0.805635 -0.252297 0.509730 
time: 1403636705.263556, t: 5.664882 -5.223450 -1.708835 q: 0.174803 0.790752 -0.243879 0.533552 
time: 1403636705.463556, t: 5.797276 -5.326005 -1.727465 q: 0.174801 0.788694 -0.243712 0.536667 
time: 1403636705.663555, t: 5.937471 -5.424491 -1.750401 q: 0.172444 0.794083 -0.246630 0.528081 
time: 1403636705.863555, t: 6.094247 -5.524304 -1.787337 q: 0.170209 0.786208 -0.248214 0.539718 
time: 1403636706.063555, t: 6.253994 -5.623854 -1.799642 q: 0.152460 0.775376 -0.258040 0.555845 
time: 1403636706.263556, t: 6.394879 -5.733985 -1.807686 q: 0.159017 0.774973 -0.250165 0.558165 
time: 1403636706.463556, t: 6.525590 -5.843775 -1.840819 q: 0.172655 0.783982 -0.237500 0.546951 
time: 1403636706.663555, t: 6.657960 -5.943005 -1.864336 q: 0.175197 0.787991 -0.235666 0.541145 
time: 1403636706.863555, t: 6.800710 -6.035031 -1.861222 q: 0.173413 0.792814 -0.239640 0.532867 
time: 1403636707.063555, t: 6.951998 -6.122937 -1.848928 q: 0.176619 0.788782 -0.242604 0.536444 
time: 1403636707.263556, t: 7.114494 -6.205471 -1.828551 q: 0.181091 0.786096 -0.247297 0.536753 
time: 1403636707.463556, t: 7.289625 -6.280626 -1.789371 q: 0.184382 0.787021 -0.250728 0.532670 
time: 1403636707.663555, t: 7.472639 -6.350088 -1.724825 q: 0.174459 0.786394 -0.259628 0.532674 
time: 1403636707.863555, t: 7.662525 -6.429039 -1.701709 q: 0.164832 0.784341 -0.264582 0.536317 
time: 1403636708.063555, t: 7.857637 -6.507757 -1.717435 q: 0.167344 0.782270 -0.257786 0.541846 
time: 1403636708.263556, t: 8.047997 -6.587503 -1.758500 q: 0.166689 0.779430 -0.252743 0.548475 
time: 1403636708.463556, t: 8.232836 -6.675514 -1.804020 q: 0.146564 0.770536 -0.264646 0.561031 
time: 1403636708.663555, t: 8.394718 -6.784878 -1.828408 q: 0.156917 0.770300 -0.258102 0.561603 
time: 1403636708.863555, t: 8.543238 -6.893689 -1.859760 q: 0.182655 0.771892 -0.244578 0.557675 
time: 1403636709.063555, t: 8.679948 -6.985876 -1.887324 q: 0.194823 0.766640 -0.244419 0.560862 
time: 1403636709.263556, t: 8.809974 -7.051759 -1.886536 q: 0.197582 0.769133 -0.249784 0.554079 
time: 1403636709.463556, t: 8.930744 -7.093524 -1.878422 q: 0.196283 0.774224 -0.252411 0.546204 
time: 1403636709.663555, t: 9.057788 -7.115083 -1.894081 q: 0.196080 0.777511 -0.252189 0.541691 
time: 1403636709.863555, t: 9.187727 -7.116085 -1.916276 q: 0.193688 0.778433 -0.250296 0.542107 
time: 1403636710.063555, t: 9.325000 -7.103917 -1.915059 q: 0.192659 0.778169 -0.247336 0.544206 
time: 1403636710.263556, t: 9.469242 -7.078775 -1.923574 q: 0.189156 0.777922 -0.243641 0.547445 
time: 1403636710.463556, t: 9.618677 -7.038650 -1.963746 q: 0.159851 0.775542 -0.249395 0.557480 
time: 1403636710.663555, t: 9.756336 -6.997500 -2.019863 q: 0.135297 0.779029 -0.235384 0.565158 
time: 1403636710.863555, t: 9.883081 -6.968371 -2.073591 q: 0.126511 0.787585 -0.197775 0.569728 
time: 1403636711.063555, t: 9.995723 -6.941245 -2.101637 q: 0.122586 0.797223 -0.158724 0.569399 
time: 1403636711.263556, t: 10.099798 -6.907738 -2.113306 q: 0.120954 0.799204 -0.140655 0.571716 
time: 1403636711.463556, t: 10.199120 -6.857224 -2.109222 q: 0.112070 0.790007 -0.142424 0.585700 
time: 1403636711.663555, t: 10.283188 -6.793687 -2.095945 q: 0.119902 0.780185 -0.141240 0.597483 
time: 1403636711.863555, t: 10.338642 -6.709091 -2.078868 q: 0.118205 0.784138 -0.148238 0.590915 
time: 1403636712.063555, t: 10.365683 -6.609918 -2.050214 q: 0.097594 0.789310 -0.166194 0.582962 
time: 1403636712.263556, t: 10.373281 -6.514423 -2.003114 q: 0.097920 0.790371 -0.156972 0.584025 
time: 1403636712.463556, t: 10.367673 -6.418337 -1.937329 q: 0.098948 0.793052 -0.123308 0.588280 
