/SLAM-Hive/slam_hive_results/mapping_results/3369/2040_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/cdb97a6c-9d67-11ef-b9b0-0242ac110002/roslaunch-80ebedf25c55-118.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
[31m[ERROR] [1731025463.316531415]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731025463.332063669]: init begins[0m
[31m[ERROR] [1731025463.333830524]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://80ebedf25c55:41051/[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] [1731025464.239636863]: 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] [1731025464.244880693]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731025464.245074783]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731025464.245096445]: ROW: 480 COL: 752 [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
set g       0       0 9.81007
[0m[ INFO] [1731025464.256997293]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731025464.257386105]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://80ebedf25c55:11311/[0m
]2;roscore http://80ebedf25c55:11311/
[1msetting /run_id to cdb97a6c-9d67-11ef-b9b0-0242ac110002[0m
[0m[ INFO] [1731025464.272043761]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
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
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1731025473.174471203]: 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: 327388616.58 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
wait for imu ... 
[33m[ WARN] [1731025476.649616533]: gyroscope bias initial calibration 0.00132595  0.0080178  0.0885517[0m
[0m[ INFO] [1731025476.734740515]: Initialization finish![0m
time: 1403636859.701667, t: 0.010694 -0.066735 0.228004 q: -0.034346 0.812546 0.043890 0.580226 
time: 1403636859.801666, t: 0.014216 -0.068584 0.277785 q: -0.025490 0.805992 0.043507 0.589775 
time: 1403636859.901666, t: 0.014804 -0.069291 0.322974 q: -0.018255 0.802080 0.044431 0.595282 
time: 1403636860.001667, t: 0.013743 -0.070174 0.358329 q: -0.015794 0.801126 0.043033 0.596737 
time: 1403636860.101666, t: 0.015020 -0.074160 0.368944 q: -0.014403 0.803654 0.039487 0.593610 
time: 1403636860.201667, t: 0.016702 -0.080052 0.346752 q: -0.016552 0.808512 0.037710 0.587037 
time: 1403636860.301666, t: 0.016617 -0.083873 0.297757 q: -0.022739 0.816962 0.035554 0.575145 
time: 1403636860.401666, t: 0.013758 -0.087729 0.239696 q: -0.025371 0.829717 0.032038 0.556686 
time: 1403636860.501667, t: 0.009186 -0.091188 0.183825 q: -0.028943 0.842971 0.028524 0.536422 
time: 1403636860.601666, t: 0.004865 -0.093167 0.138677 q: -0.034011 0.852875 0.027038 0.520305 
time: 1403636860.701667, t: -0.000246 -0.094935 0.108710 q: -0.038352 0.856587 0.029887 0.513706 
wait for imu ... 
time: 1403636860.801666, t: -0.003591 -0.096236 0.100656 q: -0.034802 0.856311 0.036380 0.514001 
time: 1403636860.901666, t: -0.004858 -0.097022 0.120456 q: -0.032198 0.855607 0.042601 0.514864 
wait for imu ... 
time: 1403636861.001667, t: -0.003591 -0.097607 0.164533 q: -0.031854 0.853377 0.046899 0.518202 
time: 1403636861.101666, t: -0.000097 -0.098359 0.222824 q: -0.032086 0.846004 0.046871 0.530142 
time: 1403636861.201667, t: 0.004788 -0.099468 0.285755 q: -0.031669 0.833931 0.046389 0.549003 
time: 1403636861.301666, t: 0.008516 -0.101389 0.348037 q: -0.033011 0.820202 0.045663 0.569293 
time: 1403636861.401666, t: 0.010903 -0.104292 0.398968 q: -0.034405 0.808963 0.042037 0.585345 
time: 1403636861.601666, t: 0.013577 -0.110090 0.414492 q: -0.032023 0.802732 0.038411 0.594240 
time: 1403636861.701667, t: 0.014862 -0.111014 0.376830 q: -0.033517 0.809206 0.039235 0.585255 
time: 1403636861.801666, t: 0.014216 -0.110541 0.323904 q: -0.032778 0.816125 0.041741 0.575433 
time: 1403636861.901666, t: 0.010787 -0.108265 0.266545 q: -0.036212 0.823958 0.043584 0.563811 
time: 1403636862.001667, t: 0.006708 -0.104398 0.208317 q: -0.040156 0.835555 0.043111 0.546238 
time: 1403636862.101666, t: 0.002628 -0.099641 0.155465 q: -0.043585 0.844744 0.040904 0.531822 
time: 1403636862.201667, t: -0.000229 -0.096319 0.116805 q: -0.046510 0.849430 0.041880 0.523977 
time: 1403636862.301666, t: -0.002608 -0.096005 0.103954 q: -0.041090 0.853072 0.047367 0.518011 
time: 1403636862.401666, t: -0.002454 -0.096347 0.124223 q: -0.039616 0.856115 0.050581 0.512775 
time: 1403636862.501667, t: -0.000665 -0.097194 0.171673 q: -0.038510 0.854031 0.051043 0.516278 
time: 1403636862.601666, t: 0.005133 -0.100124 0.233582 q: -0.027611 0.848067 0.049313 0.526866 
time: 1403636862.701667, t: 0.010977 -0.101776 0.301423 q: -0.019637 0.840254 0.046902 0.539803 
time: 1403636862.801666, t: 0.015484 -0.101655 0.370003 q: -0.021410 0.835428 0.039931 0.547729 
time: 1403636862.901666, t: 0.017565 -0.101606 0.434244 q: -0.024535 0.832284 0.031333 0.552918 
time: 1403636863.001667, t: 0.016130 -0.101732 0.478185 q: -0.029300 0.826702 0.027764 0.561190 
time: 1403636863.101666, t: 0.015062 -0.103775 0.487304 q: -0.023388 0.820654 0.032282 0.570033 
time: 1403636863.201667, t: 0.014302 -0.105138 0.462024 q: -0.015326 0.818151 0.037800 0.573555 
time: 1403636863.301666, t: 0.013802 -0.104578 0.410510 q: -0.009547 0.819518 0.041404 0.571476 
time: 1403636863.401666, t: 0.013512 -0.104518 0.346916 q: -0.003660 0.821751 0.040951 0.568361 
time: 1403636863.501667, t: 0.011592 -0.104321 0.277998 q: -0.004133 0.826542 0.036380 0.561682 
time: 1403636863.601666, t: 0.006468 -0.103724 0.210143 q: -0.016187 0.834502 0.033594 0.549741 
time: 1403636863.801666, t: -0.001994 -0.104969 0.113209 q: -0.030383 0.850874 0.027969 0.523744 
time: 1403636863.901666, t: -0.004468 -0.106478 0.108097 q: -0.031018 0.856462 0.029333 0.514441 
time: 1403636864.001667, t: -0.005223 -0.107853 0.139735 q: -0.033580 0.857452 0.032332 0.512448 
time: 1403636864.101666, t: -0.004439 -0.108545 0.198972 q: -0.031883 0.853834 0.037358 0.518224 
time: 1403636864.201667, t: -0.001297 -0.109165 0.271872 q: -0.023701 0.849209 0.039367 0.526053 
time: 1403636864.301666, t: 0.002328 -0.107326 0.342273 q: -0.022603 0.846177 0.039267 0.530973 
wait for imu ... 
time: 1403636864.401666, t: 0.005080 -0.104482 0.403895 q: -0.024626 0.842296 0.036786 0.537194 
time: 1403636864.501667, t: 0.007721 -0.102655 0.455146 q: -0.026594 0.832421 0.029173 0.552736 
time: 1403636864.601666, t: 0.010390 -0.099820 0.483726 q: -0.031054 0.820883 0.023394 0.569771 
time: 1403636864.701667, t: 0.010810 -0.099682 0.480175 q: -0.025481 0.815454 0.026525 0.577653 
time: 1403636864.801666, t: 0.010737 -0.100159 0.445669 q: -0.019781 0.818142 0.031751 0.573797 
time: 1403636865.001667, t: 0.010881 -0.100304 0.330231 q: -0.011462 0.829764 0.031804 0.557089 
time: 1403636865.101666, t: 0.011281 -0.100770 0.268532 q: -0.010856 0.836936 0.031213 0.546302 
wait for imu ... 
time: 1403636865.201667, t: 0.011437 -0.099870 0.212990 q: -0.026073 0.842387 0.022624 0.537767 
time: 1403636865.301666, t: 0.010506 -0.099212 0.170171 q: -0.039747 0.844766 0.016933 0.533389 
time: 1403636865.401666, t: 0.010527 -0.099207 0.143296 q: -0.038999 0.845823 0.016659 0.531775 
time: 1403636865.501667, t: 0.010803 -0.099017 0.137540 q: -0.031681 0.850397 0.022908 0.524687 
wait for imu ... 
time: 1403636865.601666, t: 0.011734 -0.097445 0.160494 q: -0.028683 0.855871 0.028911 0.515584 
time: 1403636865.701667, t: 0.011688 -0.093107 0.207772 q: -0.032960 0.855284 0.031971 0.516120 
time: 1403636865.801666, t: 0.013128 -0.089066 0.269358 q: -0.035978 0.848594 0.031447 0.526882 
time: 1403636865.901666, t: 0.015823 -0.087085 0.337438 q: -0.038954 0.838723 0.028885 0.542395 
time: 1403636866.001667, t: 0.017405 -0.085770 0.406014 q: -0.042744 0.824808 0.025501 0.563218 
time: 1403636866.101666, t: 0.016706 -0.085386 0.467635 q: -0.041564 0.809102 0.021834 0.585789 
time: 1403636866.201667, t: 0.013580 -0.085757 0.510495 q: -0.037890 0.798979 0.022642 0.599736 
time: 1403636866.301666, t: 0.011198 -0.085950 0.522858 q: -0.031747 0.798354 0.024359 0.600858 
time: 1403636866.401666, t: 0.011326 -0.086492 0.504278 q: -0.023682 0.804571 0.025784 0.592824 
time: 1403636866.501667, t: 0.011798 -0.087125 0.461207 q: -0.020430 0.811301 0.027350 0.583632 
time: 1403636866.601666, t: 0.012771 -0.089655 0.404595 q: -0.017634 0.817807 0.027718 0.574554 
time: 1403636866.701667, t: 0.012901 -0.095039 0.351317 q: -0.013291 0.825140 0.027975 0.564079 
time: 1403636866.801666, t: 0.008186 -0.099651 0.308988 q: -0.016768 0.830930 0.031921 0.555207 
time: 1403636866.901666, t: 0.003844 -0.101810 0.273692 q: -0.028665 0.837430 0.034330 0.544711 
time: 1403636867.001667, t: -0.003485 -0.102998 0.246146 q: -0.037940 0.845989 0.034198 0.530749 
time: 1403636867.101666, t: -0.009382 -0.103218 0.229457 q: -0.038505 0.852218 0.034181 0.520648 
time: 1403636867.201667, t: -0.018524 -0.103126 0.222556 q: -0.045536 0.855366 0.036689 0.514713 
time: 1403636867.301666, t: -0.029055 -0.102475 0.222385 q: -0.054714 0.857438 0.043142 0.509849 
time: 1403636867.401666, t: -0.036673 -0.102965 0.226650 q: -0.054982 0.860852 0.045715 0.503806 
time: 1403636867.501667, t: -0.044600 -0.102845 0.232724 q: -0.050796 0.867623 0.046590 0.492423 
time: 1403636867.601666, t: -0.053690 -0.103506 0.234462 q: -0.044867 0.882772 0.050481 0.464921 
time: 1403636867.701667, t: -0.064389 -0.104584 0.230541 q: -0.043659 0.906665 0.051243 0.416444 
time: 1403636867.801666, t: -0.074577 -0.106918 0.224808 q: -0.039269 0.930507 0.049344 0.360805 
time: 1403636867.901666, t: -0.080133 -0.108975 0.222836 q: -0.036036 0.943216 0.043877 0.327293 
time: 1403636868.001667, t: -0.080140 -0.108056 0.226740 q: -0.036302 0.943912 0.039285 0.325835 
time: 1403636868.101666, t: -0.080152 -0.106669 0.232526 q: -0.037350 0.938751 0.038320 0.340415 
time: 1403636868.201667, t: -0.083233 -0.105530 0.235895 q: -0.039963 0.934971 0.038557 0.350351 
time: 1403636868.301666, t: -0.089259 -0.103554 0.237049 q: -0.042184 0.934985 0.037116 0.350209 
time: 1403636868.401666, t: -0.097143 -0.099015 0.237204 q: -0.043915 0.936296 0.033840 0.346809 
time: 1403636868.501667, t: -0.105100 -0.092536 0.238991 q: -0.042024 0.933994 0.031280 0.353428 
time: 1403636868.601666, t: -0.112307 -0.086616 0.244015 q: -0.038358 0.930550 0.026546 0.363181 
time: 1403636868.701667, t: -0.119809 -0.082554 0.248706 q: -0.036751 0.930790 0.024113 0.362902 
time: 1403636868.801666, t: -0.128342 -0.078480 0.249927 q: -0.036450 0.933523 0.029154 0.355466 
optimize pose graph 
time: 1403636868.901666, t: -0.133398 -0.074886 0.250699 q: -0.032625 0.934341 0.033837 0.353266 
time: 1403636869.001667, t: -0.135079 -0.070090 0.252059 q: -0.034913 0.932023 0.035808 0.358932 
time: 1403636869.101666, t: -0.135568 -0.066368 0.253290 q: -0.040982 0.930100 0.037215 0.363111 
time: 1403636869.201667, t: -0.136077 -0.063327 0.252248 q: -0.044158 0.929604 0.039587 0.363756 
time: 1403636869.301666, t: -0.135193 -0.062037 0.250576 q: -0.044291 0.929686 0.041619 0.363304 
time: 1403636869.401666, t: -0.133547 -0.061408 0.249416 q: -0.045781 0.929492 0.042519 0.363511 
time: 1403636869.501667, t: -0.131760 -0.063204 0.248595 q: -0.046148 0.929434 0.042455 0.363622 
time: 1403636869.601666, t: -0.128696 -0.071747 0.247715 q: -0.045698 0.929592 0.041699 0.363362 
time: 1403636869.701667, t: -0.123210 -0.090139 0.246728 q: -0.043958 0.931139 0.040658 0.359715 
time: 1403636869.801666, t: -0.114272 -0.117642 0.246460 q: -0.041612 0.932269 0.037125 0.357442 
time: 1403636869.901666, t: -0.100549 -0.153031 0.247340 q: -0.038216 0.930819 0.030201 0.362221 
time: 1403636870.001667, t: -0.084274 -0.194698 0.247554 q: -0.035189 0.929018 0.022488 0.367670 
time: 1403636870.101666, t: -0.067045 -0.241213 0.246814 q: -0.031324 0.929983 0.013846 0.366005 
time: 1403636870.201667, t: -0.048851 -0.290949 0.247192 q: -0.024303 0.932375 0.009238 0.360556 
time: 1403636870.301666, t: -0.029985 -0.340495 0.248321 q: -0.021716 0.932074 0.005113 0.361581 
time: 1403636870.401666, t: -0.011883 -0.389947 0.248589 q: -0.017010 0.929314 0.000553 0.368899 
time: 1403636870.501667, t: 0.003068 -0.434140 0.245425 q: -0.014400 0.928808 -0.004760 0.370250 
time: 1403636870.601666, t: 0.013736 -0.470329 0.240525 q: -0.011396 0.931652 -0.011548 0.362989 
time: 1403636870.701667, t: 0.022297 -0.499519 0.236725 q: -0.003736 0.932678 -0.015848 0.360341 
time: 1403636870.801666, t: 0.030365 -0.517658 0.233056 q: -0.006336 0.929375 -0.020454 0.368515 
time: 1403636870.901666, t: 0.034179 -0.528818 0.228222 q: -0.009929 0.925377 -0.022012 0.378277 
time: 1403636871.001667, t: 0.034888 -0.533400 0.223673 q: -0.014945 0.923383 -0.023964 0.382840 
time: 1403636871.101666, t: 0.034003 -0.533182 0.218331 q: -0.016397 0.926161 -0.027785 0.375745 
time: 1403636871.201667, t: 0.032232 -0.529074 0.217451 q: -0.009595 0.929990 -0.030260 0.366212 
time: 1403636871.301666, t: 0.029506 -0.517208 0.221014 q: -0.009138 0.929902 -0.031496 0.366342 
time: 1403636871.401666, t: 0.024153 -0.496519 0.224903 q: -0.008381 0.929430 -0.027284 0.367894 
time: 1403636871.501667, t: 0.017061 -0.465217 0.228017 q: -0.010051 0.929091 -0.023195 0.368987 
time: 1403636871.601666, t: 0.007924 -0.424825 0.230910 q: -0.012398 0.929608 -0.021085 0.367738 
time: 1403636871.701667, t: -0.003226 -0.376403 0.235077 q: -0.019837 0.930542 -0.018373 0.365185 
time: 1403636871.801666, t: -0.014083 -0.323030 0.238414 q: -0.027487 0.930762 -0.013939 0.364324 
time: 1403636871.901666, t: -0.023785 -0.267649 0.239378 q: -0.031056 0.930179 -0.006910 0.365726 
time: 1403636872.001667, t: -0.032116 -0.208566 0.239018 q: -0.039708 0.927801 -0.001209 0.370955 
time: 1403636872.101666, t: -0.039435 -0.149954 0.236768 q: -0.049295 0.925104 0.005402 0.376462 
time: 1403636872.201667, t: -0.047256 -0.097030 0.233260 q: -0.053470 0.924556 0.011806 0.377092 
time: 1403636872.301666, t: -0.056106 -0.049561 0.228145 q: -0.058360 0.926667 0.019592 0.370809 
time: 1403636872.401666, t: -0.064037 -0.011596 0.223212 q: -0.062398 0.929105 0.027239 0.363494 
time: 1403636872.501667, t: -0.068230 0.012890 0.220762 q: -0.064955 0.929744 0.031817 0.361033 
time: 1403636872.601666, t: -0.070480 0.022148 0.221739 q: -0.066552 0.928370 0.036517 0.363822 
time: 1403636872.701667, t: -0.070683 0.019355 0.224023 q: -0.065535 0.926503 0.039395 0.368436 
time: 1403636872.801666, t: -0.068625 0.006310 0.225507 q: -0.061326 0.926628 0.038814 0.368908 
time: 1403636872.901666, t: -0.062416 -0.019475 0.225225 q: -0.059085 0.927840 0.033730 0.366720 
time: 1403636873.001667, t: -0.052805 -0.058894 0.223747 q: -0.053858 0.928653 0.028023 0.365948 
time: 1403636873.101666, t: -0.040529 -0.107922 0.221742 q: -0.048838 0.928819 0.022553 0.366607 
time: 1403636873.201667, t: -0.026316 -0.163216 0.220325 q: -0.045030 0.929761 0.015081 0.365089 
time: 1403636873.301666, t: -0.010917 -0.222431 0.219501 q: -0.040573 0.930567 0.006544 0.363809 
time: 1403636873.401666, t: 0.003041 -0.282508 0.218251 q: -0.036195 0.931124 -0.000604 0.362901 
time: 1403636873.501667, t: 0.014751 -0.340177 0.215366 q: -0.032858 0.931971 -0.006912 0.360975 
time: 1403636873.601666, t: 0.022587 -0.392876 0.211415 q: -0.025503 0.933652 -0.013969 0.357000 
time: 1403636873.701667, t: 0.028756 -0.436507 0.205600 q: -0.019905 0.935014 -0.019998 0.353488 
time: 1403636873.801666, t: 0.031445 -0.468287 0.200415 q: -0.019311 0.936083 -0.021348 0.350600 
time: 1403636873.901666, t: 0.032008 -0.486640 0.196639 q: -0.019467 0.936006 -0.023713 0.350644 
time: 1403636874.001667, t: 0.032210 -0.493333 0.193889 q: -0.017497 0.935365 -0.026751 0.352237 
time: 1403636874.101666, t: 0.032258 -0.491413 0.192556 q: -0.016772 0.935370 -0.027861 0.352171 
time: 1403636874.201667, t: 0.031522 -0.481961 0.193359 q: -0.017391 0.936026 -0.026856 0.350475 
time: 1403636874.301666, t: 0.028883 -0.461709 0.195521 q: -0.018792 0.936950 -0.022104 0.348258 
time: 1403636874.401666, t: 0.025427 -0.427330 0.196976 q: -0.024369 0.937615 -0.016499 0.346428 
time: 1403636874.501667, t: 0.020810 -0.381592 0.198843 q: -0.029639 0.936913 -0.011207 0.348123 
time: 1403636874.601666, t: 0.014419 -0.328774 0.201110 q: -0.032477 0.935301 -0.005564 0.352315 
time: 1403636874.701667, t: 0.006016 -0.268990 0.201073 q: -0.038775 0.934091 0.001807 0.354918 
time: 1403636874.901666, t: -0.008759 -0.152865 0.193280 q: -0.053455 0.934060 0.012264 0.352879 
time: 1403636875.001667, t: -0.013324 -0.107236 0.189578 q: -0.058879 0.933399 0.015871 0.353622 
time: 1403636875.101666, t: -0.012932 -0.073171 0.186769 q: -0.057093 0.928727 0.010850 0.366182 
time: 1403636875.201667, t: -0.014224 -0.046846 0.184279 q: -0.049088 0.921912 -0.005700 0.384235 
time: 1403636875.301666, t: -0.020883 -0.025134 0.181077 q: -0.041927 0.917298 -0.030010 0.394849 
time: 1403636875.401666, t: -0.033307 -0.007582 0.177468 q: -0.041155 0.915969 -0.056993 0.395042 
time: 1403636875.501667, t: -0.056346 0.002597 0.175174 q: -0.044371 0.916806 -0.076870 0.389343 
time: 1403636875.601666, t: -0.089445 0.001172 0.173820 q: -0.047697 0.918018 -0.091335 0.382918 
time: 1403636875.701667, t: -0.126646 -0.013110 0.173787 q: -0.044071 0.917498 -0.104057 0.381350 
time: 1403636875.801666, t: -0.164231 -0.037709 0.173076 q: -0.033288 0.915584 -0.119210 0.382606 
time: 1403636875.901666, t: -0.201021 -0.068677 0.171978 q: -0.020838 0.914918 -0.137191 0.379036 
time: 1403636876.001667, t: -0.233326 -0.106772 0.173665 q: -0.005972 0.912427 -0.159515 0.376824 
time: 1403636876.101666, t: -0.255775 -0.152955 0.178502 q: 0.014995 0.906618 -0.181727 0.380519 
time: 1403636876.201667, t: -0.265662 -0.202271 0.182790 q: 0.032338 0.899949 -0.201896 0.385077 
time: 1403636876.301666, t: -0.260516 -0.253561 0.183742 q: 0.043821 0.896516 -0.218213 0.383043 
time: 1403636876.401666, t: -0.242040 -0.307859 0.182774 q: 0.052358 0.895765 -0.230656 0.376378 
time: 1403636876.501667, t: -0.207667 -0.362720 0.181726 q: 0.064348 0.894524 -0.235438 0.374507 
time: 1403636876.601666, t: -0.160764 -0.411994 0.183500 q: 0.073966 0.891704 -0.229615 0.382974 
time: 1403636876.701667, t: -0.103873 -0.449631 0.186598 q: 0.076110 0.889940 -0.216337 0.394223 
time: 1403636876.801666, t: -0.043694 -0.469374 0.190476 q: 0.071815 0.891263 -0.195960 0.402607 
time: 1403636876.901666, t: 0.014937 -0.467865 0.193428 q: 0.064059 0.893659 -0.169150 0.410680 
optimize pose graph 
time: 1403636877.001667, t: 0.070396 -0.444166 0.194041 q: 0.049037 0.895284 -0.138610 0.420535 
time: 1403636877.101666, t: 0.118331 -0.401336 0.193416 q: 0.028261 0.897718 -0.102069 0.427651 
time: 1403636877.201667, t: 0.155657 -0.342672 0.192517 q: 0.004057 0.900389 -0.062127 0.430609 
time: 1403636877.301666, t: 0.180357 -0.274089 0.192718 q: -0.020163 0.901913 -0.025381 0.430700 
time: 1403636877.401666, t: 0.186581 -0.201402 0.192750 q: -0.041593 0.902587 0.011034 0.428352 
time: 1403636877.501667, t: 0.176686 -0.131170 0.190720 q: -0.061876 0.903589 0.041526 0.421869 
time: 1403636877.601666, t: 0.150723 -0.070915 0.186260 q: -0.079611 0.906266 0.061148 0.410615 
time: 1403636877.701667, t: 0.112140 -0.023948 0.181606 q: -0.093360 0.909469 0.071747 0.398752 
time: 1403636877.801666, t: 0.063814 0.007392 0.178951 q: -0.100225 0.913089 0.072094 0.388620 
time: 1403636877.901666, t: 0.012075 0.024451 0.174877 q: -0.098884 0.917694 0.063131 0.379571 
time: 1403636878.001667, t: -0.040574 0.026104 0.170107 q: -0.089971 0.922746 0.049062 0.371535 
time: 1403636878.101666, t: -0.089271 0.013114 0.164669 q: -0.075435 0.926052 0.029070 0.368636 
time: 1403636878.201667, t: -0.131234 -0.015105 0.159648 q: -0.060161 0.926604 0.004160 0.371173 
time: 1403636878.301666, t: -0.165874 -0.056496 0.154769 q: -0.048080 0.925465 -0.022281 0.375109 
time: 1403636878.501667, t: -0.202866 -0.166572 0.150061 q: -0.021838 0.921467 -0.076026 0.380318 
time: 1403636878.601666, t: -0.201862 -0.229064 0.154332 q: -0.004016 0.918753 -0.099071 0.382180 
time: 1403636878.701667, t: -0.186405 -0.291280 0.161814 q: 0.014661 0.915184 -0.116674 0.385501 
time: 1403636878.801666, t: -0.160952 -0.349961 0.171256 q: 0.029949 0.910802 -0.128009 0.391353 
time: 1403636878.901666, t: -0.125124 -0.399329 0.177849 q: 0.036664 0.908335 -0.134683 0.394265 
time: 1403636879.001667, t: -0.085473 -0.440748 0.182308 q: 0.037329 0.908624 -0.137135 0.392687 
time: 1403636879.101666, t: -0.040840 -0.466807 0.187213 q: 0.035592 0.907499 -0.137358 0.395364 
wait for imu ... 
