/SLAM-Hive/slam_hive_results/mapping_results/3407/2130_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c7d4fc9a-9d79-11ef-80d1-0242ac110002/roslaunch-09df05e6ce12-119.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] [1731033184.616038392]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731033184.617602956]: init begins[0m
[31m[ERROR] [1731033184.624004363]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://09df05e6ce12:35045/[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 [156][0m
[0m[ INFO] [1731033185.579325570]: 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] [1731033185.592899350]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731033185.594052457]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731033185.594078590]: 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] [1731033185.602276982]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731033185.604669986]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://09df05e6ce12:11311/[0m
]2;roscore http://09df05e6ce12:11311/
[1msetting /run_id to c7d4fc9a-9d79-11ef-80d1-0242ac110002[0m
[0m[ INFO] [1731033185.621418354]: 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 [243][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_05_difficult.bag  --clock 
[0m[ INFO] [1731033194.119333148]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 327394676.20 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[0m[ INFO] [1731033195.482244391]: IMU excitation not enouth![0m
[0m[ INFO] [1731033195.483257035]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033195.681125842]: IMU excitation not enouth![0m
[0m[ INFO] [1731033195.682198251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033195.892034928]: IMU excitation not enouth![0m
[0m[ INFO] [1731033195.977706824]: IMU excitation not enouth![0m
[0m[ INFO] [1731033195.978386811]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033196.196015845]: IMU excitation not enouth![0m
[0m[ INFO] [1731033196.384136696]: IMU excitation not enouth![0m
[0m[ INFO] [1731033196.385251900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033196.495951408]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033196.693998881]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033196.884279115]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033196.995103175]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033197.184086876]: IMU excitation not enouth![0m
[0m[ INFO] [1731033197.185062716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033197.379330418]: IMU excitation not enouth![0m
[0m[ INFO] [1731033197.380298077]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033197.481549543]: IMU excitation not enouth![0m
[0m[ INFO] [1731033197.482388267]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033197.694296896]: IMU excitation not enouth![0m
[0m[ INFO] [1731033197.879473335]: IMU excitation not enouth![0m
[0m[ INFO] [1731033197.968651322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033198.192067392]: IMU excitation not enouth![0m
[0m[ INFO] [1731033198.391896788]: IMU excitation not enouth![0m
[0m[ INFO] [1731033198.392236595]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731033198.491226191]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731033199.756621509]: gyroscope bias initial calibration 0.0147476 0.0163658 0.0988379[0m
[0m[ INFO] [1731033199.812099815]: Initialization finish![0m
time: 1403638523.327830, t: 0.029301 0.009674 0.362310 q: -0.052450 0.803562 0.023397 0.592444 
time: 1403638523.427830, t: 0.028720 -0.000668 0.329578 q: -0.051505 0.804431 0.025552 0.591258 
time: 1403638523.527829, t: 0.029092 -0.003985 0.280643 q: -0.045447 0.811595 0.028562 0.581750 
time: 1403638523.627830, t: 0.029140 0.010109 0.230700 q: -0.035225 0.822375 0.029633 0.567081 
time: 1403638523.727829, t: 0.024916 0.012295 0.187205 q: -0.030794 0.829686 0.031330 0.556500 
time: 1403638523.827830, t: 0.016093 -0.028456 0.145205 q: -0.035995 0.832135 0.036668 0.552187 
time: 1403638523.927830, t: 0.007580 -0.038367 0.102100 q: -0.030375 0.831725 0.040291 0.552890 
time: 1403638524.027829, t: 0.001857 -0.045623 0.075397 q: -0.022753 0.833083 0.048112 0.550582 
time: 1403638524.127830, t: -0.004551 -0.049579 0.075503 q: -0.019813 0.837116 0.056054 0.543784 
time: 1403638524.227829, t: -0.005529 -0.049753 0.105752 q: -0.024820 0.840286 0.058718 0.538382 
time: 1403638524.327830, t: -0.002935 -0.050446 0.155146 q: -0.033021 0.839199 0.058157 0.539696 
time: 1403638524.427830, t: 0.002965 -0.050032 0.213401 q: -0.041759 0.834645 0.055737 0.546368 
time: 1403638524.527829, t: 0.010044 -0.049595 0.274586 q: -0.047077 0.826491 0.054773 0.558297 
time: 1403638524.627830, t: 0.018716 -0.047895 0.332967 q: -0.047456 0.818613 0.051007 0.570104 
time: 1403638524.727829, t: 0.026837 -0.044307 0.381446 q: -0.038149 0.813756 0.045652 0.578154 
time: 1403638524.827830, t: 0.033567 -0.041199 0.414844 q: -0.025702 0.811286 0.040595 0.582671 
time: 1403638524.927830, t: 0.037715 -0.036960 0.434212 q: -0.029663 0.810205 0.040474 0.583994 
time: 1403638525.027829, t: 0.038589 -0.035265 0.434678 q: -0.034036 0.807992 0.043882 0.586570 
time: 1403638525.127830, t: 0.040169 -0.033867 0.412058 q: -0.029679 0.805657 0.047728 0.589710 
time: 1403638525.227829, t: 0.040728 -0.034342 0.371298 q: -0.028409 0.805887 0.052750 0.589031 
time: 1403638525.427830, t: 0.036011 -0.035986 0.267768 q: -0.034530 0.822949 0.061179 0.563755 
time: 1403638525.527829, t: 0.030274 -0.034476 0.217677 q: -0.043318 0.834365 0.061926 0.546007 
time: 1403638525.627830, t: 0.029075 -0.036518 0.172750 q: -0.046784 0.840353 0.060209 0.536650 
time: 1403638525.727829, t: 0.026392 -0.037060 0.137288 q: -0.044974 0.840991 0.055886 0.536272 
time: 1403638525.827830, t: 0.025328 -0.037273 0.111062 q: -0.040560 0.838105 0.050001 0.541696 
time: 1403638525.927830, t: 0.022550 -0.041263 0.094339 q: -0.031764 0.835106 0.047270 0.547133 
time: 1403638526.027829, t: 0.019358 -0.054826 0.088405 q: -0.025564 0.835433 0.046957 0.546985 
time: 1403638526.127830, t: 0.016588 -0.079641 0.091814 q: -0.022791 0.838128 0.040597 0.543483 
time: 1403638526.327830, t: 0.007647 -0.151496 0.117731 q: -0.017354 0.836552 0.022545 0.547148 
time: 1403638526.427830, t: -0.000498 -0.195244 0.132184 q: -0.015081 0.831823 0.012970 0.554684 
time: 1403638526.527829, t: -0.009861 -0.243743 0.143303 q: -0.014277 0.826888 0.001323 0.562184 
time: 1403638526.627830, t: -0.020557 -0.299663 0.151459 q: -0.011911 0.821454 -0.008377 0.570088 
time: 1403638526.827830, t: -0.047457 -0.428342 0.161773 q: 0.003954 0.815361 -0.019364 0.578616 
time: 1403638526.927830, t: -0.062646 -0.492720 0.165142 q: 0.008539 0.816632 -0.023423 0.576621 
time: 1403638527.027829, t: -0.077015 -0.553403 0.167791 q: 0.014526 0.821028 -0.033211 0.569736 
time: 1403638527.127830, t: -0.088649 -0.609190 0.171963 q: 0.022663 0.824738 -0.048148 0.563005 
time: 1403638527.227829, t: -0.096233 -0.656250 0.177865 q: 0.031289 0.824253 -0.062789 0.561859 
time: 1403638527.327830, t: -0.099564 -0.689407 0.184065 q: 0.045758 0.819824 -0.074300 0.565928 
time: 1403638527.427830, t: -0.098402 -0.702515 0.188855 q: 0.059711 0.815103 -0.080615 0.570564 
time: 1403638527.527829, t: -0.090070 -0.691552 0.190545 q: 0.066182 0.813117 -0.083254 0.572302 
time: 1403638527.627830, t: -0.076022 -0.659613 0.188787 q: 0.066314 0.813447 -0.082452 0.571934 
time: 1403638527.727829, t: -0.061226 -0.617323 0.187558 q: 0.062512 0.814262 -0.075640 0.572143 
time: 1403638527.827830, t: -0.042670 -0.564877 0.187035 q: 0.052345 0.816889 -0.069538 0.570190 
time: 1403638527.927830, t: -0.024267 -0.505556 0.189536 q: 0.037661 0.819461 -0.064690 0.568226 
time: 1403638528.027829, t: -0.003679 -0.444176 0.190185 q: 0.030832 0.818930 -0.058131 0.570108 
time: 1403638528.127830, t: 0.014171 -0.384418 0.188265 q: 0.021146 0.818226 -0.049571 0.572366 
time: 1403638528.227829, t: 0.033617 -0.329574 0.183419 q: 0.009540 0.819506 -0.039463 0.571631 
time: 1403638528.327830, t: 0.059996 -0.283582 0.178012 q: -0.002028 0.820331 -0.028826 0.571159 
time: 1403638528.427830, t: 0.092029 -0.249611 0.171884 q: -0.004625 0.818978 -0.023021 0.573344 
time: 1403638528.527829, t: 0.128033 -0.224770 0.166910 q: -0.003087 0.819730 -0.022773 0.572289 
time: 1403638528.627830, t: 0.164641 -0.204788 0.162732 q: -0.003815 0.821996 -0.029901 0.568695 
time: 1403638528.727829, t: 0.196486 -0.189546 0.165283 q: -0.002090 0.822179 -0.035496 0.568118 
time: 1403638528.827830, t: 0.219780 -0.180842 0.169396 q: -0.000466 0.821207 -0.041375 0.569128 
time: 1403638528.927830, t: 0.226394 -0.174781 0.178658 q: -0.006936 0.820495 -0.049101 0.569498 
time: 1403638529.027829, t: 0.215710 -0.168397 0.194080 q: -0.012595 0.821187 -0.053291 0.568026 
time: 1403638529.227829, t: 0.159550 -0.140536 0.212381 q: 0.013534 0.823156 -0.042508 0.566061 
time: 1403638529.327830, t: 0.121870 -0.121890 0.209312 q: 0.021195 0.826392 -0.037335 0.561457 
time: 1403638529.427830, t: 0.083715 -0.106724 0.191741 q: 0.022913 0.833921 -0.033393 0.550397 
time: 1403638529.527829, t: 0.054911 -0.091696 0.167857 q: 0.019312 0.844992 -0.031438 0.533505 
time: 1403638529.627830, t: 0.031120 -0.082332 0.142358 q: 0.020190 0.852289 -0.027837 0.521939 
time: 1403638529.727829, t: 0.016007 -0.072536 0.117850 q: 0.019938 0.852339 -0.025760 0.521974 
time: 1403638529.827830, t: 0.006890 -0.062422 0.094461 q: 0.018548 0.846320 -0.026669 0.531683 
time: 1403638529.927830, t: 0.002867 -0.054743 0.074920 q: 0.018414 0.841393 -0.027186 0.539425 
time: 1403638530.027829, t: 0.007507 -0.051415 0.061994 q: 0.019056 0.841062 -0.027587 0.539898 
time: 1403638530.127830, t: 0.019449 -0.050881 0.052308 q: 0.019515 0.843247 -0.029902 0.536339 
time: 1403638530.227829, t: 0.033989 -0.051479 0.042221 q: 0.021909 0.843791 -0.035835 0.535026 
time: 1403638530.327830, t: 0.047998 -0.053665 0.031941 q: 0.023174 0.843134 -0.041909 0.535566 
time: 1403638530.427830, t: 0.060757 -0.056965 0.022885 q: 0.026616 0.842605 -0.046004 0.535903 
time: 1403638530.527829, t: 0.071378 -0.060516 0.015900 q: 0.024353 0.842458 -0.049968 0.535887 
time: 1403638530.627830, t: 0.077363 -0.064635 0.010665 q: 0.026223 0.843669 -0.052512 0.533646 
time: 1403638530.727829, t: 0.081109 -0.067293 0.005155 q: 0.026680 0.847459 -0.054691 0.527362 
time: 1403638530.827830, t: 0.083949 -0.069388 -0.000423 q: 0.026765 0.849477 -0.055312 0.524036 
time: 1403638530.927830, t: 0.085746 -0.070239 -0.004069 q: 0.024517 0.848564 -0.054784 0.525677 
time: 1403638531.027829, t: 0.086432 -0.070248 -0.006690 q: 0.023228 0.845863 -0.054688 0.530081 
time: 1403638531.227829, t: 0.086394 -0.067915 -0.007508 q: 0.028038 0.841869 -0.050871 0.536547 
time: 1403638531.327830, t: 0.086333 -0.066642 -0.008195 q: 0.028973 0.838273 -0.051191 0.542069 
time: 1403638531.427830, t: 0.086384 -0.066828 -0.008342 q: 0.029876 0.839048 -0.050759 0.540859 
time: 1403638531.527829, t: 0.086052 -0.066934 -0.008321 q: 0.029504 0.838235 -0.051376 0.542082 
time: 1403638531.627830, t: 0.085966 -0.067045 -0.008407 q: 0.030180 0.838340 -0.050465 0.541967 
time: 1403638531.727829, t: 0.085954 -0.067036 -0.008475 q: 0.030303 0.838434 -0.051060 0.541758 
time: 1403638531.827830, t: 0.085991 -0.067054 -0.008504 q: 0.030433 0.838396 -0.051301 0.541788 
time: 1403638531.927830, t: 0.085992 -0.067041 -0.008529 q: 0.030477 0.838337 -0.051597 0.541849 
time: 1403638532.027829, t: 0.086001 -0.067032 -0.008574 q: 0.030535 0.838291 -0.051844 0.541893 
time: 1403638532.127830, t: 0.086041 -0.067057 -0.008580 q: 0.030596 0.838255 -0.051979 0.541932 
time: 1403638532.227829, t: 0.086002 -0.067092 -0.008594 q: 0.030839 0.838272 -0.051899 0.541900 
time: 1403638532.327830, t: 0.086023 -0.067158 -0.008600 q: 0.031078 0.838223 -0.051962 0.541956 
time: 1403638532.427830, t: 0.086014 -0.067205 -0.008609 q: 0.031187 0.838210 -0.051955 0.541970 
time: 1403638532.527829, t: 0.086019 -0.067229 -0.008619 q: 0.031259 0.838188 -0.052041 0.541992 
time: 1403638532.627830, t: 0.086021 -0.067272 -0.008635 q: 0.031425 0.838166 -0.052202 0.542001 
time: 1403638532.827830, t: 0.086038 -0.067274 -0.008640 q: 0.031477 0.838099 -0.052353 0.542086 
time: 1403638532.927830, t: 0.086011 -0.067283 -0.008642 q: 0.031591 0.838080 -0.052356 0.542110 
time: 1403638533.027829, t: 0.086024 -0.067313 -0.008641 q: 0.031690 0.838043 -0.052428 0.542154 
time: 1403638533.127830, t: 0.086020 -0.067333 -0.008647 q: 0.031740 0.838031 -0.052473 0.542166 
time: 1403638533.227829, t: 0.086013 -0.067348 -0.008661 q: 0.031796 0.838001 -0.052518 0.542204 
time: 1403638533.327830, t: 0.086026 -0.067354 -0.008656 q: 0.031882 0.837971 -0.052557 0.542242 
time: 1403638533.427830, t: 0.086007 -0.067369 -0.008682 q: 0.031875 0.837952 -0.052621 0.542265 
time: 1403638533.527829, t: 0.086018 -0.067382 -0.008674 q: 0.031955 0.837924 -0.052663 0.542299 
time: 1403638533.627830, t: 0.086020 -0.067416 -0.008669 q: 0.032058 0.837902 -0.052674 0.542327 
time: 1403638533.727829, t: 0.085994 -0.067419 -0.008671 q: 0.032148 0.837907 -0.052721 0.542308 
time: 1403638533.827830, t: 0.086013 -0.067441 -0.008679 q: 0.032153 0.837850 -0.052802 0.542389 
