/SLAM-Hive/slam_hive_results/mapping_results/2896/2104_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720480658.113995214]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720480658.115993109]: init begins[0m
[31m[ERROR] [1720480658.117113873]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/443aa942-3d80-11ef-adf9-0242ac110005/roslaunch-efa01ec3ead1-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://efa01ec3ead1:43811/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1720480659.220367640]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720480659.222779350]: 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] [1720480659.229004608]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720480659.229188244]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720480659.229214311]: ROW: 192 COL: 300 [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] [1720480659.229390531]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720480659.229647340]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://efa01ec3ead1:11311/[0m
]2;roscore http://efa01ec3ead1:11311/
[1msetting /run_id to 443aa942-3d80-11ef-adf9-0242ac110005[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720480668.276325579]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316842541.17 
init first imu pose
averge acc 9.049359 -0.057205 -3.951263
init R0 
    0.400188    0.0132665     0.916337
-2.46519e-32    -0.999895    0.0144762
    0.916433  -0.00579322    -0.400146
[0m[ INFO] [1720480669.612835301]: IMU excitation not enouth![0m
[0m[ INFO] [1720480669.612986950]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480669.816016813]: IMU excitation not enouth![0m
[0m[ INFO] [1720480669.816683472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480669.911957608]: IMU excitation not enouth![0m
[0m[ INFO] [1720480669.912551691]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480670.111823618]: IMU excitation not enouth![0m
[0m[ INFO] [1720480670.112394864]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720480670.309702115]: IMU excitation not enouth![0m
[0m[ INFO] [1720480670.309939585]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720480670.612430821]: IMU excitation not enouth![0m
[0m[ INFO] [1720480670.661831764]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720480670.841469939]: Not enough features or parallax; Move device around[0m
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720480670.913576073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480671.157002307]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480671.315446029]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480671.412221609]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480671.611580808]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720480671.977824426]: gyroscope bias initial calibration   0.00070127 -0.000650317    0.0759277[0m
[0m[ INFO] [1720480671.992535359]: Initialization finish![0m
time: 1403638130.595097, t: -0.062496 -0.013262 0.242386 q: -0.096199 0.808200 0.071695 0.576557 
wait for imu ... 
wait for imu ... 
time: 1403638130.695097, t: -0.047766 -0.002859 0.301268 q: -0.098108 0.803551 0.064462 0.583545 
time: 1403638130.795097, t: -0.039777 0.021400 0.336791 q: -0.111544 0.798718 0.047386 0.589374 
wait for imu ... 
wait for imu ... 
time: 1403638130.895097, t: -0.043878 0.024427 0.360319 q: -0.117529 0.796942 0.045942 0.590729 
time: 1403638130.995097, t: -0.082816 0.011313 0.363046 q: -0.117600 0.785875 0.038638 0.605870 
wait for imu ... 
time: 1403638131.095097, t: -0.104005 0.006733 0.352592 q: -0.115683 0.778931 0.034035 0.615406 
time: 1403638131.195097, t: -0.127638 0.012442 0.320285 q: -0.105119 0.786320 0.043485 0.607256 
wait for imu ... 
wait for imu ... 
time: 1403638131.295097, t: -0.135640 0.019055 0.275293 q: -0.091842 0.797021 0.057025 0.594197 
time: 1403638131.395097, t: -0.139020 0.023391 0.227585 q: -0.088165 0.799902 0.057457 0.590832 
wait for imu ... 
time: 1403638131.495097, t: -0.136885 0.022853 0.181756 q: -0.081481 0.800222 0.058083 0.591297 
time: 1403638131.595097, t: -0.140914 0.021704 0.125939 q: -0.078061 0.804261 0.059826 0.586082 
wait for imu ... 
time: 1403638131.695097, t: -0.129856 0.013021 0.068733 q: -0.074775 0.806132 0.063739 0.583521 
time: 1403638131.795097, t: -0.134002 0.013380 0.014002 q: -0.066604 0.806708 0.067271 0.583319 
wait for imu ... 
wait for imu ... 
time: 1403638131.895097, t: -0.132621 0.010765 -0.034875 q: -0.056548 0.808751 0.070175 0.581205 
wait for imu ... 
wait for imu ... 
time: 1403638131.995097, t: -0.132704 0.002443 -0.069739 q: -0.049897 0.810779 0.076255 0.578215 
wait for imu ... 
wait for imu ... 
time: 1403638132.095097, t: -0.127044 -0.007253 -0.080369 q: -0.040738 0.816344 0.092138 0.568712 
time: 1403638132.195097, t: -0.127815 -0.009430 -0.060872 q: -0.040334 0.817077 0.098461 0.566625 
wait for imu ... 
wait for imu ... 
time: 1403638132.295097, t: -0.134627 -0.005961 -0.012448 q: -0.053227 0.809701 0.090042 0.577445 
time: 1403638132.395097, t: -0.148911 -0.004901 0.034626 q: -0.066456 0.805244 0.084529 0.583112 
time: 1403638132.495097, t: -0.131154 -0.009212 0.104982 q: -0.087295 0.798337 0.073416 0.591310 
wait for imu ... 
wait for imu ... 
time: 1403638132.595097, t: -0.133744 0.001217 0.164352 q: -0.106135 0.785436 0.057727 0.607037 
time: 1403638132.695097, t: -0.127888 0.009351 0.210528 q: -0.112773 0.786228 0.053881 0.605165 
wait for imu ... 
time: 1403638132.795097, t: -0.118292 0.020506 0.245983 q: -0.114516 0.792500 0.052606 0.596710 
wait for imu ... 
wait for imu ... 
time: 1403638132.895097, t: -0.124907 0.036815 0.260897 q: -0.120115 0.785753 0.043182 0.605227 
time: 1403638132.995097, t: -0.123665 0.044462 0.260273 q: -0.126686 0.779500 0.041842 0.612029 
wait for imu ... 
time: 1403638133.095097, t: -0.118241 0.045219 0.247549 q: -0.116319 0.783936 0.056174 0.607255 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638133.195097, t: -0.106473 0.027844 0.230505 q: -0.104827 0.788594 0.058264 0.603106 
wait for imu ... 
time: 1403638133.295097, t: -0.105173 0.005173 0.210825 q: -0.088864 0.790985 0.048022 0.603440 
wait for imu ... 
time: 1403638133.395097, t: -0.104626 -0.032207 0.183953 q: -0.070850 0.797665 0.041047 0.597516 
time: 1403638133.495097, t: -0.102547 -0.076834 0.161587 q: -0.051265 0.801951 0.027274 0.594561 
wait for imu ... 
wait for imu ... 
time: 1403638133.595097, t: -0.108871 -0.123279 0.143568 q: -0.043498 0.804895 0.005195 0.591797 
wait for imu ... 
wait for imu ... 
time: 1403638133.695097, t: -0.116234 -0.168015 0.130811 q: -0.042140 0.809579 -0.011959 0.585374 
time: 1403638133.795097, t: -0.123256 -0.205835 0.116614 q: -0.028145 0.812481 -0.025636 0.581744 
time: 1403638133.895097, t: -0.123102 -0.233365 0.104551 q: -0.011784 0.815614 -0.033297 0.577517 
time: 1403638133.995097, t: -0.116468 -0.238869 0.093951 q: -0.004577 0.815033 -0.039217 0.578068 
time: 1403638134.095097, t: -0.096283 -0.224842 0.092411 q: -0.001293 0.817765 -0.033932 0.574550 
wait for imu ... 
wait for imu ... 
time: 1403638134.195097, t: -0.066932 -0.207190 0.094511 q: 0.000677 0.818982 -0.026894 0.573189 
wait for imu ... 
time: 1403638134.295097, t: -0.037662 -0.172123 0.100227 q: -0.003978 0.810328 -0.035282 0.584900 
wait for imu ... 
time: 1403638134.395097, t: -0.006261 -0.127547 0.104109 q: -0.012598 0.812071 -0.040145 0.582040 
time: 1403638134.495097, t: 0.021655 -0.081075 0.107281 q: -0.019598 0.813530 -0.043984 0.579525 
wait for imu ... 
wait for imu ... 
time: 1403638134.595097, t: 0.041451 -0.035554 0.111226 q: -0.029931 0.812123 -0.049256 0.580633 
time: 1403638134.695097, t: 0.051640 0.010562 0.114662 q: -0.034447 0.815487 -0.048010 0.575751 
wait for imu ... 
wait for imu ... 
time: 1403638134.795097, t: 0.057664 0.056372 0.119964 q: -0.036020 0.822299 -0.042157 0.566347 
wait for imu ... 
wait for imu ... 
time: 1403638134.895097, t: 0.060874 0.100047 0.128519 q: -0.032787 0.824151 -0.038293 0.564122 
time: 1403638134.995097, t: 0.062046 0.136964 0.135528 q: -0.033031 0.820184 -0.039529 0.569776 
time: 1403638135.095097, t: 0.061151 0.166786 0.134242 q: -0.028790 0.823667 -0.031974 0.565439 
wait for imu ... 
time: 1403638135.195097, t: 0.058512 0.185249 0.126800 q: -0.026433 0.827613 -0.024656 0.560135 
wait for imu ... 
time: 1403638135.295097, t: 0.056531 0.187670 0.118133 q: -0.023329 0.829258 -0.022168 0.557938 
wait for imu ... 
wait for imu ... 
time: 1403638135.395097, t: 0.052417 0.188138 0.112748 q: -0.018946 0.826983 -0.025515 0.561328 
time: 1403638135.495097, t: 0.038446 0.159763 0.098321 q: -0.009482 0.829088 -0.024625 0.558495 
wait for imu ... 