time: 1403636879.201667, t: 0.007055 -0.479764 0.194448 q: 0.032506 0.902610 -0.132650 0.408218 
time: 1403636879.301666, t: 0.053114 -0.477170 0.202125 q: 0.029735 0.897911 -0.121632 0.421992 
time: 1403636879.401666, t: 0.093064 -0.458328 0.209110 q: 0.022829 0.895658 -0.101808 0.432332 
time: 1403636879.501667, t: 0.125144 -0.424181 0.214729 q: 0.009058 0.895826 -0.074671 0.437993 
time: 1403636879.601666, t: 0.144012 -0.377071 0.220441 q: -0.007163 0.897738 -0.047507 0.437903 
time: 1403636879.701667, t: 0.150524 -0.320771 0.226566 q: -0.026735 0.898911 -0.026560 0.436507 
time: 1403636879.801666, t: 0.142653 -0.261187 0.231475 q: -0.044454 0.900868 -0.008152 0.431735 
time: 1403636879.901666, t: 0.121674 -0.205960 0.233379 q: -0.055938 0.904295 0.006036 0.423185 
time: 1403636880.001667, t: 0.088028 -0.161872 0.234594 q: -0.062583 0.908060 0.014448 0.413885 
time: 1403636880.101666, t: 0.046976 -0.137762 0.235630 q: -0.064957 0.910712 0.018742 0.407471 
time: 1403636880.201667, t: 0.002355 -0.136752 0.237386 q: -0.060213 0.911419 0.014542 0.406791 
time: 1403636880.301666, t: -0.043490 -0.153748 0.239321 q: -0.047046 0.910111 -0.001536 0.411681 
time: 1403636880.401666, t: -0.088634 -0.179201 0.242729 q: -0.028262 0.907834 -0.023095 0.417737 
time: 1403636880.501667, t: -0.135785 -0.201731 0.250584 q: -0.008548 0.905262 -0.044715 0.422408 
time: 1403636880.601666, t: -0.183642 -0.212550 0.259827 q: 0.007352 0.904614 -0.062722 0.421528 
time: 1403636880.701667, t: -0.229588 -0.207147 0.267068 q: 0.014476 0.907204 -0.074117 0.413858 
time: 1403636880.801666, t: -0.268085 -0.186244 0.271714 q: 0.013366 0.910318 -0.079002 0.406081 
time: 1403636880.901666, t: -0.294705 -0.154614 0.274506 q: 0.004773 0.911364 -0.074635 0.404750 
time: 1403636881.001667, t: -0.306236 -0.117785 0.276337 q: -0.003962 0.908665 -0.063701 0.412618 
time: 1403636881.101666, t: -0.303080 -0.079576 0.278672 q: -0.011985 0.903996 -0.046907 0.424790 
time: 1403636881.201667, t: -0.287931 -0.041903 0.280191 q: -0.027330 0.900358 -0.026034 0.433511 
time: 1403636881.301666, t: -0.262036 -0.011403 0.282931 q: -0.044019 0.898064 -0.002974 0.437646 
time: 1403636881.401666, t: -0.224900 0.006071 0.285825 q: -0.052517 0.896499 0.016923 0.439596 
time: 1403636881.501667, t: -0.177865 0.008490 0.287759 q: -0.052715 0.893985 0.032274 0.443814 
time: 1403636881.601666, t: -0.125388 -0.004193 0.288429 q: -0.049248 0.890511 0.044911 0.450053 
time: 1403636881.701667, t: -0.071360 -0.031320 0.286379 q: -0.045424 0.888459 0.056285 0.453221 
time: 1403636881.801666, t: -0.018922 -0.069442 0.280912 q: -0.039505 0.889262 0.060247 0.451689 
time: 1403636881.901666, t: 0.025982 -0.113848 0.273426 q: -0.034727 0.891159 0.052425 0.449312 
time: 1403636882.001667, t: 0.059079 -0.162673 0.264510 q: -0.031845 0.892818 0.040093 0.447498 
time: 1403636882.101666, t: 0.077709 -0.212068 0.253708 q: -0.028181 0.892722 0.027859 0.448862 
time: 1403636882.201667, t: 0.080161 -0.255725 0.240160 q: -0.022121 0.891477 0.017795 0.452175 
time: 1403636882.301666, t: 0.068994 -0.286862 0.225580 q: -0.015800 0.888906 0.010853 0.457689 
time: 1403636882.401666, t: 0.049073 -0.300712 0.210149 q: -0.017751 0.886637 0.010464 0.462006 
time: 1403636882.601666, t: 0.019589 -0.282258 0.181516 q: -0.038264 0.881370 0.020418 0.470432 
time: 1403636882.701667, t: 0.024446 -0.261815 0.170899 q: -0.050805 0.871009 0.029931 0.487716 
time: 1403636882.801666, t: 0.040430 -0.239540 0.157421 q: -0.069223 0.854260 0.046576 0.513106 
time: 1403636882.901666, t: 0.060706 -0.218436 0.137980 q: -0.086743 0.838476 0.065821 0.533949 
optimize pose graph 
time: 1403636883.001667, t: 0.080082 -0.198411 0.113971 q: -0.104755 0.831090 0.085000 0.539529 
time: 1403636883.101666, t: 0.098424 -0.180581 0.089205 q: -0.116855 0.828385 0.103416 0.537986 
time: 1403636883.201667, t: 0.115329 -0.165294 0.066047 q: -0.119532 0.822575 0.118363 0.543206 
time: 1403636883.301666, t: 0.128622 -0.151981 0.045035 q: -0.123462 0.815998 0.128145 0.549985 
time: 1403636883.401666, t: 0.138475 -0.142485 0.028562 q: -0.128911 0.812173 0.132680 0.553310 
time: 1403636883.501667, t: 0.145579 -0.137018 0.018109 q: -0.134575 0.806782 0.137688 0.558600 
time: 1403636883.601666, t: 0.150778 -0.133186 0.011866 q: -0.140145 0.799270 0.144187 0.566337 
time: 1403636883.701667, t: 0.154971 -0.130403 0.006693 q: -0.143390 0.795507 0.152332 0.568685 
wait for imu ... 
time: 1403636883.801666, t: 0.157836 -0.129013 0.003083 q: -0.145904 0.794514 0.156247 0.568372 
time: 1403636883.901666, t: 0.159919 -0.128150 -0.001268 q: -0.153757 0.793201 0.157171 0.567881 
time: 1403636884.001667, t: 0.161747 -0.127789 -0.003506 q: -0.155382 0.790344 0.160292 0.570543 
time: 1403636884.101666, t: 0.162397 -0.128464 -0.004755 q: -0.161308 0.785907 0.161501 0.574672 
time: 1403636884.201667, t: 0.162279 -0.129544 -0.004703 q: -0.159090 0.782203 0.163777 0.579677 
time: 1403636884.301666, t: 0.161013 -0.129268 -0.004294 q: -0.158470 0.779806 0.163073 0.583265 
time: 1403636884.401666, t: 0.160485 -0.128990 -0.004227 q: -0.159603 0.779421 0.162416 0.583653 
time: 1403636884.501667, t: 0.160507 -0.129245 -0.004181 q: -0.158685 0.779331 0.162963 0.583871 
time: 1403636884.601666, t: 0.160414 -0.129098 -0.004047 q: -0.159024 0.779310 0.162677 0.583887 
time: 1403636884.701667, t: 0.160582 -0.129145 -0.004138 q: -0.158951 0.779563 0.162619 0.583585 
wait for imu ... 
time: 1403636884.801666, t: 0.160648 -0.129228 -0.004124 q: -0.158711 0.779618 0.162613 0.583579 
time: 1403636884.901666, t: 0.160666 -0.129241 -0.004117 q: -0.158722 0.779657 0.162536 0.583545 
optimize pose graph 
wait for imu ... 
time: 1403636885.001667, t: 0.160656 -0.129240 -0.004092 q: -0.158826 0.779752 0.162416 0.583423 
time: 1403636885.101666, t: 0.160614 -0.129222 -0.004077 q: -0.158888 0.779778 0.162239 0.583420 
time: 1403636885.201667, t: 0.160613 -0.129218 -0.004059 q: -0.158900 0.779855 0.162136 0.583343 
time: 1403636885.301666, t: 0.160626 -0.129252 -0.004049 q: -0.158817 0.779875 0.162145 0.583337 
time: 1403636885.401666, t: 0.160627 -0.129263 -0.004058 q: -0.158693 0.779884 0.162076 0.583378 
wait for imu ... 
time: 1403636885.501667, t: 0.160638 -0.129268 -0.004060 q: -0.158647 0.779899 0.162051 0.583377 
time: 1403636885.601666, t: 0.160599 -0.129290 -0.004036 q: -0.158566 0.779916 0.162019 0.583384 
time: 1403636885.701667, t: 0.160671 -0.129267 -0.004057 q: -0.158630 0.780037 0.161944 0.583226 
wait for imu ... 
time: 1403636885.801666, t: 0.160688 -0.129271 -0.004049 q: -0.158547 0.780038 0.161943 0.583248 
wait for imu ... 
time: 1403636885.901666, t: 0.160667 -0.129249 -0.004057 q: -0.158594 0.780112 0.161882 0.583153 
time: 1403636886.001667, t: 0.160662 -0.129244 -0.004051 q: -0.158637 0.780095 0.161845 0.583174 
time: 1403636886.101666, t: 0.160651 -0.129275 -0.004053 q: -0.158458 0.780109 0.161890 0.583191 
time: 1403636886.201667, t: 0.160659 -0.129290 -0.004056 q: -0.158333 0.780128 0.161938 0.583187 
time: 1403636886.301666, t: 0.160658 -0.129294 -0.004048 q: -0.158286 0.780120 0.161971 0.583201 
time: 1403636886.401666, t: 0.160653 -0.129275 -0.004054 q: -0.158398 0.780129 0.161906 0.583177 
wait for imu ... 
time: 1403636886.501667, t: 0.160638 -0.129274 -0.004056 q: -0.158400 0.780123 0.161901 0.583185 
time: 1403636886.601666, t: 0.160649 -0.129279 -0.004070 q: -0.158362 0.780137 0.161903 0.583177 
time: 1403636886.701667, t: 0.160653 -0.129287 -0.004068 q: -0.158332 0.780148 0.161909 0.583169 
wait for imu ... 
time: 1403636886.801666, t: 0.160649 -0.129295 -0.004070 q: -0.158326 0.780136 0.161927 0.583182 
time: 1403636886.901666, t: 0.160665 -0.129288 -0.004074 q: -0.158377 0.780173 0.161906 0.583123 
time: 1403636887.001667, t: 0.160655 -0.129283 -0.004073 q: -0.158246 0.780164 0.161955 0.583157 
time: 1403636887.101666, t: 0.160668 -0.129298 -0.004085 q: -0.158287 0.780173 0.161940 0.583139 
time: 1403636887.201667, t: 0.160659 -0.129302 -0.004090 q: -0.158307 0.780200 0.161903 0.583108 
time: 1403636887.301666, t: 0.160660 -0.129311 -0.004103 q: -0.158295 0.780211 0.161857 0.583109 
wait for imu ... 
time: 1403636887.401666, t: 0.160676 -0.129304 -0.004091 q: -0.158186 0.780235 0.161917 0.583089 
time: 1403636887.501667, t: 0.160678 -0.129309 -0.004103 q: -0.158165 0.780254 0.161935 0.583064 
time: 1403636887.601666, t: 0.160663 -0.129290 -0.004096 q: -0.158231 0.780231 0.161878 0.583093 
wait for imu ... 
time: 1403636887.701667, t: 0.160656 -0.129275 -0.004113 q: -0.158274 0.780248 0.161867 0.583063 
time: 1403636887.801666, t: 0.160657 -0.129276 -0.004104 q: -0.158289 0.780278 0.161865 0.583019 
wait for imu ... 
time: 1403636887.901666, t: 0.160654 -0.129274 -0.004094 q: -0.158240 0.780310 0.161859 0.582991 
wait for imu ... 
time: 1403636888.001667, t: 0.160670 -0.129284 -0.004102 q: -0.158196 0.780358 0.161851 0.582941 
time: 1403636888.101666, t: 0.160670 -0.129296 -0.004103 q: -0.158220 0.780336 0.161855 0.582962 
time: 1403636888.201667, t: 0.160669 -0.129309 -0.004132 q: -0.158244 0.780341 0.161832 0.582956 
wait for imu ... 
wait for imu ... 
time: 1403636888.301666, t: 0.160680 -0.129312 -0.004132 q: -0.158247 0.780331 0.161843 0.582964 
wait for imu ... 
time: 1403636888.601666, t: 0.160657 -0.129317 -0.004089 q: -0.158150 0.780359 0.161759 0.582977 
wait for imu ... 
time: 1403636888.701667, t: 0.160617 -0.129247 -0.004047 q: -0.158192 0.780206 0.161869 0.583140 
time: 1403636888.801666, t: 0.160586 -0.129149 -0.004049 q: -0.158226 0.780159 0.162108 0.583127 
time: 1403636888.901666, t: 0.160523 -0.129137 -0.004108 q: -0.158231 0.780359 0.161835 0.582934 
time: 1403636889.001667, t: 0.160580 -0.129129 -0.004039 q: -0.158537 0.780208 0.161984 0.583012 
time: 1403636889.101666, t: 0.160608 -0.129193 -0.004050 q: -0.158229 0.780315 0.161713 0.583027 
time: 1403636889.201667, t: 0.160646 -0.129224 -0.004054 q: -0.158256 0.780371 0.161635 0.582967 
time: 1403636889.301666, t: 0.160718 -0.129251 -0.004131 q: -0.158227 0.780385 0.161503 0.582992 
time: 1403636889.401666, t: 0.160790 -0.129254 -0.004125 q: -0.158386 0.780301 0.161822 0.582973 
time: 1403636889.501667, t: 0.160742 -0.129276 -0.004110 q: -0.158044 0.780340 0.161744 0.583036 
time: 1403636889.601666, t: 0.160690 -0.129367 -0.004079 q: -0.157836 0.780318 0.161604 0.583160 
time: 1403636889.701667, t: 0.160685 -0.129356 -0.004024 q: -0.157895 0.780174 0.161775 0.583289 
time: 1403636889.801666, t: 0.160642 -0.129327 -0.004030 q: -0.157979 0.780151 0.161886 0.583266 
time: 1403636889.901666, t: 0.160651 -0.129352 -0.004025 q: -0.157871 0.780280 0.161536 0.583221 
time: 1403636890.001667, t: 0.160660 -0.129350 -0.004054 q: -0.157964 0.780313 0.161771 0.583086 
wait for imu ... 
time: 1403636890.101666, t: 0.160679 -0.129482 -0.004001 q: -0.157703 0.780372 0.161048 0.583277 
time: 1403636890.201667, t: 0.160621 -0.129342 -0.003899 q: -0.158100 0.779978 0.161571 0.583552 
time: 1403636890.301666, t: 0.160576 -0.129267 -0.003970 q: -0.158120 0.780288 0.161990 0.583016 
time: 1403636890.401666, t: 0.160555 -0.129371 -0.004009 q: -0.157635 0.780509 0.161379 0.583021 
time: 1403636890.501667, t: 0.160594 -0.129395 -0.003941 q: -0.157664 0.780080 0.161173 0.583644 
time: 1403636890.601666, t: 0.160583 -0.129283 -0.003919 q: -0.158062 0.779946 0.162016 0.583482 
time: 1403636890.701667, t: 0.160555 -0.129297 -0.004028 q: -0.158005 0.780397 0.162007 0.582897 
time: 1403636890.801666, t: 0.160602 -0.129435 -0.003981 q: -0.157722 0.780394 0.161234 0.583192 
time: 1403636890.901666, t: 0.160612 -0.129413 -0.003866 q: -0.157844 0.780179 0.161341 0.583417 
wait for imu ... 
time: 1403636891.001667, t: 0.160572 -0.129394 -0.003940 q: -0.157973 0.780228 0.161380 0.583305 
time: 1403636891.101666, t: 0.160579 -0.129377 -0.003952 q: -0.157810 0.780254 0.161414 0.583305 
wait for imu ... 
time: 1403636891.201667, t: 0.160588 -0.129363 -0.003956 q: -0.157777 0.780219 0.161485 0.583342 
wait for imu ... 
time: 1403636891.301666, t: 0.160601 -0.129369 -0.003976 q: -0.157803 0.780239 0.161545 0.583292 
time: 1403636891.501667, t: 0.160612 -0.129362 -0.003978 q: -0.157830 0.780212 0.161545 0.583320 
time: 1403636891.601666, t: 0.160595 -0.129373 -0.003955 q: -0.157805 0.780267 0.161535 0.583255 
wait for imu ... 
time: 1403636891.701667, t: 0.160581 -0.129384 -0.003964 q: -0.157758 0.780251 0.161467 0.583309 
time: 1403636891.801666, t: 0.160589 -0.129357 -0.003978 q: -0.157797 0.780249 0.161484 0.583296 
time: 1403636891.901666, t: 0.160586 -0.129373 -0.003979 q: -0.157835 0.780244 0.161507 0.583286 
time: 1403636892.001667, t: 0.160583 -0.129372 -0.003981 q: -0.157749 0.780247 0.161498 0.583308 
time: 1403636892.101666, t: 0.160619 -0.129381 -0.004001 q: -0.157773 0.780251 0.161527 0.583289 
time: 1403636892.201667, t: 0.160601 -0.129380 -0.003993 q: -0.157726 0.780256 0.161534 0.583292 
time: 1403636892.301666, t: 0.160688 -0.129460 -0.004004 q: -0.157415 0.780273 0.161656 0.583319 
time: 1403636892.401666, t: 0.160653 -0.129431 -0.003984 q: -0.157580 0.780280 0.161348 0.583351 
time: 1403636892.501667, t: 0.160612 -0.129404 -0.003965 q: -0.157612 0.780212 0.161429 0.583411 
wait for imu ... 
time: 1403636892.601666, t: 0.160589 -0.129396 -0.003963 q: -0.157639 0.780215 0.161470 0.583388 
wait for imu ... 
time: 1403636892.701667, t: 0.160599 -0.129393 -0.003973 q: -0.157625 0.780203 0.161508 0.583398 
wait for imu ... 
time: 1403636892.801666, t: 0.160609 -0.129389 -0.003955 q: -0.157614 0.780183 0.161619 0.583397 
time: 1403636892.901666, t: 0.160622 -0.129400 -0.003980 q: -0.157597 0.780298 0.161561 0.583263 
wait for imu ... 
time: 1403636893.001667, t: 0.160636 -0.129414 -0.003985 q: -0.157539 0.780212 0.161596 0.583384 
time: 1403636893.101666, t: 0.160627 -0.129399 -0.003993 q: -0.157550 0.780198 0.161572 0.583406 
wait for imu ... 
time: 1403636893.201667, t: 0.160610 -0.129387 -0.004002 q: -0.157593 0.780223 0.161536 0.583372 
wait for imu ... 
time: 1403636893.301666, t: 0.160615 -0.129389 -0.004012 q: -0.157627 0.780223 0.161531 0.583364 
time: 1403636893.401666, t: 0.160624 -0.129396 -0.004001 q: -0.157614 0.780255 0.161542 0.583321 
wait for imu ... 
time: 1403636893.501667, t: 0.160636 -0.129405 -0.004007 q: -0.157580 0.780254 0.161530 0.583335 
time: 1403636893.601666, t: 0.160632 -0.129405 -0.004005 q: -0.157524 0.780257 0.161519 0.583350 
time: 1403636893.701667, t: 0.160643 -0.129403 -0.004001 q: -0.157536 0.780240 0.161602 0.583346 
wait for imu ... 
time: 1403636893.801666, t: 0.160631 -0.129387 -0.003998 q: -0.157557 0.780289 0.161547 0.583291 
wait for imu ... 
time: 1403636893.901666, t: 0.160625 -0.129397 -0.004006 q: -0.157595 0.780297 0.161508 0.583280 
wait for imu ... 
time: 1403636894.001667, t: 0.160608 -0.129394 -0.004004 q: -0.157608 0.780311 0.161461 0.583271 
time: 1403636894.101666, t: 0.160585 -0.129392 -0.003997 q: -0.157553 0.780333 0.161445 0.583261 
wait for imu ... 
time: 1403636894.201667, t: 0.160612 -0.129419 -0.004028 q: -0.157578 0.780296 0.161459 0.583300 
wait for imu ... 
time: 1403636894.301666, t: 0.160604 -0.129393 -0.004029 q: -0.157571 0.780268 0.161437 0.583345 
time: 1403636894.401666, t: 0.160615 -0.129408 -0.004021 q: -0.157553 0.780320 0.161464 0.583273 
wait for imu ... 
time: 1403636894.501667, t: 0.160626 -0.129405 -0.004028 q: -0.157610 0.780293 0.161484 0.583288 
time: 1403636894.601666, t: 0.160333 -0.129083 -0.004181 q: -0.158680 0.779170 0.162550 0.584202 
time: 1403636894.701667, t: 0.160332 -0.129072 -0.004177 q: -0.158897 0.779075 0.162655 0.584241 
time: 1403636894.801666, t: 0.160338 -0.129061 -0.004179 q: -0.158931 0.779095 0.162699 0.584193 
time: 1403636894.901666, t: 0.160388 -0.129097 -0.004159 q: -0.158742 0.779082 0.162650 0.584275 
wait for imu ... 
time: 1403636895.001667, t: 0.160400 -0.129097 -0.004165 q: -0.158823 0.779083 0.162719 0.584232 
time: 1403636895.101666, t: 0.160397 -0.129085 -0.004152 q: -0.158874 0.779099 0.162719 0.584197 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636895.201667, t: 0.160389 -0.129083 -0.004156 q: -0.158862 0.779058 0.162636 0.584278 
wait for imu ... 
time: 1403636895.301666, t: 0.160371 -0.129057 -0.004147 q: -0.158900 0.779045 0.162644 0.584283 
time: 1403636895.401666, t: 0.160358 -0.129049 -0.004144 q: -0.158853 0.779068 0.162684 0.584253 
time: 1403636895.501667, t: 0.160373 -0.129066 -0.004149 q: -0.158883 0.779020 0.162729 0.584298 
time: 1403636895.601666, t: 0.160372 -0.129065 -0.004118 q: -0.158876 0.779080 0.162710 0.584225 
time: 1403636895.701667, t: 0.160391 -0.129079 -0.004140 q: -0.158854 0.779015 0.162754 0.584305 
time: 1403636895.801666, t: 0.160390 -0.129073 -0.004106 q: -0.158754 0.778957 0.162800 0.584396 
wait for imu ... 
time: 1403636895.901666, t: 0.160412 -0.129079 -0.004101 q: -0.158808 0.778979 0.162906 0.584323 
time: 1403636896.001667, t: 0.160389 -0.129068 -0.004075 q: -0.158787 0.779007 0.162955 0.584278 
time: 1403636896.101666, t: 0.160592 -0.129112 -0.004156 q: -0.158894 0.779447 0.162993 0.583651 
time: 1403636896.201667, t: 0.160862 -0.129176 -0.004347 q: -0.158992 0.780120 0.162968 0.582731 
wait for imu ... 
time: 1403636896.301666, t: 0.160830 -0.129208 -0.004303 q: -0.158904 0.779999 0.163159 0.582864 
time: 1403636896.401666, t: 0.160669 -0.129171 -0.004199 q: -0.158851 0.779621 0.163224 0.583366 
wait for imu ... 
wait for imu ... 
