/SLAM-Hive/slam_hive_results/mapping_results/3137/2342_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720547728.354458260]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720547728.357385205]: init begins[0m
[31m[ERROR] [1720547728.358473851]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6d35e4dc-3e1c-11ef-a678-0242ac110005/roslaunch-1e003e2c0956-118.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://1e003e2c0956:44847/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720547729.461441436]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720547729.463268692]: 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] [1720547729.469559617]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720547729.469811683]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720547729.469842759]: ROW: 288 COL: 451 [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] [1720547729.470127355]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720547729.470382941]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720547729.470580902]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://1e003e2c0956:11311/[0m
]2;roscore http://1e003e2c0956:11311/
[1msetting /run_id to 6d35e4dc-3e1c-11ef-a678-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720547738.508771042]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316910881.88 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
[33m[ WARN] [1720547741.738055631]: gyroscope bias initial calibration -0.0129958  0.0267576  0.0686634[0m
[0m[ INFO] [1720547741.780704465]: Initialization finish![0m
time: 1403636859.701667, t: 0.016273 -0.072825 0.239503 q: -0.040430 0.812774 0.045843 0.579363 
time: 1403636859.801666, t: 0.020103 -0.074114 0.285513 q: -0.033566 0.805350 0.047023 0.589977 
time: 1403636859.901666, t: 0.021081 -0.075075 0.327381 q: -0.028586 0.800722 0.049308 0.596318 
time: 1403636860.001667, t: 0.020733 -0.078863 0.358823 q: -0.040027 0.797299 0.057988 0.599457 
time: 1403636860.101666, t: 0.024755 -0.084958 0.366138 q: -0.052481 0.798779 0.064326 0.595869 
time: 1403636860.201667, t: 0.025997 -0.090113 0.343719 q: -0.058592 0.801667 0.066145 0.591204 
time: 1403636860.301666, t: 0.022897 -0.091806 0.295443 q: -0.061104 0.807864 0.062595 0.582842 
time: 1403636860.401666, t: 0.017377 -0.093932 0.238304 q: -0.053959 0.817108 0.053482 0.571457 
time: 1403636860.501667, t: 0.014637 -0.094784 0.181520 q: -0.053913 0.829891 0.048516 0.553191 
time: 1403636860.601666, t: 0.011035 -0.095660 0.136146 q: -0.051308 0.840590 0.041778 0.537616 
time: 1403636860.701667, t: 0.004961 -0.097673 0.106834 q: -0.044737 0.848314 0.036197 0.526358 
time: 1403636860.801666, t: -0.001760 -0.099716 0.100092 q: -0.035928 0.853861 0.038961 0.517796 
time: 1403636860.901666, t: -0.004531 -0.100609 0.119619 q: -0.034746 0.855797 0.047172 0.513984 
time: 1403636861.001667, t: -0.003926 -0.101162 0.163629 q: -0.034293 0.854286 0.051660 0.516092 
time: 1403636861.101666, t: -0.000312 -0.101724 0.221950 q: -0.033591 0.847238 0.050902 0.527702 
time: 1403636861.201667, t: 0.005394 -0.102298 0.284917 q: -0.034144 0.835541 0.051334 0.545959 
time: 1403636861.301666, t: 0.009902 -0.103478 0.346788 q: -0.036052 0.821313 0.050968 0.567052 
time: 1403636861.401666, t: 0.012824 -0.105957 0.396804 q: -0.037417 0.809967 0.047168 0.583377 
time: 1403636861.501667, t: 0.015132 -0.107622 0.421409 q: -0.034884 0.803000 0.043484 0.593366 
time: 1403636861.601666, t: 0.017415 -0.109403 0.412090 q: -0.031892 0.803751 0.042118 0.592616 
time: 1403636861.701667, t: 0.018817 -0.110060 0.373397 q: -0.033113 0.809910 0.043000 0.584038 
time: 1403636861.801666, t: 0.017367 -0.110288 0.321123 q: -0.031351 0.816538 0.044977 0.574683 
time: 1403636861.901666, t: 0.014127 -0.107685 0.264123 q: -0.033186 0.824036 0.046027 0.563689 
time: 1403636862.001667, t: 0.010122 -0.104678 0.205577 q: -0.037257 0.835739 0.045655 0.545957 
time: 1403636862.101666, t: 0.004827 -0.100704 0.153297 q: -0.041712 0.845091 0.044005 0.531173 
time: 1403636862.201667, t: -0.000037 -0.098415 0.115701 q: -0.044704 0.849636 0.044860 0.523553 
time: 1403636862.301666, t: -0.002432 -0.098414 0.103481 q: -0.039465 0.852991 0.050448 0.517981 
time: 1403636862.401666, t: -0.002781 -0.099622 0.123646 q: -0.036235 0.855744 0.052262 0.513476 
time: 1403636862.501667, t: -0.001238 -0.100638 0.171338 q: -0.034929 0.853499 0.052524 0.517263 
time: 1403636862.601666, t: 0.004312 -0.103096 0.233623 q: -0.024390 0.847390 0.051233 0.527930 
time: 1403636862.701667, t: 0.010069 -0.104140 0.301954 q: -0.016221 0.839462 0.048769 0.540983 
time: 1403636862.801666, t: 0.015078 -0.103132 0.370260 q: -0.018933 0.834298 0.042561 0.549342 
time: 1403636862.901666, t: 0.017621 -0.102669 0.433704 q: -0.022736 0.830925 0.034329 0.554859 
time: 1403636863.001667, t: 0.016290 -0.102191 0.476786 q: -0.027566 0.825136 0.030758 0.563422 
time: 1403636863.101666, t: 0.016416 -0.102762 0.484862 q: -0.020936 0.818965 0.034826 0.572402 
time: 1403636863.201667, t: 0.015172 -0.103321 0.459831 q: -0.010574 0.816202 0.039044 0.576348 
time: 1403636863.301666, t: 0.015108 -0.103383 0.408353 q: -0.003764 0.817333 0.041991 0.574622 
time: 1403636863.401666, t: 0.014681 -0.104468 0.345048 q: 0.002701 0.819352 0.041150 0.571806 
time: 1403636863.501667, t: 0.013425 -0.104950 0.276150 q: 0.001077 0.824244 0.037080 0.565019 
time: 1403636863.601666, t: 0.007953 -0.105920 0.209229 q: -0.011491 0.832082 0.034406 0.553465 
time: 1403636863.701667, t: 0.002008 -0.106999 0.151165 q: -0.023065 0.840662 0.032793 0.540075 
time: 1403636863.801666, t: -0.002176 -0.108427 0.113169 q: -0.029287 0.848802 0.031088 0.526983 
time: 1403636863.901666, t: -0.006043 -0.111275 0.108691 q: -0.029242 0.854357 0.032026 0.517874 
time: 1403636864.001667, t: -0.007029 -0.112749 0.141225 q: -0.031068 0.855355 0.034601 0.515950 
time: 1403636864.101666, t: -0.006578 -0.113416 0.200651 q: -0.028950 0.851725 0.039422 0.521701 
time: 1403636864.201667, t: -0.003602 -0.113388 0.273296 q: -0.020029 0.847187 0.040938 0.529336 
time: 1403636864.301666, t: 0.000394 -0.110489 0.343197 q: -0.018825 0.844018 0.040790 0.534430 
time: 1403636864.401666, t: 0.003329 -0.107036 0.404355 q: -0.020031 0.840019 0.037676 0.540876 
time: 1403636864.501667, t: 0.005939 -0.104603 0.455227 q: -0.021882 0.830087 0.030018 0.556395 
time: 1403636864.601666, t: 0.008288 -0.101274 0.484178 q: -0.025649 0.818573 0.023901 0.573331 
time: 1403636864.701667, t: 0.009792 -0.100885 0.480774 q: -0.019781 0.813202 0.026876 0.581024 
time: 1403636864.801666, t: 0.009675 -0.101514 0.446338 q: -0.013777 0.815842 0.032000 0.577224 
time: 1403636864.901666, t: 0.009570 -0.101688 0.391912 q: -0.012361 0.821083 0.032755 0.569734 
time: 1403636865.001667, t: 0.010147 -0.103503 0.330896 q: -0.006087 0.827368 0.032148 0.560707 
time: 1403636865.101666, t: 0.009986 -0.105545 0.269834 q: -0.005571 0.834484 0.031502 0.550102 
time: 1403636865.201667, t: 0.009274 -0.105953 0.214673 q: -0.020080 0.839952 0.022538 0.541821 
time: 1403636865.301666, t: 0.008815 -0.105973 0.172731 q: -0.035066 0.842430 0.017734 0.537371 
time: 1403636865.401666, t: 0.009177 -0.106008 0.145532 q: -0.035484 0.843609 0.018222 0.535475 
time: 1403636865.501667, t: 0.009366 -0.106651 0.140273 q: -0.027327 0.848279 0.023960 0.528300 
time: 1403636865.601666, t: 0.009799 -0.105195 0.163283 q: -0.023897 0.853905 0.029646 0.519034 
time: 1403636865.701667, t: 0.009274 -0.100530 0.210454 q: -0.027456 0.853403 0.032103 0.519537 
time: 1403636865.801666, t: 0.010371 -0.095801 0.272087 q: -0.029876 0.846613 0.031235 0.530451 
time: 1403636865.901666, t: 0.012701 -0.092679 0.340042 q: -0.032513 0.836647 0.028625 0.546027 
time: 1403636866.001667, t: 0.013620 -0.090348 0.408356 q: -0.036517 0.822576 0.025550 0.566906 
time: 1403636866.101666, t: 0.013226 -0.088466 0.468474 q: -0.034010 0.806521 0.021215 0.589845 
time: 1403636866.201667, t: 0.010252 -0.086944 0.510377 q: -0.028869 0.796272 0.021437 0.603869 
time: 1403636866.301666, t: 0.007917 -0.086111 0.521740 q: -0.022318 0.795537 0.022984 0.605058 
time: 1403636866.401666, t: 0.007924 -0.086780 0.502300 q: -0.014418 0.801508 0.024414 0.597311 
time: 1403636866.501667, t: 0.008777 -0.088485 0.459349 q: -0.011512 0.807985 0.026012 0.588516 
time: 1403636866.701667, t: 0.011164 -0.098390 0.352302 q: -0.004630 0.821415 0.026500 0.569696 
time: 1403636866.801666, t: 0.007029 -0.104035 0.311005 q: -0.008332 0.827240 0.030499 0.560959 
time: 1403636866.901666, t: -0.000539 -0.107035 0.277422 q: -0.019418 0.833728 0.032410 0.550881 
time: 1403636867.001667, t: -0.008971 -0.109523 0.251778 q: -0.028692 0.842160 0.032095 0.537507 
time: 1403636867.101666, t: -0.015586 -0.110023 0.235783 q: -0.030400 0.848405 0.032748 0.527458 
time: 1403636867.201667, t: -0.025040 -0.109959 0.229861 q: -0.036806 0.851432 0.034717 0.522019 
time: 1403636867.301666, t: -0.035361 -0.108920 0.229242 q: -0.045514 0.853410 0.040843 0.517641 
time: 1403636867.401666, t: -0.043211 -0.108947 0.233800 q: -0.044915 0.856670 0.042668 0.512131 
time: 1403636867.501667, t: -0.050564 -0.108099 0.239275 q: -0.041286 0.863439 0.043913 0.500840 
time: 1403636867.601666, t: -0.059338 -0.108811 0.240560 q: -0.036034 0.878944 0.047942 0.473140 
time: 1403636867.701667, t: -0.069611 -0.109682 0.236233 q: -0.036438 0.903544 0.049586 0.424054 
optimize pose graph 
time: 1403636867.801666, t: -0.079551 -0.112164 0.230452 q: -0.033502 0.928247 0.048604 0.367250 
time: 1403636867.901666, t: -0.084355 -0.114073 0.228734 q: -0.030645 0.941671 0.043345 0.332323 
time: 1403636868.001667, t: -0.084357 -0.113391 0.232630 q: -0.031646 0.942792 0.039391 0.329531 
time: 1403636868.101666, t: -0.084892 -0.112160 0.238561 q: -0.033399 0.937847 0.038951 0.343235 
time: 1403636868.201667, t: -0.087823 -0.111262 0.241938 q: -0.036277 0.934190 0.039488 0.352725 
time: 1403636868.301666, t: -0.094403 -0.109385 0.243242 q: -0.038574 0.934398 0.037905 0.352101 
time: 1403636868.401666, t: -0.101775 -0.105067 0.243580 q: -0.040472 0.935878 0.034571 0.348281 
time: 1403636868.501667, t: -0.109441 -0.098710 0.245068 q: -0.038597 0.933525 0.032136 0.354978 
time: 1403636868.601666, t: -0.116372 -0.092847 0.250019 q: -0.034816 0.930110 0.027325 0.364605 
time: 1403636868.701667, t: -0.123597 -0.088921 0.254527 q: -0.033521 0.930343 0.025102 0.364291 
time: 1403636868.801666, t: -0.131308 -0.084990 0.255480 q: -0.033334 0.933138 0.030044 0.356706 
time: 1403636868.901666, t: -0.136152 -0.081503 0.256218 q: -0.029621 0.933940 0.034769 0.354499 
time: 1403636869.001667, t: -0.138006 -0.076451 0.257772 q: -0.031510 0.931713 0.036291 0.360002 
time: 1403636869.101666, t: -0.138286 -0.072775 0.258871 q: -0.037308 0.929842 0.037589 0.364127 
time: 1403636869.201667, t: -0.139009 -0.069496 0.257903 q: -0.039977 0.929433 0.039576 0.364679 
time: 1403636869.301666, t: -0.138311 -0.068155 0.256319 q: -0.039834 0.929568 0.041484 0.364136 
time: 1403636869.401666, t: -0.137075 -0.067521 0.255210 q: -0.041272 0.929353 0.042316 0.364431 
time: 1403636869.501667, t: -0.135439 -0.069215 0.254487 q: -0.041524 0.929311 0.042195 0.364522 
time: 1403636869.601666, t: -0.132465 -0.077542 0.253688 q: -0.040764 0.929494 0.041381 0.364235 
time: 1403636869.701667, t: -0.127182 -0.095604 0.252637 q: -0.038988 0.931010 0.040383 0.360652 
time: 1403636869.801666, t: -0.118413 -0.122647 0.252036 q: -0.036669 0.932054 0.036971 0.358558 
time: 1403636869.901666, t: -0.104960 -0.157503 0.252840 q: -0.033346 0.930553 0.029939 0.363404 
time: 1403636870.001667, t: -0.089425 -0.198445 0.253436 q: -0.030370 0.928763 0.022188 0.368761 
time: 1403636870.101666, t: -0.072039 -0.243832 0.252615 q: -0.026537 0.929776 0.013484 0.366921 
time: 1403636870.201667, t: -0.054304 -0.292593 0.252815 q: -0.019338 0.932118 0.008683 0.361534 
time: 1403636870.301666, t: -0.035591 -0.341074 0.253852 q: -0.017154 0.931794 0.004715 0.362552 
time: 1403636870.401666, t: -0.018075 -0.389775 0.255069 q: -0.012008 0.929048 0.000060 0.369764 
time: 1403636870.501667, t: -0.004677 -0.433478 0.253198 q: -0.008314 0.928523 -0.005744 0.371138 
time: 1403636870.601666, t: 0.004063 -0.469453 0.249399 q: -0.004087 0.931324 -0.013039 0.363935 
time: 1403636870.701667, t: 0.013399 -0.498925 0.245723 q: 0.003312 0.932361 -0.017261 0.361102 
time: 1403636870.801666, t: 0.021770 -0.517706 0.242604 q: 0.001255 0.929062 -0.021643 0.369289 
time: 1403636870.901666, t: 0.025343 -0.529631 0.238608 q: -0.001452 0.925087 -0.023210 0.379042 
time: 1403636871.001667, t: 0.025650 -0.535075 0.234952 q: -0.005779 0.923130 -0.025047 0.383628 
time: 1403636871.101666, t: 0.024753 -0.535260 0.230017 q: -0.007292 0.925932 -0.028579 0.376536 
time: 1403636871.201667, t: 0.023150 -0.531537 0.228951 q: -0.000789 0.929718 -0.031087 0.366957 
time: 1403636871.301666, t: 0.020602 -0.519991 0.232435 q: -0.000214 0.929639 -0.032408 0.367043 
time: 1403636871.401666, t: 0.015752 -0.499620 0.235904 q: 0.000487 0.929202 -0.028059 0.368504 
time: 1403636871.501667, t: 0.009050 -0.468507 0.238393 q: -0.001250 0.928890 -0.023996 0.369574 
time: 1403636871.601666, t: 0.000602 -0.428304 0.240569 q: -0.004021 0.929453 -0.021741 0.368278 
time: 1403636871.701667, t: -0.010187 -0.380155 0.243946 q: -0.011611 0.930437 -0.019074 0.365771 
time: 1403636871.801666, t: -0.020759 -0.326917 0.246672 q: -0.019257 0.930719 -0.014547 0.364939 
time: 1403636871.901666, t: -0.029646 -0.272014 0.247059 q: -0.023101 0.930193 -0.007336 0.366269 
time: 1403636872.001667, t: -0.036695 -0.213904 0.245900 q: -0.031828 0.927937 -0.001580 0.371372 
time: 1403636872.101666, t: -0.043677 -0.155701 0.242831 q: -0.041174 0.925297 0.004884 0.376971 
time: 1403636872.201667, t: -0.051445 -0.102665 0.238359 q: -0.045140 0.924827 0.011172 0.377535 
time: 1403636872.301666, t: -0.060012 -0.055301 0.232933 q: -0.050044 0.927025 0.018857 0.371166 
time: 1403636872.401666, t: -0.068392 -0.017392 0.227695 q: -0.054276 0.929514 0.026394 0.363814 
time: 1403636872.501667, t: -0.073031 0.007033 0.225943 q: -0.057040 0.930210 0.030960 0.361244 
time: 1403636872.601666, t: -0.075147 0.015905 0.226618 q: -0.058894 0.928841 0.035748 0.364016 
time: 1403636872.701667, t: -0.075407 0.012868 0.228880 q: -0.058511 0.926948 0.038724 0.368570 
time: 1403636872.801666, t: -0.073764 -0.000162 0.230548 q: -0.055248 0.926960 0.038441 0.369073 
time: 1403636872.901666, t: -0.067746 -0.025887 0.230610 q: -0.053411 0.928085 0.033554 0.366988 
time: 1403636873.001667, t: -0.058318 -0.065286 0.229719 q: -0.048922 0.928814 0.027985 0.366234 
time: 1403636873.101666, t: -0.045949 -0.113959 0.227851 q: -0.043728 0.928948 0.022291 0.366943 
time: 1403636873.201667, t: -0.031774 -0.168997 0.226822 q: -0.039910 0.929838 0.014814 0.365498 
time: 1403636873.301666, t: -0.017163 -0.228075 0.226660 q: -0.035775 0.930570 0.006406 0.364307 
time: 1403636873.401666, t: -0.004177 -0.287812 0.226165 q: -0.031594 0.931065 -0.000797 0.363481 
time: 1403636873.501667, t: 0.006335 -0.345055 0.223543 q: -0.028032 0.931838 -0.007222 0.361717 
time: 1403636873.601666, t: 0.013990 -0.397788 0.220680 q: -0.020682 0.933458 -0.014179 0.357809 
time: 1403636873.701667, t: 0.018979 -0.441961 0.216699 q: -0.015172 0.934756 -0.020060 0.354399 
time: 1403636873.801666, t: 0.021090 -0.474310 0.212571 q: -0.014434 0.935821 -0.021402 0.351528 
time: 1403636873.901666, t: 0.022319 -0.492864 0.208520 q: -0.014736 0.935783 -0.023631 0.351476 
time: 1403636874.001667, t: 0.023022 -0.499672 0.205465 q: -0.013044 0.935118 -0.026461 0.353106 
time: 1403636874.101666, t: 0.023050 -0.497709 0.203857 q: -0.012288 0.935103 -0.027503 0.353094 
time: 1403636874.201667, t: 0.022633 -0.488130 0.204197 q: -0.012868 0.935754 -0.026492 0.351422 
time: 1403636874.301666, t: 0.020271 -0.467907 0.206089 q: -0.014280 0.936697 -0.021807 0.349170 
time: 1403636874.401666, t: 0.017232 -0.433284 0.206685 q: -0.019795 0.937386 -0.016092 0.347356 
time: 1403636874.501667, t: 0.013149 -0.387830 0.208050 q: -0.025159 0.936763 -0.010565 0.348899 
time: 1403636874.601666, t: 0.006651 -0.335148 0.209735 q: -0.028070 0.935132 -0.004837 0.353153 
time: 1403636874.701667, t: -0.002205 -0.275405 0.209465 q: -0.034333 0.933927 0.002458 0.355802 
time: 1403636874.801666, t: -0.010920 -0.215488 0.207008 q: -0.040239 0.933470 0.008829 0.356281 
time: 1403636874.901666, t: -0.019208 -0.159506 0.202668 q: -0.049009 0.933899 0.012893 0.353926 
time: 1403636875.001667, t: -0.024197 -0.113519 0.198572 q: -0.054291 0.933252 0.016398 0.354718 
time: 1403636875.101666, t: -0.024334 -0.078896 0.195853 q: -0.052492 0.928530 0.011389 0.367351 
time: 1403636875.201667, t: -0.025949 -0.052426 0.193286 q: -0.044435 0.921598 -0.004995 0.385560 
time: 1403636875.301666, t: -0.031121 -0.031846 0.189350 q: -0.037346 0.916949 -0.029228 0.396175 
time: 1403636875.401666, t: -0.043139 -0.014286 0.185369 q: -0.036827 0.915631 -0.056090 0.396380 
time: 1403636875.501667, t: -0.066012 -0.004069 0.182780 q: -0.040369 0.916500 -0.075811 0.390706 
time: 1403636875.601666, t: -0.099235 -0.005456 0.181116 q: -0.043831 0.917737 -0.090217 0.384316 
time: 1403636875.701667, t: -0.136392 -0.020240 0.181384 q: -0.040695 0.917212 -0.102796 0.382752 
time: 1403636875.801666, t: -0.173925 -0.044784 0.180774 q: -0.029814 0.915258 -0.118123 0.384005 
time: 1403636875.901666, t: -0.210206 -0.076794 0.180277 q: -0.017977 0.914586 -0.135970 0.380422 
time: 1403636876.001667, t: -0.243355 -0.114944 0.182209 q: -0.002935 0.911985 -0.158372 0.378409 
time: 1403636876.101666, t: -0.268308 -0.161508 0.187640 q: 0.018317 0.905959 -0.180659 0.382446 
time: 1403636876.201667, t: -0.278862 -0.211085 0.193081 q: 0.035243 0.899323 -0.200553 0.386982 
time: 1403636876.301666, t: -0.277192 -0.262608 0.195616 q: 0.046916 0.895798 -0.216900 0.385096 
time: 1403636876.401666, t: -0.252535 -0.315354 0.193197 q: 0.053101 0.895706 -0.228298 0.377850 
time: 1403636876.501667, t: -0.218403 -0.370887 0.191922 q: 0.064530 0.894563 -0.232774 0.376043 