wait for imu ... 
time: 1403638135.595097, t: 0.035120 0.122533 0.093453 q: -0.001402 0.833827 -0.024527 0.551479 
time: 1403638135.695097, t: 0.027687 0.085071 0.096183 q: 0.003700 0.830087 -0.034750 0.556538 
time: 1403638135.795097, t: 0.016646 0.047294 0.092158 q: 0.000994 0.827485 -0.048047 0.559427 
time: 1403638135.895097, t: -0.005372 0.010702 0.088499 q: 0.011742 0.832311 -0.043449 0.552479 
time: 1403638135.995097, t: -0.019522 -0.025739 0.098311 q: 0.023879 0.837507 -0.039052 0.544507 
time: 1403638136.095097, t: -0.033105 -0.068122 0.119074 q: 0.032481 0.830576 -0.045382 0.554102 
time: 1403638136.195097, t: -0.049612 -0.114819 0.133790 q: 0.029475 0.820870 -0.059620 0.567229 
time: 1403638136.295097, t: -0.070305 -0.161453 0.134272 q: 0.035791 0.818480 -0.064998 0.569723 
wait for imu ... 
wait for imu ... 
time: 1403638136.395097, t: -0.094281 -0.199078 0.123737 q: 0.045700 0.820127 -0.066062 0.566515 
time: 1403638136.495097, t: -0.110118 -0.221287 0.116186 q: 0.052125 0.822516 -0.068402 0.562203 
wait for imu ... 
wait for imu ... 
time: 1403638136.595097, t: -0.117960 -0.221443 0.118934 q: 0.046822 0.823393 -0.079330 0.559946 
wait for imu ... 
time: 1403638136.695097, t: -0.119881 -0.201569 0.132002 q: 0.033672 0.822156 -0.081514 0.562389 
time: 1403638136.795097, t: -0.115480 -0.169799 0.150225 q: 0.016795 0.821729 -0.077719 0.564305 
time: 1403638136.895097, t: -0.109716 -0.126151 0.162511 q: -0.008085 0.814597 -0.079904 0.574441 
time: 1403638136.995097, t: -0.104056 -0.080682 0.159721 q: -0.027101 0.804829 -0.083694 0.586951 
time: 1403638137.095097, t: -0.099360 -0.037965 0.137631 q: -0.033706 0.805022 -0.078156 0.587108 
time: 1403638137.195097, t: -0.095807 -0.001813 0.102814 q: -0.030098 0.812555 -0.064684 0.578502 
wait for imu ... 
wait for imu ... 
time: 1403638137.295097, t: -0.094696 0.026316 0.063394 q: -0.025775 0.820830 -0.050513 0.568350 
time: 1403638137.395097, t: -0.096066 0.045472 0.022698 q: -0.022947 0.825941 -0.043143 0.561635 
wait for imu ... 
time: 1403638137.495097, t: -0.097818 0.057465 -0.014585 q: -0.012019 0.833538 -0.034409 0.551259 
time: 1403638137.595097, t: -0.098062 0.065088 -0.047233 q: 0.003511 0.841679 -0.023084 0.539473 
wait for imu ... 
time: 1403638137.695097, t: -0.097759 0.069263 -0.071786 q: 0.011883 0.842389 -0.023262 0.538237 
time: 1403638137.795097, t: -0.098616 0.075224 -0.091931 q: 0.014853 0.841822 -0.029034 0.538770 
wait for imu ... 
wait for imu ... 
time: 1403638137.895097, t: -0.105339 0.075925 -0.107043 q: 0.021640 0.847238 -0.025340 0.530168 
wait for imu ... 
wait for imu ... 
time: 1403638137.995097, t: -0.094988 0.081333 -0.120052 q: 0.028605 0.855662 -0.017906 0.516434 
wait for imu ... 
time: 1403638138.095097, t: -0.095900 0.083337 -0.128240 q: 0.030255 0.855742 -0.014363 0.516317 
wait for imu ... 
time: 1403638138.195097, t: -0.105498 0.079899 -0.127458 q: 0.026252 0.848061 -0.022460 0.528772 
wait for imu ... 
wait for imu ... 
time: 1403638138.295097, t: -0.106730 0.077661 -0.128361 q: 0.024042 0.844312 -0.025597 0.534699 
time: 1403638138.395097, t: -0.108179 0.075656 -0.127223 q: 0.024166 0.839712 -0.026478 0.541848 
wait for imu ... 
time: 1403638138.495097, t: -0.108517 0.075434 -0.127190 q: 0.024879 0.839394 -0.025472 0.542356 
time: 1403638138.595097, t: -0.108548 0.075547 -0.127333 q: 0.024387 0.839298 -0.025513 0.542524 
time: 1403638138.695097, t: -0.108440 0.075791 -0.127517 q: 0.023415 0.839255 -0.026025 0.542610 
wait for imu ... 
wait for imu ... 
time: 1403638138.795097, t: -0.108458 0.075712 -0.127502 q: 0.023311 0.839312 -0.025491 0.542551 
time: 1403638138.895097, t: -0.108301 0.076126 -0.127610 q: 0.021800 0.839154 -0.026499 0.542810 
wait for imu ... 
time: 1403638138.995097, t: -0.108367 0.076027 -0.127561 q: 0.021847 0.839221 -0.026032 0.542728 
wait for imu ... 
time: 1403638139.095097, t: -0.108344 0.075910 -0.127578 q: 0.021872 0.839244 -0.025633 0.542710 
time: 1403638139.195097, t: -0.108349 0.075841 -0.127589 q: 0.021881 0.839170 -0.025347 0.542837 
wait for imu ... 
time: 1403638139.295097, t: -0.108358 0.075843 -0.127614 q: 0.021711 0.839125 -0.025231 0.542919 
wait for imu ... 
wait for imu ... 
time: 1403638139.395097, t: -0.108359 0.075871 -0.127612 q: 0.021284 0.839111 -0.025263 0.542956 
time: 1403638139.495097, t: -0.108364 0.075910 -0.127627 q: 0.020858 0.839103 -0.025285 0.542984 
time: 1403638139.595097, t: -0.108345 0.075938 -0.127643 q: 0.020523 0.839063 -0.025213 0.543063 
time: 1403638139.695097, t: -0.108353 0.075957 -0.127646 q: 0.020264 0.839043 -0.025128 0.543107 
wait for imu ... 
wait for imu ... 
time: 1403638139.795097, t: -0.108336 0.075960 -0.127640 q: 0.019943 0.839035 -0.025046 0.543134 
time: 1403638139.895097, t: -0.108339 0.075957 -0.127620 q: 0.019829 0.838995 -0.024913 0.543207 
time: 1403638139.995097, t: -0.108346 0.075941 -0.127611 q: 0.019562 0.839002 -0.024788 0.543212 
wait for imu ... 
time: 1403638140.095097, t: -0.108318 0.075948 -0.127601 q: 0.019310 0.838987 -0.024674 0.543249 
time: 1403638140.195097, t: -0.108325 0.075946 -0.127601 q: 0.019032 0.838952 -0.024584 0.543316 
time: 1403638140.295097, t: -0.108330 0.075953 -0.127612 q: 0.018768 0.838907 -0.024475 0.543401 
wait for imu ... 
time: 1403638140.395097, t: -0.108323 0.075966 -0.127607 q: 0.018525 0.838880 -0.024408 0.543453 
time: 1403638140.495097, t: -0.108332 0.075978 -0.127613 q: 0.018298 0.838866 -0.024331 0.543485 
time: 1403638140.595097, t: -0.108327 0.075973 -0.127602 q: 0.018072 0.838824 -0.024221 0.543563 
wait for imu ... 
wait for imu ... 
time: 1403638140.695097, t: -0.108338 0.075972 -0.127607 q: 0.017902 0.838780 -0.024090 0.543643 
time: 1403638140.795097, t: -0.108335 0.075978 -0.127608 q: 0.017699 0.838737 -0.024018 0.543719 
time: 1403638140.895097, t: -0.108333 0.075987 -0.127591 q: 0.017531 0.838718 -0.023960 0.543757 
wait for imu ... 
time: 1403638140.995097, t: -0.108337 0.075995 -0.127576 q: 0.017342 0.838692 -0.023850 0.543806 
wait for imu ... 
time: 1403638141.095097, t: -0.108337 0.076013 -0.127575 q: 0.017182 0.838622 -0.023769 0.543924 
wait for imu ... 
wait for imu ... 
time: 1403638141.195097, t: -0.108341 0.076003 -0.127580 q: 0.016935 0.838587 -0.023677 0.543989 
time: 1403638141.295097, t: -0.108336 0.076003 -0.127573 q: 0.016794 0.838563 -0.023570 0.544036 
time: 1403638141.395097, t: -0.108347 0.076002 -0.127572 q: 0.016631 0.838513 -0.023511 0.544120 
wait for imu ... 
time: 1403638141.495097, t: -0.108342 0.075993 -0.127564 q: 0.016449 0.838500 -0.023430 0.544149 
wait for imu ... 
wait for imu ... 
time: 1403638141.595097, t: -0.108343 0.075997 -0.127546 q: 0.016357 0.838463 -0.023350 0.544212 
time: 1403638141.695097, t: -0.108340 0.075986 -0.127552 q: 0.016317 0.838469 -0.023357 0.544204 
time: 1403638141.795097, t: -0.108339 0.075993 -0.127541 q: 0.016189 0.838434 -0.023263 0.544266 
time: 1403638141.895097, t: -0.108337 0.075988 -0.127532 q: 0.016042 0.838395 -0.023185 0.544333 
time: 1403638141.995097, t: -0.108353 0.076003 -0.127503 q: 0.016006 0.838380 -0.023150 0.544359 
wait for imu ... 