time: 1403636896.601666, t: 0.160609 -0.129166 -0.004139 q: -0.158783 0.779450 0.163249 0.583606 
time: 1403636896.701667, t: 0.160757 -0.129223 -0.004160 q: -0.158832 0.779726 0.163381 0.583186 
time: 1403636896.801666, t: 0.160824 -0.129244 -0.004242 q: -0.158962 0.779954 0.163533 0.582803 
time: 1403636896.901666, t: 0.160837 -0.129300 -0.004145 q: -0.158791 0.779957 0.163772 0.582779 
time: 1403636897.001667, t: 0.160599 -0.129230 -0.003994 q: -0.159066 0.779421 0.163779 0.583419 
time: 1403636897.101666, t: 0.160048 -0.129416 -0.003672 q: -0.159942 0.778788 0.165888 0.583428 
time: 1403636897.201667, t: 0.158849 -0.129870 -0.003905 q: -0.161660 0.778585 0.168671 0.582427 
time: 1403636897.301666, t: 0.156860 -0.132968 -0.004496 q: -0.160832 0.779571 0.167606 0.581645 
time: 1403636897.401666, t: 0.152206 -0.141042 -0.004960 q: -0.155583 0.783227 0.165060 0.578882 
wait for imu ... 
time: 1403636897.501667, t: 0.144209 -0.153024 -0.005362 q: -0.147326 0.788667 0.163443 0.574096 
time: 1403636897.601666, t: 0.134354 -0.167414 -0.005307 q: -0.137743 0.796782 0.162955 0.565341 
time: 1403636897.701667, t: 0.122695 -0.183854 -0.000506 q: -0.124639 0.806848 0.166765 0.552857 
time: 1403636897.801666, t: 0.111575 -0.200166 0.011411 q: -0.115789 0.814559 0.171635 0.541875 
time: 1403636897.901666, t: 0.103619 -0.214293 0.029971 q: -0.112032 0.819535 0.174999 0.534029 
time: 1403636898.001667, t: 0.101707 -0.224360 0.052454 q: -0.113732 0.814191 0.176381 0.541339 
time: 1403636898.101666, t: 0.103112 -0.230810 0.067353 q: -0.118762 0.808030 0.176632 0.549349 
time: 1403636898.201667, t: 0.106506 -0.235686 0.079415 q: -0.122066 0.804855 0.177895 0.552867 
time: 1403636898.301666, t: 0.111449 -0.238526 0.093963 q: -0.123859 0.803814 0.180276 0.553211 
time: 1403636898.401666, t: 0.117837 -0.239202 0.111879 q: -0.126100 0.803243 0.183184 0.552578 
time: 1403636898.501667, t: 0.124905 -0.238273 0.132075 q: -0.129506 0.803261 0.185783 0.550895 
time: 1403636898.601666, t: 0.133246 -0.236306 0.153268 q: -0.130988 0.802958 0.188429 0.550087 
time: 1403636898.701667, t: 0.142630 -0.233087 0.173185 q: -0.131327 0.802919 0.190927 0.549201 
time: 1403636898.801666, t: 0.154138 -0.228048 0.191213 q: -0.133773 0.802738 0.191667 0.548617 
time: 1403636898.901666, t: 0.167280 -0.221332 0.206931 q: -0.137073 0.803769 0.190778 0.546599 
time: 1403636899.001667, t: 0.183152 -0.213828 0.220088 q: -0.143044 0.805129 0.186709 0.544468 
time: 1403636899.101666, t: 0.202716 -0.207676 0.231382 q: -0.143934 0.805552 0.178217 0.546450 
time: 1403636899.201667, t: 0.225645 -0.204361 0.242220 q: -0.136041 0.804301 0.167611 0.553623 
time: 1403636899.301666, t: 0.250053 -0.204021 0.252959 q: -0.126321 0.801211 0.150564 0.565185 
time: 1403636899.401666, t: 0.274366 -0.206769 0.261986 q: -0.110569 0.799789 0.130638 0.575366 
time: 1403636899.501667, t: 0.295624 -0.212034 0.269153 q: -0.100040 0.803807 0.109014 0.576196 
wait for imu ... 
time: 1403636899.601666, t: 0.314859 -0.218771 0.273656 q: -0.093793 0.811162 0.092304 0.569824 
time: 1403636899.701667, t: 0.334576 -0.228695 0.279164 q: -0.088833 0.815419 0.080842 0.566273 
time: 1403636899.801666, t: 0.355888 -0.241785 0.284221 q: -0.081885 0.818483 0.074707 0.563737 
time: 1403636899.901666, t: 0.378999 -0.257725 0.287243 q: -0.072456 0.818631 0.074411 0.564851 
time: 1403636900.001667, t: 0.403713 -0.274864 0.288002 q: -0.066023 0.815105 0.075009 0.570630 
time: 1403636900.101666, t: 0.429015 -0.292130 0.288236 q: -0.064195 0.809994 0.074932 0.578078 
time: 1403636900.201667, t: 0.452133 -0.310443 0.295284 q: -0.063298 0.806128 0.076024 0.583413 
time: 1403636900.301666, t: 0.471853 -0.328936 0.311145 q: -0.062432 0.806716 0.078234 0.582401 
time: 1403636900.401666, t: 0.488567 -0.347493 0.335000 q: -0.064104 0.811363 0.080368 0.575432 
time: 1403636900.501667, t: 0.505180 -0.365839 0.360027 q: -0.065065 0.814983 0.083922 0.569673 
time: 1403636900.601666, t: 0.521161 -0.384155 0.381625 q: -0.067011 0.816824 0.085932 0.566502 
time: 1403636900.701667, t: 0.539162 -0.401117 0.394907 q: -0.068635 0.821464 0.087381 0.559331 
time: 1403636900.801666, t: 0.559895 -0.418351 0.403557 q: -0.072128 0.825375 0.087808 0.553031 
time: 1403636900.901666, t: 0.582635 -0.436471 0.407644 q: -0.080333 0.823903 0.083835 0.554710 
optimize pose graph 
time: 1403636901.001667, t: 0.608079 -0.457137 0.409597 q: -0.085518 0.821056 0.080664 0.558612 
time: 1403636901.101666, t: 0.636854 -0.481586 0.407162 q: -0.089588 0.819684 0.078142 0.560344 
time: 1403636901.201667, t: 0.669964 -0.508746 0.400956 q: -0.090639 0.818796 0.077084 0.561619 
time: 1403636901.301666, t: 0.705291 -0.540868 0.399099 q: -0.086789 0.817960 0.079683 0.563081 
time: 1403636901.401666, t: 0.741880 -0.575640 0.402617 q: -0.082977 0.817470 0.081912 0.564046 
time: 1403636901.501667, t: 0.784316 -0.611160 0.412731 q: -0.077649 0.816654 0.085211 0.565497 
time: 1403636901.601666, t: 0.826281 -0.649527 0.422187 q: -0.074225 0.815907 0.087318 0.566712 
time: 1403636901.701667, t: 0.870242 -0.684778 0.423490 q: -0.073739 0.814057 0.087336 0.569426 
time: 1403636901.801666, t: 0.910030 -0.724426 0.419951 q: -0.074939 0.813539 0.086599 0.570122 
time: 1403636901.901666, t: 0.952192 -0.762374 0.410893 q: -0.074426 0.813469 0.087425 0.570162 
time: 1403636902.001667, t: 0.992315 -0.800758 0.397110 q: -0.073146 0.813121 0.088803 0.570612 
time: 1403636902.101666, t: 1.034111 -0.838054 0.386314 q: -0.073013 0.812377 0.089978 0.571504 
time: 1403636902.201667, t: 1.071229 -0.878693 0.382036 q: -0.072644 0.812427 0.091209 0.571285 
time: 1403636902.301666, t: 1.109482 -0.919130 0.381251 q: -0.074956 0.812783 0.088822 0.570856 
time: 1403636902.401666, t: 1.145228 -0.960931 0.368628 q: -0.075575 0.813484 0.086897 0.570071 
time: 1403636902.501667, t: 1.178543 -1.001443 0.345359 q: -0.072497 0.814278 0.086525 0.569394 
time: 1403636902.601666, t: 1.214060 -1.039775 0.316680 q: -0.065890 0.814243 0.087645 0.570075 
time: 1403636902.701667, t: 1.247401 -1.078905 0.293984 q: -0.060793 0.813222 0.087962 0.572046 
time: 1403636902.801666, t: 1.279349 -1.114880 0.279883 q: -0.060263 0.812803 0.086119 0.572978 
time: 1403636902.901666, t: 1.309825 -1.148005 0.274223 q: -0.062314 0.810595 0.085813 0.575924 
optimize pose graph 
time: 1403636903.001667, t: 1.342145 -1.182706 0.272946 q: -0.063949 0.810549 0.086688 0.575679 
time: 1403636903.101666, t: 1.372253 -1.216090 0.279671 q: -0.066199 0.810946 0.087764 0.574701 
time: 1403636903.201667, t: 1.405496 -1.249612 0.296678 q: -0.068190 0.811675 0.089040 0.573241 
time: 1403636903.301666, t: 1.434206 -1.283166 0.318622 q: -0.068357 0.813010 0.091664 0.570912 
time: 1403636903.401666, t: 1.464405 -1.315231 0.339883 q: -0.066590 0.813610 0.094781 0.569755 
time: 1403636903.501667, t: 1.490599 -1.347954 0.353372 q: -0.066182 0.813823 0.096470 0.569216 
time: 1403636903.601666, t: 1.516555 -1.376441 0.362567 q: -0.066767 0.814171 0.097282 0.568511 
time: 1403636903.701667, t: 1.543270 -1.404631 0.362840 q: -0.070201 0.817261 0.095684 0.563915 
time: 1403636903.801666, t: 1.571767 -1.431729 0.360382 q: -0.074214 0.819955 0.093412 0.559858 
time: 1403636903.901666, t: 1.604001 -1.458136 0.363181 q: -0.078446 0.820395 0.090590 0.559099 
time: 1403636904.001667, t: 1.638558 -1.486459 0.373140 q: -0.082238 0.818720 0.088068 0.561408 
time: 1403636904.101666, t: 1.673650 -1.515842 0.390533 q: -0.084866 0.816808 0.086109 0.564100 
time: 1403636904.201667, t: 1.710400 -1.546889 0.414493 q: -0.087649 0.816421 0.083864 0.564572 
wait for imu ... 
time: 1403636904.401666, t: 1.786338 -1.615773 0.462628 q: -0.085275 0.814532 0.082794 0.567812 
time: 1403636904.501667, t: 1.823077 -1.652843 0.479905 q: -0.082167 0.814117 0.083681 0.568735 
time: 1403636904.601666, t: 1.862289 -1.692740 0.493805 q: -0.077983 0.813961 0.084985 0.569353 
time: 1403636904.701667, t: 1.900870 -1.733508 0.505487 q: -0.073560 0.814226 0.085835 0.569436 
time: 1403636904.801666, t: 1.941714 -1.776908 0.515326 q: -0.069864 0.814064 0.086410 0.570045 
time: 1403636904.901666, t: 1.982796 -1.819494 0.523478 q: -0.065519 0.814466 0.087340 0.569846 
time: 1403636905.001667, t: 2.023199 -1.862166 0.525794 q: -0.062322 0.814487 0.087291 0.570182 
time: 1403636905.101666, t: 2.062125 -1.901730 0.525735 q: -0.059521 0.814055 0.086843 0.571165 
time: 1403636905.201667, t: 2.099349 -1.939839 0.528250 q: -0.057101 0.813647 0.086034 0.572116 
time: 1403636905.301666, t: 2.141443 -1.977555 0.536954 q: -0.054083 0.814716 0.085902 0.570907 
time: 1403636905.401666, t: 2.178168 -2.009519 0.550347 q: -0.052255 0.817442 0.085462 0.567234 
time: 1403636905.501667, t: 2.213198 -2.037577 0.568364 q: -0.052158 0.817772 0.090809 0.565934 
time: 1403636905.601666, t: 2.250302 -2.062710 0.586397 q: -0.052136 0.817188 0.097387 0.565687 
time: 1403636905.701667, t: 2.286846 -2.084386 0.596207 q: -0.056734 0.817468 0.099892 0.564401 
time: 1403636905.801666, t: 2.324428 -2.104199 0.597591 q: -0.062209 0.817444 0.100711 0.563713 
time: 1403636905.901666, t: 2.361936 -2.121405 0.594106 q: -0.065601 0.818173 0.101900 0.562055 
time: 1403636906.001667, t: 2.401304 -2.135268 0.584357 q: -0.067434 0.820361 0.103478 0.558348 
time: 1403636906.101666, t: 2.443345 -2.147260 0.570844 q: -0.066027 0.822074 0.106682 0.555386 
time: 1403636906.201667, t: 2.488098 -2.155909 0.560766 q: -0.066900 0.821094 0.107873 0.556500 
time: 1403636906.301666, t: 2.534059 -2.160759 0.559352 q: -0.070561 0.815725 0.106887 0.564082 
time: 1403636906.401666, t: 2.580062 -2.163560 0.564200 q: -0.076621 0.812181 0.103027 0.569102 
time: 1403636906.501667, t: 2.624873 -2.165673 0.573107 q: -0.088378 0.812029 0.094348 0.569120 
time: 1403636906.601666, t: 2.668852 -2.170734 0.580064 q: -0.093363 0.815255 0.090396 0.564332 
time: 1403636906.701667, t: 2.712645 -2.179376 0.583278 q: -0.088118 0.815278 0.093670 0.564609 
time: 1403636906.801666, t: 2.758164 -2.191755 0.580852 q: -0.079874 0.814515 0.099352 0.565963 
time: 1403636906.901666, t: 2.804946 -2.204230 0.574276 q: -0.075264 0.814623 0.103803 0.565640 
time: 1403636907.001667, t: 2.852800 -2.215070 0.572974 q: -0.073091 0.814413 0.107393 0.565558 
time: 1403636907.101666, t: 2.899166 -2.224559 0.576293 q: -0.073379 0.814870 0.109086 0.564537 
time: 1403636907.201667, t: 2.948377 -2.232435 0.580459 q: -0.072711 0.817717 0.111153 0.560086 
time: 1403636907.301666, t: 2.996984 -2.238585 0.576100 q: -0.074311 0.820912 0.111685 0.555075 
time: 1403636907.401666, t: 3.047855 -2.242446 0.570823 q: -0.079971 0.822271 0.109128 0.552781 
time: 1403636907.501667, t: 3.105810 -2.244899 0.572678 q: -0.085837 0.822821 0.106116 0.551668 
time: 1403636907.601666, t: 3.162053 -2.249052 0.582877 q: -0.090848 0.823154 0.103034 0.550951 
time: 1403636907.701667, t: 3.227138 -2.254382 0.599039 q: -0.093839 0.823163 0.100865 0.550838 
time: 1403636907.801666, t: 3.292492 -2.262965 0.620612 q: -0.095650 0.822910 0.099634 0.551130 
time: 1403636907.901666, t: 3.365594 -2.272982 0.634637 q: -0.096006 0.821689 0.099492 0.552911 
time: 1403636908.001667, t: 3.440267 -2.285560 0.638487 q: -0.090641 0.817733 0.104126 0.558798 
time: 1403636908.101666, t: 3.521063 -2.297630 0.634502 q: -0.085503 0.813974 0.109836 0.563978 
time: 1403636908.201667, t: 3.597329 -2.311191 0.635170 q: -0.084729 0.811294 0.113191 0.567284 
time: 1403636908.301666, t: 3.671746 -2.325782 0.638967 q: -0.085079 0.810456 0.115939 0.567875 
time: 1403636908.401666, t: 3.742747 -2.340419 0.639497 q: -0.086126 0.810818 0.118110 0.566751 
time: 1403636908.501667, t: 3.813944 -2.353333 0.634532 q: -0.087560 0.811734 0.119985 0.564822 
time: 1403636908.601666, t: 3.882886 -2.367952 0.627466 q: -0.088951 0.811965 0.121966 0.563848 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636908.701667, t: 3.953507 -2.379547 0.623655 q: -0.089709 0.813151 0.123953 0.561581 
wait for imu ... 
time: 1403636908.801666, t: 4.022019 -2.393893 0.628906 q: -0.092453 0.815771 0.124105 0.557287 
time: 1403636908.901666, t: 4.093975 -2.403903 0.642320 q: -0.093698 0.818753 0.124031 0.552703 
time: 1403636909.001667, t: 4.168900 -2.415108 0.662710 q: -0.095735 0.819347 0.123819 0.551519 
time: 1403636909.101666, t: 4.245556 -2.424522 0.683694 q: -0.098240 0.820051 0.121899 0.550460 
time: 1403636909.201667, t: 4.323515 -2.435578 0.699947 q: -0.098865 0.820253 0.121010 0.550243 
time: 1403636909.301666, t: 4.405277 -2.446433 0.710846 q: -0.098861 0.820843 0.120029 0.549579 
time: 1403636909.401666, t: 4.489045 -2.459394 0.718241 q: -0.097524 0.819486 0.119854 0.551876 
time: 1403636909.501667, t: 4.576631 -2.471102 0.719925 q: -0.094421 0.816371 0.120444 0.556881 
time: 1403636909.601666, t: 4.668025 -2.483207 0.715114 q: -0.095096 0.815352 0.118277 0.558721 
time: 1403636909.701667, t: 4.757534 -2.496070 0.704722 q: -0.098564 0.813465 0.114225 0.561705 
time: 1403636909.801666, t: 4.847018 -2.510713 0.688809 q: -0.094098 0.808511 0.116065 0.569197 
time: 1403636909.901666, t: 4.932407 -2.524588 0.668520 q: -0.080943 0.804208 0.124179 0.575567 
time: 1403636910.001667, t: 5.010836 -2.537057 0.643622 q: -0.069436 0.798790 0.131437 0.582956 
time: 1403636910.101666, t: 5.087740 -2.544310 0.616950 q: -0.070697 0.797943 0.130754 0.584116 
time: 1403636910.201667, t: 5.158065 -2.548702 0.592606 q: -0.078964 0.803256 0.126050 0.576763 
time: 1403636910.301666, t: 5.228949 -2.549863 0.578861 q: -0.084033 0.807398 0.123476 0.570789 
time: 1403636910.401666, t: 5.298427 -2.549677 0.572992 q: -0.086526 0.810092 0.122948 0.566700 
time: 1403636910.501667, t: 5.364484 -2.549935 0.573863 q: -0.087598 0.810631 0.124171 0.565496 
time: 1403636910.601666, t: 5.435277 -2.550489 0.572535 q: -0.086721 0.810794 0.126108 0.564968 
time: 1403636910.701667, t: 5.499429 -2.550186 0.567233 q: -0.086981 0.810831 0.126808 0.564719 
time: 1403636910.801666, t: 5.566728 -2.548567 0.554134 q: -0.088425 0.811254 0.126123 0.564040 
time: 1403636910.901666, t: 5.632994 -2.545854 0.538216 q: -0.091438 0.812003 0.124476 0.562846 
time: 1403636911.001667, t: 5.700850 -2.541255 0.521416 q: -0.097437 0.806157 0.120840 0.570977 
time: 1403636911.101666, t: 5.765656 -2.539190 0.509755 q: -0.100276 0.798863 0.119190 0.580995 
time: 1403636911.201667, t: 5.828302 -2.540216 0.501853 q: -0.097463 0.802292 0.121140 0.576328 
time: 1403636911.401666, t: 5.938801 -2.546550 0.509835 q: -0.091074 0.809114 0.125220 0.566886 
time: 1403636911.501667, t: 5.988144 -2.549499 0.525840 q: -0.089234 0.809728 0.125591 0.566221 
time: 1403636911.601666, t: 6.039954 -2.550844 0.539063 q: -0.088548 0.810225 0.125772 0.565576 
time: 1403636911.701667, t: 6.092347 -2.553162 0.548916 q: -0.088343 0.810240 0.125604 0.565623 
time: 1403636911.801666, t: 6.144990 -2.554576 0.551690 q: -0.092230 0.810902 0.121891 0.564866 
time: 1403636911.901666, t: 6.205651 -2.555784 0.547863 q: -0.099325 0.813505 0.116140 0.561121 
time: 1403636912.001667, t: 6.260768 -2.558329 0.539085 q: -0.101834 0.815451 0.113171 0.558447 
time: 1403636912.101666, t: 6.329935 -2.560311 0.526968 q: -0.099064 0.815527 0.113739 0.558718 
time: 1403636912.201667, t: 6.387901 -2.565422 0.518456 q: -0.096193 0.814055 0.115509 0.560998 
time: 1403636912.301666, t: 6.450337 -2.570338 0.517592 q: -0.092220 0.812235 0.117700 0.563840 
time: 1403636912.401666, t: 6.508059 -2.577947 0.521130 q: -0.091258 0.812301 0.117418 0.563962 
time: 1403636912.601666, t: 6.629598 -2.595004 0.518665 q: -0.097178 0.813164 0.111276 0.562972 
time: 1403636912.701667, t: 6.689756 -2.606351 0.509043 q: -0.101815 0.813519 0.106927 0.562482 
time: 1403636912.801666, t: 6.755414 -2.619621 0.492273 q: -0.106139 0.813402 0.103319 0.562527 
time: 1403636912.901666, t: 6.816611 -2.638631 0.474519 q: -0.102912 0.812515 0.104962 0.564102 
time: 1403636913.001667, t: 6.878433 -2.659760 0.450424 q: -0.097095 0.808598 0.108872 0.569991 
time: 1403636913.101666, t: 6.941025 -2.682623 0.427491 q: -0.093047 0.805473 0.111522 0.574559 
time: 1403636913.201667, t: 6.997708 -2.705770 0.404073 q: -0.090208 0.802861 0.113580 0.578252 
time: 1403636913.301666, t: 7.054221 -2.731767 0.392200 q: -0.089037 0.803433 0.114742 0.577410 
time: 1403636913.401666, t: 7.104077 -2.757979 0.385439 q: -0.092848 0.807137 0.112601 0.572041 
time: 1403636913.501667, t: 7.156957 -2.786117 0.385105 q: -0.096845 0.809838 0.109617 0.568126 
time: 1403636913.601666, t: 7.211290 -2.816013 0.382817 q: -0.093550 0.810258 0.111365 0.567739 
time: 1403636913.701667, t: 7.262627 -2.846570 0.374930 q: -0.090470 0.810522 0.112593 0.567619 
time: 1403636913.801666, t: 7.314544 -2.877438 0.363332 q: -0.089159 0.810009 0.113348 0.568409 
time: 1403636913.901666, t: 7.363193 -2.910295 0.356183 q: -0.088047 0.809342 0.114204 0.569360 
time: 1403636914.001667, t: 7.413285 -2.941766 0.357667 q: -0.087410 0.808803 0.115225 0.570017 
time: 1403636914.101666, t: 7.461017 -2.975582 0.362335 q: -0.090452 0.808769 0.113506 0.569937 
time: 1403636914.201667, t: 7.509752 -3.008745 0.367089 q: -0.092414 0.809179 0.111970 0.569344 
time: 1403636914.301666, t: 7.556682 -3.042861 0.367892 q: -0.090658 0.809813 0.112698 0.568580 
time: 1403636914.401666, t: 7.604607 -3.079906 0.362732 q: -0.087087 0.808793 0.114901 0.570146 
time: 1403636914.501667, t: 7.650364 -3.112629 0.363232 q: -0.084318 0.808575 0.116468 0.570554 
wait for imu ... 
wait for imu ... 