time: 1403636876.601666, t: -0.169730 -0.419996 0.192237 q: 0.073707 0.891804 -0.226739 0.384502 
time: 1403636876.701667, t: -0.111870 -0.457922 0.195921 q: 0.075354 0.890090 -0.213318 0.395673 
time: 1403636876.801666, t: -0.048997 -0.477575 0.199659 q: 0.069946 0.891629 -0.192580 0.403756 
time: 1403636876.901666, t: 0.010191 -0.474355 0.202257 q: 0.062059 0.893890 -0.165779 0.411859 
time: 1403636877.001667, t: 0.064871 -0.449757 0.204567 q: 0.047249 0.895371 -0.135413 0.421595 
time: 1403636877.101666, t: 0.115138 -0.405430 0.202837 q: 0.026044 0.897732 -0.098636 0.428567 
time: 1403636877.201667, t: 0.152097 -0.345946 0.200494 q: 0.001807 0.900233 -0.058772 0.431420 
time: 1403636877.301666, t: 0.174369 -0.274264 0.201483 q: -0.022074 0.901602 -0.022073 0.431438 
time: 1403636877.401666, t: 0.178694 -0.200619 0.201558 q: -0.043460 0.902100 0.014351 0.429093 
time: 1403636877.501667, t: 0.166506 -0.129209 0.200155 q: -0.063624 0.902998 0.044857 0.422533 
time: 1403636877.601666, t: 0.139818 -0.069588 0.195183 q: -0.081017 0.905765 0.064313 0.410961 
time: 1403636877.701667, t: 0.101121 -0.025054 0.190738 q: -0.094613 0.908966 0.074902 0.399022 
time: 1403636877.801666, t: 0.052094 0.004867 0.189958 q: -0.101990 0.912458 0.075541 0.388990 
time: 1403636877.901666, t: -0.000685 0.019738 0.187187 q: -0.100810 0.917049 0.066702 0.380012 
time: 1403636878.001667, t: -0.055595 0.021401 0.183054 q: -0.092441 0.922028 0.052954 0.372177 
time: 1403636878.101666, t: -0.104447 0.007877 0.176521 q: -0.077905 0.925437 0.032922 0.369341 
time: 1403636878.201667, t: -0.145908 -0.020386 0.170295 q: -0.062357 0.926162 0.007763 0.371854 
time: 1403636878.301666, t: -0.180377 -0.063021 0.165019 q: -0.050516 0.925152 -0.018607 0.375760 
time: 1403636878.401666, t: -0.206096 -0.115918 0.160805 q: -0.040079 0.923245 -0.046597 0.379264 
time: 1403636878.501667, t: -0.217709 -0.174472 0.159998 q: -0.024135 0.921414 -0.072553 0.380986 
time: 1403636878.601666, t: -0.217199 -0.238765 0.164675 q: -0.006540 0.918793 -0.095598 0.382934 
time: 1403636878.701667, t: -0.200733 -0.299893 0.171993 q: 0.012412 0.915314 -0.113328 0.386269 
time: 1403636878.801666, t: -0.177583 -0.359013 0.181193 q: 0.027677 0.910852 -0.124739 0.392458 
time: 1403636878.901666, t: -0.144059 -0.407935 0.189002 q: 0.034446 0.908331 -0.131535 0.395534 
time: 1403636879.001667, t: -0.100956 -0.449465 0.192844 q: 0.034964 0.908786 -0.133905 0.393643 
time: 1403636879.101666, t: -0.056435 -0.475756 0.199673 q: 0.033128 0.907696 -0.134088 0.396247 
time: 1403636879.201667, t: -0.006681 -0.487272 0.207034 q: 0.030124 0.902775 -0.129481 0.409053 
time: 1403636879.301666, t: 0.043190 -0.484068 0.213989 q: 0.027391 0.898101 -0.118276 0.422700 
time: 1403636879.401666, t: 0.083934 -0.464460 0.220946 q: 0.020514 0.895741 -0.098431 0.433057 
time: 1403636879.501667, t: 0.115622 -0.429255 0.226873 q: 0.006926 0.895781 -0.071301 0.438684 
time: 1403636879.601666, t: 0.136352 -0.383098 0.232840 q: -0.009444 0.897609 -0.044145 0.438475 
time: 1403636879.701667, t: 0.142920 -0.327158 0.238928 q: -0.029075 0.898683 -0.023242 0.437016 
time: 1403636879.801666, t: 0.135773 -0.269269 0.243298 q: -0.046880 0.900543 -0.004813 0.432206 
time: 1403636879.901666, t: 0.115116 -0.214900 0.244486 q: -0.058399 0.903884 0.009469 0.423667 
time: 1403636880.001667, t: 0.080522 -0.172041 0.245321 q: -0.064993 0.907603 0.018150 0.414371 
time: 1403636880.101666, t: 0.040086 -0.148916 0.246373 q: -0.067363 0.910357 0.022418 0.407689 
time: 1403636880.201667, t: -0.004911 -0.147611 0.248531 q: -0.062610 0.911085 0.018267 0.407025 
time: 1403636880.301666, t: -0.050169 -0.164048 0.249605 q: -0.049442 0.909832 0.002034 0.412016 
time: 1403636880.401666, t: -0.094349 -0.189545 0.252398 q: -0.030673 0.907655 -0.019680 0.418131 
time: 1403636880.501667, t: -0.140678 -0.211949 0.259889 q: -0.010945 0.905141 -0.041435 0.422946 
time: 1403636880.601666, t: -0.189074 -0.223069 0.269165 q: 0.004909 0.904558 -0.059449 0.422157 
time: 1403636880.701667, t: -0.233807 -0.217426 0.275518 q: 0.012190 0.907207 -0.070676 0.414527 
time: 1403636880.801666, t: -0.271051 -0.196605 0.279176 q: 0.011232 0.910373 -0.075415 0.406704 
time: 1403636880.901666, t: -0.295086 -0.165756 0.280560 q: 0.002620 0.911405 -0.071000 0.405332 
time: 1403636881.001667, t: -0.305151 -0.130062 0.281977 q: -0.005979 0.908610 -0.060024 0.413267 
time: 1403636881.101666, t: -0.300619 -0.092383 0.283324 q: -0.013927 0.903836 -0.043315 0.425453 
time: 1403636881.201667, t: -0.285911 -0.055578 0.284770 q: -0.029324 0.900047 -0.022577 0.434220 
time: 1403636881.301666, t: -0.261667 -0.025575 0.287920 q: -0.045941 0.897617 0.000347 0.438375 
time: 1403636881.401666, t: -0.224948 -0.008057 0.290609 q: -0.054491 0.895997 0.020064 0.440247 
time: 1403636881.501667, t: -0.180174 -0.005418 0.293904 q: -0.054532 0.893401 0.035310 0.444537 
time: 1403636881.601666, t: -0.130138 -0.017348 0.295769 q: -0.051060 0.889869 0.047823 0.450821 
time: 1403636881.701667, t: -0.076771 -0.043554 0.293773 q: -0.047014 0.887777 0.059134 0.454032 
optimize pose graph 
time: 1403636881.801666, t: -0.024928 -0.081067 0.288686 q: -0.041050 0.888571 0.063045 0.452528 
time: 1403636881.901666, t: 0.019930 -0.124528 0.281175 q: -0.036295 0.890471 0.055209 0.450218 
time: 1403636882.001667, t: 0.052784 -0.171830 0.273002 q: -0.033458 0.892137 0.042939 0.448472 
time: 1403636882.101666, t: 0.073430 -0.218217 0.260867 q: -0.029405 0.892042 0.030626 0.449955 
time: 1403636882.201667, t: 0.078320 -0.260014 0.246642 q: -0.023389 0.890785 0.020504 0.453359 
time: 1403636882.301666, t: 0.067857 -0.290787 0.231809 q: -0.017326 0.888227 0.013598 0.458876 
time: 1403636882.401666, t: 0.049543 -0.305320 0.216191 q: -0.019471 0.886039 0.013148 0.463015 
time: 1403636882.501667, t: 0.030801 -0.302396 0.200815 q: -0.028942 0.884341 0.016407 0.465655 
time: 1403636882.601666, t: 0.020964 -0.288172 0.188248 q: -0.039998 0.880774 0.023301 0.471270 
time: 1403636882.701667, t: 0.025677 -0.268334 0.177682 q: -0.052555 0.870286 0.032955 0.488625 
time: 1403636882.801666, t: 0.040519 -0.246180 0.164557 q: -0.070999 0.853367 0.049610 0.514065 
time: 1403636882.901666, t: 0.060223 -0.225428 0.145681 q: -0.088566 0.837455 0.068853 0.534869 
time: 1403636883.001667, t: 0.078941 -0.205344 0.121891 q: -0.106611 0.829938 0.087927 0.540468 
time: 1403636883.101666, t: 0.096514 -0.187585 0.097876 q: -0.118618 0.827175 0.106234 0.538912 
time: 1403636883.201667, t: 0.111866 -0.172620 0.075187 q: -0.121451 0.821248 0.121283 0.544144 
time: 1403636883.301666, t: 0.125232 -0.160014 0.055022 q: -0.125124 0.814742 0.130930 0.550815 
time: 1403636883.401666, t: 0.135705 -0.151142 0.038135 q: -0.130302 0.811020 0.135284 0.554045 
time: 1403636883.501667, t: 0.142506 -0.145726 0.028071 q: -0.135772 0.805633 0.140196 0.559344 
time: 1403636883.601666, t: 0.147146 -0.142124 0.021915 q: -0.141209 0.798144 0.146523 0.567060 
time: 1403636883.701667, t: 0.151287 -0.139725 0.016880 q: -0.144068 0.794476 0.154456 0.569382 
time: 1403636883.801666, t: 0.154230 -0.138146 0.013299 q: -0.146193 0.793570 0.158135 0.569093 
time: 1403636883.901666, t: 0.156487 -0.137413 0.009152 q: -0.153547 0.792383 0.158708 0.568651 
time: 1403636884.001667, t: 0.158336 -0.137043 0.006814 q: -0.155066 0.789565 0.161695 0.571311 
time: 1403636884.101666, t: 0.158958 -0.137492 0.005679 q: -0.160814 0.785228 0.162746 0.575387 
time: 1403636884.201667, t: 0.158672 -0.138623 0.006021 q: -0.158539 0.781552 0.164996 0.580361 
time: 1403636884.301666, t: 0.157379 -0.138272 0.006473 q: -0.157896 0.779238 0.164309 0.583832 
time: 1403636884.401666, t: 0.156997 -0.137963 0.006464 q: -0.159040 0.778875 0.163726 0.584169 
time: 1403636884.501667, t: 0.157016 -0.138207 0.006506 q: -0.158111 0.778794 0.164306 0.584367 
time: 1403636884.601666, t: 0.156931 -0.138099 0.006566 q: -0.158504 0.778751 0.164083 0.584380 
time: 1403636884.701667, t: 0.157022 -0.138156 0.006509 q: -0.158356 0.779028 0.164005 0.584073 
time: 1403636884.801666, t: 0.157034 -0.138135 0.006568 q: -0.157994 0.779139 0.164028 0.584016 
time: 1403636884.901666, t: 0.157058 -0.138153 0.006543 q: -0.158044 0.779157 0.163985 0.583991 
time: 1403636885.001667, t: 0.157048 -0.138144 0.006548 q: -0.158131 0.779253 0.163861 0.583874 
time: 1403636885.101666, t: 0.156988 -0.138121 0.006557 q: -0.158184 0.779276 0.163713 0.583870 
time: 1403636885.201667, t: 0.156984 -0.138120 0.006562 q: -0.158189 0.779349 0.163639 0.583793 
time: 1403636885.301666, t: 0.156998 -0.138141 0.006557 q: -0.158091 0.779363 0.163673 0.583791 
time: 1403636885.401666, t: 0.156996 -0.138154 0.006549 q: -0.157988 0.779361 0.163631 0.583833 
time: 1403636885.501667, t: 0.157008 -0.138165 0.006547 q: -0.157950 0.779370 0.163605 0.583839 
time: 1403636885.601666, t: 0.156985 -0.138185 0.006556 q: -0.157820 0.779402 0.163553 0.583845 
time: 1403636885.701667, t: 0.157042 -0.138157 0.006530 q: -0.157915 0.779505 0.163510 0.583695 
time: 1403636885.801666, t: 0.157041 -0.138168 0.006536 q: -0.157852 0.779485 0.163517 0.583736 
time: 1403636885.901666, t: 0.157023 -0.138155 0.006520 q: -0.157887 0.779557 0.163456 0.583647 
time: 1403636886.001667, t: 0.157014 -0.138150 0.006516 q: -0.157927 0.779534 0.163434 0.583673 
time: 1403636886.101666, t: 0.157002 -0.138186 0.006511 q: -0.157737 0.779542 0.163487 0.583699 
time: 1403636886.201667, t: 0.157012 -0.138202 0.006506 q: -0.157621 0.779561 0.163549 0.583689 
time: 1403636886.301666, t: 0.157003 -0.138209 0.006512 q: -0.157586 0.779550 0.163594 0.583700 
time: 1403636886.401666, t: 0.156993 -0.138192 0.006501 q: -0.157693 0.779555 0.163526 0.583683 
time: 1403636886.501667, t: 0.156977 -0.138186 0.006498 q: -0.157683 0.779552 0.163517 0.583692 
time: 1403636886.601666, t: 0.156974 -0.138187 0.006486 q: -0.157664 0.779564 0.163529 0.583678 
time: 1403636886.701667, t: 0.156980 -0.138200 0.006484 q: -0.157630 0.779572 0.163533 0.583676 
time: 1403636886.801666, t: 0.156971 -0.138206 0.006480 q: -0.157598 0.779561 0.163534 0.583698 
time: 1403636886.901666, t: 0.156976 -0.138197 0.006477 q: -0.157653 0.779604 0.163511 0.583633 
time: 1403636887.001667, t: 0.156970 -0.138190 0.006475 q: -0.157533 0.779598 0.163556 0.583661 
time: 1403636887.101666, t: 0.156978 -0.138209 0.006464 q: -0.157569 0.779610 0.163534 0.583641 
time: 1403636887.201667, t: 0.156974 -0.138208 0.006452 q: -0.157561 0.779639 0.163488 0.583618 
time: 1403636887.301666, t: 0.156986 -0.138223 0.006435 q: -0.157547 0.779649 0.163443 0.583621 
time: 1403636887.401666, t: 0.156994 -0.138216 0.006449 q: -0.157449 0.779668 0.163503 0.583604 
time: 1403636887.501667, t: 0.156983 -0.138226 0.006441 q: -0.157441 0.779690 0.163511 0.583575 
time: 1403636887.601666, t: 0.156968 -0.138207 0.006444 q: -0.157511 0.779672 0.163452 0.583597 
time: 1403636887.701667, t: 0.156953 -0.138196 0.006434 q: -0.157557 0.779687 0.163440 0.583568 
time: 1403636887.801666, t: 0.156959 -0.138196 0.006437 q: -0.157561 0.779723 0.163427 0.583523 
time: 1403636887.901666, t: 0.156957 -0.138195 0.006441 q: -0.157512 0.779753 0.163421 0.583497 
time: 1403636888.001667, t: 0.156967 -0.138208 0.006433 q: -0.157461 0.779796 0.163411 0.583457 
time: 1403636888.101666, t: 0.156967 -0.138216 0.006431 q: -0.157466 0.779777 0.163407 0.583481 
time: 1403636888.201667, t: 0.156961 -0.138230 0.006410 q: -0.157494 0.779782 0.163390 0.583471 
time: 1403636888.301666, t: 0.156966 -0.138232 0.006412 q: -0.157500 0.779774 0.163406 0.583477 
time: 1403636888.401666, t: 0.156974 -0.138249 0.006406 q: -0.157416 0.779812 0.163430 0.583442 
time: 1403636888.501667, t: 0.156979 -0.138255 0.006409 q: -0.157386 0.779833 0.163396 0.583430 
time: 1403636888.601666, t: 0.156909 -0.138239 0.006437 q: -0.157388 0.779796 0.163325 0.583500 
time: 1403636888.701667, t: 0.156868 -0.138159 0.006482 q: -0.157443 0.779639 0.163456 0.583658 
time: 1403636888.801666, t: 0.156892 -0.138082 0.006472 q: -0.157525 0.779591 0.163693 0.583634 
time: 1403636888.901666, t: 0.156753 -0.138021 0.006483 q: -0.157572 0.779783 0.163451 0.583432 
time: 1403636889.001667, t: 0.156754 -0.137978 0.006541 q: -0.157846 0.779640 0.163591 0.583510 
time: 1403636889.101666, t: 0.156767 -0.138049 0.006528 q: -0.157565 0.779737 0.163330 0.583530 
time: 1403636889.201667, t: 0.156779 -0.138074 0.006510 q: -0.157583 0.779782 0.163238 0.583491 
time: 1403636889.301666, t: 0.156851 -0.138106 0.006452 q: -0.157569 0.779801 0.163114 0.583503 
time: 1403636889.401666, t: 0.156881 -0.138096 0.006473 q: -0.157731 0.779721 0.163431 0.583478 
time: 1403636889.501667, t: 0.156858 -0.138116 0.006479 q: -0.157386 0.779767 0.163344 0.583534 
time: 1403636889.601666, t: 0.156837 -0.138114 0.006475 q: -0.157164 0.779744 0.163209 0.583662 
time: 1403636889.701667, t: 0.156750 -0.138224 0.006496 q: -0.157273 0.779573 0.163354 0.583820 
time: 1403636889.801666, t: 0.156732 -0.138199 0.006478 q: -0.157358 0.779566 0.163442 0.583782 
time: 1403636889.901666, t: 0.156736 -0.138215 0.006491 q: -0.157249 0.779690 0.163094 0.583743 
time: 1403636890.001667, t: 0.156749 -0.138211 0.006450 q: -0.157322 0.779719 0.163316 0.583623 
time: 1403636890.101666, t: 0.156778 -0.138346 0.006507 q: -0.157035 0.779765 0.162565 0.583848 
time: 1403636890.201667, t: 0.156672 -0.138260 0.006623 q: -0.157423 0.779358 0.163053 0.584151 
time: 1403636890.301666, t: 0.156660 -0.138143 0.006515 q: -0.157442 0.779655 0.163492 0.583627 
time: 1403636890.401666, t: 0.156718 -0.138211 0.006465 q: -0.156975 0.779868 0.162937 0.583623 
time: 1403636890.501667, t: 0.156747 -0.138252 0.006563 q: -0.157055 0.779441 0.162756 0.584223 
time: 1403636890.601666, t: 0.156714 -0.138142 0.006637 q: -0.157446 0.779322 0.163560 0.584051 
time: 1403636890.701667, t: 0.156693 -0.138135 0.006481 q: -0.157375 0.779772 0.163552 0.583472 
time: 1403636890.801666, t: 0.156751 -0.138275 0.006523 q: -0.157076 0.779762 0.162771 0.583784 
time: 1403636890.901666, t: 0.156719 -0.138294 0.006639 q: -0.157180 0.779526 0.162835 0.584053 
time: 1403636891.001667, t: 0.156685 -0.138272 0.006567 q: -0.157336 0.779566 0.162879 0.583946 
time: 1403636891.101666, t: 0.156739 -0.138227 0.006562 q: -0.157194 0.779595 0.162926 0.583932 
time: 1403636891.201667, t: 0.156752 -0.138190 0.006544 q: -0.157187 0.779559 0.163031 0.583953 
time: 1403636891.301666, t: 0.156738 -0.138214 0.006484 q: -0.157248 0.779581 0.163109 0.583885 
time: 1403636891.401666, t: 0.156778 -0.138188 0.006512 q: -0.157211 0.779541 0.163059 0.583962 
time: 1403636891.501667, t: 0.156765 -0.138206 0.006568 q: -0.157257 0.779563 0.163065 0.583919 
time: 1403636891.601666, t: 0.156706 -0.138253 0.006559 q: -0.157223 0.779608 0.163044 0.583874 
time: 1403636891.701667, t: 0.156744 -0.138208 0.006517 q: -0.157190 0.779588 0.163005 0.583920 
time: 1403636891.801666, t: 0.156727 -0.138200 0.006510 q: -0.157245 0.779589 0.163026 0.583898 
time: 1403636891.901666, t: 0.156711 -0.138218 0.006504 q: -0.157285 0.779586 0.163055 0.583884 
time: 1403636892.001667, t: 0.156765 -0.138182 0.006492 q: -0.157206 0.779594 0.163071 0.583889 
time: 1403636892.101666, t: 0.156778 -0.138190 0.006499 q: -0.157234 0.779598 0.163110 0.583866 
time: 1403636892.201667, t: 0.156731 -0.138244 0.006499 q: -0.157193 0.779601 0.163091 0.583879 
time: 1403636892.301666, t: 0.156805 -0.138301 0.006500 q: -0.156881 0.779614 0.163210 0.583912 
time: 1403636892.401666, t: 0.156789 -0.138280 0.006516 q: -0.157049 0.779623 0.162906 0.583939 
time: 1403636892.501667, t: 0.156737 -0.138271 0.006572 q: -0.157078 0.779556 0.162962 0.584005 
time: 1403636892.601666, t: 0.156688 -0.138293 0.006567 q: -0.157120 0.779554 0.162997 0.583988 
time: 1403636892.701667, t: 0.156728 -0.138260 0.006567 q: -0.157104 0.779546 0.163044 0.583989 
time: 1403636892.801666, t: 0.156724 -0.138250 0.006593 q: -0.157096 0.779527 0.163159 0.583984 
time: 1403636892.901666, t: 0.156725 -0.138258 0.006517 q: -0.157098 0.779636 0.163125 0.583848 
time: 1403636893.001667, t: 0.156778 -0.138256 0.006519 q: -0.157046 0.779551 0.163158 0.583965 
time: 1403636893.101666, t: 0.156780 -0.138226 0.006521 q: -0.157071 0.779544 0.163149 0.583972 
time: 1403636893.201667, t: 0.156727 -0.138258 0.006499 q: -0.157129 0.779568 0.163110 0.583934 
time: 1403636893.301666, t: 0.156723 -0.138268 0.006540 q: -0.157152 0.779570 0.163076 0.583935 
time: 1403636893.401666, t: 0.156744 -0.138242 0.006511 q: -0.157128 0.779601 0.163108 0.583891 
time: 1403636893.501667, t: 0.156765 -0.138245 0.006482 q: -0.157110 0.779598 0.163127 0.583894 
time: 1403636893.601666, t: 0.156775 -0.138248 0.006505 q: -0.157067 0.779601 0.163097 0.583911 
time: 1403636893.701667, t: 0.156743 -0.138281 0.006544 q: -0.157080 0.779582 0.163147 0.583918 
time: 1403636893.801666, t: 0.156751 -0.138234 0.006511 q: -0.157120 0.779628 0.163112 0.583856 
time: 1403636893.901666, t: 0.156749 -0.138225 0.006482 q: -0.157155 0.779633 0.163097 0.583845 
time: 1403636894.001667, t: 0.156745 -0.138216 0.006485 q: -0.157158 0.779643 0.163056 0.583842 
time: 1403636894.101666, t: 0.156712 -0.138246 0.006499 q: -0.157104 0.779658 0.163023 0.583845 
time: 1403636894.201667, t: 0.156724 -0.138252 0.006479 q: -0.157133 0.779621 0.163048 0.583880 
time: 1403636894.301666, t: 0.156721 -0.138224 0.006471 q: -0.157144 0.779601 0.163055 0.583901 
time: 1403636894.401666, t: 0.156727 -0.138240 0.006468 q: -0.157131 0.779651 0.163079 0.583832 
time: 1403636894.501667, t: 0.156744 -0.138236 0.006487 q: -0.157180 0.779621 0.163076 0.583860 
time: 1403636894.601666, t: 0.156716 -0.138226 0.006494 q: -0.157130 0.779646 0.163015 0.583856 
time: 1403636894.701667, t: 0.156705 -0.138267 0.006460 q: -0.157234 0.779595 0.163029 0.583892 
time: 1403636894.801666, t: 0.156704 -0.138010 0.006598 q: -0.158405 0.778637 0.163933 0.584602 
time: 1403636894.901666, t: 0.156770 -0.138047 0.006616 q: -0.158231 0.778624 0.163891 0.584677 
time: 1403636895.001667, t: 0.156758 -0.138048 0.006597 q: -0.158272 0.778625 0.163921 0.584657 