wait for imu ... 
time: 1403638142.095097, t: -0.108354 0.076044 -0.127481 q: 0.015985 0.838397 -0.023091 0.544337 
time: 1403638142.195097, t: -0.108372 0.076032 -0.127494 q: 0.016123 0.838368 -0.023372 0.544365 
time: 1403638142.295097, t: -0.108210 0.075917 -0.127543 q: 0.016218 0.838364 -0.023281 0.544373 
time: 1403638142.395097, t: -0.108269 0.075959 -0.127500 q: 0.016346 0.838372 -0.023306 0.544354 
wait for imu ... 
wait for imu ... 
time: 1403638142.495097, t: -0.108285 0.076013 -0.127512 q: 0.016042 0.838424 -0.023192 0.544289 
time: 1403638142.595097, t: -0.108263 0.076117 -0.127506 q: 0.015404 0.838431 -0.022654 0.544319 
wait for imu ... 
time: 1403638142.695097, t: -0.108300 0.076122 -0.127502 q: 0.015653 0.838541 -0.022756 0.544137 
time: 1403638142.795097, t: -0.108302 0.075996 -0.127478 q: 0.016190 0.838585 -0.023054 0.544042 
time: 1403638142.895097, t: -0.108284 0.075995 -0.127427 q: 0.016212 0.838605 -0.022940 0.544016 
wait for imu ... 
time: 1403638142.995097, t: -0.108235 0.076062 -0.127421 q: 0.016119 0.838563 -0.022591 0.544098 
time: 1403638143.095097, t: -0.108298 0.076026 -0.127380 q: 0.016244 0.838613 -0.022664 0.544013 
wait for imu ... 
time: 1403638143.195097, t: -0.108177 0.075996 -0.127394 q: 0.016043 0.838646 -0.022406 0.543979 
time: 1403638143.295097, t: -0.108143 0.076032 -0.127449 q: 0.016009 0.838621 -0.022534 0.544014 
time: 1403638143.395097, t: -0.108100 0.076011 -0.127413 q: 0.016121 0.838602 -0.022585 0.544037 
time: 1403638143.495097, t: -0.108111 0.076002 -0.127382 q: 0.016267 0.838582 -0.022641 0.544062 
time: 1403638143.595097, t: -0.108085 0.075964 -0.127377 q: 0.016453 0.838564 -0.022859 0.544074 
time: 1403638143.695097, t: -0.108060 0.076001 -0.127390 q: 0.016346 0.838512 -0.022876 0.544158 
time: 1403638143.795097, t: -0.108051 0.075994 -0.127387 q: 0.016292 0.838493 -0.022843 0.544189 
time: 1403638143.895097, t: -0.108055 0.076008 -0.127382 q: 0.016256 0.838475 -0.022936 0.544214 
time: 1403638144.095097, t: -0.108046 0.075979 -0.127389 q: 0.016237 0.838437 -0.022970 0.544273 
time: 1403638144.195097, t: -0.108047 0.075981 -0.127400 q: 0.016287 0.838372 -0.022977 0.544370 
time: 1403638144.295097, t: -0.108043 0.075975 -0.127416 q: 0.016185 0.838312 -0.022902 0.544469 
time: 1403638144.395097, t: -0.108039 0.075979 -0.127447 q: 0.016133 0.838263 -0.022906 0.544547 
time: 1403638144.495097, t: -0.108035 0.075948 -0.127458 q: 0.016135 0.838230 -0.022941 0.544594 
time: 1403638144.595097, t: -0.108041 0.075973 -0.127457 q: 0.016093 0.838220 -0.022994 0.544610 
time: 1403638144.695097, t: -0.108056 0.075978 -0.127424 q: 0.016022 0.838154 -0.022894 0.544717 
wait for imu ... 
wait for imu ... 
time: 1403638144.795097, t: -0.108080 0.075984 -0.127427 q: 0.016001 0.838156 -0.022942 0.544712 
wait for imu ... 
time: 1403638144.895097, t: -0.108074 0.075980 -0.127435 q: 0.016034 0.838168 -0.022948 0.544694 
time: 1403638144.995097, t: -0.108071 0.075968 -0.127420 q: 0.016081 0.838126 -0.022923 0.544758 
wait for imu ... 
time: 1403638145.095097, t: -0.108083 0.075965 -0.127423 q: 0.016048 0.838124 -0.022957 0.544760 
time: 1403638145.195097, t: -0.108083 0.075978 -0.127403 q: 0.016095 0.838100 -0.022947 0.544796 
time: 1403638145.295097, t: -0.108094 0.075981 -0.127396 q: 0.016058 0.838107 -0.022953 0.544786 
wait for imu ... 
wait for imu ... 
time: 1403638145.395097, t: -0.108116 0.075970 -0.127385 q: 0.016156 0.838086 -0.022966 0.544815 
time: 1403638145.495097, t: -0.108120 0.075993 -0.127362 q: 0.016150 0.838068 -0.022962 0.544844 
time: 1403638145.595097, t: -0.108103 0.075962 -0.127350 q: 0.016086 0.838073 -0.022912 0.544839 
wait for imu ... 
time: 1403638145.695097, t: -0.108087 0.075962 -0.127349 q: 0.016068 0.838032 -0.022914 0.544902 
time: 1403638145.795097, t: -0.108103 0.075970 -0.127340 q: 0.016122 0.838057 -0.022863 0.544865 
time: 1403638145.895097, t: -0.108095 0.075977 -0.127353 q: 0.016125 0.838007 -0.022887 0.544941 
wait for imu ... 
time: 1403638145.995097, t: -0.108088 0.075985 -0.127350 q: 0.016107 0.838000 -0.022915 0.544950 
wait for imu ... 
time: 1403638146.095097, t: -0.108078 0.075979 -0.127325 q: 0.016083 0.838046 -0.022842 0.544883 
time: 1403638146.195097, t: -0.108090 0.075981 -0.127330 q: 0.016135 0.837986 -0.022882 0.544973 
time: 1403638146.295097, t: -0.108066 0.075988 -0.127317 q: 0.016237 0.837990 -0.022891 0.544963 
time: 1403638146.395097, t: -0.108058 0.075980 -0.127291 q: 0.016293 0.838014 -0.022855 0.544926 
wait for imu ... 
time: 1403638146.495097, t: -0.108063 0.075986 -0.127275 q: 0.016333 0.838041 -0.022940 0.544880 
time: 1403638146.595097, t: -0.108056 0.076012 -0.127288 q: 0.016437 0.837989 -0.022954 0.544957 
time: 1403638146.695097, t: -0.108043 0.076000 -0.127248 q: 0.016523 0.838052 -0.022982 0.544856 
wait for imu ... 
time: 1403638146.795097, t: -0.108066 0.076015 -0.127289 q: 0.016532 0.837951 -0.022961 0.545012 
time: 1403638146.895097, t: -0.108020 0.076008 -0.127219 q: 0.016655 0.838049 -0.022891 0.544860 
time: 1403638146.995097, t: -0.108034 0.076027 -0.127187 q: 0.016786 0.838165 -0.022976 0.544674 
time: 1403638147.095097, t: -0.108038 0.076143 -0.127216 q: 0.016688 0.838221 -0.022916 0.544593 
wait for imu ... 
time: 1403638147.195097, t: -0.108008 0.076173 -0.127231 q: 0.016780 0.838290 -0.022797 0.544489 
wait for imu ... 
time: 1403638147.295097, t: -0.108022 0.076208 -0.127204 q: 0.016717 0.838283 -0.022937 0.544497 
time: 1403638147.395097, t: -0.108019 0.076210 -0.127177 q: 0.016784 0.838155 -0.022901 0.544692 
wait for imu ... 
time: 1403638147.495097, t: -0.108035 0.076098 -0.126995 q: 0.016598 0.837701 -0.022684 0.545405 
time: 1403638147.595097, t: -0.108028 0.076074 -0.126863 q: 0.015989 0.837229 -0.022847 0.546141 
wait for imu ... 
wait for imu ... 
time: 1403638147.695097, t: -0.107579 0.076086 -0.126962 q: 0.015559 0.837321 -0.022042 0.546045 
time: 1403638147.795097, t: -0.105549 0.075775 -0.125813 q: 0.015933 0.835130 -0.022568 0.549358 
wait for imu ... 
wait for imu ... 
time: 1403638147.895097, t: -0.100297 0.074712 -0.121543 q: 0.017957 0.828026 -0.025458 0.559824 
time: 1403638147.995097, t: -0.091392 0.073976 -0.110259 q: 0.018172 0.821426 -0.027750 0.569349 
wait for imu ... 
time: 1403638148.095097, t: -0.081616 0.073086 -0.092022 q: 0.018535 0.816269 -0.027204 0.576733 
time: 1403638148.195097, t: -0.071377 0.072043 -0.064512 q: 0.018921 0.813289 -0.024107 0.581052 
wait for imu ... 
wait for imu ... 
time: 1403638148.295097, t: -0.062963 0.071267 -0.022179 q: 0.017155 0.812894 -0.021264 0.581770 
wait for imu ... 
time: 1403638148.395097, t: -0.056094 0.071040 0.028933 q: 0.015429 0.812498 -0.018235 0.582475 
wait for imu ... 