time: 1403636712.663555, t: 10.347728 -6.306776 -1.864757 q: 0.085949 0.790519 -0.105098 0.597199 
time: 1403636712.863555, t: 10.303015 -6.186432 -1.811200 q: 0.073872 0.790631 -0.097808 0.599899 
time: 1403636713.063555, t: 10.236337 -6.062572 -1.775242 q: 0.072309 0.795361 -0.094963 0.594268 
time: 1403636713.263556, t: 10.150766 -5.934412 -1.723646 q: 0.065936 0.798743 -0.096164 0.590267 
time: 1403636713.463556, t: 10.059713 -5.806026 -1.641973 q: 0.063220 0.801472 -0.099337 0.586326 
time: 1403636713.663555, t: 9.954541 -5.683676 -1.558795 q: 0.054848 0.803616 -0.108156 0.582662 
time: 1403636713.863555, t: 9.843794 -5.574202 -1.497432 q: 0.049917 0.804669 -0.116274 0.580083 
time: 1403636714.063555, t: 9.723740 -5.482659 -1.458549 q: 0.061754 0.805655 -0.113565 0.578108 
time: 1403636714.263556, t: 9.600440 -5.399006 -1.437310 q: 0.065024 0.803720 -0.117181 0.579720 
time: 1403636714.463556, t: 9.475398 -5.322935 -1.431376 q: 0.063337 0.808524 -0.121329 0.572326 
time: 1403636714.663555, t: 9.349967 -5.260823 -1.446117 q: 0.050854 0.818682 -0.106302 0.562026 
time: 1403636714.863555, t: 9.239274 -5.210486 -1.443593 q: 0.033262 0.824101 -0.064653 0.561757 
time: 1403636715.063555, t: 9.142566 -5.163918 -1.407982 q: 0.011177 0.827289 -0.020545 0.561289 
time: 1403636715.263556, t: 9.073306 -5.124100 -1.353287 q: -0.002081 0.828073 0.003611 0.560604 
time: 1403636715.463556, t: 9.028686 -5.084861 -1.318108 q: -0.015855 0.821888 0.005202 0.569405 
time: 1403636715.663555, t: 8.989655 -5.051225 -1.317796 q: -0.030318 0.815615 -0.004683 0.577782 
time: 1403636715.863555, t: 8.951064 -5.037271 -1.325250 q: -0.013756 0.803256 0.001848 0.595472 
time: 1403636716.063555, t: 8.891830 -5.027081 -1.311086 q: -0.006130 0.798480 0.001091 0.601989 
time: 1403636716.263556, t: 8.811100 -5.019499 -1.285694 q: -0.007185 0.808576 -0.007331 0.588302 
time: 1403636716.463556, t: 8.714566 -5.015763 -1.268654 q: -0.003990 0.813281 -0.012627 0.581720 
time: 1403636716.663555, t: 8.619859 -5.014372 -1.274551 q: -0.002721 0.812479 -0.007207 0.582939 
time: 1403636716.863555, t: 8.527312 -5.013846 -1.297460 q: -0.018369 0.812362 0.013721 0.582702 
time: 1403636717.063555, t: 8.422470 -5.010988 -1.306074 q: -0.043558 0.811982 0.051483 0.579774 
time: 1403636717.263556, t: 8.323157 -5.016266 -1.293767 q: -0.059612 0.809620 0.085765 0.577587 
time: 1403636717.463556, t: 8.220222 -5.017424 -1.276361 q: -0.052150 0.806310 0.111399 0.578562 
time: 1403636717.663555, t: 8.110417 -5.000651 -1.280363 q: -0.060284 0.806147 0.110717 0.578130 
time: 1403636717.863555, t: 7.998497 -4.968678 -1.301185 q: -0.060433 0.805789 0.119020 0.576962 
time: 1403636718.063555, t: 7.882710 -4.917580 -1.303350 q: -0.074319 0.802318 0.143725 0.574547 
time: 1403636718.263556, t: 7.758164 -4.843307 -1.294630 q: -0.107498 0.798954 0.165169 0.568187 
time: 1403636718.463556, t: 7.630250 -4.760557 -1.313345 q: -0.134215 0.796213 0.183547 0.560662 
time: 1403636718.663555, t: 7.509950 -4.676502 -1.353941 q: -0.162138 0.793095 0.197748 0.552818 
time: 1403636718.863555, t: 7.404289 -4.604772 -1.409593 q: -0.168664 0.789823 0.212951 0.549895 
time: 1403636719.063555, t: 7.312107 -4.543384 -1.445100 q: -0.161199 0.783717 0.226365 0.555483 
time: 1403636719.263556, t: 7.224768 -4.483742 -1.453276 q: -0.163526 0.776386 0.225156 0.565499 
time: 1403636719.463556, t: 7.125324 -4.425188 -1.474540 q: -0.168160 0.773645 0.218665 0.570422 
time: 1403636719.663555, t: 7.016632 -4.380393 -1.512158 q: -0.166549 0.780232 0.214918 0.563302 
time: 1403636719.863555, t: 6.907120 -4.344448 -1.521345 q: -0.162492 0.786903 0.209949 0.557047 