time: 1403636914.601666, t: 7.697650 -3.147891 0.369850 q: -0.083439 0.808379 0.116918 0.570869 
time: 1403636914.701667, t: 7.742337 -3.180698 0.385430 q: -0.083268 0.807286 0.116608 0.572501 
time: 1403636914.801666, t: 7.791825 -3.215389 0.401531 q: -0.082002 0.806691 0.116438 0.573556 
time: 1403636914.901666, t: 7.831315 -3.245932 0.412955 q: -0.080902 0.807739 0.115920 0.572341 
time: 1403636915.001667, t: 7.872618 -3.277807 0.416321 q: -0.079873 0.809874 0.115334 0.569581 
time: 1403636915.101666, t: 7.909463 -3.305465 0.415918 q: -0.078602 0.811500 0.115314 0.567444 
time: 1403636915.201667, t: 7.945288 -3.331889 0.409218 q: -0.077257 0.813912 0.115215 0.564185 
time: 1403636915.301666, t: 7.982941 -3.356725 0.397239 q: -0.075741 0.818726 0.115471 0.557332 
time: 1403636915.401666, t: 8.027278 -3.382240 0.381884 q: -0.074800 0.822299 0.116209 0.552019 
time: 1403636915.501667, t: 8.071687 -3.403457 0.369425 q: -0.078319 0.820608 0.113829 0.554537 
time: 1403636915.701667, t: 8.167153 -3.441966 0.366838 q: -0.096305 0.811855 0.102260 0.566709 
time: 1403636915.801666, t: 8.215068 -3.465965 0.376531 q: -0.098179 0.810200 0.101642 0.568863 
time: 1403636915.901666, t: 8.262860 -3.493067 0.395026 q: -0.098540 0.809233 0.102228 0.570071 
time: 1403636916.001667, t: 8.309589 -3.522649 0.415082 q: -0.092573 0.808270 0.106964 0.571567 
time: 1403636916.101666, t: 8.354059 -3.552874 0.430723 q: -0.084132 0.807548 0.113316 0.572667 
time: 1403636916.201667, t: 8.399627 -3.583945 0.439874 q: -0.080009 0.807653 0.116997 0.572369 
time: 1403636916.301666, t: 8.443648 -3.614470 0.450620 q: -0.081712 0.807877 0.116277 0.571960 
time: 1403636916.401666, t: 8.484236 -3.644234 0.466277 q: -0.080690 0.808546 0.116782 0.571056 
time: 1403636916.501667, t: 8.525845 -3.673436 0.480788 q: -0.073893 0.808736 0.112464 0.572571 
time: 1403636916.601666, t: 8.565928 -3.702621 0.490080 q: -0.063735 0.809878 0.102751 0.574002 
time: 1403636916.701667, t: 8.602723 -3.727441 0.493843 q: -0.055143 0.811126 0.092346 0.574897 
time: 1403636916.801666, t: 8.639805 -3.750202 0.492694 q: -0.050037 0.811609 0.083219 0.576074 
time: 1403636916.901666, t: 8.673800 -3.770103 0.486686 q: -0.044521 0.812153 0.077672 0.576535 
time: 1403636917.001667, t: 8.708182 -3.786476 0.475295 q: -0.041436 0.812143 0.073694 0.577300 
time: 1403636917.101666, t: 8.739828 -3.800497 0.458521 q: -0.042171 0.812696 0.069227 0.577023 
time: 1403636917.201667, t: 8.768956 -3.813402 0.438461 q: -0.043770 0.813139 0.063582 0.576929 
time: 1403636917.301666, t: 8.796670 -3.826164 0.411662 q: -0.038161 0.813134 0.054284 0.578282 
time: 1403636917.401666, t: 8.822784 -3.840937 0.381651 q: -0.025328 0.813322 0.040455 0.579852 
time: 1403636917.501667, t: 8.850313 -3.854226 0.346385 q: -0.013089 0.813886 0.023697 0.580394 
time: 1403636917.601666, t: 8.875747 -3.865510 0.315026 q: -0.005770 0.813745 0.009388 0.581118 
time: 1403636917.701667, t: 8.898038 -3.875018 0.290336 q: 0.000240 0.813018 -0.000956 0.582238 
time: 1403636917.801666, t: 8.920344 -3.883041 0.273591 q: 0.006702 0.812512 -0.009000 0.582837 
time: 1403636917.901666, t: 8.939547 -3.888714 0.266929 q: 0.012631 0.811814 -0.014764 0.583593 
time: 1403636918.001667, t: 8.954275 -3.892351 0.265035 q: 0.016645 0.812444 -0.018597 0.582505 
time: 1403636918.101666, t: 8.965961 -3.894941 0.259017 q: 0.020523 0.813455 -0.019998 0.580922 
time: 1403636918.201667, t: 8.978084 -3.896142 0.248007 q: 0.024047 0.814810 -0.019226 0.578910 
wait for imu ... 
time: 1403636918.301666, t: 8.987322 -3.895163 0.241464 q: 0.026393 0.815654 -0.017816 0.577663 
time: 1403636918.401666, t: 8.995732 -3.890805 0.240631 q: 0.026773 0.821643 -0.016863 0.569123 
time: 1403636918.501667, t: 9.005938 -3.883179 0.247270 q: 0.026881 0.827538 -0.015732 0.560545 
time: 1403636918.601666, t: 9.019845 -3.872619 0.262607 q: 0.026544 0.829333 -0.014139 0.557944 
time: 1403636918.701667, t: 9.039562 -3.858290 0.287677 q: 0.023703 0.827910 -0.013226 0.560203 
time: 1403636918.801666, t: 9.063214 -3.841066 0.319624 q: 0.010860 0.824943 -0.019664 0.564770 
time: 1403636918.901666, t: 9.088773 -3.824783 0.356787 q: -0.001865 0.819081 -0.028471 0.572967 
time: 1403636919.001667, t: 9.115270 -3.811972 0.396209 q: -0.007252 0.814292 -0.040002 0.579031 
time: 1403636919.101666, t: 9.142142 -3.805115 0.438055 q: -0.008457 0.811478 -0.048688 0.582290 
time: 1403636919.201667, t: 9.165087 -3.805284 0.482102 q: -0.005737 0.809759 -0.053906 0.584253 
time: 1403636919.301666, t: 9.184279 -3.812303 0.526751 q: -0.001405 0.809156 -0.057021 0.584819 
time: 1403636919.401666, t: 9.201136 -3.826227 0.566391 q: 0.005372 0.808549 -0.059485 0.585390 
time: 1403636919.501667, t: 9.213554 -3.844945 0.598149 q: 0.017331 0.808373 -0.056739 0.585673 
time: 1403636919.601666, t: 9.223141 -3.866829 0.623549 q: 0.029154 0.808331 -0.052574 0.585651 
time: 1403636919.701667, t: 9.228746 -3.888703 0.641329 q: 0.035608 0.807367 -0.050644 0.586792 
time: 1403636919.801666, t: 9.231930 -3.909348 0.652576 q: 0.035553 0.806503 -0.051974 0.587867 
time: 1403636919.901666, t: 9.233480 -3.928293 0.657838 q: 0.033842 0.805925 -0.053579 0.588616 
time: 1403636920.001667, t: 9.232707 -3.947927 0.655824 q: 0.029101 0.804639 -0.056244 0.590378 
time: 1403636920.101666, t: 9.227918 -3.967724 0.649024 q: 0.023046 0.803267 -0.059375 0.592204 
wait for imu ... 
time: 1403636920.201667, t: 9.218679 -3.989907 0.637203 q: 0.017588 0.802466 -0.061804 0.593227 
time: 1403636920.401666, t: 9.188473 -4.042773 0.602450 q: 0.031263 0.803242 -0.050121 0.592717 
time: 1403636920.501667, t: 9.166489 -4.067919 0.586595 q: 0.036345 0.805875 -0.045668 0.589202 
time: 1403636920.601666, t: 9.140661 -4.093737 0.578452 q: 0.037476 0.809655 -0.044287 0.584032 
time: 1403636920.701667, t: 9.112585 -4.115644 0.579221 q: 0.037680 0.814150 -0.044563 0.577715 
time: 1403636920.801666, t: 9.084441 -4.137229 0.586821 q: 0.037381 0.818028 -0.045388 0.572165 
wait for imu ... 
time: 1403636920.901666, t: 9.056926 -4.154458 0.603287 q: 0.036496 0.820094 -0.046432 0.569173 
wait for imu ... 
time: 1403636921.001667, t: 9.028960 -4.171184 0.623557 q: 0.036951 0.820478 -0.047032 0.568541 
time: 1403636921.101666, t: 9.005079 -4.185292 0.639281 q: 0.036943 0.820085 -0.047961 0.569031 
time: 1403636921.201667, t: 8.984405 -4.197879 0.649754 q: 0.037795 0.818612 -0.048057 0.571084 
time: 1403636921.301666, t: 8.964885 -4.209198 0.654944 q: 0.038281 0.812738 -0.047983 0.579387 
wait for imu ... 
time: 1403636921.401666, t: 8.943995 -4.219195 0.653914 q: 0.033862 0.808430 -0.051386 0.585367 
time: 1403636921.501667, t: 8.920295 -4.228363 0.647381 q: 0.027200 0.807022 -0.056249 0.587207 
time: 1403636921.601666, t: 8.893591 -4.238777 0.634423 q: 0.021403 0.810075 -0.060925 0.582759 
time: 1403636921.701667, t: 8.865510 -4.251125 0.615077 q: 0.020307 0.819293 -0.062601 0.569585 
time: 1403636921.801666, t: 8.839506 -4.265505 0.593233 q: 0.023224 0.828222 -0.061594 0.556521 
time: 1403636921.901666, t: 8.818536 -4.281940 0.572722 q: 0.027563 0.828782 -0.059962 0.555667 
time: 1403636922.001667, t: 8.802976 -4.300322 0.552826 q: 0.033434 0.822681 -0.058792 0.564466 
time: 1403636922.101666, t: 8.788474 -4.319023 0.532718 q: 0.040319 0.816407 -0.060005 0.572934 
time: 1403636922.201667, t: 8.774278 -4.336405 0.515545 q: 0.046090 0.813475 -0.062826 0.576356 
time: 1403636922.301666, t: 8.760264 -4.353192 0.505019 q: 0.051480 0.817405 -0.065581 0.569999 
time: 1403636922.401666, t: 8.747092 -4.367253 0.499940 q: 0.054278 0.820914 -0.069437 0.564210 
time: 1403636922.501667, t: 8.735148 -4.380604 0.490413 q: 0.058544 0.824084 -0.075399 0.558366 
time: 1403636922.601666, t: 8.725613 -4.394314 0.475529 q: 0.064817 0.824815 -0.084368 0.555303 
time: 1403636922.701667, t: 8.721204 -4.406716 0.459248 q: 0.072501 0.819035 -0.091472 0.561745 
time: 1403636922.801666, t: 8.718465 -4.416457 0.442735 q: 0.074450 0.809333 -0.099766 0.574007 
time: 1403636922.901666, t: 8.713973 -4.423879 0.429867 q: 0.070373 0.802419 -0.109169 0.582455 
time: 1403636923.001667, t: 8.705746 -4.431138 0.423908 q: 0.064657 0.798044 -0.117635 0.587458 
time: 1403636923.101666, t: 8.695254 -4.440122 0.420847 q: 0.066224 0.797277 -0.122944 0.587238 
time: 1403636923.201667, t: 8.681378 -4.450767 0.411271 q: 0.072852 0.798466 -0.130727 0.583142 
time: 1403636923.301666, t: 8.662144 -4.463858 0.399076 q: 0.084393 0.802760 -0.137049 0.574171 
time: 1403636923.401666, t: 8.641572 -4.477233 0.380512 q: 0.093639 0.808511 -0.142088 0.563341 
time: 1403636923.501667, t: 8.621841 -4.490885 0.357367 q: 0.098692 0.814650 -0.147275 0.552192 
time: 1403636923.601666, t: 8.606066 -4.504406 0.336145 q: 0.100310 0.820752 -0.151677 0.541570 
time: 1403636923.701667, t: 8.597710 -4.519359 0.324737 q: 0.102484 0.823636 -0.153608 0.536213 
time: 1403636923.801666, t: 8.597483 -4.535654 0.325261 q: 0.104303 0.823082 -0.154098 0.536573 
wait for imu ... 
time: 1403636923.901666, t: 8.605017 -4.550541 0.328428 q: 0.105147 0.823262 -0.153778 0.536225 
time: 1403636924.001667, t: 8.620766 -4.565343 0.332087 q: 0.106461 0.823495 -0.152191 0.536059 
time: 1403636924.101666, t: 8.643029 -4.580383 0.327258 q: 0.107435 0.823008 -0.151079 0.536928 
time: 1403636924.201667, t: 8.670929 -4.596251 0.317508 q: 0.108235 0.821930 -0.149070 0.538976 
time: 1403636924.301666, t: 8.704452 -4.611851 0.305878 q: 0.107449 0.820709 -0.148261 0.541212 
time: 1403636924.401666, t: 8.743042 -4.627364 0.300613 q: 0.100571 0.818649 -0.151849 0.544648 
time: 1403636924.501667, t: 8.784615 -4.644219 0.306725 q: 0.093528 0.813073 -0.155617 0.553126 
time: 1403636924.601666, t: 8.830466 -4.663811 0.316580 q: 0.085526 0.806828 -0.159617 0.562348 
time: 1403636924.701667, t: 8.875443 -4.687220 0.325437 q: 0.079844 0.802121 -0.162222 0.569131 
time: 1403636924.801666, t: 8.919479 -4.713936 0.327992 q: 0.073927 0.797147 -0.163776 0.576428 
time: 1403636924.901666, t: 8.961216 -4.746114 0.323197 q: 0.072893 0.793081 -0.164652 0.581892 
time: 1403636925.001667, t: 8.997006 -4.783713 0.309738 q: 0.077645 0.791745 -0.170312 0.581468 
time: 1403636925.101666, t: 9.025337 -4.826550 0.288166 q: 0.089827 0.793057 -0.171813 0.577470 
time: 1403636925.201667, t: 9.049100 -4.870883 0.262144 q: 0.105865 0.797172 -0.168793 0.569928 
time: 1403636925.301666, t: 9.070512 -4.915465 0.231954 q: 0.116155 0.803814 -0.167876 0.558756 
time: 1403636925.401666, t: 9.093216 -4.959707 0.197659 q: 0.121164 0.811996 -0.169457 0.545221 
time: 1403636925.501667, t: 9.119509 -5.002731 0.165333 q: 0.122890 0.817641 -0.172110 0.535481 
time: 1403636925.601666, t: 9.149907 -5.044583 0.138667 q: 0.123232 0.822698 -0.174604 0.526778 
wait for imu ... 
wait for imu ... 
time: 1403636925.701667, t: 9.190109 -5.086116 0.121579 q: 0.122981 0.825733 -0.176751 0.521344 
time: 1403636925.801666, t: 9.240600 -5.128191 0.115714 q: 0.124898 0.826296 -0.176567 0.520058 
time: 1403636925.901666, t: 9.301850 -5.171280 0.118649 q: 0.127112 0.820180 -0.175281 0.529551 
time: 1403636926.001667, t: 9.371007 -5.212937 0.126908 q: 0.131559 0.809577 -0.171876 0.545652 
time: 1403636926.101666, t: 9.443956 -5.252022 0.131250 q: 0.129608 0.797870 -0.172579 0.562870 
time: 1403636926.201667, t: 9.514317 -5.288355 0.127838 q: 0.122915 0.789646 -0.175875 0.574821 
time: 1403636926.301666, t: 9.581657 -5.323262 0.117088 q: 0.116444 0.785382 -0.178996 0.581014 
time: 1403636926.401666, t: 9.642909 -5.356536 0.099931 q: 0.109386 0.782904 -0.181882 0.584820 
time: 1403636926.501667, t: 9.696402 -5.390624 0.077760 q: 0.105613 0.783172 -0.182561 0.584944 
time: 1403636926.601666, t: 9.743166 -5.423988 0.058618 q: 0.108049 0.786776 -0.178910 0.580775 
time: 1403636926.701667, t: 9.782904 -5.459836 0.046041 q: 0.111144 0.789866 -0.175406 0.577054 
time: 1403636926.801666, t: 9.816583 -5.494434 0.041349 q: 0.110898 0.793266 -0.179898 0.571023 
time: 1403636926.901666, t: 9.846670 -5.529235 0.043294 q: 0.111330 0.794358 -0.191064 0.565771 
time: 1403636927.001667, t: 9.876832 -5.570647 0.045028 q: 0.116203 0.791892 -0.205806 0.563071 
time: 1403636927.101666, t: 9.902855 -5.613305 0.040588 q: 0.126901 0.787886 -0.221315 0.560492 
time: 1403636927.201667, t: 9.925478 -5.658834 0.031263 q: 0.139748 0.782460 -0.239493 0.557557 
time: 1403636927.301666, t: 9.946447 -5.706994 0.015762 q: 0.155821 0.777056 -0.257161 0.552966 
time: 1403636927.401666, t: 9.963352 -5.758262 -0.004663 q: 0.170544 0.777499 -0.269051 0.542237 
time: 1403636927.501667, t: 9.978416 -5.809068 -0.029295 q: 0.178968 0.782671 -0.278571 0.527062 
time: 1403636927.601666, t: 9.997774 -5.861013 -0.054277 q: 0.183444 0.787673 -0.286622 0.513582 
time: 1403636927.701667, t: 10.024817 -5.915508 -0.071777 q: 0.188220 0.789457 -0.291002 0.506605 
time: 1403636927.801666, t: 10.059767 -5.973729 -0.079447 q: 0.189264 0.788724 -0.294830 0.505143 
time: 1403636927.901666, t: 10.100765 -6.033733 -0.079744 q: 0.189930 0.787257 -0.296396 0.506263 
time: 1403636928.001667, t: 10.147802 -6.097641 -0.083779 q: 0.190730 0.785590 -0.296583 0.508438 
time: 1403636928.101666, t: 10.200773 -6.164135 -0.090014 q: 0.193091 0.782305 -0.294518 0.513785 
time: 1403636928.201667, t: 10.257266 -6.233642 -0.100473 q: 0.194878 0.775643 -0.292087 0.524486 
time: 1403636928.301666, t: 10.317189 -6.303629 -0.113575 q: 0.193709 0.767821 -0.291109 0.536826 
time: 1403636928.401666, t: 10.375591 -6.371980 -0.131664 q: 0.194064 0.762280 -0.288850 0.545741 
time: 1403636928.501667, t: 10.430084 -6.438455 -0.151544 q: 0.196276 0.760081 -0.286090 0.549459 
time: 1403636928.601666, t: 10.481811 -6.503302 -0.167534 q: 0.197187 0.762407 -0.284263 0.546852 
time: 1403636928.701667, t: 10.531391 -6.566102 -0.176944 q: 0.196824 0.768389 -0.283672 0.538859 
time: 1403636928.801666, t: 10.581971 -6.627361 -0.179214 q: 0.196534 0.773984 -0.283302 0.531095 
time: 1403636928.901666, t: 10.632445 -6.687157 -0.172383 q: 0.196674 0.776224 -0.283079 0.527884 
time: 1403636929.001667, t: 10.687213 -6.746350 -0.155147 q: 0.197633 0.770317 -0.282238 0.536558 
time: 1403636929.101666, t: 10.740151 -6.803947 -0.129900 q: 0.193100 0.761264 -0.285166 0.549426 
time: 1403636929.201667, t: 10.790286 -6.857443 -0.099791 q: 0.187854 0.756608 -0.288575 0.555859 
time: 1403636929.301666, t: 10.834655 -6.909664 -0.071499 q: 0.181735 0.756183 -0.292250 0.556551 
time: 1403636929.401666, t: 10.873872 -6.963099 -0.049220 q: 0.180554 0.756886 -0.291898 0.556165 
time: 1403636929.501667, t: 10.909358 -7.020459 -0.033021 q: 0.183448 0.759422 -0.288610 0.553470 
time: 1403636929.601666, t: 10.940546 -7.077424 -0.022618 q: 0.189929 0.762310 -0.282962 0.550221 
time: 1403636929.701667, t: 10.967080 -7.130280 -0.018570 q: 0.196211 0.764425 -0.277662 0.547778 
time: 1403636929.801666, t: 10.992744 -7.181376 -0.019164 q: 0.199295 0.765893 -0.274912 0.545997 
time: 1403636929.901666, t: 11.015762 -7.226160 -0.025568 q: 0.198121 0.764809 -0.275306 0.547742 
time: 1403636930.001667, t: 11.038940 -7.270739 -0.026660 q: 0.194002 0.763054 -0.277903 0.550347 
time: 1403636930.101666, t: 11.060142 -7.313893 -0.020202 q: 0.191244 0.763185 -0.279603 0.550269 
time: 1403636930.201667, t: 11.077329 -7.351595 -0.008728 q: 0.188092 0.762781 -0.282338 0.550520 
time: 1403636930.301666, t: 11.094471 -7.394163 0.009321 q: 0.185125 0.763937 -0.284473 0.548821 
time: 1403636930.401666, t: 11.108025 -7.436718 0.034514 q: 0.187637 0.763885 -0.283042 0.548780 
time: 1403636930.501667, t: 11.120080 -7.479722 0.055710 q: 0.193433 0.764669 -0.279394 0.547544 
time: 1403636930.601666, t: 11.129856 -7.519338 0.067970 q: 0.195750 0.764567 -0.277521 0.547815 
time: 1403636930.701667, t: 11.137556 -7.558141 0.075688 q: 0.191520 0.763081 -0.280273 0.549976 
time: 1403636930.801666, t: 11.141660 -7.591960 0.075895 q: 0.183696 0.761206 -0.285506 0.552547 
time: 1403636930.901666, t: 11.142694 -7.629366 0.072471 q: 0.179273 0.758851 -0.289993 0.554896 
time: 1403636931.001667, t: 11.141445 -7.670381 0.064372 q: 0.175551 0.754657 -0.300728 0.556091 
time: 1403636931.101666, t: 11.135164 -7.715703 0.054417 q: 0.182900 0.750439 -0.308094 0.555398 
time: 1403636931.201667, t: 11.122167 -7.762747 0.050438 q: 0.199055 0.746816 -0.307306 0.555163 
time: 1403636931.301666, t: 11.104022 -7.808359 0.054553 q: 0.212125 0.741743 -0.306272 0.557689 
time: 1403636931.401666, t: 11.080705 -7.849869 0.063308 q: 0.222221 0.740403 -0.305156 0.556148 
time: 1403636931.501667, t: 11.052442 -7.886052 0.077515 q: 0.233354 0.742770 -0.301518 0.550386 
time: 1403636931.601666, t: 11.021473 -7.914138 0.096097 q: 0.244011 0.745616 -0.296960 0.544363 
time: 1403636931.701667, t: 10.990488 -7.932992 0.112352 q: 0.249651 0.746154 -0.294688 0.542298 
time: 1403636931.801666, t: 10.960293 -7.948417 0.119967 q: 0.239346 0.747469 -0.302879 0.540618 
time: 1403636931.901666, t: 10.928753 -7.957627 0.120754 q: 0.230151 0.749446 -0.310014 0.537823 
time: 1403636932.001667, t: 10.898471 -7.964951 0.116671 q: 0.225091 0.749977 -0.314141 0.536828 
wait for imu ... 
time: 1403636932.101666, t: 10.866122 -7.969162 0.107146 q: 0.224793 0.747323 -0.314801 0.540256 
time: 1403636932.201667, t: 10.834791 -7.973548 0.095082 q: 0.227264 0.744366 -0.314088 0.543708 
time: 1403636932.301666, t: 10.799065 -7.972430 0.088481 q: 0.237824 0.742455 -0.308583 0.544956 
time: 1403636932.401666, t: 10.763541 -7.964919 0.088784 q: 0.247666 0.742065 -0.304240 0.543543 
time: 1403636932.501667, t: 10.729334 -7.951539 0.095878 q: 0.252714 0.740318 -0.306616 0.542266 
time: 1403636932.601666, t: 10.690986 -7.930294 0.109549 q: 0.255515 0.737325 -0.317980 0.538473 
time: 1403636932.701667, t: 10.651681 -7.904015 0.130904 q: 0.256724 0.731217 -0.334291 0.536344 
time: 1403636932.801666, t: 10.613769 -7.873196 0.159092 q: 0.260974 0.725773 -0.346208 0.534122 
time: 1403636932.901666, t: 10.574705 -7.836165 0.190174 q: 0.264997 0.722949 -0.356451 0.529210 
time: 1403636933.001667, t: 10.535599 -7.795511 0.211381 q: 0.267966 0.721720 -0.364763 0.523700 
time: 1403636933.101666, t: 10.495157 -7.751877 0.217304 q: 0.273088 0.718525 -0.374249 0.518732 
time: 1403636933.201667, t: 10.454119 -7.705405 0.211492 q: 0.273120 0.719368 -0.384125 0.510258 
time: 1403636933.301666, t: 10.413261 -7.657001 0.198160 q: 0.268717 0.727655 -0.394056 0.492979 
time: 1403636933.401666, t: 10.375646 -7.609752 0.183271 q: 0.263738 0.731910 -0.400881 0.483781 
time: 1403636933.501667, t: 10.342083 -7.567698 0.168174 q: 0.265317 0.729038 -0.401183 0.486994 
time: 1403636933.601666, t: 10.311998 -7.529237 0.154538 q: 0.268892 0.724462 -0.398574 0.493954 
time: 1403636933.701667, t: 10.285108 -7.493449 0.145939 q: 0.272320 0.720592 -0.394923 0.500625 
time: 1403636933.801666, t: 10.260180 -7.460820 0.146160 q: 0.275225 0.717328 -0.390893 0.506847 
time: 1403636933.901666, t: 10.235602 -7.425672 0.152215 q: 0.274787 0.713534 -0.390636 0.512606 
time: 1403636934.001667, t: 10.211702 -7.393775 0.162933 q: 0.275539 0.710034 -0.396357 0.512670 
time: 1403636934.101666, t: 10.183197 -7.357718 0.167227 q: 0.281738 0.703996 -0.407066 0.509225 
time: 1403636934.201667, t: 10.151757 -7.321944 0.157508 q: 0.293868 0.695297 -0.421165 0.502816 
time: 1403636934.301666, t: 10.120498 -7.287083 0.138058 q: 0.307035 0.684401 -0.438177 0.495303 
time: 1403636934.401666, t: 10.086485 -7.248430 0.115864 q: 0.316670 0.669526 -0.460020 0.489731 
time: 1403636934.501667, t: 10.051584 -7.209429 0.098019 q: 0.324920 0.654127 -0.483203 0.482763 
time: 1403636934.601666, t: 10.012738 -7.170137 0.087938 q: 0.337271 0.639931 -0.502952 0.473049 
time: 1403636934.701667, t: 9.969701 -7.126546 0.090891 q: 0.347655 0.629112 -0.519938 0.461539 
time: 1403636934.801666, t: 9.924358 -7.084116 0.101371 q: 0.356842 0.626062 -0.530040 0.446953 
time: 1403636934.901666, t: 9.878741 -7.042651 0.119094 q: 0.362668 0.625955 -0.536442 0.434605 
time: 1403636935.001667, t: 9.834251 -7.002098 0.144714 q: 0.365717 0.625707 -0.539768 0.428243 
time: 1403636935.101666, t: 9.788563 -6.964435 0.177014 q: 0.370084 0.623048 -0.537855 0.430768 
time: 1403636935.201667, t: 9.745047 -6.930148 0.213498 q: 0.370883 0.618365 -0.535647 0.439492 
time: 1403636935.301666, t: 9.706346 -6.897552 0.246033 q: 0.368786 0.616585 -0.534396 0.445243 
time: 1403636935.401666, t: 9.662613 -6.866637 0.270192 q: 0.365059 0.616893 -0.533532 0.448909 
time: 1403636935.501667, t: 9.620602 -6.834114 0.288037 q: 0.363036 0.617970 -0.531793 0.451126 
time: 1403636935.601666, t: 9.573639 -6.804653 0.297656 q: 0.361089 0.619265 -0.530301 0.452666 
time: 1403636935.701667, t: 9.527595 -6.771095 0.300439 q: 0.360389 0.620522 -0.528462 0.453652 
time: 1403636935.801666, t: 9.479936 -6.738922 0.294904 q: 0.357112 0.626292 -0.529011 0.447634 
time: 1403636935.901666, t: 9.431126 -6.707299 0.281963 q: 0.352933 0.632274 -0.530860 0.440290 
time: 1403636936.001667, t: 9.384325 -6.684086 0.259914 q: 0.343666 0.639081 -0.536523 0.430828 
time: 1403636936.101666, t: 9.335737 -6.663110 0.237777 q: 0.339093 0.643075 -0.539204 0.425123 
time: 1403636936.201667, t: 9.290442 -6.650600 0.215988 q: 0.342017 0.643557 -0.537644 0.424025 
time: 1403636936.301666, t: 9.247288 -6.645971 0.199356 q: 0.348352 0.640566 -0.534056 0.427915 
time: 1403636936.401666, t: 9.200095 -6.641668 0.189148 q: 0.354442 0.635680 -0.531114 0.433820 
time: 1403636936.501667, t: 9.160136 -6.644192 0.188056 q: 0.360071 0.630451 -0.528402 0.440081 
time: 1403636936.601666, t: 9.122885 -6.650756 0.191720 q: 0.363234 0.626939 -0.528179 0.442758 
time: 1403636936.701667, t: 9.085821 -6.657233 0.190626 q: 0.364302 0.625206 -0.529619 0.442611 
time: 1403636936.801666, t: 9.042167 -6.659394 0.182975 q: 0.366495 0.624622 -0.529770 0.441443 
time: 1403636936.901666, t: 9.006125 -6.666425 0.176039 q: 0.369246 0.625389 -0.529366 0.438540 
time: 1403636937.001667, t: 8.965412 -6.670000 0.173891 q: 0.371296 0.626185 -0.528828 0.436318 
time: 1403636937.101666, t: 8.929001 -6.676906 0.179432 q: 0.371685 0.626167 -0.529569 0.435111 
time: 1403636937.201667, t: 8.892597 -6.681807 0.190622 q: 0.369028 0.623713 -0.532459 0.437365 
time: 1403636937.301666, t: 8.857063 -6.688784 0.199333 q: 0.368444 0.622964 -0.533752 0.437349 
time: 1403636937.401666, t: 8.822128 -6.694234 0.202969 q: 0.368986 0.621954 -0.534320 0.437635 
time: 1403636937.501667, t: 8.787677 -6.699744 0.200141 q: 0.369380 0.621328 -0.534855 0.437538 
wait for imu ... 
