/SLAM-Hive/slam_hive_results/mapping_results/3232/2437_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720563497.402597681]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720563497.404775537]: init begins[0m
[31m[ERROR] [1720563497.405897980]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/244b1d8a-3e41-11ef-bf95-0242ac110005/roslaunch-bd69f3ebdc46-117.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://bd69f3ebdc46:38217/[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 [154][0m
[0m[ INFO] [1720563498.509853978]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720563498.511749203]: 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] [1720563498.517781324]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720563498.517969789]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720563498.517993863]: ROW: 384 COL: 601 [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] [1720563498.518205438]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720563498.518429806]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720563498.518589871]: 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://bd69f3ebdc46:11311/[0m
]2;roscore http://bd69f3ebdc46:11311/
[1msetting /run_id to 244b1d8a-3e41-11ef-bf95-0242ac110005[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 [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720563507.562734026]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316924989.64 
init first imu pose
averge acc 9.020195 -0.033170 -3.796231
init R0 
  0.387918 0.00805299   0.921659
         0  -0.999962 0.00873716
  0.921694 -0.0033893  -0.387903
[33m[ WARN] [1720563509.997015482]: gyroscope bias initial calibration -0.00198337   0.0201914   0.0779373[0m
[0m[ INFO] [1720563510.043655195]: Initialization finish![0m
time: 1403638520.177830, t: 0.000066 0.000077 0.000023 q: -0.004115 0.833033 0.002766 0.553202 
time: 1403638520.377830, t: 0.000062 0.000095 0.000172 q: -0.004121 0.833025 0.002776 0.553213 
time: 1403638520.577830, t: 0.000094 0.000208 0.000273 q: -0.004108 0.833010 0.002699 0.553236 
time: 1403638520.777829, t: 0.000086 0.000096 0.000113 q: -0.004136 0.833045 0.002765 0.553183 
time: 1403638520.977829, t: 0.000063 -0.000011 0.000066 q: -0.004169 0.833005 0.002835 0.553243 
time: 1403638521.177830, t: 0.000077 0.000004 0.000072 q: -0.004232 0.832999 0.002622 0.553252 
time: 1403638521.377830, t: 0.000052 -0.000020 0.000038 q: -0.004111 0.832986 0.002840 0.553271 
time: 1403638521.577830, t: 0.000340 0.000384 0.000111 q: -0.004969 0.832956 0.001542 0.553315 
time: 1403638521.777829, t: 0.000065 -0.000055 0.000038 q: -0.004041 0.832997 0.002471 0.553257 
time: 1403638521.977829, t: 0.000591 0.000428 0.000358 q: -0.005218 0.832530 0.004080 0.553940 
time: 1403638522.177830, t: 0.002031 0.003702 0.012270 q: -0.008754 0.835700 0.007391 0.549066 
time: 1403638522.377830, t: 0.007577 0.006519 0.069989 q: -0.021420 0.825460 0.011513 0.563937 
time: 1403638522.577830, t: 0.014921 0.008155 0.156500 q: -0.042091 0.829078 0.011629 0.557425 
time: 1403638522.777829, t: 0.027452 0.011949 0.250545 q: -0.051069 0.819095 0.023963 0.570877 
time: 1403638522.977829, t: 0.032669 0.012248 0.348840 q: -0.077763 0.805199 0.021779 0.587480 
time: 1403638523.177830, t: 0.027048 0.011373 0.402476 q: -0.074678 0.796078 0.019473 0.600253 
time: 1403638523.377830, t: 0.037740 0.001727 0.361826 q: -0.041851 0.796566 0.006041 0.603072 
time: 1403638523.577830, t: 0.032641 -0.018474 0.269246 q: -0.046792 0.812433 0.022583 0.580735 
time: 1403638523.777829, t: 0.020528 -0.033987 0.168417 q: -0.038273 0.827561 0.029502 0.559293 
time: 1403638524.177830, t: -0.000903 -0.049981 0.089103 q: -0.022622 0.838087 0.053688 0.542417 
time: 1403638524.377830, t: 0.006790 -0.048244 0.192013 q: -0.040362 0.836115 0.054479 0.544348 
time: 1403638524.577830, t: 0.020267 -0.045752 0.311079 q: -0.052543 0.821054 0.052227 0.566022 
time: 1403638524.777829, t: 0.035574 -0.037800 0.404971 q: -0.036853 0.811596 0.041995 0.581541 
time: 1403638524.977829, t: 0.042956 -0.030691 0.440249 q: -0.040559 0.810329 0.041335 0.583106 
time: 1403638525.177830, t: 0.042050 -0.023835 0.395215 q: -0.035618 0.806510 0.048794 0.588126 
time: 1403638525.377830, t: 0.041064 -0.025285 0.293409 q: -0.034388 0.819247 0.055747 0.569687 
time: 1403638525.577830, t: 0.032460 -0.023236 0.190243 q: -0.042828 0.840143 0.052692 0.538098 
time: 1403638525.777829, t: 0.034648 -0.037257 0.120922 q: -0.035453 0.842200 0.039799 0.536524 
time: 1403638525.977829, t: 0.023768 -0.028848 0.084088 q: -0.021074 0.836809 0.035162 0.545958 
time: 1403638526.177830, t: 0.015916 -0.092475 0.096690 q: -0.015583 0.843409 0.024817 0.536472 
time: 1403638526.377830, t: 0.002206 -0.170115 0.129926 q: -0.009739 0.837911 0.007145 0.545673 
time: 1403638526.577830, t: -0.017488 -0.267995 0.153128 q: -0.006657 0.827628 -0.014983 0.561038 
time: 1403638526.777829, t: -0.046721 -0.391567 0.165342 q: 0.007351 0.819687 -0.029179 0.572020 
time: 1403638526.977829, t: -0.077139 -0.519306 0.170626 q: 0.018154 0.821308 -0.037507 0.568960 
time: 1403638527.177830, t: -0.104402 -0.626594 0.178942 q: 0.034382 0.826794 -0.066187 0.557538 
time: 1403638527.377830, t: -0.115764 -0.688281 0.191387 q: 0.062253 0.818217 -0.089001 0.564557 
time: 1403638527.577830, t: -0.088390 -0.673668 0.193214 q: 0.068928 0.814951 -0.090731 0.568219 
time: 1403638527.777829, t: -0.047692 -0.584960 0.185803 q: 0.057039 0.818564 -0.077049 0.566360 
time: 1403638527.977829, t: -0.004022 -0.471064 0.187545 q: 0.029523 0.822466 -0.065760 0.564229 
time: 1403638528.177830, t: 0.031395 -0.354255 0.188844 q: 0.012808 0.821034 -0.049614 0.568574 
time: 1403638528.377830, t: 0.087829 -0.265916 0.176438 q: -0.006275 0.821382 -0.031367 0.569481 
time: 1403638528.577830, t: 0.165410 -0.218768 0.171380 q: -0.004756 0.822227 -0.031112 0.568289 
time: 1403638528.777829, t: 0.231520 -0.191408 0.165782 q: 0.000991 0.822740 -0.045132 0.566622 
time: 1403638528.977829, t: 0.244173 -0.176566 0.183765 q: -0.008106 0.821421 -0.060499 0.567046 
time: 1403638529.177830, t: 0.198072 -0.149796 0.209724 q: 0.011072 0.823165 -0.055677 0.564958 
time: 1403638529.377830, t: 0.126680 -0.112278 0.200116 q: 0.027451 0.829999 -0.045447 0.555231 
time: 1403638529.777829, t: 0.045027 -0.058028 0.105507 q: 0.025485 0.849986 -0.036898 0.524893 
time: 1403638530.177830, t: 0.059661 -0.057742 0.039935 q: 0.026302 0.843192 -0.043287 0.535221 
time: 1403638530.377830, t: 0.087279 -0.062215 0.019884 q: 0.031920 0.841908 -0.055079 0.535853 
time: 1403638530.577830, t: 0.108052 -0.069774 0.004864 q: 0.032209 0.841466 -0.062843 0.535676 
time: 1403638530.777829, t: 0.116314 -0.074942 -0.006783 q: 0.034766 0.847621 -0.067692 0.525118 
time: 1403638530.977829, t: 0.119287 -0.078225 -0.014304 q: 0.032844 0.845831 -0.068149 0.528060 