time: 1403636895.101666, t: 0.156777 -0.138023 0.006600 q: -0.158319 0.778638 0.163900 0.584632 
time: 1403636895.201667, t: 0.156748 -0.138053 0.006599 q: -0.158348 0.778613 0.163814 0.584681 
time: 1403636895.301666, t: 0.156761 -0.138003 0.006629 q: -0.158357 0.778601 0.163868 0.584680 
time: 1403636895.401666, t: 0.156743 -0.138021 0.006622 q: -0.158320 0.778613 0.163920 0.584659 
time: 1403636895.501667, t: 0.156748 -0.138008 0.006638 q: -0.158325 0.778588 0.163949 0.584684 
time: 1403636895.601666, t: 0.156741 -0.138028 0.006627 q: -0.158335 0.778603 0.163913 0.584670 
time: 1403636895.701667, t: 0.156753 -0.138021 0.006641 q: -0.158296 0.778580 0.163937 0.584705 
time: 1403636895.801666, t: 0.156756 -0.138042 0.006658 q: -0.158242 0.778519 0.163984 0.584788 
time: 1403636895.901666, t: 0.156793 -0.138022 0.006670 q: -0.158254 0.778540 0.164110 0.584722 
time: 1403636896.001667, t: 0.156772 -0.137998 0.006647 q: -0.158239 0.778562 0.164185 0.584675 
time: 1403636896.101666, t: 0.156962 -0.138015 0.006548 q: -0.158274 0.778981 0.164222 0.584097 
time: 1403636896.201667, t: 0.157240 -0.138116 0.006403 q: -0.158443 0.779665 0.164250 0.583129 
time: 1403636896.301666, t: 0.157182 -0.138169 0.006496 q: -0.158374 0.779544 0.164413 0.583264 
time: 1403636896.401666, t: 0.157052 -0.138100 0.006543 q: -0.158315 0.779181 0.164476 0.583748 
time: 1403636896.501667, t: 0.157020 -0.138048 0.006605 q: -0.158239 0.778996 0.164562 0.583990 
time: 1403636896.601666, t: 0.157005 -0.138097 0.006598 q: -0.158215 0.779017 0.164541 0.583975 
time: 1403636896.701667, t: 0.157153 -0.138141 0.006565 q: -0.158242 0.779267 0.164719 0.583584 
time: 1403636896.801666, t: 0.157212 -0.138153 0.006553 q: -0.158373 0.779565 0.164805 0.583126 
time: 1403636896.901666, t: 0.157215 -0.138250 0.006626 q: -0.158260 0.779480 0.165036 0.583205 
time: 1403636897.001667, t: 0.157016 -0.138141 0.006767 q: -0.158462 0.778977 0.165118 0.583798 
time: 1403636897.101666, t: 0.156478 -0.138294 0.007056 q: -0.159287 0.778332 0.167221 0.583836 
time: 1403636897.201667, t: 0.155249 -0.138682 0.006867 q: -0.160877 0.778142 0.169957 0.582862 
time: 1403636897.301666, t: 0.153284 -0.141834 0.006385 q: -0.160136 0.779132 0.168968 0.582031 
time: 1403636897.401666, t: 0.148550 -0.149700 0.005818 q: -0.154927 0.782796 0.166340 0.579275 
time: 1403636897.501667, t: 0.141102 -0.161029 0.005297 q: -0.146899 0.788243 0.164523 0.574479 
time: 1403636897.601666, t: 0.131151 -0.175313 0.005143 q: -0.137697 0.796371 0.163874 0.565666 
time: 1403636897.701667, t: 0.119333 -0.191541 0.010268 q: -0.124214 0.806504 0.167703 0.553171 
time: 1403636897.801666, t: 0.107919 -0.207961 0.022460 q: -0.115194 0.814170 0.172556 0.542293 
time: 1403636897.901666, t: 0.099063 -0.222721 0.041342 q: -0.111077 0.819062 0.175778 0.534697 
time: 1403636898.001667, t: 0.097492 -0.232286 0.063895 q: -0.112577 0.813589 0.177151 0.542233 
time: 1403636898.101666, t: 0.098511 -0.238742 0.079302 q: -0.117516 0.807353 0.177391 0.550367 
time: 1403636898.201667, t: 0.101447 -0.243431 0.091123 q: -0.120854 0.804013 0.178785 0.554070 
time: 1403636898.301666, t: 0.107096 -0.245733 0.105364 q: -0.122770 0.802809 0.181548 0.554495 
time: 1403636898.401666, t: 0.113442 -0.246058 0.122972 q: -0.124867 0.802136 0.184622 0.553986 
time: 1403636898.501667, t: 0.120205 -0.244679 0.143384 q: -0.127731 0.802175 0.187128 0.552434 
time: 1403636898.601666, t: 0.128483 -0.242224 0.164444 q: -0.128888 0.801865 0.189634 0.551761 
time: 1403636898.801666, t: 0.149435 -0.232580 0.203427 q: -0.131047 0.801604 0.192982 0.550468 
time: 1403636898.901666, t: 0.163075 -0.225501 0.219091 q: -0.134281 0.802619 0.192249 0.548463 
time: 1403636899.001667, t: 0.179304 -0.217525 0.232813 q: -0.140207 0.803987 0.188295 0.546345 
time: 1403636899.101666, t: 0.199402 -0.211223 0.243956 q: -0.141371 0.804441 0.179955 0.548183 
time: 1403636899.201667, t: 0.222085 -0.208269 0.255334 q: -0.133630 0.803190 0.169502 0.555246 
time: 1403636899.301666, t: 0.246569 -0.208084 0.266288 q: -0.124250 0.800121 0.152444 0.566683 
time: 1403636899.401666, t: 0.270738 -0.211411 0.275635 q: -0.108765 0.798703 0.132484 0.576795 
time: 1403636899.601666, t: 0.310979 -0.223980 0.287167 q: -0.092332 0.810070 0.094089 0.571322 
time: 1403636899.701667, t: 0.330303 -0.233926 0.293165 q: -0.087443 0.814423 0.082599 0.567667 
time: 1403636899.801666, t: 0.350985 -0.246876 0.298404 q: -0.080399 0.817557 0.076333 0.565076 
time: 1403636899.901666, t: 0.374827 -0.262202 0.302163 q: -0.071033 0.817789 0.076096 0.566025 
time: 1403636900.001667, t: 0.399533 -0.278115 0.302885 q: -0.064416 0.814300 0.076541 0.571759 
time: 1403636900.101666, t: 0.425261 -0.294345 0.303291 q: -0.062584 0.809198 0.076541 0.579157 
time: 1403636900.201667, t: 0.448757 -0.311500 0.310449 q: -0.061576 0.805374 0.077636 0.584426 
time: 1403636900.301666, t: 0.470269 -0.328354 0.326206 q: -0.060974 0.805964 0.080098 0.583342 
time: 1403636900.401666, t: 0.486345 -0.346292 0.349885 q: -0.062310 0.810617 0.082110 0.576433 
time: 1403636900.501667, t: 0.502621 -0.364149 0.374302 q: -0.063166 0.814202 0.085701 0.570737 
time: 1403636900.601666, t: 0.520985 -0.380860 0.394800 q: -0.065225 0.816009 0.087951 0.567574 
time: 1403636900.701667, t: 0.536406 -0.398107 0.408776 q: -0.066582 0.820575 0.089371 0.560568 
time: 1403636900.801666, t: 0.555450 -0.415278 0.416840 q: -0.069982 0.824441 0.089776 0.554382 
time: 1403636900.901666, t: 0.581934 -0.433131 0.419079 q: -0.078652 0.822880 0.086300 0.556089 
time: 1403636901.001667, t: 0.606545 -0.453351 0.421470 q: -0.083683 0.820125 0.083094 0.559899 
time: 1403636901.101666, t: 0.635280 -0.476384 0.418826 q: -0.087797 0.818781 0.080617 0.561596 
time: 1403636901.201667, t: 0.669085 -0.504419 0.412665 q: -0.089164 0.817828 0.079849 0.562878 
time: 1403636901.301666, t: 0.707635 -0.535385 0.408061 q: -0.085873 0.816830 0.082682 0.564428 
time: 1403636901.401666, t: 0.744111 -0.571917 0.413043 q: -0.082406 0.816346 0.085097 0.565285 
time: 1403636901.501667, t: 0.783313 -0.609659 0.423558 q: -0.077219 0.815433 0.088349 0.566833 
time: 1403636901.601666, t: 0.824187 -0.647198 0.432711 q: -0.073883 0.814597 0.090521 0.568136 
time: 1403636901.701667, t: 0.862784 -0.684733 0.435315 q: -0.073103 0.812632 0.090314 0.571077 
time: 1403636901.801666, t: 0.902052 -0.723567 0.431705 q: -0.074210 0.812095 0.089499 0.571826 
time: 1403636901.901666, t: 0.944438 -0.759406 0.421236 q: -0.073778 0.811959 0.090306 0.571948 
time: 1403636902.001667, t: 0.983811 -0.798952 0.409432 q: -0.072725 0.811589 0.091732 0.572380 
time: 1403636902.101666, t: 1.022659 -0.837625 0.398978 q: -0.072674 0.810835 0.092870 0.573272 
time: 1403636902.201667, t: 1.063189 -0.876864 0.396623 q: -0.072285 0.811007 0.094117 0.572873 
time: 1403636902.301666, t: 1.102265 -0.915831 0.394968 q: -0.074759 0.811386 0.091709 0.572410 
time: 1403636902.401666, t: 1.141132 -0.956891 0.387185 q: -0.075225 0.812277 0.089758 0.571394 
time: 1403636902.501667, t: 1.177891 -0.996422 0.363691 q: -0.072164 0.813207 0.089401 0.570521 
time: 1403636902.701667, t: 1.252367 -1.078462 0.316015 q: -0.060668 0.812327 0.090907 0.572870 
time: 1403636902.801666, t: 1.286911 -1.116682 0.301469 q: -0.060207 0.811891 0.089159 0.573811 
time: 1403636902.901666, t: 1.320131 -1.152585 0.295989 q: -0.062242 0.809724 0.089005 0.576672 
time: 1403636903.001667, t: 1.352925 -1.186477 0.296219 q: -0.063866 0.809755 0.089950 0.576305 
time: 1403636903.101666, t: 1.383018 -1.219369 0.303329 q: -0.065920 0.810127 0.091158 0.575360 
time: 1403636903.201667, t: 1.415747 -1.250070 0.321730 q: -0.067773 0.810959 0.092369 0.573777 
time: 1403636903.301666, t: 1.444004 -1.282252 0.344999 q: -0.067918 0.812332 0.094914 0.571398 
time: 1403636903.401666, t: 1.472963 -1.313124 0.364997 q: -0.066094 0.812873 0.098062 0.570310 
time: 1403636903.501667, t: 1.500524 -1.341616 0.381558 q: -0.065412 0.813091 0.099656 0.569800 
time: 1403636903.601666, t: 1.526277 -1.368792 0.390920 q: -0.065939 0.813403 0.100480 0.569149 
time: 1403636903.801666, t: 1.582154 -1.420321 0.388000 q: -0.073283 0.819146 0.096615 0.560620 
time: 1403636903.901666, t: 1.612153 -1.447630 0.389142 q: -0.077626 0.819496 0.093869 0.559990 
time: 1403636904.001667, t: 1.647432 -1.472702 0.398812 q: -0.081387 0.817797 0.091292 0.562361 
time: 1403636904.101666, t: 1.682662 -1.502120 0.416134 q: -0.084078 0.815885 0.089420 0.565038 
time: 1403636904.201667, t: 1.720561 -1.532914 0.439629 q: -0.086847 0.815492 0.087231 0.565527 
time: 1403636904.301666, t: 1.755462 -1.567036 0.465095 q: -0.086660 0.814632 0.086255 0.566943 
time: 1403636904.401666, t: 1.795446 -1.602372 0.489521 q: -0.084628 0.813495 0.086254 0.568881 
time: 1403636904.501667, t: 1.833402 -1.642008 0.508187 q: -0.081689 0.812986 0.087240 0.569886 
time: 1403636904.601666, t: 1.873312 -1.682492 0.523653 q: -0.077586 0.812811 0.088652 0.570491 
time: 1403636904.701667, t: 1.913884 -1.724061 0.535701 q: -0.073203 0.813070 0.089673 0.570541 
time: 1403636904.801666, t: 1.953009 -1.764318 0.545970 q: -0.069423 0.812899 0.090232 0.571169 
time: 1403636904.901666, t: 1.993987 -1.807831 0.553804 q: -0.065253 0.813250 0.091299 0.570991 
time: 1403636905.001667, t: 2.033775 -1.849368 0.554630 q: -0.062091 0.813192 0.091334 0.571420 
time: 1403636905.101666, t: 2.075170 -1.889893 0.554061 q: -0.059333 0.812754 0.090931 0.572400 
time: 1403636905.201667, t: 2.114762 -1.927381 0.555622 q: -0.056983 0.812315 0.090147 0.573385 
time: 1403636905.301666, t: 2.155188 -1.963936 0.563867 q: -0.053949 0.813377 0.090073 0.572183 
time: 1403636905.401666, t: 2.191632 -1.995877 0.576352 q: -0.052168 0.816060 0.089666 0.568582 
time: 1403636905.501667, t: 2.227787 -2.026636 0.596782 q: -0.052008 0.816413 0.095002 0.567221 
time: 1403636905.601666, t: 2.267033 -2.048911 0.615295 q: -0.051762 0.815836 0.101660 0.566919 
time: 1403636905.701667, t: 2.304945 -2.069686 0.624730 q: -0.056313 0.816118 0.104189 0.565618 
time: 1403636905.801666, t: 2.339890 -2.090010 0.628472 q: -0.061607 0.816106 0.105076 0.564921 
time: 1403636905.901666, t: 2.378576 -2.105821 0.623504 q: -0.064966 0.816809 0.106274 0.563302 
time: 1403636906.001667, t: 2.418044 -2.119373 0.613359 q: -0.066851 0.818949 0.107880 0.559657 
time: 1403636906.101666, t: 2.458305 -2.131279 0.601063 q: -0.065615 0.820662 0.111107 0.556654 
time: 1403636906.201667, t: 2.500986 -2.140745 0.590760 q: -0.066691 0.819592 0.112402 0.557841 
time: 1403636906.301666, t: 2.547371 -2.145613 0.589430 q: -0.070469 0.814209 0.111444 0.565402 
time: 1403636906.401666, t: 2.595038 -2.148852 0.593991 q: -0.076676 0.810685 0.107467 0.570405 
time: 1403636906.501667, t: 2.640940 -2.152774 0.602732 q: -0.088616 0.810571 0.098744 0.570414 
time: 1403636906.601666, t: 2.686205 -2.158467 0.609137 q: -0.093677 0.813799 0.094716 0.565672 
time: 1403636906.701667, t: 2.731530 -2.167319 0.612225 q: -0.088475 0.813761 0.097976 0.566008 
time: 1403636906.801666, t: 2.777527 -2.180159 0.609254 q: -0.080352 0.812926 0.103749 0.567389 
time: 1403636906.901666, t: 2.824403 -2.191931 0.602386 q: -0.075814 0.812973 0.108226 0.567110 
time: 1403636907.001667, t: 2.873246 -2.201695 0.599848 q: -0.073706 0.812680 0.111931 0.567089 
time: 1403636907.101666, t: 2.920861 -2.209692 0.603119 q: -0.073969 0.813138 0.113552 0.566075 
time: 1403636907.201667, t: 2.971026 -2.215494 0.605516 q: -0.073313 0.815919 0.115714 0.561704 
time: 1403636907.301666, t: 3.019703 -2.220211 0.600992 q: -0.074886 0.819116 0.116260 0.556709 
time: 1403636907.401666, t: 3.070306 -2.223878 0.596165 q: -0.080559 0.820490 0.113764 0.554404 
time: 1403636907.501667, t: 3.127410 -2.223995 0.597224 q: -0.086485 0.821052 0.110880 0.553262 
time: 1403636907.601666, t: 3.183939 -2.228465 0.605345 q: -0.091667 0.821339 0.107779 0.552614 
time: 1403636907.701667, t: 3.247451 -2.232723 0.621338 q: -0.094689 0.821331 0.105578 0.552542 
time: 1403636907.801666, t: 3.310948 -2.241277 0.644702 q: -0.096521 0.821128 0.104431 0.552744 
time: 1403636907.901666, t: 3.381675 -2.251006 0.659358 q: -0.096959 0.819871 0.104452 0.554527 
time: 1403636908.001667, t: 3.455962 -2.262242 0.662423 q: -0.091538 0.815851 0.109036 0.560463 
time: 1403636908.101666, t: 3.531843 -2.275750 0.660013 q: -0.086574 0.812047 0.114864 0.565589 
time: 1403636908.201667, t: 3.606092 -2.289589 0.661542 q: -0.085890 0.809325 0.118255 0.568886 
time: 1403636908.301666, t: 3.676369 -2.303871 0.665552 q: -0.086143 0.808435 0.120872 0.569564 
time: 1403636908.401666, t: 3.746110 -2.317759 0.665554 q: -0.087093 0.808748 0.123045 0.568509 
time: 1403636908.501667, t: 3.816940 -2.329616 0.661244 q: -0.088397 0.809686 0.124819 0.566581 
time: 1403636908.601666, t: 3.886938 -2.341581 0.653894 q: -0.089626 0.809936 0.126770 0.565598 
wait for imu ... 
time: 1403636908.701667, t: 3.955386 -2.352600 0.651587 q: -0.090262 0.811146 0.128725 0.563316 
wait for imu ... 
time: 1403636908.801666, t: 4.023758 -2.364932 0.656725 q: -0.092869 0.813805 0.128814 0.559021 
time: 1403636908.901666, t: 4.092746 -2.375587 0.670800 q: -0.094166 0.816788 0.128705 0.554460 
time: 1403636909.001667, t: 4.166761 -2.383253 0.692597 q: -0.095971 0.817483 0.128361 0.553204 
time: 1403636909.101666, t: 4.242934 -2.390421 0.714547 q: -0.098290 0.818218 0.126412 0.552158 
time: 1403636909.201667, t: 4.321300 -2.400318 0.730781 q: -0.098846 0.818451 0.125502 0.551921 
time: 1403636909.301666, t: 4.402329 -2.408175 0.740418 q: -0.098786 0.819022 0.124427 0.551328 
time: 1403636909.501667, t: 4.571513 -2.427921 0.748294 q: -0.094210 0.814517 0.124763 0.558677 
time: 1403636909.601666, t: 4.660597 -2.439543 0.744703 q: -0.094862 0.813575 0.122717 0.560390 
time: 1403636909.701667, t: 4.749958 -2.450855 0.735054 q: -0.098292 0.811766 0.118762 0.563267 
time: 1403636909.801666, t: 4.838211 -2.462985 0.719519 q: -0.093794 0.806794 0.120528 0.570753 
time: 1403636909.901666, t: 4.925893 -2.477862 0.699445 q: -0.080700 0.802440 0.128759 0.577060 
time: 1403636910.001667, t: 5.007724 -2.491866 0.675140 q: -0.069250 0.796961 0.136021 0.584428 
time: 1403636910.101666, t: 5.085394 -2.501265 0.647980 q: -0.070660 0.796070 0.135318 0.585635 
time: 1403636910.201667, t: 5.159924 -2.505155 0.625843 q: -0.078806 0.801530 0.130473 0.578201 
time: 1403636910.301666, t: 5.228360 -2.506592 0.612272 q: -0.083969 0.805708 0.128032 0.572181 
time: 1403636910.401666, t: 5.296583 -2.507026 0.605440 q: -0.086502 0.808482 0.127361 0.568026 
time: 1403636910.501667, t: 5.361071 -2.507260 0.606831 q: -0.087634 0.809026 0.128607 0.566796 
time: 1403636910.601666, t: 5.429305 -2.507182 0.607502 q: -0.086663 0.809300 0.130575 0.566103 
time: 1403636910.701667, t: 5.495092 -2.505870 0.603114 q: -0.086874 0.809335 0.131263 0.565862 
time: 1403636910.801666, t: 5.561759 -2.502718 0.591288 q: -0.088275 0.809848 0.130662 0.565050 
time: 1403636910.901666, t: 5.625159 -2.498538 0.574987 q: -0.091219 0.810615 0.128937 0.563877 
time: 1403636911.001667, t: 5.692133 -2.493822 0.559035 q: -0.097238 0.804843 0.125410 0.571878 
time: 1403636911.101666, t: 5.756633 -2.489622 0.548599 q: -0.099910 0.797585 0.123677 0.581877 
time: 1403636911.201667, t: 5.817825 -2.489393 0.541491 q: -0.097069 0.801006 0.125694 0.577207 
time: 1403636911.301666, t: 5.877236 -2.488803 0.542186 q: -0.093402 0.806412 0.128086 0.569711 
time: 1403636911.401666, t: 5.930935 -2.489796 0.550804 q: -0.090354 0.807785 0.129802 0.567866 
time: 1403636911.501667, t: 5.984302 -2.489152 0.566645 q: -0.088323 0.808419 0.130206 0.567190 
time: 1403636911.601666, t: 6.035569 -2.489089 0.579972 q: -0.087653 0.808811 0.130427 0.566683 
time: 1403636911.701667, t: 6.090220 -2.489093 0.588882 q: -0.087467 0.808850 0.130313 0.566684 
time: 1403636911.801666, t: 6.140528 -2.489856 0.593060 q: -0.091537 0.809470 0.126743 0.565964 
time: 1403636911.901666, t: 6.190730 -2.489964 0.590737 q: -0.098743 0.812113 0.121001 0.562211 
time: 1403636912.001667, t: 6.246519 -2.491912 0.581356 q: -0.101500 0.813997 0.118351 0.559553 
time: 1403636912.101666, t: 6.302485 -2.493225 0.570276 q: -0.098820 0.814138 0.118885 0.559714 
time: 1403636912.201667, t: 6.364795 -2.496071 0.561478 q: -0.095958 0.812708 0.120540 0.561933 
time: 1403636912.301666, t: 6.422362 -2.501844 0.560975 q: -0.092099 0.810934 0.122731 0.564660 
time: 1403636912.401666, t: 6.483802 -2.507583 0.565340 q: -0.091198 0.811115 0.122431 0.564611 
time: 1403636912.501667, t: 6.542750 -2.516020 0.568535 q: -0.096503 0.811626 0.118250 0.563886 
time: 1403636912.701667, t: 6.664937 -2.536141 0.554881 q: -0.101896 0.812586 0.112227 0.562784 
time: 1403636912.801666, t: 6.728478 -2.550055 0.541937 q: -0.106339 0.812591 0.108622 0.562663 
time: 1403636912.901666, t: 6.789550 -2.567566 0.525037 q: -0.103130 0.811683 0.110268 0.564248 
time: 1403636913.001667, t: 6.852551 -2.588258 0.503089 q: -0.097425 0.807830 0.114095 0.570001 
time: 1403636913.101666, t: 6.914006 -2.611547 0.476915 q: -0.093441 0.804630 0.116806 0.574627 
time: 1403636913.201667, t: 6.973305 -2.633907 0.454705 q: -0.090699 0.802059 0.118776 0.578245 
time: 1403636913.301666, t: 7.030773 -2.659710 0.442926 q: -0.089639 0.802598 0.119964 0.577417 
time: 1403636913.401666, t: 7.085911 -2.685519 0.437064 q: -0.093552 0.806357 0.117665 0.572006 
time: 1403636913.501667, t: 7.139744 -2.712256 0.439328 q: -0.097491 0.809087 0.114779 0.568067 
time: 1403636913.601666, t: 7.192851 -2.741837 0.438013 q: -0.094212 0.809474 0.116554 0.567706 
time: 1403636913.701667, t: 7.245124 -2.770709 0.430451 q: -0.091043 0.809768 0.117672 0.567574 
time: 1403636913.801666, t: 7.296976 -2.804746 0.417884 q: -0.089893 0.809231 0.118676 0.568313 
time: 1403636913.901666, t: 7.351122 -2.834738 0.409599 q: -0.088488 0.808593 0.119468 0.569275 
time: 1403636914.001667, t: 7.402535 -2.865516 0.408316 q: -0.087817 0.808066 0.120727 0.569862 
time: 1403636914.101666, t: 7.452541 -2.895968 0.413821 q: -0.090705 0.808030 0.118873 0.569850 
time: 1403636914.201667, t: 7.503468 -2.928389 0.418611 q: -0.092623 0.808483 0.117457 0.569193 