time: 1403638148.495097, t: -0.050901 0.070988 0.064009 q: 0.015495 0.816226 -0.015015 0.577329 
wait for imu ... 
wait for imu ... 
time: 1403638148.595097, t: -0.045786 0.071352 0.074141 q: 0.015743 0.820166 -0.012469 0.571773 
time: 1403638148.695097, t: -0.036789 0.074345 0.066741 q: 0.015304 0.823811 -0.010244 0.566566 
time: 1403638148.795097, t: -0.024984 0.074307 0.063833 q: 0.013289 0.826281 -0.008866 0.563031 
wait for imu ... 
time: 1403638148.895097, t: -0.013773 0.076411 0.061595 q: 0.011693 0.826969 -0.007309 0.562079 
wait for imu ... 
time: 1403638148.995097, t: 0.002819 0.080849 0.075058 q: 0.010257 0.825115 -0.006045 0.564840 
wait for imu ... 
wait for imu ... 
time: 1403638149.095097, t: 0.021241 0.087117 0.100522 q: 0.009736 0.821346 -0.004604 0.570329 
time: 1403638149.195097, t: 0.042809 0.094996 0.133297 q: 0.009305 0.819045 -0.004108 0.573639 
wait for imu ... 
wait for imu ... 
time: 1403638149.295097, t: 0.063264 0.102886 0.163619 q: 0.007181 0.817868 -0.005431 0.575335 
wait for imu ... 
wait for imu ... 
time: 1403638149.395097, t: 0.084126 0.111672 0.191031 q: 0.006349 0.816577 -0.005597 0.577175 
time: 1403638149.495097, t: 0.103589 0.119984 0.215869 q: 0.006829 0.815762 -0.005110 0.578325 
wait for imu ... 
time: 1403638149.595097, t: 0.122924 0.130157 0.234556 q: 0.007724 0.815569 -0.003671 0.578597 
wait for imu ... 
wait for imu ... 
time: 1403638149.695097, t: 0.139415 0.139735 0.246016 q: 0.004991 0.815587 0.001044 0.578612 
wait for imu ... 
time: 1403638149.795097, t: 0.156980 0.151260 0.251435 q: 0.001905 0.815657 0.006309 0.578498 
wait for imu ... 
time: 1403638149.895097, t: 0.173906 0.162484 0.254191 q: -0.000979 0.815533 0.010138 0.578620 
time: 1403638149.995097, t: 0.193371 0.175045 0.256351 q: -0.001316 0.815899 0.014032 0.578022 
time: 1403638150.095097, t: 0.213184 0.189172 0.251511 q: 0.004702 0.815731 0.020535 0.578048 
wait for imu ... 
wait for imu ... 
time: 1403638150.195097, t: 0.236229 0.205088 0.244049 q: 0.011869 0.815670 0.026755 0.577776 
optimize pose graph 
time: 1403638150.295097, t: 0.259001 0.225966 0.231620 q: 0.015397 0.816652 0.029220 0.576185 
wait for imu ... 
time: 1403638150.395097, t: 0.282379 0.253046 0.215795 q: 0.012771 0.820968 0.028437 0.570122 
time: 1403638150.495097, t: 0.307367 0.288008 0.203141 q: 0.002087 0.826788 0.028284 0.561798 
wait for imu ... 
wait for imu ... 
time: 1403638150.595097, t: 0.335169 0.326986 0.196720 q: -0.005438 0.830381 0.032470 0.556223 
time: 1403638150.695097, t: 0.365768 0.368827 0.200678 q: -0.011163 0.830477 0.036301 0.555757 
wait for imu ... 
wait for imu ... 
time: 1403638150.795097, t: 0.401768 0.412662 0.211140 q: -0.014466 0.829070 0.042694 0.557325 
time: 1403638150.895097, t: 0.441723 0.458452 0.225609 q: -0.018549 0.826090 0.051848 0.560841 
wait for imu ... 
wait for imu ... 
time: 1403638150.995097, t: 0.484025 0.504944 0.235275 q: -0.022508 0.821444 0.059691 0.566710 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638151.095097, t: 0.527591 0.554259 0.238660 q: -0.028054 0.818714 0.071690 0.569018 
wait for imu ... 
wait for imu ... 
time: 1403638151.195097, t: 0.570442 0.606224 0.238794 q: -0.037146 0.815653 0.088842 0.570472 
wait for imu ... 
wait for imu ... 
time: 1403638151.295097, t: 0.615556 0.661059 0.230160 q: -0.051003 0.814611 0.107633 0.567647 
time: 1403638151.395097, t: 0.658390 0.718852 0.222321 q: -0.066131 0.812515 0.127788 0.564904 
time: 1403638151.495097, t: 0.698649 0.779404 0.219989 q: -0.081901 0.809446 0.147085 0.562544 
time: 1403638151.595097, t: 0.738249 0.842440 0.223562 q: -0.094395 0.806565 0.163591 0.560161 
time: 1403638151.695097, t: 0.778599 0.906983 0.232441 q: -0.103296 0.803634 0.175951 0.559057 
wait for imu ... 
wait for imu ... 
time: 1403638151.795097, t: 0.813740 0.972801 0.250737 q: -0.108392 0.802461 0.184631 0.556974 
time: 1403638151.895097, t: 0.850316 1.040957 0.276233 q: -0.111724 0.801757 0.189602 0.555657 
time: 1403638151.995097, t: 0.888638 1.112723 0.305558 q: -0.111635 0.801592 0.193397 0.554603 
wait for imu ... 
time: 1403638152.095097, t: 0.925073 1.186731 0.332508 q: -0.111924 0.801805 0.194421 0.553880 
time: 1403638152.195097, t: 0.960126 1.261892 0.354354 q: -0.111672 0.801584 0.195023 0.554038 
optimize pose graph 
wait for imu ... 
time: 1403638152.295097, t: 0.993923 1.338942 0.369641 q: -0.109415 0.800951 0.196490 0.554885 
wait for imu ... 
time: 1403638152.395097, t: 1.025184 1.417927 0.379258 q: -0.106142 0.800560 0.197719 0.555647 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638152.495097, t: 1.054019 1.499164 0.381749 q: -0.103126 0.800749 0.198726 0.555585 
time: 1403638152.595097, t: 1.080737 1.582966 0.379484 q: -0.103871 0.800605 0.198443 0.555755 
time: 1403638152.695097, t: 1.107297 1.671853 0.373061 q: -0.109814 0.802274 0.197177 0.552647 
time: 1403638152.795097, t: 1.133698 1.764759 0.373459 q: -0.118320 0.800336 0.200868 0.552372 
time: 1403638152.895097, t: 1.162864 1.861700 0.382841 q: -0.130180 0.795881 0.207101 0.553837 
wait for imu ... 
time: 1403638152.995097, t: 1.192294 1.959792 0.398187 q: -0.141340 0.791228 0.218509 0.553385 
wait for imu ... 
time: 1403638153.095097, t: 1.221925 2.057699 0.418432 q: -0.149943 0.790933 0.230956 0.546444 
wait for imu ... 
time: 1403638153.195097, t: 1.255135 2.156865 0.439589 q: -0.155312 0.791045 0.240958 0.540431 
wait for imu ... 
time: 1403638153.295097, t: 1.289413 2.254369 0.456110 q: -0.158882 0.789781 0.249760 0.537236 
wait for imu ... 
time: 1403638153.395097, t: 1.323622 2.351316 0.467294 q: -0.165297 0.787433 0.260347 0.533710 
time: 1403638153.495097, t: 1.360893 2.450477 0.478128 q: -0.167708 0.783026 0.276897 0.531105 
time: 1403638153.595097, t: 1.397658 2.552828 0.496264 q: -0.170657 0.777799 0.295522 0.527799 
time: 1403638153.695097, t: 1.431583 2.657065 0.520157 q: -0.179608 0.771171 0.312393 0.524830 
wait for imu ... 
time: 1403638153.795097, t: 1.466737 2.765384 0.541188 q: -0.192966 0.764000 0.325231 0.522774 
wait for imu ... 
time: 1403638153.895097, t: 1.499518 2.873668 0.556025 q: -0.204014 0.757450 0.334608 0.522193 
time: 1403638153.995097, t: 1.532230 2.986457 0.565103 q: -0.214025 0.752068 0.338785 0.523271 
time: 1403638154.095097, t: 1.561252 3.099444 0.568889 q: -0.220219 0.748025 0.341486 0.524737 
wait for imu ... 
time: 1403638154.195097, t: 1.589308 3.215664 0.568576 q: -0.223274 0.742780 0.343083 0.529831 
wait for imu ... 
time: 1403638154.295097, t: 1.614630 3.331984 0.563490 q: -0.224244 0.738528 0.344067 0.534705 
time: 1403638154.395097, t: 1.639029 3.450997 0.556916 q: -0.227662 0.733330 0.341494 0.542013 
wait for imu ... 
time: 1403638154.495097, t: 1.656922 3.567469 0.546198 q: -0.230521 0.730018 0.338590 0.547074 
time: 1403638154.595097, t: 1.668417 3.680288 0.537070 q: -0.232560 0.731107 0.338439 0.544847 
wait for imu ... 
time: 1403638154.695097, t: 1.672886 3.789589 0.534084 q: -0.235295 0.733373 0.343124 0.537648 
wait for imu ... 
time: 1403638154.795097, t: 1.672545 3.896974 0.537806 q: -0.234608 0.733797 0.353066 0.530892 
time: 1403638154.895097, t: 1.667838 4.002999 0.547786 q: -0.233833 0.731841 0.362250 0.527736 
wait for imu ... 