time: 1403638531.177830, t: 0.120577 -0.076010 -0.017500 q: 0.034764 0.840290 -0.065138 0.537086 
time: 1403638531.377830, t: 0.121340 -0.073894 -0.020383 q: 0.037138 0.837982 -0.063934 0.540665 
time: 1403638531.777829, t: 0.120465 -0.074557 -0.019431 q: 0.038011 0.837335 -0.063941 0.541606 
time: 1403638531.977829, t: 0.120480 -0.074689 -0.019576 q: 0.038673 0.837360 -0.063918 0.541523 
time: 1403638532.177830, t: 0.120539 -0.074767 -0.019730 q: 0.039044 0.837324 -0.064038 0.541538 
time: 1403638532.377830, t: 0.120595 -0.074771 -0.019834 q: 0.039030 0.837265 -0.064364 0.541592 
time: 1403638532.577830, t: 0.120632 -0.074810 -0.019904 q: 0.039154 0.837230 -0.064564 0.541613 
time: 1403638532.777829, t: 0.120668 -0.074890 -0.019955 q: 0.039493 0.837220 -0.064544 0.541606 
time: 1403638532.977829, t: 0.120693 -0.074912 -0.019977 q: 0.039604 0.837188 -0.064611 0.541639 
time: 1403638533.177830, t: 0.120697 -0.074935 -0.020009 q: 0.039685 0.837162 -0.064711 0.541661 
time: 1403638533.377830, t: 0.120716 -0.074963 -0.020058 q: 0.039839 0.837132 -0.064762 0.541690 
time: 1403638533.577830, t: 0.120735 -0.074988 -0.020088 q: 0.039874 0.837119 -0.064844 0.541698 
time: 1403638533.777829, t: 0.120743 -0.074987 -0.020093 q: 0.039907 0.837091 -0.064920 0.541729 
time: 1403638533.977829, t: 0.120736 -0.075042 -0.020067 q: 0.039841 0.837123 -0.064918 0.541686 
time: 1403638534.177830, t: 0.120709 -0.075023 -0.020031 q: 0.039875 0.837078 -0.065087 0.541733 
time: 1403638534.377830, t: 0.120713 -0.074954 -0.019969 q: 0.039555 0.837157 -0.064926 0.541653 
time: 1403638534.577830, t: 0.120735 -0.074975 -0.019900 q: 0.039418 0.837263 -0.064816 0.541513 
time: 1403638534.777829, t: 0.120744 -0.074916 -0.019833 q: 0.039268 0.837229 -0.064405 0.541625 
time: 1403638534.977829, t: 0.120673 -0.075007 -0.019807 q: 0.039629 0.837217 -0.064678 0.541584 
time: 1403638535.177830, t: 0.120671 -0.074987 -0.019777 q: 0.039362 0.837256 -0.064637 0.541549 
time: 1403638535.377830, t: 0.120663 -0.074946 -0.019761 q: 0.039250 0.837245 -0.064579 0.541581 
time: 1403638535.577830, t: 0.120662 -0.074935 -0.019728 q: 0.039293 0.837271 -0.064522 0.541545 
time: 1403638535.777829, t: 0.120938 -0.074883 -0.020343 q: 0.039189 0.837265 -0.064544 0.541558 
time: 1403638535.977829, t: 0.120622 -0.074918 -0.019705 q: 0.039070 0.837301 -0.064439 0.541524 
time: 1403638536.177830, t: 0.120623 -0.074916 -0.019667 q: 0.039026 0.837245 -0.064487 0.541608 
time: 1403638536.377830, t: 0.120642 -0.074923 -0.019660 q: 0.039080 0.837223 -0.064431 0.541645 
time: 1403638536.577830, t: 0.120641 -0.074907 -0.019668 q: 0.039001 0.837220 -0.064417 0.541656 
time: 1403638536.777829, t: 0.120621 -0.074906 -0.019671 q: 0.039058 0.837201 -0.064447 0.541678 
time: 1403638536.977829, t: 0.120637 -0.074915 -0.019676 q: 0.038946 0.837179 -0.064580 0.541704 
time: 1403638537.177830, t: 0.120615 -0.074918 -0.019593 q: 0.039066 0.837203 -0.064493 0.541670 
time: 1403638537.377830, t: 0.120635 -0.074909 -0.019641 q: 0.039176 0.837227 -0.064430 0.541631 
time: 1403638537.577830, t: 0.120617 -0.074892 -0.019606 q: 0.039086 0.837249 -0.064313 0.541619 
time: 1403638537.777829, t: 0.120584 -0.074863 -0.019540 q: 0.039016 0.837251 -0.064291 0.541622 
time: 1403638537.977829, t: 0.120602 -0.074883 -0.019511 q: 0.039164 0.837254 -0.064367 0.541599 
time: 1403638538.177830, t: 0.120574 -0.074874 -0.019465 q: 0.039044 0.837218 -0.064324 0.541668 
time: 1403638538.377830, t: 0.120604 -0.074909 -0.019455 q: 0.039344 0.837215 -0.064316 0.541651 
time: 1403638538.577830, t: 0.120596 -0.074906 -0.019334 q: 0.039334 0.837184 -0.064278 0.541705 
time: 1403638538.777829, t: 0.120675 -0.074957 -0.018940 q: 0.038984 0.836298 -0.064229 0.543103 
time: 1403638538.977829, t: 0.125663 -0.074471 -0.015928 q: 0.039047 0.830631 -0.062934 0.551876 
time: 1403638539.177830, t: 0.137893 -0.074570 -0.004881 q: 0.039978 0.819812 -0.064715 0.567558 
time: 1403638539.377830, t: 0.157952 -0.073619 0.035198 q: 0.039498 0.817117 -0.063405 0.571611 
time: 1403638539.577830, t: 0.178280 -0.073024 0.098949 q: 0.038932 0.820161 -0.061251 0.567511 
time: 1403638539.777829, t: 0.199747 -0.072665 0.143763 q: 0.037839 0.822015 -0.059150 0.565120 
time: 1403638539.977829, t: 0.229529 -0.071261 0.159420 q: 0.035190 0.829114 -0.058319 0.554915 
time: 1403638540.377830, t: 0.346716 -0.076875 0.193552 q: 0.036174 0.828751 -0.054365 0.555795 
time: 1403638540.577830, t: 0.432888 -0.076038 0.208185 q: 0.025772 0.826840 -0.036958 0.560629 
time: 1403638540.777829, t: 0.529981 -0.071670 0.222083 q: 0.009409 0.826387 0.004162 0.563009 
time: 1403638540.977829, t: 0.633247 -0.054570 0.235289 q: -0.014610 0.824369 0.058302 0.562853 
time: 1403638541.177830, t: 0.741662 -0.020258 0.239905 q: -0.037985 0.820648 0.091007 0.562860 
time: 1403638541.377830, t: 0.847835 0.031548 0.241375 q: -0.046406 0.819765 0.103614 0.561334 
time: 1403638541.577830, t: 0.955398 0.107250 0.264809 q: -0.046756 0.818198 0.104783 0.563371 
time: 1403638541.777829, t: 1.061498 0.211113 0.319175 q: -0.061554 0.815125 0.114059 0.564599 
time: 1403638541.977829, t: 1.155085 0.327595 0.381613 q: -0.085736 0.812396 0.137545 0.560128 
time: 1403638542.177830, t: 1.247059 0.455198 0.431879 q: -0.115144 0.806550 0.174501 0.552963 
time: 1403638542.377830, t: 1.334202 0.585456 0.459880 q: -0.144093 0.794896 0.219557 0.546967 
time: 1403638542.577830, t: 1.423774 0.716867 0.475524 q: -0.145624 0.769517 0.257757 0.565861 
time: 1403638542.777829, t: 1.480317 0.855094 0.500423 q: -0.156609 0.769685 0.266509 0.558598 
time: 1403638542.977829, t: 1.518125 1.003218 0.550206 q: -0.168038 0.779468 0.260647 0.544294 
time: 1403638543.177830, t: 1.547473 1.156558 0.606931 q: -0.170939 0.784139 0.255134 0.539270 
time: 1403638543.377830, t: 1.575810 1.315501 0.644565 q: -0.170238 0.785644 0.251358 0.539075 
time: 1403638543.577830, t: 1.608424 1.485124 0.657603 q: -0.177349 0.781602 0.266743 0.535251 
time: 1403638543.777829, t: 1.634897 1.656972 0.667527 q: -0.194201 0.767987 0.305325 0.528450 
time: 1403638543.977829, t: 1.662570 1.841231 0.703921 q: -0.219093 0.749910 0.345517 0.519857 
time: 1403638544.177830, t: 1.688183 2.032674 0.757256 q: -0.244179 0.742854 0.363129 0.506638 
time: 1403638544.377830, t: 1.724922 2.223462 0.786232 q: -0.252435 0.739674 0.369044 0.502957 
time: 1403638544.577830, t: 1.761902 2.421648 0.805283 q: -0.253624 0.737558 0.369299 0.505274 
time: 1403638544.777829, t: 1.796483 2.616292 0.838704 q: -0.260388 0.730120 0.369721 0.512278 
time: 1403638544.977829, t: 1.830635 2.805957 0.868112 q: -0.258878 0.734265 0.373103 0.504611 
time: 1403638545.177830, t: 1.862433 2.988358 0.874079 q: -0.260605 0.732609 0.374520 0.505078 
time: 1403638545.377830, t: 1.901436 3.173332 0.850955 q: -0.261464 0.729348 0.375237 0.508808 
time: 1403638545.777829, t: 1.962519 3.538881 0.818795 q: -0.285419 0.713895 0.410641 0.490167 