time: 1403636914.301666, t: 7.552232 -2.961310 0.419994 q: -0.090870 0.809103 0.118144 0.568452 
time: 1403636914.401666, t: 7.599741 -2.995182 0.417423 q: -0.087221 0.808067 0.120355 0.570031 
time: 1403636914.501667, t: 7.648479 -3.028152 0.418668 q: -0.084465 0.807861 0.122153 0.570356 
time: 1403636914.601666, t: 7.696313 -3.060672 0.426062 q: -0.083548 0.807655 0.122562 0.570694 
time: 1403636914.701667, t: 7.743450 -3.093975 0.441715 q: -0.083599 0.806575 0.122521 0.572220 
time: 1403636914.801666, t: 7.786776 -3.125678 0.458262 q: -0.082426 0.805910 0.122173 0.573401 
time: 1403636914.901666, t: 7.826289 -3.159490 0.469980 q: -0.081706 0.806888 0.121791 0.572209 
time: 1403636915.001667, t: 7.865744 -3.189379 0.473942 q: -0.080650 0.809016 0.121188 0.569475 
time: 1403636915.101666, t: 7.900618 -3.220354 0.473432 q: -0.079645 0.810518 0.121291 0.567455 
time: 1403636915.201667, t: 7.938776 -3.246468 0.467044 q: -0.078284 0.812900 0.121228 0.564242 
time: 1403636915.301666, t: 7.976099 -3.272100 0.453198 q: -0.076981 0.817605 0.121657 0.557491 
time: 1403636915.401666, t: 8.016995 -3.291342 0.438236 q: -0.075691 0.821250 0.122248 0.552154 
time: 1403636915.501667, t: 8.059626 -3.310721 0.426713 q: -0.079296 0.819529 0.119917 0.554712 
time: 1403636915.601666, t: 8.106138 -3.329069 0.421703 q: -0.088966 0.814339 0.113620 0.562164 
time: 1403636915.701667, t: 8.154189 -3.348561 0.424300 q: -0.097525 0.810790 0.108417 0.566881 
time: 1403636915.801666, t: 8.199572 -3.372540 0.433733 q: -0.099618 0.809063 0.107923 0.569074 
time: 1403636915.901666, t: 8.244584 -3.398143 0.452559 q: -0.100052 0.808041 0.108488 0.570341 
time: 1403636916.001667, t: 8.292435 -3.425256 0.473014 q: -0.094019 0.807070 0.113119 0.571842 
time: 1403636916.101666, t: 8.337018 -3.454106 0.488347 q: -0.085549 0.806310 0.119618 0.572920 
time: 1403636916.201667, t: 8.380762 -3.483640 0.497073 q: -0.081391 0.806399 0.123446 0.572588 
time: 1403636916.301666, t: 8.420402 -3.512176 0.506312 q: -0.083058 0.806557 0.122875 0.572249 
time: 1403636916.401666, t: 8.461642 -3.539182 0.522963 q: -0.082018 0.807265 0.123352 0.571297 
time: 1403636916.501667, t: 8.502634 -3.565949 0.536778 q: -0.075219 0.807432 0.119094 0.572898 
time: 1403636916.601666, t: 8.540799 -3.592907 0.546760 q: -0.065099 0.808584 0.109340 0.574455 
time: 1403636916.701667, t: 8.580431 -3.616515 0.550053 q: -0.056589 0.809831 0.098912 0.575490 
time: 1403636916.801666, t: 8.617190 -3.638299 0.548116 q: -0.051539 0.810332 0.089767 0.576757 
time: 1403636916.901666, t: 8.652580 -3.655733 0.541817 q: -0.045909 0.810899 0.084136 0.577284 
time: 1403636917.001667, t: 8.686626 -3.669740 0.530651 q: -0.042789 0.810891 0.080198 0.578094 
time: 1403636917.101666, t: 8.720010 -3.680750 0.514465 q: -0.043378 0.811491 0.075546 0.577835 
time: 1403636917.201667, t: 8.750786 -3.692974 0.494827 q: -0.045068 0.811971 0.069979 0.577733 
time: 1403636917.301666, t: 8.782648 -3.702934 0.468523 q: -0.039402 0.812047 0.060560 0.579102 
time: 1403636917.401666, t: 8.809010 -3.717301 0.439326 q: -0.026627 0.812281 0.046763 0.580779 
time: 1403636917.501667, t: 8.836849 -3.729196 0.404833 q: -0.014365 0.812959 0.029974 0.581371 
time: 1403636917.601666, t: 8.861815 -3.740713 0.374943 q: -0.007013 0.812900 0.015670 0.582151 
time: 1403636917.701667, t: 8.883847 -3.750931 0.352377 q: -0.001140 0.812243 0.005395 0.583293 
time: 1403636917.801666, t: 8.900684 -3.760466 0.337687 q: 0.005627 0.811670 -0.002916 0.584082 
time: 1403636918.001667, t: 8.929445 -3.771646 0.328362 q: 0.015612 0.811522 -0.012509 0.583979 
time: 1403636918.101666, t: 8.940139 -3.774164 0.321138 q: 0.019428 0.812486 -0.013790 0.582493 
time: 1403636918.201667, t: 8.952244 -3.775334 0.310955 q: 0.022664 0.813884 -0.012826 0.580444 
time: 1403636918.301666, t: 8.961935 -3.774847 0.303113 q: 0.024620 0.814670 -0.011032 0.579297 
time: 1403636918.401666, t: 8.970595 -3.770202 0.302564 q: 0.024776 0.820729 -0.009933 0.570694 
time: 1403636918.501667, t: 8.981454 -3.762189 0.308997 q: 0.024721 0.826662 -0.008640 0.562089 
time: 1403636918.601666, t: 8.995373 -3.750591 0.322784 q: 0.024378 0.828386 -0.006988 0.559583 
time: 1403636918.701667, t: 9.014840 -3.736524 0.348191 q: 0.021386 0.827002 -0.006032 0.561760 
time: 1403636918.801666, t: 9.037900 -3.718821 0.379173 q: 0.008406 0.824054 -0.012517 0.566310 
time: 1403636918.901666, t: 9.062985 -3.702457 0.416064 q: -0.004401 0.818285 -0.021355 0.574399 
time: 1403636919.001667, t: 9.087721 -3.689681 0.454242 q: -0.009819 0.813548 -0.033130 0.580470 
time: 1403636919.101666, t: 9.113440 -3.683299 0.495152 q: -0.011237 0.810803 -0.041817 0.583715 
time: 1403636919.201667, t: 9.135460 -3.683761 0.536930 q: -0.008654 0.809091 -0.047015 0.585736 
time: 1403636919.301666, t: 9.153930 -3.691328 0.578922 q: -0.004495 0.808446 -0.050066 0.586420 
time: 1403636919.401666, t: 9.169414 -3.704660 0.615577 q: 0.002332 0.807792 -0.052548 0.587116 
time: 1403636919.501667, t: 9.182636 -3.722437 0.647347 q: 0.014324 0.807612 -0.049817 0.587432 
time: 1403636919.601666, t: 9.191655 -3.743365 0.671450 q: 0.026198 0.807433 -0.045679 0.587605 
time: 1403636919.701667, t: 9.197246 -3.764269 0.688471 q: 0.032596 0.806383 -0.043845 0.588865 
time: 1403636919.801666, t: 9.200231 -3.784959 0.699073 q: 0.032451 0.805481 -0.045052 0.590014 
time: 1403636919.901666, t: 9.201462 -3.803370 0.703936 q: 0.030698 0.804908 -0.046587 0.590771 
time: 1403636920.001667, t: 9.199170 -3.822488 0.701679 q: 0.025938 0.803559 -0.049159 0.592625 
time: 1403636920.101666, t: 9.194663 -3.841317 0.695191 q: 0.019844 0.802258 -0.052262 0.594355 
time: 1403636920.201667, t: 9.186321 -3.862103 0.684288 q: 0.014374 0.801531 -0.054683 0.595274 
time: 1403636920.301666, t: 9.173238 -3.886025 0.669841 q: 0.019620 0.801884 -0.049894 0.595070 
time: 1403636920.401666, t: 9.155850 -3.912192 0.652220 q: 0.028033 0.802270 -0.043091 0.594743 
time: 1403636920.501667, t: 9.133415 -3.938782 0.637846 q: 0.033005 0.804873 -0.038517 0.591275 
time: 1403636920.601666, t: 9.107425 -3.963254 0.630438 q: 0.034105 0.808637 -0.037045 0.586149 
time: 1403636920.701667, t: 9.078232 -3.986376 0.630921 q: 0.034190 0.813103 -0.037226 0.579921 
time: 1403636920.801666, t: 9.052571 -4.006847 0.637821 q: 0.033609 0.817028 -0.037820 0.574373 
time: 1403636920.901666, t: 9.025409 -4.024694 0.653467 q: 0.032605 0.819113 -0.038807 0.571388 
time: 1403636921.101666, t: 8.979356 -4.055824 0.686008 q: 0.032655 0.819114 -0.040087 0.571296 
time: 1403636921.201667, t: 8.959011 -4.069439 0.695521 q: 0.033375 0.817587 -0.040090 0.573437 
time: 1403636921.301666, t: 8.939421 -4.081522 0.699758 q: 0.033714 0.811646 -0.039939 0.581807 
time: 1403636921.401666, t: 8.919826 -4.092411 0.698099 q: 0.029174 0.807347 -0.043242 0.587767 
time: 1403636921.501667, t: 8.900105 -4.102385 0.689733 q: 0.022295 0.805981 -0.048121 0.589560 
time: 1403636921.601666, t: 8.874620 -4.113034 0.676654 q: 0.016496 0.809110 -0.052751 0.585052 
time: 1403636921.701667, t: 8.850147 -4.126748 0.657238 q: 0.015213 0.818408 -0.054225 0.571871 
time: 1403636921.901666, t: 8.803624 -4.161117 0.616938 q: 0.022588 0.828013 -0.051578 0.557874 
time: 1403636922.001667, t: 8.786755 -4.182391 0.599411 q: 0.028280 0.821952 -0.050335 0.566623 
time: 1403636922.101666, t: 8.772041 -4.201132 0.579303 q: 0.035118 0.815708 -0.051669 0.575080 
time: 1403636922.201667, t: 8.756341 -4.218991 0.564872 q: 0.040849 0.812840 -0.054473 0.578494 
time: 1403636922.301666, t: 8.740637 -4.235902 0.556629 q: 0.046294 0.816830 -0.057100 0.572176 
time: 1403636922.401666, t: 8.727799 -4.251876 0.551607 q: 0.049001 0.820446 -0.060802 0.566366 
time: 1403636922.501667, t: 8.715138 -4.266693 0.543828 q: 0.053282 0.823728 -0.066577 0.560536 
time: 1403636922.601666, t: 8.706419 -4.280919 0.530515 q: 0.059465 0.824606 -0.075492 0.557486 
time: 1403636922.701667, t: 8.704040 -4.292939 0.516025 q: 0.067130 0.818960 -0.082646 0.563886 
time: 1403636922.801666, t: 8.701793 -4.302125 0.500616 q: 0.068960 0.809354 -0.091027 0.576112 
time: 1403636922.901666, t: 8.698084 -4.307621 0.487536 q: 0.064862 0.802463 -0.100533 0.584584 
time: 1403636923.001667, t: 8.690786 -4.312175 0.480861 q: 0.059239 0.798110 -0.109088 0.589586 
time: 1403636923.101666, t: 8.680797 -4.320136 0.476954 q: 0.060750 0.797371 -0.114374 0.589430 
time: 1403636923.201667, t: 8.666816 -4.330939 0.468399 q: 0.067330 0.798633 -0.122152 0.585432 
time: 1403636923.301666, t: 8.648391 -4.343992 0.455882 q: 0.078948 0.803021 -0.128518 0.576548 
time: 1403636923.401666, t: 8.627826 -4.357886 0.438485 q: 0.088308 0.808855 -0.133436 0.565817 
time: 1403636923.501667, t: 8.608538 -4.371496 0.417914 q: 0.093486 0.815102 -0.138536 0.554686 
time: 1403636923.601666, t: 8.594017 -4.384728 0.399435 q: 0.095095 0.821315 -0.142775 0.544072 
time: 1403636923.701667, t: 8.587139 -4.399456 0.390069 q: 0.097128 0.824282 -0.144605 0.538716 
time: 1403636923.801666, t: 8.589233 -4.414291 0.392477 q: 0.098897 0.823790 -0.145050 0.539026 
time: 1403636923.901666, t: 8.596659 -4.428494 0.395744 q: 0.099817 0.823953 -0.144763 0.538685 
time: 1403636924.001667, t: 8.612177 -4.442157 0.397026 q: 0.101269 0.824158 -0.143211 0.538515 
time: 1403636924.101666, t: 8.633001 -4.457197 0.391582 q: 0.102226 0.823635 -0.142133 0.539420 
time: 1403636924.201667, t: 8.659571 -4.471661 0.381661 q: 0.103160 0.822520 -0.140207 0.541444 
time: 1403636924.301666, t: 8.690959 -4.484975 0.369926 q: 0.102567 0.821238 -0.139530 0.543672 
time: 1403636924.401666, t: 8.729149 -4.498529 0.364611 q: 0.095731 0.819200 -0.143133 0.547046 
time: 1403636924.501667, t: 8.772020 -4.510880 0.367844 q: 0.088959 0.813586 -0.147068 0.555460 
time: 1403636924.601666, t: 8.817866 -4.529506 0.377732 q: 0.080806 0.807397 -0.151091 0.564581 
time: 1403636924.701667, t: 8.863669 -4.548073 0.385816 q: 0.075449 0.802650 -0.154059 0.571251 
time: 1403636924.801666, t: 8.907317 -4.570931 0.388184 q: 0.069604 0.797650 -0.155777 0.578483 
time: 1403636924.901666, t: 8.947335 -4.599141 0.384090 q: 0.068718 0.793585 -0.156813 0.583875 
time: 1403636925.001667, t: 8.981970 -4.633456 0.371997 q: 0.073578 0.792310 -0.162519 0.583454 
time: 1403636925.101666, t: 9.009375 -4.673819 0.350709 q: 0.085772 0.793610 -0.164009 0.579593 
time: 1403636925.201667, t: 9.033076 -4.715648 0.325675 q: 0.101964 0.797673 -0.161053 0.572174 
time: 1403636925.301666, t: 9.055456 -4.757393 0.296455 q: 0.112376 0.804304 -0.160193 0.561075 
time: 1403636925.401666, t: 9.078121 -4.798804 0.263789 q: 0.117465 0.812486 -0.161842 0.547609 
time: 1403636925.501667, t: 9.107807 -4.838349 0.232784 q: 0.119213 0.818239 -0.164503 0.537784 
time: 1403636925.601666, t: 9.137216 -4.877478 0.208386 q: 0.119666 0.823301 -0.167070 0.529096 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636925.701667, t: 9.178427 -4.916109 0.194349 q: 0.119423 0.826398 -0.169331 0.523576 
time: 1403636925.801666, t: 9.229126 -4.955794 0.191436 q: 0.121364 0.826986 -0.169302 0.522209 
time: 1403636925.901666, t: 9.290206 -4.995695 0.193361 q: 0.123504 0.820873 -0.167951 0.531701 
time: 1403636926.001667, t: 9.359275 -5.034237 0.202927 q: 0.127758 0.810283 -0.164607 0.547744 
time: 1403636926.101666, t: 9.433450 -5.070180 0.209128 q: 0.125818 0.798592 -0.165597 0.564799 
time: 1403636926.201667, t: 9.503895 -5.103705 0.206151 q: 0.119095 0.790432 -0.169017 0.576600 
time: 1403636926.301666, t: 9.570942 -5.136008 0.196193 q: 0.112591 0.786203 -0.172182 0.582719 
time: 1403636926.401666, t: 9.632310 -5.167737 0.179155 q: 0.105491 0.783761 -0.174977 0.586493 
time: 1403636926.501667, t: 9.685004 -5.199704 0.157655 q: 0.101673 0.784033 -0.175628 0.586608 
time: 1403636926.601666, t: 9.731118 -5.232538 0.137898 q: 0.104121 0.787556 -0.171885 0.582554 
time: 1403636926.701667, t: 9.769723 -5.266399 0.125702 q: 0.107270 0.790601 -0.168407 0.578863 
time: 1403636926.801666, t: 9.803546 -5.299807 0.120690 q: 0.107015 0.794051 -0.172868 0.572841 
time: 1403636926.901666, t: 9.834308 -5.334824 0.120606 q: 0.107349 0.795160 -0.183992 0.567754 
time: 1403636927.001667, t: 9.863871 -5.373696 0.122825 q: 0.112205 0.792840 -0.198752 0.565077 
time: 1403636927.101666, t: 9.892574 -5.416724 0.117450 q: 0.122682 0.788919 -0.214328 0.562689 
time: 1403636927.201667, t: 9.913342 -5.461962 0.107308 q: 0.135474 0.783563 -0.232498 0.560019 
time: 1403636927.301666, t: 9.932575 -5.509924 0.090738 q: 0.151432 0.778287 -0.250092 0.555690 
time: 1403636927.401666, t: 9.949927 -5.558720 0.070013 q: 0.166225 0.778749 -0.262003 0.545228 
time: 1403636927.501667, t: 9.967705 -5.607368 0.045229 q: 0.174911 0.783970 -0.271513 0.530168 
time: 1403636927.601666, t: 9.988324 -5.657111 0.020235 q: 0.179519 0.789029 -0.279506 0.516800 
time: 1403636927.701667, t: 10.012091 -5.709407 0.001053 q: 0.184270 0.790745 -0.283822 0.510110 
time: 1403636927.801666, t: 10.042830 -5.764441 -0.008330 q: 0.185297 0.789863 -0.287724 0.508917 
time: 1403636927.901666, t: 10.080408 -5.822429 -0.010900 q: 0.185807 0.788300 -0.289287 0.510267 
time: 1403636928.001667, t: 10.126628 -5.883863 -0.014668 q: 0.186623 0.786667 -0.289432 0.512403 
time: 1403636928.101666, t: 10.175312 -5.946892 -0.022113 q: 0.188869 0.783309 -0.287227 0.517935 
time: 1403636928.201667, t: 10.231523 -6.012417 -0.030595 q: 0.190652 0.776669 -0.284873 0.528474 
time: 1403636928.301666, t: 10.289895 -6.078197 -0.044323 q: 0.189325 0.768852 -0.283866 0.540780 
time: 1403636928.401666, t: 10.345440 -6.142616 -0.064301 q: 0.189610 0.763195 -0.281635 0.549784 
time: 1403636928.501667, t: 10.399034 -6.205578 -0.084473 q: 0.191761 0.760996 -0.278828 0.553505 
time: 1403636928.601666, t: 10.450192 -6.266517 -0.100564 q: 0.192636 0.763339 -0.276867 0.550954 
time: 1403636928.701667, t: 10.498288 -6.326623 -0.108361 q: 0.192283 0.769353 -0.276244 0.542966 
time: 1403636928.801666, t: 10.547443 -6.384248 -0.111698 q: 0.191981 0.774904 -0.275860 0.535321 
time: 1403636928.901666, t: 10.595609 -6.440996 -0.104446 q: 0.192116 0.777167 -0.275599 0.532117 
time: 1403636929.001667, t: 10.649922 -6.498153 -0.088685 q: 0.192892 0.771194 -0.274785 0.540874 
time: 1403636929.101666, t: 10.701036 -6.553430 -0.063105 q: 0.188160 0.762207 -0.277785 0.553598 
time: 1403636929.201667, t: 10.754459 -6.608055 -0.034209 q: 0.182743 0.757692 -0.281202 0.559852 
time: 1403636929.301666, t: 10.801928 -6.661133 -0.006884 q: 0.176542 0.757378 -0.284826 0.560434 
time: 1403636929.401666, t: 10.843825 -6.714450 0.015108 q: 0.175341 0.758161 -0.284475 0.559930 
time: 1403636929.501667, t: 10.877707 -6.768749 0.030838 q: 0.178249 0.760689 -0.281199 0.557231 
time: 1403636929.601666, t: 10.911174 -6.822645 0.041181 q: 0.184925 0.763611 -0.275656 0.553818 
time: 1403636929.701667, t: 10.937966 -6.875492 0.047635 q: 0.191060 0.765783 -0.270401 0.551322 
time: 1403636929.801666, t: 10.966291 -6.926018 0.047285 q: 0.194262 0.767289 -0.267709 0.549419 
time: 1403636929.901666, t: 10.991285 -6.975293 0.044511 q: 0.192727 0.766355 -0.268094 0.551073 
time: 1403636930.001667, t: 11.018083 -7.020691 0.043340 q: 0.188593 0.764747 -0.270758 0.553430 
time: 1403636930.101666, t: 11.040137 -7.064575 0.049186 q: 0.185829 0.764915 -0.272412 0.553321 
time: 1403636930.201667, t: 11.060353 -7.107063 0.063168 q: 0.182476 0.764612 -0.275115 0.553519 
time: 1403636930.301666, t: 11.082077 -7.151183 0.081048 q: 0.179539 0.765888 -0.277312 0.551615 
time: 1403636930.401666, t: 11.097849 -7.194719 0.106385 q: 0.182030 0.765853 -0.275849 0.551581 
time: 1403636930.501667, t: 11.110637 -7.236848 0.127357 q: 0.187899 0.766631 -0.272224 0.550331 
time: 1403636930.601666, t: 11.121644 -7.277214 0.141703 q: 0.190195 0.766525 -0.270392 0.550594 
time: 1403636930.701667, t: 11.132766 -7.317343 0.148763 q: 0.185920 0.765144 -0.272976 0.552696 
time: 1403636930.801666, t: 11.140061 -7.355021 0.149832 q: 0.178027 0.763378 -0.278227 0.555113 
time: 1403636930.901666, t: 11.143314 -7.393285 0.146977 q: 0.173602 0.761116 -0.282742 0.557335 
time: 1403636931.001667, t: 11.144333 -7.435159 0.140500 q: 0.169884 0.757125 -0.293548 0.558329 
time: 1403636931.101666, t: 11.139437 -7.478914 0.131520 q: 0.177275 0.753017 -0.300965 0.557638 
time: 1403636931.201667, t: 11.128813 -7.525068 0.127886 q: 0.193516 0.749438 -0.300316 0.557409 
time: 1403636931.301666, t: 11.111031 -7.572077 0.132564 q: 0.206388 0.744387 -0.299383 0.560055 
time: 1403636931.401666, t: 11.087092 -7.613608 0.142155 q: 0.216420 0.743012 -0.298343 0.558648 
time: 1403636931.501667, t: 11.059703 -7.650123 0.157945 q: 0.227600 0.745373 -0.294713 0.552957 
time: 1403636931.601666, t: 11.029870 -7.679265 0.177603 q: 0.238257 0.748265 -0.290043 0.547000 
time: 1403636931.701667, t: 10.999044 -7.700484 0.193603 q: 0.243899 0.748784 -0.287705 0.545034 
time: 1403636931.801666, t: 10.969443 -7.713723 0.200478 q: 0.233755 0.750103 -0.295978 0.543232 
time: 1403636931.901666, t: 10.939007 -7.722600 0.199988 q: 0.224580 0.752096 -0.303193 0.540361 
time: 1403636932.001667, t: 10.908907 -7.728192 0.194808 q: 0.219710 0.752545 -0.307543 0.539278 
time: 1403636932.101666, t: 10.877946 -7.732252 0.185481 q: 0.219414 0.749913 -0.308233 0.542661 
time: 1403636932.201667, t: 10.848051 -7.735598 0.171667 q: 0.221894 0.746911 -0.307683 0.546093 
time: 1403636932.301666, t: 10.814187 -7.735341 0.164617 q: 0.232511 0.744983 -0.302118 0.547415 
time: 1403636932.401666, t: 10.778912 -7.728526 0.165140 q: 0.242399 0.744545 -0.297777 0.546100 
time: 1403636932.501667, t: 10.743913 -7.715503 0.172641 q: 0.247438 0.742804 -0.300118 0.544927 
time: 1403636932.601666, t: 10.707391 -7.695639 0.185723 q: 0.250268 0.739915 -0.311605 0.541105 
time: 1403636932.701667, t: 10.670245 -7.668966 0.206497 q: 0.251686 0.733954 -0.328099 0.538810 
time: 1403636932.801666, t: 10.632920 -7.638120 0.234773 q: 0.256073 0.728657 -0.340136 0.536464 
time: 1403636932.901666, t: 10.593169 -7.602995 0.264854 q: 0.260103 0.725996 -0.350323 0.531554 
wait for imu ... 
wait for imu ... 