time: 1403636720.063555, t: 6.798950 -4.316345 -1.518586 q: -0.159848 0.789912 0.206203 0.554948 
time: 1403636720.263556, t: 6.696976 -4.293538 -1.537708 q: -0.159337 0.791020 0.205432 0.553802 
time: 1403636720.463556, t: 6.605824 -4.278659 -1.567906 q: -0.161850 0.791087 0.206023 0.552757 
time: 1403636720.663555, t: 6.516473 -4.266075 -1.586724 q: -0.164005 0.791254 0.207859 0.551194 
time: 1403636720.863555, t: 6.442103 -4.265287 -1.579959 q: -0.157725 0.792891 0.201011 0.553211 
time: 1403636721.063555, t: 6.380192 -4.269635 -1.585204 q: -0.145819 0.795931 0.178152 0.559903 
time: 1403636721.263556, t: 6.321794 -4.277910 -1.603156 q: -0.129564 0.797853 0.149422 0.569489 
time: 1403636721.463556, t: 6.261050 -4.295720 -1.598798 q: -0.114769 0.800722 0.131692 0.573001 
time: 1403636721.663555, t: 6.198092 -4.322245 -1.591532 q: -0.097928 0.805451 0.117605 0.572562 
time: 1403636721.863555, t: 6.132728 -4.349559 -1.606359 q: -0.089607 0.805877 0.111313 0.574580 
time: 1403636722.063555, t: 6.066879 -4.373806 -1.626520 q: -0.081300 0.805037 0.116884 0.575885 
time: 1403636722.263556, t: 5.996959 -4.393715 -1.621760 q: -0.086519 0.806106 0.117477 0.573504 
time: 1403636722.463556, t: 5.924503 -4.408801 -1.616098 q: -0.086982 0.806521 0.114177 0.573516 
time: 1403636722.663555, t: 5.848982 -4.423191 -1.629470 q: -0.080495 0.807673 0.108439 0.573957 
time: 1403636722.863555, t: 5.771287 -4.434053 -1.642534 q: -0.074473 0.808280 0.107581 0.574076 
time: 1403636723.063555, t: 5.694300 -4.437015 -1.629888 q: -0.079837 0.808680 0.103233 0.573590 
time: 1403636723.263556, t: 5.619238 -4.438602 -1.612306 q: -0.079783 0.809104 0.102713 0.573093 
time: 1403636723.463556, t: 5.548592 -4.438182 -1.612407 q: -0.066710 0.807863 0.098983 0.577157 
time: 1403636723.663555, t: 5.476380 -4.434671 -1.604940 q: -0.060756 0.799622 0.076854 0.592458 
time: 1403636723.863555, t: 5.394832 -4.426880 -1.585945 q: -0.053788 0.810557 0.064195 0.579641 
time: 1403636724.063555, t: 5.305332 -4.417836 -1.581254 q: -0.047036 0.820427 0.053067 0.567336 
time: 1403636724.263556, t: 5.218321 -4.413849 -1.596977 q: -0.028589 0.824553 0.029168 0.564308 
time: 1403636724.463556, t: 5.140892 -4.411260 -1.615524 q: -0.005425 0.820277 -0.000401 0.571941 
time: 1403636724.663555, t: 5.069517 -4.403561 -1.607416 q: 0.008978 0.816339 -0.017076 0.577250 
time: 1403636724.863555, t: 5.003869 -4.387582 -1.569603 q: 0.012101 0.817630 -0.023696 0.575129 
time: 1403636725.063555, t: 4.941872 -4.366633 -1.498734 q: 0.002729 0.818573 -0.027719 0.573727 
time: 1403636725.263556, t: 4.893479 -4.352823 -1.416948 q: -0.001863 0.819625 -0.027115 0.572255 
time: 1403636725.463556, t: 4.844067 -4.343493 -1.348954 q: 0.003112 0.819808 -0.023205 0.572159 
time: 1403636725.663555, t: 4.802090 -4.336585 -1.307651 q: 0.007102 0.819241 -0.021324 0.573008 
time: 1403636725.863555, t: 4.763318 -4.328166 -1.290188 q: 0.006344 0.819953 -0.021629 0.571987 
time: 1403636726.063555, t: 4.729003 -4.318153 -1.288966 q: 0.003176 0.819437 -0.022011 0.572738 
time: 1403636726.263556, t: 4.696136 -4.311200 -1.306215 q: 0.004677 0.817429 -0.018280 0.575721 
time: 1403636726.463556, t: 4.666279 -4.303979 -1.313261 q: 0.002970 0.815585 -0.015585 0.578419 
time: 1403636726.663555, t: 4.639152 -4.297709 -1.293406 q: -0.020381 0.812169 -0.028476 0.582371 
time: 1403636726.863555, t: 4.605346 -4.306699 -1.244833 q: -0.009985 0.811161 -0.017650 0.584471 
time: 1403636727.063555, t: 4.563799 -4.323138 -1.175050 q: -0.004504 0.810908 -0.005200 0.585133 
time: 1403636727.263556, t: 4.523493 -4.341405 -1.115202 q: 0.002484 0.812155 0.003883 0.583423 