time: 1403638154.995097, t: 1.661231 4.111289 0.565458 q: -0.235475 0.727744 0.371546 0.526206 
wait for imu ... 
time: 1403638155.095097, t: 1.648352 4.218484 0.589451 q: -0.241725 0.721798 0.381351 0.524546 
time: 1403638155.195097, t: 1.634111 4.329485 0.611649 q: -0.250052 0.716136 0.388439 0.523200 
wait for imu ... 
time: 1403638155.295097, t: 1.617781 4.442895 0.628259 q: -0.257286 0.709701 0.393069 0.525000 
wait for imu ... 
time: 1403638155.395097, t: 1.593901 4.553468 0.638177 q: -0.262828 0.702264 0.399649 0.527283 
time: 1403638155.495097, t: 1.567112 4.668805 0.640502 q: -0.267459 0.695202 0.408870 0.527243 
time: 1403638155.595097, t: 1.534218 4.783207 0.636869 q: -0.281105 0.689609 0.415456 0.522317 
wait for imu ... 
time: 1403638155.695097, t: 1.492005 4.886939 0.629715 q: -0.299311 0.680680 0.423134 0.517730 
wait for imu ... 
time: 1403638155.895097, t: 1.391726 5.073687 0.598591 q: -0.326660 0.664810 0.451472 0.497487 
wait for imu ... 
wait for imu ... 
time: 1403638155.995097, t: 1.335472 5.155207 0.582793 q: -0.335917 0.659375 0.472426 0.478746 
wait for imu ... 
wait for imu ... 
time: 1403638156.095097, t: 1.278572 5.236245 0.574811 q: -0.343988 0.652812 0.494525 0.459298 
wait for imu ... 
time: 1403638156.195097, t: 1.221966 5.312224 0.576049 q: -0.355351 0.644377 0.510232 0.445159 
wait for imu ... 
wait for imu ... 
time: 1403638156.295097, t: 1.168282 5.389986 0.583401 q: -0.362793 0.636551 0.526028 0.431831 
wait for imu ... 
wait for imu ... 
time: 1403638156.395097, t: 1.117003 5.465643 0.590418 q: -0.368699 0.631015 0.537582 0.420579 
wait for imu ... 
wait for imu ... 
time: 1403638156.495097, t: 1.066000 5.540206 0.592919 q: -0.372398 0.627514 0.545229 0.412639 
time: 1403638156.595097, t: 1.018617 5.618778 0.589806 q: -0.375588 0.624213 0.549302 0.409339 
wait for imu ... 
wait for imu ... 
time: 1403638156.695097, t: 0.973349 5.702136 0.580592 q: -0.376358 0.623185 0.551290 0.407522 
time: 1403638156.795097, t: 0.930633 5.789707 0.566802 q: -0.376322 0.622459 0.552053 0.407632 
wait for imu ... 
wait for imu ... 
time: 1403638156.895097, t: 0.886968 5.882383 0.551247 q: -0.375287 0.622964 0.551794 0.408167 
wait for imu ... 
wait for imu ... 
time: 1403638156.995097, t: 0.845352 5.976717 0.538407 q: -0.373604 0.624426 0.550663 0.409002 
wait for imu ... 
wait for imu ... 
time: 1403638157.095097, t: 0.806259 6.081949 0.532466 q: -0.371085 0.627431 0.549888 0.407738 
wait for imu ... 
wait for imu ... 
time: 1403638157.195097, t: 0.767475 6.190119 0.531929 q: -0.366742 0.630831 0.549963 0.406317 
wait for imu ... 
time: 1403638157.295097, t: 0.734543 6.297951 0.537777 q: -0.367895 0.630867 0.548989 0.406535 
time: 1403638157.395097, t: 0.703219 6.412803 0.548653 q: -0.367359 0.626593 0.551748 0.409881 
time: 1403638157.495097, t: 0.674112 6.530259 0.555533 q: -0.369214 0.620615 0.554205 0.413975 
wait for imu ... 
wait for imu ... 
time: 1403638157.595097, t: 0.642581 6.652620 0.557900 q: -0.375406 0.611576 0.558520 0.416054 
wait for imu ... 
time: 1403638157.695097, t: 0.612293 6.774387 0.556213 q: -0.383045 0.597489 0.566751 0.418422 
wait for imu ... 
wait for imu ... 
time: 1403638157.795097, t: 0.579646 6.897602 0.558805 q: -0.390859 0.582562 0.578848 0.415675 
time: 1403638157.895097, t: 0.543912 7.020086 0.570588 q: -0.402926 0.568881 0.590467 0.406662 
time: 1403638157.995097, t: 0.505552 7.141850 0.588107 q: -0.412619 0.556740 0.601506 0.397462 
wait for imu ... 
wait for imu ... 
time: 1403638158.095097, t: 0.467341 7.260649 0.603933 q: -0.421352 0.551156 0.609381 0.383854 
wait for imu ... 
wait for imu ... 
time: 1403638158.195097, t: 0.432128 7.379305 0.614738 q: -0.429667 0.547462 0.613199 0.373708 
wait for imu ... 
wait for imu ... 
time: 1403638158.295097, t: 0.398587 7.495874 0.621301 q: -0.433115 0.542647 0.616883 0.370677 
time: 1403638158.395097, t: 0.367226 7.613004 0.623121 q: -0.432120 0.538823 0.620834 0.370821 
wait for imu ... 
wait for imu ... 
time: 1403638158.495097, t: 0.336879 7.729075 0.620142 q: -0.430048 0.534089 0.623814 0.375053 
time: 1403638158.595097, t: 0.306629 7.841592 0.613272 q: -0.428440 0.531283 0.625003 0.378879 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638158.695097, t: 0.271867 7.955124 0.606293 q: -0.429533 0.531775 0.623325 0.379713 
wait for imu ... 
wait for imu ... 
time: 1403638158.795097, t: 0.235433 8.067021 0.598765 q: -0.430342 0.536367 0.621762 0.374871 
time: 1403638158.895097, t: 0.198113 8.176620 0.597575 q: -0.428963 0.542706 0.620998 0.368541 
time: 1403638158.995097, t: 0.160381 8.286766 0.606011 q: -0.426661 0.547688 0.621096 0.363646 
wait for imu ... 
wait for imu ... 
time: 1403638159.095097, t: 0.123084 8.399454 0.622867 q: -0.419389 0.553660 0.624690 0.356843 
time: 1403638159.195097, t: 0.086790 8.516763 0.638875 q: -0.409379 0.560635 0.629906 0.348305 
wait for imu ... 
wait for imu ... 
time: 1403638159.295097, t: 0.052274 8.640314 0.652331 q: -0.410281 0.560882 0.628125 0.350056 
wait for imu ... 
wait for imu ... 
time: 1403638159.395097, t: 0.021021 8.771417 0.663120 q: -0.424877 0.555071 0.617802 0.360134 
wait for imu ... 
wait for imu ... 
time: 1403638159.495097, t: -0.007897 8.902459 0.674320 q: -0.443755 0.547564 0.604183 0.371776 
wait for imu ... 
wait for imu ... 
time: 1403638159.595097, t: -0.033079 9.032051 0.690132 q: -0.464064 0.545523 0.589497 0.373554 
wait for imu ... 
wait for imu ... 
time: 1403638159.695097, t: -0.051492 9.153817 0.713748 q: -0.477984 0.545854 0.579359 0.371373 
wait for imu ... 
wait for imu ... 
time: 1403638159.795097, t: -0.062163 9.271048 0.744808 q: -0.481066 0.544623 0.577445 0.372181 
wait for imu ... 
wait for imu ... 
time: 1403638159.895097, t: -0.059152 9.373457 0.784840 q: -0.474478 0.538234 0.583130 0.380965 
wait for imu ... 
wait for imu ... 
time: 1403638160.095097, t: -0.027894 9.515161 0.890189 q: -0.458743 0.530026 0.596854 0.390376 
wait for imu ... 
wait for imu ... 
time: 1403638160.195097, t: -0.004314 9.561201 0.952535 q: -0.448948 0.533209 0.605634 0.383851 
wait for imu ... 
time: 1403638160.295097, t: 0.018315 9.607244 1.022965 q: -0.437308 0.539201 0.615325 0.373362 
wait for imu ... 
wait for imu ... 
time: 1403638160.395097, t: 0.039890 9.666744 1.100241 q: -0.428598 0.542418 0.622227 0.367314 
wait for imu ... 
time: 1403638160.495097, t: 0.063717 9.723560 1.175508 q: -0.426524 0.543949 0.624086 0.364299 
time: 1403638160.595097, t: 0.087230 9.788460 1.246129 q: -0.425599 0.544432 0.625000 0.363090 
wait for imu ... 
wait for imu ... 
time: 1403638160.695097, t: 0.109549 9.852237 1.311447 q: -0.426081 0.544519 0.624731 0.362857 
wait for imu ... 
time: 1403638160.795097, t: 0.131499 9.921202 1.373359 q: -0.434849 0.544860 0.618066 0.363356 
wait for imu ... 
time: 1403638160.895097, t: 0.156377 9.989596 1.433062 q: -0.446540 0.546873 0.603836 0.370018 
wait for imu ... 
wait for imu ... 
time: 1403638160.995097, t: 0.187666 10.058022 1.488579 q: -0.450437 0.551705 0.589498 0.381077 
wait for imu ... 
time: 1403638161.095097, t: 0.223455 10.124902 1.541499 q: -0.446706 0.561088 0.576808 0.391060 
wait for imu ... 