time: 1403638545.977829, t: 1.995535 3.721317 0.840797 q: -0.306332 0.690736 0.452228 0.473851 
time: 1403638546.177830, t: 2.023539 3.901245 0.873584 q: -0.320726 0.670007 0.483613 0.462973 
time: 1403638546.377830, t: 2.047965 4.088864 0.886453 q: -0.332258 0.663829 0.493322 0.453397 
time: 1403638546.577830, t: 2.072162 4.282068 0.881635 q: -0.336057 0.661571 0.497830 0.448950 
time: 1403638546.777829, t: 2.091621 4.479593 0.895687 q: -0.342229 0.652253 0.509564 0.444736 
time: 1403638546.977829, t: 2.110227 4.684495 0.934446 q: -0.341773 0.645434 0.519184 0.443909 
time: 1403638547.177830, t: 2.118276 4.891750 0.951314 q: -0.337125 0.640842 0.525978 0.446111 
time: 1403638547.377830, t: 2.109629 5.102961 0.951521 q: -0.338659 0.640794 0.525461 0.445627 
time: 1403638547.577830, t: 2.088370 5.317464 0.936652 q: -0.346572 0.647287 0.518441 0.438322 
time: 1403638547.777829, t: 2.066966 5.537688 0.903461 q: -0.345184 0.648056 0.517429 0.439476 
time: 1403638547.977829, t: 2.039956 5.765172 0.858917 q: -0.341881 0.645207 0.519968 0.443235 
time: 1403638548.177830, t: 2.001070 6.006101 0.837686 q: -0.349169 0.641016 0.527516 0.434634 
time: 1403638548.377830, t: 1.952696 6.251476 0.849905 q: -0.363634 0.625174 0.547295 0.421183 
time: 1403638548.577830, t: 1.903056 6.502490 0.883614 q: -0.378346 0.607729 0.565647 0.409345 
time: 1403638548.777829, t: 1.852926 6.759521 0.902605 q: -0.385905 0.598332 0.575039 0.402996 
time: 1403638548.977829, t: 1.799950 7.024545 0.935298 q: -0.388442 0.595240 0.578464 0.400225 
time: 1403638549.177830, t: 1.749024 7.287586 0.996555 q: -0.389980 0.595073 0.577841 0.399879 
time: 1403638549.377830, t: 1.696424 7.559802 1.079605 q: -0.392740 0.597503 0.574430 0.398467 
time: 1403638549.577830, t: 1.648192 7.840047 1.155804 q: -0.395760 0.599199 0.570460 0.398636 
time: 1403638549.777829, t: 1.601717 8.123942 1.218616 q: -0.395319 0.599132 0.569364 0.400734 
time: 1403638549.977829, t: 1.558055 8.411761 1.303367 q: -0.393883 0.601644 0.569496 0.398189 
time: 1403638550.177830, t: 1.521723 8.707974 1.420676 q: -0.394868 0.602475 0.569349 0.396162 
time: 1403638550.377830, t: 1.492616 9.000048 1.553898 q: -0.394675 0.600863 0.570843 0.396654 
time: 1403638550.577830, t: 1.472306 9.291842 1.662322 q: -0.401352 0.601890 0.567183 0.393634 
time: 1403638550.777829, t: 1.464373 9.576058 1.750772 q: -0.409386 0.599064 0.562029 0.397050 
time: 1403638550.977829, t: 1.467316 9.849326 1.824773 q: -0.420978 0.590708 0.553730 0.408931 
time: 1403638551.177830, t: 1.479798 10.103611 1.891455 q: -0.429012 0.588496 0.548306 0.411074 
time: 1403638551.377830, t: 1.516696 10.329376 1.971188 q: -0.424929 0.597835 0.544426 0.406975 
time: 1403638551.577830, t: 1.575843 10.534301 2.039863 q: -0.411158 0.625349 0.518993 0.412957 
time: 1403638551.777829, t: 1.667964 10.717932 2.085508 q: -0.395276 0.656203 0.482243 0.424967 
time: 1403638551.977829, t: 1.791592 10.881190 2.119486 q: -0.373578 0.669921 0.459179 0.448107 
time: 1403638552.177830, t: 1.936746 11.028044 2.179087 q: -0.358137 0.676322 0.451174 0.459094 
time: 1403638552.377830, t: 2.095388 11.138406 2.253898 q: -0.356275 0.680977 0.447529 0.457226 
time: 1403638552.577830, t: 2.264954 11.230630 2.309705 q: -0.369087 0.673331 0.438730 0.466815 
time: 1403638552.777829, t: 2.445908 11.296877 2.350802 q: -0.368664 0.670451 0.442521 0.467715 
time: 1403638552.977829, t: 2.638739 11.325684 2.366642 q: -0.362033 0.666424 0.452987 0.468630 
time: 1403638553.177830, t: 2.839830 11.333951 2.371322 q: -0.363633 0.660205 0.457524 0.471775 
time: 1403638553.377830, t: 3.044577 11.310800 2.377303 q: -0.372733 0.649055 0.455819 0.481691 
time: 1403638553.577830, t: 3.241276 11.242148 2.404232 q: -0.366429 0.638971 0.462653 0.493354 
time: 1403638553.777829, t: 3.425701 11.129777 2.455059 q: -0.362628 0.638185 0.467048 0.493039 
time: 1403638553.977829, t: 3.590855 10.986049 2.526023 q: -0.359615 0.642970 0.469058 0.487085 
time: 1403638554.177830, t: 3.737573 10.820073 2.582196 q: -0.353146 0.649212 0.473442 0.479233 
time: 1403638554.377830, t: 3.880083 10.652033 2.614752 q: -0.339173 0.658542 0.483762 0.466111 
time: 1403638554.577830, t: 4.006993 10.487213 2.632052 q: -0.337448 0.661103 0.485484 0.461928 
time: 1403638554.777829, t: 4.130931 10.332575 2.655331 q: -0.348009 0.664338 0.478505 0.456703 
time: 1403638554.977829, t: 4.255103 10.182579 2.694673 q: -0.353291 0.665411 0.473407 0.456398 
time: 1403638555.177830, t: 4.388151 10.024169 2.721268 q: -0.342923 0.674527 0.462887 0.461685 
time: 1403638555.377830, t: 4.531222 9.865035 2.727630 q: -0.329769 0.683814 0.450602 0.469689 
time: 1403638555.577830, t: 4.675337 9.703667 2.719621 q: -0.321777 0.687096 0.445290 0.475475 
time: 1403638555.777829, t: 4.817486 9.539955 2.726614 q: -0.320233 0.689932 0.444146 0.473476 
time: 1403638555.977829, t: 4.960756 9.374998 2.761693 q: -0.318613 0.688574 0.446932 0.473923 
time: 1403638556.177830, t: 5.105999 9.223609 2.807197 q: -0.316359 0.692894 0.449006 0.467128 
time: 1403638556.377830, t: 5.256077 9.078936 2.828540 q: -0.314133 0.698043 0.450921 0.459050 
time: 1403638556.577830, t: 5.408157 8.954602 2.843448 q: -0.311407 0.703821 0.451859 0.451093 
time: 1403638556.777829, t: 5.573780 8.851292 2.870593 q: -0.325622 0.703031 0.441159 0.452876 
time: 1403638556.977829, t: 5.759620 8.756253 2.922628 q: -0.335020 0.700017 0.434382 0.457219 
time: 1403638557.177830, t: 5.966455 8.665552 2.960076 q: -0.332369 0.696837 0.437604 0.460924 
time: 1403638557.377830, t: 6.187173 8.574418 2.974547 q: -0.329086 0.694371 0.441086 0.463675 
time: 1403638557.577830, t: 6.417056 8.486622 2.999328 q: -0.319479 0.688868 0.448825 0.471116 
time: 1403638557.777829, t: 6.642668 8.399755 3.045304 q: -0.317182 0.687324 0.450482 0.473337 
time: 1403638558.177830, t: 7.073549 8.238883 3.077397 q: -0.307667 0.698093 0.455706 0.458628 
time: 1403638558.377830, t: 7.290657 8.185264 3.092555 q: -0.299471 0.703366 0.460361 0.451289 
time: 1403638558.577830, t: 7.512268 8.161724 3.141870 q: -0.294478 0.709318 0.463082 0.442386 
time: 1403638558.777829, t: 7.743154 8.175301 3.211166 q: -0.310910 0.709636 0.450741 0.443378 
time: 1403638558.977829, t: 7.984063 8.206927 3.261553 q: -0.315606 0.703532 0.447626 0.452844 
time: 1403638559.177830, t: 8.231812 8.253649 3.286702 q: -0.316938 0.695523 0.447954 0.463827 
time: 1403638559.377830, t: 8.479538 8.307405 3.285804 q: -0.311562 0.690215 0.453628 0.469844 
time: 1403638559.577830, t: 8.714430 8.359680 3.262597 q: -0.308792 0.685617 0.457180 0.474936 
time: 1403638559.777829, t: 8.936988 8.415043 3.232213 q: -0.309907 0.683707 0.457858 0.476308 
time: 1403638559.977829, t: 9.150967 8.481092 3.218667 q: -0.310147 0.688049 0.451271 0.476185 
time: 1403638560.177830, t: 9.355989 8.549250 3.186987 q: -0.294877 0.706019 0.420358 0.487733 