time: 1403638534.027829, t: 0.086001 -0.067512 -0.008748 q: 0.032285 0.837812 -0.052930 0.542427 
time: 1403638534.127830, t: 0.085997 -0.067528 -0.008731 q: 0.032413 0.837849 -0.053085 0.542347 
time: 1403638534.227829, t: 0.085988 -0.067516 -0.008727 q: 0.032285 0.837825 -0.053132 0.542388 
time: 1403638534.327830, t: 0.085956 -0.067484 -0.008660 q: 0.032124 0.837855 -0.053087 0.542355 
time: 1403638534.427830, t: 0.085931 -0.067481 -0.008629 q: 0.032105 0.837905 -0.053141 0.542273 
time: 1403638534.527829, t: 0.085949 -0.067536 -0.008620 q: 0.032422 0.837909 -0.053459 0.542217 
time: 1403638534.627830, t: 0.085924 -0.067557 -0.008528 q: 0.032287 0.837945 -0.053107 0.542205 
time: 1403638534.727829, t: 0.085951 -0.067567 -0.008515 q: 0.032179 0.837951 -0.052890 0.542222 
time: 1403638534.827830, t: 0.085943 -0.067568 -0.008517 q: 0.032305 0.837911 -0.052985 0.542268 
time: 1403638534.927830, t: 0.085897 -0.067629 -0.008521 q: 0.032598 0.837899 -0.053200 0.542247 
time: 1403638535.027829, t: 0.085890 -0.067675 -0.008492 q: 0.032557 0.837908 -0.053178 0.542239 
time: 1403638535.127830, t: 0.085890 -0.067680 -0.008475 q: 0.032581 0.837927 -0.053141 0.542210 
time: 1403638535.227829, t: 0.085897 -0.067688 -0.008496 q: 0.032545 0.837896 -0.053155 0.542260 
time: 1403638535.327830, t: 0.085882 -0.067703 -0.008485 q: 0.032558 0.837901 -0.053191 0.542248 
time: 1403638535.427830, t: 0.085878 -0.067681 -0.008457 q: 0.032624 0.837887 -0.053148 0.542270 
time: 1403638535.527829, t: 0.085894 -0.067679 -0.008453 q: 0.032615 0.837863 -0.053204 0.542302 
time: 1403638535.627830, t: 0.085899 -0.067675 -0.008456 q: 0.032627 0.837868 -0.053164 0.542297 
time: 1403638535.727829, t: 0.085894 -0.067687 -0.008447 q: 0.032649 0.837848 -0.053211 0.542321 
time: 1403638535.827830, t: 0.085889 -0.067694 -0.008445 q: 0.032594 0.837833 -0.053180 0.542352 
time: 1403638535.927830, t: 0.085873 -0.067677 -0.008448 q: 0.032571 0.837832 -0.053206 0.542352 
time: 1403638536.027829, t: 0.085884 -0.067690 -0.008444 q: 0.032520 0.837827 -0.053199 0.542364 
time: 1403638536.127830, t: 0.085884 -0.067687 -0.008438 q: 0.032536 0.837820 -0.053229 0.542371 
time: 1403638536.227829, t: 0.085907 -0.067702 -0.008422 q: 0.032523 0.837803 -0.053241 0.542396 
time: 1403638536.327830, t: 0.085910 -0.067693 -0.008444 q: 0.032501 0.837733 -0.053210 0.542508 
time: 1403638536.427830, t: 0.085905 -0.067690 -0.008446 q: 0.032546 0.837718 -0.053252 0.542526 
time: 1403638536.527829, t: 0.085900 -0.067701 -0.008423 q: 0.032515 0.837725 -0.053206 0.542521 
time: 1403638536.627830, t: 0.085884 -0.067682 -0.008424 q: 0.032525 0.837673 -0.053287 0.542593 
time: 1403638536.727829, t: 0.085908 -0.067683 -0.008430 q: 0.032586 0.837657 -0.053206 0.542622 
time: 1403638536.827830, t: 0.085904 -0.067699 -0.008439 q: 0.032571 0.837629 -0.053235 0.542662 
time: 1403638536.927830, t: 0.085896 -0.067719 -0.008433 q: 0.032569 0.837601 -0.053233 0.542706 
time: 1403638537.027829, t: 0.085907 -0.067722 -0.008407 q: 0.032575 0.837614 -0.053209 0.542688 
time: 1403638537.127830, t: 0.085930 -0.067685 -0.008400 q: 0.032678 0.837577 -0.053140 0.542746 
time: 1403638537.227829, t: 0.085925 -0.067678 -0.008370 q: 0.032689 0.837577 -0.053222 0.542738 
time: 1403638537.327830, t: 0.085948 -0.067662 -0.008375 q: 0.032677 0.837536 -0.053223 0.542801 
time: 1403638537.427830, t: 0.085946 -0.067662 -0.008368 q: 0.032641 0.837509 -0.053194 0.542847 
time: 1403638537.527829, t: 0.085946 -0.067650 -0.008339 q: 0.032685 0.837507 -0.053149 0.542853 
time: 1403638537.627830, t: 0.085957 -0.067646 -0.008287 q: 0.032769 0.837497 -0.053030 0.542875 
time: 1403638537.727829, t: 0.085956 -0.067682 -0.008265 q: 0.032816 0.837531 -0.053067 0.542816 
time: 1403638537.827830, t: 0.085949 -0.067659 -0.008237 q: 0.032812 0.837497 -0.053081 0.542868 
time: 1403638537.927830, t: 0.085993 -0.067647 -0.008256 q: 0.032822 0.837439 -0.053071 0.542956 
time: 1403638538.027829, t: 0.085972 -0.067686 -0.008185 q: 0.032847 0.837494 -0.053099 0.542867 
time: 1403638538.127830, t: 0.085971 -0.067673 -0.008166 q: 0.032949 0.837396 -0.053052 0.543017 
time: 1403638538.227829, t: 0.086024 -0.067632 -0.008192 q: 0.032957 0.837381 -0.053077 0.543038 
time: 1403638538.327830, t: 0.086006 -0.067637 -0.008193 q: 0.032954 0.837360 -0.052991 0.543079 
time: 1403638538.427830, t: 0.086071 -0.067607 -0.008099 q: 0.033000 0.837238 -0.053031 0.543260 
time: 1403638538.527829, t: 0.086023 -0.067653 -0.007993 q: 0.032967 0.837225 -0.053077 0.543277 
time: 1403638538.627830, t: 0.085979 -0.067678 -0.007886 q: 0.033131 0.837034 -0.053161 0.543554 
time: 1403638538.727829, t: 0.085964 -0.067721 -0.007761 q: 0.033210 0.836699 -0.053064 0.544074 
time: 1403638538.827830, t: 0.086737 -0.067517 -0.007588 q: 0.032700 0.836147 -0.052549 0.545003 
time: 1403638538.927830, t: 0.088879 -0.067119 -0.005913 q: 0.032730 0.833244 -0.051766 0.549503 
time: 1403638539.027829, t: 0.093660 -0.067133 -0.003320 q: 0.033877 0.828681 -0.052496 0.556224 
time: 1403638539.127830, t: 0.101029 -0.067234 0.001406 q: 0.033698 0.821997 -0.053854 0.565938 
time: 1403638539.227829, t: 0.110165 -0.067212 0.012185 q: 0.033494 0.817140 -0.053224 0.572998 
time: 1403638539.327830, t: 0.119486 -0.067444 0.031300 q: 0.033000 0.816147 -0.052984 0.574463 
time: 1403638539.427830, t: 0.128797 -0.067864 0.057773 q: 0.032919 0.817695 -0.051931 0.572358 
time: 1403638539.527829, t: 0.138970 -0.068645 0.088952 q: 0.032584 0.819664 -0.050824 0.569654 
time: 1403638539.727829, t: 0.162694 -0.071198 0.141085 q: 0.031100 0.821012 -0.048900 0.567962 
time: 1403638539.827830, t: 0.176237 -0.071949 0.152255 q: 0.030909 0.822624 -0.047583 0.565748 
time: 1403638539.927830, t: 0.190142 -0.072180 0.160990 q: 0.029639 0.826451 -0.046908 0.560268 
time: 1403638540.027829, t: 0.207221 -0.071970 0.171566 q: 0.028417 0.831797 -0.047402 0.552321 
time: 1403638540.127830, t: 0.228574 -0.072265 0.178760 q: 0.028160 0.837599 -0.047212 0.543513 
time: 1403638540.227829, t: 0.258729 -0.072319 0.189277 q: 0.028691 0.837478 -0.045973 0.543777 
optimize pose graph 
time: 1403638540.327830, t: 0.295478 -0.072946 0.201406 q: 0.029372 0.831267 -0.044948 0.553275 
time: 1403638540.427830, t: 0.336600 -0.073313 0.211192 q: 0.028675 0.826676 -0.041061 0.560445 
time: 1403638540.527829, t: 0.380228 -0.071878 0.219170 q: 0.023295 0.826165 -0.032521 0.562007 
time: 1403638540.627830, t: 0.426382 -0.068982 0.226563 q: 0.014573 0.826308 -0.018615 0.562722 
time: 1403638540.727829, t: 0.475215 -0.065039 0.233572 q: 0.007514 0.825400 0.002782 0.564491 
time: 1403638540.827830, t: 0.525920 -0.058017 0.239801 q: -0.001388 0.824658 0.029053 0.564883 
time: 1403638540.927830, t: 0.578091 -0.046424 0.245241 q: -0.013031 0.823530 0.057081 0.564243 
time: 1403638541.027829, t: 0.630934 -0.030078 0.249047 q: -0.027872 0.821650 0.079549 0.563726 
time: 1403638541.127830, t: 0.684330 -0.009972 0.251054 q: -0.040033 0.819216 0.095744 0.564017 
time: 1403638541.227829, t: 0.738203 0.012767 0.248605 q: -0.047553 0.818223 0.106673 0.562912 
time: 1403638541.327830, t: 0.791631 0.039959 0.247080 q: -0.051416 0.817562 0.112537 0.562391 
time: 1403638541.427830, t: 0.844353 0.071937 0.251853 q: -0.053810 0.817626 0.113727 0.561835 
time: 1403638541.527829, t: 0.895916 0.109489 0.261079 q: -0.052483 0.816438 0.114431 0.563542 
time: 1403638541.627830, t: 0.949885 0.153196 0.278442 q: -0.053499 0.814843 0.116728 0.565282 
time: 1403638541.727829, t: 1.003020 0.203276 0.302120 q: -0.060676 0.812938 0.121030 0.566394 
time: 1403638541.827830, t: 1.053624 0.259728 0.333618 q: -0.072939 0.811798 0.127515 0.565158 
time: 1403638541.927830, t: 1.099878 0.318334 0.367139 q: -0.084835 0.810505 0.139206 0.562589 
time: 1403638542.127830, t: 1.187265 0.438948 0.417393 q: -0.111946 0.805336 0.174239 0.555466 
time: 1403638542.227829, t: 1.228884 0.500640 0.434679 q: -0.128311 0.801168 0.195266 0.550942 
optimize pose graph 
time: 1403638542.327830, t: 1.270654 0.564493 0.446449 q: -0.143084 0.795704 0.218912 0.546314 
time: 1403638542.427830, t: 1.313880 0.628696 0.454964 q: -0.153457 0.784250 0.239437 0.551428 
time: 1403638542.527829, t: 1.353863 0.692685 0.462345 q: -0.154622 0.770504 0.258706 0.561682 
time: 1403638542.627830, t: 1.391194 0.761146 0.470030 q: -0.152218 0.761981 0.273370 0.566995 
time: 1403638542.727829, t: 1.420251 0.831669 0.481048 q: -0.156363 0.762271 0.277753 0.563336 
time: 1403638542.827830, t: 1.443640 0.906266 0.499067 q: -0.165764 0.766867 0.274931 0.555744 
time: 1403638542.927830, t: 1.463148 0.984129 0.523655 q: -0.171756 0.772472 0.271629 0.547727 
time: 1403638543.027829, t: 1.476698 1.061380 0.554079 q: -0.174731 0.776628 0.268851 0.542251 
time: 1403638543.127830, t: 1.488292 1.139953 0.581634 q: -0.176535 0.779014 0.265575 0.539855 
time: 1403638543.227829, t: 1.503503 1.219284 0.603679 q: -0.175741 0.780020 0.263922 0.539472 
time: 1403638543.327830, t: 1.518963 1.301249 0.618714 q: -0.175566 0.780822 0.261425 0.539584 
time: 1403638543.427830, t: 1.534594 1.384967 0.629705 q: -0.176273 0.780941 0.262612 0.538604 
time: 1403638543.527829, t: 1.552752 1.470404 0.637926 q: -0.179784 0.779291 0.269537 0.536407 
time: 1403638543.627830, t: 1.565882 1.556532 0.640639 q: -0.184628 0.774747 0.284837 0.533429 
time: 1403638543.727829, t: 1.581359 1.646853 0.644628 q: -0.193617 0.767830 0.303965 0.529674 
time: 1403638543.827830, t: 1.592523 1.737686 0.654580 q: -0.203340 0.757897 0.326813 0.526724 
time: 1403638543.927830, t: 1.604119 1.832427 0.672421 q: -0.217445 0.748364 0.347190 0.521660 
time: 1403638544.027829, t: 1.615825 1.927889 0.695886 q: -0.232043 0.741790 0.361479 0.515011 
time: 1403638544.127830, t: 1.626352 2.024763 0.721468 q: -0.243630 0.738225 0.370724 0.508165 
time: 1403638544.227829, t: 1.637621 2.143287 0.736087 q: -0.252526 0.735273 0.374605 0.505248 
time: 1403638544.327830, t: 1.648766 2.220818 0.761645 q: -0.257557 0.733467 0.378238 0.502620 
optimize pose graph 
time: 1403638544.427830, t: 1.660300 2.314892 0.772207 q: -0.258829 0.734003 0.379566 0.500176 
time: 1403638544.527829, t: 1.673840 2.410663 0.781075 q: -0.258208 0.733146 0.379770 0.501598 
time: 1403638544.627830, t: 1.688976 2.509534 0.790932 q: -0.262742 0.727792 0.379186 0.507447 
time: 1403638544.727829, t: 1.704782 2.608318 0.807443 q: -0.266390 0.723295 0.379313 0.511861 
time: 1403638544.827830, t: 1.718868 2.700954 0.826532 q: -0.265542 0.724971 0.381432 0.508344 
time: 1403638544.927830, t: 1.732470 2.792610 0.839839 q: -0.264626 0.727794 0.383059 0.503542 
time: 1403638545.027829, t: 1.747528 2.884376 0.846679 q: -0.266087 0.727187 0.383366 0.503416 
time: 1403638545.127830, t: 1.761670 2.970559 0.848357 q: -0.267337 0.726023 0.383849 0.504065 
time: 1403638545.227829, t: 1.776637 3.060473 0.843100 q: -0.266187 0.726297 0.385610 0.502934 
time: 1403638545.327830, t: 1.792061 3.147331 0.833447 q: -0.267045 0.724129 0.386221 0.505131 
time: 1403638545.527829, t: 1.823922 3.329864 0.803711 q: -0.272029 0.721821 0.388943 0.503685 
time: 1403638545.627830, t: 1.837468 3.414310 0.794758 q: -0.279193 0.718154 0.397878 0.497996 
time: 1403638545.727829, t: 1.850825 3.501573 0.791381 q: -0.287401 0.711781 0.411992 0.490949 
time: 1403638545.827830, t: 1.866609 3.588158 0.796718 q: -0.297600 0.701132 0.430411 0.484349 
time: 1403638545.927830, t: 1.880583 3.679641 0.810281 q: -0.307792 0.689385 0.451442 0.475618 
time: 1403638546.027829, t: 1.895598 3.768538 0.830018 q: -0.316235 0.677025 0.471950 0.467863 
time: 1403638546.127830, t: 1.910571 3.860479 0.848251 q: -0.322448 0.666231 0.487968 0.462656 
time: 1403638546.227829, t: 1.923012 3.952026 0.860284 q: -0.329610 0.659738 0.497224 0.457025 
time: 1403638546.327830, t: 1.934761 4.045261 0.865145 q: -0.335631 0.656479 0.502005 0.452083 
time: 1403638546.427830, t: 1.945890 4.140209 0.864905 q: -0.340465 0.656083 0.503137 0.447762 
time: 1403638546.527829, t: 1.956995 4.235900 0.860630 q: -0.341733 0.654995 0.505017 0.446270 
time: 1403638546.627830, t: 1.966423 4.333170 0.859072 q: -0.343793 0.651198 0.510013 0.444561 
time: 1403638546.727829, t: 1.974864 4.429943 0.866100 q: -0.347633 0.646187 0.515847 0.442149 
time: 1403638546.827830, t: 1.983041 4.532979 0.882657 q: -0.348489 0.641747 0.521630 0.441156 
time: 1403638546.927830, t: 1.989474 4.635393 0.902753 q: -0.348831 0.638578 0.525890 0.440426 
time: 1403638547.027829, t: 1.995420 4.743204 0.917088 q: -0.347385 0.635454 0.529745 0.441466 
time: 1403638547.127830, t: 1.997383 4.847013 0.924281 q: -0.344030 0.632672 0.533758 0.443252 
time: 1403638547.227829, t: 1.997295 4.953509 0.927008 q: -0.342160 0.631303 0.535853 0.444123 
time: 1403638547.327830, t: 1.990397 5.055911 0.923452 q: -0.341127 0.630295 0.536749 0.445265 
time: 1403638547.427830, t: 1.980562 5.162012 0.918439 q: -0.346325 0.633616 0.532953 0.441079 
time: 1403638547.527829, t: 1.968610 5.268009 0.910217 q: -0.351133 0.636896 0.528993 0.437305 
time: 1403638547.627830, t: 1.951225 5.363912 0.894640 q: -0.353621 0.639046 0.526570 0.435083 
time: 1403638547.727829, t: 1.937340 5.472407 0.875608 q: -0.352272 0.639363 0.526224 0.436128 