time: 1403636933.001667, t: 10.552463 -7.563104 0.288399 q: 0.263202 0.724971 -0.358540 0.525919 
time: 1403636933.101666, t: 10.510056 -7.522648 0.296777 q: 0.268249 0.722051 -0.367963 0.520854 
time: 1403636933.201667, t: 10.466904 -7.477809 0.293716 q: 0.268351 0.723089 -0.377782 0.512261 
time: 1403636933.301666, t: 10.425258 -7.430395 0.282201 q: 0.264175 0.731550 -0.387563 0.494814 
time: 1403636933.401666, t: 10.386533 -7.383948 0.266699 q: 0.259362 0.735868 -0.394231 0.485605 
time: 1403636933.501667, t: 10.352356 -7.343393 0.250345 q: 0.260905 0.733043 -0.394392 0.488908 
time: 1403636933.601666, t: 10.321130 -7.305420 0.235564 q: 0.264519 0.728438 -0.391704 0.495960 
time: 1403636933.701667, t: 10.293729 -7.270045 0.227266 q: 0.267955 0.724494 -0.388183 0.502616 
time: 1403636933.801666, t: 10.266406 -7.236384 0.226013 q: 0.270848 0.721129 -0.384165 0.508952 
time: 1403636933.901666, t: 10.242348 -7.202260 0.232234 q: 0.270446 0.717293 -0.383977 0.514696 
time: 1403636934.001667, t: 10.215515 -7.169003 0.242640 q: 0.271249 0.713814 -0.389687 0.514817 
time: 1403636934.101666, t: 10.187126 -7.135147 0.246902 q: 0.277457 0.707897 -0.400436 0.511420 
time: 1403636934.201667, t: 10.154499 -7.100134 0.238116 q: 0.289764 0.699363 -0.414549 0.505052 
time: 1403636934.301666, t: 10.121106 -7.064964 0.219520 q: 0.303015 0.688692 -0.431493 0.497693 
time: 1403636934.401666, t: 10.086852 -7.025322 0.197889 q: 0.312852 0.674008 -0.453411 0.492195 
time: 1403636934.501667, t: 10.052443 -6.986469 0.179410 q: 0.321266 0.658740 -0.476780 0.485314 
time: 1403636934.601666, t: 10.012816 -6.945172 0.170049 q: 0.333898 0.644560 -0.496739 0.475715 
time: 1403636934.701667, t: 9.970785 -6.903005 0.171229 q: 0.344384 0.633791 -0.513910 0.464333 
time: 1403636934.801666, t: 9.926727 -6.860893 0.182905 q: 0.353743 0.630742 -0.524255 0.449653 
time: 1403636934.901666, t: 9.880891 -6.818694 0.201929 q: 0.359600 0.630569 -0.530955 0.437215 
time: 1403636935.101666, t: 9.791808 -6.743237 0.262741 q: 0.366835 0.627709 -0.532655 0.433234 
time: 1403636935.201667, t: 9.750474 -6.712434 0.299917 q: 0.367500 0.623126 -0.530460 0.441893 
time: 1403636935.301666, t: 9.711279 -6.680077 0.330984 q: 0.365466 0.621264 -0.529292 0.447567 
time: 1403636935.401666, t: 9.670743 -6.652715 0.353685 q: 0.361680 0.621477 -0.528588 0.451164 
time: 1403636935.501667, t: 9.628857 -6.620926 0.370772 q: 0.359782 0.622450 -0.526850 0.453367 
time: 1403636935.601666, t: 9.587298 -6.596104 0.376994 q: 0.357869 0.623609 -0.525503 0.454850 
time: 1403636935.701667, t: 9.543788 -6.565662 0.380317 q: 0.357213 0.624853 -0.523752 0.455677 
time: 1403636935.801666, t: 9.498308 -6.535432 0.375420 q: 0.354072 0.630582 -0.524329 0.449533 
time: 1403636935.901666, t: 9.452105 -6.505859 0.364323 q: 0.350042 0.636527 -0.526217 0.442042 
time: 1403636936.001667, t: 9.406523 -6.484168 0.341500 q: 0.340847 0.643281 -0.531750 0.432730 
time: 1403636936.101666, t: 9.358876 -6.464498 0.317197 q: 0.336406 0.647209 -0.534228 0.427262 
time: 1403636936.201667, t: 9.310810 -6.452133 0.294623 q: 0.339270 0.647638 -0.532519 0.426479 
time: 1403636936.301666, t: 9.264810 -6.442848 0.276365 q: 0.345718 0.644357 -0.529009 0.430620 
time: 1403636936.401666, t: 9.220952 -6.442227 0.264400 q: 0.351770 0.639438 -0.526044 0.436641 
time: 1403636936.501667, t: 9.179965 -6.441635 0.261463 q: 0.357488 0.633958 -0.523493 0.443007 
time: 1403636936.601666, t: 9.142326 -6.445679 0.265669 q: 0.360709 0.630336 -0.523369 0.445703 
time: 1403636936.701667, t: 9.105198 -6.449328 0.264682 q: 0.361970 0.628491 -0.524905 0.445480 
time: 1403636936.801666, t: 9.064091 -6.450639 0.255476 q: 0.364308 0.627783 -0.525111 0.444326 
time: 1403636936.901666, t: 9.027786 -6.455085 0.246607 q: 0.367237 0.628289 -0.524909 0.441430 
time: 1403636937.001667, t: 8.989313 -6.459057 0.244057 q: 0.369320 0.629074 -0.524389 0.439186 
time: 1403636937.101666, t: 8.953014 -6.463690 0.248405 q: 0.369820 0.628931 -0.525253 0.437937 
time: 1403636937.201667, t: 8.917263 -6.467445 0.258959 q: 0.367159 0.626487 -0.528154 0.440184 
time: 1403636937.301666, t: 8.883079 -6.473670 0.267411 q: 0.366597 0.625630 -0.529601 0.440132 
time: 1403636937.401666, t: 8.848512 -6.478386 0.271257 q: 0.367091 0.624707 -0.530133 0.440392 
time: 1403636937.501667, t: 8.815618 -6.483808 0.269115 q: 0.367492 0.624086 -0.530711 0.440240 
time: 1403636937.601666, t: 8.783062 -6.490395 0.259523 q: 0.369047 0.623565 -0.530740 0.439642 
time: 1403636937.701667, t: 8.753152 -6.496210 0.246708 q: 0.374465 0.625822 -0.528172 0.434921 
time: 1403636937.801666, t: 8.724083 -6.501989 0.228681 q: 0.380658 0.627787 -0.524709 0.430886 
time: 1403636937.901666, t: 8.700570 -6.507849 0.205617 q: 0.388213 0.624294 -0.520716 0.434054 
time: 1403636938.001667, t: 8.679302 -6.509716 0.177526 q: 0.396974 0.620568 -0.515943 0.437161 
time: 1403636938.101666, t: 8.661375 -6.506018 0.147588 q: 0.402835 0.614669 -0.514611 0.441679 
time: 1403636938.201667, t: 8.647785 -6.496394 0.113359 q: 0.402549 0.605901 -0.520354 0.447292 
time: 1403636938.301666, t: 8.636918 -6.477433 0.083947 q: 0.397727 0.597302 -0.528845 0.453174 
time: 1403636938.401666, t: 8.625283 -6.453119 0.060413 q: 0.381588 0.588112 -0.544137 0.460901 
time: 1403636938.501667, t: 8.608768 -6.420161 0.042538 q: 0.366572 0.582928 -0.558072 0.463007 
time: 1403636938.601666, t: 8.583445 -6.385706 0.031022 q: 0.360124 0.583366 -0.565536 0.458437 
time: 1403636938.701667, t: 8.549188 -6.351988 0.026991 q: 0.358928 0.583693 -0.568185 0.455675 
time: 1403636938.801666, t: 8.507195 -6.319313 0.030012 q: 0.363359 0.586485 -0.566932 0.450103 
time: 1403636938.901666, t: 8.457147 -6.287832 0.036127 q: 0.370876 0.592982 -0.562657 0.440728 
time: 1403636939.001667, t: 8.403680 -6.251684 0.039472 q: 0.376487 0.599161 -0.559456 0.431593 
time: 1403636939.101666, t: 8.348985 -6.217611 0.039452 q: 0.379071 0.601713 -0.557491 0.428311 
time: 1403636939.201667, t: 8.291832 -6.185439 0.035283 q: 0.380963 0.601167 -0.554954 0.430687 
time: 1403636939.301666, t: 8.237012 -6.158247 0.025195 q: 0.381712 0.600622 -0.552953 0.433350 
time: 1403636939.401666, t: 8.177668 -6.127576 0.013913 q: 0.381592 0.601615 -0.550619 0.435047 
time: 1403636939.501667, t: 8.121378 -6.099339 0.007302 q: 0.383266 0.601649 -0.546745 0.438401 
time: 1403636939.601666, t: 8.064718 -6.069454 0.008914 q: 0.387802 0.599886 -0.541145 0.443744 
time: 1403636939.701667, t: 8.006794 -6.035922 0.016300 q: 0.388723 0.596645 -0.539009 0.449865 
time: 1403636939.801666, t: 7.946545 -5.996335 0.025331 q: 0.390159 0.596448 -0.537588 0.450582 
time: 1403636939.901666, t: 7.887203 -5.955982 0.024693 q: 0.387587 0.596733 -0.539626 0.449990 
time: 1403636940.001667, t: 7.823511 -5.907223 0.017956 q: 0.386280 0.593230 -0.545247 0.448967 
time: 1403636940.101666, t: 7.761518 -5.858185 0.004809 q: 0.387334 0.589790 -0.552278 0.443971 
time: 1403636940.201667, t: 7.694478 -5.803643 -0.012852 q: 0.385731 0.586728 -0.559843 0.439929 
time: 1403636940.301666, t: 7.625310 -5.750212 -0.032422 q: 0.386660 0.583798 -0.564157 0.437494 
time: 1403636940.401666, t: 7.553705 -5.695722 -0.057185 q: 0.388649 0.580546 -0.567037 0.436334 
time: 1403636940.501667, t: 7.481093 -5.639342 -0.081996 q: 0.389942 0.578252 -0.569676 0.434787 
time: 1403636940.601666, t: 7.407009 -5.582695 -0.102118 q: 0.387293 0.579652 -0.574395 0.429043 
time: 1403636940.701667, t: 7.329396 -5.526598 -0.113072 q: 0.386965 0.583905 -0.576753 0.420320 
time: 1403636940.801666, t: 7.251481 -5.472368 -0.115910 q: 0.385982 0.587760 -0.578290 0.413686 
time: 1403636940.901666, t: 7.173196 -5.420717 -0.110112 q: 0.386844 0.590760 -0.578029 0.408947 
time: 1403636941.001667, t: 7.096912 -5.374396 -0.095284 q: 0.388826 0.590820 -0.576436 0.409229 
time: 1403636941.101666, t: 7.022238 -5.332999 -0.075718 q: 0.391868 0.589731 -0.574027 0.411279 
time: 1403636941.201667, t: 6.950252 -5.290777 -0.051930 q: 0.393835 0.588715 -0.571943 0.413751 
time: 1403636941.301666, t: 6.877353 -5.251924 -0.030135 q: 0.396065 0.587125 -0.568806 0.418182 
time: 1403636941.401666, t: 6.806078 -5.211823 -0.013401 q: 0.397451 0.587684 -0.565234 0.420917 
time: 1403636941.501667, t: 6.736004 -5.173033 -0.001969 q: 0.397707 0.588765 -0.562105 0.423347 
time: 1403636941.601666, t: 6.666817 -5.132656 0.004088 q: 0.396705 0.591177 -0.560155 0.423510 
time: 1403636941.701667, t: 6.599041 -5.092838 0.005262 q: 0.395601 0.593272 -0.558792 0.423416 
time: 1403636941.801666, t: 6.532273 -5.051591 0.005562 q: 0.393744 0.594755 -0.558176 0.423878 
time: 1403636941.901666, t: 6.466043 -5.012792 0.012193 q: 0.390982 0.596271 -0.558642 0.423690 
time: 1403636942.001667, t: 6.404744 -4.968531 0.027029 q: 0.388211 0.596453 -0.559841 0.424399 
time: 1403636942.101666, t: 6.340870 -4.935316 0.043176 q: 0.386080 0.595381 -0.560821 0.426549 
time: 1403636942.201667, t: 6.276820 -4.892398 0.059607 q: 0.385375 0.593458 -0.561549 0.428902 
time: 1403636942.301666, t: 6.214353 -4.860586 0.069207 q: 0.384083 0.591451 -0.563338 0.430484 
time: 1403636942.401666, t: 6.152906 -4.821834 0.074452 q: 0.382275 0.588082 -0.566244 0.432888 
time: 1403636942.501667, t: 6.085405 -4.785350 0.071125 q: 0.379818 0.586138 -0.569621 0.433257 
time: 1403636942.601666, t: 6.018251 -4.746246 0.062706 q: 0.377616 0.586477 -0.572910 0.430378 
time: 1403636942.701667, t: 5.947619 -4.703068 0.051112 q: 0.377833 0.589154 -0.574402 0.424502 
time: 1403636942.801666, t: 5.874540 -4.664507 0.037294 q: 0.379633 0.590682 -0.574540 0.420568 
time: 1403636942.901666, t: 5.800263 -4.628924 0.030097 q: 0.386147 0.589631 -0.571454 0.420316 
time: 1403636943.001667, t: 5.725952 -4.598116 0.031024 q: 0.390892 0.588603 -0.569324 0.420261 
time: 1403636943.101666, t: 5.652608 -4.567108 0.040549 q: 0.395665 0.586910 -0.567188 0.421051 
time: 1403636943.201667, t: 5.579370 -4.534681 0.051639 q: 0.397350 0.584225 -0.567353 0.422971 
time: 1403636943.301666, t: 5.507134 -4.504594 0.058987 q: 0.399263 0.583428 -0.567565 0.421984 
time: 1403636943.401666, t: 5.436237 -4.473020 0.058235 q: 0.401687 0.581736 -0.567953 0.421499 
time: 1403636943.501667, t: 5.367492 -4.440709 0.052181 q: 0.403465 0.580818 -0.568323 0.420565 
time: 1403636943.601666, t: 5.299835 -4.406145 0.040934 q: 0.405817 0.580369 -0.567911 0.419479 
time: 1403636943.701667, t: 5.232885 -4.371084 0.025859 q: 0.407686 0.579634 -0.567375 0.419407 
time: 1403636943.801666, t: 5.168509 -4.333200 0.003895 q: 0.408929 0.579981 -0.567291 0.417828 
time: 1403636943.901666, t: 5.105300 -4.295396 -0.023477 q: 0.402417 0.584675 -0.567382 0.417484 
time: 1403636944.001667, t: 5.044944 -4.255107 -0.057749 q: 0.388539 0.596573 -0.568368 0.412427 
time: 1403636944.101666, t: 4.985676 -4.218279 -0.090208 q: 0.375009 0.609018 -0.569844 0.404652 
time: 1403636944.201667, t: 4.928532 -4.187899 -0.115106 q: 0.367369 0.617520 -0.568721 0.400331 
time: 1403636944.301666, t: 4.873838 -4.165052 -0.129498 q: 0.364440 0.620377 -0.566074 0.402339 
time: 1403636944.401666, t: 4.820761 -4.149506 -0.136022 q: 0.367222 0.618349 -0.560859 0.410157 
time: 1403636944.501667, t: 4.771239 -4.138200 -0.135588 q: 0.377556 0.616093 -0.551222 0.417175 
time: 1403636944.601666, t: 4.722641 -4.126512 -0.127807 q: 0.391483 0.615648 -0.539530 0.420269 
time: 1403636944.701667, t: 4.680579 -4.115524 -0.115867 q: 0.399195 0.618698 -0.529910 0.420775 
time: 1403636944.801666, t: 4.645298 -4.102614 -0.101119 q: 0.393929 0.618929 -0.528245 0.427439 
time: 1403636944.901666, t: 4.615626 -4.088719 -0.080171 q: 0.388201 0.618639 -0.527986 0.433379 
time: 1403636945.001667, t: 4.588821 -4.071849 -0.060302 q: 0.384699 0.618475 -0.527269 0.437588 
time: 1403636945.101666, t: 4.565393 -4.053304 -0.052858 q: 0.383671 0.619212 -0.525629 0.439417 
time: 1403636945.201667, t: 4.542376 -4.031580 -0.056209 q: 0.382667 0.620265 -0.524568 0.440075 
time: 1403636945.301666, t: 4.521698 -4.007679 -0.061514 q: 0.382040 0.620540 -0.524008 0.440898 
time: 1403636945.401666, t: 4.503268 -3.981417 -0.060361 q: 0.382268 0.621186 -0.523817 0.440016 
time: 1403636945.501667, t: 4.487579 -3.952928 -0.053488 q: 0.382587 0.620531 -0.524410 0.439958 
time: 1403636945.601666, t: 4.473695 -3.923213 -0.052458 q: 0.378813 0.621795 -0.528533 0.436490 
time: 1403636945.701667, t: 4.461392 -3.890746 -0.055348 q: 0.372045 0.627611 -0.535234 0.425689 
time: 1403636945.801666, t: 4.451834 -3.861499 -0.065148 q: 0.365651 0.634020 -0.541223 0.413999 
time: 1403636945.901666, t: 4.444839 -3.835019 -0.079089 q: 0.363332 0.634497 -0.544499 0.411003 
time: 1403636946.001667, t: 4.442974 -3.815499 -0.093672 q: 0.371164 0.629190 -0.540446 0.417464 
time: 1403636946.101666, t: 4.443317 -3.798740 -0.115085 q: 0.377836 0.623966 -0.537314 0.423321 
time: 1403636946.201667, t: 4.445672 -3.782763 -0.143300 q: 0.380005 0.620725 -0.537662 0.425694 
time: 1403636946.301666, t: 4.450318 -3.767357 -0.176171 q: 0.384694 0.617427 -0.536046 0.428309 
time: 1403636946.401666, t: 4.457457 -3.751734 -0.216241 q: 0.387812 0.614080 -0.535762 0.430659 
time: 1403636946.501667, t: 4.466607 -3.733008 -0.262407 q: 0.388895 0.612056 -0.537146 0.430840 
time: 1403636946.601666, t: 4.477156 -3.713004 -0.308422 q: 0.390530 0.610524 -0.537942 0.430539 
time: 1403636946.701667, t: 4.489903 -3.690843 -0.351053 q: 0.384328 0.607937 -0.543828 0.432385 
time: 1403636946.801666, t: 4.502414 -3.666054 -0.386098 q: 0.369841 0.599719 -0.555223 0.441907 
time: 1403636946.901666, t: 4.511453 -3.643653 -0.416498 q: 0.360231 0.595089 -0.562588 0.446764 
time: 1403636947.001667, t: 4.514119 -3.620265 -0.448619 q: 0.348274 0.588983 -0.570991 0.453622 
time: 1403636947.101666, t: 4.507928 -3.599495 -0.483558 q: 0.345844 0.589331 -0.573016 0.452476 
time: 1403636947.301666, t: 4.469566 -3.561295 -0.541567 q: 0.358708 0.615351 -0.565808 0.415371 
time: 1403636947.401666, t: 4.447655 -3.550798 -0.562495 q: 0.358222 0.624674 -0.566167 0.401141 
time: 1403636947.501667, t: 4.425837 -3.549481 -0.573601 q: 0.358227 0.624650 -0.566754 0.400345 
time: 1403636947.601666, t: 4.405749 -3.561033 -0.574788 q: 0.361932 0.617439 -0.565152 0.410339 
time: 1403636947.701667, t: 4.386726 -3.577671 -0.569102 q: 0.368690 0.615263 -0.560693 0.413694 
time: 1403636947.801666, t: 4.369905 -3.601877 -0.567305 q: 0.375733 0.617669 -0.555443 0.410845 
time: 1403636947.901666, t: 4.357672 -3.630591 -0.570655 q: 0.385855 0.622086 -0.547650 0.405222 
time: 1403636948.001667, t: 4.348136 -3.659184 -0.577516 q: 0.386277 0.623410 -0.546471 0.404376 
time: 1403636948.101666, t: 4.344331 -3.691005 -0.591289 q: 0.378816 0.624256 -0.550750 0.404322 
time: 1403636948.201667, t: 4.343107 -3.724455 -0.606746 q: 0.379467 0.625987 -0.548776 0.403721 
time: 1403636948.301666, t: 4.347278 -3.760823 -0.624966 q: 0.381419 0.627228 -0.545778 0.404018 
time: 1403636948.401666, t: 4.356029 -3.800361 -0.646038 q: 0.383962 0.629314 -0.541936 0.403537 
time: 1403636948.501667, t: 4.370378 -3.842736 -0.669417 q: 0.390379 0.633130 -0.534880 0.400816 
time: 1403636948.601666, t: 4.394208 -3.887459 -0.694076 q: 0.403305 0.637592 -0.523352 0.396136 
time: 1403636948.701667, t: 4.426615 -3.931964 -0.714988 q: 0.409816 0.637966 -0.516465 0.397887 
time: 1403636948.801666, t: 4.474192 -3.972631 -0.727982 q: 0.401010 0.631040 -0.521753 0.410797 
time: 1403636948.901666, t: 4.527240 -4.013770 -0.733181 q: 0.390516 0.622427 -0.527702 0.426160 
time: 1403636949.001667, t: 4.585720 -4.052646 -0.735165 q: 0.380480 0.612653 -0.533144 0.442322 
time: 1403636949.101666, t: 4.642534 -4.089077 -0.742691 q: 0.378078 0.610197 -0.533193 0.447685 
time: 1403636949.201667, t: 4.696426 -4.122469 -0.755033 q: 0.379123 0.611911 -0.531095 0.446955 
time: 1403636949.301666, t: 4.749597 -4.152903 -0.773015 q: 0.379423 0.613605 -0.530030 0.445640 
time: 1403636949.401666, t: 4.800807 -4.180135 -0.793597 q: 0.376197 0.611835 -0.531261 0.449328 
time: 1403636949.501667, t: 4.851244 -4.203598 -0.819041 q: 0.373676 0.609649 -0.532575 0.452834 
time: 1403636949.601666, t: 4.897729 -4.226241 -0.841228 q: 0.369977 0.607975 -0.534441 0.455913 
time: 1403636949.701667, t: 4.941469 -4.244265 -0.857882 q: 0.366736 0.610870 -0.536876 0.451782 
time: 1403636949.801666, t: 4.979312 -4.259844 -0.868306 q: 0.364854 0.616700 -0.537866 0.444141 
time: 1403636949.901666, t: 5.013788 -4.274746 -0.875499 q: 0.359601 0.621288 -0.541444 0.437638 
time: 1403636950.001667, t: 5.046971 -4.290751 -0.875010 q: 0.355314 0.623562 -0.544759 0.433774 
time: 1403636950.101666, t: 5.078998 -4.313664 -0.871152 q: 0.351430 0.625247 -0.547908 0.430534 
time: 1403636950.201667, t: 5.109037 -4.340033 -0.869745 q: 0.353693 0.627347 -0.547134 0.426594 
time: 1403636950.301666, t: 5.136257 -4.369204 -0.872796 q: 0.358293 0.628122 -0.544349 0.425174 
time: 1403636950.401666, t: 5.164096 -4.403827 -0.880144 q: 0.365014 0.627217 -0.540080 0.426236 
time: 1403636950.501667, t: 5.191618 -4.439755 -0.891352 q: 0.374237 0.626397 -0.533799 0.427354 
time: 1403636950.601666, t: 5.219560 -4.476265 -0.901392 q: 0.383481 0.627183 -0.526753 0.426749 
time: 1403636950.701667, t: 5.252452 -4.512351 -0.910353 q: 0.384701 0.625914 -0.525332 0.429259 
time: 1403636950.801666, t: 5.291512 -4.546927 -0.912673 q: 0.382075 0.621860 -0.526517 0.435991 
time: 1403636950.901666, t: 5.330980 -4.581472 -0.907793 q: 0.378769 0.619768 -0.527833 0.440244 
time: 1403636951.001667, t: 5.371483 -4.613479 -0.897150 q: 0.377266 0.618820 -0.528124 0.442511 
time: 1403636951.101666, t: 5.412335 -4.638918 -0.880921 q: 0.371414 0.615995 -0.531788 0.446994 
time: 1403636951.201667, t: 5.452477 -4.665883 -0.870039 q: 0.363090 0.617365 -0.537562 0.445031 
time: 1403636951.301666, t: 5.490464 -4.694158 -0.866490 q: 0.359537 0.622949 -0.540396 0.436625 
time: 1403636951.401666, t: 5.525292 -4.720666 -0.865152 q: 0.356296 0.628617 -0.542817 0.428069 
time: 1403636951.501667, t: 5.561404 -4.754778 -0.871938 q: 0.356281 0.631453 -0.543144 0.423468 
time: 1403636951.601666, t: 5.596369 -4.792426 -0.882544 q: 0.358520 0.632849 -0.541874 0.421116 
time: 1403636951.701667, t: 5.631574 -4.831529 -0.890427 q: 0.363155 0.632090 -0.539084 0.421864 
time: 1403636951.801666, t: 5.669756 -4.881472 -0.897290 q: 0.367894 0.629363 -0.535984 0.425767 
time: 1403636951.901666, t: 5.708482 -4.927300 -0.890165 q: 0.374747 0.628820 -0.531227 0.426553 
time: 1403636952.001667, t: 5.750138 -4.979975 -0.884390 q: 0.380407 0.629801 -0.527279 0.424992 