wait for imu ... 
time: 1403638161.195097, t: 0.262949 10.184826 1.590104 q: -0.434444 0.573862 0.566422 0.401381 
wait for imu ... 
time: 1403638161.295097, t: 0.304931 10.241939 1.636867 q: -0.419424 0.590305 0.553703 0.411140 
time: 1403638161.395097, t: 0.348611 10.294638 1.682032 q: -0.403144 0.607356 0.542552 0.417409 
wait for imu ... 
wait for imu ... 
time: 1403638161.495097, t: 0.391981 10.344744 1.724721 q: -0.386906 0.621604 0.536710 0.419350 
wait for imu ... 
time: 1403638161.595097, t: 0.435123 10.396115 1.763753 q: -0.377049 0.631452 0.531000 0.420882 
wait for imu ... 
time: 1403638161.695097, t: 0.480230 10.448235 1.795050 q: -0.373569 0.639053 0.524558 0.420591 
wait for imu ... 
wait for imu ... 
time: 1403638161.795097, t: 0.527652 10.502224 1.820342 q: -0.374512 0.642852 0.517345 0.422890 
time: 1403638161.895097, t: 0.577443 10.558955 1.842400 q: -0.374098 0.644545 0.509107 0.430608 
wait for imu ... 
wait for imu ... 
time: 1403638161.995097, t: 0.630372 10.612440 1.861051 q: -0.370436 0.648465 0.501751 0.436482 
wait for imu ... 
time: 1403638162.095097, t: 0.684510 10.667822 1.881295 q: -0.367466 0.652197 0.496639 0.439270 
wait for imu ... 
wait for imu ... 
time: 1403638162.195097, t: 0.743304 10.719504 1.911573 q: -0.365686 0.657720 0.493189 0.436398 
wait for imu ... 
time: 1403638162.295097, t: 0.803775 10.770893 1.941556 q: -0.364071 0.662134 0.490869 0.433681 
time: 1403638162.395097, t: 0.868395 10.823127 1.965415 q: -0.366693 0.664473 0.487119 0.432120 
time: 1403638162.495097, t: 0.937945 10.873406 1.984515 q: -0.367843 0.663355 0.485399 0.434786 
wait for imu ... 
wait for imu ... 
time: 1403638162.595097, t: 1.011727 10.921062 2.003284 q: -0.364597 0.661289 0.488105 0.437629 
wait for imu ... 
time: 1403638162.695097, t: 1.089032 10.967400 2.028079 q: -0.360561 0.658775 0.492113 0.440269 
time: 1403638162.795097, t: 1.168855 11.012681 2.059221 q: -0.358796 0.660078 0.493152 0.438593 
wait for imu ... 
wait for imu ... 
time: 1403638162.895097, t: 1.252858 11.059764 2.098055 q: -0.360035 0.663734 0.487345 0.438551 
wait for imu ... 
wait for imu ... 
time: 1403638162.995097, t: 1.341342 11.104396 2.143364 q: -0.365751 0.663689 0.478069 0.444065 
wait for imu ... 
time: 1403638163.095097, t: 1.433519 11.146406 2.183013 q: -0.370288 0.662575 0.468616 0.451974 
wait for imu ... 
wait for imu ... 
time: 1403638163.195097, t: 1.528213 11.184304 2.205451 q: -0.364463 0.666618 0.462665 0.456867 
wait for imu ... 
time: 1403638163.295097, t: 1.626889 11.221294 2.214460 q: -0.352384 0.672326 0.457407 0.463230 
wait for imu ... 
time: 1403638163.395097, t: 1.729715 11.256987 2.219190 q: -0.339756 0.678336 0.449126 0.471924 
time: 1403638163.495097, t: 1.833544 11.290211 2.221304 q: -0.329705 0.685551 0.438923 0.478186 
wait for imu ... 
wait for imu ... 
time: 1403638163.595097, t: 1.936658 11.319524 2.229198 q: -0.323349 0.691273 0.430840 0.481626 
time: 1403638163.695097, t: 2.040835 11.348372 2.247115 q: -0.318205 0.694008 0.426308 0.485139 
time: 1403638163.795097, t: 2.142936 11.373715 2.274535 q: -0.315530 0.695215 0.423486 0.487624 
time: 1403638163.895097, t: 2.241804 11.394228 2.308447 q: -0.317124 0.696462 0.419962 0.487858 
wait for imu ... 
wait for imu ... 
time: 1403638163.995097, t: 2.338544 11.411363 2.347227 q: -0.320117 0.699356 0.417372 0.483970 
time: 1403638164.095097, t: 2.436027 11.424564 2.392853 q: -0.323734 0.700993 0.415952 0.480405 
time: 1403638164.195097, t: 2.534800 11.431594 2.442769 q: -0.328837 0.700898 0.413875 0.478869 
wait for imu ... 
time: 1403638164.295097, t: 2.640394 11.437586 2.488512 q: -0.333020 0.698940 0.413043 0.479558 
time: 1403638164.395097, t: 2.748378 11.440488 2.528049 q: -0.335879 0.697357 0.412968 0.479934 
wait for imu ... 
wait for imu ... 
time: 1403638164.495097, t: 2.862289 11.440983 2.561356 q: -0.338005 0.696933 0.413613 0.478500 
time: 1403638164.595097, t: 2.979106 11.436126 2.590946 q: -0.341189 0.697569 0.412246 0.476488 
time: 1403638164.695097, t: 3.097961 11.424787 2.616301 q: -0.338723 0.699834 0.409239 0.477518 
wait for imu ... 
wait for imu ... 
time: 1403638164.795097, t: 3.222788 11.408892 2.638433 q: -0.329549 0.697761 0.408842 0.487212 
wait for imu ... 
time: 1403638164.895097, t: 3.350169 11.390946 2.657608 q: -0.316681 0.692268 0.411754 0.500937 
wait for imu ... 
time: 1403638164.995097, t: 3.470665 11.365665 2.670780 q: -0.313676 0.690291 0.408469 0.508192 
time: 1403638165.095097, t: 3.590746 11.337913 2.679427 q: -0.320260 0.693712 0.395482 0.509697 
wait for imu ... 
wait for imu ... 
time: 1403638165.195097, t: 3.703554 11.302085 2.681204 q: -0.317553 0.701821 0.389111 0.505173 
wait for imu ... 
wait for imu ... 
time: 1403638165.295097, t: 3.812381 11.260014 2.676896 q: -0.309254 0.713517 0.388274 0.494468 
wait for imu ... 
time: 1403638165.395097, t: 3.920644 11.214041 2.669140 q: -0.308115 0.720791 0.382882 0.488801 
wait for imu ... 
time: 1403638165.495097, t: 4.033611 11.165229 2.660573 q: -0.307204 0.718700 0.379049 0.495397 
wait for imu ... 
time: 1403638165.595097, t: 4.143948 11.110756 2.648367 q: -0.307600 0.711005 0.374973 0.509165 
wait for imu ... 
wait for imu ... 
time: 1403638165.695097, t: 4.254817 11.049483 2.632908 q: -0.306874 0.701751 0.373169 0.523564 
time: 1403638165.795097, t: 4.362538 10.981271 2.610848 q: -0.303023 0.698361 0.374762 0.529171 
wait for imu ... 
wait for imu ... 
time: 1403638165.895097, t: 4.470362 10.909034 2.586551 q: -0.297275 0.703775 0.379370 0.521926 
time: 1403638165.995097, t: 4.569282 10.832453 2.567302 q: -0.291583 0.709714 0.384222 0.513477 
wait for imu ... 
wait for imu ... 
time: 1403638166.095097, t: 4.669815 10.753200 2.557583 q: -0.285407 0.714733 0.389943 0.505612 
time: 1403638166.195097, t: 4.769111 10.675973 2.559807 q: -0.280896 0.715770 0.395490 0.502353 
wait for imu ... 
wait for imu ... 
time: 1403638166.295097, t: 4.864355 10.600859 2.582360 q: -0.279460 0.714652 0.399226 0.501790 
wait for imu ... 
time: 1403638166.395097, t: 4.964632 10.528911 2.622867 q: -0.277844 0.713302 0.403005 0.501587 
wait for imu ... 
wait for imu ... 
time: 1403638166.495097, t: 5.049811 10.458768 2.672571 q: -0.276955 0.712975 0.405281 0.500709 
wait for imu ... 
time: 1403638166.595097, t: 5.131843 10.393235 2.715848 q: -0.278747 0.712269 0.405636 0.500433 
wait for imu ... 
wait for imu ... 
time: 1403638166.695097, t: 5.208827 10.329792 2.752415 q: -0.281699 0.713367 0.404503 0.498127 
wait for imu ... 
time: 1403638166.795097, t: 5.281987 10.273559 2.781553 q: -0.288545 0.718454 0.400655 0.489941 
time: 1403638166.895097, t: 5.357556 10.216646 2.800617 q: -0.293249 0.729390 0.397774 0.473045 
wait for imu ... 
wait for imu ... 
time: 1403638166.995097, t: 5.435497 10.160523 2.813937 q: -0.290943 0.737755 0.399127 0.460183 
time: 1403638167.095097, t: 5.525978 10.110006 2.825722 q: -0.285247 0.740376 0.403153 0.456011 
time: 1403638167.195097, t: 5.625583 10.066655 2.845710 q: -0.279862 0.738347 0.407286 0.458955 
wait for imu ... 
wait for imu ... 
time: 1403638167.295097, t: 5.731369 10.034171 2.873294 q: -0.275757 0.735207 0.410403 0.463680 
wait for imu ... 