time: 1403638547.827830, t: 1.920161 5.574752 0.853259 q: -0.348321 0.637123 0.528625 0.439662 
time: 1403638547.927830, t: 1.901482 5.687509 0.829503 q: -0.347885 0.636919 0.528577 0.440359 
time: 1403638548.027829, t: 1.880974 5.800408 0.812034 q: -0.349371 0.636305 0.529740 0.438671 
time: 1403638548.127830, t: 1.859007 5.921971 0.801900 q: -0.352695 0.633559 0.533605 0.435288 
time: 1403638548.227829, t: 1.834533 6.044928 0.801495 q: -0.358730 0.628230 0.540273 0.429820 
time: 1403638548.327830, t: 1.807857 6.167636 0.808223 q: -0.366266 0.620207 0.550045 0.422663 
time: 1403638548.427830, t: 1.779348 6.293990 0.822906 q: -0.373240 0.610491 0.562310 0.414488 
time: 1403638548.527829, t: 1.751252 6.411278 0.842452 q: -0.381073 0.601827 0.570949 0.408173 
time: 1403638548.627830, t: 1.722805 6.529276 0.857210 q: -0.386314 0.594482 0.577938 0.404153 
time: 1403638548.727829, t: 1.695315 6.650448 0.867413 q: -0.390031 0.589878 0.582551 0.400693 
time: 1403638548.827830, t: 1.666935 6.771655 0.879020 q: -0.392396 0.586905 0.585692 0.398162 
time: 1403638548.927830, t: 1.638195 6.897393 0.897837 q: -0.394303 0.585218 0.587017 0.396807 
time: 1403638549.027829, t: 1.609298 7.022991 0.921946 q: -0.393413 0.584483 0.588882 0.396011 
time: 1403638549.127830, t: 1.579967 7.148164 0.951080 q: -0.395616 0.584951 0.587452 0.395247 
time: 1403638549.227829, t: 1.550717 7.273398 0.987458 q: -0.396006 0.585042 0.586987 0.395413 
time: 1403638549.327830, t: 1.520351 7.403420 1.028356 q: -0.397504 0.586317 0.585120 0.394788 
time: 1403638549.427830, t: 1.491377 7.531050 1.070342 q: -0.399964 0.587590 0.582637 0.394083 
time: 1403638549.527829, t: 1.461887 7.664220 1.107454 q: -0.400672 0.588940 0.581178 0.393502 
time: 1403638549.627830, t: 1.434746 7.793490 1.139805 q: -0.402671 0.588142 0.579326 0.395382 
time: 1403638549.727829, t: 1.409393 7.927170 1.169043 q: -0.401480 0.587609 0.579302 0.397415 
time: 1403638549.827830, t: 1.384347 8.062650 1.199841 q: -0.401519 0.589285 0.578911 0.395458 
time: 1403638550.027829, t: 1.337184 8.335543 1.286401 q: -0.400226 0.591052 0.579128 0.393812 
time: 1403638550.127830, t: 1.315570 8.474713 1.341033 q: -0.401360 0.591916 0.578668 0.392032 
time: 1403638550.227829, t: 1.295320 8.616011 1.401521 q: -0.401186 0.591632 0.579472 0.391449 
time: 1403638550.327830, t: 1.275321 8.763524 1.470938 q: -0.400486 0.590787 0.580264 0.392269 
time: 1403638550.427830, t: 1.256578 8.912258 1.534412 q: -0.402693 0.590277 0.579406 0.392046 
time: 1403638550.527829, t: 1.238462 9.063941 1.592365 q: -0.405074 0.591637 0.577851 0.389831 
time: 1403638550.627830, t: 1.224605 9.207352 1.640865 q: -0.409772 0.590864 0.574813 0.390585 
time: 1403638550.727829, t: 1.214826 9.348318 1.686590 q: -0.413995 0.589684 0.571898 0.392190 
time: 1403638550.827830, t: 1.209068 9.485496 1.723928 q: -0.417558 0.587418 0.569154 0.395789 
time: 1403638550.927830, t: 1.206506 9.622596 1.760020 q: -0.423855 0.582984 0.564320 0.402516 
time: 1403638551.027829, t: 1.206015 9.752389 1.791132 q: -0.429027 0.579932 0.560482 0.406785 
time: 1403638551.127830, t: 1.208499 9.875633 1.820139 q: -0.432221 0.579098 0.558056 0.407926 
time: 1403638551.227829, t: 1.215103 9.993442 1.854149 q: -0.435903 0.579554 0.556029 0.406125 
time: 1403638551.327830, t: 1.226857 10.110613 1.894438 q: -0.433068 0.584037 0.555144 0.403941 
time: 1403638551.427830, t: 1.245356 10.218840 1.936065 q: -0.427266 0.594575 0.548640 0.403632 
time: 1403638551.527829, t: 1.270014 10.329229 1.972144 q: -0.419941 0.609390 0.535949 0.406266 
time: 1403638551.727829, t: 1.342722 10.528536 2.024547 q: -0.405959 0.641301 0.499719 0.417386 
time: 1403638551.827830, t: 1.391447 10.619002 2.041919 q: -0.396426 0.654790 0.481894 0.426468 
time: 1403638551.927830, t: 1.447750 10.704692 2.059911 q: -0.384497 0.661588 0.471051 0.438833 
time: 1403638552.027829, t: 1.511811 10.784488 2.085185 q: -0.373962 0.663361 0.464807 0.451729 
time: 1403638552.127830, t: 1.578995 10.854434 2.116831 q: -0.366309 0.666345 0.460983 0.457490 
time: 1403638552.227829, t: 1.649830 10.919810 2.153917 q: -0.361633 0.671275 0.458974 0.456021 
time: 1403638552.327830, t: 1.724519 10.976947 2.193898 q: -0.359637 0.673858 0.457830 0.454938 
time: 1403638552.427830, t: 1.802730 11.028388 2.231073 q: -0.365514 0.672272 0.452856 0.457572 
time: 1403638552.527829, t: 1.885137 11.077156 2.260757 q: -0.372323 0.668794 0.448120 0.461821 
time: 1403638552.627830, t: 1.970889 11.113551 2.286686 q: -0.375900 0.665228 0.446748 0.465389 
time: 1403638552.727829, t: 2.060510 11.142351 2.306037 q: -0.375749 0.664346 0.448746 0.464848 
time: 1403638552.827830, t: 2.154772 11.165626 2.320342 q: -0.374517 0.663064 0.451956 0.464564 
time: 1403638552.927830, t: 2.251830 11.185616 2.329716 q: -0.370499 0.661591 0.457671 0.464290 
time: 1403638553.027829, t: 2.351778 11.196936 2.335163 q: -0.365703 0.659151 0.463789 0.465490 
time: 1403638553.127830, t: 2.452145 11.205939 2.337217 q: -0.366136 0.656199 0.466182 0.466927 
time: 1403638553.227829, t: 2.552814 11.206350 2.336644 q: -0.374335 0.651071 0.462571 0.471177 
time: 1403638553.327830, t: 2.652470 11.196799 2.337648 q: -0.379257 0.645189 0.461062 0.476779 
time: 1403638553.427830, t: 2.753041 11.179125 2.345019 q: -0.377169 0.639864 0.463940 0.482780 
time: 1403638553.527829, t: 2.854944 11.154473 2.359502 q: -0.374021 0.635339 0.467426 0.487817 
time: 1403638553.627830, t: 2.952845 11.114779 2.377829 q: -0.371096 0.632337 0.470129 0.491341 
time: 1403638553.727829, t: 3.047072 11.064445 2.402855 q: -0.369503 0.631963 0.472137 0.491098 
time: 1403638553.827830, t: 3.137143 11.003789 2.434714 q: -0.367248 0.633271 0.474136 0.489175 
time: 1403638553.927830, t: 3.219897 10.932418 2.471005 q: -0.365079 0.635111 0.475435 0.487148 
time: 1403638554.027829, t: 3.308130 10.862163 2.506856 q: -0.365429 0.639693 0.475304 0.480979 
time: 1403638554.127830, t: 3.385122 10.778258 2.534694 q: -0.363077 0.641444 0.477071 0.478673 
time: 1403638554.227829, t: 3.471056 10.698326 2.557877 q: -0.354788 0.646350 0.483419 0.471871 
time: 1403638554.327830, t: 3.543419 10.608371 2.572191 q: -0.347641 0.650840 0.488761 0.465474 
time: 1403638554.427830, t: 3.622235 10.525609 2.585757 q: -0.343926 0.653171 0.491837 0.461714 
time: 1403638554.527829, t: 3.695283 10.444134 2.595471 q: -0.342345 0.653905 0.493226 0.460366 
time: 1403638554.627830, t: 3.763457 10.363875 2.602565 q: -0.345077 0.655700 0.491826 0.457260 
time: 1403638554.727829, t: 3.829280 10.279340 2.613779 q: -0.350727 0.656606 0.488140 0.455609 
time: 1403638554.827830, t: 3.894680 10.201437 2.630574 q: -0.355114 0.657456 0.485544 0.453754 
time: 1403638554.927830, t: 3.962138 10.120023 2.651260 q: -0.358489 0.657723 0.482996 0.453432 
time: 1403638555.027829, t: 4.031275 10.043806 2.669685 q: -0.358735 0.659527 0.478880 0.454980 
time: 1403638555.127830, t: 4.101118 9.959735 2.680177 q: -0.352605 0.664120 0.474044 0.458146 
time: 1403638555.227829, t: 4.175061 9.880307 2.688054 q: -0.346569 0.670980 0.466035 0.460963 
time: 1403638555.327830, t: 4.250741 9.796828 2.689729 q: -0.340710 0.676226 0.459386 0.464328 
time: 1403638555.427830, t: 4.327225 9.713134 2.688479 q: -0.333058 0.678401 0.456641 0.469387 
time: 1403638555.527829, t: 4.404483 9.629220 2.683943 q: -0.330208 0.680463 0.453141 0.471800 
time: 1403638555.627830, t: 4.480295 9.545548 2.680084 q: -0.327880 0.681494 0.451735 0.473282 
time: 1403638555.727829, t: 4.554165 9.462090 2.684251 q: -0.328139 0.682967 0.450477 0.472178 
time: 1403638555.827830, t: 4.626155 9.377270 2.698339 q: -0.326571 0.683293 0.451668 0.471654 
time: 1403638555.927830, t: 4.698840 9.292400 2.716448 q: -0.325146 0.682991 0.453195 0.471611 
time: 1403638556.027829, t: 4.771443 9.214474 2.741613 q: -0.324101 0.681836 0.454611 0.472638 
time: 1403638556.127830, t: 4.845649 9.134031 2.766055 q: -0.322851 0.683782 0.455716 0.469609 
time: 1403638556.227829, t: 4.917560 9.062714 2.783537 q: -0.320541 0.688394 0.457038 0.463124 
time: 1403638556.327830, t: 4.992262 8.989014 2.796410 q: -0.319566 0.690983 0.457679 0.459293 
time: 1403638556.427830, t: 5.064391 8.928103 2.806310 q: -0.318370 0.692999 0.458402 0.456356 
time: 1403638556.527829, t: 5.142992 8.863595 2.815616 q: -0.315585 0.696504 0.459759 0.451563 
time: 1403638556.627830, t: 5.221607 8.812322 2.824989 q: -0.319772 0.699639 0.456051 0.447514 
time: 1403638556.727829, t: 5.305155 8.763801 2.838682 q: -0.327363 0.699244 0.450037 0.448731 
time: 1403638556.827830, t: 5.391304 8.713352 2.861278 q: -0.333639 0.696449 0.445644 0.452819 
time: 1403638556.927830, t: 5.482833 8.670086 2.889098 q: -0.338339 0.695154 0.442225 0.454670 
time: 1403638557.027829, t: 5.579039 8.627865 2.915883 q: -0.339528 0.693884 0.441616 0.456312 
time: 1403638557.127830, t: 5.681142 8.585472 2.935359 q: -0.337136 0.692117 0.443865 0.458582 
time: 1403638557.227829, t: 5.785556 8.544021 2.948132 q: -0.336134 0.690764 0.444998 0.460256 
time: 1403638557.327830, t: 5.893323 8.502297 2.954874 q: -0.334957 0.689889 0.446284 0.461181 
time: 1403638557.427830, t: 6.004392 8.459018 2.961531 q: -0.331636 0.687799 0.449317 0.463750 
time: 1403638557.527829, t: 6.117287 8.416738 2.972781 q: -0.325982 0.684936 0.453723 0.467691 
time: 1403638557.627830, t: 6.229013 8.374654 2.989939 q: -0.322743 0.682635 0.456271 0.470812 
time: 1403638557.727829, t: 6.339920 8.335317 3.011329 q: -0.321691 0.681915 0.457013 0.471853 
time: 1403638557.827830, t: 6.450183 8.295641 3.030733 q: -0.319841 0.681595 0.457819 0.472792 
time: 1403638557.927830, t: 6.559105 8.256157 3.043731 q: -0.317170 0.681768 0.459594 0.472620 
time: 1403638558.027829, t: 6.665932 8.218180 3.049854 q: -0.315638 0.684367 0.460696 0.468800 
time: 1403638558.127830, t: 6.771893 8.180705 3.050879 q: -0.313650 0.689386 0.461691 0.461749 
time: 1403638558.227829, t: 6.878525 8.146501 3.053480 q: -0.310725 0.695554 0.463076 0.453007 
time: 1403638558.327830, t: 6.985934 8.118993 3.063522 q: -0.306589 0.697207 0.465452 0.450843 
time: 1403638558.527829, t: 7.201259 8.086106 3.111407 q: -0.297033 0.702714 0.470687 0.443191 
time: 1403638558.627830, t: 7.312530 8.082597 3.145484 q: -0.301925 0.703981 0.466793 0.441991 
time: 1403638558.727829, t: 7.427009 8.088302 3.183087 q: -0.312377 0.704611 0.458984 0.441903 
time: 1403638558.827830, t: 7.543438 8.100590 3.215560 q: -0.317857 0.704152 0.454702 0.443151 
time: 1403638558.927830, t: 7.663117 8.117612 3.240718 q: -0.318705 0.700997 0.454099 0.448134 
time: 1403638559.027829, t: 7.784670 8.139857 3.258532 q: -0.319409 0.695828 0.454002 0.455723 
time: 1403638559.127830, t: 7.907055 8.164619 3.270474 q: -0.320544 0.691996 0.453727 0.461004 
time: 1403638559.227829, t: 8.031276 8.190494 3.275683 q: -0.319681 0.688633 0.455299 0.465072 
time: 1403638559.327830, t: 8.154683 8.217458 3.274891 q: -0.317987 0.686209 0.457354 0.467791 
time: 1403638559.427830, t: 8.275343 8.245531 3.269224 q: -0.313928 0.683502 0.460962 0.470943 
time: 1403638559.527829, t: 8.393375 8.274100 3.258475 q: -0.312641 0.681579 0.462375 0.473197 
time: 1403638559.627830, t: 8.507404 8.305329 3.242242 q: -0.313026 0.679836 0.462911 0.474922 
time: 1403638559.727829, t: 8.619795 8.338423 3.226276 q: -0.313515 0.678884 0.463490 0.475397 
time: 1403638559.827830, t: 8.728192 8.373068 3.215167 q: -0.314842 0.679417 0.463553 0.473693 
time: 1403638559.927830, t: 8.834423 8.409527 3.209255 q: -0.315161 0.680481 0.461074 0.474374 
time: 1403638560.027829, t: 8.937414 8.445556 3.199133 q: -0.312055 0.686494 0.451709 0.476766 
time: 1403638560.127830, t: 9.043098 8.481876 3.182364 q: -0.304820 0.695731 0.436123 0.482535 
time: 1403638560.227829, t: 9.147311 8.517512 3.159696 q: -0.293331 0.706606 0.416694 0.490949 
time: 1403638560.327830, t: 9.249045 8.551679 3.135030 q: -0.281619 0.715962 0.393965 0.502872 
time: 1403638560.427830, t: 9.347022 8.584120 3.107353 q: -0.269893 0.724396 0.369397 0.515708 
time: 1403638560.527829, t: 9.442489 8.612566 3.075496 q: -0.257495 0.732878 0.343960 0.527521 
time: 1403638560.627830, t: 9.534458 8.638343 3.038711 q: -0.247433 0.743591 0.316166 0.534685 
time: 1403638560.727829, t: 9.624072 8.659312 3.001341 q: -0.240285 0.754198 0.288825 0.538543 
time: 1403638560.827830, t: 9.711228 8.672496 2.970654 q: -0.229986 0.761887 0.265909 0.543992 
time: 1403638560.927830, t: 9.797141 8.679644 2.946454 q: -0.219766 0.767912 0.243360 0.550263 
time: 1403638561.027829, t: 9.882287 8.678733 2.930705 q: -0.206943 0.770631 0.223641 0.559720 
time: 1403638561.127830, t: 9.964168 8.669788 2.921278 q: -0.195415 0.773309 0.204436 0.567462 
time: 1403638561.227829, t: 10.041370 8.652071 2.920094 q: -0.186328 0.774592 0.188965 0.574092 
time: 1403638561.327830, t: 10.111197 8.623871 2.925313 q: -0.180175 0.776251 0.179038 0.576990 
time: 1403638561.427830, t: 10.179192 8.589675 2.927586 q: -0.168209 0.782369 0.179574 0.572151 
time: 1403638561.527829, t: 10.240640 8.548664 2.927014 q: -0.155724 0.786822 0.184622 0.567958 
time: 1403638561.627830, t: 10.298430 8.505058 2.920480 q: -0.148940 0.789519 0.188423 0.564777 
time: 1403638561.727829, t: 10.353283 8.461496 2.910124 q: -0.147412 0.790342 0.190881 0.563199 