time: 1403636727.463556, t: 4.467241 -4.342740 -1.068065 q: 0.007563 0.813424 0.007958 0.581568 
time: 1403636727.663555, t: 4.422709 -4.341630 -1.025992 q: -0.000454 0.810741 0.002695 0.585398 
time: 1403636727.863555, t: 4.361904 -4.317313 -0.946440 q: 0.007229 0.812907 0.006996 0.582307 
time: 1403636728.063555, t: 4.301504 -4.290465 -0.878907 q: 0.009944 0.813048 0.008138 0.582055 
time: 1403636728.263556, t: 4.220152 -4.245241 -0.823513 q: 0.003373 0.810604 0.002271 0.585581 
time: 1403636728.463556, t: 4.149331 -4.203453 -0.801591 q: -0.006362 0.811045 -0.004863 0.584930 
time: 1403636728.663555, t: 4.062231 -4.159547 -0.786446 q: -0.017547 0.811919 -0.005956 0.583475 
time: 1403636728.863555, t: 3.975577 -4.122741 -0.761126 q: -0.018662 0.811601 0.025954 0.583337 
time: 1403636729.063555, t: 3.887833 -4.087706 -0.729342 q: -0.028434 0.807522 0.048189 0.587177 
time: 1403636729.263556, t: 3.789311 -4.048994 -0.718457 q: -0.037273 0.808408 0.057157 0.584654 
time: 1403636729.463556, t: 3.690801 -4.003830 -0.722041 q: -0.039892 0.807868 0.059870 0.584955 
time: 1403636729.663555, t: 3.581935 -3.959687 -0.706935 q: -0.041451 0.809065 0.060120 0.583165 
time: 1403636729.863555, t: 3.471542 -3.913810 -0.678819 q: -0.040959 0.813043 0.059102 0.577746 
time: 1403636730.063555, t: 3.358638 -3.864700 -0.669975 q: -0.042012 0.816588 0.057778 0.572783 
time: 1403636730.263556, t: 3.254656 -3.810691 -0.678996 q: -0.042465 0.817504 0.058117 0.571408 
time: 1403636730.463556, t: 3.154175 -3.756378 -0.700249 q: -0.044321 0.820268 0.057757 0.567327 
time: 1403636730.663555, t: 3.067893 -3.703541 -0.699649 q: -0.044428 0.827243 0.058046 0.557069 
time: 1403636730.863555, t: 3.007243 -3.650370 -0.663958 q: -0.045721 0.829077 0.057696 0.554267 
time: 1403636731.063555, t: 2.961770 -3.599372 -0.626097 q: -0.063191 0.825632 0.043851 0.558942 
time: 1403636731.263556, t: 2.926801 -3.565903 -0.606559 q: -0.063533 0.814700 0.041518 0.574894 
time: 1403636731.463556, t: 2.896151 -3.548294 -0.608078 q: -0.049278 0.812968 0.050100 0.578052 
time: 1403636731.663555, t: 2.871738 -3.543194 -0.625552 q: -0.058942 0.814088 0.043756 0.576083 
time: 1403636731.863555, t: 2.845668 -3.545071 -0.656393 q: -0.052104 0.813986 0.048686 0.576491 
time: 1403636732.063555, t: 2.816255 -3.552799 -0.700692 q: -0.050254 0.812100 0.051868 0.579032 
time: 1403636732.263556, t: 2.787457 -3.564219 -0.757050 q: -0.048825 0.810356 0.054507 0.581351 
time: 1403636732.463556, t: 2.754760 -3.577403 -0.788915 q: -0.038192 0.807217 0.062694 0.585672 
time: 1403636732.663555, t: 2.704961 -3.581957 -0.787365 q: -0.023183 0.799257 0.074723 0.595875 
time: 1403636732.863555, t: 2.633869 -3.574015 -0.765536 q: -0.038063 0.798306 0.066382 0.597371 
time: 1403636733.063555, t: 2.545591 -3.551201 -0.754970 q: -0.040560 0.803707 0.066130 0.589946 
time: 1403636733.263556, t: 2.446924 -3.520525 -0.737592 q: -0.037928 0.807057 0.069501 0.585141 
time: 1403636733.463556, t: 2.335423 -3.483568 -0.698069 q: -0.045213 0.811498 0.066141 0.578837 
time: 1403636733.663555, t: 2.223531 -3.444212 -0.650797 q: -0.047227 0.815070 0.065735 0.573680 
time: 1403636733.863555, t: 2.112427 -3.402655 -0.624821 q: -0.047026 0.817486 0.066676 0.570140 
time: 1403636734.063555, t: 2.004589 -3.356162 -0.614721 q: -0.042032 0.811942 0.069481 0.578062 
time: 1403636734.263556, t: 1.898985 -3.303478 -0.604034 q: -0.046233 0.810064 0.066418 0.580730 
time: 1403636734.463556, t: 1.791089 -3.249406 -0.567791 q: -0.050843 0.813794 0.065306 0.575230 
time: 1403636734.663555, t: 1.682097 -3.197522 -0.532544 q: -0.052013 0.818059 0.067012 0.568845 