time: 1403638167.395097, t: 5.841085 10.013659 2.906519 q: -0.275052 0.733655 0.410560 0.466409 
wait for imu ... 
wait for imu ... 
time: 1403638167.495097, t: 5.953482 9.997160 2.937598 q: -0.278316 0.731743 0.407669 0.469999 
wait for imu ... 
time: 1403638167.595097, t: 6.068987 9.982500 2.962114 q: -0.285171 0.729163 0.401889 0.474852 
wait for imu ... 
wait for imu ... 
time: 1403638167.795097, t: 6.310901 9.958056 2.990743 q: -0.296566 0.734363 0.378124 0.479356 
wait for imu ... 
wait for imu ... 
time: 1403638167.895097, t: 6.440444 9.944222 2.998505 q: -0.294665 0.740346 0.364115 0.482163 
wait for imu ... 
time: 1403638167.995097, t: 6.576313 9.926646 3.004542 q: -0.288439 0.745943 0.350678 0.487234 
time: 1403638168.095097, t: 6.716514 9.909330 3.013284 q: -0.283272 0.750335 0.338517 0.492099 
wait for imu ... 
wait for imu ... 
time: 1403638168.195097, t: 6.861371 9.884524 3.030820 q: -0.275262 0.754097 0.328591 0.497591 
wait for imu ... 
time: 1403638168.295097, t: 7.010077 9.854735 3.055720 q: -0.261760 0.758694 0.320074 0.503406 
time: 1403638168.395097, t: 7.160872 9.823712 3.085867 q: -0.250041 0.762385 0.308402 0.511015 
time: 1403638168.495097, t: 7.313705 9.788389 3.119068 q: -0.233365 0.766820 0.303498 0.515186 
time: 1403638168.595097, t: 7.466725 9.755281 3.144140 q: -0.214563 0.772158 0.304915 0.514550 
wait for imu ... 
time: 1403638168.695097, t: 7.618288 9.724565 3.162165 q: -0.199707 0.775722 0.306977 0.513943 
time: 1403638168.795097, t: 7.771257 9.702016 3.172912 q: -0.193120 0.777685 0.307445 0.513213 
time: 1403638168.895097, t: 7.923367 9.687116 3.176962 q: -0.188967 0.779011 0.308620 0.512042 
wait for imu ... 
time: 1403638168.995097, t: 8.074752 9.680145 3.175003 q: -0.189067 0.778815 0.309579 0.511724 
wait for imu ... 
wait for imu ... 
time: 1403638169.095097, t: 8.227509 9.682264 3.170411 q: -0.195903 0.773210 0.308056 0.518526 
wait for imu ... 
wait for imu ... 
time: 1403638169.195097, t: 8.380130 9.688933 3.160473 q: -0.207096 0.769731 0.304287 0.521571 
wait for imu ... 
time: 1403638169.295097, t: 8.532795 9.697442 3.147815 q: -0.221150 0.768531 0.293841 0.523555 
time: 1403638169.395097, t: 8.687608 9.704757 3.131744 q: -0.236600 0.767953 0.274388 0.528185 
wait for imu ... 
wait for imu ... 
time: 1403638169.495097, t: 8.844456 9.703353 3.114764 q: -0.241108 0.768179 0.255774 0.535115 
time: 1403638169.595097, t: 9.003212 9.690045 3.104152 q: -0.234618 0.769851 0.240700 0.542538 
time: 1403638169.695097, t: 9.160398 9.664597 3.099692 q: -0.216223 0.774396 0.229910 0.548361 
wait for imu ... 
wait for imu ... 
time: 1403638169.795097, t: 9.316508 9.627165 3.102348 q: -0.192677 0.778840 0.219482 0.555077 
wait for imu ... 
wait for imu ... 
time: 1403638169.895097, t: 9.468027 9.583411 3.113231 q: -0.164594 0.782584 0.209577 0.562627 
wait for imu ... 
time: 1403638169.995097, t: 9.614205 9.538348 3.132129 q: -0.140939 0.780474 0.195740 0.576786 
wait for imu ... 
wait for imu ... 
time: 1403638170.095097, t: 9.752748 9.492424 3.152433 q: -0.127874 0.779438 0.174440 0.587959 
time: 1403638170.195097, t: 9.880855 9.445231 3.166065 q: -0.119020 0.783505 0.149380 0.591303 
time: 1403638170.295097, t: 10.005471 9.398864 3.171042 q: -0.111617 0.788878 0.123456 0.591584 
wait for imu ... 
wait for imu ... 
time: 1403638170.395097, t: 10.123849 9.351075 3.169477 q: -0.101609 0.795936 0.099237 0.588484 
time: 1403638170.495097, t: 10.238704 9.299952 3.162866 q: -0.092292 0.801712 0.075527 0.585693 
time: 1403638170.595097, t: 10.351107 9.244999 3.160947 q: -0.088083 0.802444 0.050052 0.588064 
wait for imu ... 
wait for imu ... 
time: 1403638170.695097, t: 10.451720 9.180538 3.169428 q: -0.078875 0.800160 0.028062 0.593915 
time: 1403638170.795097, t: 10.534633 9.105891 3.185313 q: -0.066677 0.800049 0.009394 0.596144 
time: 1403638170.895097, t: 10.619699 9.026834 3.201292 q: -0.052314 0.800757 -0.007306 0.596656 
wait for imu ... 
time: 1403638170.995097, t: 10.718360 8.940986 3.210795 q: -0.037948 0.801125 -0.023841 0.596817 
time: 1403638171.095097, t: 10.782329 8.852031 3.214387 q: -0.026548 0.799375 -0.040170 0.598900 
wait for imu ... 
time: 1403638171.195097, t: 10.839722 8.754956 3.213792 q: -0.019350 0.797515 -0.053008 0.600655 
wait for imu ... 
time: 1403638171.295097, t: 10.882940 8.653208 3.211138 q: -0.014288 0.795829 -0.061973 0.602173 
time: 1403638171.395097, t: 10.915254 8.546723 3.207524 q: -0.011526 0.793864 -0.068499 0.604115 
wait for imu ... 
wait for imu ... 
time: 1403638171.495097, t: 10.939831 8.434411 3.202447 q: -0.008384 0.791830 -0.075834 0.605957 
wait for imu ... 
time: 1403638171.595097, t: 10.956206 8.316819 3.195641 q: -0.006623 0.789152 -0.083223 0.608498 
time: 1403638171.695097, t: 10.962020 8.192405 3.188486 q: -0.005455 0.786338 -0.093652 0.610633 
wait for imu ... 
wait for imu ... 
time: 1403638171.795097, t: 10.960067 8.063095 3.179206 q: -0.001653 0.784168 -0.104593 0.611669 
time: 1403638171.895097, t: 10.945646 7.928183 3.173294 q: 0.000139 0.779848 -0.115180 0.615281 
time: 1403638171.995097, t: 10.921552 7.783593 3.173023 q: 0.008780 0.776435 -0.118951 0.618807 
time: 1403638172.095097, t: 10.883468 7.632226 3.177801 q: 0.016749 0.775629 -0.120805 0.619294 
wait for imu ... 
wait for imu ... 
time: 1403638172.195097, t: 10.831949 7.478222 3.180472 q: 0.020746 0.776173 -0.122457 0.618166 
wait for imu ... 
time: 1403638172.295097, t: 10.770069 7.319745 3.173649 q: 0.024564 0.777096 -0.122139 0.616928 
time: 1403638172.395097, t: 10.694612 7.161686 3.157393 q: 0.025916 0.776837 -0.121889 0.617249 
time: 1403638172.495097, t: 10.612330 7.000356 3.130573 q: 0.024436 0.774689 -0.122078 0.619965 
time: 1403638172.595097, t: 10.522616 6.836207 3.095199 q: 0.022250 0.772627 -0.121669 0.622695 
wait for imu ... 
time: 1403638172.695097, t: 10.421425 6.669358 3.052236 q: 0.018023 0.772133 -0.121698 0.623438 
wait for imu ... 
wait for imu ... 
time: 1403638172.795097, t: 10.309434 6.496682 3.004887 q: 0.015724 0.772444 -0.120257 0.623395 
wait for imu ... 
time: 1403638172.895097, t: 10.186055 6.320993 2.953009 q: 0.011895 0.772470 -0.119540 0.623585 
time: 1403638172.995097, t: 10.052713 6.135212 2.896814 q: 0.004359 0.775185 -0.120188 0.620180 
wait for imu ... 
wait for imu ... 
time: 1403638173.095097, t: 9.909422 5.946893 2.833741 q: -0.002333 0.780207 -0.120320 0.613837 
time: 1403638173.195097, t: 9.760424 5.748543 2.763395 q: -0.003046 0.785188 -0.117881 0.607926 
wait for imu ... 
time: 1403638173.295097, t: 9.602739 5.545194 2.688341 q: 0.003238 0.788705 -0.111798 0.604512 
wait for imu ... 
wait for imu ... 
time: 1403638173.395097, t: 9.437666 5.339526 2.608923 q: 0.015526 0.791921 -0.103101 0.601656 
wait for imu ... 
time: 1403638173.495097, t: 9.272676 5.126957 2.516854 q: 0.029465 0.795928 -0.093867 0.597344 
wait for imu ... 
time: 1403638173.595097, t: 9.109442 4.913799 2.418608 q: 0.039133 0.797126 -0.088164 0.596058 
wait for imu ... 
time: 1403638173.695097, t: 8.945690 4.702265 2.316970 q: 0.041068 0.797410 -0.087831 0.595597 
wait for imu ... 