time: 1403638560.377830, t: 9.556469 8.615573 3.137720 q: -0.271271 0.725079 0.374878 0.510039 
time: 1403638560.577830, t: 9.744651 8.671595 3.074004 q: -0.247129 0.742802 0.322918 0.531881 
time: 1403638560.777829, t: 9.916781 8.709522 3.000126 q: -0.230004 0.762382 0.269415 0.541560 
time: 1403638560.977829, t: 10.080402 8.715251 2.955752 q: -0.206860 0.773336 0.225860 0.555111 
time: 1403638561.177830, t: 10.240074 8.693333 2.942746 q: -0.183934 0.777506 0.188605 0.571035 
time: 1403638561.377830, t: 10.382316 8.640409 2.948701 q: -0.168212 0.782575 0.170573 0.574618 
time: 1403638561.577830, t: 10.505313 8.566394 2.940409 q: -0.145074 0.791698 0.179083 0.565771 
time: 1403638561.777829, t: 10.617102 8.484118 2.914592 q: -0.140399 0.793366 0.184415 0.562894 
time: 1403638561.977829, t: 10.721943 8.399477 2.871085 q: -0.132913 0.793760 0.180880 0.565298 
time: 1403638562.177830, t: 10.815747 8.307532 2.835846 q: -0.118199 0.797637 0.162625 0.568646 
time: 1403638562.577830, t: 10.968919 8.120366 2.826615 q: -0.088602 0.804674 0.106809 0.577271 
time: 1403638562.777829, t: 11.070798 8.113100 2.765217 q: -0.068804 0.808869 0.055095 0.581344 
time: 1403638562.977829, t: 11.070107 7.912691 2.850622 q: -0.043288 0.811559 0.009713 0.582583 
time: 1403638563.177830, t: 11.096950 7.782270 2.833632 q: -0.023060 0.811441 -0.033604 0.583012 
time: 1403638563.577830, t: 11.090911 7.471273 2.754755 q: 0.001052 0.795371 -0.062988 0.602840 
time: 1403638563.777829, t: 11.049063 7.288129 2.730414 q: -0.002100 0.801249 -0.063181 0.594983 
time: 1403638563.977829, t: 10.977710 7.090769 2.736684 q: -0.008506 0.799816 -0.060730 0.597104 
time: 1403638564.177830, t: 10.885608 6.870642 2.738686 q: -0.014798 0.800426 -0.053748 0.596834 
time: 1403638564.377830, t: 10.775456 6.630959 2.738234 q: -0.014301 0.797484 -0.042939 0.601641 
time: 1403638564.577830, t: 10.636934 6.374217 2.762311 q: -0.016482 0.798040 -0.037958 0.601182 
time: 1403638564.777829, t: 10.467135 6.103382 2.779557 q: -0.025284 0.800332 -0.043650 0.597431 
time: 1403638564.977829, t: 10.277247 5.807315 2.756535 q: -0.029425 0.799309 -0.047405 0.598324 
time: 1403638565.177830, t: 10.075296 5.490080 2.671889 q: -0.031297 0.800511 -0.047999 0.596572 
time: 1403638565.377830, t: 9.865219 5.149605 2.557309 q: -0.027216 0.802612 -0.045774 0.594119 
time: 1403638565.577830, t: 9.635496 4.797694 2.446091 q: -0.017559 0.799735 -0.042595 0.598583 
time: 1403638565.777829, t: 9.393485 4.433491 2.367637 q: 0.003227 0.802020 -0.031904 0.596436 
time: 1403638565.977829, t: 9.134943 4.078769 2.313757 q: 0.013012 0.805950 -0.028979 0.591131 
time: 1403638566.177830, t: 8.871653 3.734293 2.241573 q: 0.012367 0.807221 -0.030578 0.589327 
time: 1403638566.377830, t: 8.601355 3.406040 2.135544 q: 0.013200 0.807772 -0.028520 0.588657 
time: 1403638566.577830, t: 8.343547 3.089233 2.008402 q: 0.008820 0.811300 -0.027281 0.583926 
time: 1403638566.777829, t: 8.089921 2.789364 1.847050 q: 0.007365 0.832273 -0.023305 0.553827 
time: 1403638567.177830, t: 7.657453 2.218197 1.503642 q: 0.006939 0.823785 -0.015073 0.566660 
time: 1403638567.377830, t: 7.452519 1.943037 1.312870 q: 0.012417 0.813078 -0.012385 0.581890 
time: 1403638567.577830, t: 7.261242 1.685789 1.132530 q: 0.015490 0.817547 -0.014305 0.575476 
time: 1403638567.777829, t: 7.065483 1.450778 0.990118 q: 0.020973 0.824002 -0.014826 0.566005 
time: 1403638567.977829, t: 6.887398 1.231206 0.875119 q: 0.020233 0.828330 -0.017461 0.559602 
time: 1403638568.177830, t: 6.726709 1.033196 0.795383 q: 0.025442 0.827182 -0.013998 0.561184 
time: 1403638568.377830, t: 6.577263 0.843479 0.738698 q: 0.026022 0.827317 -0.014283 0.560951 
time: 1403638568.577830, t: 6.440408 0.678937 0.666691 q: 0.027304 0.829150 -0.013356 0.558199 
time: 1403638568.777829, t: 6.332000 0.530561 0.589836 q: 0.027822 0.832188 -0.011261 0.553681 
time: 1403638568.977829, t: 6.240428 0.401679 0.535983 q: 0.027066 0.830931 -0.010634 0.555614 
time: 1403638569.177830, t: 6.170253 0.293054 0.513042 q: 0.028521 0.831535 -0.008742 0.554671 
time: 1403638569.377830, t: 6.112148 0.205145 0.494749 q: 0.030688 0.832739 -0.006947 0.552771 
time: 1403638569.577830, t: 6.072793 0.145707 0.460177 q: 0.031585 0.830015 -0.005765 0.556817 
time: 1403638569.777829, t: 6.049701 0.108659 0.439278 q: 0.031047 0.828060 -0.005773 0.559749 
time: 1403638570.177830, t: 6.036947 0.109791 0.437933 q: 0.023532 0.824886 -0.009972 0.564721 
time: 1403638570.377830, t: 6.039182 0.130998 0.410952 q: 0.009614 0.824370 -0.021863 0.565547 
time: 1403638570.577830, t: 6.047495 0.146882 0.359342 q: -0.001802 0.821893 -0.064673 0.565956 
time: 1403638570.777829, t: 6.052763 0.132760 0.285913 q: 0.005889 0.806503 -0.121638 0.578553 
time: 1403638570.977829, t: 6.038840 0.075159 0.208589 q: 0.033402 0.787508 -0.167646 0.592123 
time: 1403638571.177830, t: 5.993009 -0.022657 0.125244 q: 0.071783 0.787923 -0.199061 0.578273 
time: 1403638571.377830, t: 5.922078 -0.151745 0.072747 q: 0.104644 0.788740 -0.210821 0.567886 
time: 1403638571.577830, t: 5.835758 -0.296478 0.050942 q: 0.117255 0.783791 -0.219768 0.568880 
time: 1403638571.977829, t: 5.619035 -0.633577 -0.024851 q: 0.146638 0.775132 -0.280010 0.547048 
time: 1403638572.177830, t: 5.488424 -0.824299 -0.038550 q: 0.171507 0.761960 -0.314344 0.539621 
time: 1403638572.377830, t: 5.343135 -1.028186 -0.039332 q: 0.199029 0.753243 -0.349455 0.520474 
time: 1403638572.577830, t: 5.198812 -1.247631 -0.048810 q: 0.224147 0.745743 -0.371252 0.505764 
time: 1403638572.777829, t: 5.055180 -1.479352 -0.045676 q: 0.237879 0.745313 -0.376468 0.496180 
time: 1403638572.977829, t: 4.929091 -1.723171 -0.010997 q: 0.242073 0.749794 -0.374756 0.488637 
time: 1403638573.177830, t: 4.821164 -1.971777 0.013209 q: 0.239796 0.753354 -0.372258 0.486189 
time: 1403638573.377830, t: 4.732177 -2.231023 0.028920 q: 0.237451 0.755442 -0.369320 0.486341 
time: 1403638573.577830, t: 4.673238 -2.502979 0.061708 q: 0.242390 0.755616 -0.369559 0.483444 
time: 1403638573.777829, t: 4.640471 -2.784444 0.121730 q: 0.252324 0.752499 -0.373488 0.480191 
time: 1403638573.977829, t: 4.632604 -3.073971 0.179546 q: 0.277473 0.727423 -0.392654 0.489579 
time: 1403638574.177830, t: 4.634259 -3.350205 0.212835 q: 0.289019 0.686014 -0.438838 0.503264 
time: 1403638574.377830, t: 4.620234 -3.613000 0.229125 q: 0.311211 0.655024 -0.481429 0.492257 
time: 1403638574.577830, t: 4.580599 -3.862093 0.230808 q: 0.335661 0.633509 -0.513814 0.471162 
time: 1403638574.777829, t: 4.524261 -4.101564 0.257265 q: 0.358728 0.627172 -0.523350 0.451745 
time: 1403638574.977829, t: 4.471488 -4.337924 0.286045 q: 0.358881 0.631810 -0.530858 0.436131 
time: 1403638575.177830, t: 4.412324 -4.571076 0.292571 q: 0.344902 0.628019 -0.539578 0.442142 
time: 1403638575.377830, t: 4.340417 -4.800366 0.282486 q: 0.338160 0.629964 -0.540273 0.443733 