time: 1403636952.101666, t: 5.795077 -5.031615 -0.884138 q: 0.382455 0.628318 -0.525925 0.427021 
time: 1403636952.201667, t: 5.842957 -5.078401 -0.887437 q: 0.381510 0.624568 -0.526594 0.432508 
time: 1403636952.301666, t: 5.892523 -5.125283 -0.898125 q: 0.377899 0.619010 -0.528827 0.440864 
time: 1403636952.401666, t: 5.939360 -5.169496 -0.915184 q: 0.374965 0.614134 -0.530642 0.447950 
time: 1403636952.501667, t: 5.984682 -5.211204 -0.934879 q: 0.377426 0.614035 -0.528390 0.448681 
time: 1403636952.601666, t: 6.029386 -5.247781 -0.956180 q: 0.380780 0.615883 -0.525630 0.446550 
time: 1403636952.701667, t: 6.073932 -5.279427 -0.972648 q: 0.382250 0.616628 -0.524312 0.445816 
time: 1403636952.801666, t: 6.116484 -5.308749 -0.989009 q: 0.379136 0.620247 -0.526386 0.440984 
time: 1403636952.901666, t: 6.163224 -5.334703 -1.000598 q: 0.373889 0.622807 -0.530440 0.436981 
time: 1403636953.001667, t: 6.210275 -5.362122 -1.017442 q: 0.364455 0.622980 -0.537913 0.435567 
time: 1403636953.101666, t: 6.256303 -5.390683 -1.038255 q: 0.356789 0.620707 -0.543842 0.437791 
time: 1403636953.201667, t: 6.298707 -5.422136 -1.065841 q: 0.353986 0.620185 -0.546080 0.438019 
time: 1403636953.301666, t: 6.338139 -5.454959 -1.093359 q: 0.354549 0.620965 -0.545531 0.437142 
time: 1403636953.401666, t: 6.374442 -5.490327 -1.113739 q: 0.358532 0.622272 -0.542213 0.436162 
time: 1403636953.501667, t: 6.409945 -5.527835 -1.125536 q: 0.365983 0.624035 -0.536428 0.434606 
time: 1403636953.601666, t: 6.445250 -5.564897 -1.132081 q: 0.370541 0.626013 -0.532620 0.432577 
time: 1403636953.701667, t: 6.478244 -5.601112 -1.130908 q: 0.371994 0.631589 -0.530238 0.426103 
time: 1403636953.801666, t: 6.515119 -5.642916 -1.124675 q: 0.375582 0.636795 -0.526227 0.420138 
time: 1403636953.901666, t: 6.556190 -5.686849 -1.108157 q: 0.375846 0.637775 -0.524272 0.420858 
time: 1403636954.001667, t: 6.603328 -5.731897 -1.088297 q: 0.372541 0.636529 -0.525679 0.423917 
time: 1403636954.101666, t: 6.653637 -5.778374 -1.073587 q: 0.371245 0.635447 -0.526320 0.425876 
time: 1403636954.201667, t: 6.706510 -5.823594 -1.065205 q: 0.370392 0.634556 -0.526808 0.427343 
time: 1403636954.301666, t: 6.762559 -5.871460 -1.058642 q: 0.369203 0.635497 -0.527910 0.425609 
time: 1403636954.401666, t: 6.820838 -5.923707 -1.049596 q: 0.366946 0.636246 -0.530423 0.423313 
time: 1403636954.601666, t: 6.943321 -6.031914 -1.015321 q: 0.367963 0.635616 -0.533296 0.419751 
time: 1403636954.701667, t: 7.007387 -6.091949 -1.011237 q: 0.371889 0.632622 -0.533226 0.420901 
time: 1403636954.801666, t: 7.074126 -6.149937 -1.019130 q: 0.376480 0.626703 -0.533402 0.425428 
time: 1403636954.901666, t: 7.140556 -6.211450 -1.038170 q: 0.380348 0.621207 -0.533851 0.429465 
time: 1403636955.001667, t: 7.207678 -6.271046 -1.062276 q: 0.384067 0.617067 -0.534679 0.431090 
time: 1403636955.101666, t: 7.273691 -6.324856 -1.091003 q: 0.386740 0.616183 -0.536272 0.427976 
time: 1403636955.201667, t: 7.343687 -6.377710 -1.109757 q: 0.389836 0.615079 -0.537959 0.424625 
time: 1403636955.301666, t: 7.413731 -6.430676 -1.122423 q: 0.391714 0.611749 -0.540535 0.424436 
time: 1403636955.401666, t: 7.487942 -6.482526 -1.126309 q: 0.394305 0.609218 -0.542674 0.422945 
time: 1403636955.501667, t: 7.561486 -6.532028 -1.133686 q: 0.396162 0.608084 -0.544020 0.421109 
time: 1403636955.601666, t: 7.639393 -6.580617 -1.144224 q: 0.397319 0.606549 -0.545721 0.420029 
time: 1403636955.701667, t: 7.718325 -6.627108 -1.158447 q: 0.398413 0.605630 -0.546883 0.418806 
time: 1403636955.801666, t: 7.795734 -6.670779 -1.172146 q: 0.399141 0.605189 -0.547231 0.418295 
time: 1403636955.901666, t: 7.878463 -6.713752 -1.174830 q: 0.395899 0.602765 -0.550604 0.420445 
time: 1403636956.001667, t: 7.956484 -6.753771 -1.172381 q: 0.388256 0.596937 -0.556932 0.427493 
time: 1403636956.101666, t: 8.032397 -6.795457 -1.162639 q: 0.380123 0.589750 -0.563440 0.436160 
time: 1403636956.201667, t: 8.105391 -6.833429 -1.148854 q: 0.376086 0.586302 -0.567356 0.439221 
time: 1403636956.301666, t: 8.172085 -6.869111 -1.140847 q: 0.377869 0.586966 -0.567400 0.436742 
time: 1403636956.401666, t: 8.232512 -6.902680 -1.138840 q: 0.387607 0.592855 -0.561601 0.427653 
time: 1403636956.501667, t: 8.294270 -6.934307 -1.143107 q: 0.395800 0.596920 -0.555298 0.422697 
time: 1403636956.601666, t: 8.353234 -6.966765 -1.149078 q: 0.395404 0.597913 -0.547444 0.431812 
time: 1403636956.701667, t: 8.417264 -6.994719 -1.163657 q: 0.383485 0.599144 -0.541800 0.447681 
time: 1403636956.801666, t: 8.474933 -7.022040 -1.178591 q: 0.364607 0.607601 -0.533997 0.461227 
time: 1403636956.901666, t: 8.528465 -7.046130 -1.185496 q: 0.346812 0.623369 -0.519939 0.469889 
time: 1403636957.001667, t: 8.576893 -7.068676 -1.184315 q: 0.336615 0.642045 -0.497609 0.476292 
time: 1403636957.101666, t: 8.621896 -7.088427 -1.176204 q: 0.328608 0.661381 -0.471701 0.481758 
time: 1403636957.201667, t: 8.665298 -7.106919 -1.163588 q: 0.318975 0.679249 -0.447982 0.485991 
time: 1403636957.301666, t: 8.705749 -7.123337 -1.148865 q: 0.308437 0.690955 -0.431555 0.491130 
time: 1403636957.401666, t: 8.745539 -7.140381 -1.139914 q: 0.299578 0.698545 -0.420210 0.495693 
time: 1403636957.501667, t: 8.784040 -7.156253 -1.138864 q: 0.292908 0.702618 -0.413584 0.499481 
time: 1403636957.601666, t: 8.821425 -7.171142 -1.145377 q: 0.286008 0.705590 -0.408245 0.503664 
time: 1403636957.701667, t: 8.858739 -7.183134 -1.158511 q: 0.277528 0.709966 -0.400295 0.508616 
time: 1403636957.801666, t: 8.895518 -7.193236 -1.177627 q: 0.263504 0.717682 -0.388335 0.514485 
time: 1403636957.901666, t: 8.931145 -7.201916 -1.199527 q: 0.245435 0.728356 -0.369324 0.522359 
time: 1403636958.001667, t: 8.965139 -7.209572 -1.217657 q: 0.226497 0.740443 -0.344967 0.530511 
time: 1403636958.101666, t: 8.996156 -7.216684 -1.228434 q: 0.208365 0.752443 -0.319492 0.536971 
time: 1403636958.201667, t: 9.024248 -7.225207 -1.231423 q: 0.193082 0.762175 -0.298097 0.541246 
time: 1403636958.301666, t: 9.049390 -7.236126 -1.223122 q: 0.181089 0.769086 -0.278344 0.546112 
time: 1403636958.401666, t: 9.070400 -7.246503 -1.208276 q: 0.173012 0.776501 -0.260275 0.547147 
time: 1403636958.501667, t: 9.089237 -7.257009 -1.188659 q: 0.167750 0.781454 -0.248627 0.547152 
time: 1403636958.601666, t: 9.108224 -7.270502 -1.175148 q: 0.165063 0.783598 -0.242116 0.547821 
time: 1403636958.701667, t: 9.127567 -7.286085 -1.163800 q: 0.165073 0.784459 -0.238553 0.548149 
time: 1403636958.801666, t: 9.146806 -7.301532 -1.156932 q: 0.165451 0.784683 -0.237858 0.548016 
time: 1403636958.901666, t: 9.170923 -7.319235 -1.157145 q: 0.167551 0.785291 -0.238910 0.546047 
time: 1403636959.001667, t: 9.190148 -7.335185 -1.160011 q: 0.170243 0.784950 -0.240104 0.545180 
time: 1403636959.101666, t: 9.212738 -7.350876 -1.169270 q: 0.171133 0.785079 -0.243000 0.543430 
time: 1403636959.201667, t: 9.237147 -7.367231 -1.183912 q: 0.172237 0.784466 -0.245457 0.542861 
time: 1403636959.301666, t: 9.266903 -7.384075 -1.205798 q: 0.178104 0.784179 -0.244760 0.541697 
time: 1403636959.401666, t: 9.292232 -7.398786 -1.232352 q: 0.184099 0.784402 -0.242802 0.540248 
time: 1403636959.501667, t: 9.321122 -7.411389 -1.263054 q: 0.188160 0.782622 -0.241554 0.541988 
time: 1403636959.601666, t: 9.353192 -7.420648 -1.293804 q: 0.184499 0.776984 -0.245455 0.549552 
time: 1403636959.701667, t: 9.383240 -7.427126 -1.317803 q: 0.182336 0.776654 -0.248621 0.549318 
time: 1403636959.801666, t: 9.415365 -7.432935 -1.334249 q: 0.180831 0.777714 -0.251413 0.547039 
time: 1403636959.901666, t: 9.443680 -7.435718 -1.342793 q: 0.180196 0.778541 -0.253560 0.545078 
time: 1403636960.001667, t: 9.473575 -7.439233 -1.344511 q: 0.179580 0.778745 -0.254753 0.544435 
time: 1403636960.101666, t: 9.503119 -7.443752 -1.336814 q: 0.179742 0.778610 -0.254659 0.544618 
time: 1403636960.401666, t: 9.595905 -7.449079 -1.326718 q: 0.195755 0.780656 -0.242934 0.541515 
time: 1403636960.501667, t: 9.634266 -7.448029 -1.333136 q: 0.196836 0.779034 -0.236723 0.546190 
time: 1403636960.601666, t: 9.671939 -7.439804 -1.345345 q: 0.197038 0.778753 -0.228620 0.549957 
time: 1403636960.701667, t: 9.709412 -7.426717 -1.357131 q: 0.189218 0.778441 -0.226550 0.553987 
time: 1403636960.801666, t: 9.746688 -7.408585 -1.373112 q: 0.174736 0.780614 -0.228311 0.554962 
time: 1403636960.901666, t: 9.784109 -7.385870 -1.393534 q: 0.160181 0.784879 -0.221123 0.556248 
time: 1403636961.001667, t: 9.821325 -7.361018 -1.412233 q: 0.146542 0.790021 -0.203995 0.559266 
time: 1403636961.101666, t: 9.855867 -7.335518 -1.425386 q: 0.130544 0.794793 -0.183303 0.563615 
time: 1403636961.201667, t: 9.888029 -7.309066 -1.430487 q: 0.113120 0.799764 -0.160628 0.567256 
time: 1403636961.301666, t: 9.919629 -7.282842 -1.426027 q: 0.097432 0.804320 -0.137899 0.569702 
time: 1403636961.401666, t: 9.950678 -7.256453 -1.414433 q: 0.086140 0.806818 -0.119013 0.572241 
time: 1403636961.501667, t: 9.976813 -7.229754 -1.396621 q: 0.076264 0.808821 -0.106218 0.573333 
time: 1403636961.601666, t: 10.002792 -7.202984 -1.371167 q: 0.065970 0.810326 -0.093271 0.574734 
time: 1403636961.701667, t: 10.028720 -7.176984 -1.339944 q: 0.054874 0.811234 -0.078977 0.576759 
time: 1403636961.801666, t: 10.051606 -7.148199 -1.304810 q: 0.044462 0.812160 -0.062809 0.578337 
time: 1403636961.901666, t: 10.073874 -7.119260 -1.274929 q: 0.034629 0.813871 -0.044764 0.578283 
time: 1403636962.001667, t: 10.096337 -7.088907 -1.252309 q: 0.021442 0.814638 -0.026715 0.578958 
time: 1403636962.101666, t: 10.118545 -7.058419 -1.235395 q: 0.008430 0.816092 -0.007752 0.577809 
time: 1403636962.201667, t: 10.139783 -7.025702 -1.216246 q: -0.005199 0.816106 0.011634 0.577762 
time: 1403636962.301666, t: 10.158730 -6.993812 -1.191618 q: -0.017918 0.814576 0.033384 0.578819 
time: 1403636962.401666, t: 10.176864 -6.959788 -1.162074 q: -0.032386 0.813100 0.054410 0.578671 
time: 1403636962.501667, t: 10.191868 -6.924548 -1.126156 q: -0.043875 0.811177 0.077744 0.577946 
time: 1403636962.601666, t: 10.205803 -6.888112 -1.086710 q: -0.052750 0.808763 0.103776 0.576498 
time: 1403636962.701667, t: 10.215970 -6.851662 -1.050153 q: -0.058477 0.805308 0.128148 0.575879 
time: 1403636962.801666, t: 10.223804 -6.812509 -1.020987 q: -0.063596 0.802522 0.145006 0.575228 
time: 1403636962.901666, t: 10.230138 -6.767737 -0.997604 q: -0.070369 0.800481 0.152722 0.575286 
time: 1403636963.001667, t: 10.231823 -6.721025 -0.980569 q: -0.081327 0.797038 0.151805 0.578854 
time: 1403636963.101666, t: 10.230398 -6.672332 -0.967291 q: -0.088812 0.791686 0.148893 0.585813 
time: 1403636963.201667, t: 10.224580 -6.621843 -0.960356 q: -0.090760 0.791419 0.146216 0.586549 
time: 1403636963.301666, t: 10.211878 -6.570694 -0.956813 q: -0.094476 0.796120 0.140519 0.580967 
time: 1403636963.401666, t: 10.197748 -6.521045 -0.959728 q: -0.096870 0.799626 0.134291 0.577218 
time: 1403636963.501667, t: 10.180408 -6.473810 -0.962859 q: -0.092962 0.801180 0.132619 0.576091 
time: 1403636963.601666, t: 10.161151 -6.426386 -0.962491 q: -0.088752 0.801744 0.130829 0.576379 
time: 1403636963.701667, t: 10.138588 -6.379920 -0.954896 q: -0.084573 0.802482 0.128833 0.576430 
time: 1403636963.801666, t: 10.117043 -6.332271 -0.939961 q: -0.081788 0.803190 0.126361 0.576394 
time: 1403636963.901666, t: 10.092838 -6.285106 -0.919002 q: -0.079466 0.802756 0.124600 0.577705 
time: 1403636964.001667, t: 10.064749 -6.237998 -0.891951 q: -0.078641 0.802511 0.123284 0.578440 
time: 1403636964.101666, t: 10.034169 -6.192864 -0.857740 q: -0.078011 0.802049 0.123370 0.579147 
time: 1403636964.201667, t: 10.002071 -6.147758 -0.825078 q: -0.077732 0.800492 0.124138 0.581172 
time: 1403636964.301666, t: 9.963855 -6.101532 -0.799976 q: -0.076510 0.800412 0.126156 0.581009 
time: 1403636964.401666, t: 9.925067 -6.050751 -0.782099 q: -0.076078 0.799710 0.127673 0.581700 
time: 1403636964.501667, t: 9.884149 -6.003131 -0.770041 q: -0.074900 0.798912 0.131167 0.582173 
time: 1403636964.601666, t: 9.842062 -5.951666 -0.760161 q: -0.072545 0.797033 0.140422 0.582887 
time: 1403636964.701667, t: 9.797278 -5.894733 -0.755704 q: -0.075014 0.795286 0.152682 0.581877 
time: 1403636964.801666, t: 9.746843 -5.835647 -0.756864 q: -0.079459 0.791749 0.169259 0.581525 
time: 1403636964.901666, t: 9.692146 -5.771169 -0.757339 q: -0.096329 0.786894 0.183782 0.581156 
time: 1403636965.001667, t: 9.629965 -5.703965 -0.749402 q: -0.112676 0.780214 0.202667 0.580945 
time: 1403636965.101666, t: 9.565407 -5.633384 -0.735916 q: -0.128724 0.776767 0.219801 0.575977 
time: 1403636965.201667, t: 9.496755 -5.560826 -0.717155 q: -0.139808 0.777482 0.233728 0.566874 
time: 1403636965.301666, t: 9.424727 -5.488141 -0.691441 q: -0.143976 0.784540 0.245436 0.550934 
time: 1403636965.401666, t: 9.351450 -5.413155 -0.661902 q: -0.143413 0.795509 0.254401 0.530922 
time: 1403636965.501667, t: 9.284654 -5.331206 -0.623538 q: -0.147271 0.803660 0.255290 0.516981 
time: 1403636965.601666, t: 9.227498 -5.243243 -0.573138 q: -0.158914 0.799704 0.247922 0.523216 
time: 1403636965.701667, t: 9.175996 -5.152820 -0.515478 q: -0.174004 0.789768 0.236671 0.538493 
time: 1403636965.801666, t: 9.129209 -5.062349 -0.463294 q: -0.179988 0.782856 0.230269 0.549288 
time: 1403636965.901666, t: 9.080011 -4.979196 -0.418763 q: -0.171414 0.778086 0.233558 0.557360 
time: 1403636966.001667, t: 9.029496 -4.899293 -0.382654 q: -0.162726 0.775668 0.237202 0.561779 
time: 1403636966.101666, t: 8.976626 -4.822954 -0.351051 q: -0.158056 0.774096 0.238671 0.564650 
time: 1403636966.201667, t: 8.923468 -4.745380 -0.328511 q: -0.155363 0.773745 0.238392 0.565995 
time: 1403636966.301666, t: 8.867351 -4.669590 -0.316974 q: -0.154529 0.772987 0.237021 0.567832 
time: 1403636966.401666, t: 8.807347 -4.594998 -0.309948 q: -0.164257 0.774272 0.228559 0.566819 
time: 1403636966.501667, t: 8.744766 -4.524178 -0.310725 q: -0.179633 0.776662 0.215730 0.563905 
time: 1403636966.601666, t: 8.684176 -4.459750 -0.317766 q: -0.183290 0.777282 0.210723 0.563766 
time: 1403636966.701667, t: 8.623914 -4.403632 -0.328036 q: -0.172286 0.776935 0.215500 0.565905 
time: 1403636966.801666, t: 8.563445 -4.349582 -0.335494 q: -0.164326 0.775570 0.218653 0.568928 
time: 1403636966.901666, t: 8.500887 -4.300682 -0.337303 q: -0.165160 0.776045 0.216487 0.568867 
time: 1403636967.001667, t: 8.432936 -4.254207 -0.332617 q: -0.167395 0.776576 0.213622 0.568571 
time: 1403636967.101666, t: 8.367791 -4.217029 -0.331532 q: -0.162681 0.775916 0.216101 0.569903 
time: 1403636967.201667, t: 8.300087 -4.178389 -0.335169 q: -0.158164 0.775606 0.218088 0.570839 
time: 1403636967.301666, t: 8.229053 -4.149181 -0.345558 q: -0.156686 0.775541 0.218422 0.571207 
time: 1403636967.401666, t: 8.155490 -4.114554 -0.354669 q: -0.154076 0.774525 0.219286 0.572962 
time: 1403636967.501667, t: 8.080635 -4.086091 -0.358109 q: -0.154579 0.774233 0.218222 0.573627 
time: 1403636967.601666, t: 8.001613 -4.054915 -0.351346 q: -0.152435 0.773812 0.218352 0.574718 
time: 1403636967.701667, t: 7.922216 -4.028273 -0.348852 q: -0.150289 0.774064 0.218359 0.574941 
time: 1403636967.801666, t: 7.837050 -3.998736 -0.358822 q: -0.150410 0.773945 0.217590 0.575361 
time: 1403636967.901666, t: 7.748832 -3.970973 -0.385973 q: -0.150217 0.773338 0.217159 0.576389 
time: 1403636968.001667, t: 7.657024 -3.940963 -0.419883 q: -0.150464 0.773071 0.217010 0.576740 
time: 1403636968.101666, t: 7.563528 -3.911490 -0.458139 q: -0.152671 0.772566 0.215907 0.577250 
time: 1403636968.201667, t: 7.464179 -3.890434 -0.495736 q: -0.155423 0.773566 0.214352 0.575753 
time: 1403636968.301666, t: 7.368319 -3.869529 -0.525716 q: -0.155037 0.774537 0.214560 0.574474 
time: 1403636968.401666, t: 7.267683 -3.847318 -0.547780 q: -0.154302 0.775748 0.214643 0.573004 
time: 1403636968.501667, t: 7.159396 -3.827951 -0.562640 q: -0.154638 0.776774 0.213928 0.571790 
time: 1403636968.601666, t: 7.056859 -3.807262 -0.570285 q: -0.152695 0.776569 0.214831 0.572252 
time: 1403636968.701667, t: 6.942944 -3.793930 -0.568744 q: -0.146827 0.775779 0.218627 0.573421 
time: 1403636968.801666, t: 6.835241 -3.774543 -0.571842 q: -0.142607 0.775449 0.221115 0.573978 
time: 1403636968.901666, t: 6.720686 -3.758381 -0.574621 q: -0.145070 0.776117 0.218895 0.573308 
time: 1403636969.001667, t: 6.610282 -3.737923 -0.569519 q: -0.147154 0.777048 0.217074 0.572207 
time: 1403636969.101666, t: 6.488639 -3.721950 -0.558524 q: -0.151768 0.778175 0.213914 0.570659 
time: 1403636969.201667, t: 6.374564 -3.706061 -0.543544 q: -0.151689 0.783136 0.213750 0.563914 
time: 1403636969.301666, t: 6.256548 -3.690444 -0.522640 q: -0.150739 0.789948 0.213567 0.554661 
time: 1403636969.501667, t: 6.027650 -3.655596 -0.467594 q: -0.144635 0.796736 0.215447 0.545779 
time: 1403636969.601666, t: 5.916735 -3.634977 -0.446642 q: -0.143007 0.798387 0.214920 0.544001 
time: 1403636969.701667, t: 5.813743 -3.621276 -0.428229 q: -0.142948 0.798304 0.214159 0.544438 
time: 1403636969.801666, t: 5.713934 -3.603772 -0.414834 q: -0.142274 0.798378 0.214016 0.544562 
time: 1403636969.901666, t: 5.615873 -3.581702 -0.407797 q: -0.142754 0.798751 0.213202 0.544208 
time: 1403636970.001667, t: 5.522182 -3.554600 -0.406640 q: -0.144998 0.796422 0.211537 0.547668 
time: 1403636970.201667, t: 5.341404 -3.501682 -0.414526 q: -0.148399 0.785604 0.210467 0.562590 
time: 1403636970.301666, t: 5.251056 -3.472947 -0.420725 q: -0.148890 0.784220 0.210614 0.564334 
time: 1403636970.401666, t: 5.161860 -3.447601 -0.429165 q: -0.147748 0.788590 0.211918 0.558021 
time: 1403636970.501667, t: 5.073173 -3.421152 -0.433976 q: -0.147103 0.794262 0.213169 0.549606 
time: 1403636970.601666, t: 4.989238 -3.395121 -0.436587 q: -0.145658 0.798682 0.215328 0.542701 
time: 1403636970.701667, t: 4.907223 -3.364770 -0.432282 q: -0.143772 0.802221 0.217976 0.536895 
time: 1403636970.801666, t: 4.831391 -3.329233 -0.419244 q: -0.142787 0.805874 0.219664 0.530967 
time: 1403636970.901666, t: 4.760765 -3.291435 -0.407764 q: -0.141247 0.810756 0.221697 0.523043 
time: 1403636971.001667, t: 4.696896 -3.250547 -0.401898 q: -0.145103 0.812929 0.219645 0.519468 
time: 1403636971.101666, t: 4.642095 -3.204676 -0.400682 q: -0.155287 0.810955 0.212492 0.522575 
time: 1403636971.201667, t: 4.593348 -3.159154 -0.405943 q: -0.168120 0.806654 0.203557 0.528782 