time: 1403636937.701667, t: 8.721991 -6.712079 0.176747 q: 0.376385 0.623162 -0.532122 0.432261 
time: 1403636937.801666, t: 8.691974 -6.716992 0.157881 q: 0.382623 0.625152 -0.528600 0.428213 
time: 1403636937.901666, t: 8.667167 -6.721731 0.133407 q: 0.390131 0.621735 -0.524482 0.431465 
time: 1403636938.001667, t: 8.644810 -6.724165 0.106902 q: 0.398829 0.618116 -0.519681 0.434510 
time: 1403636938.101666, t: 8.626524 -6.721075 0.075432 q: 0.404653 0.612226 -0.518265 0.439132 
time: 1403636938.201667, t: 8.613501 -6.712204 0.042527 q: 0.404391 0.603429 -0.523985 0.444726 
time: 1403636938.301666, t: 8.604812 -6.693574 0.012888 q: 0.399630 0.594733 -0.532390 0.450721 
time: 1403636938.401666, t: 8.593929 -6.668289 -0.010456 q: 0.383529 0.585454 -0.547593 0.458574 
time: 1403636938.501667, t: 8.576351 -6.635897 -0.029077 q: 0.368354 0.580199 -0.561508 0.460861 
time: 1403636938.601666, t: 8.551947 -6.601654 -0.038123 q: 0.361740 0.580641 -0.568988 0.456347 
time: 1403636938.701667, t: 8.517507 -6.568605 -0.039816 q: 0.360466 0.580934 -0.571711 0.453571 
time: 1403636938.801666, t: 8.474820 -6.536506 -0.035548 q: 0.364797 0.583750 -0.570423 0.448081 
time: 1403636938.901666, t: 8.424962 -6.505870 -0.029331 q: 0.372246 0.590314 -0.566155 0.438670 
time: 1403636939.001667, t: 8.372660 -6.471824 -0.023557 q: 0.377732 0.596655 -0.562923 0.429463 
time: 1403636939.101666, t: 8.317102 -6.438982 -0.022697 q: 0.380212 0.599352 -0.560804 0.426281 
time: 1403636939.201667, t: 8.260828 -6.408993 -0.027476 q: 0.382062 0.598881 -0.558221 0.428671 
time: 1403636939.301666, t: 8.206187 -6.382981 -0.037300 q: 0.382834 0.598437 -0.556154 0.431281 
time: 1403636939.401666, t: 8.147328 -6.354964 -0.049043 q: 0.382668 0.599524 -0.553718 0.433050 
time: 1403636939.501667, t: 8.091586 -6.327572 -0.055468 q: 0.384321 0.599592 -0.549844 0.436416 
time: 1403636939.601666, t: 8.035858 -6.298308 -0.053142 q: 0.388860 0.597887 -0.544232 0.441736 
time: 1403636939.701667, t: 7.976416 -6.264767 -0.044890 q: 0.389746 0.594674 -0.542002 0.447989 
time: 1403636939.801666, t: 7.919429 -6.229213 -0.037979 q: 0.391076 0.594462 -0.540615 0.448787 
time: 1403636939.901666, t: 7.859639 -6.186019 -0.037600 q: 0.388509 0.594735 -0.542584 0.448278 
time: 1403636940.001667, t: 7.799748 -6.140802 -0.044757 q: 0.387142 0.591176 -0.548294 0.447219 
time: 1403636940.101666, t: 7.736300 -6.090635 -0.057853 q: 0.388086 0.587719 -0.555312 0.442272 
time: 1403636940.201667, t: 7.670479 -6.037172 -0.075688 q: 0.386481 0.584526 -0.562915 0.438278 
time: 1403636940.301666, t: 7.602651 -5.983066 -0.096595 q: 0.387427 0.581406 -0.567402 0.435800 
time: 1403636940.401666, t: 7.533157 -5.928488 -0.120290 q: 0.389436 0.578063 -0.570421 0.434513 
time: 1403636940.501667, t: 7.461909 -5.871829 -0.144067 q: 0.390793 0.575676 -0.573102 0.432934 
time: 1403636940.601666, t: 7.388652 -5.814618 -0.162102 q: -0.388064 -0.576926 0.577974 -0.427210 
time: 1403636940.701667, t: 7.312783 -5.758894 -0.173295 q: 0.387678 0.581089 -0.580479 0.418433 
time: 1403636940.801666, t: 7.236619 -5.704969 -0.175679 q: 0.386637 0.584792 -0.582273 0.411690 
time: 1403636940.901666, t: 7.161508 -5.653919 -0.169473 q: 0.387521 0.587721 -0.582205 0.406753 
time: 1403636941.001667, t: 7.086897 -5.606900 -0.156125 q: 0.389556 0.587708 -0.580712 0.406964 
time: 1403636941.101666, t: 7.013356 -5.564861 -0.136942 q: 0.392645 0.586577 -0.578413 0.408896 
time: 1403636941.201667, t: 6.941483 -5.524156 -0.114506 q: 0.394519 0.585607 -0.576312 0.411442 
time: 1403636941.301666, t: 6.869746 -5.484661 -0.093067 q: 0.396736 0.583964 -0.573330 0.415787 
time: 1403636941.401666, t: 6.800073 -5.447187 -0.076893 q: 0.398045 0.584502 -0.569938 0.418435 
time: 1403636941.501667, t: 6.730617 -5.408817 -0.066491 q: 0.398410 0.585501 -0.566802 0.420944 
time: 1403636941.601666, t: 6.661889 -5.369366 -0.060973 q: 0.397396 0.587942 -0.564864 0.421106 
time: 1403636941.701667, t: 6.595443 -5.331273 -0.061142 q: 0.396290 0.590025 -0.563512 0.421045 
time: 1403636941.801666, t: 6.530434 -5.290973 -0.061096 q: 0.394464 0.591508 -0.562920 0.421470 
time: 1403636941.901666, t: 6.467425 -5.254136 -0.056216 q: 0.391826 0.592984 -0.563340 0.421296 
time: 1403636942.001667, t: 6.404822 -5.213874 -0.043409 q: 0.388912 0.593252 -0.564425 0.422167 
time: 1403636942.101666, t: 6.342375 -5.176186 -0.028166 q: 0.386964 0.591947 -0.565474 0.424378 
time: 1403636942.201667, t: 6.278638 -5.135612 -0.011505 q: 0.386275 0.590082 -0.566133 0.426718 
time: 1403636942.301666, t: 6.215536 -5.097657 -0.002336 q: 0.385152 0.587930 -0.567857 0.428409 
time: 1403636942.401666, t: 6.151379 -5.057625 0.002020 q: 0.383179 0.584644 -0.570548 0.431091 
time: 1403636942.501667, t: 6.087922 -5.018958 -0.001041 q: 0.380933 0.582610 -0.574035 0.431206 
time: 1403636942.601666, t: 6.020422 -4.979534 -0.009164 q: 0.378646 0.582976 -0.577370 0.428264 
time: 1403636942.701667, t: 5.947872 -4.939815 -0.020907 q: 0.378621 0.585765 -0.578935 0.422328 
time: 1403636942.801666, t: 5.874435 -4.901412 -0.034327 q: 0.380393 0.587297 -0.579122 0.418332 
time: 1403636942.901666, t: 5.800464 -4.866227 -0.040853 q: 0.386905 0.586215 -0.576146 0.417986 
time: 1403636943.001667, t: 5.727323 -4.833841 -0.039125 q: 0.391619 0.585150 -0.574146 0.417840 
time: 1403636943.101666, t: 5.653496 -4.801050 -0.028929 q: 0.396373 0.583404 -0.572135 0.418556 
time: 1403636943.201667, t: 5.579478 -4.768877 -0.017042 q: 0.398089 0.580747 -0.572315 0.420373 
time: 1403636943.301666, t: 5.507442 -4.736317 -0.010813 q: 0.400206 0.579863 -0.572498 0.419332 
time: 1403636943.401666, t: 5.436247 -4.702453 -0.010354 q: 0.402728 0.578195 -0.572809 0.418797 
time: 1403636943.501667, t: 5.366821 -4.666974 -0.015668 q: 0.404625 0.577216 -0.573108 0.417908 
time: 1403636943.601666, t: 5.298112 -4.630557 -0.026886 q: 0.407023 0.576643 -0.572737 0.416878 
time: 1403636943.701667, t: 5.229228 -4.592900 -0.042723 q: 0.408980 0.575745 -0.572223 0.416911 
time: 1403636943.801666, t: 5.163566 -4.552977 -0.065029 q: 0.410250 0.575962 -0.572187 0.415410 
time: 1403636943.901666, t: 5.099808 -4.511035 -0.093376 q: 0.403975 0.580470 -0.572333 0.415084 
time: 1403636944.001667, t: 5.037150 -4.468094 -0.127773 q: 0.389944 0.592243 -0.573566 0.410140 
time: 1403636944.101666, t: 4.976868 -4.428185 -0.161317 q: 0.376422 0.604584 -0.575183 0.402428 
time: 1403636944.201667, t: 4.918803 -4.394458 -0.186874 q: 0.368771 0.612987 -0.574174 0.398221 
time: 1403636944.301666, t: 4.863459 -4.370145 -0.202783 q: 0.365897 0.615811 -0.571567 0.400259 
time: 1403636944.401666, t: 4.810920 -4.354903 -0.209376 q: 0.368788 0.613835 -0.566296 0.408058 
time: 1403636944.501667, t: 4.760009 -4.342932 -0.208308 q: 0.379186 0.611668 -0.556647 0.414999 
time: 1403636944.601666, t: 4.713156 -4.333684 -0.201350 q: 0.393137 0.611387 -0.544959 0.417935 
time: 1403636944.701667, t: 4.673193 -4.326022 -0.190005 q: 0.400955 0.614488 -0.535325 0.418410 
time: 1403636944.801666, t: 4.639504 -4.315822 -0.176074 q: 0.395716 0.614660 -0.533653 0.425226 
time: 1403636944.901666, t: 4.607286 -4.301269 -0.155836 q: 0.389908 0.614404 -0.533309 0.431349 
time: 1403636945.001667, t: 4.582801 -4.287684 -0.136417 q: 0.386472 0.614187 -0.532650 0.435543 
time: 1403636945.101666, t: 4.555974 -4.268697 -0.128416 q: 0.385324 0.614916 -0.530985 0.437560 
time: 1403636945.201667, t: 4.536255 -4.248087 -0.131671 q: 0.384459 0.615905 -0.529980 0.438147 
time: 1403636945.301666, t: 4.515379 -4.223458 -0.137597 q: 0.383811 0.616166 -0.529430 0.439013 
time: 1403636945.401666, t: 4.498023 -4.197339 -0.136792 q: 0.384067 0.616793 -0.529257 0.438116 
time: 1403636945.501667, t: 4.483443 -4.169238 -0.130076 q: 0.384411 0.616129 -0.529856 0.438025 
time: 1403636945.601666, t: 4.471176 -4.139472 -0.126374 q: 0.380703 0.617200 -0.534114 0.434571 
time: 1403636945.701667, t: 4.460533 -4.109562 -0.130298 q: 0.373855 0.623033 -0.540811 0.423776 
time: 1403636945.801666, t: 4.453242 -4.081381 -0.140905 q: 0.367349 0.629441 -0.546826 0.412116 
time: 1403636945.901666, t: 4.449440 -4.055942 -0.154486 q: 0.365086 0.629850 -0.550208 0.408990 
time: 1403636946.001667, t: 4.447325 -4.035726 -0.169337 q: 0.372969 0.624614 -0.546079 0.415389 
time: 1403636946.101666, t: 4.448712 -4.019508 -0.189642 q: 0.379707 0.619426 -0.542977 0.421083 
time: 1403636946.201667, t: 4.451115 -4.003883 -0.217162 q: 0.381927 0.616232 -0.543283 0.423360 
time: 1403636946.301666, t: 4.457005 -3.987575 -0.249779 q: 0.386708 0.613057 -0.541518 0.425883 
time: 1403636946.401666, t: 4.464193 -3.972616 -0.289852 q: 0.389838 0.609770 -0.541193 0.428155 
time: 1403636946.501667, t: 4.473380 -3.955564 -0.335588 q: 0.390840 0.607802 -0.542564 0.428304 
time: 1403636946.601666, t: 4.483848 -3.935691 -0.380931 q: 0.392440 0.606325 -0.543315 0.427984 
time: 1403636946.701667, t: 4.496428 -3.913840 -0.422658 q: 0.386256 0.603767 -0.549121 0.429811 
time: 1403636946.801666, t: 4.509318 -3.889575 -0.458001 q: 0.371774 0.595652 -0.560304 0.439365 
time: 1403636946.901666, t: 4.518626 -3.866392 -0.488278 q: 0.362137 0.590888 -0.567693 0.444334 
time: 1403636947.001667, t: 4.520184 -3.843714 -0.520939 q: 0.350183 0.584832 -0.575976 0.451215 
time: 1403636947.101666, t: 4.513300 -3.824581 -0.556027 q: 0.347776 0.585261 -0.577934 0.450014 
time: 1403636947.201667, t: 4.496580 -3.806931 -0.587756 q: 0.355500 0.596603 -0.573533 0.434448 
time: 1403636947.301666, t: 4.475357 -3.790248 -0.614296 q: 0.360400 0.611712 -0.570710 0.412565 
time: 1403636947.401666, t: 4.453688 -3.782095 -0.631750 q: 0.359649 0.621332 -0.571079 0.398081 
time: 1403636947.501667, t: 4.432713 -3.783822 -0.640701 q: 0.359598 0.621502 -0.571623 0.397080 
time: 1403636947.601666, t: 4.413877 -3.794977 -0.641439 q: 0.363390 0.614314 -0.570103 0.406876 
time: 1403636947.701667, t: 4.395195 -3.813382 -0.635531 q: 0.370111 0.612186 -0.565694 0.410166 
time: 1403636947.801666, t: 4.377632 -3.836771 -0.632280 q: 0.377053 0.614686 -0.560418 0.407337 
time: 1403636947.901666, t: 4.363447 -3.865479 -0.633879 q: 0.386921 0.619229 -0.552682 0.401735 
time: 1403636948.001667, t: 4.352298 -3.893557 -0.641947 q: 0.387276 0.620554 -0.551512 0.400955 
time: 1403636948.101666, t: 4.347905 -3.926176 -0.655528 q: 0.379737 0.621398 -0.555796 0.400943 
time: 1403636948.201667, t: 4.345950 -3.959058 -0.671535 q: 0.380450 0.623139 -0.553776 0.400360 
time: 1403636948.301666, t: 4.349186 -3.996015 -0.690226 q: 0.382392 0.624432 -0.550729 0.400697 
time: 1403636948.401666, t: 4.357377 -4.036429 -0.711949 q: 0.384937 0.626515 -0.546900 0.400254 
time: 1403636948.501667, t: 4.371191 -4.077991 -0.735287 q: 0.391422 0.630301 -0.539840 0.397595 
time: 1403636948.601666, t: 4.391906 -4.121457 -0.759573 q: 0.404128 0.634970 -0.528195 0.393070 
time: 1403636948.701667, t: 4.424543 -4.163349 -0.780442 q: 0.410810 0.635355 -0.521214 0.394835 
time: 1403636948.801666, t: 4.468962 -4.204339 -0.794877 q: 0.401938 0.628422 -0.526373 0.407999 
time: 1403636948.901666, t: 4.521422 -4.245412 -0.801465 q: 0.391575 0.619754 -0.532240 0.423432 
time: 1403636949.001667, t: 4.577740 -4.283225 -0.804365 q: 0.381621 0.610009 -0.537430 0.439801 
time: 1403636949.101666, t: 4.632421 -4.320465 -0.811207 q: 0.379215 0.607528 -0.537441 0.445267 
time: 1403636949.201667, t: 4.684951 -4.354587 -0.823127 q: 0.380258 0.609244 -0.535442 0.444440 
time: 1403636949.301666, t: 4.735825 -4.384197 -0.840031 q: 0.380576 0.610957 -0.534394 0.443076 
time: 1403636949.401666, t: 4.785474 -4.411226 -0.860736 q: 0.377385 0.609190 -0.535596 0.446772 
time: 1403636949.501667, t: 4.833126 -4.433888 -0.885584 q: 0.374826 0.607062 -0.536895 0.450250 
time: 1403636949.601666, t: 4.878075 -4.455479 -0.907920 q: 0.371226 0.605343 -0.538710 0.453368 
time: 1403636949.701667, t: 4.919898 -4.473017 -0.922836 q: 0.367861 0.608244 -0.541226 0.449213 
time: 1403636949.801666, t: 4.955524 -4.489895 -0.932375 q: 0.365882 0.614007 -0.542360 0.441555 
time: 1403636949.901666, t: 4.989891 -4.504098 -0.936479 q: 0.360697 0.618459 -0.546107 0.434940 
time: 1403636950.001667, t: 5.022311 -4.520676 -0.935787 q: 0.356378 0.620831 -0.549258 0.431137 
time: 1403636950.101666, t: 5.053174 -4.542817 -0.931515 q: 0.352520 0.622482 -0.552414 0.427883 
time: 1403636950.201667, t: 5.081573 -4.568944 -0.929872 q: 0.354756 0.624623 -0.551616 0.423927 
time: 1403636950.301666, t: 5.108590 -4.597604 -0.932457 q: 0.359391 0.625393 -0.548923 0.422381 
time: 1403636950.401666, t: 5.136337 -4.632194 -0.939689 q: 0.366180 0.624533 -0.544641 0.423363 
time: 1403636950.501667, t: 5.164420 -4.668009 -0.950396 q: 0.375543 0.623762 -0.538361 0.424331 
time: 1403636950.601666, t: 5.193118 -4.701392 -0.961102 q: 0.385062 0.624481 -0.531350 0.423578 
time: 1403636950.701667, t: 5.225939 -4.735141 -0.968059 q: 0.386386 0.623259 -0.529872 0.426017 
time: 1403636950.801666, t: 5.263256 -4.769871 -0.970649 q: 0.383732 0.619260 -0.530993 0.432797 
time: 1403636950.901666, t: 5.301575 -4.801226 -0.965670 q: 0.380560 0.617163 -0.532182 0.437110 
time: 1403636951.001667, t: 5.343035 -4.833300 -0.956286 q: 0.379036 0.616246 -0.532401 0.439455 
time: 1403636951.201667, t: 5.425934 -4.889144 -0.926639 q: 0.364709 0.614596 -0.542017 0.442128 
time: 1403636951.301666, t: 5.462313 -4.919005 -0.923041 q: 0.360973 0.620124 -0.544941 0.433803 
time: 1403636951.401666, t: 5.495855 -4.944207 -0.920539 q: 0.357677 0.625756 -0.547342 0.425339 
time: 1403636951.501667, t: 5.531649 -4.981219 -0.929129 q: 0.357537 0.628610 -0.547770 0.420672 
time: 1403636951.601666, t: 5.567080 -5.020902 -0.940752 q: 0.359690 0.630041 -0.546571 0.418249 
time: 1403636951.701667, t: 5.600797 -5.060790 -0.948983 q: 0.364305 0.629313 -0.543785 0.418982 
time: 1403636951.801666, t: 5.638157 -5.110530 -0.953200 q: 0.369089 0.626651 -0.540677 0.422789 
time: 1403636951.901666, t: 5.674542 -5.159031 -0.949198 q: 0.375883 0.626173 -0.535784 0.423739 
time: 1403636952.001667, t: 5.714170 -5.212715 -0.945387 q: 0.381555 0.627189 -0.531728 0.422274 
time: 1403636952.101666, t: 5.760366 -5.266419 -0.945213 q: 0.383734 0.625616 -0.530461 0.424222 
time: 1403636952.201667, t: 5.806902 -5.314341 -0.947768 q: 0.382796 0.621832 -0.531175 0.429704 
time: 1403636952.301666, t: 5.857162 -5.363604 -0.958708 q: 0.379261 0.616251 -0.533384 0.438061 
time: 1403636952.401666, t: 5.908010 -5.410732 -0.975838 q: 0.376496 0.611411 -0.535157 0.445010 
time: 1403636952.501667, t: 5.952571 -5.451571 -0.996560 q: 0.379016 0.611361 -0.532767 0.445808 
time: 1403636952.601666, t: 5.997155 -5.490723 -1.019970 q: 0.382311 0.613323 -0.529874 0.443742 
time: 1403636952.701667, t: 6.041535 -5.524574 -1.038277 q: 0.383714 0.614144 -0.528513 0.443018 
time: 1403636952.801666, t: 6.087358 -5.555688 -1.053578 q: 0.380609 0.617689 -0.530686 0.438143 
time: 1403636952.901666, t: 6.132233 -5.583365 -1.065877 q: 0.375093 0.620324 -0.534783 0.434178 
time: 1403636953.001667, t: 6.179959 -5.613673 -1.082028 q: 0.365583 0.620543 -0.542166 0.432818 
time: 1403636953.101666, t: 6.224094 -5.643085 -1.103223 q: 0.357776 0.618319 -0.548016 0.435151 
time: 1403636953.201667, t: 6.271375 -5.679455 -1.130487 q: 0.354998 0.617797 -0.550300 0.435285 
time: 1403636953.501667, t: 6.378174 -5.789296 -1.193046 q: 0.366623 0.621755 -0.540741 0.431981 
time: 1403636953.601666, t: 6.409083 -5.828661 -1.203375 q: 0.370821 0.623820 -0.536941 0.430156 
time: 1403636953.701667, t: 6.442585 -5.869703 -1.205637 q: 0.372268 0.629397 -0.534544 0.423720 
time: 1403636953.801666, t: 6.475091 -5.909047 -1.198164 q: 0.375694 0.634536 -0.530704 0.417818 
time: 1403636953.901666, t: 6.518385 -5.954243 -1.183898 q: 0.376129 0.635250 -0.528949 0.418566 
time: 1403636954.001667, t: 6.565203 -6.000637 -1.168355 q: 0.372828 0.633742 -0.530514 0.421811 
time: 1403636954.101666, t: 6.613356 -6.050412 -1.154510 q: 0.371542 0.632559 -0.531127 0.423946 
time: 1403636954.201667, t: 6.664667 -6.100185 -1.146009 q: 0.370682 0.631601 -0.531590 0.425544 
time: 1403636954.301666, t: 6.718057 -6.149165 -1.138855 q: 0.369374 0.632510 -0.532758 0.423866 
time: 1403636954.401666, t: 6.777280 -6.206176 -1.130670 q: 0.367125 0.633327 -0.535187 0.421534 
time: 1403636954.501667, t: 6.837118 -6.259010 -1.113847 q: 0.365705 0.632771 -0.537769 0.420315 
time: 1403636954.601666, t: 6.899552 -6.319023 -1.096714 q: 0.368246 0.632571 -0.538082 0.417991 
time: 1403636954.701667, t: 6.962886 -6.375902 -1.088861 q: 0.372399 0.629360 -0.538223 0.418976 
time: 1403636954.801666, t: 7.030694 -6.440857 -1.100646 q: 0.377013 0.623552 -0.538250 0.423476 
time: 1403636954.901666, t: 7.095520 -6.499760 -1.117861 q: 0.381103 0.617844 -0.538907 0.427327 
time: 1403636955.001667, t: 7.166135 -6.561933 -1.145529 q: 0.385032 0.613538 -0.539795 0.428886 
time: 1403636955.101666, t: 7.230139 -6.614658 -1.171743 q: 0.387756 0.612590 -0.541613 0.425481 
time: 1403636955.201667, t: 7.299715 -6.669302 -1.189696 q: 0.390832 0.611509 -0.543353 0.421989 
time: 1403636955.301666, t: 7.372327 -6.724355 -1.201258 q: 0.392786 0.608079 -0.546172 0.421492 
time: 1403636955.401666, t: 7.445445 -6.775784 -1.205190 q: 0.395461 0.605486 -0.548284 0.419978 
time: 1403636955.501667, t: 7.521472 -6.826672 -1.209620 q: 0.397428 0.604246 -0.549959 0.417712 
time: 1403636955.601666, t: 7.599929 -6.876282 -1.219023 q: 0.398575 0.602696 -0.551558 0.416749 
time: 1403636955.701667, t: 7.677860 -6.923348 -1.233686 q: 0.399684 0.601784 -0.552708 0.415479 
time: 1403636955.801666, t: 7.758723 -6.970701 -1.244049 q: 0.400503 0.601354 -0.553354 0.414452 
time: 1403636955.901666, t: 7.836354 -7.012913 -1.245794 q: 0.397227 0.598874 -0.556655 0.416769 
time: 1403636956.101666, t: 7.996042 -7.099204 -1.227521 q: 0.381826 0.585637 -0.570110 0.431524 
time: 1403636956.201667, t: 8.064801 -7.136371 -1.212633 q: 0.377796 0.582008 -0.574190 0.434560 
time: 1403636956.301666, t: 8.130519 -7.173715 -1.203966 q: 0.379630 0.582455 -0.574474 0.431981 
time: 1403636956.401666, t: 8.189414 -7.209163 -1.203564 q: 0.389413 0.588197 -0.568966 0.422682 
time: 1403636956.501667, t: 8.248490 -7.244056 -1.207314 q: 0.397472 0.592435 -0.562601 0.417753 
time: 1403636956.601666, t: 8.308573 -7.277229 -1.215919 q: 0.397440 0.593155 -0.555081 0.426724 
time: 1403636956.701667, t: 8.365569 -7.305274 -1.229359 q: 0.385474 0.594477 -0.549412 0.442892 
time: 1403636956.801666, t: 8.422273 -7.330361 -1.243786 q: 0.366970 0.602655 -0.541979 0.456507 
time: 1403636956.901666, t: 8.479484 -7.355282 -1.252022 q: 0.349510 0.618227 -0.528206 0.465442 
time: 1403636957.001667, t: 8.528385 -7.377979 -1.251129 q: 0.339460 0.636954 -0.506222 0.472013 
time: 1403636957.101666, t: 8.572670 -7.408142 -1.248412 q: 0.331126 0.656698 -0.480438 0.477789 
time: 1403636957.201667, t: 8.619223 -7.420205 -1.228669 q: 0.321920 0.674579 -0.457170 0.481982 
time: 1403636957.301666, t: 8.661449 -7.437927 -1.212559 q: 0.311432 0.686415 -0.440957 0.487239 
time: 1403636957.401666, t: 8.701282 -7.455061 -1.201927 q: 0.302612 0.694078 -0.429749 0.491933 
time: 1403636957.501667, t: 8.740285 -7.469812 -1.199178 q: 0.296057 0.698182 -0.423172 0.495800 
time: 1403636957.601666, t: 8.779014 -7.483378 -1.203653 q: 0.289309 0.701155 -0.417903 0.500039 
time: 1403636957.701667, t: 8.816685 -7.496557 -1.216696 q: 0.280912 0.705612 -0.409962 0.505105 
time: 1403636957.801666, t: 8.853035 -7.506627 -1.234307 q: 0.266984 0.713436 -0.398060 0.511154 
time: 1403636957.901666, t: 8.888763 -7.515394 -1.255262 q: 0.249070 0.724257 -0.379222 0.519236 
time: 1403636958.001667, t: 8.922452 -7.524274 -1.273863 q: 0.230177 0.736600 -0.354970 0.527670 
time: 1403636958.101666, t: 8.952963 -7.533209 -1.284743 q: 0.212069 0.748865 -0.329620 0.534395 
time: 1403636958.201667, t: 8.981960 -7.543283 -1.286762 q: 0.196819 0.758816 -0.308398 0.538843 
time: 1403636958.301666, t: 9.006367 -7.555517 -1.276895 q: 0.184804 0.765934 -0.288603 0.543968 
time: 1403636958.401666, t: 9.027043 -7.567029 -1.260671 q: 0.176647 0.773593 -0.270484 0.545149 
time: 1403636958.501667, t: 9.045623 -7.580746 -1.240687 q: 0.171216 0.778733 -0.258726 0.545272 
time: 1403636958.601666, t: 9.064697 -7.596023 -1.226292 q: 0.168525 0.781033 -0.252078 0.545934 
time: 1403636958.701667, t: 9.084117 -7.613128 -1.215705 q: 0.168503 0.781911 -0.248489 0.546329 
time: 1403636958.801666, t: 9.103728 -7.630631 -1.208619 q: 0.168965 0.782109 -0.247839 0.546198 
time: 1403636959.001667, t: 9.149175 -7.667801 -1.211606 q: 0.173914 0.782294 -0.250249 0.543273 
time: 1403636959.101666, t: 9.172448 -7.684456 -1.221270 q: 0.174953 0.782385 -0.253177 0.541448 
time: 1403636959.201667, t: 9.196724 -7.701157 -1.235941 q: 0.176132 0.781736 -0.255610 0.540860 
time: 1403636959.301666, t: 9.226480 -7.719535 -1.257210 q: 0.182088 0.781451 -0.254982 0.539594 
time: 1403636959.401666, t: 9.251793 -7.733939 -1.283070 q: 0.188218 0.781727 -0.252967 0.538038 
time: 1403636959.501667, t: 9.280124 -7.745786 -1.314431 q: 0.192431 0.779934 -0.251672 0.539754 
time: 1403636959.601666, t: 9.314342 -7.756670 -1.346459 q: 0.188942 0.774240 -0.255607 0.547283 
time: 1403636959.701667, t: 9.344305 -7.764708 -1.371613 q: 0.186790 0.773823 -0.258747 0.547136 
wait for imu ... 