time: 1403638575.577830, t: 4.260989 -5.040537 0.262340 q: 0.335657 0.640225 -0.535924 0.436156 
time: 1403638575.777829, t: 4.179171 -5.290966 0.262968 q: 0.340740 0.652725 -0.527314 0.424013 
time: 1403638575.977829, t: 4.108630 -5.557950 0.301543 q: 0.340407 0.657112 -0.524381 0.421131 
time: 1403638576.177830, t: 4.052019 -5.850158 0.367321 q: 0.341765 0.656095 -0.522539 0.423898 
time: 1403638576.377830, t: 4.011603 -6.152522 0.425369 q: 0.350650 0.657823 -0.517048 0.420683 
time: 1403638576.577830, t: 3.991547 -6.472356 0.460063 q: 0.359374 0.664272 -0.511315 0.410061 
time: 1403638576.777829, t: 4.002682 -6.797828 0.483694 q: 0.367371 0.663369 -0.505198 0.412015 
time: 1403638576.977829, t: 4.043765 -7.123722 0.490233 q: 0.367573 0.652131 -0.505415 0.429150 
time: 1403638577.177830, t: 4.105577 -7.441438 0.496367 q: 0.360178 0.645807 -0.511010 0.438263 
time: 1403638577.377830, t: 4.182157 -7.749447 0.529516 q: 0.367452 0.650447 -0.505692 0.431477 
time: 1403638577.577830, t: 4.274795 -8.050161 0.578077 q: 0.369083 0.652893 -0.504014 0.428343 
time: 1403638577.777829, t: 4.384180 -8.340721 0.603208 q: 0.362891 0.651595 -0.507577 0.431392 
time: 1403638577.977829, t: 4.509583 -8.624907 0.606725 q: 0.363303 0.652449 -0.505767 0.431882 
time: 1403638578.177830, t: 4.646263 -8.902548 0.623507 q: 0.357351 0.648853 -0.508052 0.439514 
time: 1403638578.377830, t: 4.789246 -9.176205 0.661753 q: 0.346405 0.641939 -0.515309 0.449861 
time: 1403638578.577830, t: 4.918604 -9.439779 0.680865 q: 0.346441 0.640996 -0.516379 0.449951 
time: 1403638578.777829, t: 5.038271 -9.693660 0.684167 q: 0.354257 0.643248 -0.511744 0.445927 
time: 1403638578.977829, t: 5.157869 -9.937654 0.675825 q: 0.361889 0.647284 -0.505719 0.440803 
time: 1403638579.177830, t: 5.287095 -10.173349 0.693258 q: 0.362826 0.647971 -0.503774 0.441251 
time: 1403638579.377830, t: 5.431190 -10.396796 0.731134 q: 0.354854 0.643819 -0.508863 0.447922 
time: 1403638579.577830, t: 5.565259 -10.611432 0.757750 q: 0.347391 0.637007 -0.510344 0.461617 
time: 1403638579.777829, t: 5.690238 -10.814709 0.767219 q: 0.347254 0.647346 -0.479078 0.480460 
time: 1403638579.977829, t: 5.823153 -10.997861 0.748650 q: 0.319466 0.686351 -0.432127 0.490031 
time: 1403638580.177830, t: 5.957336 -11.159032 0.717436 q: 0.284359 0.713643 -0.360353 0.529149 
time: 1403638580.377830, t: 6.080963 -11.283321 0.666070 q: 0.227208 0.745688 -0.298532 0.550641 
time: 1403638580.577830, t: 6.181741 -11.386928 0.600903 q: 0.183315 0.764116 -0.268183 0.557315 
time: 1403638580.777829, t: 6.262231 -11.481304 0.544457 q: 0.157587 0.783760 -0.237966 0.551597 
time: 1403638580.977829, t: 6.329208 -11.573165 0.530490 q: 0.146743 0.791969 -0.223078 0.549080 
time: 1403638581.177830, t: 6.393289 -11.659052 0.552395 q: 0.147945 0.793008 -0.219386 0.548744 
time: 1403638581.377830, t: 6.452665 -11.739638 0.583558 q: 0.155133 0.791918 -0.220091 0.548050 
time: 1403638581.577830, t: 6.513688 -11.812820 0.627805 q: 0.160755 0.789409 -0.223716 0.548582 
time: 1403638581.777829, t: 6.581277 -11.880596 0.670779 q: 0.167832 0.781779 -0.225502 0.556600 
time: 1403638581.977829, t: 6.647922 -11.936879 0.690669 q: 0.174487 0.771160 -0.224111 0.569772 
time: 1403638582.177830, t: 6.700667 -11.978628 0.708102 q: 0.169513 0.780350 -0.228851 0.556728 
time: 1403638582.377830, t: 6.746558 -12.005311 0.764719 q: 0.172363 0.779983 -0.226538 0.557314 
time: 1403638582.577830, t: 6.786654 -12.021803 0.856809 q: 0.174955 0.778292 -0.223753 0.559988 
time: 1403638582.777829, t: 6.818680 -12.026942 0.976103 q: 0.172434 0.781050 -0.225539 0.556201 
time: 1403638582.977829, t: 6.842953 -12.014495 1.094712 q: 0.171245 0.784711 -0.227372 0.550641 
time: 1403638583.177830, t: 6.864980 -11.986180 1.177774 q: 0.170156 0.788918 -0.229474 0.544056 
time: 1403638583.377830, t: 6.893129 -11.947975 1.231408 q: 0.169210 0.789333 -0.230159 0.543460 
time: 1403638583.577830, t: 6.928442 -11.902449 1.281693 q: 0.169503 0.790017 -0.230194 0.542359 
time: 1403638583.777829, t: 6.972819 -11.847444 1.353717 q: 0.171073 0.789978 -0.229252 0.542322 
time: 1403638583.977829, t: 7.024297 -11.788123 1.407853 q: 0.172179 0.789125 -0.229083 0.543283 
time: 1403638584.177830, t: 7.079928 -11.721585 1.443107 q: 0.178760 0.776563 -0.224459 0.560903 
time: 1403638584.377830, t: 7.130855 -11.637864 1.456334 q: 0.182424 0.764567 -0.221961 0.576968 
time: 1403638584.577830, t: 7.160270 -11.528858 1.450852 q: 0.183040 0.764486 -0.221911 0.576899 
time: 1403638584.777829, t: 7.167655 -11.395958 1.469224 q: 0.177483 0.773047 -0.225415 0.565761 
time: 1403638584.977829, t: 7.162847 -11.248134 1.498088 q: 0.169676 0.784261 -0.231786 0.549927 
time: 1403638585.177830, t: 7.152915 -11.098731 1.508827 q: 0.166935 0.785306 -0.233886 0.548383 
time: 1403638585.377830, t: 7.156842 -10.945302 1.495656 q: 0.168866 0.781248 -0.232460 0.554165 
time: 1403638585.577830, t: 7.153770 -10.793242 1.480816 q: 0.168208 0.783283 -0.232555 0.551445 
time: 1403638585.777829, t: 7.154116 -10.639105 1.498016 q: 0.165449 0.790794 -0.234424 0.540663 
time: 1403638585.977829, t: 7.160929 -10.490276 1.551631 q: 0.161356 0.794552 -0.238313 0.534657 
time: 1403638586.177830, t: 7.184000 -10.337725 1.601803 q: 0.165408 0.787296 -0.237638 0.544365 
time: 1403638586.377830, t: 7.199675 -10.191689 1.634792 q: 0.173558 0.781382 -0.233188 0.552217 
time: 1403638586.577830, t: 7.211998 -10.042467 1.647367 q: 0.183869 0.778778 -0.227104 0.555087 
time: 1403638586.777829, t: 7.223003 -9.882649 1.639713 q: 0.177002 0.779381 -0.232040 0.554431 
time: 1403638586.977829, t: 7.234222 -9.715939 1.607764 q: 0.174917 0.777979 -0.232847 0.556718 
time: 1403638587.177830, t: 7.241138 -9.543618 1.572214 q: 0.173769 0.779038 -0.233318 0.555398 
time: 1403638587.377830, t: 7.244667 -9.365753 1.565912 q: 0.172540 0.782370 -0.233871 0.550846 
time: 1403638587.577830, t: 7.248111 -9.184532 1.568345 q: 0.170010 0.782529 -0.236771 0.550168 
time: 1403638587.777829, t: 7.249866 -9.000784 1.551914 q: 0.169785 0.781748 -0.237817 0.550896 
time: 1403638587.977829, t: 7.253426 -8.821753 1.515898 q: 0.168672 0.781039 -0.239121 0.551678 
time: 1403638588.177830, t: 7.253022 -8.645082 1.467986 q: 0.176320 0.781410 -0.233539 0.551152 
time: 1403638588.377830, t: 7.253555 -8.463614 1.423336 q: 0.179817 0.782657 -0.230343 0.549596 
time: 1403638588.577830, t: 7.251784 -8.274523 1.410954 q: 0.175469 0.781969 -0.233022 0.550850 
time: 1403638588.777829, t: 7.248355 -8.077999 1.425358 q: 0.171412 0.779695 -0.235750 0.554180 
time: 1403638588.977829, t: 7.242842 -7.880331 1.434288 q: 0.169102 0.779151 -0.238214 0.554601 
time: 1403638589.177830, t: 7.234474 -7.682873 1.414967 q: 0.171116 0.779282 -0.237536 0.554090 
time: 1403638589.377830, t: 7.221661 -7.486190 1.383304 q: 0.170889 0.778203 -0.237358 0.555750 