time: 1403636734.863555, t: 1.582786 -3.145974 -0.522788 q: -0.052327 0.818693 0.069898 0.567555 
time: 1403636735.063555, t: 1.494982 -3.096919 -0.531453 q: -0.054086 0.818454 0.070257 0.567690 
time: 1403636735.263556, t: 1.417307 -3.045559 -0.537878 q: -0.056945 0.820136 0.066872 0.565387 
time: 1403636735.463556, t: 1.351909 -2.998054 -0.507512 q: -0.057067 0.820467 0.061275 0.565529 
time: 1403636735.663555, t: 1.298172 -2.950152 -0.446767 q: -0.050692 0.818480 0.057077 0.569442 
time: 1403636735.863555, t: 1.248612 -2.910908 -0.402626 q: -0.048415 0.818849 0.053774 0.569430 
time: 1403636736.063555, t: 1.203753 -2.867946 -0.380080 q: -0.049119 0.817021 0.058816 0.571494 
time: 1403636736.263556, t: 1.163674 -2.827451 -0.333947 q: -0.063917 0.811278 0.077274 0.575996 
time: 1403636736.463556, t: 1.128230 -2.788876 -0.289123 q: -0.069226 0.808649 0.095925 0.576275 
time: 1403636736.663555, t: 1.091964 -2.748213 -0.267033 q: -0.063668 0.805280 0.110768 0.578965 
time: 1403636736.863555, t: 1.048424 -2.701199 -0.264826 q: -0.065168 0.804070 0.114698 0.579714 
time: 1403636737.063555, t: 0.991656 -2.643186 -0.274167 q: -0.074970 0.804853 0.113625 0.577651 
time: 1403636737.263556, t: 0.933430 -2.577513 -0.299483 q: -0.086419 0.805090 0.112310 0.575977 
time: 1403636737.463556, t: 0.882179 -2.511231 -0.324550 q: -0.088742 0.809648 0.116620 0.568326 
time: 1403636737.663555, t: 0.829274 -2.455017 -0.318358 q: -0.095526 0.812715 0.115075 0.563140 
time: 1403636737.863555, t: 0.783049 -2.403512 -0.283829 q: -0.103192 0.815091 0.109043 0.559542 
time: 1403636738.063555, t: 0.754241 -2.366637 -0.217911 q: -0.101897 0.815096 0.107382 0.560093 
time: 1403636738.263556, t: 0.742210 -2.341782 -0.147365 q: -0.095068 0.812967 0.108254 0.564206 
time: 1403636738.463556, t: 0.730749 -2.322646 -0.102345 q: -0.091257 0.814165 0.105429 0.563642 
time: 1403636738.663555, t: 0.742286 -2.308524 -0.083552 q: -0.079264 0.819720 0.085249 0.560811 
time: 1403636738.863555, t: 0.746064 -2.310441 -0.093707 q: -0.061620 0.817841 0.044530 0.570400 
time: 1403636739.063555, t: 0.760875 -2.331446 -0.126755 q: -0.040737 0.817048 -0.007171 0.575085 
time: 1403636739.263556, t: 0.781473 -2.365547 -0.177101 q: 0.004252 0.816266 -0.048810 0.575594 
time: 1403636739.463556, t: 0.796222 -2.413627 -0.226948 q: 0.052739 0.813308 -0.084903 0.573185 
time: 1403636739.663555, t: 0.809112 -2.460526 -0.246277 q: 0.074117 0.809302 -0.121447 0.569901 
time: 1403636739.863555, t: 0.825107 -2.505341 -0.259425 q: 0.078550 0.806794 -0.138729 0.568917 
time: 1403636740.063555, t: 0.841680 -2.551770 -0.291868 q: 0.082299 0.807397 -0.138701 0.567538 
time: 1403636740.263556, t: 0.849284 -2.600211 -0.339752 q: 0.092195 0.808004 -0.126837 0.567927 
time: 1403636740.463556, t: 0.857875 -2.636099 -0.405085 q: 0.082001 0.806431 -0.128002 0.571455 
time: 1403636740.663555, t: 0.855196 -2.672401 -0.464011 q: 0.075205 0.805510 -0.127336 0.573832 
time: 1403636740.863555, t: 0.849127 -2.705551 -0.507913 q: 0.072153 0.808320 -0.125302 0.570712 
time: 1403636741.063555, t: 0.833316 -2.739603 -0.565091 q: 0.090708 0.805968 -0.111620 0.574220 
time: 1403636741.263556, t: 0.820180 -2.760349 -0.652806 q: 0.093222 0.800620 -0.127566 0.577965 
time: 1403636741.463556, t: 0.796842 -2.768713 -0.748810 q: 0.087262 0.806099 -0.146040 0.566800 
time: 1403636741.663555, t: 0.768189 -2.780029 -0.821395 q: 0.087057 0.814802 -0.152800 0.552422 
time: 1403636742.063555, t: 0.751537 -2.828359 -0.925200 q: 0.101774 0.813021 -0.134023 0.557384 
time: 1403636742.263556, t: 0.758542 -2.844036 -0.982060 q: 0.087963 0.819040 -0.136188 0.550353 