time: 1403636959.801666, t: 9.374048 -7.770790 -1.387853 q: 0.185190 0.774875 -0.261417 0.544917 
time: 1403636959.901666, t: 9.402647 -7.774323 -1.396126 q: 0.184592 0.775697 -0.263529 0.542930 
time: 1403636960.001667, t: 9.431146 -7.778477 -1.397097 q: 0.183887 0.775940 -0.264638 0.542282 
time: 1403636960.101666, t: 9.460699 -7.783103 -1.392519 q: 0.184207 0.775655 -0.264703 0.542548 
time: 1403636960.201667, t: 9.488736 -7.786355 -1.383589 q: 0.186966 0.776385 -0.262896 0.541438 
time: 1403636960.301666, t: 9.517975 -7.788083 -1.379841 q: 0.195470 0.778529 -0.256942 0.538206 
time: 1403636960.401666, t: 9.550372 -7.788367 -1.381499 q: 0.200329 0.777871 -0.253092 0.539194 
time: 1403636960.501667, t: 9.582732 -7.783993 -1.386530 q: 0.201523 0.776220 -0.246848 0.544002 
time: 1403636960.601666, t: 9.620608 -7.776186 -1.397603 q: 0.201765 0.776093 -0.238766 0.547687 
time: 1403636960.701667, t: 9.654847 -7.761479 -1.408914 q: 0.194065 0.775646 -0.236737 0.551967 
time: 1403636960.801666, t: 9.692525 -7.742645 -1.426998 q: 0.179793 0.777604 -0.238648 0.553220 
time: 1403636960.901666, t: 9.728360 -7.720271 -1.446572 q: 0.165291 0.781900 -0.231435 0.554752 
time: 1403636961.001667, t: 9.766676 -7.696231 -1.462896 q: 0.151704 0.787328 -0.214158 0.557887 
time: 1403636961.101666, t: 9.798696 -7.670517 -1.472947 q: 0.135714 0.792430 -0.193268 0.562391 
time: 1403636961.201667, t: 9.830277 -7.643973 -1.477305 q: 0.118407 0.797676 -0.170627 0.566198 
time: 1403636961.301666, t: 9.859319 -7.617500 -1.473232 q: 0.102876 0.802393 -0.148068 0.568909 
time: 1403636961.401666, t: 9.890273 -7.590923 -1.462899 q: 0.091678 0.805077 -0.129185 0.571627 
wait for imu ... 
time: 1403636961.501667, t: 9.917351 -7.565138 -1.445442 q: 0.081848 0.807197 -0.116401 0.572874 
time: 1403636961.601666, t: 9.945153 -7.538968 -1.420937 q: 0.071693 0.808848 -0.103543 0.574372 
time: 1403636961.701667, t: 9.971806 -7.512192 -1.389413 q: 0.060595 0.809926 -0.089272 0.576523 
time: 1403636961.801666, t: 9.998464 -7.485271 -1.354951 q: 0.050263 0.811074 -0.073197 0.578165 
time: 1403636961.901666, t: 10.021815 -7.457261 -1.325391 q: 0.040424 0.812992 -0.055176 0.578244 
time: 1403636962.001667, t: 10.045522 -7.428885 -1.302900 q: 0.027167 0.813978 -0.037148 0.579070 
time: 1403636962.101666, t: 10.068155 -7.400042 -1.285663 q: 0.013982 0.815637 -0.018157 0.578110 
time: 1403636962.201667, t: 10.089392 -7.369927 -1.266811 q: 0.000137 0.815834 0.001431 0.578284 
time: 1403636962.301666, t: 10.110558 -7.339031 -1.241946 q: -0.012489 0.814581 0.023177 0.579452 
time: 1403636962.401666, t: 10.127311 -7.307326 -1.211761 q: -0.027192 0.813300 0.044463 0.579505 
time: 1403636962.501667, t: 10.143044 -7.274442 -1.174660 q: -0.038779 0.811688 0.067931 0.578830 
time: 1403636962.601666, t: 10.156779 -7.239879 -1.134225 q: -0.047818 0.809542 0.094078 0.577499 
time: 1403636962.701667, t: 10.168023 -7.204416 -1.097413 q: -0.053494 0.806458 0.118472 0.576826 
time: 1403636962.801666, t: 10.174994 -7.166406 -1.066969 q: -0.058606 0.803912 0.135206 0.576203 
time: 1403636962.901666, t: 10.179361 -7.123185 -1.043508 q: -0.065427 0.801933 0.142826 0.576389 
time: 1403636963.001667, t: 10.180721 -7.076478 -1.024978 q: -0.076273 0.798508 0.141750 0.580063 
time: 1403636963.101666, t: 10.179512 -7.026754 -1.010634 q: -0.083539 0.793147 0.138659 0.587123 
time: 1403636963.201667, t: 10.175003 -6.976312 -1.001978 q: -0.085410 0.792933 0.135755 0.587821 
time: 1403636963.301666, t: 10.164555 -6.926340 -0.999594 q: -0.089142 0.797568 0.129985 0.582274 
time: 1403636963.401666, t: 10.150234 -6.877045 -1.001375 q: -0.091521 0.801028 0.123708 0.578510 
time: 1403636963.501667, t: 10.135301 -6.827967 -1.004721 q: -0.087348 0.802589 0.121745 0.577407 
time: 1403636963.601666, t: 10.114850 -6.782367 -1.004417 q: -0.083174 0.803088 0.119973 0.577700 
time: 1403636963.701667, t: 10.095789 -6.735268 -0.997798 q: -0.078718 0.803828 0.117813 0.577740 
time: 1403636963.901666, t: 10.053523 -6.641872 -0.961414 q: -0.073554 0.804084 0.113597 0.578909 
time: 1403636964.001667, t: 10.028306 -6.594527 -0.933401 q: -0.072648 0.803892 0.112252 0.579552 
time: 1403636964.201667, t: 9.971769 -6.500886 -0.867348 q: -0.071352 0.802059 0.112867 0.582126 
time: 1403636964.301666, t: 9.939531 -6.453789 -0.841771 q: -0.070007 0.802172 0.114763 0.581764 
time: 1403636964.401666, t: 9.903326 -6.405713 -0.821511 q: -0.069694 0.801536 0.116383 0.582355 
time: 1403636964.501667, t: 9.866059 -6.355855 -0.806980 q: -0.068479 0.800863 0.119769 0.582739 
time: 1403636964.601666, t: 9.825210 -6.304965 -0.796874 q: -0.066155 0.799076 0.129026 0.583484 
time: 1403636964.701667, t: 9.780503 -6.248624 -0.793557 q: -0.068859 0.797340 0.141485 0.582658 
time: 1403636964.801666, t: 9.731939 -6.190610 -0.795121 q: -0.073424 0.793939 0.158219 0.582441 
time: 1403636964.901666, t: 9.677437 -6.126396 -0.795722 q: -0.090427 0.789151 0.172934 0.582372 
time: 1403636965.001667, t: 9.618538 -6.059822 -0.789839 q: -0.106790 0.782671 0.191937 0.582394 
time: 1403636965.101666, t: 9.557130 -5.991433 -0.776868 q: -0.122976 0.779399 0.209092 0.577663 
time: 1403636965.201667, t: 9.490252 -5.919275 -0.757359 q: -0.134197 0.780224 0.223082 0.568750 
time: 1403636965.301666, t: 9.421296 -5.846858 -0.732817 q: -0.138664 0.787346 0.234883 0.552892 
time: 1403636965.401666, t: 9.350863 -5.770330 -0.703765 q: -0.138417 0.798364 0.243777 0.532944 
time: 1403636965.501667, t: 9.285262 -5.690079 -0.666257 q: -0.142567 0.806354 0.244721 0.519211 
time: 1403636965.601666, t: 9.228647 -5.603805 -0.615404 q: -0.154213 0.802236 0.237372 0.525633 
time: 1403636965.701667, t: 9.180265 -5.513952 -0.556057 q: -0.169120 0.792227 0.226136 0.540959 
time: 1403636965.801666, t: 9.135446 -5.425698 -0.501577 q: -0.175057 0.785301 0.219684 0.551721 
time: 1403636965.901666, t: 9.087424 -5.341357 -0.455467 q: -0.166402 0.780727 0.222833 0.559573 
time: 1403636966.001667, t: 9.034702 -5.258232 -0.417440 q: -0.157683 0.778466 0.226274 0.563850 
time: 1403636966.101666, t: 8.981582 -5.177862 -0.387055 q: -0.152939 0.777027 0.227356 0.566698 
time: 1403636966.201667, t: 8.931517 -5.100158 -0.364511 q: -0.150196 0.776659 0.227066 0.568051 
time: 1403636966.301666, t: 8.876196 -5.025915 -0.350713 q: -0.149539 0.775891 0.225658 0.569832 
time: 1403636966.401666, t: 8.821017 -4.950247 -0.342956 q: -0.159159 0.777094 0.217210 0.568869 
time: 1403636966.501667, t: 8.761761 -4.881846 -0.344050 q: -0.174703 0.779290 0.204369 0.566056 
time: 1403636966.601666, t: 8.703088 -4.819387 -0.348766 q: -0.178382 0.779853 0.199382 0.565912 
time: 1403636966.701667, t: 8.646349 -4.763651 -0.359485 q: -0.167235 0.779641 0.204159 0.567901 
time: 1403636966.801666, t: 8.588144 -4.710434 -0.366532 q: -0.159193 0.778309 0.207328 0.570883 
time: 1403636966.901666, t: 8.528378 -4.661308 -0.366903 q: -0.159851 0.778836 0.205065 0.570798 
time: 1403636967.001667, t: 8.467397 -4.616955 -0.361814 q: -0.162074 0.779402 0.202199 0.570421 
time: 1403636967.101666, t: 8.403892 -4.574725 -0.358634 q: -0.156936 0.778952 0.204416 0.571680 
time: 1403636967.201667, t: 8.340630 -4.535951 -0.363043 q: -0.152374 0.778653 0.206384 0.572615 
time: 1403636967.301666, t: 8.274123 -4.499477 -0.371627 q: -0.150363 0.778743 0.206682 0.572916 
time: 1403636967.401666, t: 8.205696 -4.464524 -0.379613 q: -0.147692 0.777777 0.207628 0.574579 
time: 1403636967.501667, t: 8.134718 -4.429675 -0.381252 q: -0.147900 0.777619 0.206514 0.575140 
time: 1403636967.601666, t: 8.058276 -4.397662 -0.374178 q: -0.145707 0.777168 0.206689 0.576245 
time: 1403636967.701667, t: 7.978242 -4.363410 -0.370068 q: -0.143314 0.777485 0.206847 0.576361 
time: 1403636967.801666, t: 7.896990 -4.332416 -0.379970 q: -0.143429 0.777334 0.206154 0.576784 
time: 1403636967.901666, t: 7.814131 -4.302320 -0.405981 q: -0.143320 0.776696 0.206042 0.577710 
time: 1403636968.001667, t: 7.726880 -4.274738 -0.439113 q: -0.143696 0.776363 0.206014 0.578075 
time: 1403636968.101666, t: 7.638985 -4.247801 -0.476971 q: -0.146122 0.775730 0.205261 0.578584 
time: 1403636968.201667, t: 7.545006 -4.222822 -0.514008 q: -0.148703 0.776740 0.203667 0.577132 
time: 1403636968.301666, t: 7.449495 -4.199784 -0.542958 q: -0.148362 0.777608 0.203962 0.575946 
time: 1403636968.401666, t: 7.351520 -4.179245 -0.564433 q: -0.147832 0.778659 0.204235 0.574565 
time: 1403636968.501667, t: 7.247470 -4.160347 -0.577996 q: -0.148285 0.779630 0.203508 0.573387 
time: 1403636968.601666, t: 7.143337 -4.141596 -0.586100 q: -0.146431 0.779259 0.204531 0.574004 
time: 1403636968.701667, t: 7.036175 -4.124129 -0.585991 q: -0.140369 0.778577 0.208338 0.575073 
time: 1403636968.801666, t: 6.931850 -4.103825 -0.589774 q: -0.136079 0.778229 0.210972 0.575615 
time: 1403636968.901666, t: 6.820928 -4.085121 -0.592693 q: -0.138558 0.778881 0.208687 0.574974 
time: 1403636969.001667, t: 6.710302 -4.060738 -0.590179 q: -0.140622 0.779700 0.207028 0.573963 
time: 1403636969.101666, t: 6.592609 -4.041070 -0.579527 q: -0.145250 0.780801 0.203806 0.572464 
time: 1403636969.201667, t: 6.473053 -4.020101 -0.567806 q: -0.145173 0.785708 0.203632 0.565793 
time: 1403636969.301666, t: 6.351478 -4.001735 -0.549439 q: -0.144326 0.792388 0.203711 0.556590 
time: 1403636969.401666, t: 6.237927 -3.985009 -0.522454 q: -0.141060 0.796565 0.205211 0.550886 
time: 1403636969.501667, t: 6.129748 -3.967305 -0.493546 q: -0.138578 0.799121 0.205860 0.547562 
time: 1403636969.601666, t: 6.022208 -3.946501 -0.469939 q: -0.137146 0.800833 0.205495 0.545555 
time: 1403636969.701667, t: 5.916656 -3.924190 -0.453564 q: -0.136760 0.800805 0.204728 0.545980 
time: 1403636969.801666, t: 5.814677 -3.899868 -0.440021 q: -0.135847 0.800914 0.204666 0.546071 
time: 1403636969.901666, t: 5.716660 -3.873590 -0.433405 q: -0.136241 0.801298 0.203863 0.545710 
time: 1403636970.001667, t: 5.623712 -3.847416 -0.430265 q: -0.138638 0.798827 0.202520 0.549218 
time: 1403636970.101666, t: 5.532842 -3.818033 -0.434095 q: -0.140193 0.792564 0.202291 0.557913 
time: 1403636970.201667, t: 5.443645 -3.789543 -0.440751 q: -0.141636 0.787884 0.201728 0.564344 
time: 1403636970.301666, t: 5.361216 -3.760711 -0.448125 q: -0.142284 0.786455 0.201983 0.566080 
time: 1403636970.401666, t: 5.277654 -3.732101 -0.456217 q: -0.141120 0.790926 0.203029 0.559733 
time: 1403636970.501667, t: 5.190402 -3.702568 -0.462923 q: -0.140482 0.796595 0.204085 0.551408 
time: 1403636970.601666, t: 5.107881 -3.671421 -0.466656 q: -0.139029 0.801090 0.205955 0.544525 
time: 1403636970.701667, t: 5.026956 -3.637370 -0.462092 q: -0.137257 0.804694 0.208336 0.538725 
time: 1403636970.801666, t: 4.949461 -3.600846 -0.450319 q: -0.136486 0.808324 0.209967 0.532821 
time: 1403636970.901666, t: 4.882436 -3.561022 -0.439422 q: -0.135043 0.813238 0.211829 0.524914 
time: 1403636971.001667, t: 4.819346 -3.517211 -0.434493 q: -0.138842 0.815411 0.209727 0.521385 
time: 1403636971.101666, t: 4.766181 -3.469899 -0.434478 q: -0.149055 0.813267 0.202686 0.524689 
time: 1403636971.201667, t: 4.719633 -3.421538 -0.439304 q: -0.161892 0.808805 0.193953 0.531044 
time: 1403636971.301666, t: 4.678325 -3.375868 -0.449214 q: -0.174339 0.804351 0.184964 0.537042 
time: 1403636971.401666, t: 4.644109 -3.336145 -0.464007 q: -0.182541 0.802281 0.179549 0.539246 
time: 1403636971.501667, t: 4.617946 -3.303336 -0.483714 q: -0.179783 0.801235 0.181971 0.540913 
time: 1403636971.601666, t: 4.592617 -3.274698 -0.506387 q: -0.172693 0.797608 0.187674 0.546605 
time: 1403636971.701667, t: 4.575923 -3.252708 -0.533787 q: -0.163147 0.791465 0.195332 0.555708 
time: 1403636971.801666, t: 4.558722 -3.232849 -0.565016 q: -0.161284 0.786485 0.197635 0.562467 
time: 1403636971.901666, t: 4.541681 -3.216545 -0.596208 q: -0.161893 0.784160 0.198362 0.565276 
time: 1403636972.001667, t: 4.525038 -3.205247 -0.622676 q: -0.161924 0.784164 0.199352 0.564913 
time: 1403636972.101666, t: 4.507156 -3.196428 -0.639964 q: -0.160493 0.783974 0.200419 0.565207 
time: 1403636972.201667, t: 4.487174 -3.191846 -0.653848 q: -0.161791 0.787548 0.199317 0.560236 
time: 1403636972.301666, t: 4.466321 -3.190392 -0.657456 q: -0.163225 0.793261 0.197950 0.552187 
time: 1403636972.401666, t: 4.451817 -3.189633 -0.655554 q: -0.160188 0.795415 0.199583 0.549383 
time: 1403636972.501667, t: 4.439886 -3.194176 -0.637351 q: -0.156956 0.794254 0.201385 0.551334 
time: 1403636972.601666, t: 4.431574 -3.197481 -0.619366 q: -0.154613 0.792416 0.202279 0.554305 
time: 1403636972.701667, t: 4.423226 -3.202248 -0.599777 q: -0.151560 0.790197 0.203603 0.557821 
wait for imu ... 