time: 1403638589.577830, t: 7.207864 -7.289595 1.365071 q: 0.169784 0.779174 -0.238303 0.554323 
time: 1403638589.777829, t: 7.188520 -7.093341 1.377165 q: 0.169689 0.781379 -0.238528 0.551141 
time: 1403638589.977829, t: 7.163548 -6.896845 1.389213 q: 0.170031 0.782029 -0.239863 0.549532 
time: 1403638590.177830, t: 7.140699 -6.704600 1.374502 q: 0.170182 0.780902 -0.240955 0.550610 
time: 1403638590.377830, t: 7.114745 -6.513506 1.344628 q: 0.169986 0.780383 -0.242043 0.550929 
time: 1403638590.577830, t: 7.087383 -6.323533 1.308789 q: 0.169086 0.782069 -0.242986 0.548394 
time: 1403638590.777829, t: 7.057641 -6.139477 1.299969 q: 0.166470 0.784545 -0.244474 0.544985 
time: 1403638590.977829, t: 7.031451 -5.964772 1.318532 q: 0.165418 0.786018 -0.245369 0.542777 
time: 1403638591.177830, t: 7.002555 -5.794638 1.346956 q: 0.163202 0.791210 -0.247783 0.534748 
time: 1403638591.377830, t: 6.988453 -5.635501 1.346849 q: 0.157836 0.801524 -0.252146 0.518719 
time: 1403638591.577830, t: 6.999222 -5.494113 1.330558 q: 0.152794 0.807112 -0.256590 0.509300 
time: 1403638591.777829, t: 7.036422 -5.383250 1.303341 q: 0.153344 0.805659 -0.256691 0.511380 
time: 1403638591.977829, t: 7.098274 -5.301305 1.283944 q: 0.155057 0.800748 -0.255103 0.519309 
time: 1403638592.177830, t: 7.182868 -5.245967 1.297468 q: 0.153415 0.795249 -0.252315 0.529509 
time: 1403638592.377830, t: 7.276866 -5.204741 1.353597 q: 0.139133 0.786964 -0.238188 0.551903 
time: 1403638592.577830, t: 7.361832 -5.181039 1.438408 q: 0.119632 0.796304 -0.209853 0.554572 
time: 1403638592.777829, t: 7.438427 -5.176084 1.537030 q: 0.108111 0.810362 -0.190692 0.543381 
time: 1403638592.977829, t: 7.519304 -5.188172 1.616507 q: 0.103556 0.817649 -0.182155 0.536233 
time: 1403638593.177830, t: 7.616096 -5.219274 1.680082 q: 0.102644 0.816557 -0.179674 0.538903 
time: 1403638593.377830, t: 7.725860 -5.261623 1.764257 q: 0.118340 0.809710 -0.170689 0.548845 
time: 1403638593.577830, t: 7.843035 -5.304171 1.841430 q: 0.131041 0.802168 -0.165337 0.558587 
time: 1403638593.777829, t: 7.959818 -5.331728 1.893746 q: 0.135014 0.797641 -0.165213 0.564132 
time: 1403638593.977829, t: 8.067948 -5.339760 1.946925 q: 0.123857 0.783884 -0.162227 0.586403 
time: 1403638594.177830, t: 8.147507 -5.335469 2.014548 q: 0.113675 0.795308 -0.155253 0.574856 
time: 1403638594.377830, t: 8.209117 -5.327427 2.080870 q: 0.116406 0.796426 -0.145563 0.575298 
time: 1403638594.577830, t: 8.256427 -5.305184 2.158553 q: 0.114303 0.795258 -0.141915 0.578238 
time: 1403638594.777829, t: 8.293198 -5.268254 2.250013 q: 0.106513 0.796682 -0.147000 0.576492 
time: 1403638594.977829, t: 8.310585 -5.226725 2.320731 q: 0.106179 0.798630 -0.148945 0.573352 
time: 1403638595.177830, t: 8.314783 -5.180394 2.361423 q: 0.104551 0.800245 -0.151537 0.570714 
time: 1403638595.377830, t: 8.319051 -5.133192 2.375744 q: 0.104859 0.800369 -0.152396 0.570254 
time: 1403638595.577830, t: 8.315614 -5.085512 2.373173 q: 0.105010 0.801488 -0.152136 0.568722 
time: 1403638595.777829, t: 8.297304 -5.037640 2.386490 q: 0.111285 0.802407 -0.147216 0.567526 
time: 1403638595.977829, t: 8.286510 -4.984047 2.380682 q: 0.114846 0.802534 -0.144940 0.567224 
time: 1403638596.177830, t: 8.279130 -4.921816 2.342677 q: 0.133555 0.804442 -0.132083 0.563552 
time: 1403638596.377830, t: 8.271202 -4.831855 2.328493 q: 0.154423 0.806064 -0.115868 0.559454 
time: 1403638596.577830, t: 8.274617 -4.694885 2.348239 q: 0.166777 0.806300 -0.105616 0.557593 
time: 1403638596.777829, t: 8.295570 -4.499597 2.398795 q: 0.178415 0.806382 -0.096444 0.555531 
time: 1403638596.977829, t: 8.332764 -4.234356 2.471033 q: 0.183707 0.804258 -0.092536 0.557547 
time: 1403638597.177830, t: 8.386431 -3.906972 2.528264 q: 0.188825 0.801464 -0.091221 0.560071 
time: 1403638597.377830, t: 8.448145 -3.515298 2.557775 q: 0.181438 0.797071 -0.099218 0.567374 
time: 1403638597.577830, t: 8.508943 -3.069555 2.569551 q: 0.159700 0.789595 -0.115662 0.581083 
time: 1403638597.777829, t: 8.563277 -2.588693 2.560592 q: 0.159434 0.789023 -0.114629 0.582137 
time: 1403638597.977829, t: 8.606116 -2.073804 2.537304 q: 0.164710 0.792975 -0.093969 0.578992 
time: 1403638598.177830, t: 8.650337 -1.515120 2.531088 q: 0.136148 0.795061 -0.100658 0.582417 
time: 1403638598.377830, t: 8.678490 -0.932728 2.536784 q: 0.107720 0.799223 -0.114362 0.580137 
time: 1403638598.577830, t: 8.696836 -0.353618 2.521257 q: 0.098513 0.803743 -0.113913 0.575601 
time: 1403638598.777829, t: 8.711073 0.215007 2.489117 q: 0.085591 0.808173 -0.094396 0.574995 
time: 1403638598.977829, t: 8.718020 0.773537 2.472110 q: 0.066213 0.811384 -0.063489 0.577271 
time: 1403638599.177830, t: 8.724436 1.322805 2.480053 q: 0.042046 0.813724 -0.029049 0.579000 
time: 1403638599.377830, t: 8.714421 1.860769 2.508144 q: 0.018523 0.818230 0.007288 0.574546 
time: 1403638599.577830, t: 8.692378 2.390310 2.546347 q: 0.003845 0.822228 0.029379 0.568387 
time: 1403638599.777829, t: 8.669836 2.913391 2.559471 q: -0.001234 0.823749 0.035209 0.565858 
time: 1403638599.977829, t: 8.669267 3.429259 2.548245 q: -0.007144 0.825676 0.027436 0.563432 
time: 1403638600.177830, t: 8.677753 3.932233 2.518563 q: -0.025671 0.829046 0.008054 0.558533 
time: 1403638600.377830, t: 8.696863 4.403746 2.474783 q: -0.043123 0.833042 -0.010984 0.551418 
time: 1403638600.577830, t: 8.719793 4.830832 2.435716 q: -0.047370 0.834559 -0.017778 0.548590 
time: 1403638600.777829, t: 8.793777 5.203949 2.445537 q: -0.049650 0.840089 -0.020703 0.539775 
time: 1403638600.977829, t: 8.873065 5.534147 2.461206 q: -0.021618 0.845271 0.001859 0.533897 
time: 1403638601.177830, t: 9.002969 5.820729 2.477128 q: -0.004706 0.844157 0.016194 0.535831 
time: 1403638601.377830, t: 9.156936 6.106103 2.477394 q: 0.001446 0.832605 0.027229 0.553195 
time: 1403638601.577830, t: 9.325459 6.403577 2.494658 q: -0.022764 0.823111 0.045628 0.565586 
time: 1403638601.777829, t: 9.481364 6.695342 2.533398 q: -0.046569 0.816502 0.090600 0.568285 
time: 1403638601.977829, t: 9.628581 6.982422 2.591134 q: -0.075442 0.807013 0.142801 0.568020 
time: 1403638602.177830, t: 9.759581 7.269744 2.630396 q: -0.092950 0.799700 0.175632 0.566563 
time: 1403638602.377830, t: 9.881728 7.568294 2.650141 q: -0.123143 0.780748 0.205522 0.577087 
time: 1403638602.577830, t: 9.957783 7.868561 2.700650 q: -0.193964 0.736670 0.216085 0.610740 
time: 1403638602.777829, t: 9.986085 8.113399 2.772160 q: -0.225426 0.721217 0.248802 0.605910 
time: 1403638602.977829, t: 9.924381 8.282036 2.854498 q: -0.255097 0.716584 0.283982 0.583770 
time: 1403638603.177830, t: 9.854939 8.408881 2.933283 q: -0.285332 0.703690 0.312682 0.570645 
time: 1403638603.377830, t: 9.762411 8.477535 2.977873 q: -0.275751 0.723108 0.344628 0.531326 
time: 1403638603.577830, t: 9.668732 8.522831 2.999956 q: -0.273012 0.729065 0.356318 0.516688 