time: 1403636742.463556, t: 0.778529 -2.858952 -1.005976 q: 0.082179 0.811868 -0.134586 0.562142 
time: 1403636742.663555, t: 0.807358 -2.874661 -1.017379 q: 0.081658 0.807580 -0.131670 0.569043 
time: 1403636742.863555, t: 0.840301 -2.891761 -1.049615 q: 0.079618 0.803638 -0.129784 0.575311 
time: 1403636743.063555, t: 0.857621 -2.909050 -1.114343 q: 0.080512 0.806820 -0.136211 0.569214 
time: 1403636743.263556, t: 0.873378 -2.928298 -1.183268 q: 0.082595 0.825805 -0.150049 0.537317 
time: 1403636743.463556, t: 0.912950 -2.961638 -1.220527 q: 0.082329 0.825605 -0.157467 0.535540 
time: 1403636743.663555, t: 0.977582 -3.006636 -1.255447 q: 0.090449 0.816123 -0.153840 0.549633 
time: 1403636743.863555, t: 1.055593 -3.055990 -1.318599 q: 0.098637 0.805233 -0.158828 0.562712 
time: 1403636744.063555, t: 1.135640 -3.103710 -1.402044 q: 0.109964 0.798627 -0.164546 0.568355 
time: 1403636744.263556, t: 1.214474 -3.145708 -1.510536 q: 0.116080 0.792576 -0.179216 0.571166 
time: 1403636744.463556, t: 1.284362 -3.184283 -1.641712 q: 0.110276 0.789324 -0.191621 0.572790 
time: 1403636744.663555, t: 1.342416 -3.226592 -1.792780 q: 0.100787 0.784759 -0.196834 0.579010 
time: 1403636744.863555, t: 1.379180 -3.275449 -1.948080 q: 0.113993 0.786241 -0.187189 0.577746 
time: 1403636745.063555, t: 1.404275 -3.320247 -2.070011 q: 0.114860 0.796271 -0.182304 0.565265 
time: 1403636745.263556, t: 1.425529 -3.365594 -2.164485 q: 0.108064 0.802286 -0.176902 0.559790 
time: 1403636745.463556, t: 1.452491 -3.411629 -2.225485 q: 0.110162 0.795674 -0.166147 0.571981 
time: 1403636745.663555, t: 1.481717 -3.452450 -2.253516 q: 0.113370 0.791013 -0.169853 0.576711 
time: 1403636745.863555, t: 1.501109 -3.484038 -2.249598 q: 0.126102 0.790235 -0.176090 0.573253 
time: 1403636746.063555, t: 1.520818 -3.502522 -2.220042 q: 0.142841 0.789721 -0.180921 0.568511 
time: 1403636746.263556, t: 1.538077 -3.501009 -2.165302 q: 0.152188 0.785428 -0.184080 0.571014 
time: 1403636746.463556, t: 1.557417 -3.470664 -2.116970 q: 0.152148 0.775835 -0.186507 0.583220 
time: 1403636746.663555, t: 1.560046 -3.419091 -2.108277 q: 0.131380 0.797235 -0.195354 0.555871 
time: 1403636746.863555, t: 1.574885 -3.368125 -2.117237 q: 0.106045 0.807221 -0.205049 0.543234 
time: 1403636747.063555, t: 1.602242 -3.339671 -2.113492 q: 0.107974 0.803509 -0.198073 0.550892 
time: 1403636747.263556, t: 1.645783 -3.327550 -2.073523 q: 0.126791 0.797007 -0.185376 0.560660 
time: 1403636747.463556, t: 1.694835 -3.311533 -2.013265 q: 0.134057 0.795056 -0.184511 0.562023 
time: 1403636747.663555, t: 1.745531 -3.285334 -1.973720 q: 0.133994 0.796227 -0.190654 0.558319 
time: 1403636747.863555, t: 1.798115 -3.249977 -1.912868 q: 0.135340 0.795031 -0.196310 0.557738 
time: 1403636748.063555, t: 1.849496 -3.216957 -1.836360 q: 0.114686 0.787187 -0.216946 0.565790 
time: 1403636748.263556, t: 1.901041 -3.198063 -1.778758 q: 0.117665 0.788654 -0.218418 0.562559 
time: 1403636748.463556, t: 1.937536 -3.196193 -1.745477 q: 0.138864 0.792088 -0.203093 0.558629 
time: 1403636748.663555, t: 1.986879 -3.188370 -1.692056 q: 0.135533 0.789596 -0.205520 0.562077 
time: 1403636748.863555, t: 2.029393 -3.185421 -1.639614 q: 0.123567 0.785814 -0.217165 0.565744 
time: 1403636749.063555, t: 2.062497 -3.187452 -1.602736 q: 0.121062 0.782188 -0.226567 0.567621 
time: 1403636749.263556, t: 2.083064 -3.206883 -1.572983 q: 0.126084 0.780191 -0.228735 0.568406 
time: 1403636749.463556, t: 2.094719 -3.233584 -1.518064 q: 0.144948 0.782403 -0.218539 0.564868 
time: 1403636749.663555, t: 2.106318 -3.259239 -1.451521 q: 0.156759 0.785070 -0.209126 0.561567 