time: 1403636972.801666, t: 4.413234 -3.207978 -0.584879 q: -0.150851 0.790146 0.203511 0.558119 
time: 1403636972.901666, t: 4.401918 -3.214472 -0.574369 q: -0.149506 0.790583 0.203038 0.558034 
time: 1403636973.001667, t: 4.392359 -3.220754 -0.573879 q: -0.144171 0.794067 0.197705 0.556404 
time: 1403636973.101666, t: 4.382674 -3.228283 -0.578717 q: -0.137614 0.798624 0.187900 0.554937 
time: 1403636973.201667, t: 4.372826 -3.236677 -0.586318 q: -0.131857 0.801489 0.179579 0.554960 
time: 1403636973.301666, t: 4.364561 -3.243524 -0.599924 q: -0.126338 0.801965 0.173734 0.557412 
time: 1403636973.401666, t: 4.357694 -3.249311 -0.618416 q: -0.122138 0.802614 0.169483 0.558720 
time: 1403636973.501667, t: 4.352421 -3.253189 -0.641533 q: -0.119837 0.803398 0.165936 0.559157 
time: 1403636973.601666, t: 4.347752 -3.256345 -0.667140 q: -0.117542 0.801814 0.163987 0.562483 
time: 1403636973.701667, t: 4.344895 -3.257820 -0.694602 q: -0.116446 0.800159 0.162891 0.565378 
time: 1403636973.801666, t: 4.340417 -3.259168 -0.715515 q: -0.115250 0.797137 0.163218 0.569781 
time: 1403636973.901666, t: 4.334760 -3.259722 -0.730040 q: -0.115297 0.796017 0.163599 0.571226 
time: 1403636974.001667, t: 4.329033 -3.259668 -0.737078 q: -0.117380 0.797766 0.161254 0.569025 
time: 1403636974.101666, t: 4.320680 -3.261030 -0.740525 q: -0.116193 0.802167 0.153415 0.565236 
time: 1403636974.201667, t: 4.313451 -3.264591 -0.744804 q: -0.106986 0.807522 0.139924 0.562924 
time: 1403636974.301666, t: 4.309612 -3.269744 -0.753179 q: -0.090370 0.810999 0.122585 0.564878 
time: 1403636974.401666, t: 4.308053 -3.273643 -0.768956 q: -0.072600 0.813220 0.100746 0.568553 
time: 1403636974.501667, t: 4.305048 -3.277730 -0.788602 q: -0.054640 0.813571 0.075622 0.573932 
time: 1403636974.601666, t: 4.300275 -3.282758 -0.812074 q: -0.035554 0.813408 0.049795 0.578466 
time: 1403636974.701667, t: 4.293940 -3.286637 -0.836626 q: -0.018150 0.815746 0.023871 0.577632 
time: 1403636974.801666, t: 4.284049 -3.290380 -0.855087 q: -0.004480 0.819363 -0.001769 0.573255 
time: 1403636974.901666, t: 4.273928 -3.293425 -0.865152 q: 0.003197 0.823441 -0.028457 0.566679 
time: 1403636975.001667, t: 4.266013 -3.296839 -0.867538 q: 0.011575 0.825841 -0.052239 0.561359 
time: 1403636975.101666, t: 4.261935 -3.303665 -0.862459 q: 0.024166 0.824069 -0.070044 0.561623 
time: 1403636975.201667, t: 4.263265 -3.311776 -0.856617 q: 0.038074 0.818927 -0.079837 0.567040 
time: 1403636975.301666, t: 4.268117 -3.320187 -0.856323 q: 0.049479 0.813423 -0.084247 0.573409 
time: 1403636975.401666, t: 4.273674 -3.327692 -0.862535 q: 0.056083 0.810384 -0.086196 0.576804 
time: 1403636975.501667, t: 4.278998 -3.333912 -0.875224 q: 0.058443 0.811474 -0.087091 0.574900 
time: 1403636975.601666, t: 4.281681 -3.340131 -0.886247 q: 0.059386 0.815508 -0.086209 0.569200 
time: 1403636975.701667, t: 4.290078 -3.343506 -0.889942 q: 0.058508 0.818705 -0.084098 0.565001 
time: 1403636975.801666, t: 4.296372 -3.347323 -0.884283 q: 0.057068 0.820979 -0.082062 0.562140 
time: 1403636975.901666, t: 4.310655 -3.350091 -0.874535 q: 0.060616 0.822196 -0.085912 0.559409 
time: 1403636976.001667, t: 4.322541 -3.354278 -0.867888 q: 0.064811 0.819807 -0.098578 0.560356 
time: 1403636976.101666, t: 4.335520 -3.359571 -0.865785 q: 0.067793 0.812166 -0.119160 0.567091 
time: 1403636976.201667, t: 4.348844 -3.366611 -0.868325 q: 0.069454 0.803336 -0.145139 0.573377 
time: 1403636976.301666, t: 4.359083 -3.377470 -0.876328 q: 0.076616 0.795990 -0.171362 0.575469 
time: 1403636976.401666, t: 4.366151 -3.394008 -0.888841 q: 0.089911 0.789593 -0.196050 0.574476 
time: 1403636976.501667, t: 4.370847 -3.416344 -0.906134 q: 0.110219 0.785342 -0.215338 0.569842 
time: 1403636976.601666, t: 4.370894 -3.441925 -0.928103 q: 0.133181 0.783640 -0.225154 0.563451 
time: 1403636976.701667, t: 4.371350 -3.467336 -0.955997 q: 0.149787 0.782211 -0.231547 0.558655 
time: 1403636976.901666, t: 4.368849 -3.516169 -1.026176 q: 0.156490 0.783945 -0.246462 0.547903 
time: 1403636977.001667, t: 4.367951 -3.541374 -1.054262 q: 0.154059 0.784855 -0.251484 0.544999 
time: 1403636977.101666, t: 4.368293 -3.568383 -1.072191 q: 0.151875 0.785977 -0.253610 0.543006 
time: 1403636977.201667, t: 4.369859 -3.598759 -1.081653 q: 0.148904 0.787228 -0.253875 0.541892 
time: 1403636977.301666, t: 4.371622 -3.631712 -1.085665 q: 0.147272 0.787863 -0.251919 0.542328 
time: 1403636977.401666, t: 4.376505 -3.669248 -1.091343 q: 0.147943 0.785791 -0.247202 0.547299 
time: 1403636977.501667, t: 4.381304 -3.708671 -1.101396 q: 0.150547 0.782759 -0.241140 0.553602 
time: 1403636977.601666, t: 4.385310 -3.748907 -1.117341 q: 0.151074 0.779877 -0.237662 0.559004 
time: 1403636977.701667, t: 4.386329 -3.788874 -1.138591 q: 0.151676 0.778898 -0.236985 0.560491 
time: 1403636977.801666, t: 4.387904 -3.829369 -1.164738 q: 0.147751 0.779080 -0.244359 0.558115 
time: 1403636977.901666, t: 4.387090 -3.871287 -1.193723 q: 0.145524 0.779018 -0.250338 0.556134 
time: 1403636978.001667, t: 4.386578 -3.914642 -1.217239 q: 0.150196 0.777099 -0.250963 0.557294 
time: 1403636978.101666, t: 4.382209 -3.959099 -1.232419 q: 0.157379 0.776965 -0.249132 0.556319 
time: 1403636978.201667, t: 4.376868 -4.005430 -1.240609 q: 0.160934 0.778413 -0.248739 0.553445 
time: 1403636978.301666, t: 4.368558 -4.050693 -1.241749 q: 0.163410 0.780837 -0.248558 0.549372 
time: 1403636978.401666, t: 4.362717 -4.099279 -1.238289 q: 0.164186 0.783947 -0.249364 0.544322 
time: 1403636978.501667, t: 4.355661 -4.144566 -1.227213 q: 0.164216 0.789376 -0.250623 0.535823 
time: 1403636978.601666, t: 4.353928 -4.193288 -1.222505 q: 0.162930 0.794595 -0.252930 0.527351 
time: 1403636978.701667, t: 4.356995 -4.244241 -1.222937 q: 0.162618 0.797852 -0.254166 0.521907 
time: 1403636978.801666, t: 4.366656 -4.295138 -1.228090 q: 0.162581 0.799866 -0.255029 0.518404 
time: 1403636978.901666, t: 4.381831 -4.346412 -1.233682 q: 0.163803 0.796633 -0.254347 0.523308 
time: 1403636979.001667, t: 4.405257 -4.401446 -1.245698 q: 0.168542 0.788861 -0.251213 0.534962 
time: 1403636979.101666, t: 4.428161 -4.452163 -1.260750 q: 0.172422 0.781045 -0.248421 0.546376 
time: 1403636979.201667, t: 4.453092 -4.504257 -1.285949 q: 0.173620 0.778126 -0.247375 0.550619 
time: 1403636979.301666, t: 4.477666 -4.549822 -1.314743 q: 0.171626 0.783335 -0.248639 0.543239 
time: 1403636979.401666, t: 4.503449 -4.595514 -1.336687 q: 0.169860 0.789422 -0.249617 0.534465 
time: 1403636979.501667, t: 4.534162 -4.642115 -1.351405 q: 0.166761 0.793439 -0.251695 0.528483 
time: 1403636979.601666, t: 4.569475 -4.690429 -1.359392 q: 0.166058 0.795374 -0.252814 0.525252 
time: 1403636979.701667, t: 4.608903 -4.737179 -1.357356 q: 0.168195 0.796511 -0.252979 0.522763 
time: 1403636979.801666, t: 4.655042 -4.783296 -1.351055 q: 0.169898 0.795133 -0.253875 0.523876 
time: 1403636979.901666, t: 4.704473 -4.828813 -1.339289 q: 0.173478 0.789711 -0.253990 0.530802 
time: 1403636980.001667, t: 4.756260 -4.872180 -1.330583 q: 0.177729 0.785747 -0.253734 0.535381 
time: 1403636980.101666, t: 4.808626 -4.916483 -1.327750 q: 0.180044 0.783697 -0.254302 0.537340 
time: 1403636980.201667, t: 4.862454 -4.959220 -1.330002 q: 0.180656 0.782117 -0.255943 0.538656 
time: 1403636980.301666, t: 4.919975 -5.003761 -1.338798 q: 0.180004 0.779381 -0.257898 0.541897 
time: 1403636980.401666, t: 4.976800 -5.044842 -1.350300 q: 0.179554 0.774829 -0.258776 0.548120 
time: 1403636980.501667, t: 5.034922 -5.085009 -1.368886 q: 0.178203 0.771117 -0.259738 0.553315 
time: 1403636980.601666, t: 5.093027 -5.124341 -1.388875 q: 0.174053 0.768694 -0.261552 0.557140 
time: 1403636980.701667, t: 5.146357 -5.162846 -1.407689 q: 0.172880 0.767918 -0.260834 0.558909 
time: 1403636980.801666, t: 5.197726 -5.200164 -1.418366 q: 0.175317 0.771619 -0.257746 0.554469 
time: 1403636980.901666, t: 5.245855 -5.233611 -1.423153 q: 0.176736 0.777368 -0.254977 0.547220 
time: 1403636981.001667, t: 5.294388 -5.266478 -1.422900 q: 0.178666 0.780731 -0.252243 0.543058 
time: 1403636981.101666, t: 5.341593 -5.295343 -1.424707 q: 0.178078 0.779890 -0.252321 0.544420 
time: 1403636981.301666, t: 5.441126 -5.350835 -1.443662 q: 0.162987 0.771410 -0.265261 0.554976 
time: 1403636981.401666, t: 5.482713 -5.374395 -1.459234 q: 0.157276 0.767629 -0.271156 0.559003 
time: 1403636981.501667, t: 5.520976 -5.401513 -1.477950 q: 0.164377 0.769876 -0.268863 0.554963 
time: 1403636981.601666, t: 5.561156 -5.434032 -1.494341 q: 0.176281 0.775334 -0.263270 0.546326 
time: 1403636981.701667, t: 5.598686 -5.463893 -1.502933 q: 0.184228 0.779310 -0.260596 0.539282 
time: 1403636981.801666, t: 5.630740 -5.487410 -1.503082 q: 0.187978 0.782166 -0.261209 0.533527 
time: 1403636981.901666, t: 5.675710 -5.515822 -1.496019 q: 0.188837 0.786298 -0.263428 0.526005 
time: 1403636982.001667, t: 5.715400 -5.537966 -1.484629 q: 0.185746 0.791041 -0.268192 0.517519 
time: 1403636982.101666, t: 5.769021 -5.568474 -1.479587 q: 0.181092 0.795273 -0.273036 0.510096 
time: 1403636982.201667, t: 5.821207 -5.596456 -1.477220 q: 0.176468 0.796320 -0.277325 0.507765 
time: 1403636982.301666, t: 5.886394 -5.632323 -1.478723 q: 0.170574 0.793405 -0.281563 0.511992 
time: 1403636982.401666, t: 5.951640 -5.671112 -1.483194 q: 0.168935 0.786737 -0.282417 0.522251 
time: 1403636982.501667, t: 6.021345 -5.715883 -1.483846 q: 0.169781 0.777944 -0.280361 0.536074 
time: 1403636982.601666, t: 6.094024 -5.766225 -1.479858 q: 0.172648 0.773711 -0.276719 0.543130 
time: 1403636982.701667, t: 6.167356 -5.819658 -1.471435 q: 0.170054 0.774365 -0.276441 0.543159 
time: 1403636982.801666, t: 6.239880 -5.874787 -1.463286 q: 0.169888 0.778460 -0.274234 0.538455 
time: 1403636982.901666, t: 6.307483 -5.929965 -1.457654 q: 0.171594 0.781917 -0.272186 0.533925 
time: 1403636983.001667, t: 6.379897 -5.988818 -1.458002 q: 0.174317 0.781594 -0.269729 0.534762 
time: 1403636983.101666, t: 6.449674 -6.048409 -1.463871 q: 0.177155 0.778001 -0.267229 0.540296 
time: 1403636983.201667, t: 6.523393 -6.109253 -1.473583 q: 0.181782 0.776268 -0.264063 0.542802 
time: 1403636983.301666, t: 6.594922 -6.168982 -1.488703 q: 0.185761 0.775063 -0.261763 0.544289 
time: 1403636983.401666, t: 6.663406 -6.227120 -1.509326 q: 0.188186 0.774236 -0.260714 0.545136 
time: 1403636983.501667, t: 6.733462 -6.284353 -1.527327 q: 0.188127 0.774055 -0.261898 0.544845 
time: 1403636983.601666, t: 6.802246 -6.337220 -1.540944 q: 0.189106 0.776133 -0.262827 0.541090 
time: 1403636983.701667, t: 6.874269 -6.387997 -1.545842 q: 0.188844 0.779635 -0.265014 0.535046 
time: 1403636983.801666, t: 6.942927 -6.434690 -1.543470 q: 0.190028 0.782416 -0.266045 0.530032 
time: 1403636983.901666, t: 7.015499 -6.479775 -1.533119 q: 0.190145 0.784613 -0.267754 0.525867 
time: 1403636984.001667, t: 7.088872 -6.525860 -1.519469 q: 0.189639 0.785632 -0.270187 0.523276 
time: 1403636984.101666, t: 7.166205 -6.570119 -1.499556 q: 0.189686 0.786314 -0.272252 0.521161 
time: 1403636984.201667, t: 7.246964 -6.616810 -1.485457 q: 0.192084 0.783709 -0.272327 0.524159 
time: 1403636984.301666, t: 7.332815 -6.663384 -1.476933 q: 0.195086 0.779504 -0.271962 0.529483 
time: 1403636984.401666, t: 7.424178 -6.711834 -1.477852 q: 0.196467 0.776591 -0.272534 0.532947 
time: 1403636984.501667, t: 7.513885 -6.756557 -1.485314 q: 0.198681 0.774163 -0.272188 0.535828 
time: 1403636984.601666, t: 7.605890 -6.800125 -1.496854 q: 0.199428 0.773334 -0.271889 0.536898 
time: 1403636984.701667, t: 7.694836 -6.839447 -1.504210 q: 0.199798 0.773092 -0.271081 0.537517 
time: 1403636984.801666, t: 7.784330 -6.876361 -1.506354 q: 0.196827 0.771830 -0.272269 0.539822 
time: 1403636984.901666, t: 7.879119 -6.915836 -1.505720 q: 0.191420 0.770945 -0.275444 0.541417 
time: 1403636985.001667, t: 7.966124 -6.948473 -1.497256 q: 0.189913 0.770297 -0.276366 0.542400 
time: 1403636985.101666, t: 8.056210 -6.984751 -1.487724 q: 0.191079 0.770897 -0.275816 0.541417 
time: 1403636985.201667, t: 8.140235 -7.013305 -1.486009 q: 0.193823 0.772079 -0.274506 0.539419 
time: 1403636985.401666, t: 8.317059 -7.072584 -1.511182 q: 0.195707 0.773441 -0.269965 0.539079 
time: 1403636985.501667, t: 8.411487 -7.100468 -1.519892 q: 0.193196 0.777438 -0.260574 0.538857 
time: 1403636985.601666, t: 8.498277 -7.121505 -1.522206 q: 0.190521 0.779651 -0.251284 0.541019 
time: 1403636985.701667, t: 8.594845 -7.143440 -1.514743 q: 0.190647 0.781041 -0.242548 0.542954 
time: 1403636985.801666, t: 8.690053 -7.160376 -1.502700 q: 0.190167 0.780125 -0.235979 0.547316 
time: 1403636985.901666, t: 8.785175 -7.172321 -1.488613 q: 0.191639 0.770831 -0.229300 0.562597 
time: 1403636986.001667, t: 8.876117 -7.177214 -1.481111 q: 0.194136 0.759987 -0.223277 0.578686 
time: 1403636986.101666, t: 8.955943 -7.172744 -1.483661 q: 0.194446 0.759557 -0.221070 0.579993 
time: 1403636986.201667, t: 9.033715 -7.160985 -1.495922 q: 0.189747 0.767742 -0.224014 0.569549 
time: 1403636986.301666, t: 9.104548 -7.141829 -1.511603 q: 0.185832 0.777186 -0.227009 0.556700 
time: 1403636986.401666, t: 9.177689 -7.118313 -1.529907 q: 0.181741 0.781963 -0.229862 0.550153 
time: 1403636986.501667, t: 9.248386 -7.089524 -1.547260 q: 0.174269 0.782978 -0.234908 0.548993 
time: 1403636986.601666, t: 9.320558 -7.058286 -1.557212 q: 0.167427 0.782079 -0.239198 0.550550 
time: 1403636986.701667, t: 9.389928 -7.026562 -1.558469 q: 0.162429 0.781484 -0.242437 0.551474 
time: 1403636986.801666, t: 9.457980 -6.996859 -1.549601 q: 0.156910 0.780418 -0.245953 0.553023 
time: 1403636986.901666, t: 9.523339 -6.968852 -1.531449 q: 0.155897 0.779202 -0.247045 0.554534 
time: 1403636987.001667, t: 9.584887 -6.943160 -1.504697 q: 0.158602 0.778657 -0.245817 0.555079 
optimize pose graph 
time: 1403636987.101666, t: 9.641379 -6.917482 -1.471765 q: 0.164279 0.778317 -0.243546 0.554906 
time: 1403636987.201667, t: 9.695026 -6.891439 -1.442217 q: 0.167254 0.777223 -0.243390 0.555619 
time: 1403636987.301666, t: 9.747902 -6.865963 -1.420538 q: 0.168669 0.775498 -0.244342 0.557181 
time: 1403636987.401666, t: 9.799114 -6.838425 -1.404310 q: 0.168456 0.774215 -0.243701 0.559306 
time: 1403636987.501667, t: 9.846827 -6.810971 -1.393177 q: 0.169611 0.772403 -0.238195 0.563817 
time: 1403636987.601666, t: 9.892863 -6.779906 -1.385215 q: 0.172297 0.770249 -0.232299 0.568389 
time: 1403636987.701667, t: 9.934508 -6.744916 -1.382186 q: 0.172351 0.769446 -0.228942 0.570818 
time: 1403636987.801666, t: 9.972070 -6.706675 -1.376187 q: 0.169643 0.769645 -0.227292 0.572019 
time: 1403636987.901666, t: 10.004170 -6.665778 -1.363460 q: 0.164494 0.770485 -0.228191 0.572035 
wait for imu ... 
time: 1403636988.001667, t: 10.032251 -6.622842 -1.345508 q: 0.155413 0.772668 -0.232532 0.569878 
time: 1403636988.101666, t: 10.057181 -6.578994 -1.330170 q: 0.146482 0.775195 -0.238450 0.566354 
time: 1403636988.201667, t: 10.076512 -6.537390 -1.319976 q: 0.140669 0.776040 -0.243010 0.564730 
time: 1403636988.301666, t: 10.090448 -6.500377 -1.312882 q: 0.137769 0.772284 -0.245892 0.569328 
time: 1403636988.401666, t: 10.098488 -6.468190 -1.303607 q: 0.138793 0.765785 -0.245876 0.577802 
time: 1403636988.501667, t: 10.098539 -6.436868 -1.286414 q: 0.142192 0.761539 -0.243592 0.583525 
time: 1403636988.601666, t: 10.090417 -6.406211 -1.262746 q: 0.142808 0.759247 -0.242976 0.586611 
time: 1403636988.701667, t: 10.073707 -6.375743 -1.239162 q: 0.142598 0.758182 -0.243181 0.587953 
time: 1403636988.801666, t: 10.047480 -6.347051 -1.220442 q: 0.143922 0.756485 -0.242143 0.590240 
time: 1403636988.901666, t: 10.014369 -6.318276 -1.207978 q: 0.143526 0.753908 -0.242374 0.593530 
time: 1403636989.001667, t: 9.969041 -6.291753 -1.200742 q: 0.142805 0.751271 -0.243139 0.596726 
time: 1403636989.101666, t: 9.914122 -6.264305 -1.198285 q: 0.142433 0.749456 -0.244165 0.598676 
optimize pose graph 
time: 1403636989.201667, t: 9.846222 -6.239606 -1.198214 q: 0.142551 0.749430 -0.245047 0.598319 
time: 1403636989.301666, t: 9.768282 -6.215464 -1.195788 q: 0.148434 0.755704 -0.242893 0.589815 
time: 1403636989.401666, t: 9.683803 -6.190872 -1.186397 q: 0.155125 0.765575 -0.240367 0.576243 
time: 1403636989.501667, t: 9.594161 -6.168900 -1.170158 q: 0.156941 0.773274 -0.240509 0.565307 
time: 1403636989.601666, t: 9.501824 -6.147163 -1.148411 q: 0.159892 0.777058 -0.239414 0.559729 
time: 1403636989.701667, t: 9.407630 -6.125394 -1.128658 q: 0.164385 0.780109 -0.236570 0.555376 
time: 1403636989.801666, t: 9.314209 -6.101948 -1.115149 q: 0.166236 0.781468 -0.235458 0.553383 
time: 1403636989.901666, t: 9.224110 -6.078587 -1.104736 q: 0.165749 0.779941 -0.235574 0.555630 
time: 1403636990.001667, t: 9.130564 -6.052446 -1.099778 q: 0.165636 0.775139 -0.235382 0.562423 
time: 1403636990.101666, t: 9.039800 -6.026751 -1.091476 q: 0.166768 0.771146 -0.234367 0.567975 
time: 1403636990.201667, t: 8.942587 -5.997957 -1.078253 q: 0.168027 0.770891 -0.233029 0.568499 
time: 1403636990.301666, t: 8.847607 -5.968278 -1.058388 q: 0.168308 0.774381 -0.231747 0.564181 
time: 1403636990.401666, t: 8.746342 -5.934764 -1.033613 q: 0.168225 0.777780 -0.230233 0.560135 
time: 1403636990.501667, t: 8.649594 -5.900379 -1.011615 q: 0.164889 0.780675 -0.230434 0.557009 
time: 1403636990.601666, t: 8.551447 -5.864377 -0.996098 q: 0.163335 0.782405 -0.229583 0.555387 
wait for imu ... 
wait for imu ... 
time: 1403636990.701667, t: 8.456888 -5.828393 -0.986920 q: 0.162520 0.784656 -0.228296 0.552976 
time: 1403636990.801666, t: 8.361739 -5.790728 -0.984900 q: 0.162502 0.785963 -0.226772 0.551752 
time: 1403636990.901666, t: 8.270519 -5.752802 -0.988247 q: 0.161568 0.786331 -0.226289 0.551699 
time: 1403636991.001667, t: 8.177572 -5.715153 -0.996572 q: 0.162046 0.786405 -0.225436 0.551803 
time: 1403636991.101666, t: 8.088526 -5.677095 -1.007877 q: 0.162884 0.785962 -0.225058 0.552342 
wait for imu ... 