time: 1403638561.827830, t: 10.405290 8.417058 2.895288 q: -0.145978 0.789873 0.192808 0.563575 
time: 1403638561.927830, t: 10.459391 8.372124 2.871704 q: -0.141759 0.789866 0.191672 0.565047 
time: 1403638562.027829, t: 10.509829 8.325574 2.847401 q: -0.136294 0.791429 0.184262 0.566667 
time: 1403638562.127830, t: 10.556270 8.277166 2.828435 q: -0.128842 0.793579 0.174504 0.568490 
time: 1403638562.227829, t: 10.599323 8.228926 2.814489 q: -0.121854 0.795020 0.166350 0.570457 
time: 1403638562.327830, t: 10.643116 8.181382 2.805294 q: -0.115968 0.796291 0.156662 0.572651 
time: 1403638562.427830, t: 10.681020 8.131992 2.800708 q: -0.109142 0.797836 0.142907 0.575433 
time: 1403638562.627830, t: 10.751689 8.031478 2.810716 q: -0.091478 0.803303 0.102730 0.579468 
time: 1403638562.727829, t: 10.782839 7.979125 2.823001 q: -0.082421 0.806083 0.077802 0.580847 
time: 1403638562.827830, t: 10.810786 7.923041 2.832517 q: -0.071040 0.808075 0.052211 0.582444 
time: 1403638562.927830, t: 10.833349 7.863482 2.837211 q: -0.057170 0.809750 0.028134 0.583306 
time: 1403638563.027829, t: 10.851807 7.800756 2.836316 q: -0.044931 0.810173 0.005163 0.584443 
time: 1403638563.127830, t: 10.863358 7.734330 2.830469 q: -0.037660 0.810743 -0.019096 0.583877 
time: 1403638563.227829, t: 10.868584 7.662949 2.820734 q: -0.024182 0.809133 -0.035097 0.586078 
time: 1403638563.327830, t: 10.867652 7.588208 2.806218 q: -0.014181 0.804631 -0.046181 0.591807 
time: 1403638563.427830, t: 10.860907 7.509466 2.787592 q: -0.010193 0.796067 -0.054659 0.602650 
time: 1403638563.527829, t: 10.849245 7.425804 2.764126 q: -0.006552 0.793886 -0.057403 0.605316 
time: 1403638563.627830, t: 10.831112 7.336906 2.744504 q: -0.002873 0.796552 -0.056636 0.601904 
time: 1403638563.827830, t: 10.778267 7.143709 2.725733 q: -0.009013 0.800826 -0.057324 0.596079 
time: 1403638563.927830, t: 10.743950 7.039966 2.728886 q: -0.012349 0.800234 -0.056150 0.596926 
time: 1403638564.027829, t: 10.705300 6.930112 2.733696 q: -0.016182 0.799851 -0.053954 0.597550 
time: 1403638564.127830, t: 10.657683 6.816320 2.733449 q: -0.019442 0.799681 -0.050555 0.597978 
time: 1403638564.227829, t: 10.606211 6.696423 2.729257 q: -0.019856 0.798913 -0.045092 0.599425 
time: 1403638564.327830, t: 10.550891 6.569935 2.727021 q: -0.017959 0.797821 -0.038674 0.601384 
time: 1403638564.427830, t: 10.486591 6.442122 2.731687 q: -0.018264 0.795825 -0.034795 0.604250 
time: 1403638564.527829, t: 10.417502 6.309816 2.743876 q: -0.019430 0.795844 -0.032533 0.604315 
time: 1403638564.627830, t: 10.339158 6.174567 2.756455 q: -0.023529 0.798004 -0.033359 0.601268 
time: 1403638564.727829, t: 10.255736 6.036137 2.767232 q: -0.028432 0.799417 -0.036586 0.598987 
time: 1403638564.827830, t: 10.164838 5.891203 2.767977 q: -0.031199 0.799651 -0.039647 0.598342 
time: 1403638564.927830, t: 10.072389 5.741758 2.759852 q: -0.033408 0.798858 -0.042092 0.599115 
time: 1403638565.027829, t: 9.973246 5.586303 2.731749 q: -0.034683 0.798834 -0.043038 0.599007 
time: 1403638565.127830, t: 9.871884 5.426534 2.687409 q: -0.035530 0.799511 -0.043629 0.598010 
time: 1403638565.227829, t: 9.767912 5.260538 2.631245 q: -0.035084 0.800362 -0.043172 0.596930 
time: 1403638565.327830, t: 9.661112 5.085892 2.571255 q: -0.032766 0.801256 -0.042256 0.595928 
time: 1403638565.427830, t: 9.552803 4.911105 2.509527 q: -0.030395 0.802147 -0.041003 0.594942 
time: 1403638565.527829, t: 9.440255 4.730071 2.450965 q: -0.024856 0.800110 -0.039354 0.598044 
time: 1403638565.627830, t: 9.323601 4.543285 2.401428 q: -0.016381 0.798519 -0.035830 0.600679 
time: 1403638565.727829, t: 9.203160 4.354783 2.359290 q: -0.004253 0.799554 -0.029422 0.599858 
time: 1403638565.827830, t: 9.075110 4.167574 2.324857 q: 0.001998 0.802453 -0.026824 0.596109 
time: 1403638565.927830, t: 8.939870 3.981959 2.297482 q: 0.008001 0.804734 -0.024738 0.593067 
time: 1403638566.027829, t: 8.800951 3.800826 2.267772 q: 0.008781 0.805864 -0.025682 0.591479 
time: 1403638566.127830, t: 8.659090 3.623228 2.229044 q: 0.009188 0.805949 -0.026079 0.591339 
time: 1403638566.227829, t: 8.516789 3.447966 2.180516 q: 0.009518 0.805581 -0.025888 0.591843 
time: 1403638566.327830, t: 8.376271 3.276378 2.123895 q: 0.008882 0.806571 -0.025811 0.590507 
time: 1403638566.427830, t: 8.234640 3.109675 2.061089 q: 0.008506 0.806388 -0.024593 0.590814 
time: 1403638566.527829, t: 8.096266 2.948795 1.992694 q: 0.006529 0.806693 -0.023996 0.590447 
time: 1403638566.627830, t: 7.957119 2.793682 1.917031 q: 0.004816 0.813259 -0.022833 0.581434 
time: 1403638566.727829, t: 7.822943 2.646271 1.833940 q: 0.004018 0.825526 -0.021765 0.563929 
time: 1403638566.827830, t: 7.694450 2.499702 1.747486 q: 0.004650 0.835151 -0.018605 0.549687 
time: 1403638566.927830, t: 7.572654 2.349924 1.658295 q: 0.004386 0.841299 -0.015881 0.540320 
time: 1403638567.027829, t: 7.462855 2.204398 1.567770 q: 0.003092 0.841146 -0.014468 0.540606 
time: 1403638567.127830, t: 7.360120 2.060860 1.479568 q: 0.004524 0.828562 -0.011965 0.559752 
time: 1403638567.227829, t: 7.263309 1.919773 1.387322 q: 0.005886 0.817280 -0.010358 0.576118 
time: 1403638567.327830, t: 7.166716 1.781337 1.289361 q: 0.008885 0.811650 -0.009053 0.584006 
time: 1403638567.427830, t: 7.067661 1.646158 1.191448 q: 0.011078 0.811186 -0.009243 0.584610 
time: 1403638567.527829, t: 6.973698 1.517311 1.099723 q: 0.012725 0.813816 -0.010277 0.580892 
time: 1403638567.627830, t: 6.873211 1.391276 1.017156 q: 0.014872 0.817699 -0.011307 0.575343 
time: 1403638567.727829, t: 6.773214 1.270379 0.944641 q: 0.017538 0.820864 -0.011893 0.570731 
time: 1403638567.827830, t: 6.678360 1.155366 0.880313 q: 0.019524 0.824877 -0.012244 0.564842 
time: 1403638567.927830, t: 6.591018 1.046897 0.823334 q: 0.017228 0.826442 -0.014858 0.562562 
time: 1403638568.027829, t: 6.510167 0.943661 0.774169 q: 0.018409 0.827114 -0.015017 0.561532 
time: 1403638568.127830, t: 6.433821 0.843015 0.734264 q: 0.021078 0.826274 -0.013538 0.562711 
time: 1403638568.227829, t: 6.359558 0.749044 0.703002 q: 0.023176 0.825569 -0.012466 0.563687 
time: 1403638568.327830, t: 6.288467 0.660710 0.675867 q: 0.024054 0.825705 -0.012473 0.563452 
time: 1403638568.427830, t: 6.220062 0.576724 0.645793 q: 0.024144 0.826947 -0.012806 0.561616 
time: 1403638568.527829, t: 6.155107 0.497757 0.609138 q: 0.025032 0.827667 -0.012396 0.560524 
time: 1403638568.627830, t: 6.092210 0.423146 0.572569 q: 0.025644 0.829219 -0.011974 0.558208 
time: 1403638568.727829, t: 6.035955 0.353730 0.532327 q: 0.027397 0.830550 -0.010349 0.556173 
time: 1403638568.827830, t: 5.980053 0.289858 0.502392 q: 0.025388 0.830445 -0.011384 0.556405 
time: 1403638568.927830, t: 5.932573 0.231225 0.475955 q: 0.026439 0.830393 -0.010742 0.556447 
time: 1403638569.027829, t: 5.886623 0.176527 0.460688 q: 0.026371 0.829491 -0.010775 0.557793 
time: 1403638569.127830, t: 5.847844 0.127310 0.449507 q: 0.028007 0.829577 -0.009592 0.557607 
time: 1403638569.227829, t: 5.809598 0.080706 0.445144 q: 0.029897 0.831067 -0.008657 0.555300 
time: 1403638569.327830, t: 5.779036 0.042247 0.435842 q: 0.031066 0.831777 -0.008447 0.554175 
time: 1403638569.427830, t: 5.750529 0.007058 0.423064 q: 0.031984 0.830788 -0.007946 0.555612 
time: 1403638569.527829, t: 5.731315 -0.020554 0.404945 q: 0.032000 0.829576 -0.007674 0.557423 
time: 1403638569.627830, t: 5.715807 -0.042196 0.387812 q: 0.031522 0.828191 -0.008320 0.559497 
time: 1403638569.727829, t: 5.704195 -0.057758 0.376968 q: 0.032319 0.827284 -0.008054 0.560795 
time: 1403638569.827830, t: 5.696873 -0.066997 0.373638 q: 0.032259 0.826674 -0.007604 0.561705 
time: 1403638570.027829, t: 5.691247 -0.068954 0.379352 q: 0.031122 0.823707 -0.008196 0.566102 
time: 1403638570.127830, t: 5.692837 -0.061863 0.377331 q: 0.027589 0.823909 -0.010523 0.565953 
time: 1403638570.227829, t: 5.695470 -0.051674 0.368777 q: 0.021498 0.823525 -0.013888 0.566702 
time: 1403638570.327830, t: 5.699104 -0.039497 0.354999 q: 0.012681 0.823340 -0.020225 0.567046 
time: 1403638570.427830, t: 5.704488 -0.026889 0.336305 q: 0.009010 0.823196 -0.030373 0.566873 
time: 1403638570.527829, t: 5.710833 -0.017968 0.310196 q: 0.002730 0.822291 -0.052380 0.566645 
time: 1403638570.627830, t: 5.714816 -0.015333 0.279393 q: -0.001397 0.819065 -0.081521 0.567878 
time: 1403638570.727829, t: 5.719110 -0.022482 0.244056 q: 0.003985 0.811561 -0.109139 0.573970 
time: 1403638570.827830, t: 5.718640 -0.039193 0.207500 q: 0.013309 0.799455 -0.136315 0.584903 
time: 1403638570.927830, t: 5.711783 -0.066702 0.168729 q: 0.027296 0.789962 -0.159239 0.591488 
time: 1403638571.027829, t: 5.696610 -0.104997 0.126985 q: 0.042399 0.783499 -0.180387 0.593121 
time: 1403638571.127830, t: 5.673411 -0.152344 0.082056 q: 0.062655 0.784824 -0.196325 0.584450 
time: 1403638571.227829, t: 5.642590 -0.209485 0.044464 q: 0.084113 0.787362 -0.204950 0.575310 
time: 1403638571.327830, t: 5.605881 -0.272765 0.017612 q: 0.102350 0.787861 -0.209705 0.569933 
time: 1403638571.427830, t: 5.562958 -0.338923 0.001293 q: 0.110102 0.785797 -0.215693 0.569103 
time: 1403638571.527829, t: 5.516001 -0.409062 -0.007080 q: 0.115912 0.782808 -0.219000 0.570802 
time: 1403638571.627830, t: 5.463767 -0.481851 -0.016640 q: 0.122449 0.781597 -0.225847 0.568424 
time: 1403638571.827830, t: 5.350357 -0.636995 -0.052274 q: 0.137622 0.780468 -0.252858 0.554971 
time: 1403638571.927830, t: 5.290770 -0.720308 -0.074080 q: 0.144945 0.775917 -0.272213 0.550313 
time: 1403638572.027829, t: 5.227858 -0.807473 -0.089830 q: 0.153801 0.769663 -0.291843 0.546619 
time: 1403638572.127830, t: 5.161621 -0.898728 -0.096951 q: 0.164787 0.762507 -0.309948 0.543471 
time: 1403638572.227829, t: 5.090437 -0.992906 -0.096003 q: 0.181419 0.757148 -0.324847 0.536925 
time: 1403638572.327830, t: 5.017571 -1.090443 -0.094368 q: 0.194758 0.753072 -0.342743 0.526763 
time: 1403638572.427830, t: 4.944727 -1.192306 -0.096581 q: 0.208413 0.748468 -0.359553 0.516799 
time: 1403638572.527829, t: 4.872246 -1.297316 -0.101357 q: 0.221081 0.745120 -0.370230 0.508772 
time: 1403638572.627830, t: 4.801811 -1.405816 -0.106369 q: 0.229609 0.741954 -0.376899 0.504709 
time: 1403638572.727829, t: 4.734169 -1.518181 -0.106054 q: 0.236722 0.741684 -0.379521 0.499831 
time: 1403638572.827830, t: 4.670038 -1.634445 -0.097049 q: 0.242552 0.743816 -0.378662 0.494491 
time: 1403638572.927830, t: 4.611657 -1.754046 -0.080814 q: 0.243947 0.745712 -0.378094 0.491374 
time: 1403638573.027829, t: 4.557474 -1.875665 -0.064189 q: 0.244389 0.748158 -0.376951 0.488305 
time: 1403638573.227829, t: 4.462934 -2.124368 -0.047695 q: 0.241726 0.751219 -0.373608 0.487499 
time: 1403638573.327830, t: 4.421283 -2.252630 -0.041056 q: 0.240255 0.752215 -0.371543 0.488269 
time: 1403638573.427830, t: 4.384037 -2.382334 -0.033407 q: 0.241375 0.753248 -0.371928 0.485825 
time: 1403638573.527829, t: 4.356543 -2.516179 -0.018799 q: 0.244442 0.753074 -0.372010 0.484496 
time: 1403638573.627830, t: 4.333258 -2.650225 0.004140 q: 0.245855 0.752697 -0.372487 0.484000 
time: 1403638573.727829, t: 4.314864 -2.785478 0.032767 q: 0.250324 0.752055 -0.374452 0.481183 
time: 1403638573.827830, t: 4.304571 -2.923514 0.064256 q: 0.261238 0.745002 -0.378665 0.483052 
time: 1403638573.927830, t: 4.300041 -3.060871 0.091817 q: 0.275506 0.732645 -0.387566 0.486951 
time: 1403638574.027829, t: 4.300982 -3.196828 0.112168 q: 0.283271 0.714626 -0.406071 0.494139 
time: 1403638574.127830, t: 4.301957 -3.331135 0.125382 q: 0.288890 0.693430 -0.429310 0.501389 
time: 1403638574.227829, t: 4.300743 -3.462132 0.132843 q: 0.296201 0.672649 -0.453258 0.504346 
time: 1403638574.327830, t: 4.294046 -3.588489 0.136513 q: 0.307092 0.657247 -0.474763 0.498318 
time: 1403638574.427830, t: 4.280175 -3.712420 0.136609 q: 0.321171 0.645619 -0.493314 0.486483 
time: 1403638574.527829, t: 4.259181 -3.834303 0.135526 q: 0.333029 0.634580 -0.510544 0.475126 
time: 1403638574.627830, t: 4.233712 -3.951959 0.143031 q: 0.343851 0.625119 -0.521305 0.468225 
time: 1403638574.727829, t: 4.204891 -4.067979 0.157707 q: 0.356247 0.622175 -0.525542 0.458031 
time: 1403638574.827830, t: 4.175282 -4.180780 0.176876 q: 0.363036 0.624254 -0.528363 0.446480 
time: 1403638574.927830, t: 4.145556 -4.291339 0.193566 q: 0.361830 0.626496 -0.533073 0.438651 
time: 1403638575.027829, t: 4.116738 -4.401247 0.205044 q: 0.357959 0.627334 -0.536831 0.436039 
time: 1403638575.127830, t: 4.086928 -4.507658 0.210788 q: 0.350611 0.624828 -0.541576 0.439724 
time: 1403638575.227829, t: 4.055177 -4.617435 0.213185 q: 0.346177 0.622787 -0.543371 0.443899 
time: 1403638575.327830, t: 4.019942 -4.727636 0.209694 q: 0.342584 0.623422 -0.543857 0.445197 
time: 1403638575.427830, t: 3.982319 -4.841558 0.201728 q: 0.339145 0.628565 -0.543427 0.441104 
time: 1403638575.527829, t: 3.941220 -4.957317 0.191252 q: 0.337707 0.633286 -0.541173 0.438219 
time: 1403638575.627830, t: 3.898454 -5.079753 0.184421 q: 0.339907 0.640026 -0.536507 0.432424 
time: 1403638575.727829, t: 3.855487 -5.205222 0.185823 q: 0.342409 0.646237 -0.531838 0.426944 