time: 1403636749.863555, t: 2.116322 -3.278684 -1.409416 q: 0.152321 0.777965 -0.207727 0.573078 
time: 1403636750.063555, t: 2.121874 -3.284856 -1.390046 q: 0.147435 0.774394 -0.203412 0.580689 
time: 1403636750.263556, t: 2.108752 -3.276341 -1.373594 q: 0.141413 0.780845 -0.200619 0.574487 
time: 1403636750.463556, t: 2.085776 -3.256271 -1.325477 q: 0.135588 0.786834 -0.197042 0.568931 
time: 1403636750.663555, t: 2.058227 -3.232135 -1.240327 q: 0.132911 0.789250 -0.190025 0.568603 
time: 1403636750.863555, t: 2.026102 -3.202915 -1.130800 q: 0.131025 0.792291 -0.185904 0.566169 
time: 1403636751.063555, t: 1.990764 -3.164756 -1.009037 q: 0.134559 0.795594 -0.182702 0.561733 
time: 1403636751.263556, t: 1.964110 -3.122721 -0.909615 q: 0.131813 0.801851 -0.187261 0.551899 
time: 1403636751.463556, t: 1.944036 -3.072938 -0.820100 q: 0.120709 0.798031 -0.198571 0.556008 
time: 1403636751.663555, t: 1.931280 -3.035755 -0.732269 q: 0.106967 0.793192 -0.198950 0.565529 
time: 1403636751.863555, t: 1.918858 -3.016592 -0.661817 q: 0.098533 0.804834 -0.193221 0.552449 
time: 1403636752.063555, t: 1.907876 -3.013578 -0.591644 q: 0.109041 0.810315 -0.179562 0.547044 
time: 1403636752.263556, t: 1.919503 -3.023390 -0.525746 q: 0.108719 0.802982 -0.168339 0.561305 
time: 1403636752.463556, t: 1.932406 -3.032169 -0.447324 q: 0.092416 0.799900 -0.143209 0.575421 
time: 1403636752.663555, t: 1.944628 -3.037747 -0.367342 q: 0.069674 0.808428 -0.107271 0.574529 
time: 1403636752.863555, t: 1.948592 -3.041857 -0.312411 q: 0.044844 0.814589 -0.067587 0.574339 
time: 1403636753.063555, t: 1.955220 -3.042507 -0.282043 q: 0.026098 0.817425 -0.019497 0.575113 
time: 1403636753.263556, t: 1.959946 -3.028458 -0.275204 q: 0.001329 0.818066 0.028263 0.574428 
time: 1403636753.463556, t: 1.964398 -2.999286 -0.289802 q: -0.024815 0.814221 0.063835 0.576501 
time: 1403636753.663555, t: 1.957264 -2.957137 -0.285780 q: -0.045181 0.811755 0.071479 0.577844 
time: 1403636753.863555, t: 1.945678 -2.910836 -0.276205 q: -0.046165 0.810292 0.072471 0.579692 
optimize pose graph 
time: 1403636754.063555, t: 1.922468 -2.865080 -0.276182 q: -0.044009 0.808305 0.068445 0.583114 
time: 1403636754.263556, t: 1.898768 -2.815773 -0.262997 q: -0.038505 0.802825 0.065229 0.591384 
time: 1403636754.463556, t: 1.858975 -2.757783 -0.230146 q: -0.037043 0.802926 0.066916 0.591151 
time: 1403636754.663555, t: 1.804048 -2.686109 -0.203077 q: -0.045670 0.804299 0.085168 0.586314 
time: 1403636754.863555, t: 1.735024 -2.611363 -0.196794 q: -0.066512 0.801965 0.110279 0.583324 
time: 1403636755.063555, t: 1.663139 -2.525369 -0.205224 q: -0.078313 0.799706 0.127478 0.581452 
time: 1403636755.263556, t: 1.574616 -2.439580 -0.207266 q: -0.084951 0.801070 0.133846 0.577196 
time: 1403636755.463556, t: 1.483903 -2.348320 -0.185154 q: -0.084344 0.812435 0.135674 0.560738 
time: 1403636755.663555, t: 1.399706 -2.250191 -0.162587 q: -0.081230 0.811419 0.134139 0.563035 
time: 1403636755.863555, t: 1.319052 -2.147382 -0.161417 q: -0.084114 0.807852 0.129290 0.568845 
optimize pose graph 
time: 1403636756.063555, t: 1.239659 -2.038573 -0.164099 q: -0.086826 0.804685 0.126605 0.573510 
time: 1403636756.263556, t: 1.165302 -1.924610 -0.145836 q: -0.086561 0.802472 0.126909 0.576577 
time: 1403636756.463556, t: 1.080142 -1.812685 -0.131032 q: -0.087301 0.801086 0.128074 0.578132 
time: 1403636756.663555, t: 0.986992 -1.703843 -0.138556 q: -0.089511 0.800069 0.128359 0.579138 
time: 1403636756.863555, t: 0.878342 -1.596902 -0.135382 q: -0.092039 0.798415 0.128615 0.580965 
time: 1403636757.063555, t: 0.758239 -1.495894 -0.107615 q: -0.094767 0.798907 0.128641 0.579844 