time: 1403636971.301666, t: 4.553180 -3.115778 -0.415379 q: -0.180626 0.802410 0.194305 0.534563 
time: 1403636971.401666, t: 4.519006 -3.079957 -0.430308 q: -0.188965 0.800395 0.188747 0.536689 
time: 1403636971.501667, t: 4.491405 -3.048807 -0.449173 q: -0.186198 0.799414 0.191098 0.538283 
time: 1403636971.601666, t: 4.468369 -3.023149 -0.471348 q: -0.179393 0.795699 0.196686 0.544055 
time: 1403636971.701667, t: 4.449391 -3.002600 -0.497188 q: -0.169918 0.789516 0.204152 0.553276 
time: 1403636971.801666, t: 4.432307 -2.983895 -0.527681 q: -0.168255 0.784547 0.206341 0.559999 
time: 1403636971.901666, t: 4.413885 -2.971902 -0.557616 q: -0.168958 0.782129 0.206996 0.562921 
time: 1403636972.001667, t: 4.395285 -2.962319 -0.580509 q: -0.169111 0.782162 0.207879 0.562504 
time: 1403636972.101666, t: 4.377393 -2.953538 -0.601016 q: -0.167464 0.781943 0.208878 0.562930 
time: 1403636972.201667, t: 4.355533 -2.953393 -0.610322 q: -0.169059 0.785482 0.207764 0.557917 
time: 1403636972.301666, t: 4.336501 -2.949947 -0.617600 q: -0.170065 0.791286 0.206510 0.549816 
time: 1403636972.401666, t: 4.318617 -2.953164 -0.610632 q: -0.167176 0.793370 0.208146 0.547075 
time: 1403636972.501667, t: 4.305593 -2.956365 -0.597093 q: -0.164059 0.792237 0.210028 0.548938 
time: 1403636972.601666, t: 4.293705 -2.960102 -0.577474 q: -0.161641 0.790399 0.210840 0.551985 
time: 1403636972.701667, t: 4.282983 -2.965320 -0.556422 q: -0.158573 0.788150 0.212120 0.555590 
time: 1403636972.801666, t: 4.272102 -2.970892 -0.541110 q: -0.157791 0.788103 0.211986 0.555930 
time: 1403636972.901666, t: 4.261109 -2.976035 -0.532248 q: -0.156279 0.788638 0.211493 0.555786 
time: 1403636973.001667, t: 4.251557 -2.982874 -0.530676 q: -0.150872 0.792199 0.206217 0.554196 
time: 1403636973.101666, t: 4.243005 -2.989686 -0.536533 q: -0.144134 0.796916 0.196472 0.552765 
time: 1403636973.201667, t: 4.233555 -2.996845 -0.544018 q: -0.138285 0.799972 0.188284 0.552695 
time: 1403636973.501667, t: 4.215426 -3.014119 -0.599835 q: -0.126490 0.802051 0.174994 0.556858 
time: 1403636973.601666, t: 4.211616 -3.017423 -0.626475 q: -0.124153 0.800523 0.172989 0.560200 
time: 1403636973.701667, t: 4.208973 -3.019924 -0.653744 q: -0.123308 0.798886 0.172010 0.563017 
time: 1403636973.801666, t: 4.204680 -3.021501 -0.675489 q: -0.122116 0.795902 0.172304 0.567397 
time: 1403636973.901666, t: 4.199267 -3.022512 -0.690093 q: -0.122161 0.794815 0.172649 0.568804 
time: 1403636974.001667, t: 4.191984 -3.024410 -0.695770 q: -0.124314 0.796553 0.170265 0.566621 
time: 1403636974.101666, t: 4.185046 -3.024716 -0.700029 q: -0.122840 0.801084 0.162348 0.562866 
time: 1403636974.201667, t: 4.178590 -3.027770 -0.704353 q: -0.113427 0.806599 0.148935 0.560671 
time: 1403636974.301666, t: 4.172406 -3.035272 -0.713162 q: -0.097016 0.810152 0.131564 0.562967 
time: 1403636974.401666, t: 4.169438 -3.040692 -0.728379 q: -0.079265 0.812701 0.109432 0.566796 
time: 1403636974.501667, t: 4.166112 -3.045516 -0.749890 q: -0.061301 0.813365 0.083990 0.572385 
time: 1403636974.601666, t: 4.160825 -3.050094 -0.774481 q: -0.042048 0.813537 0.057723 0.577112 
time: 1403636974.701667, t: 4.152679 -3.054116 -0.800009 q: -0.024511 0.816144 0.031534 0.576466 
time: 1403636974.801666, t: 4.141550 -3.058355 -0.819582 q: -0.010750 0.820062 0.005730 0.572144 
time: 1403636975.001667, t: 4.121866 -3.069835 -0.833358 q: 0.005119 0.827080 -0.044861 0.560268 
time: 1403636975.101666, t: 4.117942 -3.079138 -0.829178 q: 0.017556 0.825562 -0.062589 0.560555 
time: 1403636975.201667, t: 4.118941 -3.089354 -0.824399 q: 0.031396 0.820496 -0.072381 0.566182 
time: 1403636975.301666, t: 4.123733 -3.098876 -0.823923 q: 0.042870 0.815064 -0.076940 0.572638 
time: 1403636975.401666, t: 4.129411 -3.107245 -0.829949 q: 0.049548 0.812022 -0.078960 0.576135 
time: 1403636975.501667, t: 4.135344 -3.112564 -0.843016 q: 0.052219 0.813067 -0.080014 0.574276 
time: 1403636975.601666, t: 4.141245 -3.116432 -0.855166 q: 0.053576 0.817056 -0.079336 0.568555 
time: 1403636975.701667, t: 4.145822 -3.120556 -0.858528 q: 0.052953 0.820116 -0.077269 0.564478 
time: 1403636975.801666, t: 4.155955 -3.121441 -0.853614 q: 0.051939 0.822384 -0.075442 0.561512 
time: 1403636975.901666, t: 4.166970 -3.125449 -0.843578 q: 0.055555 0.823574 -0.079245 0.558891 
time: 1403636976.001667, t: 4.179906 -3.128130 -0.837403 q: 0.060025 0.821298 -0.092103 0.559807 
time: 1403636976.101666, t: 4.193363 -3.133317 -0.834911 q: 0.063073 0.813846 -0.112815 0.566523 
time: 1403636976.201667, t: 4.208209 -3.138475 -0.837332 q: 0.065014 0.805240 -0.138986 0.572752 
time: 1403636976.301666, t: 4.219675 -3.148341 -0.844343 q: 0.072480 0.798162 -0.165409 0.574739 
time: 1403636976.401666, t: 4.226464 -3.163749 -0.857100 q: 0.086061 0.791955 -0.190248 0.573765 
time: 1403636976.501667, t: 4.229535 -3.186322 -0.873957 q: 0.106448 0.787833 -0.209584 0.569265 
time: 1403636976.601666, t: 4.230132 -3.212395 -0.895277 q: 0.129453 0.786234 -0.219460 0.562952 
time: 1403636976.801666, t: 4.228486 -3.262067 -0.954831 q: 0.153510 0.784071 -0.233472 0.554218 
time: 1403636976.901666, t: 4.227035 -3.286395 -0.991230 q: 0.152967 0.786669 -0.240955 0.547443 
time: 1403636977.001667, t: 4.226500 -3.310909 -1.019273 q: 0.150608 0.787566 -0.245978 0.544566 
time: 1403636977.101666, t: 4.229313 -3.338176 -1.037341 q: 0.148484 0.788732 -0.248044 0.542520 
time: 1403636977.201667, t: 4.232981 -3.369988 -1.046648 q: 0.145463 0.789991 -0.248412 0.541338 
time: 1403636977.301666, t: 4.236428 -3.402929 -1.050679 q: 0.143915 0.790625 -0.246330 0.541777 
time: 1403636977.401666, t: 4.241567 -3.440126 -1.056399 q: 0.144625 0.788511 -0.241661 0.546749 
time: 1403636977.501667, t: 4.247229 -3.479379 -1.067006 q: 0.147266 0.785426 -0.235600 0.553092 
time: 1403636977.601666, t: 4.252994 -3.520345 -1.082844 q: 0.147782 0.782526 -0.232167 0.558491 
time: 1403636977.701667, t: 4.255821 -3.559087 -1.104518 q: 0.148600 0.781530 -0.231412 0.559980 
time: 1403636977.801666, t: 4.260679 -3.601181 -1.129812 q: 0.144629 0.781790 -0.238897 0.557508 
time: 1403636977.901666, t: 4.261670 -3.644575 -1.158283 q: 0.142367 0.781790 -0.244949 0.555460 
time: 1403636978.001667, t: 4.259142 -3.690234 -1.183423 q: 0.146863 0.779878 -0.245434 0.556762 
time: 1403636978.101666, t: 4.258731 -3.735437 -1.199471 q: 0.154192 0.779752 -0.243725 0.555706 
time: 1403636978.201667, t: 4.253993 -3.782176 -1.207446 q: 0.157769 0.781179 -0.243320 0.552869 
time: 1403636978.301666, t: 4.247629 -3.826931 -1.208005 q: 0.160426 0.783612 -0.243204 0.548696 
time: 1403636978.401666, t: 4.241868 -3.873015 -1.200633 q: 0.161247 0.786667 -0.243983 0.543715 
time: 1403636978.501667, t: 4.237967 -3.916841 -1.189804 q: 0.161456 0.792034 -0.245438 0.535139 
time: 1403636978.601666, t: 4.236630 -3.962446 -1.182710 q: 0.160280 0.797235 -0.247854 0.526588 
time: 1403636978.701667, t: 4.240914 -4.007976 -1.181819 q: 0.160153 0.800443 -0.249352 0.521024 
time: 1403636978.801666, t: 4.250897 -4.055297 -1.186848 q: 0.160242 0.802395 -0.250409 0.517475 
time: 1403636978.901666, t: 4.267307 -4.107569 -1.192765 q: 0.161414 0.799194 -0.249703 0.522383 
time: 1403636979.001667, t: 4.289451 -4.160658 -1.205389 q: 0.166142 0.791342 -0.246657 0.534168 
time: 1403636979.101666, t: 4.313990 -4.212959 -1.222166 q: 0.170008 0.783540 -0.243865 0.545612 
time: 1403636979.201667, t: 4.338612 -4.261665 -1.247403 q: 0.171380 0.780542 -0.242880 0.549902 
time: 1403636979.301666, t: 4.364496 -4.308214 -1.274849 q: 0.169419 0.785765 -0.244143 0.542462 
time: 1403636979.401666, t: 4.392233 -4.356172 -1.297134 q: 0.167640 0.791856 -0.245095 0.533656 
time: 1403636979.501667, t: 4.422799 -4.399512 -1.312242 q: 0.164722 0.795788 -0.247156 0.527733 
time: 1403636979.601666, t: 4.457903 -4.444738 -1.317822 q: 0.164139 0.797681 -0.248202 0.524556 
time: 1403636979.701667, t: 4.499181 -4.493624 -1.318826 q: 0.166212 0.798750 -0.248389 0.522183 
time: 1403636979.801666, t: 4.546469 -4.542310 -1.313410 q: 0.167844 0.797349 -0.249286 0.523373 
time: 1403636979.901666, t: 4.598784 -4.593642 -1.304317 q: 0.171275 0.791846 -0.249479 0.530476 
time: 1403636980.001667, t: 4.654579 -4.643488 -1.295128 q: 0.175494 0.787864 -0.249332 0.535076 
time: 1403636980.101666, t: 4.711071 -4.692689 -1.292071 q: 0.177785 0.785842 -0.249898 0.537025 
time: 1403636980.201667, t: 4.768289 -4.740750 -1.294735 q: 0.178306 0.784319 -0.251496 0.538332 
time: 1403636980.301666, t: 4.828040 -4.786873 -1.304011 q: 0.177647 0.781570 -0.253475 0.541609 
time: 1403636980.401666, t: 4.887926 -4.831952 -1.315823 q: 0.177022 0.777092 -0.254354 0.547810 
time: 1403636980.501667, t: 4.949944 -4.873196 -1.336121 q: 0.175699 0.773384 -0.255375 0.552983 
time: 1403636980.601666, t: 5.010495 -4.912565 -1.355457 q: 0.171533 0.770960 -0.257408 0.556721 
time: 1403636980.701667, t: 5.067438 -4.952382 -1.375789 q: 0.170351 0.770141 -0.256850 0.558473 
time: 1403636980.801666, t: 5.123462 -4.991019 -1.386128 q: 0.172766 0.773866 -0.253954 0.553887 
time: 1403636980.901666, t: 5.177236 -5.026936 -1.392585 q: 0.174318 0.779574 -0.251125 0.546639 
time: 1403636981.001667, t: 5.231127 -5.061517 -1.393925 q: 0.176361 0.782892 -0.248384 0.542478 
time: 1403636981.101666, t: 5.285336 -5.093726 -1.396522 q: 0.175682 0.782058 -0.248642 0.543781 
time: 1403636981.201667, t: 5.343794 -5.125549 -1.406066 q: 0.170343 0.779229 -0.253160 0.547445 
time: 1403636981.301666, t: 5.398944 -5.155019 -1.419366 q: 0.160804 0.773608 -0.261592 0.554294 
time: 1403636981.401666, t: 5.446151 -5.183027 -1.437162 q: 0.155068 0.769770 -0.267612 0.558384 
time: 1403636981.501667, t: 5.487966 -5.213496 -1.460005 q: 0.162285 0.771865 -0.265272 0.554544 
time: 1403636981.601666, t: 5.535011 -5.248580 -1.477939 q: 0.174285 0.777275 -0.259777 0.545879 
time: 1403636981.701667, t: 5.579118 -5.281329 -1.488482 q: 0.182336 0.781188 -0.257173 0.538851 
time: 1403636981.801666, t: 5.617725 -5.308018 -1.491159 q: 0.186319 0.783925 -0.257958 0.533109 
time: 1403636981.901666, t: 5.665194 -5.339521 -1.484735 q: 0.187218 0.788034 -0.260095 0.525644 
time: 1403636982.001667, t: 5.707016 -5.362253 -1.473412 q: 0.184410 0.792692 -0.264965 0.517132 
time: 1403636982.101666, t: 5.763752 -5.394632 -1.467866 q: 0.179789 0.796911 -0.269694 0.509778 
time: 1403636982.201667, t: 5.819151 -5.422414 -1.465128 q: 0.175311 0.797885 -0.274059 0.507481 
time: 1403636982.301666, t: 5.890012 -5.461190 -1.468302 q: 0.169445 0.794990 -0.278355 0.511661 
time: 1403636982.401666, t: 5.958463 -5.502671 -1.471533 q: 0.167645 0.788326 -0.279389 0.521900 
time: 1403636982.501667, t: 6.031246 -5.549455 -1.470825 q: 0.168415 0.779461 -0.277653 0.535710 
time: 1403636982.601666, t: 6.104774 -5.601437 -1.463637 q: 0.171160 0.775271 -0.274190 0.542660 
time: 1403636982.701667, t: 6.179692 -5.655557 -1.456286 q: 0.168487 0.775931 -0.273939 0.542679 
time: 1403636982.801666, t: 6.252506 -5.710409 -1.448002 q: 0.168364 0.780001 -0.271684 0.537996 
time: 1403636982.901666, t: 6.325239 -5.769263 -1.442651 q: 0.170071 0.783418 -0.269579 0.533535 
time: 1403636983.001667, t: 6.397830 -5.828351 -1.443541 q: 0.172742 0.782967 -0.267254 0.534507 
time: 1403636983.101666, t: 6.470019 -5.890949 -1.449339 q: 0.175609 0.779343 -0.264713 0.540106 
time: 1403636983.301666, t: 6.610587 -6.009890 -1.479480 q: 0.184278 0.776114 -0.259465 0.544395 
time: 1403636983.401666, t: 6.681292 -6.072071 -1.502872 q: 0.186587 0.775236 -0.258344 0.545392 
time: 1403636983.501667, t: 6.749901 -6.128774 -1.524055 q: 0.186544 0.774950 -0.259610 0.545213 
time: 1403636983.601666, t: 6.820489 -6.181266 -1.538607 q: 0.187695 0.776976 -0.260523 0.541485 
time: 1403636983.701667, t: 6.891177 -6.231334 -1.543246 q: 0.187458 0.780389 -0.262869 0.535493 
time: 1403636983.801666, t: 6.963535 -6.280097 -1.541402 q: 0.188743 0.783170 -0.263900 0.530450 
time: 1403636983.901666, t: 7.035633 -6.324548 -1.526430 q: 0.188908 0.785371 -0.265860 0.526141 
time: 1403636984.001667, t: 7.109511 -6.370150 -1.511638 q: 0.188462 0.786317 -0.268352 0.523618 
time: 1403636984.101666, t: 7.187084 -6.421036 -1.494972 q: 0.188086 0.787072 -0.270245 0.521641 
time: 1403636984.201667, t: 7.269404 -6.466810 -1.481302 q: 0.190683 0.784435 -0.270361 0.524601 
time: 1403636984.301666, t: 7.358327 -6.517031 -1.474587 q: 0.193522 0.780295 -0.269950 0.529920 
time: 1403636984.401666, t: 7.448739 -6.562025 -1.474237 q: 0.195064 0.777412 -0.270548 0.533277 
time: 1403636984.501667, t: 7.541615 -6.607856 -1.481782 q: 0.197306 0.774982 -0.270313 0.536101 
time: 1403636984.601666, t: 7.633937 -6.649318 -1.489232 q: 0.198145 0.774223 -0.270140 0.536974 
time: 1403636984.701667, t: 7.724941 -6.689559 -1.495354 q: 0.198489 0.774071 -0.269265 0.537506 
time: 1403636984.801666, t: 7.816535 -6.727088 -1.497802 q: 0.195533 0.772807 -0.270442 0.539812 
time: 1403636984.901666, t: 7.910052 -6.764161 -1.494734 q: 0.190102 0.772011 -0.273399 0.541399 
time: 1403636985.001667, t: 8.000637 -6.800049 -1.487380 q: 0.188398 0.771433 -0.274154 0.542435 
time: 1403636985.101666, t: 8.091854 -6.833838 -1.476612 q: 0.189630 0.772031 -0.273537 0.541467 
time: 1403636985.201667, t: 8.180574 -6.865215 -1.473221 q: 0.192261 0.773265 -0.272050 0.539524 
time: 1403636985.301666, t: 8.262418 -6.891731 -1.485642 q: 0.194779 0.773028 -0.271028 0.539474 
time: 1403636985.401666, t: 8.352886 -6.918002 -1.499523 q: 0.194458 0.774495 -0.267445 0.539274 
time: 1403636985.501667, t: 8.439396 -6.941769 -1.513980 q: 0.191990 0.778292 -0.258125 0.539233 
time: 1403636985.601666, t: 8.532872 -6.964791 -1.516728 q: 0.189332 0.780460 -0.248902 0.541372 
time: 1403636985.701667, t: 8.626254 -6.983933 -1.512388 q: 0.189619 0.781734 -0.240273 0.543327 
time: 1403636985.801666, t: 8.719520 -6.997962 -1.501070 q: 0.189405 0.780751 -0.233858 0.547599 
time: 1403636985.901666, t: 8.813136 -7.005521 -1.485719 q: 0.191147 0.771429 -0.227315 0.562750 
time: 1403636986.001667, t: 8.903931 -7.007499 -1.476448 q: 0.193810 0.760632 -0.221394 0.578673 
time: 1403636986.101666, t: 8.989486 -7.000978 -1.477736 q: 0.194293 0.760240 -0.219383 0.579790 
time: 1403636986.201667, t: 9.069025 -6.986903 -1.487881 q: 0.189706 0.768505 -0.222353 0.569184 
time: 1403636986.301666, t: 9.141009 -6.966305 -1.504486 q: 0.185831 0.777897 -0.225380 0.556369 
time: 1403636986.401666, t: 9.215279 -6.940812 -1.522489 q: 0.181705 0.782693 -0.228120 0.549851 
time: 1403636986.501667, t: 9.289978 -6.912068 -1.541060 q: 0.174050 0.783798 -0.233012 0.548700 
time: 1403636986.701667, t: 9.436632 -6.849303 -1.554875 q: 0.162068 0.782338 -0.240576 0.551185 
time: 1403636986.801666, t: 9.508027 -6.818608 -1.547479 q: 0.156614 0.781220 -0.244127 0.552783 
time: 1403636986.901666, t: 9.577961 -6.788987 -1.530732 q: 0.155707 0.779924 -0.245285 0.554355 
time: 1403636987.001667, t: 9.645724 -6.761317 -1.504965 q: 0.158558 0.779284 -0.244149 0.554948 
time: 1403636987.101666, t: 9.702776 -6.736208 -1.472793 q: 0.164080 0.778913 -0.241704 0.554934 
time: 1403636987.201667, t: 9.762281 -6.710099 -1.444623 q: 0.167121 0.777678 -0.241590 0.555807 
time: 1403636987.301666, t: 9.815463 -6.682982 -1.421040 q: 0.168534 0.775951 -0.242569 0.557366 
time: 1403636987.401666, t: 9.870702 -6.653604 -1.404391 q: 0.168383 0.774543 -0.242064 0.559585 
time: 1403636987.501667, t: 9.921298 -6.625360 -1.392849 q: 0.169574 0.772697 -0.236591 0.564100 
time: 1403636987.601666, t: 9.971664 -6.591658 -1.384718 q: 0.172419 0.770430 -0.230912 0.568672 
time: 1403636987.701667, t: 10.015881 -6.555944 -1.382092 q: 0.172530 0.769486 -0.227703 0.571206 
time: 1403636987.801666, t: 10.056295 -6.515777 -1.376184 q: 0.170004 0.769587 -0.226185 0.572429 
time: 1403636987.901666, t: 10.090665 -6.474771 -1.362013 q: 0.164825 0.770506 -0.227143 0.572328 
time: 1403636988.001667, t: 10.121349 -6.429806 -1.344642 q: 0.155865 0.772693 -0.231621 0.570090 
time: 1403636988.101666, t: 10.147125 -6.384144 -1.329576 q: 0.147075 0.775215 -0.237627 0.566520 
time: 1403636988.201667, t: 10.168315 -6.339635 -1.319379 q: 0.141433 0.776049 -0.242298 0.564834 
time: 1403636988.301666, t: 10.184503 -6.299328 -1.311537 q: 0.138642 0.772320 -0.245251 0.569343 
time: 1403636988.401666, t: 10.193126 -6.264307 -1.303828 q: 0.139732 0.765793 -0.245120 0.577886 
time: 1403636988.501667, t: 10.194941 -6.228456 -1.285308 q: 0.143279 0.761557 -0.242922 0.583515 
time: 1403636988.601666, t: 10.185730 -6.195072 -1.262110 q: 0.143949 0.759233 -0.242308 0.586627 
time: 1403636988.701667, t: 10.169677 -6.164234 -1.237178 q: 0.143699 0.758186 -0.242570 0.587933 
time: 1403636988.801666, t: 10.142495 -6.134892 -1.218766 q: 0.144987 0.756487 -0.241478 0.590250 
time: 1403636988.901666, t: 10.109051 -6.106470 -1.206879 q: 0.144564 0.753909 -0.241733 0.593538 
time: 1403636989.001667, t: 10.062021 -6.078682 -1.199397 q: 0.143798 0.751317 -0.242441 0.596713 
time: 1403636989.101666, t: 10.006818 -6.053458 -1.198349 q: 0.143318 0.749563 -0.243412 0.598637 
time: 1403636989.201667, t: 9.937104 -6.027571 -1.198067 q: 0.143420 0.749605 -0.244231 0.598226 
time: 1403636989.301666, t: 9.857580 -6.004349 -1.195268 q: 0.149250 0.755888 -0.242053 0.589719 
time: 1403636989.401666, t: 9.768806 -5.981877 -1.185640 q: 0.155745 0.765760 -0.239433 0.576218 
time: 1403636989.501667, t: 9.674820 -5.960450 -1.168560 q: 0.157408 0.773428 -0.239533 0.565381 
time: 1403636989.601666, t: 9.577465 -5.937940 -1.145965 q: 0.160295 0.777177 -0.238471 0.559851 
time: 1403636989.701667, t: 9.481242 -5.917025 -1.125620 q: 0.164820 0.780202 -0.235759 0.555461 
time: 1403636989.801666, t: 9.385322 -5.892311 -1.112262 q: 0.166849 0.781527 -0.234837 0.553379 
time: 1403636989.901666, t: 9.290112 -5.866815 -1.104674 q: 0.166578 0.779848 -0.235019 0.555748 
time: 1403636990.001667, t: 9.195208 -5.841696 -1.098373 q: 0.166454 0.775150 -0.234787 0.562415 
time: 1403636990.101666, t: 9.097109 -5.812090 -1.091826 q: 0.167770 0.771068 -0.233783 0.568026 
time: 1403636990.201667, t: 8.999279 -5.785221 -1.079084 q: 0.169053 0.770910 -0.232325 0.568458 
time: 1403636990.301666, t: 8.896838 -5.752308 -1.059700 q: 0.169459 0.774333 -0.230988 0.564214 
time: 1403636990.401666, t: 8.793989 -5.719928 -1.034790 q: 0.169403 0.777768 -0.229402 0.560138 
time: 1403636990.501667, t: 8.688702 -5.683155 -1.013779 q: 0.165982 0.780603 -0.229534 0.557156 
time: 1403636990.601666, t: 8.588420 -5.646431 -0.996995 q: 0.164488 0.782379 -0.228698 0.555450 
wait for imu ... 