time: 1403636991.201667, t: 8.001716 -5.639677 -1.021141 q: 0.164012 0.786018 -0.225143 0.551894 
time: 1403636991.301666, t: 7.914658 -5.599316 -1.028953 q: 0.163819 0.786375 -0.225919 0.551124 
time: 1403636991.401666, t: 7.829990 -5.558598 -1.028512 q: 0.163843 0.786848 -0.227246 0.549896 
time: 1403636991.501667, t: 7.747882 -5.515513 -1.017403 q: 0.165141 0.787046 -0.228200 0.548827 
time: 1403636991.601666, t: 7.671501 -5.476535 -0.998183 q: 0.163161 0.786218 -0.231610 0.549178 
time: 1403636991.701667, t: 7.591755 -5.434158 -0.973862 q: 0.157178 0.784618 -0.238560 0.550235 
time: 1403636991.801666, t: 7.515837 -5.393801 -0.946125 q: 0.152504 0.783008 -0.245033 0.550998 
time: 1403636991.901666, t: 7.432241 -5.355071 -0.917540 q: 0.149856 0.782133 -0.249940 0.550764 
time: 1403636992.001667, t: 7.353813 -5.320763 -0.897559 q: 0.152554 0.781871 -0.251036 0.549895 
time: 1403636992.101666, t: 7.275186 -5.289947 -0.880425 q: 0.161985 0.780389 -0.247128 0.551074 
time: 1403636992.201667, t: 7.195744 -5.260540 -0.875392 q: 0.168777 0.777399 -0.244387 0.554473 
time: 1403636992.301666, t: 7.121924 -5.233795 -0.870118 q: 0.172285 0.776293 -0.243776 0.555213 
time: 1403636992.401666, t: 7.049975 -5.208002 -0.873512 q: 0.173925 0.778342 -0.244890 0.551327 
time: 1403636992.501667, t: 6.978451 -5.179317 -0.872205 q: 0.174515 0.781197 -0.246964 0.546154 
time: 1403636992.601666, t: 6.909199 -5.148733 -0.866730 q: 0.176454 0.782788 -0.248128 0.542716 
time: 1403636992.701667, t: 6.838982 -5.116989 -0.851700 q: 0.177907 0.783219 -0.249385 0.541039 
time: 1403636992.801666, t: 6.773129 -5.086122 -0.835053 q: 0.179757 0.783830 -0.250243 0.539143 
time: 1403636992.901666, t: 6.707059 -5.052803 -0.826513 q: 0.182842 0.783479 -0.250216 0.538629 
time: 1403636993.001667, t: 6.650687 -5.021566 -0.822029 q: 0.184694 0.781657 -0.250671 0.540431 
time: 1403636993.101666, t: 6.594040 -4.987198 -0.824039 q: 0.182085 0.777723 -0.252616 0.546056 
time: 1403636993.201667, t: 6.541037 -4.952767 -0.821682 q: 0.174837 0.775886 -0.250065 0.552178 
time: 1403636993.301666, t: 6.489516 -4.916577 -0.812782 q: 0.166333 0.777234 -0.241557 0.556678 
time: 1403636993.401666, t: 6.438119 -4.879322 -0.796994 q: 0.156255 0.780086 -0.228434 0.561131 
time: 1403636993.501667, t: 6.385346 -4.840498 -0.773702 q: 0.144418 0.784202 -0.212595 0.564778 
time: 1403636993.601666, t: 6.332408 -4.802788 -0.745098 q: 0.132915 0.788912 -0.195464 0.567225 
time: 1403636993.701667, t: 6.280409 -4.765903 -0.717179 q: 0.122678 0.793821 -0.182182 0.567105 
time: 1403636993.801666, t: 6.227459 -4.729283 -0.694058 q: 0.116127 0.797382 -0.172352 0.566561 
time: 1403636993.901666, t: 6.174185 -4.691902 -0.677917 q: 0.113577 0.799482 -0.163785 0.566659 
time: 1403636994.001667, t: 6.120305 -4.655017 -0.666214 q: 0.111476 0.797493 -0.158486 0.571366 
time: 1403636994.101666, t: 6.064903 -4.616696 -0.659602 q: 0.113473 0.792804 -0.153446 0.578826 
time: 1403636994.201667, t: 6.007525 -4.576542 -0.655805 q: 0.114743 0.787824 -0.150190 0.586183 
time: 1403636994.301666, t: 5.947146 -4.534748 -0.658028 q: 0.115368 0.783261 -0.148973 0.592452 
time: 1403636994.401666, t: 5.884980 -4.490563 -0.663390 q: 0.116593 0.780677 -0.148097 0.595833 
time: 1403636994.501667, t: 5.814835 -4.439918 -0.670584 q: 0.116747 0.781272 -0.148777 0.594853 
time: 1403636994.601666, t: 5.744462 -4.390307 -0.673306 q: 0.112509 0.784478 -0.152299 0.590543 
time: 1403636994.701667, t: 5.666015 -4.334630 -0.669527 q: 0.105628 0.789847 -0.158277 0.583038 
time: 1403636994.801666, t: 5.589183 -4.280802 -0.660469 q: 0.096064 0.795235 -0.166190 0.575113 
time: 1403636994.901666, t: 5.509632 -4.227910 -0.648775 q: 0.088957 0.797131 -0.172236 0.571842 
time: 1403636995.001667, t: 5.428588 -4.179156 -0.640875 q: 0.088983 0.795477 -0.173041 0.573895 
time: 1403636995.101666, t: 5.346165 -4.134343 -0.637599 q: 0.096087 0.792450 -0.167745 0.578491 
time: 1403636995.201667, t: 5.259597 -4.088789 -0.633528 q: 0.102223 0.789813 -0.162513 0.582525 
optimize pose graph 
time: 1403636995.401666, t: 5.080730 -4.001004 -0.605394 q: 0.107360 0.790847 -0.155591 0.582088 
time: 1403636995.501667, t: 4.988885 -3.957544 -0.581817 q: 0.106329 0.795545 -0.155015 0.575997 
time: 1403636995.601666, t: 4.890692 -3.909233 -0.551917 q: 0.105436 0.797307 -0.154803 0.573777 
time: 1403636995.701667, t: 4.798260 -3.864908 -0.522978 q: 0.103064 0.797366 -0.156446 0.573681 
wait for imu ... 
time: 1403636995.801666, t: 4.702482 -3.817125 -0.498501 q: 0.098394 0.797381 -0.160132 0.573463 
time: 1403636995.901666, t: 4.608421 -3.774331 -0.483187 q: 0.090974 0.798498 -0.165796 0.571521 
time: 1403636996.001667, t: 4.510649 -3.731233 -0.472158 q: 0.087404 0.799556 -0.169062 0.569639 
time: 1403636996.101666, t: 4.415362 -3.694123 -0.466060 q: 0.092502 0.801462 -0.165995 0.567052 
time: 1403636996.201667, t: 4.318294 -3.658379 -0.459273 q: 0.097870 0.802646 -0.162425 0.565508 
time: 1403636996.301666, t: 4.226234 -3.626809 -0.447133 q: 0.101665 0.803380 -0.158964 0.564778 
time: 1403636996.401666, t: 4.133216 -3.595113 -0.425530 q: 0.099320 0.804473 -0.154307 0.564932 
time: 1403636996.501667, t: 4.045740 -3.563886 -0.395961 q: 0.094964 0.806289 -0.145025 0.565551 
time: 1403636996.601666, t: 3.958696 -3.532134 -0.361340 q: 0.087992 0.809027 -0.132097 0.565936 
time: 1403636996.701667, t: 3.876857 -3.501545 -0.329819 q: 0.077909 0.812322 -0.115952 0.566232 
time: 1403636996.801666, t: 3.791976 -3.467993 -0.313093 q: 0.065294 0.815608 -0.098069 0.566483 
time: 1403636996.901666, t: 3.708912 -3.434627 -0.308809 q: 0.049723 0.818375 -0.079817 0.566938 
time: 1403636997.001667, t: 3.628185 -3.401584 -0.310802 q: 0.034451 0.820609 -0.060187 0.567267 
time: 1403636997.101666, t: 3.548912 -3.368926 -0.317572 q: 0.020995 0.822475 -0.042166 0.566848 
time: 1403636997.201667, t: 3.472850 -3.338245 -0.329078 q: 0.010916 0.823827 -0.029150 0.565986 
time: 1403636997.301666, t: 3.400228 -3.309451 -0.343438 q: 0.005080 0.824552 -0.019270 0.565435 
optimize pose graph 
time: 1403636997.401666, t: 3.329546 -3.282168 -0.352428 q: 0.002234 0.825246 -0.013079 0.564617 
time: 1403636997.501667, t: 3.267467 -3.257668 -0.353857 q: 0.001163 0.824923 -0.010141 0.565152 
time: 1403636997.601666, t: 3.207950 -3.231934 -0.347835 q: 0.001009 0.825676 -0.009900 0.564057 
time: 1403636997.701667, t: 3.153990 -3.208338 -0.333154 q: 0.002722 0.826086 -0.010148 0.563446 
time: 1403636997.801666, t: 3.105717 -3.184896 -0.311378 q: 0.005672 0.827179 -0.010979 0.561803 
time: 1403636997.901666, t: 3.065806 -3.160848 -0.282284 q: 0.007902 0.827438 -0.012604 0.561359 
time: 1403636998.001667, t: 3.029428 -3.139591 -0.245877 q: 0.008924 0.827397 -0.014785 0.561352 
time: 1403636998.101666, t: 3.000533 -3.119345 -0.204451 q: 0.009784 0.827629 -0.016975 0.560933 
time: 1403636998.201667, t: 2.983395 -3.101855 -0.164402 q: 0.008870 0.826397 -0.020112 0.562659 
time: 1403636998.301666, t: 2.961867 -3.082553 -0.131447 q: 0.009918 0.826916 -0.021549 0.561825 
time: 1403636998.401666, t: 2.943169 -3.063977 -0.104771 q: 0.009664 0.826568 -0.023121 0.562278 
time: 1403636998.501667, t: 2.929673 -3.045887 -0.079164 q: 0.009146 0.826330 -0.025058 0.562554 
time: 1403636998.601666, t: 2.917432 -3.028880 -0.049179 q: 0.010720 0.823123 -0.024865 0.567217 
time: 1403636998.701667, t: 2.907061 -3.013218 -0.011837 q: 0.014013 0.814953 -0.023316 0.578888 
time: 1403636998.801666, t: 2.895968 -2.998513 0.030229 q: 0.017106 0.809805 -0.022241 0.586028 
time: 1403636998.901666, t: 2.883875 -2.982848 0.069722 q: 0.022679 0.808263 -0.018840 0.588083 
time: 1403636999.001667, t: 2.867829 -2.964088 0.102239 q: 0.026501 0.808641 -0.017066 0.587457 
time: 1403636999.101666, t: 2.847280 -2.942690 0.128229 q: 0.029379 0.808851 -0.015563 0.587073 
time: 1403636999.201667, t: 2.825819 -2.917964 0.148802 q: 0.030976 0.810535 -0.015235 0.584672 
time: 1403636999.301666, t: 2.805841 -2.890019 0.164059 q: 0.029794 0.812239 -0.016600 0.582327 
time: 1403636999.401666, t: 2.779579 -2.859236 0.173031 q: 0.025066 0.812785 -0.020291 0.581670 
time: 1403636999.501667, t: 2.754526 -2.827215 0.177561 q: 0.022174 0.812432 -0.022573 0.582197 
optimize pose graph 
time: 1403636999.601666, t: 2.729896 -2.794442 0.178201 q: 0.020556 0.810248 -0.024204 0.585226 
time: 1403636999.701667, t: 2.701449 -2.761121 0.175563 q: 0.020035 0.808336 -0.025195 0.587841 
time: 1403636999.801666, t: 2.671025 -2.727856 0.169425 q: 0.020046 0.807928 -0.026060 0.588363 
time: 1403636999.901666, t: 2.637887 -2.695221 0.161141 q: 0.021661 0.808128 -0.025379 0.588060 
time: 1403637000.001667, t: 2.600903 -2.659403 0.155409 q: 0.025845 0.808056 -0.022865 0.588094 
time: 1403637000.101666, t: 2.560527 -2.621827 0.155172 q: 0.028072 0.809063 -0.021104 0.586672 
time: 1403637000.201667, t: 2.517305 -2.582560 0.162014 q: 0.027144 0.810736 -0.021250 0.584396 
time: 1403637000.301666, t: 2.478584 -2.544004 0.172901 q: 0.025865 0.812276 -0.022156 0.582278 
time: 1403637000.401666, t: 2.434699 -2.502252 0.179924 q: 0.023651 0.811685 -0.023573 0.583140 
time: 1403637000.601666, t: 2.346658 -2.414520 0.184138 q: 0.026465 0.811873 -0.021921 0.582822 
wait for imu ... 
wait for imu ... 
time: 1403637000.701667, t: 2.299533 -2.367834 0.191557 q: 0.024366 0.810988 -0.023545 0.584080 
time: 1403637000.801666, t: 2.256710 -2.321033 0.207751 q: 0.024387 0.810412 -0.024251 0.584850 
time: 1403637000.901666, t: 2.208181 -2.273387 0.223296 q: 0.023805 0.810456 -0.025236 0.584771 
time: 1403637001.001667, t: 2.159669 -2.223596 0.234593 q: 0.024119 0.810143 -0.026150 0.585151 
time: 1403637001.101666, t: 2.106040 -2.175522 0.238596 q: 0.023711 0.809947 -0.026859 0.585408 
time: 1403637001.201667, t: 2.051147 -2.126996 0.240419 q: 0.022712 0.809256 -0.028034 0.586348 
time: 1403637001.301666, t: 1.991213 -2.076400 0.248078 q: 0.021927 0.809383 -0.028979 0.586156 
time: 1403637001.401666, t: 1.930832 -2.027851 0.262683 q: 0.019514 0.810684 -0.030980 0.584338 
time: 1403637001.501667, t: 1.866450 -1.979060 0.284683 q: 0.019618 0.813704 -0.032113 0.580060 
time: 1403637001.601666, t: 1.804719 -1.932011 0.305030 q: 0.019966 0.815188 -0.033116 0.577904 
time: 1403637001.701667, t: 1.739338 -1.886640 0.323391 q: 0.020332 0.815324 -0.033709 0.577665 
time: 1403637001.901666, t: 1.615580 -1.798030 0.335719 q: 0.020689 0.815924 -0.034976 0.576729 
time: 1403637002.001667, t: 1.555940 -1.756240 0.334201 q: 0.021242 0.816795 -0.034923 0.575478 
time: 1403637002.101666, t: 1.496128 -1.714309 0.328733 q: 0.021650 0.817404 -0.035096 0.574587 
time: 1403637002.201667, t: 1.440392 -1.674673 0.317327 q: 0.021415 0.817578 -0.035231 0.574340 
time: 1403637002.301666, t: 1.383593 -1.635150 0.303963 q: 0.022759 0.817577 -0.034382 0.574341 
time: 1403637002.401666, t: 1.325807 -1.595597 0.294195 q: 0.024746 0.818074 -0.032675 0.573650 
time: 1403637002.501667, t: 1.271215 -1.556494 0.292345 q: 0.026252 0.817536 -0.031405 0.574421 
time: 1403637002.601666, t: 1.215680 -1.515912 0.300310 q: 0.028862 0.817163 -0.029411 0.574932 
time: 1403637002.701667, t: 1.157171 -1.473430 0.315387 q: 0.030154 0.817473 -0.029345 0.574427 
time: 1403637002.801666, t: 1.101104 -1.428841 0.329025 q: 0.030329 0.817226 -0.030271 0.574722 
time: 1403637002.901666, t: 1.045606 -1.384662 0.336810 q: 0.027222 0.816687 -0.033684 0.575454 
time: 1403637003.001667, t: 0.990667 -1.340124 0.336208 q: 0.026975 0.816939 -0.035273 0.575012 
time: 1403637003.101666, t: 0.938875 -1.294586 0.331158 q: 0.026891 0.817272 -0.037061 0.574430 
time: 1403637003.201667, t: 0.887535 -1.250645 0.321840 q: 0.027664 0.816829 -0.038181 0.574950 
time: 1403637003.301666, t: 0.840005 -1.208643 0.309196 q: 0.027652 0.815735 -0.039727 0.576397 
time: 1403637003.401666, t: 0.787504 -1.163827 0.301914 q: 0.027462 0.814407 -0.040787 0.578207 
time: 1403637003.501667, t: 0.737863 -1.120210 0.303011 q: 0.026913 0.813161 -0.042397 0.579868 
time: 1403637003.601666, t: 0.687315 -1.077107 0.310010 q: 0.026358 0.813407 -0.043625 0.579458 
optimize pose graph 
time: 1403637003.701667, t: 0.635540 -1.033789 0.323405 q: 0.026207 0.813598 -0.044415 0.579136 
time: 1403637003.801666, t: 0.577972 -0.990355 0.332614 q: 0.024628 0.814056 -0.044768 0.578534 
time: 1403637003.901666, t: 0.528123 -0.949676 0.338189 q: 0.025973 0.815890 -0.042580 0.576052 
time: 1403637004.001667, t: 0.477000 -0.909961 0.335758 q: 0.026525 0.818516 -0.039876 0.572484 
time: 1403637004.101666, t: 0.420939 -0.874179 0.326268 q: 0.027086 0.820550 -0.037408 0.569705 
time: 1403637004.201667, t: 0.378225 -0.836568 0.314799 q: 0.027372 0.821753 -0.035600 0.568071 
time: 1403637004.301666, t: 0.329687 -0.798427 0.307771 q: 0.025095 0.821881 -0.035148 0.568020 
time: 1403637004.401666, t: 0.288062 -0.758531 0.310934 q: 0.022769 0.820755 -0.036891 0.569633 
time: 1403637004.501667, t: 0.246491 -0.720875 0.324595 q: 0.022734 0.816447 -0.038320 0.575699 
time: 1403637004.601666, t: 0.204805 -0.682900 0.348436 q: 0.022330 0.814022 -0.041232 0.578939 
time: 1403637004.701667, t: 0.160961 -0.647073 0.375947 q: 0.014069 0.813474 -0.050290 0.579252 
time: 1403637004.801666, t: 0.123678 -0.614812 0.395759 q: 0.007516 0.813034 -0.058204 0.579251 
time: 1403637004.901666, t: 0.083590 -0.584419 0.401066 q: 0.006179 0.815796 -0.062024 0.574972 
time: 1403637005.001667, t: 0.042507 -0.558435 0.391250 q: 0.009784 0.820025 -0.061924 0.568884 
time: 1403637005.101666, t: 0.003423 -0.536502 0.375050 q: 0.018074 0.819964 -0.057926 0.569190 
time: 1403637005.201667, t: -0.031198 -0.519494 0.356582 q: 0.025252 0.818835 -0.054091 0.570917 
time: 1403637005.301666, t: -0.064711 -0.503411 0.334782 q: 0.028911 0.820763 -0.051745 0.568186 
time: 1403637005.401666, t: -0.099123 -0.487111 0.310982 q: 0.029853 0.821755 -0.049935 0.566864 
time: 1403637005.501667, t: -0.133245 -0.470912 0.288972 q: 0.031347 0.818755 -0.046065 0.571433 
time: 1403637005.601666, t: -0.160830 -0.454887 0.271808 q: 0.029319 0.817911 -0.044864 0.572844 
time: 1403637005.701667, t: -0.192755 -0.439122 0.265716 q: 0.022685 0.822069 -0.047120 0.566981 
time: 1403637005.801666, t: -0.217104 -0.424792 0.271992 q: 0.019508 0.823743 -0.048046 0.564587 
optimize pose graph 
time: 1403637005.901666, t: -0.238606 -0.410703 0.283986 q: 0.022793 0.822101 -0.044804 0.567118 
time: 1403637006.001667, t: -0.257042 -0.398680 0.293383 q: 0.025288 0.819643 -0.042785 0.570715 
time: 1403637006.101666, t: -0.275299 -0.384559 0.299370 q: 0.023526 0.817708 -0.044150 0.573456 
time: 1403637006.201667, t: -0.293942 -0.371116 0.303180 q: 0.022605 0.817718 -0.044479 0.573453 
time: 1403637006.301666, t: -0.313336 -0.356623 0.304837 q: 0.020073 0.821954 -0.046450 0.567302 
time: 1403637006.401666, t: -0.329091 -0.344800 0.303711 q: 0.017768 0.828442 -0.047886 0.557742 
time: 1403637006.501667, t: -0.343212 -0.332748 0.302079 q: 0.011781 0.831094 -0.051998 0.553570 
time: 1403637006.601666, t: -0.351807 -0.324226 0.300985 q: 0.008136 0.826629 -0.049859 0.560475 
time: 1403637006.701667, t: -0.356139 -0.318751 0.298090 q: 0.006324 0.821816 -0.039453 0.568350 
time: 1403637006.801666, t: -0.358720 -0.315201 0.292155 q: 0.000488 0.817753 -0.025380 0.575009 
time: 1403637006.901666, t: -0.359890 -0.313577 0.283238 q: -0.011267 0.817828 -0.009352 0.575276 
time: 1403637007.001667, t: -0.361484 -0.312760 0.274258 q: -0.021142 0.819057 0.012815 0.573179 
time: 1403637007.101666, t: -0.362956 -0.313296 0.265305 q: -0.029106 0.817626 0.031873 0.574129 
time: 1403637007.201667, t: -0.364634 -0.314304 0.255654 q: -0.035698 0.815357 0.046190 0.576008 
time: 1403637007.301666, t: -0.366889 -0.315528 0.246713 q: -0.037056 0.810118 0.057912 0.582221 
time: 1403637007.401666, t: -0.372095 -0.315741 0.237321 q: -0.037969 0.806677 0.064677 0.586215 
time: 1403637007.501667, t: -0.380828 -0.314539 0.226255 q: -0.039835 0.808034 0.067368 0.583914 
time: 1403637007.601666, t: -0.391425 -0.312210 0.213869 q: -0.041030 0.812586 0.067886 0.577418 
time: 1403637007.701667, t: -0.403951 -0.308135 0.199486 q: -0.040602 0.820784 0.067298 0.565805 
time: 1403637007.801666, t: -0.414722 -0.302553 0.186961 q: -0.038513 0.824373 0.066995 0.560748 
time: 1403637007.901666, t: -0.422898 -0.294828 0.177201 q: -0.042094 0.819540 0.062439 0.568053 
optimize pose graph 
time: 1403637008.001667, t: -0.429930 -0.286176 0.168608 q: -0.048159 0.813104 0.055564 0.577455 
time: 1403637008.101666, t: -0.438521 -0.278659 0.160527 q: -0.044657 0.814859 0.054654 0.575346 
time: 1403637008.201667, t: -0.448055 -0.271673 0.152207 q: -0.039893 0.824001 0.054561 0.562543 
time: 1403637008.301666, t: -0.454778 -0.263919 0.147373 q: -0.034612 0.830173 0.055226 0.553684 
time: 1403637008.401666, t: -0.457586 -0.254753 0.147324 q: -0.031867 0.830353 0.054466 0.553653 
time: 1403637008.501667, t: -0.455923 -0.243433 0.152284 q: -0.035029 0.822998 0.049971 0.564757 
time: 1403637008.601666, t: -0.451762 -0.231908 0.157939 q: -0.037844 0.816906 0.045567 0.573722 
time: 1403637008.701667, t: -0.447802 -0.220897 0.159482 q: -0.042669 0.814896 0.040107 0.576641 
time: 1403637008.801666, t: -0.443787 -0.212208 0.156122 q: -0.054906 0.818614 0.029988 0.570926 
time: 1403637008.901666, t: -0.437700 -0.209069 0.148270 q: -0.062843 0.822858 0.023656 0.564265 
time: 1403637009.001667, t: -0.429972 -0.211489 0.136761 q: -0.059446 0.823289 0.024505 0.563968 
time: 1403637009.101666, t: -0.420179 -0.218503 0.122500 q: -0.047258 0.822043 0.031453 0.566589 
time: 1403637009.201667, t: -0.409407 -0.228961 0.106835 q: -0.035393 0.820938 0.038766 0.568600 
time: 1403637009.301666, t: -0.396389 -0.240100 0.088841 q: -0.019157 0.820825 0.049323 0.568724 
time: 1403637009.401666, t: -0.383701 -0.248453 0.074600 q: -0.033113 0.816743 0.050616 0.573822 
time: 1403637009.501667, t: -0.380939 -0.257072 0.070949 q: -0.046966 0.807093 0.064672 0.584990 
time: 1403637009.601666, t: -0.380779 -0.261778 0.063908 q: -0.089479 0.785075 0.053694 0.610547 
time: 1403637009.701667, t: -0.390043 -0.268096 0.062270 q: -0.078381 0.790842 0.040601 0.605621 
time: 1403637009.801666, t: -0.391543 -0.267223 0.062171 q: -0.078080 0.790163 0.037380 0.606753 
time: 1403637009.901666, t: -0.393554 -0.267590 0.061893 q: -0.078619 0.789912 0.038279 0.606954 
time: 1403637010.001667, t: -0.392387 -0.266046 0.061007 q: -0.078804 0.789811 0.038220 0.607065 
time: 1403637010.101666, t: -0.393322 -0.266650 0.060568 q: -0.079795 0.789979 0.037938 0.606734 
optimize pose graph 
time: 1403637010.201667, t: -0.394743 -0.268004 0.060494 q: -0.080101 0.789917 0.037906 0.606777 
wait for imu ... 
time: 1403637010.301666, t: -0.394596 -0.268247 0.060529 q: -0.080478 0.790151 0.037791 0.606429 
time: 1403637010.401666, t: -0.394488 -0.268466 0.060677 q: -0.080449 0.790132 0.037772 0.606459 
time: 1403637010.501667, t: -0.394419 -0.268606 0.060704 q: -0.080460 0.790242 0.037699 0.606319 

Done.
time: 1403637010.601666, t: -0.394497 -0.268730 0.060755 q: -0.080571 0.790295 0.037611 0.606241 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731025628.078893235]: Shutdown request received.[0m
[33m[ WARN] [1731025628.078939690]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731025628.079814019]: Shutdown request received.[0m
[33m[ WARN] [1731025628.079841400]: Reason given for shutdown: [user request][0m
killed