time: 1403638575.827830, t: 3.813391 -5.333207 0.195190 q: 0.343238 0.652147 -0.529099 0.420649 
time: 1403638575.927830, t: 3.775836 -5.465480 0.214458 q: 0.342280 0.654034 -0.527888 0.420021 
time: 1403638576.027829, t: 3.742965 -5.602209 0.243925 q: 0.342444 0.654444 -0.526590 0.420878 
time: 1403638576.127830, t: 3.712246 -5.743181 0.279224 q: 0.343195 0.654215 -0.525860 0.421534 
time: 1403638576.227829, t: 3.685240 -5.891651 0.315456 q: 0.345581 0.653368 -0.524135 0.423045 
time: 1403638576.327830, t: 3.661708 -6.042595 0.346424 q: 0.350379 0.654391 -0.520943 0.421456 
time: 1403638576.427830, t: 3.643073 -6.196912 0.370700 q: 0.353826 0.656459 -0.518809 0.417979 
time: 1403638576.527829, t: 3.629530 -6.352630 0.390111 q: 0.359318 0.660175 -0.515042 0.412057 
time: 1403638576.627830, t: 3.624343 -6.509462 0.404692 q: 0.363024 0.662883 -0.512711 0.407340 
time: 1403638576.727829, t: 3.627155 -6.669836 0.415477 q: 0.366242 0.662132 -0.510243 0.408779 
time: 1403638576.827830, t: 3.637788 -6.831045 0.421868 q: 0.371036 0.658029 -0.506831 0.415274 
time: 1403638576.927830, t: 3.655414 -6.992670 0.422999 q: 0.371048 0.652409 -0.507127 0.423684 
time: 1403638577.027829, t: 3.679450 -7.152697 0.420177 q: 0.366888 0.647678 -0.510161 0.430862 
time: 1403638577.127830, t: 3.707611 -7.309291 0.421848 q: 0.363614 0.644000 -0.512862 0.435914 
time: 1403638577.227829, t: 3.738930 -7.463382 0.431161 q: 0.361339 0.642386 -0.514694 0.438024 
time: 1403638577.327830, t: 3.772484 -7.617393 0.447154 q: 0.365189 0.644739 -0.511823 0.434726 
time: 1403638577.427830, t: 3.808491 -7.769225 0.471391 q: 0.371335 0.649314 -0.506842 0.428501 
time: 1403638577.527829, t: 3.850538 -7.916218 0.497661 q: 0.371783 0.649905 -0.506296 0.427861 
time: 1403638577.627830, t: 3.897679 -8.061288 0.517495 q: 0.368984 0.649007 -0.508269 0.429305 
time: 1403638577.727829, t: 3.949561 -8.202981 0.530429 q: 0.366675 0.648755 -0.509787 0.429865 
time: 1403638577.827830, t: 4.004493 -8.343615 0.535896 q: 0.364309 0.648463 -0.510996 0.430879 
time: 1403638577.927830, t: 4.062918 -8.485149 0.537822 q: 0.364212 0.648712 -0.510244 0.431478 
time: 1403638578.027829, t: 4.125126 -8.620280 0.540784 q: 0.365192 0.648847 -0.508858 0.432083 
time: 1403638578.127830, t: 4.192149 -8.763772 0.551563 q: 0.362522 0.647416 -0.509611 0.435576 
time: 1403638578.227829, t: 4.261225 -8.898861 0.567651 q: 0.354484 0.642333 -0.514781 0.443566 
time: 1403638578.327830, t: 4.329005 -9.034270 0.588407 q: 0.348414 0.638985 -0.518797 0.448504 
time: 1403638578.427830, t: 4.394334 -9.169161 0.603855 q: 0.348233 0.638369 -0.519257 0.448989 
time: 1403638578.527829, t: 4.457753 -9.301397 0.613336 q: 0.348258 0.637784 -0.519825 0.449144 
time: 1403638578.627830, t: 4.521681 -9.435615 0.619258 q: 0.349432 0.636916 -0.519737 0.449564 
time: 1403638578.727829, t: 4.579521 -9.566086 0.621707 q: 0.353294 0.638432 -0.517391 0.447096 
time: 1403638578.827830, t: 4.639237 -9.698911 0.619413 q: 0.358520 0.642113 -0.513684 0.441910 
time: 1403638578.927830, t: 4.697259 -9.822737 0.615295 q: 0.362689 0.643269 -0.510885 0.440065 
time: 1403638579.027829, t: 4.759364 -9.951800 0.614254 q: 0.364460 0.644396 -0.508743 0.439434 
time: 1403638579.127830, t: 4.824076 -10.072870 0.624726 q: 0.364924 0.644616 -0.507791 0.439828 
time: 1403638579.227829, t: 4.891674 -10.194157 0.641069 q: 0.364754 0.644553 -0.507526 0.440367 
time: 1403638579.327830, t: 4.960824 -10.306859 0.661505 q: 0.361674 0.642934 -0.509210 0.443321 
time: 1403638579.427830, t: 5.035635 -10.427749 0.680393 q: 0.354024 0.638401 -0.514529 0.449858 
time: 1403638579.527829, t: 5.104988 -10.535589 0.694800 q: 0.349098 0.635193 -0.516890 0.455505 
time: 1403638579.727829, t: 5.239271 -10.746114 0.708634 q: 0.352101 0.638313 -0.492575 0.475344 
time: 1403638579.827830, t: 5.303471 -10.843298 0.707152 q: 0.345559 0.653475 -0.472334 0.480062 
time: 1403638579.927830, t: 5.369053 -10.937170 0.699107 q: 0.331135 0.674040 -0.449006 0.484162 
time: 1403638580.027829, t: 5.433311 -11.027489 0.686654 q: 0.314581 0.691308 -0.418953 0.497605 
time: 1403638580.127830, t: 5.500150 -11.111643 0.675208 q: 0.297607 0.703981 -0.382428 0.519220 
time: 1403638580.227829, t: 5.563665 -11.185405 0.657489 q: 0.273925 0.719432 -0.345585 0.536613 
time: 1403638580.327830, t: 5.625362 -11.248889 0.634475 q: 0.244974 0.736608 -0.313965 0.546647 
time: 1403638580.427830, t: 5.680532 -11.305297 0.604866 q: 0.214762 0.750116 -0.293373 0.552391 
time: 1403638580.527829, t: 5.729710 -11.357512 0.571841 q: 0.193541 0.758578 -0.278908 0.556158 
time: 1403638580.627830, t: 5.773600 -11.407115 0.537419 q: 0.177385 0.766709 -0.264995 0.557198 
time: 1403638580.727829, t: 5.815054 -11.456160 0.507366 q: 0.163796 0.777457 -0.249180 0.553752 
time: 1403638580.827830, t: 5.852596 -11.504345 0.486495 q: 0.156744 0.785419 -0.236194 0.550236 
time: 1403638580.927830, t: 5.887133 -11.551074 0.474541 q: 0.152702 0.789598 -0.227996 0.548848 
time: 1403638581.027829, t: 5.920929 -11.598725 0.472663 q: 0.148353 0.790773 -0.225935 0.549202 
time: 1403638581.127830, t: 5.954951 -11.645761 0.480506 q: 0.149353 0.791248 -0.224127 0.548987 
time: 1403638581.227829, t: 5.988163 -11.691233 0.494957 q: 0.152050 0.791404 -0.223645 0.548218 
time: 1403638581.327830, t: 6.018710 -11.730151 0.510078 q: 0.156150 0.790989 -0.224485 0.547320 
time: 1403638581.427830, t: 6.045429 -11.767060 0.525283 q: 0.159439 0.789174 -0.225419 0.548608 
time: 1403638581.527829, t: 6.070650 -11.797046 0.549590 q: 0.162154 0.787847 -0.227822 0.548727 
time: 1403638581.627830, t: 6.096665 -11.823180 0.577920 q: 0.166236 0.785444 -0.229023 0.550447 
time: 1403638581.727829, t: 6.125571 -11.847417 0.600324 q: 0.171028 0.780733 -0.229060 0.555641 
time: 1403638581.827830, t: 6.155199 -11.871035 0.614133 q: 0.172821 0.779060 -0.230553 0.556816 
time: 1403638581.927830, t: 6.186254 -11.894197 0.622501 q: 0.176035 0.772325 -0.230125 0.565303 
time: 1403638582.027829, t: 6.214776 -11.916026 0.626611 q: 0.178219 0.768834 -0.229400 0.569656 
time: 1403638582.127830, t: 6.240282 -11.934212 0.633692 q: 0.176172 0.775164 -0.231598 0.560756 
time: 1403638582.227829, t: 6.263293 -11.947938 0.652110 q: 0.173329 0.781220 -0.233918 0.552209 
time: 1403638582.327830, t: 6.285404 -11.959397 0.682063 q: 0.175342 0.779721 -0.232075 0.554465 
time: 1403638582.427830, t: 6.307590 -11.969709 0.720584 q: 0.176824 0.777237 -0.230486 0.558133 
time: 1403638582.527829, t: 6.329922 -11.978636 0.768833 q: 0.177649 0.776162 -0.229387 0.559817 
time: 1403638582.627830, t: 6.352815 -11.980759 0.828993 q: 0.178284 0.776042 -0.228891 0.559985 
time: 1403638582.727829, t: 6.378586 -11.987068 0.894214 q: 0.177249 0.778723 -0.229691 0.556251 
time: 1403638582.827830, t: 6.400190 -11.982362 0.967984 q: 0.176761 0.780070 -0.230655 0.554116 
time: 1403638582.927830, t: 6.421605 -11.971307 1.039336 q: 0.176564 0.781351 -0.231876 0.551860 
time: 1403638583.027829, t: 6.449511 -11.964331 1.100977 q: 0.175740 0.784131 -0.233500 0.547477 
time: 1403638583.127830, t: 6.474075 -11.952457 1.154582 q: 0.175310 0.786195 -0.234688 0.544137 
time: 1403638583.227829, t: 6.495095 -11.934497 1.200586 q: 0.174427 0.787209 -0.236143 0.542323 
time: 1403638583.327830, t: 6.518657 -11.915785 1.241130 q: 0.174906 0.787087 -0.236007 0.542404 
time: 1403638583.427830, t: 6.542480 -11.895515 1.276482 q: 0.174588 0.787406 -0.236232 0.541945 
time: 1403638583.527829, t: 6.567940 -11.873466 1.313747 q: 0.174288 0.787982 -0.236283 0.541183 
time: 1403638583.627830, t: 6.594643 -11.850081 1.360332 q: 0.175065 0.787892 -0.235666 0.541331 
time: 1403638583.727829, t: 6.622142 -11.821989 1.410802 q: 0.176328 0.787771 -0.234895 0.541433 
time: 1403638583.827830, t: 6.652109 -11.784491 1.446221 q: 0.177058 0.787512 -0.234473 0.541755 
time: 1403638583.927830, t: 6.680762 -11.747874 1.476832 q: 0.176847 0.786622 -0.234553 0.543080 
time: 1403638584.027829, t: 6.710090 -11.712912 1.507338 q: 0.177909 0.785910 -0.233758 0.544105 
time: 1403638584.127830, t: 6.740549 -11.676716 1.535613 q: 0.182218 0.778953 -0.230433 0.554012 
time: 1403638584.227829, t: 6.758614 -11.628228 1.541542 q: 0.186355 0.769179 -0.226828 0.567613 
time: 1403638584.327830, t: 6.774841 -11.576844 1.541556 q: 0.187640 0.763277 -0.225573 0.575601 
time: 1403638584.427830, t: 6.785943 -11.523876 1.532720 q: 0.187306 0.762319 -0.225540 0.576990 
time: 1403638584.527829, t: 6.791652 -11.464682 1.521350 q: 0.186573 0.761814 -0.225796 0.577795 
time: 1403638584.627830, t: 6.803118 -11.403639 1.527825 q: 0.186239 0.763025 -0.225589 0.576383 
time: 1403638584.727829, t: 6.808399 -11.336332 1.540439 q: 0.184062 0.766714 -0.226679 0.571740 
time: 1403638584.827830, t: 6.803072 -11.264399 1.535259 q: 0.179448 0.774807 -0.229768 0.560962 
time: 1403638584.927830, t: 6.801146 -11.186526 1.555868 q: 0.174371 0.780903 -0.233827 0.552368 
time: 1403638585.027829, t: 6.792873 -11.110737 1.550474 q: 0.172614 0.783628 -0.235099 0.548507 
time: 1403638585.127830, t: 6.789205 -11.034695 1.552432 q: 0.171271 0.783840 -0.236290 0.548113 
time: 1403638585.227829, t: 6.789004 -10.956259 1.555125 q: 0.171225 0.782751 -0.236511 0.549586 
time: 1403638585.327830, t: 6.782338 -10.882800 1.546736 q: 0.172235 0.780410 -0.235434 0.553052 
time: 1403638585.427830, t: 6.780880 -10.803940 1.539775 q: 0.172026 0.779849 -0.235264 0.553980 
time: 1403638585.527829, t: 6.778407 -10.727945 1.530729 q: 0.172245 0.780871 -0.235112 0.552534 
time: 1403638585.627830, t: 6.778160 -10.649900 1.534243 q: 0.171354 0.782951 -0.235198 0.549825 
time: 1403638585.727829, t: 6.775352 -10.571512 1.541282 q: 0.170028 0.786913 -0.236008 0.544205 
time: 1403638585.827830, t: 6.777554 -10.491692 1.561550 q: 0.167221 0.791607 -0.238089 0.537317 
time: 1403638585.927830, t: 6.780084 -10.414640 1.586230 q: 0.164144 0.793923 -0.240685 0.533680 
time: 1403638586.027829, t: 6.785316 -10.334880 1.619296 q: 0.164375 0.791117 -0.241153 0.537550 
time: 1403638586.127830, t: 6.798333 -10.258471 1.649262 q: 0.166744 0.787364 -0.240923 0.542412 
time: 1403638586.227829, t: 6.799353 -10.176162 1.673523 q: 0.168590 0.784865 -0.239912 0.545900 
time: 1403638586.327830, t: 6.811820 -10.099940 1.691523 q: 0.171991 0.781635 -0.238174 0.550217 
time: 1403638586.427830, t: 6.815128 -10.018660 1.705903 q: 0.179773 0.778880 -0.233332 0.553700 
time: 1403638586.527829, t: 6.825565 -9.941804 1.714885 q: 0.186407 0.777836 -0.229184 0.554705 
time: 1403638586.627830, t: 6.828840 -9.854735 1.717142 q: 0.183941 0.778301 -0.231074 0.554093 
time: 1403638586.727829, t: 6.838700 -9.772123 1.713131 q: 0.180457 0.778307 -0.233661 0.554145 
time: 1403638586.827830, t: 6.847264 -9.686701 1.703028 q: 0.177376 0.777477 -0.235660 0.555457 
time: 1403638587.027829, t: 6.856843 -9.510866 1.664449 q: 0.176565 0.776620 -0.235519 0.556972 
time: 1403638587.127830, t: 6.856145 -9.417440 1.645572 q: 0.175827 0.776721 -0.236144 0.556799 
time: 1403638587.227829, t: 6.859666 -9.327561 1.634505 q: 0.175590 0.778999 -0.235578 0.553923 
time: 1403638587.327830, t: 6.857740 -9.236911 1.631330 q: 0.175208 0.780537 -0.236096 0.551655 
time: 1403638587.427830, t: 6.860072 -9.144118 1.631950 q: 0.173787 0.781183 -0.237031 0.550789 
time: 1403638587.527829, t: 6.861318 -9.047474 1.632148 q: 0.172576 0.780913 -0.238040 0.551116 
time: 1403638587.627830, t: 6.862792 -8.952927 1.628507 q: 0.171608 0.780859 -0.239297 0.550951 
time: 1403638587.727829, t: 6.864285 -8.857237 1.619074 q: 0.171946 0.780700 -0.239284 0.551077 
time: 1403638587.827830, t: 6.865515 -8.763996 1.606024 q: 0.171191 0.780228 -0.240517 0.551443 
time: 1403638587.927830, t: 6.867395 -8.671518 1.588482 q: 0.170853 0.779880 -0.241065 0.551800 
time: 1403638588.027829, t: 6.868515 -8.578979 1.566440 q: 0.170691 0.779220 -0.241123 0.552757 
time: 1403638588.127830, t: 6.870036 -8.488570 1.541809 q: 0.173959 0.779573 -0.238950 0.552183 
time: 1403638588.227829, t: 6.869822 -8.398573 1.513808 q: 0.180298 0.780460 -0.234274 0.550900 
time: 1403638588.327830, t: 6.871634 -8.307414 1.489770 q: 0.180984 0.781114 -0.233414 0.550112 
time: 1403638588.427830, t: 6.873680 -8.209819 1.474064 q: 0.180852 0.781001 -0.233323 0.550355 
time: 1403638588.527829, t: 6.877504 -8.115680 1.465934 q: 0.178607 0.780783 -0.234811 0.550764 
time: 1403638588.627830, t: 6.877583 -8.013601 1.467132 q: 0.176329 0.780114 -0.236027 0.551925 
time: 1403638588.727829, t: 6.877384 -7.912114 1.475251 q: 0.173642 0.778434 -0.238064 0.554269 
time: 1403638588.827830, t: 6.876365 -7.810825 1.484303 q: 0.172823 0.777789 -0.238829 0.555101 
time: 1403638588.927830, t: 6.876015 -7.711901 1.487717 q: 0.171514 0.777577 -0.240381 0.555135 
time: 1403638589.027829, t: 6.871676 -7.608355 1.481609 q: 0.171423 0.777549 -0.241076 0.554900 
time: 1403638589.127830, t: 6.869211 -7.511793 1.473824 q: 0.172886 0.777736 -0.240688 0.554352 
time: 1403638589.227829, t: 6.864205 -7.406419 1.457156 q: 0.173065 0.777381 -0.240652 0.554809 
time: 1403638589.327830, t: 6.860540 -7.304696 1.441273 q: 0.173272 0.776697 -0.240881 0.555603 
time: 1403638589.427830, t: 6.852543 -7.198153 1.424912 q: 0.172669 0.776731 -0.241124 0.555637 