time: 1403638603.777829, t: 9.577573 8.555683 3.004468 q: -0.269219 0.712464 0.364986 0.535446 
time: 1403638603.977829, t: 9.465494 8.565082 2.983756 q: -0.258145 0.697726 0.372793 0.554584 
time: 1403638604.177830, t: 9.317366 8.551669 2.946271 q: -0.251394 0.693361 0.376621 0.560543 
time: 1403638604.377830, t: 9.127499 8.527349 2.932030 q: -0.262754 0.705220 0.369962 0.544750 
time: 1403638604.577830, t: 8.907232 8.484161 2.942598 q: -0.258266 0.717546 0.373234 0.528320 
time: 1403638604.777829, t: 8.684000 8.431027 2.944388 q: -0.264980 0.722928 0.369061 0.520533 
time: 1403638604.977829, t: 8.457741 8.373745 2.946538 q: -0.262779 0.732398 0.370012 0.507574 
optimize pose graph 
time: 1403638605.177830, t: 8.239998 8.317556 2.974333 q: -0.256945 0.742842 0.374265 0.492027 
time: 1403638605.377830, t: 8.043536 8.275081 3.010952 q: -0.247127 0.738841 0.381304 0.497644 
time: 1403638605.577830, t: 7.859426 8.248959 3.029119 q: -0.235212 0.720109 0.390857 0.522828 
time: 1403638605.777829, t: 7.656931 8.236948 3.036487 q: -0.229579 0.713293 0.395236 0.531315 
time: 1403638605.977829, t: 7.430305 8.243970 3.070986 q: -0.223130 0.712313 0.398974 0.532582 
time: 1403638606.177830, t: 7.178773 8.274197 3.099604 q: -0.217390 0.712015 0.401392 0.533535 
time: 1403638606.377830, t: 6.898007 8.326169 3.097698 q: -0.220786 0.721743 0.397250 0.522047 
time: 1403638606.577830, t: 6.601261 8.401344 3.072352 q: -0.235318 0.740860 0.386504 0.496353 
time: 1403638606.777829, t: 6.315118 8.504204 3.026211 q: -0.245311 0.743614 0.398013 0.477961 
time: 1403638606.977829, t: 6.050739 8.637141 2.977197 q: -0.264447 0.732030 0.425945 0.461270 
optimize pose graph 
time: 1403638607.177830, t: 5.815201 8.800057 2.960908 q: -0.294745 0.713018 0.446917 0.452765 
time: 1403638607.377830, t: 5.600348 8.982530 2.947285 q: -0.321467 0.691008 0.450869 0.464634 
time: 1403638607.577830, t: 5.407079 9.169640 2.900776 q: -0.328983 0.686991 0.453223 0.463035 
time: 1403638607.777829, t: 5.233208 9.348890 2.836629 q: -0.328806 0.684070 0.453561 0.467137 
time: 1403638607.977829, t: 5.079355 9.517173 2.756142 q: -0.331911 0.690866 0.448422 0.459844 
time: 1403638608.177830, t: 4.941659 9.677140 2.657348 q: -0.329119 0.686692 0.446116 0.470230 
time: 1403638608.377830, t: 4.815228 9.820655 2.540260 q: -0.328739 0.676395 0.443950 0.487164 
time: 1403638608.577830, t: 4.688873 9.943293 2.402262 q: -0.327167 0.677792 0.444211 0.486041 
time: 1403638608.777829, t: 4.563867 10.040823 2.267553 q: -0.333444 0.675154 0.439855 0.489397 
time: 1403638608.977829, t: 4.446508 10.117129 2.153472 q: -0.331122 0.682552 0.442188 0.478488 
optimize pose graph 
time: 1403638609.177830, t: 4.338677 10.183675 2.066836 q: -0.332199 0.685820 0.441301 0.473866 
time: 1403638609.377830, t: 4.241569 10.232839 1.981995 q: -0.338840 0.686289 0.435977 0.473412 
time: 1403638609.577830, t: 4.158655 10.269450 1.871852 q: -0.331446 0.686130 0.440076 0.475082 
time: 1403638609.777829, t: 4.084868 10.294152 1.744037 q: -0.328026 0.685157 0.442208 0.476877 
time: 1403638609.977829, t: 4.023571 10.306690 1.634289 q: -0.329427 0.684970 0.440763 0.477516 
time: 1403638610.177830, t: 3.974161 10.307968 1.552364 q: -0.334136 0.679881 0.436722 0.485169 
time: 1403638610.377830, t: 3.927708 10.290603 1.457663 q: -0.337319 0.678686 0.433100 0.487879 
time: 1403638610.577830, t: 3.887929 10.250238 1.346547 q: -0.340457 0.671948 0.430219 0.497481 
time: 1403638610.777829, t: 3.844783 10.186656 1.231898 q: -0.342270 0.672552 0.429147 0.496345 
time: 1403638610.977829, t: 3.808151 10.096554 1.143968 q: -0.338878 0.679249 0.433633 0.485536 
optimize pose graph 
time: 1403638611.177830, t: 3.777454 9.990125 1.056951 q: -0.343358 0.675724 0.431494 0.489199 
time: 1403638611.377830, t: 3.756979 9.863279 0.972430 q: -0.336466 0.673004 0.436869 0.492952 
time: 1403638611.577830, t: 3.726541 9.708888 0.909283 q: -0.315802 0.667890 0.450100 0.501599 
time: 1403638611.777829, t: 3.674289 9.550494 0.863435 q: -0.319443 0.676416 0.446130 0.491310 
time: 1403638611.977829, t: 3.611224 9.383729 0.795164 q: -0.326910 0.685762 0.438907 0.479813 
time: 1403638612.177830, t: 3.553155 9.214283 0.733175 q: -0.327523 0.689267 0.436558 0.476504 
time: 1403638612.377830, t: 3.509203 9.047071 0.702067 q: -0.326323 0.688927 0.436313 0.478041 
time: 1403638612.577830, t: 3.471715 8.876977 0.662912 q: -0.322778 0.685657 0.435898 0.485471 
time: 1403638612.777829, t: 3.429054 8.702812 0.595468 q: -0.313964 0.682883 0.437599 0.493563 
time: 1403638612.977829, t: 3.382233 8.530205 0.531546 q: -0.314932 0.682609 0.433037 0.497335 
time: 1403638613.177830, t: 3.324805 8.358033 0.499070 q: -0.314701 0.687980 0.431580 0.491309 
time: 1403638613.377830, t: 3.267158 8.183350 0.492962 q: -0.313061 0.687955 0.432394 0.491677 
time: 1403638613.577830, t: 3.207554 8.016700 0.483742 q: -0.312802 0.688928 0.427104 0.495091 
time: 1403638613.777829, t: 3.137118 7.844110 0.448777 q: -0.320246 0.688532 0.412986 0.502801 
time: 1403638613.977829, t: 3.068356 7.652283 0.381499 q: -0.309615 0.697071 0.395045 0.512025 
time: 1403638614.177830, t: 2.995544 7.445527 0.301574 q: -0.282913 0.715870 0.370497 0.519829 
time: 1403638614.377830, t: 2.915803 7.228068 0.238606 q: -0.263215 0.732013 0.347542 0.523536 
time: 1403638614.577830, t: 2.831512 7.007508 0.210365 q: -0.255695 0.741471 0.330373 0.525066 
time: 1403638614.777829, t: 2.757372 6.782726 0.217400 q: -0.250784 0.757072 0.302062 0.522214 
time: 1403638614.977829, t: 2.696567 6.545817 0.257355 q: -0.230063 0.778047 0.265878 0.520599 
time: 1403638615.177830, t: 2.658940 6.294614 0.318389 q: -0.191057 0.789567 0.223131 0.538789 
time: 1403638615.377830, t: 2.640571 6.039853 0.392624 q: -0.145308 0.796375 0.176689 0.559869 
time: 1403638615.577830, t: 2.622458 5.786664 0.446865 q: -0.108251 0.803696 0.126739 0.571220 
time: 1403638615.777829, t: 2.603256 5.535582 0.488674 q: -0.087496 0.807803 0.097108 0.574777 
time: 1403638615.977829, t: 2.580435 5.291638 0.549517 q: -0.075037 0.811203 0.073628 0.575237 
time: 1403638616.177830, t: 2.555107 5.038334 0.577189 q: -0.056692 0.813476 0.047495 0.576877 
time: 1403638616.377830, t: 2.528489 4.795379 0.547972 q: -0.032712 0.816035 0.010405 0.576982 
time: 1403638616.577830, t: 2.493157 4.550885 0.483484 q: -0.012582 0.818844 -0.019923 0.573533 
time: 1403638616.777829, t: 2.462973 4.307511 0.402684 q: -0.009446 0.832367 -0.039673 0.552723 
time: 1403638616.977829, t: 2.450205 4.064033 0.323678 q: -0.007855 0.836404 -0.044103 0.546279 
time: 1403638617.177830, t: 2.465105 3.806713 0.282455 q: 0.003597 0.829685 -0.032449 0.557276 
time: 1403638617.377830, t: 2.496859 3.549864 0.267107 q: 0.005190 0.835930 -0.024880 0.548247 
time: 1403638617.577830, t: 2.551242 3.300799 0.286437 q: 0.004847 0.839440 -0.018555 0.543113 