time: 1403636757.263556, t: 0.629844 -1.397734 -0.088677 q: -0.094778 0.798912 0.129314 0.579684 
time: 1403636757.463556, t: 0.496022 -1.301226 -0.092610 q: -0.089602 0.801696 0.133904 0.575608 
time: 1403636757.663555, t: 0.361260 -1.198889 -0.085409 q: -0.091513 0.810616 0.147228 0.559330 
time: 1403636757.863555, t: 0.238417 -1.088401 -0.050180 q: -0.100282 0.818565 0.157937 0.543093 
time: 1403636758.063555, t: 0.136649 -0.967072 0.013922 q: -0.111201 0.807714 0.160669 0.556253 
time: 1403636758.263556, t: 0.044982 -0.843991 0.059623 q: -0.119251 0.796795 0.159246 0.570558 
time: 1403636758.463556, t: -0.050053 -0.730723 0.070721 q: -0.125435 0.806145 0.155727 0.556907 
time: 1403636758.663555, t: -0.129349 -0.623424 0.061103 q: -0.137537 0.825619 0.146384 0.527266 
time: 1403636758.863555, t: -0.166794 -0.530060 0.052733 q: -0.133261 0.807693 0.147927 0.554969 
time: 1403636759.063555, t: -0.191407 -0.446598 0.029481 q: -0.127773 0.798752 0.151509 0.568079 
time: 1403636759.263556, t: -0.215597 -0.377124 -0.010801 q: -0.159906 0.799867 0.129629 0.563773 
time: 1403636759.463556, t: -0.232535 -0.344292 -0.061459 q: -0.143226 0.797262 0.142665 0.568776 
time: 1403636759.663555, t: -0.251719 -0.333741 -0.116385 q: -0.124763 0.794621 0.157712 0.572834 
time: 1403636759.863555, t: -0.276549 -0.332497 -0.135835 q: -0.123187 0.794182 0.160123 0.573115 
time: 1403636760.063555, t: -0.307535 -0.333277 -0.151285 q: -0.121745 0.805649 0.160434 0.557107 
time: 1403636760.263556, t: -0.329160 -0.335813 -0.171533 q: -0.122234 0.803887 0.159320 0.559859 
time: 1403636760.463556, t: -0.344606 -0.338078 -0.198901 q: -0.122009 0.794142 0.159608 0.573566 
time: 1403636760.663555, t: -0.369041 -0.344196 -0.231883 q: -0.115132 0.802982 0.165064 0.560997 
time: 1403636760.863555, t: -0.391802 -0.342072 -0.257225 q: -0.110435 0.800549 0.169488 0.564092 
time: 1403636761.063555, t: -0.416139 -0.331086 -0.283932 q: -0.112603 0.803863 0.169003 0.559074 
time: 1403636761.263556, t: -0.443231 -0.314444 -0.310664 q: -0.113073 0.818247 0.169651 0.537499 
time: 1403636761.463556, t: -0.446496 -0.281538 -0.323910 q: -0.114649 0.808961 0.168359 0.551446 
time: 1403636761.663555, t: -0.442123 -0.245781 -0.321432 q: -0.121808 0.798042 0.162038 0.567481 
time: 1403636761.863555, t: -0.439512 -0.214553 -0.313444 q: -0.138814 0.798836 0.148857 0.566068 
time: 1403636762.063555, t: -0.437823 -0.199585 -0.298048 q: -0.118291 0.796952 0.161853 0.569805 
time: 1403636762.263556, t: -0.442216 -0.186878 -0.280652 q: -0.096296 0.802407 0.175788 0.562111 
time: 1403636762.463556, t: -0.446026 -0.153248 -0.288206 q: -0.109001 0.815733 0.165846 0.543317 
time: 1403636762.663555, t: -0.436843 -0.112243 -0.324931 q: -0.152874 0.806913 0.134807 0.554390 
time: 1403636762.863555, t: -0.419470 -0.097712 -0.375405 q: -0.148605 0.781997 0.139433 0.589029 
time: 1403636763.063555, t: -0.441893 -0.131876 -0.390038 q: -0.122826 0.802506 0.122219 0.570929 
time: 1403636763.263556, t: -0.450026 -0.143977 -0.400445 q: -0.121817 0.800623 0.100109 0.578050 
time: 1403636763.463556, t: -0.457635 -0.146534 -0.412559 q: -0.122410 0.799407 0.099565 0.579699 
time: 1403636763.663555, t: -0.442818 -0.147248 -0.386345 q: -0.123091 0.799989 0.099729 0.578724 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720542798.679829289]: Shutdown request received.[0m
[33m[ WARN] [1720542798.679869366]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720542798.680866341]: Shutdown request received.[0m
[33m[ WARN] [1720542798.680908758]: Reason given for shutdown: [user request][0m
killed