time: 1403638589.527829, t: 6.847270 -7.095685 1.415750 q: 0.172473 0.777088 -0.241222 0.555157 
time: 1403638589.627830, t: 6.837169 -6.989536 1.412898 q: 0.172882 0.776897 -0.241001 0.555393 
time: 1403638589.727829, t: 6.828564 -6.892317 1.419402 q: 0.172129 0.778655 -0.241751 0.552833 
time: 1403638589.827830, t: 6.816767 -6.791180 1.427936 q: 0.171750 0.779478 -0.242693 0.551377 
time: 1403638589.927830, t: 6.808290 -6.695603 1.434189 q: 0.172914 0.779975 -0.242713 0.550300 
time: 1403638590.027829, t: 6.796895 -6.594784 1.433133 q: 0.171937 0.779540 -0.244182 0.550572 
time: 1403638590.227829, t: 6.776634 -6.396439 1.416713 q: 0.173009 0.778185 -0.244763 0.551895 
time: 1403638590.427830, t: 6.751999 -6.201932 1.385919 q: 0.173403 0.778916 -0.245189 0.550549 
time: 1403638590.527829, t: 6.736578 -6.105595 1.367225 q: 0.172191 0.778955 -0.245992 0.550515 
time: 1403638590.627830, t: 6.721374 -6.008057 1.352752 q: 0.171305 0.780996 -0.246464 0.547682 
time: 1403638590.727829, t: 6.708160 -5.917436 1.347661 q: 0.169063 0.782037 -0.247888 0.546249 
time: 1403638590.827830, t: 6.693037 -5.823807 1.350339 q: 0.169173 0.783092 -0.247620 0.544823 
time: 1403638590.927830, t: 6.681374 -5.734171 1.359827 q: 0.168219 0.783646 -0.248347 0.543990 
time: 1403638591.027829, t: 6.668101 -5.640373 1.374007 q: 0.167081 0.784396 -0.249544 0.542710 
time: 1403638591.127830, t: 6.653219 -5.548884 1.386406 q: 0.166395 0.787051 -0.250221 0.538752 
time: 1403638591.227829, t: 6.642738 -5.456996 1.392032 q: 0.164834 0.792003 -0.251906 0.531136 
time: 1403638591.327830, t: 6.635164 -5.368794 1.391080 q: 0.161574 0.797665 -0.254510 0.522349 
time: 1403638591.427830, t: 6.633477 -5.287839 1.387188 q: 0.159170 0.800876 -0.256708 0.517072 
time: 1403638591.527829, t: 6.639330 -5.212475 1.376966 q: 0.156319 0.803439 -0.259128 0.512740 
time: 1403638591.627830, t: 6.651264 -5.146962 1.361210 q: 0.154292 0.805501 -0.260616 0.509353 
time: 1403638591.727829, t: 6.670800 -5.094014 1.343618 q: 0.154098 0.804387 -0.261325 0.510808 
time: 1403638591.827830, t: 6.697000 -5.051861 1.327897 q: 0.155493 0.801990 -0.260147 0.514741 
time: 1403638591.927830, t: 6.729756 -5.018531 1.316653 q: 0.156735 0.799335 -0.258814 0.519146 
time: 1403638592.027829, t: 6.767358 -4.991664 1.315739 q: 0.157175 0.796708 -0.258235 0.523324 
time: 1403638592.127830, t: 6.809791 -4.970162 1.322875 q: 0.157219 0.795150 -0.256862 0.526346 
time: 1403638592.227829, t: 6.856202 -4.951721 1.340377 q: 0.153218 0.790478 -0.253484 0.536110 
time: 1403638592.327830, t: 6.904172 -4.937311 1.368923 q: 0.146212 0.785728 -0.246753 0.548057 
time: 1403638592.427830, t: 6.952384 -4.925562 1.404993 q: 0.135167 0.785278 -0.235033 0.556622 
time: 1403638592.527829, t: 6.995720 -4.915357 1.448162 q: 0.124710 0.790427 -0.220489 0.557725 
time: 1403638592.627830, t: 7.036048 -4.909960 1.496858 q: 0.117977 0.797791 -0.207290 0.553753 
time: 1403638592.827830, t: 7.115525 -4.911539 1.595508 q: 0.107142 0.811315 -0.192281 0.541587 
time: 1403638593.027829, t: 7.198642 -4.927059 1.673007 q: 0.104312 0.816157 -0.185326 0.537272 
time: 1403638593.127830, t: 7.247070 -4.942706 1.704607 q: 0.103855 0.816222 -0.184234 0.537637 
time: 1403638593.227829, t: 7.299506 -4.962813 1.741360 q: 0.106785 0.812795 -0.182251 0.542905 
time: 1403638593.327830, t: 7.353669 -4.984333 1.785397 q: 0.114950 0.810138 -0.177493 0.546772 
time: 1403638593.427830, t: 7.408850 -5.006759 1.831740 q: 0.125087 0.805486 -0.171920 0.553163 
time: 1403638593.527829, t: 7.464882 -5.028124 1.872705 q: 0.130427 0.801723 -0.170005 0.557968 
time: 1403638593.627830, t: 7.522997 -5.047081 1.906801 q: 0.133478 0.799775 -0.169774 0.560108 
time: 1403638593.727829, t: 7.580999 -5.062459 1.935221 q: 0.135370 0.797858 -0.169486 0.562470 
time: 1403638593.827830, t: 7.638801 -5.073623 1.958799 q: 0.134299 0.791530 -0.170475 0.571299 
time: 1403638593.927830, t: 7.692346 -5.079820 1.988263 q: 0.128545 0.782285 -0.168263 0.585828 
time: 1403638594.127830, t: 7.778533 -5.081082 2.054004 q: 0.115097 0.790606 -0.162347 0.579083 
time: 1403638594.227829, t: 7.813120 -5.078838 2.091046 q: 0.114928 0.795402 -0.157281 0.573924 
time: 1403638594.327830, t: 7.845270 -5.074010 2.123418 q: 0.115234 0.795620 -0.152997 0.574719 
time: 1403638594.427830, t: 7.872242 -5.066692 2.159595 q: 0.119621 0.794156 -0.146606 0.577506 
time: 1403638594.527829, t: 7.896825 -5.054204 2.197684 q: 0.118160 0.793827 -0.145389 0.578567 
time: 1403638594.627830, t: 7.915086 -5.037205 2.245571 q: 0.112434 0.794350 -0.147837 0.578370 
time: 1403638594.727829, t: 7.932064 -5.018609 2.290777 q: 0.108716 0.794906 -0.150813 0.577547 
time: 1403638594.827830, t: 7.943471 -4.998607 2.333464 q: 0.107250 0.795231 -0.152541 0.576920 
time: 1403638594.927830, t: 7.954336 -4.977778 2.366510 q: 0.107150 0.796096 -0.153559 0.575473 
time: 1403638595.027829, t: 7.962823 -4.955659 2.393500 q: 0.106489 0.797627 -0.155196 0.573032 
time: 1403638595.127830, t: 7.967233 -4.931536 2.417153 q: 0.106400 0.798539 -0.156382 0.571454 
time: 1403638595.227829, t: 7.973881 -4.908880 2.431038 q: 0.107238 0.799013 -0.156748 0.570534 
time: 1403638595.327830, t: 7.977469 -4.885410 2.439695 q: 0.107670 0.799105 -0.156983 0.570258 
time: 1403638595.427830, t: 7.979706 -4.861787 2.442831 q: 0.107312 0.798951 -0.157846 0.570303 
time: 1403638595.527829, t: 7.979427 -4.837749 2.441039 q: 0.107353 0.799531 -0.157837 0.569485 
time: 1403638595.627830, t: 7.977887 -4.813714 2.440790 q: 0.107940 0.800135 -0.157138 0.568718 
time: 1403638595.727829, t: 7.971605 -4.787732 2.449968 q: 0.112158 0.800605 -0.154152 0.568057 
time: 1403638595.827830, t: 7.966273 -4.763005 2.456972 q: 0.114891 0.801428 -0.152524 0.566789 
time: 1403638595.927830, t: 7.962009 -4.735838 2.455673 q: 0.116123 0.801174 -0.151982 0.567043 
time: 1403638596.027829, t: 7.957484 -4.707388 2.441073 q: 0.120121 0.800935 -0.149309 0.567257 
time: 1403638596.127830, t: 7.954501 -4.675486 2.420277 q: 0.130426 0.802033 -0.142449 0.565190 
time: 1403638596.227829, t: 7.951678 -4.636877 2.403837 q: 0.142336 0.803983 -0.133762 0.561658 
time: 1403638596.327830, t: 7.948859 -4.588330 2.398141 q: 0.153287 0.805056 -0.125634 0.559110 
time: 1403638596.427830, t: 7.948163 -4.532175 2.398419 q: 0.159975 0.804958 -0.120077 0.558599 
time: 1403638596.527829, t: 7.951823 -4.463258 2.409552 q: 0.166577 0.804724 -0.114416 0.558194 
time: 1403638596.627830, t: 7.960217 -4.381886 2.426927 q: 0.173823 0.805171 -0.108553 0.556508 
time: 1403638596.727829, t: 7.972032 -4.284673 2.451700 q: 0.180102 0.805744 -0.103649 0.554615 
time: 1403638596.827830, t: 7.990011 -4.171257 2.485595 q: 0.184210 0.805356 -0.100138 0.554474 
time: 1403638596.927830, t: 8.010160 -4.040149 2.522229 q: 0.186545 0.804297 -0.098167 0.555582 
time: 1403638597.027829, t: 8.034801 -3.893468 2.558170 q: 0.188243 0.803249 -0.098109 0.556535 
time: 1403638597.127830, t: 8.063637 -3.732168 2.588048 q: 0.190916 0.801614 -0.097081 0.558159 
time: 1403638597.227829, t: 8.094221 -3.553610 2.610809 q: 0.191346 0.799434 -0.098334 0.560913 
time: 1403638597.327830, t: 8.127002 -3.360001 2.627506 q: 0.187640 0.797383 -0.101966 0.564425 
time: 1403638597.427830, t: 8.162737 -3.151508 2.637534 q: 0.181464 0.795372 -0.107668 0.568210 
time: 1403638597.527829, t: 8.198540 -2.928954 2.646182 q: 0.169424 0.790976 -0.116773 0.576209 
time: 1403638597.627830, t: 8.232345 -2.695876 2.647629 q: 0.160164 0.787670 -0.124221 0.581802 
time: 1403638597.727829, t: 8.262902 -2.455598 2.644550 q: 0.159719 0.786841 -0.124891 0.582900 
time: 1403638597.827830, t: 8.291407 -2.208443 2.636780 q: 0.164928 0.789363 -0.115129 0.580043 
time: 1403638597.927830, t: 8.318347 -1.951963 2.624531 q: 0.168994 0.791945 -0.103759 0.577493 
time: 1403638598.027829, t: 8.345907 -1.685007 2.613255 q: 0.166661 0.792925 -0.097190 0.577969 
time: 1403638598.127830, t: 8.372960 -1.405764 2.609414 q: 0.151117 0.793519 -0.101107 0.580748 
time: 1403638598.227829, t: 8.394555 -1.117517 2.611194 q: 0.130247 0.794628 -0.110720 0.582532 
time: 1403638598.327830, t: 8.413243 -0.825987 2.614878 q: 0.115837 0.797242 -0.118003 0.580570 
time: 1403638598.427830, t: 8.430108 -0.535004 2.613258 q: 0.108706 0.799291 -0.121510 0.578404 
time: 1403638598.527829, t: 8.443509 -0.245366 2.604585 q: 0.104859 0.800949 -0.121324 0.576859 
time: 1403638598.627830, t: 8.453907 0.041257 2.586778 q: 0.100063 0.804156 -0.116161 0.574305 
time: 1403638598.727829, t: 8.462865 0.324711 2.567074 q: 0.093814 0.805901 -0.105792 0.574918 
time: 1403638598.827830, t: 8.470037 0.605879 2.550916 q: 0.084841 0.806946 -0.093037 0.577048 
time: 1403638598.927830, t: 8.475693 0.884116 2.540034 q: 0.075471 0.809351 -0.077421 0.577288 
time: 1403638599.027829, t: 8.480267 1.161617 2.532853 q: 0.062820 0.811036 -0.061752 0.578326 
time: 1403638599.127830, t: 8.482972 1.436779 2.534228 q: 0.051963 0.812083 -0.043547 0.579590 
time: 1403638599.227829, t: 8.481850 1.711038 2.540323 q: 0.040500 0.813473 -0.025007 0.579652 
time: 1403638599.327830, t: 8.479090 1.983966 2.553623 q: 0.027370 0.815356 -0.006917 0.578271 
time: 1403638599.427830, t: 8.471816 2.255437 2.573644 q: 0.018121 0.818059 0.009544 0.574769 
time: 1403638599.627830, t: 8.457434 2.792887 2.611239 q: 0.005348 0.821753 0.025962 0.569228 
time: 1403638599.727829, t: 8.447455 3.059127 2.617389 q: 0.003171 0.822896 0.029171 0.567434 
time: 1403638599.827830, t: 8.443101 3.323037 2.615713 q: 0.002104 0.823545 0.028323 0.566540 
time: 1403638599.927830, t: 8.441009 3.584854 2.609125 q: -0.000692 0.824789 0.024535 0.564907 
time: 1403638600.027829, t: 8.441472 3.845447 2.597049 q: -0.005690 0.824202 0.017973 0.565982 
time: 1403638600.127830, t: 8.447733 4.100728 2.581523 q: -0.013970 0.826381 0.008553 0.562874 
time: 1403638600.227829, t: 8.454990 4.347629 2.561943 q: -0.025927 0.829273 -0.003043 0.558233 
time: 1403638600.327830, t: 8.467082 4.584734 2.539078 q: -0.034818 0.831103 -0.012566 0.554885 
optimize pose graph 
time: 1403638600.427830, t: 8.482594 4.811489 2.518892 q: -0.042699 0.832423 -0.020860 0.552100 
time: 1403638600.527829, t: 8.504685 5.020951 2.506392 q: -0.043977 0.833226 -0.023612 0.550675 
time: 1403638600.627830, t: 8.532203 5.218399 2.502846 q: -0.043571 0.834620 -0.024976 0.548532 
time: 1403638600.727829, t: 8.564570 5.402797 2.506429 q: -0.044089 0.836832 -0.026186 0.545052 
time: 1403638600.827830, t: 8.603556 5.572323 2.516458 q: -0.040530 0.840811 -0.023017 0.539319 
time: 1403638600.927830, t: 8.649232 5.726310 2.529883 q: -0.024958 0.843924 -0.010528 0.535779 
time: 1403638601.027829, t: 8.704334 5.870711 2.539373 q: -0.011498 0.844727 0.000680 0.535074 
time: 1403638601.127830, t: 8.765718 6.006981 2.544529 q: -0.005006 0.843497 0.006529 0.537070 
time: 1403638601.227829, t: 8.831766 6.143390 2.545832 q: 0.003640 0.840430 0.013881 0.541730 
time: 1403638601.427830, t: 8.983457 6.427415 2.543763 q: -0.000554 0.828543 0.022798 0.559461 
time: 1403638601.527829, t: 9.064380 6.571174 2.549830 q: -0.012353 0.824240 0.032327 0.565183 
time: 1403638601.627830, t: 9.146106 6.713718 2.561777 q: -0.023498 0.820734 0.049248 0.568699 
time: 1403638601.727829, t: 9.226494 6.857989 2.580524 q: -0.035637 0.817942 0.072250 0.569632 
time: 1403638601.827830, t: 9.304570 7.001876 2.607876 q: -0.049179 0.813320 0.099899 0.571062 
time: 1403638601.927830, t: 9.378859 7.147084 2.640616 q: -0.063315 0.808484 0.127504 0.571040 
time: 1403638602.027829, t: 9.449872 7.294631 2.669432 q: -0.076302 0.805896 0.147657 0.568249 
time: 1403638602.127830, t: 9.518467 7.441697 2.691567 q: -0.084521 0.802657 0.163014 0.567471 
time: 1403638602.227829, t: 9.583543 7.590367 2.708013 q: -0.090148 0.796175 0.179780 0.570665 
time: 1403638602.327830, t: 9.643614 7.742579 2.720760 q: -0.103612 0.787409 0.195837 0.575239 
time: 1403638602.427830, t: 9.693709 7.897443 2.739804 q: -0.135859 0.771528 0.203429 0.587285 
time: 1403638602.527829, t: 9.734426 8.049428 2.769369 q: -0.171689 0.747862 0.208440 0.606447 
time: 1403638602.627830, t: 9.761178 8.187953 2.805542 q: -0.201061 0.730764 0.216364 0.615422 
time: 1403638602.727829, t: 9.773059 8.310204 2.844389 q: -0.216136 0.724346 0.233185 0.611746 
time: 1403638602.827830, t: 9.769175 8.414859 2.889399 q: -0.224290 0.720358 0.254344 0.605051 
time: 1403638602.927830, t: 9.752307 8.505846 2.936453 q: -0.238237 0.718569 0.272383 0.593893 
time: 1403638603.027829, t: 9.726126 8.585404 2.982446 q: -0.259906 0.717093 0.285941 0.580055 
time: 1403638603.127830, t: 9.691084 8.647244 3.023663 q: -0.276727 0.709132 0.299846 0.575019 
time: 1403638603.227829, t: 9.649130 8.694117 3.055042 q: -0.281144 0.708325 0.315759 0.565271 
time: 1403638603.327830, t: 9.602778 8.729092 3.075629 q: -0.274822 0.720063 0.332570 0.543489 
time: 1403638603.427830, t: 9.552968 8.752901 3.089663 q: -0.268939 0.730797 0.343866 0.524751 
time: 1403638603.527829, t: 9.503134 8.772890 3.100170 q: -0.266936 0.734275 0.349234 0.517321 
time: 1403638603.627830, t: 9.455393 8.791651 3.107465 q: -0.271349 0.728193 0.351503 0.522063 
time: 1403638603.727829, t: 9.408035 8.804061 3.108466 q: -0.268590 0.719706 0.356458 0.531809 