time: 1403636990.701667, t: 8.488537 -5.611932 -0.987175 q: 0.163515 0.784708 -0.227169 0.553074 
time: 1403636990.801666, t: 8.388539 -5.571981 -0.984873 q: 0.163577 0.785988 -0.225715 0.551831 
time: 1403636990.901666, t: 8.290398 -5.532381 -0.990756 q: 0.162619 0.786342 -0.225124 0.551852 
time: 1403636991.001667, t: 8.194897 -5.493144 -0.998699 q: 0.163181 0.786442 -0.224392 0.551842 
time: 1403636991.101666, t: 8.102794 -5.454675 -1.011529 q: 0.163928 0.786003 -0.224109 0.552360 
time: 1403636991.201667, t: 8.011140 -5.414181 -1.026165 q: 0.165076 0.786088 -0.224249 0.551841 
time: 1403636991.301666, t: 7.922526 -5.377876 -1.035924 q: 0.164792 0.786480 -0.224965 0.551076 
time: 1403636991.401666, t: 7.831169 -5.332875 -1.033878 q: 0.164864 0.786911 -0.226323 0.549881 
time: 1403636991.501667, t: 7.745927 -5.290965 -1.025200 q: 0.166087 0.787138 -0.227239 0.548809 
time: 1403636991.601666, t: 7.664287 -5.246206 -1.006615 q: 0.164194 0.786340 -0.230560 0.549137 
time: 1403636991.701667, t: 7.590064 -5.207353 -0.983163 q: 0.158153 0.784914 -0.237397 0.550036 
time: 1403636991.901666, t: 7.435337 -5.129735 -0.925758 q: 0.150766 0.782600 -0.248807 0.550365 
time: 1403636992.001667, t: 7.355180 -5.094587 -0.903069 q: 0.153462 0.782318 -0.249875 0.549536 
time: 1403636992.101666, t: 7.280798 -5.066861 -0.890831 q: 0.162754 0.780895 -0.245999 0.550634 
time: 1403636992.201667, t: 7.201328 -5.038494 -0.881197 q: 0.169530 0.777937 -0.243182 0.554017 
time: 1403636992.301666, t: 7.132427 -5.015271 -0.877901 q: 0.172872 0.776973 -0.242522 0.554627 
time: 1403636992.401666, t: 7.056589 -4.988464 -0.879153 q: 0.174503 0.779060 -0.243554 0.550723 
time: 1403636992.501667, t: 6.988496 -4.961984 -0.875622 q: 0.174973 0.782125 -0.245446 0.545363 
time: 1403636992.601666, t: 6.914688 -4.932956 -0.867982 q: 0.176879 0.783708 -0.246468 0.542004 
time: 1403636992.701667, t: 6.851970 -4.903205 -0.851028 q: 0.178387 0.784249 -0.247626 0.540198 
time: 1403636992.801666, t: 6.783094 -4.873383 -0.834783 q: 0.180154 0.784844 -0.248463 0.538359 
time: 1403636992.901666, t: 6.726931 -4.844509 -0.828615 q: 0.183232 0.784531 -0.248232 0.537883 
time: 1403636993.001667, t: 6.666575 -4.811862 -0.825232 q: 0.185080 0.782641 -0.248770 0.539751 
time: 1403636993.101666, t: 6.618413 -4.783017 -0.828479 q: 0.182391 0.778658 -0.250648 0.545528 
time: 1403636993.201667, t: 6.565660 -4.747939 -0.825464 q: 0.175188 0.776841 -0.248102 0.551609 
time: 1403636993.401666, t: 6.473635 -4.683310 -0.803901 q: 0.156418 0.781135 -0.225845 0.560674 
time: 1403636993.501667, t: 6.425623 -4.647485 -0.781656 q: 0.144599 0.785303 -0.209905 0.564207 
time: 1403636993.601666, t: 6.379155 -4.614840 -0.753884 q: 0.133020 0.790037 -0.192834 0.566535 
time: 1403636993.701667, t: 6.331016 -4.581717 -0.724969 q: 0.122774 0.794951 -0.179675 0.566300 
time: 1403636993.801666, t: 6.279381 -4.547572 -0.701501 q: 0.116237 0.798493 -0.170087 0.565657 
time: 1403636993.901666, t: 6.227655 -4.514616 -0.684623 q: 0.113545 0.800636 -0.161615 0.565659 
time: 1403636994.001667, t: 6.174706 -4.482698 -0.672143 q: 0.111186 0.798740 -0.156298 0.570284 
time: 1403636994.101666, t: 6.122037 -4.449365 -0.664499 q: 0.112962 0.794113 -0.151155 0.577733 
time: 1403636994.201667, t: 6.067610 -4.411826 -0.662571 q: 0.114215 0.789094 -0.148090 0.585112 
time: 1403636994.301666, t: 6.010016 -4.373599 -0.664926 q: 0.114739 0.784589 -0.146906 0.591332 
time: 1403636994.401666, t: 5.948392 -4.330312 -0.671631 q: 0.115951 0.781977 -0.146188 0.594724 
time: 1403636994.501667, t: 5.879097 -4.284658 -0.678045 q: 0.115930 0.782580 -0.146884 0.593763 
time: 1403636994.601666, t: 5.806579 -4.233830 -0.680820 q: 0.111785 0.785710 -0.150509 0.589500 
time: 1403636994.701667, t: 5.728828 -4.180490 -0.676491 q: 0.104877 0.791096 -0.156436 0.581975 
time: 1403636994.801666, t: 5.646283 -4.126009 -0.665255 q: 0.095191 0.796426 -0.164413 0.574119 
time: 1403636994.901666, t: 5.562317 -4.074538 -0.650964 q: 0.087911 0.798285 -0.170534 0.570903 
time: 1403636995.001667, t: 5.477691 -4.026959 -0.642088 q: 0.087873 0.796614 -0.171348 0.572997 
time: 1403636995.101666, t: 5.391765 -3.980648 -0.637300 q: 0.094984 0.793545 -0.166127 0.577638 
time: 1403636995.201667, t: 5.306093 -3.936234 -0.633229 q: 0.101160 0.790885 -0.160973 0.581683 
time: 1403636995.301666, t: 5.215337 -3.890973 -0.622465 q: 0.104543 0.789473 -0.157330 0.583995 
time: 1403636995.401666, t: 5.122399 -3.846175 -0.604444 q: 0.106432 0.791894 -0.154189 0.581207 
time: 1403636995.501667, t: 5.026415 -3.802063 -0.580802 q: 0.105368 0.796551 -0.153684 0.575140 
time: 1403636995.601666, t: 4.932363 -3.755820 -0.550609 q: 0.104576 0.798315 -0.153570 0.572864 
time: 1403636995.701667, t: 4.835895 -3.710049 -0.519826 q: 0.102200 0.798343 -0.155322 0.572781 
time: 1403636995.801666, t: 4.739143 -3.663636 -0.495480 q: 0.097491 0.798365 -0.159051 0.572548 
time: 1403636995.901666, t: 4.642428 -3.618759 -0.478919 q: 0.090170 0.799467 -0.164839 0.570570 
time: 1403636996.001667, t: 4.545028 -3.575654 -0.466556 q: 0.086669 0.800542 -0.168153 0.568634 
time: 1403636996.101666, t: 4.450122 -3.539084 -0.461081 q: 0.091855 0.802420 -0.165081 0.566069 
time: 1403636996.201667, t: 4.352017 -3.503076 -0.456585 q: 0.097326 0.803539 -0.161525 0.564591 
time: 1403636996.301666, t: 4.257642 -3.470482 -0.445400 q: 0.101088 0.804191 -0.158162 0.563953 
time: 1403636996.401666, t: 4.165924 -3.438073 -0.421205 q: 0.098748 0.805241 -0.153701 0.564102 
time: 1403636996.501667, t: 4.076687 -3.408600 -0.392878 q: 0.094321 0.806975 -0.144509 0.564811 
time: 1403636996.601666, t: 3.988720 -3.376767 -0.356138 q: 0.087427 0.809713 -0.131585 0.565161 
time: 1403636996.701667, t: 3.908114 -3.344295 -0.323960 q: 0.077433 0.812943 -0.115741 0.565448 
time: 1403636996.801666, t: 3.828487 -3.309090 -0.307585 q: 0.064998 0.816134 -0.098345 0.565710 
time: 1403636996.901666, t: 3.747071 -3.274625 -0.303289 q: 0.049533 0.818853 -0.080340 0.566190 
time: 1403636997.001667, t: 3.671810 -3.241528 -0.303329 q: 0.034357 0.821118 -0.061125 0.566434 
time: 1403636997.201667, t: 3.528447 -3.178279 -0.319986 q: 0.011200 0.824382 -0.030727 0.565088 
time: 1403636997.301666, t: 3.467609 -3.151567 -0.338823 q: 0.005639 0.825135 -0.021195 0.564510 
time: 1403636997.401666, t: 3.402410 -3.124649 -0.349853 q: 0.002929 0.825779 -0.015238 0.563781 
time: 1403636997.501667, t: 3.347177 -3.100007 -0.352469 q: 0.002086 0.825437 -0.012691 0.564347 
time: 1403636997.601666, t: 3.294604 -3.073217 -0.347740 q: 0.002178 0.826151 -0.012888 0.563298 
time: 1403636997.701667, t: 3.244580 -3.050483 -0.334099 q: 0.003997 0.826531 -0.013163 0.562723 
optimize pose graph 
time: 1403636997.801666, t: 3.205229 -3.026509 -0.315263 q: 0.007225 0.827620 -0.014314 0.561060 
time: 1403636997.901666, t: 3.164793 -3.005260 -0.286267 q: 0.009274 0.827809 -0.015882 0.560708 
time: 1403636998.001667, t: 3.128444 -2.984955 -0.251496 q: 0.010313 0.827721 -0.018091 0.560753 
time: 1403636998.101666, t: 3.095933 -2.962522 -0.213129 q: 0.011320 0.827820 -0.020446 0.560507 
time: 1403636998.201667, t: 3.069795 -2.941979 -0.173499 q: 0.010460 0.826493 -0.023530 0.562357 
time: 1403636998.301666, t: 3.045662 -2.924343 -0.139928 q: 0.011410 0.826988 -0.024890 0.561553 
time: 1403636998.401666, t: 3.025428 -2.901761 -0.115633 q: 0.011469 0.826487 -0.026747 0.562203 
time: 1403636998.501667, t: 3.012294 -2.885136 -0.090442 q: 0.010823 0.826292 -0.028739 0.562404 
time: 1403636998.601666, t: 2.998938 -2.867625 -0.060533 q: 0.012487 0.823074 -0.028487 0.567082 
time: 1403636998.701667, t: 2.988689 -2.850861 -0.022692 q: 0.015969 0.814915 -0.026898 0.578735 
time: 1403636998.801666, t: 2.977714 -2.834558 0.018486 q: 0.019218 0.809704 -0.026009 0.585946 
time: 1403636998.901666, t: 2.962817 -2.817358 0.058693 q: 0.024892 0.808154 -0.022636 0.588010 
time: 1403636999.001667, t: 2.941976 -2.800507 0.094632 q: 0.028516 0.808523 -0.020729 0.587407 
time: 1403636999.101666, t: 2.926655 -2.778842 0.119284 q: 0.031587 0.808787 -0.019322 0.586934 
time: 1403636999.201667, t: 2.906268 -2.754816 0.138609 q: 0.033205 0.810463 -0.019040 0.584537 
time: 1403636999.301666, t: 2.884008 -2.727959 0.154538 q: 0.031982 0.812188 -0.020331 0.582164 
time: 1403636999.401666, t: 2.860584 -2.698968 0.163014 q: 0.027284 0.812757 -0.024038 0.581467 
time: 1403636999.601666, t: 2.810089 -2.635079 0.168769 q: 0.022835 0.810266 -0.027896 0.584952 
time: 1403636999.701667, t: 2.779960 -2.600632 0.164764 q: 0.022431 0.808319 -0.028923 0.587606 
time: 1403636999.801666, t: 2.749889 -2.567630 0.159404 q: 0.022508 0.807941 -0.029827 0.588078 
time: 1403636999.901666, t: 2.717901 -2.531919 0.154893 q: 0.024244 0.808265 -0.029242 0.587593 
time: 1403637000.001667, t: 2.682483 -2.495776 0.148613 q: 0.028441 0.808204 -0.026800 0.587605 
time: 1403637000.101666, t: 2.644626 -2.458461 0.148750 q: 0.030724 0.809232 -0.025056 0.586151 
time: 1403637000.201667, t: 2.605904 -2.415600 0.157756 q: 0.030019 0.811025 -0.025449 0.583687 
time: 1403637000.301666, t: 2.565345 -2.373144 0.165012 q: 0.028850 0.812425 -0.026395 0.581752 
time: 1403637000.401666, t: 2.527513 -2.327835 0.172723 q: 0.027005 0.811915 -0.028128 0.582472 
time: 1403637000.501667, t: 2.485087 -2.284672 0.175035 q: 0.029101 0.811904 -0.026871 0.582445 
time: 1403637000.601666, t: 2.442505 -2.238878 0.177425 q: 0.029959 0.812087 -0.026550 0.582162 
wait for imu ... 
time: 1403637000.701667, t: 2.395644 -2.193507 0.185232 q: 0.027792 0.811159 -0.028161 0.583485 
time: 1403637000.801666, t: 2.349690 -2.146635 0.199689 q: 0.027745 0.810508 -0.028808 0.584360 
time: 1403637000.901666, t: 2.304874 -2.094980 0.215445 q: 0.027387 0.810554 -0.030188 0.584244 
time: 1403637001.001667, t: 2.256173 -2.049155 0.226147 q: 0.027574 0.810280 -0.030849 0.584581 
time: 1403637001.101666, t: 2.207290 -1.998339 0.231831 q: 0.027464 0.810123 -0.031863 0.584749 
time: 1403637001.201667, t: 2.153887 -1.949989 0.233396 q: 0.026472 0.809402 -0.033033 0.585727 
time: 1403637001.301666, t: 2.098436 -1.899614 0.239792 q: 0.025738 0.809546 -0.033989 0.585506 
time: 1403637001.401666, t: 2.040330 -1.852064 0.251402 q: 0.023311 0.810764 -0.035992 0.583800 
time: 1403637001.501667, t: 1.980448 -1.802026 0.271078 q: 0.023271 0.813693 -0.037172 0.579638 
time: 1403637001.601666, t: 1.921070 -1.755416 0.290922 q: 0.023633 0.815183 -0.038190 0.577459 
time: 1403637001.701667, t: 1.860117 -1.708849 0.304806 q: 0.024082 0.815271 -0.038881 0.577271 
time: 1403637001.801666, t: 1.799473 -1.664049 0.315377 q: 0.023482 0.814377 -0.040248 0.578462 
time: 1403637002.001667, t: 1.679289 -1.574290 0.314777 q: 0.025152 0.816709 -0.040381 0.575085 
time: 1403637002.101666, t: 1.620554 -1.530291 0.309224 q: 0.025678 0.817349 -0.040636 0.574134 
time: 1403637002.201667, t: 1.557252 -1.485677 0.297047 q: 0.025460 0.817408 -0.040891 0.574041 
time: 1403637002.301666, t: 1.502597 -1.444635 0.284885 q: 0.026902 0.817445 -0.040133 0.573976 
time: 1403637002.401666, t: 1.442402 -1.402528 0.276100 q: 0.028883 0.817906 -0.038444 0.573339 
time: 1403637002.501667, t: 1.387288 -1.359092 0.276762 q: 0.030567 0.817380 -0.037289 0.574078 
time: 1403637002.601666, t: 1.334122 -1.318532 0.284192 q: 0.033212 0.817035 -0.035520 0.574534 
time: 1403637002.701667, t: 1.279411 -1.274259 0.299432 q: 0.034520 0.817343 -0.035525 0.574018 
time: 1403637002.801666, t: 1.225484 -1.231692 0.313333 q: 0.034724 0.817114 -0.036612 0.574263 
time: 1403637002.901666, t: 1.171299 -1.187087 0.321537 q: 0.031626 0.816569 -0.039993 0.574992 
time: 1403637003.001667, t: 1.117635 -1.141020 0.322908 q: 0.031333 0.816790 -0.041692 0.574573 
time: 1403637003.101666, t: 1.064961 -1.098137 0.316853 q: 0.031078 0.817026 -0.043576 0.574112 
time: 1403637003.201667, t: 1.014370 -1.051472 0.307678 q: 0.031970 0.816584 -0.044718 0.574603 
time: 1403637003.301666, t: 0.962895 -1.006037 0.298764 q: 0.032042 0.815512 -0.046234 0.575999 
time: 1403637003.401666, t: 0.913687 -0.963703 0.291773 q: 0.031848 0.814234 -0.047299 0.577730 
time: 1403637003.501667, t: 0.864855 -0.918158 0.294621 q: 0.031344 0.813004 -0.048960 0.579349 
time: 1403637003.601666, t: 0.812728 -0.873412 0.298402 q: 0.030780 0.813192 -0.050207 0.579008 
time: 1403637003.701667, t: 0.762725 -0.830342 0.312887 q: 0.030700 0.813398 -0.050958 0.578657 
time: 1403637003.801666, t: 0.706152 -0.787781 0.317415 q: 0.029121 0.813777 -0.051168 0.578187 
time: 1403637003.901666, t: 0.658440 -0.743161 0.319772 q: 0.030691 0.815580 -0.049050 0.575744 
time: 1403637004.001667, t: 0.603419 -0.700546 0.317105 q: 0.031358 0.818231 -0.046275 0.572165 
time: 1403637004.101666, t: 0.554535 -0.660646 0.309480 q: 0.031954 0.820337 -0.044013 0.569288 
time: 1403637004.201667, t: 0.506266 -0.621446 0.297407 q: 0.032219 0.821543 -0.042135 0.567673 
time: 1403637004.401666, t: 0.420762 -0.537406 0.289390 q: 0.028004 0.820539 -0.043412 0.569251 
time: 1403637004.501667, t: 0.384642 -0.496193 0.302266 q: 0.028126 0.816196 -0.045070 0.575327 
time: 1403637004.601666, t: 0.344653 -0.457548 0.328134 q: 0.027727 0.813772 -0.047929 0.578540 
time: 1403637004.701667, t: 0.303597 -0.419226 0.358736 q: 0.019619 0.813212 -0.057104 0.578827 
time: 1403637004.801666, t: 0.263035 -0.384814 0.378409 q: 0.013124 0.812678 -0.064964 0.578931 
time: 1403637004.901666, t: 0.224029 -0.354208 0.384128 q: 0.011773 0.815437 -0.069032 0.574594 
time: 1403637005.001667, t: 0.182987 -0.324915 0.374653 q: 0.015472 0.819726 -0.069122 0.568360 
time: 1403637005.101666, t: 0.144410 -0.304096 0.358331 q: 0.023708 0.819690 -0.065044 0.568608 
time: 1403637005.201667, t: 0.106014 -0.285768 0.341973 q: 0.030907 0.818706 -0.061179 0.570107 
time: 1403637005.301666, t: 0.071172 -0.270546 0.319557 q: 0.034280 0.820619 -0.058861 0.567402 
time: 1403637005.401666, t: 0.039880 -0.261315 0.294523 q: 0.034863 0.821637 -0.056850 0.566097 
time: 1403637005.501667, t: 0.007174 -0.243378 0.272425 q: 0.036590 0.818666 -0.053106 0.570638 
time: 1403637005.601666, t: -0.025111 -0.225400 0.256518 q: 0.034612 0.817828 -0.052041 0.572059 
time: 1403637005.701667, t: -0.056892 -0.205199 0.250728 q: 0.028295 0.822055 -0.054413 0.566096 
time: 1403637005.801666, t: -0.084210 -0.188270 0.255498 q: 0.025210 0.823697 -0.055339 0.563759 
time: 1403637005.901666, t: -0.108689 -0.170629 0.268878 q: 0.028861 0.822123 -0.052136 0.566182 
time: 1403637006.001667, t: -0.130538 -0.155942 0.280345 q: 0.031527 0.819733 -0.050160 0.569674 
time: 1403637006.101666, t: -0.150606 -0.141504 0.286589 q: 0.029717 0.817786 -0.051394 0.572452 
time: 1403637006.201667, t: -0.172183 -0.125905 0.292717 q: 0.028875 0.817857 -0.051801 0.572357 
time: 1403637006.301666, t: -0.191555 -0.111752 0.294085 q: 0.026177 0.822041 -0.053680 0.566287 
time: 1403637006.401666, t: -0.209515 -0.097108 0.294477 q: 0.023930 0.828483 -0.055291 0.556764 
time: 1403637006.501667, t: -0.223921 -0.085857 0.293709 q: 0.017790 0.831108 -0.059553 0.552627 
time: 1403637006.601666, t: -0.231261 -0.078220 0.292809 q: 0.014177 0.826724 -0.057346 0.559497 
time: 1403637006.701667, t: -0.232564 -0.074877 0.289250 q: 0.012294 0.822035 -0.046748 0.567382 
time: 1403637006.801666, t: -0.234842 -0.071422 0.283400 q: 0.006521 0.818133 -0.032707 0.574062 
time: 1403637007.001667, t: -0.238692 -0.067633 0.263662 q: -0.015112 0.819826 0.005291 0.572389 
time: 1403637007.101666, t: -0.240830 -0.067693 0.254060 q: -0.023069 0.818589 0.024264 0.573404 
time: 1403637007.201667, t: -0.242770 -0.068604 0.243951 q: -0.029673 0.816445 0.038577 0.575369 
time: 1403637007.301666, t: -0.245376 -0.069695 0.234957 q: -0.031003 0.811302 0.050362 0.581628 
time: 1403637007.401666, t: -0.250797 -0.070027 0.225560 q: -0.031931 0.807936 0.057209 0.585616 
time: 1403637007.501667, t: -0.259314 -0.068871 0.214161 q: -0.033833 0.809313 0.059858 0.583339 
time: 1403637007.601666, t: -0.270104 -0.066179 0.201342 q: -0.035054 0.813874 0.060282 0.576842 
time: 1403637007.701667, t: -0.282462 -0.062126 0.186721 q: -0.034797 0.822061 0.059576 0.565205 
time: 1403637007.801666, t: -0.292941 -0.056439 0.174058 q: -0.032861 0.825667 0.059228 0.560077 
optimize pose graph 
time: 1403637007.901666, t: -0.300660 -0.048665 0.164535 q: -0.036385 0.820807 0.054672 0.567418 
time: 1403637008.001667, t: -0.307787 -0.039682 0.156743 q: -0.042346 0.814303 0.047869 0.576911 
time: 1403637008.101666, t: -0.316813 -0.031972 0.148685 q: -0.038874 0.816063 0.046958 0.574739 
time: 1403637008.201667, t: -0.326028 -0.024619 0.140680 q: -0.034145 0.825215 0.046789 0.561840 
time: 1403637008.301666, t: -0.332766 -0.016780 0.136397 q: -0.028963 0.831402 0.047390 0.552889 
time: 1403637008.401666, t: -0.334516 -0.007835 0.136833 q: -0.026270 0.831621 0.046575 0.552764 
time: 1403637008.501667, t: -0.331819 0.002826 0.142147 q: -0.029431 0.824252 0.042106 0.563887 
time: 1403637008.601666, t: -0.327715 0.013942 0.147837 q: -0.032167 0.818103 0.037781 0.572928 
time: 1403637008.701667, t: -0.323177 0.024490 0.149303 q: -0.036955 0.816031 0.032343 0.575918 
time: 1403637008.801666, t: -0.319205 0.033896 0.145586 q: -0.049095 0.819653 0.022089 0.570325 
time: 1403637008.901666, t: -0.313499 0.038878 0.137284 q: -0.056914 0.823850 0.015719 0.563724 
time: 1403637009.001667, t: -0.306147 0.037038 0.125075 q: -0.053354 0.824237 0.016639 0.563481 
time: 1403637009.201667, t: -0.285497 0.018586 0.094324 q: -0.029288 0.821977 0.030994 0.567923 
time: 1403637009.301666, t: -0.272920 0.006916 0.076229 q: -0.013091 0.821897 0.041531 0.567969 
time: 1403637009.401666, t: -0.259792 -0.001698 0.062156 q: -0.026956 0.817837 0.042794 0.573223 
time: 1403637009.501667, t: -0.254708 -0.009469 0.057264 q: -0.040554 0.808362 0.056823 0.584531 
time: 1403637009.601666, t: -0.255790 -0.016957 0.050330 q: -0.083329 0.786127 0.046257 0.610672 
time: 1403637009.701667, t: -0.264894 -0.023002 0.046424 q: -0.072168 0.791815 0.033134 0.605577 
time: 1403637009.801666, t: -0.264668 -0.022975 0.046271 q: -0.071906 0.791242 0.029936 0.606523 
time: 1403637009.901666, t: -0.266188 -0.022196 0.045722 q: -0.072209 0.791143 0.030634 0.606581 
time: 1403637010.001667, t: -0.266407 -0.022901 0.046379 q: -0.072866 0.791201 0.030592 0.606429 
optimize pose graph 
time: 1403637010.101666, t: -0.266880 -0.023442 0.046331 q: -0.073631 0.791306 0.030360 0.606211 
time: 1403637010.201667, t: -0.267861 -0.023736 0.046946 q: -0.073735 0.791368 0.030214 0.606125 
time: 1403637010.301666, t: -0.267887 -0.023785 0.047002 q: -0.073950 0.791574 0.030114 0.605835 
time: 1403637010.401666, t: -0.267959 -0.023839 0.047108 q: -0.073783 0.791515 0.030116 0.605932 
time: 1403637010.501667, t: -0.267970 -0.023832 0.047080 q: -0.073683 0.791597 0.030060 0.605839 

Done.
time: 1403637010.601666, t: -0.267972 -0.023822 0.047140 q: -0.073723 0.791642 0.029997 0.605779 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720547893.179408861]: Shutdown request received.[0m
[33m[ WARN] [1720547893.179460689]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720547893.180269893]: Shutdown request received.[0m
[33m[ WARN] [1720547893.180301337]: Reason given for shutdown: [user request][0m
killed