time: 1403638617.777829, t: 2.632609 3.061042 0.336205 q: 0.006110 0.836425 -0.011954 0.547917 
time: 1403638617.977829, t: 2.733374 2.834886 0.413031 q: 0.005135 0.835450 -0.008395 0.549479 
time: 1403638618.177830, t: 2.853109 2.626917 0.476709 q: 0.002281 0.835270 -0.007294 0.549787 
time: 1403638618.377830, t: 2.983601 2.428397 0.516956 q: 0.002656 0.834437 -0.005120 0.551073 
time: 1403638618.577830, t: 3.132252 2.242700 0.548422 q: 0.003691 0.833597 -0.002865 0.552353 
time: 1403638618.777829, t: 3.293508 2.066743 0.579650 q: 0.010035 0.832906 -0.009019 0.553250 
time: 1403638619.177830, t: 3.652054 1.744835 0.652252 q: 0.043824 0.820544 -0.053297 0.567403 
time: 1403638619.377830, t: 3.829509 1.605565 0.642127 q: 0.074099 0.812758 -0.102094 0.568780 
time: 1403638619.577830, t: 3.997495 1.475580 0.613874 q: 0.091019 0.805284 -0.139148 0.569097 
time: 1403638619.777829, t: 4.161158 1.356417 0.572526 q: 0.083464 0.799668 -0.167188 0.570625 
time: 1403638619.977829, t: 4.313941 1.233007 0.527566 q: 0.084556 0.796840 -0.177248 0.571384 
time: 1403638620.177830, t: 4.448024 1.095144 0.490482 q: 0.091248 0.791399 -0.177543 0.577788 
time: 1403638620.377830, t: 4.557811 0.948647 0.490564 q: 0.096823 0.793543 -0.174071 0.574990 
time: 1403638620.577830, t: 4.648913 0.798116 0.509243 q: 0.097668 0.796288 -0.170266 0.572186 
time: 1403638620.777829, t: 4.722168 0.644325 0.509528 q: 0.091363 0.802434 -0.170401 0.564549 
time: 1403638621.177830, t: 4.854886 0.324484 0.465108 q: 0.101390 0.803310 -0.152876 0.566606 
time: 1403638621.377830, t: 4.916808 0.175134 0.468456 q: 0.103433 0.803027 -0.147351 0.568099 
time: 1403638621.577830, t: 4.969151 0.033804 0.458025 q: 0.103800 0.799039 -0.143067 0.574712 
time: 1403638621.777829, t: 5.014586 -0.092481 0.424513 q: 0.104347 0.796348 -0.140854 0.578879 
time: 1403638621.977829, t: 5.041801 -0.205539 0.382307 q: 0.106361 0.790467 -0.138145 0.587167 
time: 1403638622.177830, t: 5.051379 -0.300284 0.324287 q: 0.101676 0.791146 -0.141244 0.586345 
time: 1403638622.377830, t: 5.037975 -0.379159 0.279231 q: 0.099435 0.791538 -0.144031 0.585521 
time: 1403638622.577830, t: 5.001359 -0.447616 0.265878 q: 0.106541 0.792032 -0.140870 0.584372 
time: 1403638622.777829, t: 4.948462 -0.497836 0.290270 q: 0.112835 0.776904 -0.137614 0.603946 
time: 1403638622.977829, t: 4.868350 -0.527688 0.330947 q: 0.112831 0.776008 -0.139427 0.604682 
time: 1403638623.177830, t: 4.752177 -0.538313 0.350711 q: 0.104280 0.786690 -0.146453 0.590589 
optimize pose graph 
time: 1403638623.377830, t: 4.608847 -0.540977 0.346607 q: 0.098817 0.792640 -0.150398 0.582527 
time: 1403638623.577830, t: 4.450531 -0.536957 0.339084 q: 0.100910 0.794462 -0.149655 0.579872 
time: 1403638623.777829, t: 4.279922 -0.531901 0.355430 q: 0.104720 0.795962 -0.149040 0.577291 
time: 1403638623.977829, t: 4.099813 -0.522686 0.385637 q: 0.107799 0.798160 -0.149587 0.573536 
time: 1403638624.177830, t: 3.913174 -0.505397 0.400438 q: 0.103957 0.798319 -0.155184 0.572536 
time: 1403638624.377830, t: 3.726329 -0.490117 0.397653 q: 0.101500 0.797565 -0.159716 0.572782 
time: 1403638624.577830, t: 3.536110 -0.476842 0.380827 q: 0.098092 0.789261 -0.164990 0.583286 
time: 1403638624.777829, t: 3.338604 -0.468255 0.353396 q: 0.104479 0.790754 -0.152761 0.583486 
time: 1403638624.977829, t: 3.127861 -0.446914 0.354395 q: 0.098970 0.799935 -0.142386 0.574488 
time: 1403638625.177830, t: 2.917104 -0.422856 0.357764 q: 0.085250 0.801875 -0.141679 0.574157 
time: 1403638625.377830, t: 2.706363 -0.401405 0.351796 q: 0.082322 0.802864 -0.139218 0.573803 
time: 1403638625.577830, t: 2.496916 -0.391807 0.362270 q: 0.082044 0.802915 -0.138188 0.574022 
time: 1403638625.777829, t: 2.283235 -0.385588 0.390127 q: 0.081099 0.809042 -0.139142 0.565256 
time: 1403638625.977829, t: 2.083056 -0.389384 0.410817 q: 0.082403 0.812198 -0.139617 0.560403 
time: 1403638626.177830, t: 1.886582 -0.397893 0.412806 q: 0.081080 0.814017 -0.141776 0.557406 
time: 1403638626.377830, t: 1.697325 -0.411942 0.396575 q: 0.091750 0.810595 -0.135198 0.562352 
time: 1403638626.577830, t: 1.517252 -0.422214 0.366033 q: 0.094903 0.811595 -0.132261 0.561083 
time: 1403638626.777829, t: 1.347580 -0.429670 0.339126 q: 0.091211 0.817375 -0.134405 0.552733 
time: 1403638626.977829, t: 1.203300 -0.439663 0.338601 q: 0.090040 0.821012 -0.134195 0.547562 
time: 1403638627.177830, t: 1.078134 -0.449556 0.335057 q: 0.088652 0.821069 -0.133684 0.547827 
time: 1403638627.377830, t: 0.964508 -0.455183 0.313612 q: 0.092091 0.820314 -0.130647 0.549122 
time: 1403638627.577830, t: 0.880770 -0.463928 0.295263 q: 0.093555 0.819677 -0.129902 0.550002 
time: 1403638627.777829, t: 0.810387 -0.468600 0.270076 q: 0.097261 0.814867 -0.128308 0.556839 
time: 1403638628.177830, t: 0.701557 -0.462659 0.218978 q: 0.100554 0.818049 -0.128958 0.551412 
time: 1403638628.377830, t: 0.669007 -0.443159 0.201289 q: 0.099574 0.818881 -0.131265 0.549808 
time: 1403638628.577830, t: 0.656436 -0.413753 0.194080 q: 0.085801 0.809134 -0.142024 0.563711 
time: 1403638628.777829, t: 0.642575 -0.400834 0.190374 q: 0.081981 0.806337 -0.145352 0.567426 
time: 1403638628.977829, t: 0.625466 -0.399546 0.168440 q: 0.091159 0.807500 -0.139450 0.565851 
time: 1403638629.177830, t: 0.605810 -0.396788 0.154876 q: 0.098239 0.809738 -0.133918 0.562796 
optimize pose graph 
time: 1403638629.377830, t: 0.575989 -0.378525 0.142357 q: 0.099806 0.812897 -0.133290 0.558096 
time: 1403638629.577830, t: 0.563224 -0.362861 0.146041 q: 0.095013 0.820454 -0.137602 0.546712 
time: 1403638629.777829, t: 0.571888 -0.349745 0.153301 q: 0.077237 0.813042 -0.151419 0.556839 
time: 1403638629.977829, t: 0.585819 -0.352283 0.145032 q: 0.086172 0.801073 -0.146370 0.573962 
time: 1403638630.177830, t: 0.587097 -0.360574 0.100538 q: 0.099254 0.800166 -0.136663 0.575506 
time: 1403638630.377830, t: 0.586045 -0.358166 0.040066 q: 0.096753 0.823996 -0.136400 0.541354 
time: 1403638630.577830, t: 0.609561 -0.354979 0.049733 q: 0.095265 0.805334 -0.136253 0.569032 
time: 1403638630.777829, t: 0.617107 -0.359342 0.022296 q: 0.095888 0.830726 -0.127016 0.533447 
time: 1403638630.977829, t: 0.604100 -0.358355 0.013919 q: 0.091294 0.829132 -0.128520 0.536366 
time: 1403638631.177830, t: 0.604189 -0.377445 0.014852 q: 0.091162 0.829395 -0.127915 0.536126 
time: 1403638631.377830, t: 0.626119 -0.374934 0.036841 q: 0.091680 0.829941 -0.127885 0.535198 
time: 1403638631.577830, t: 0.633232 -0.367559 0.039399 q: 0.091459 0.829789 -0.128441 0.535340 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720563623.011271125]: Shutdown request received.[0m
[33m[ WARN] [1720563623.011345484]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720563623.012314372]: Shutdown request received.[0m
[33m[ WARN] [1720563623.012352450]: Reason given for shutdown: [user request][0m
killed