time: 1403638603.827830, t: 9.359010 8.812325 3.102459 q: -0.262583 0.711627 0.361907 0.541904 
time: 1403638603.927830, t: 9.303115 8.816483 3.089955 q: -0.255906 0.704313 0.366407 0.551544 
time: 1403638604.027829, t: 9.238853 8.816095 3.070861 q: -0.250660 0.699157 0.369000 0.558738 
time: 1403638604.127830, t: 9.165901 8.814166 3.051790 q: -0.247209 0.696033 0.370693 0.563039 
time: 1403638604.227829, t: 9.082928 8.807851 3.038205 q: -0.250411 0.697405 0.369258 0.560865 
time: 1403638604.327830, t: 8.987906 8.795648 3.032181 q: -0.257245 0.703808 0.365552 0.552133 
time: 1403638604.427830, t: 8.883724 8.778617 3.031996 q: -0.259488 0.711912 0.364440 0.541324 
optimize pose graph 
time: 1403638604.527829, t: 8.774830 8.756667 3.039164 q: -0.256542 0.719084 0.366628 0.531685 
time: 1403638604.627830, t: 8.663167 8.733726 3.045465 q: -0.255568 0.722147 0.367518 0.527370 
time: 1403638604.727829, t: 8.550079 8.708969 3.046087 q: -0.259744 0.724770 0.364860 0.523564 
time: 1403638604.827830, t: 8.436891 8.682185 3.044533 q: -0.263108 0.727095 0.362528 0.520270 
time: 1403638604.927830, t: 8.325322 8.652701 3.044201 q: -0.261593 0.731197 0.363605 0.514501 
time: 1403638605.027829, t: 8.214997 8.621648 3.049497 q: -0.258677 0.738366 0.365726 0.504129 
time: 1403638605.127830, t: 8.106498 8.590566 3.063136 q: -0.255807 0.743760 0.367723 0.496148 
time: 1403638605.227829, t: 8.004961 8.565791 3.083840 q: -0.252710 0.745644 0.369836 0.493329 
time: 1403638605.327830, t: 7.909085 8.546377 3.102385 q: -0.247948 0.744612 0.373157 0.494802 
time: 1403638605.427830, t: 7.816393 8.531295 3.116515 q: -0.241272 0.736877 0.378184 0.505743 
time: 1403638605.527829, t: 7.724777 8.521201 3.125366 q: -0.235312 0.726620 0.382617 0.519862 
time: 1403638605.627830, t: 7.631054 8.514978 3.128572 q: -0.229205 0.719136 0.387022 0.529644 
time: 1403638605.727829, t: 7.531869 8.513326 3.130160 q: -0.226399 0.715835 0.389122 0.533768 
time: 1403638605.827830, t: 7.425570 8.515993 3.139118 q: -0.224884 0.716371 0.390036 0.533021 
time: 1403638605.927830, t: 7.313325 8.524275 3.156229 q: -0.222063 0.715774 0.391556 0.533891 
time: 1403638606.027829, t: 7.194896 8.540096 3.175376 q: -0.218026 0.715058 0.393271 0.535252 
time: 1403638606.127830, t: 7.068410 8.560386 3.190897 q: -0.215093 0.715120 0.394148 0.535711 
time: 1403638606.227829, t: 6.935668 8.585811 3.196532 q: -0.212033 0.715236 0.395655 0.535666 
time: 1403638606.427830, t: 6.649274 8.651750 3.189142 q: -0.220134 0.729511 0.388098 0.518397 
optimize pose graph 
time: 1403638606.627830, t: 6.351102 8.737385 3.156647 q: -0.234177 0.746153 0.380130 0.493881 
time: 1403638606.727829, t: 6.208983 8.791900 3.132564 q: -0.238201 0.747535 0.386640 0.484728 
time: 1403638606.827830, t: 6.071295 8.852474 3.104661 q: -0.244797 0.744878 0.397747 0.476476 
time: 1403638606.927830, t: 5.938659 8.921551 3.079291 q: -0.254475 0.738737 0.411985 0.468805 
time: 1403638607.027829, t: 5.812122 8.999607 3.060564 q: -0.267707 0.730413 0.426777 0.461184 
time: 1403638607.127830, t: 5.694716 9.084172 3.052450 q: -0.284480 0.722798 0.436257 0.454218 
time: 1403638607.227829, t: 5.582154 9.175402 3.050207 q: -0.298973 0.710139 0.442232 0.459073 
time: 1403638607.327830, t: 5.474971 9.269800 3.042589 q: -0.311891 0.698388 0.444103 0.466638 
time: 1403638607.427830, t: 5.371996 9.365839 3.025632 q: -0.321084 0.691846 0.444605 0.469660 
time: 1403638607.627830, t: 5.179284 9.551017 2.969624 q: -0.326448 0.689674 0.446357 0.467490 
time: 1403638607.727829, t: 5.088733 9.640782 2.937049 q: -0.326066 0.687324 0.446655 0.470920 
time: 1403638607.827830, t: 5.002235 9.728184 2.901098 q: -0.325310 0.687984 0.446270 0.470845 
time: 1403638607.927830, t: 4.922042 9.812636 2.860833 q: -0.327610 0.692284 0.442877 0.466128 
time: 1403638608.027829, t: 4.848365 9.894543 2.816507 q: -0.329840 0.694031 0.439268 0.465371 
time: 1403638608.127830, t: 4.779693 9.974904 2.768289 q: -0.328346 0.691451 0.438204 0.471234 
time: 1403638608.227829, t: 4.717929 10.050312 2.714847 q: -0.324959 0.687471 0.438713 0.478869 
time: 1403638608.327830, t: 4.656789 10.123164 2.657686 q: -0.325028 0.682523 0.437127 0.487277 
time: 1403638608.427830, t: 4.596340 10.190492 2.595090 q: -0.325646 0.678991 0.436225 0.492578 
time: 1403638608.527829, t: 4.537159 10.255345 2.526188 q: -0.323979 0.680871 0.436934 0.490450 
optimize pose graph 
time: 1403638608.627830, t: 4.477914 10.314683 2.454727 q: -0.326166 0.680124 0.434510 0.492188 
time: 1403638608.727829, t: 4.417786 10.369471 2.389495 q: -0.330075 0.677377 0.432242 0.495356 
time: 1403638608.827830, t: 4.359746 10.414816 2.326863 q: -0.328423 0.680049 0.433671 0.491530 
time: 1403638608.927830, t: 4.300545 10.458851 2.271251 q: -0.326661 0.683970 0.435060 0.486005 
time: 1403638609.027829, t: 4.244674 10.496488 2.221531 q: -0.326848 0.687656 0.435321 0.480411 
time: 1403638609.127830, t: 4.190279 10.532081 2.179440 q: -0.325706 0.689178 0.436068 0.478325 
time: 1403638609.227829, t: 4.138579 10.563028 2.141057 q: -0.332491 0.689261 0.431208 0.477943 
time: 1403638609.327830, t: 4.091434 10.586641 2.099068 q: -0.336341 0.689716 0.428185 0.477310 
time: 1403638609.427830, t: 4.047524 10.611095 2.048577 q: -0.333153 0.689711 0.430084 0.477845 
time: 1403638609.527829, t: 4.006567 10.627891 1.993211 q: -0.329410 0.689768 0.432230 0.478420 
time: 1403638609.627830, t: 3.968631 10.646693 1.929579 q: -0.327412 0.689838 0.433105 0.478900 
time: 1403638609.727829, t: 3.932645 10.657727 1.864482 q: -0.324385 0.688645 0.435282 0.480701 
time: 1403638609.827830, t: 3.900632 10.672015 1.801229 q: -0.324819 0.689667 0.435034 0.479164 
time: 1403638609.927830, t: 3.871512 10.677845 1.748288 q: -0.325058 0.689257 0.434805 0.479799 
time: 1403638610.027829, t: 3.846737 10.686151 1.702687 q: -0.327371 0.688133 0.433177 0.481309 
time: 1403638610.127830, t: 3.822833 10.686132 1.665404 q: -0.330543 0.685293 0.430862 0.485255 
time: 1403638610.227829, t: 3.800719 10.682417 1.627288 q: -0.331909 0.682528 0.429834 0.489115 
time: 1403638610.327830, t: 3.778865 10.675813 1.583722 q: -0.333087 0.681678 0.428591 0.490590 
time: 1403638610.427830, t: 3.759821 10.664978 1.533477 q: -0.334380 0.681327 0.427332 0.491296 
time: 1403638610.527829, t: 3.740221 10.650715 1.478485 q: -0.333931 0.678404 0.427249 0.495697 
time: 1403638610.627830, t: 3.721752 10.628067 1.421612 q: -0.339542 0.671275 0.423213 0.504967 
optimize pose graph 
time: 1403638610.827830, t: 3.678055 10.555039 1.310894 q: -0.336500 0.679255 0.426939 0.493055 
time: 1403638610.927830, t: 3.658964 10.509253 1.267194 q: -0.334864 0.682163 0.429515 0.487890 
time: 1403638611.027829, t: 3.640558 10.459002 1.225526 q: -0.337613 0.681159 0.427660 0.489026 
time: 1403638611.127830, t: 3.623104 10.405880 1.179595 q: -0.340107 0.678547 0.426588 0.491858 
time: 1403638611.227829, t: 3.606466 10.347189 1.129876 q: -0.339837 0.678011 0.427553 0.491945 
time: 1403638611.327830, t: 3.591481 10.280860 1.084843 q: -0.337104 0.677339 0.429898 0.492706 
time: 1403638611.427830, t: 3.574649 10.206235 1.044079 q: -0.326453 0.672679 0.436900 0.500050 
time: 1403638611.527829, t: 3.557639 10.128422 1.013973 q: -0.315802 0.669721 0.443838 0.504729 
time: 1403638611.627830, t: 3.533261 10.047254 0.987583 q: -0.310574 0.671599 0.446390 0.503223 
time: 1403638611.727829, t: 3.503929 9.965471 0.963458 q: -0.312433 0.675813 0.444598 0.497990 
time: 1403638611.827830, t: 3.473126 9.881020 0.936322 q: -0.318760 0.681690 0.439621 0.490330 
time: 1403638611.927830, t: 3.443260 9.799938 0.903018 q: -0.322376 0.686514 0.436111 0.484334 
time: 1403638612.027829, t: 3.412897 9.717808 0.868301 q: -0.323959 0.689238 0.434454 0.480886 
time: 1403638612.127830, t: 3.384651 9.635056 0.839173 q: -0.325328 0.691143 0.432847 0.478672 
time: 1403638612.227829, t: 3.360309 9.550221 0.817404 q: -0.324502 0.691675 0.433017 0.478310 
time: 1403638612.327830, t: 3.337721 9.467273 0.804670 q: -0.323915 0.691348 0.433238 0.478981 
time: 1403638612.427830, t: 3.318525 9.383329 0.790760 q: -0.323073 0.690326 0.433006 0.481228 
time: 1403638612.527829, t: 3.298993 9.296843 0.771275 q: -0.321063 0.688301 0.432882 0.485565 
time: 1403638612.627830, t: 3.280717 9.211976 0.745933 q: -0.316259 0.686635 0.434693 0.489444 
time: 1403638612.727829, t: 3.260758 9.124476 0.713117 q: -0.311985 0.684854 0.435747 0.493727 
time: 1403638612.827830, t: 3.242107 9.040759 0.677242 q: -0.311012 0.683950 0.434136 0.497001 
time: 1403638612.927830, t: 3.216730 8.953539 0.644116 q: -0.311895 0.683565 0.431666 0.499123 
time: 1403638613.027829, t: 3.190943 8.868441 0.617753 q: -0.311706 0.686055 0.430674 0.496677 
time: 1403638613.127830, t: 3.162028 8.781717 0.599971 q: -0.311898 0.687583 0.429791 0.495206 
time: 1403638613.227829, t: 3.129029 8.690797 0.589860 q: -0.311760 0.689291 0.429520 0.493149 
time: 1403638613.327830, t: 3.098811 8.605014 0.586384 q: -0.310744 0.689865 0.430059 0.492518 
time: 1403638613.427830, t: 3.064176 8.515741 0.586433 q: -0.309962 0.689159 0.430567 0.493554 
time: 1403638613.527829, t: 3.031260 8.428970 0.580526 q: -0.311118 0.689112 0.427067 0.495927 
time: 1403638613.627830, t: 2.998243 8.341718 0.568575 q: -0.313010 0.690755 0.420897 0.497723 
time: 1403638613.727829, t: 2.962401 8.250405 0.549920 q: -0.316996 0.689821 0.414262 0.502043 
time: 1403638613.827830, t: 2.927634 8.161644 0.523416 q: -0.316832 0.690406 0.406906 0.507330 
time: 1403638613.927830, t: 2.890285 8.064335 0.490028 q: -0.311509 0.694697 0.398074 0.511757 
time: 1403638614.027829, t: 2.856003 7.963802 0.453582 q: -0.301024 0.701892 0.387429 0.516363 
time: 1403638614.127830, t: 2.816834 7.855474 0.411685 q: -0.288075 0.711481 0.374422 0.520208 
time: 1403638614.227829, t: 2.775796 7.744000 0.372300 q: -0.274515 0.721564 0.361101 0.523062 
time: 1403638614.327830, t: 2.733668 7.629501 0.338406 q: -0.264668 0.729567 0.349827 0.524694 
time: 1403638614.427830, t: 2.692398 7.516295 0.312729 q: -0.259463 0.735465 0.340191 0.525395 
time: 1403638614.527829, t: 2.651125 7.404024 0.297290 q: -0.256548 0.739983 0.332122 0.525647 
time: 1403638614.627830, t: 2.610855 7.292587 0.289182 q: -0.253013 0.744600 0.322120 0.527062 
time: 1403638614.727829, t: 2.574430 7.183452 0.294106 q: -0.250587 0.752270 0.308028 0.525751 
optimize pose graph 
time: 1403638614.827830, t: 2.540255 7.072029 0.307576 q: -0.245428 0.763115 0.291125 0.522175 
time: 1403638614.927830, t: 2.512145 6.960132 0.330594 q: -0.234725 0.773663 0.273661 0.521018 
time: 1403638615.027829, t: 2.490643 6.847450 0.358505 q: -0.220165 0.782945 0.253116 0.523886 
time: 1403638615.127830, t: 2.476803 6.732390 0.391121 q: -0.199730 0.789617 0.231935 0.531807 
time: 1403638615.227829, t: 2.470281 6.616642 0.430287 q: -0.175652 0.791887 0.211070 0.545446 
time: 1403638615.327830, t: 2.464750 6.498696 0.467376 q: -0.153638 0.795171 0.187063 0.555972 
time: 1403638615.427830, t: 2.459256 6.379788 0.498513 q: -0.132953 0.798898 0.161228 0.563995 
time: 1403638615.527829, t: 2.454003 6.259840 0.522845 q: -0.113542 0.803073 0.135895 0.568959 
time: 1403638615.627830, t: 2.446947 6.138860 0.540619 q: -0.098502 0.805725 0.114932 0.572622 
time: 1403638615.727829, t: 2.438507 6.020550 0.559187 q: -0.088492 0.807715 0.100184 0.574220 
time: 1403638615.827830, t: 2.427344 5.904329 0.586170 q: -0.081674 0.809048 0.089280 0.575152 
time: 1403638615.927830, t: 2.413346 5.788978 0.615785 q: -0.076454 0.810158 0.076604 0.576134 
time: 1403638616.127830, t: 2.381138 5.553722 0.654467 q: -0.058613 0.812881 0.052057 0.577130 
time: 1403638616.227829, t: 2.362318 5.436112 0.654519 q: -0.048850 0.814451 0.035596 0.577075 
time: 1403638616.327830, t: 2.343671 5.315792 0.638594 q: -0.036470 0.815571 0.016607 0.577268 
time: 1403638616.427830, t: 2.325079 5.191828 0.612192 q: -0.023690 0.816402 -0.002272 0.576993 
time: 1403638616.527829, t: 2.306159 5.066708 0.581597 q: -0.014392 0.817356 -0.017775 0.575679 
time: 1403638616.627830, t: 2.287787 4.943999 0.546885 q: -0.006602 0.820422 -0.028651 0.571002 
time: 1403638616.727829, t: 2.270305 4.823342 0.507883 q: -0.004857 0.827711 -0.038185 0.559833 
time: 1403638616.827830, t: 2.256012 4.704655 0.464947 q: -0.009437 0.835381 -0.047367 0.547545 
time: 1403638616.927830, t: 2.248509 4.579337 0.427082 q: -0.009801 0.837521 -0.050129 0.544012 
time: 1403638617.027829, t: 2.248003 4.450348 0.399691 q: -0.002848 0.834242 -0.045317 0.549525 
time: 1403638617.127830, t: 2.252932 4.318483 0.381255 q: 0.004050 0.830312 -0.038570 0.555947 
time: 1403638617.227829, t: 2.262371 4.186842 0.368663 q: 0.007490 0.830084 -0.032923 0.556615 
time: 1403638617.327830, t: 2.275562 4.056656 0.361008 q: 0.006802 0.833226 -0.029987 0.552077 
time: 1403638617.427830, t: 2.293857 3.929730 0.360190 q: 0.007588 0.837338 -0.026348 0.545998 
time: 1403638617.527829, t: 2.318040 3.805887 0.368222 q: 0.007472 0.839065 -0.023061 0.543491 
time: 1403638617.627830, t: 2.349894 3.686670 0.384658 q: 0.007529 0.838598 -0.020302 0.544320 
time: 1403638617.727829, t: 2.388499 3.570151 0.410107 q: 0.009260 0.836846 -0.016163 0.547121 
time: 1403638617.827830, t: 2.433713 3.460177 0.442249 q: 0.009623 0.836716 -0.013542 0.547385 
time: 1403638617.927830, t: 2.483012 3.352875 0.481568 q: 0.008151 0.835520 -0.012508 0.549257 
time: 1403638618.027829, t: 2.535842 3.247276 0.519232 q: 0.007112 0.835016 -0.011330 0.550063 
time: 1403638618.127830, t: 2.592715 3.144669 0.550512 q: 0.005119 0.835105 -0.010862 0.549959 
time: 1403638618.227829, t: 2.653521 3.043003 0.575526 q: 0.004525 0.834851 -0.009703 0.550371 
time: 1403638618.327830, t: 2.715606 2.945329 0.596238 q: 0.004876 0.834146 -0.008180 0.551461 
time: 1403638618.427830, t: 2.784006 2.849795 0.612133 q: 0.004667 0.834046 -0.007134 0.551629 
time: 1403638618.527829, t: 2.854323 2.758386 0.627579 q: 0.004067 0.833497 -0.005974 0.552477 
time: 1403638618.627830, t: 2.927688 2.668866 0.640638 q: 0.006718 0.833151 -0.007832 0.552949 
time: 1403638618.727829, t: 3.005594 2.582233 0.655246 q: 0.010862 0.832937 -0.010015 0.553170 
time: 1403638618.827830, t: 3.087523 2.500435 0.674062 q: 0.012163 0.831807 -0.013957 0.554756 
time: 1403638619.027829, t: 3.257429 2.346185 0.720605 q: 0.025608 0.824866 -0.030591 0.563919 
time: 1403638619.127830, t: 3.343618 2.271631 0.735035 q: 0.039581 0.821394 -0.046443 0.567088 
time: 1403638619.227829, t: 3.430292 2.200200 0.742029 q: 0.053328 0.817952 -0.068174 0.568738 
time: 1403638619.327830, t: 3.516750 2.130933 0.741795 q: 0.068804 0.814529 -0.093078 0.568458 
time: 1403638619.427830, t: 3.599867 2.065597 0.733060 q: 0.082111 0.810104 -0.116504 0.568697 
time: 1403638619.527829, t: 3.683278 2.003474 0.722085 q: 0.090388 0.806253 -0.134872 0.568855 
time: 1403638619.627830, t: 3.765321 1.944250 0.709161 q: 0.093147 0.803373 -0.150355 0.568603 
time: 1403638619.727829, t: 3.845915 1.885658 0.693695 q: 0.087635 0.800817 -0.165208 0.568962 
time: 1403638619.827830, t: 3.922967 1.825460 0.675936 q: 0.085270 0.798069 -0.174152 0.570513 
time: 1403638619.927830, t: 3.995282 1.763184 0.656912 q: 0.085807 0.796561 -0.179143 0.570995 
time: 1403638620.027829, t: 4.066204 1.698019 0.632567 q: 0.088436 0.795342 -0.181149 0.571660 
time: 1403638620.127830, t: 4.130395 1.628433 0.615464 q: 0.091769 0.792580 -0.181195 0.574946 
time: 1403638620.227829, t: 4.188873 1.557520 0.603589 q: 0.094541 0.790331 -0.180678 0.577750 
time: 1403638620.327830, t: 4.241028 1.483506 0.600745 q: 0.098572 0.792023 -0.178127 0.575547 
time: 1403638620.427830, t: 4.286889 1.409394 0.603682 q: 0.099904 0.793130 -0.176379 0.574329 
time: 1403638620.527829, t: 4.329657 1.332806 0.611058 q: 0.100513 0.794456 -0.174124 0.573077 
time: 1403638620.627830, t: 4.368987 1.256500 0.613962 q: 0.098622 0.796642 -0.173340 0.570604 
time: 1403638620.727829, t: 4.404673 1.179808 0.610331 q: 0.094826 0.799851 -0.173943 0.566560 
time: 1403638620.827830, t: 4.439198 1.100813 0.603173 q: 0.093543 0.802974 -0.172362 0.562827 
time: 1403638620.927830, t: 4.473106 1.019723 0.591653 q: 0.098506 0.804815 -0.166344 0.561158 
time: 1403638621.027829, t: 4.506295 0.939988 0.577410 q: 0.103212 0.803981 -0.160518 0.563202 
time: 1403638621.127830, t: 4.536536 0.860512 0.563539 q: 0.103807 0.802882 -0.157412 0.565531 
time: 1403638621.227829, t: 4.567563 0.782977 0.557328 q: 0.103452 0.801320 -0.155060 0.568455 
time: 1403638621.327830, t: 4.599368 0.707072 0.559569 q: 0.104987 0.801836 -0.152056 0.568257 
time: 1403638621.427830, t: 4.627395 0.634132 0.558867 q: 0.104852 0.800611 -0.150042 0.570540 
time: 1403638621.527829, t: 4.652016 0.566030 0.554628 q: 0.105757 0.798608 -0.147504 0.573831 
time: 1403638621.627830, t: 4.676376 0.499499 0.543458 q: 0.105586 0.796925 -0.146118 0.576552 
time: 1403638621.727829, t: 4.695126 0.440166 0.528139 q: 0.105860 0.796082 -0.144968 0.577955 
time: 1403638621.827830, t: 4.712179 0.380389 0.508538 q: 0.107235 0.793765 -0.143388 0.581272 
time: 1403638621.927830, t: 4.724445 0.325490 0.487189 q: 0.108613 0.790320 -0.141838 0.586071 
time: 1403638622.027829, t: 4.729940 0.279418 0.463023 q: 0.107915 0.788796 -0.141852 0.588246 
time: 1403638622.127830, t: 4.734875 0.232851 0.433068 q: 0.105336 0.789440 -0.144068 0.587310 
time: 1403638622.227829, t: 4.732784 0.194572 0.404369 q: 0.103097 0.789799 -0.145771 0.586804 
time: 1403638622.327830, t: 4.726488 0.154198 0.380580 q: 0.100814 0.789794 -0.147772 0.586707 
time: 1403638622.427830, t: 4.712810 0.118295 0.366962 q: 0.103297 0.790642 -0.147174 0.585282 
time: 1403638622.527829, t: 4.692451 0.088962 0.362695 q: 0.106361 0.790689 -0.145907 0.584987 
time: 1403638622.627830, t: 4.670624 0.057489 0.363208 q: 0.111287 0.789121 -0.143427 0.586798 
time: 1403638622.727829, t: 4.641942 0.035150 0.377593 q: 0.114481 0.781172 -0.141808 0.597123 
optimize pose graph 
time: 1403638622.927830, t: 4.568857 0.001261 0.420311 q: 0.115841 0.771622 -0.142643 0.608961 
time: 1403638623.027829, t: 4.516681 -0.005295 0.437887 q: 0.113306 0.777794 -0.145668 0.600815 
time: 1403638623.127830, t: 4.458383 -0.009833 0.446560 q: 0.109383 0.783523 -0.149233 0.593175 
time: 1403638623.227829, t: 4.392315 -0.008439 0.451658 q: 0.105437 0.786625 -0.152200 0.589016 
time: 1403638623.327830, t: 4.322144 -0.007406 0.451848 q: 0.103014 0.790089 -0.154080 0.584300 
time: 1403638623.427830, t: 4.249572 -0.007025 0.447336 q: 0.103159 0.792843 -0.154153 0.580513 
time: 1403638623.527829, t: 4.173216 -0.004785 0.440778 q: 0.101806 0.793365 -0.155039 0.579802 
time: 1403638623.627830, t: 4.093944 -0.002643 0.440606 q: 0.104625 0.792758 -0.153774 0.580467 
time: 1403638623.727829, t: 4.009427 0.000524 0.447290 q: 0.106317 0.793445 -0.153386 0.579322 
time: 1403638623.827830, t: 3.922193 0.005129 0.459760 q: 0.108007 0.794308 -0.153088 0.577904 
time: 1403638624.027829, t: 3.738139 0.016623 0.486450 q: 0.109802 0.796742 -0.154833 0.573735 
time: 1403638624.127830, t: 3.644264 0.025659 0.493736 q: 0.107600 0.797241 -0.157727 0.572671 
time: 1403638624.227829, t: 3.551892 0.034402 0.497783 q: 0.105124 0.797255 -0.160616 0.572307 
time: 1403638624.327830, t: 3.455098 0.043793 0.495524 q: 0.104037 0.796535 -0.162601 0.572947 
time: 1403638624.427830, t: 3.359585 0.053292 0.489627 q: 0.103991 0.796300 -0.163945 0.572899 
time: 1403638624.527829, t: 3.267628 0.061349 0.481978 q: 0.102881 0.793231 -0.166338 0.576655 
time: 1403638624.627830, t: 3.167843 0.068900 0.467766 q: 0.100251 0.783548 -0.168869 0.589479 
time: 1403638624.727829, t: 3.065713 0.075436 0.453606 q: 0.104571 0.785968 -0.162085 0.587407 
time: 1403638624.827830, t: 2.970992 0.080754 0.448159 q: 0.107705 0.792990 -0.152465 0.579932 
time: 1403638624.927830, t: 2.859573 0.091441 0.448672 q: 0.105058 0.797404 -0.146997 0.575762 
optimize pose graph 
time: 1403638625.027829, t: 2.759917 0.102051 0.455184 q: 0.097829 0.799001 -0.145360 0.575236 
time: 1403638625.127830, t: 2.659659 0.112551 0.458411 q: 0.089622 0.800102 -0.145993 0.574883 
time: 1403638625.227829, t: 2.549952 0.123621 0.455987 q: 0.085507 0.801222 -0.145112 0.574172 
time: 1403638625.327830, t: 2.448379 0.130218 0.451994 q: 0.084186 0.801576 -0.143668 0.574237 
time: 1403638625.427830, t: 2.339720 0.136345 0.447729 q: 0.083649 0.801403 -0.142408 0.574871 
time: 1403638625.527829, t: 2.236012 0.141692 0.452164 q: 0.083622 0.801229 -0.141990 0.575220 
time: 1403638625.627830, t: 2.127714 0.146666 0.462133 q: 0.084163 0.802686 -0.141758 0.573164 
time: 1403638625.727829, t: 2.020683 0.150417 0.478212 q: 0.083075 0.805611 -0.142506 0.569018 
time: 1403638625.827830, t: 1.913431 0.153249 0.492616 q: 0.082430 0.809942 -0.143515 0.562675 
time: 1403638625.927830, t: 1.808968 0.153199 0.501154 q: 0.083625 0.810966 -0.143248 0.561089 
time: 1403638626.027829, t: 1.705556 0.153449 0.504567 q: 0.083625 0.811706 -0.144318 0.559744 
time: 1403638626.127830, t: 1.605534 0.150916 0.502891 q: 0.081935 0.812131 -0.146226 0.558881 
time: 1403638626.227829, t: 1.511368 0.147689 0.495504 q: 0.083587 0.811998 -0.145640 0.558983 
time: 1403638626.327830, t: 1.417617 0.141761 0.485735 q: 0.089921 0.810049 -0.141802 0.561807 
time: 1403638626.527829, t: 1.233465 0.131541 0.457185 q: 0.097010 0.809137 -0.136282 0.563306 
time: 1403638626.627830, t: 1.147111 0.126526 0.440864 q: 0.095787 0.811235 -0.137014 0.560312 
time: 1403638626.727829, t: 1.066142 0.122255 0.426051 q: 0.094083 0.814087 -0.137717 0.556278 
time: 1403638626.827830, t: 0.986340 0.120186 0.418057 q: 0.092417 0.817312 -0.138666 0.551573 
time: 1403638626.927830, t: 0.913237 0.116855 0.418161 q: 0.092417 0.819568 -0.138169 0.548341 
time: 1403638627.027829, t: 0.844208 0.114907 0.420377 q: 0.091811 0.819637 -0.137974 0.548388 
optimize pose graph 
time: 1403638627.127830, t: 0.779829 0.110767 0.419668 q: 0.091036 0.819421 -0.137793 0.548885 
time: 1403638627.227829, t: 0.719368 0.105445 0.414711 q: 0.090390 0.819320 -0.137562 0.549200 
time: 1403638627.327830, t: 0.664271 0.103462 0.402737 q: 0.093094 0.819323 -0.135292 0.549309 
time: 1403638627.527829, t: 0.575919 0.094534 0.380856 q: 0.093938 0.818877 -0.134529 0.550016 
time: 1403638627.627830, t: 0.538745 0.091440 0.366217 q: 0.097179 0.816822 -0.133036 0.552865 
time: 1403638627.727829, t: 0.507285 0.088710 0.350393 q: 0.098068 0.813778 -0.132809 0.557234 
time: 1403638627.827830, t: 0.478988 0.089049 0.332650 q: 0.099286 0.812490 -0.132488 0.558971 
time: 1403638627.927830, t: 0.445632 0.088780 0.317933 q: 0.100053 0.813636 -0.132457 0.557172 
time: 1403638628.027829, t: 0.420945 0.089697 0.302128 q: 0.101283 0.815240 -0.132414 0.554609 
time: 1403638628.127830, t: 0.397230 0.091431 0.289048 q: 0.101829 0.816195 -0.132926 0.552981 
time: 1403638628.227829, t: 0.374563 0.097162 0.277027 q: 0.102248 0.816336 -0.133693 0.552511 
time: 1403638628.327830, t: 0.361392 0.105897 0.266099 q: 0.102029 0.817000 -0.134878 0.551279 
time: 1403638628.427830, t: 0.353024 0.115094 0.259575 q: 0.099560 0.816591 -0.136978 0.551819 
time: 1403638628.527829, t: 0.349690 0.125434 0.256806 q: 0.091236 0.810831 -0.143378 0.560064 
time: 1403638628.727829, t: 0.347752 0.144112 0.256992 q: 0.082572 0.803677 -0.149962 0.569909 
time: 1403638628.827830, t: 0.337487 0.148758 0.250324 q: 0.086234 0.805094 -0.147974 0.567882 
time: 1403638628.927830, t: 0.326546 0.151327 0.239278 q: 0.090676 0.805139 -0.145568 0.567748 
time: 1403638629.027829, t: 0.316323 0.153264 0.229157 q: 0.095676 0.806121 -0.142125 0.566406 
time: 1403638629.127830, t: 0.308391 0.154516 0.221481 q: 0.099188 0.807416 -0.139322 0.564651 
optimize pose graph 
time: 1403638629.227829, t: 0.297320 0.159043 0.215220 q: 0.100921 0.808374 -0.137768 0.563353 
time: 1403638629.327830, t: 0.286829 0.164237 0.214291 q: 0.102225 0.809197 -0.137045 0.562111 
time: 1403638629.427830, t: 0.281107 0.170010 0.212114 q: 0.101781 0.813244 -0.137938 0.556100 
time: 1403638629.527829, t: 0.276853 0.177395 0.212114 q: 0.099033 0.817902 -0.140450 0.549093 
time: 1403638629.627830, t: 0.277594 0.185140 0.213857 q: 0.091973 0.818242 -0.145864 0.548402 
time: 1403638629.727829, t: 0.282824 0.191190 0.217008 q: 0.081837 0.814284 -0.153605 0.553759 
time: 1403638629.827830, t: 0.289349 0.194144 0.219514 q: 0.077893 0.808305 -0.156874 0.562108 
time: 1403638629.927830, t: 0.295078 0.193424 0.215752 q: 0.083008 0.802136 -0.154237 0.570876 
time: 1403638630.027829, t: 0.299262 0.190521 0.202363 q: 0.093876 0.796213 -0.147144 0.579294 
time: 1403638630.127830, t: 0.300330 0.188052 0.177900 q: 0.100476 0.796571 -0.142546 0.578843 
time: 1403638630.227829, t: 0.298583 0.186664 0.146249 q: 0.103020 0.800670 -0.140419 0.573233 
time: 1403638630.327830, t: 0.295769 0.186731 0.108432 q: 0.105450 0.807338 -0.139907 0.563482 
time: 1403638630.427830, t: 0.305604 0.190265 0.106120 q: 0.090793 0.813602 -0.146304 0.555340 
time: 1403638630.527829, t: 0.317600 0.191035 0.114026 q: 0.099773 0.803998 -0.139048 0.569472 
time: 1403638630.627830, t: 0.328266 0.192454 0.101784 q: 0.100537 0.803206 -0.139382 0.570373 
time: 1403638630.727829, t: 0.334069 0.190834 0.083048 q: 0.091274 0.829356 -0.132388 0.535080 
time: 1403638630.827830, t: 0.329414 0.183519 0.079053 q: 0.095388 0.826900 -0.134203 0.537705 
time: 1403638630.927830, t: 0.324929 0.190304 0.072207 q: 0.094833 0.827659 -0.132634 0.537025 
time: 1403638631.027829, t: 0.341446 0.174472 0.102219 q: 0.093730 0.828360 -0.132710 0.536118 
time: 1403638631.127830, t: 0.318501 0.174347 0.082968 q: 0.092977 0.828139 -0.132710 0.536591 
time: 1403638631.227829, t: 0.308995 0.195499 0.057584 q: 0.094171 0.827906 -0.133242 0.536609 
time: 1403638631.327830, t: 0.303268 0.195531 0.052203 q: 0.094080 0.827824 -0.133253 0.536749 
optimize pose graph 
time: 1403638631.427830, t: 0.296902 0.195627 0.047721 q: 0.094247 0.827849 -0.133048 0.536732 
time: 1403638631.527829, t: 0.291870 0.195250 0.042841 q: 0.094230 0.827961 -0.133118 0.536545 
time: 1403638631.627830, t: 0.286275 0.193965 0.038457 q: 0.094416 0.828049 -0.132918 0.536426 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731033309.688311110]: Shutdown request received.[0m
[33m[ WARN] [1731033309.688341455]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731033309.689158819]: Shutdown request received.[0m
[33m[ WARN] [1731033309.689204268]: Reason given for shutdown: [user request][0m
killed