time: 1403638173.795097, t: 8.781061 4.488806 2.211907 q: 0.040379 0.798172 -0.089129 0.594430 
time: 1403638173.895097, t: 8.612013 4.284233 2.110531 q: 0.041760 0.799576 -0.089329 0.592414 
wait for imu ... 
time: 1403638173.995097, t: 8.440410 4.082878 2.015966 q: 0.041276 0.798796 -0.090462 0.593328 
wait for imu ... 
wait for imu ... 
time: 1403638174.095097, t: 8.263176 3.885526 1.927392 q: 0.040721 0.799430 -0.091267 0.592388 
time: 1403638174.195097, t: 8.087058 3.696955 1.839902 q: 0.042536 0.802641 -0.090783 0.587977 
wait for imu ... 
wait for imu ... 
time: 1403638174.295097, t: 7.906582 3.510149 1.749260 q: 0.042045 0.808376 -0.090672 0.580120 
wait for imu ... 
wait for imu ... 
time: 1403638174.395097, t: 7.731233 3.321097 1.654128 q: 0.041704 0.811935 -0.090472 0.575185 
time: 1403638174.495097, t: 7.560342 3.137987 1.557644 q: 0.041158 0.814990 -0.089783 0.570995 
time: 1403638174.595097, t: 7.395227 2.957906 1.466674 q: 0.043474 0.818545 -0.087504 0.566071 
time: 1403638174.695097, t: 7.236416 2.779194 1.381514 q: 0.045926 0.822931 -0.085591 0.559776 
wait for imu ... 
wait for imu ... 
time: 1403638174.795097, t: 7.089982 2.599265 1.302957 q: 0.046736 0.827093 -0.084776 0.553665 
time: 1403638174.895097, t: 6.945216 2.430291 1.231460 q: 0.049160 0.829000 -0.083169 0.550841 
wait for imu ... 
time: 1403638175.095097, t: 6.690698 2.095268 1.110584 q: 0.050724 0.829152 -0.083970 0.550347 
wait for imu ... 
time: 1403638175.195097, t: 6.571676 1.932123 1.061101 q: 0.053846 0.828871 -0.083658 0.550523 
wait for imu ... 
time: 1403638175.295097, t: 6.468235 1.770425 1.016408 q: 0.056226 0.830933 -0.083764 0.547149 
wait for imu ... 
time: 1403638175.395097, t: 6.364201 1.608364 0.976940 q: 0.058914 0.836187 -0.083262 0.538877 
wait for imu ... 
time: 1403638175.495097, t: 6.278301 1.450907 0.943903 q: 0.063017 0.842222 -0.081200 0.529242 
wait for imu ... 
time: 1403638175.595097, t: 6.196309 1.296289 0.918819 q: 0.064172 0.849591 -0.080317 0.517326 
wait for imu ... 
wait for imu ... 
time: 1403638175.695097, t: 6.131780 1.147760 0.900957 q: 0.062775 0.856688 -0.080645 0.505610 
time: 1403638175.795097, t: 6.069635 0.999286 0.883546 q: 0.061758 0.860644 -0.080521 0.498992 
wait for imu ... 
time: 1403638175.895097, t: 6.023386 0.854805 0.854729 q: 0.064067 0.862330 -0.077819 0.496212 
time: 1403638175.995097, t: 5.986687 0.713057 0.818990 q: 0.071316 0.860567 -0.070862 0.499316 
time: 1403638176.095097, t: 5.969660 0.578610 0.785182 q: 0.078350 0.851479 -0.064007 0.514537 
time: 1403638176.195097, t: 5.968782 0.452310 0.756220 q: 0.079069 0.835784 -0.062237 0.539759 
time: 1403638176.295097, t: 5.978100 0.335652 0.733523 q: 0.075738 0.823264 -0.064444 0.558881 
time: 1403638176.395097, t: 5.985868 0.226649 0.717991 q: 0.075433 0.817686 -0.065171 0.566968 
wait for imu ... 
time: 1403638176.495097, t: 5.993907 0.124454 0.710497 q: 0.077192 0.817191 -0.064536 0.567517 
wait for imu ... 
wait for imu ... 
time: 1403638176.595097, t: 6.004384 0.032611 0.709917 q: 0.077841 0.818483 -0.064890 0.565523 
wait for imu ... 
time: 1403638176.695097, t: 6.017349 -0.051669 0.716375 q: 0.078933 0.819134 -0.064844 0.564433 
wait for imu ... 
time: 1403638176.795097, t: 6.031233 -0.132295 0.728710 q: 0.077449 0.819466 -0.065848 0.564040 
wait for imu ... 
time: 1403638176.895097, t: 6.043334 -0.204672 0.747831 q: 0.072550 0.819797 -0.069344 0.563791 
wait for imu ... 
time: 1403638176.995097, t: 6.058998 -0.269914 0.764425 q: 0.073390 0.820146 -0.068745 0.563249 
time: 1403638177.095097, t: 6.078831 -0.328718 0.773741 q: 0.076112 0.821200 -0.066926 0.561568 
wait for imu ... 
time: 1403638177.195097, t: 6.102598 -0.381124 0.774523 q: 0.079374 0.821521 -0.064949 0.560878 
wait for imu ... 
time: 1403638177.295097, t: 6.129050 -0.424669 0.768335 q: 0.080834 0.821499 -0.064158 0.560793 
wait for imu ... 
time: 1403638177.395097, t: 6.158808 -0.465490 0.757210 q: 0.081195 0.821386 -0.063915 0.560934 
time: 1403638177.495097, t: 6.192054 -0.498947 0.740916 q: 0.077204 0.821649 -0.067582 0.560683 
time: 1403638177.595097, t: 6.227405 -0.528446 0.719389 q: 0.063803 0.820857 -0.077560 0.562235 
wait for imu ... 
time: 1403638177.695097, t: 6.263765 -0.556328 0.694187 q: 0.054370 0.819976 -0.085601 0.563344 
wait for imu ... 
time: 1403638177.795097, t: 6.301173 -0.583170 0.666838 q: 0.046685 0.816184 -0.094850 0.568039 
time: 1403638177.895097, t: 6.337436 -0.611359 0.640679 q: 0.042600 0.808776 -0.100917 0.577825 
wait for imu ... 
time: 1403638177.995097, t: 6.371371 -0.641955 0.618781 q: 0.043000 0.803172 -0.103500 0.585110 
wait for imu ... 
time: 1403638178.195097, t: 6.424147 -0.709672 0.597188 q: 0.060343 0.796906 -0.112540 0.590452 
wait for imu ... 
time: 1403638178.295097, t: 6.441310 -0.746233 0.598034 q: 0.069883 0.792795 -0.126717 0.592061 
wait for imu ... 
time: 1403638178.395097, t: 6.451150 -0.783884 0.605617 q: 0.081556 0.788651 -0.144512 0.592026 
time: 1403638178.495097, t: 6.451592 -0.822119 0.610813 q: 0.092820 0.787069 -0.166984 0.586534 
time: 1403638178.595097, t: 6.446501 -0.861088 0.609275 q: 0.103479 0.787446 -0.191384 0.576709 
wait for imu ... 
time: 1403638178.695097, t: 6.438508 -0.902013 0.604838 q: 0.114074 0.785028 -0.214697 0.569757 
time: 1403638178.795097, t: 6.426413 -0.944508 0.596594 q: 0.126869 0.780538 -0.235311 0.565061 
wait for imu ... 
time: 1403638178.895097, t: 6.411411 -0.990398 0.585245 q: 0.138635 0.779524 -0.251961 0.556452 
time: 1403638178.995097, t: 6.394809 -1.039619 0.571403 q: 0.146457 0.781164 -0.264033 0.546460 
wait for imu ... 
time: 1403638179.095097, t: 6.379767 -1.093818 0.554379 q: 0.154196 0.784117 -0.270561 0.536825 
wait for imu ... 
time: 1403638179.195097, t: 6.366190 -1.153589 0.533701 q: 0.163152 0.785825 -0.275953 0.528876 
wait for imu ... 
time: 1403638179.295097, t: 6.357139 -1.219034 0.508664 q: 0.172718 0.787136 -0.282007 0.520631 
wait for imu ... 
time: 1403638179.395097, t: 6.352836 -1.290106 0.481780 q: 0.183455 0.783389 -0.291628 0.517300 
time: 1403638179.495097, t: 6.350803 -1.363475 0.454446 q: 0.193349 0.770540 -0.306406 0.524403 
time: 1403638179.595097, t: 6.352927 -1.437625 0.423522 q: 0.205764 0.757898 -0.323310 0.527942 
wait for imu ... 
time: 1403638179.695097, t: 6.345066 -1.512011 0.395125 q: 0.218451 0.746817 -0.341085 0.527451 
time: 1403638179.795097, t: 6.338853 -1.585421 0.372814 q: 0.232053 0.737136 -0.359370 0.523101 
wait for imu ... 
time: 1403638179.895097, t: 6.330959 -1.658443 0.357927 q: 0.245164 0.728087 -0.377315 0.517124 
time: 1403638179.995097, t: 6.323226 -1.731383 0.346952 q: 0.252517 0.724627 -0.393605 0.506188 
wait for imu ... 
time: 1403638180.095097, t: 6.314385 -1.806618 0.339837 q: 0.255533 0.721861 -0.406842 0.498096 
time: 1403638180.195097, t: 6.305269 -1.884598 0.336684 q: 0.259941 0.718726 -0.413848 0.494564 
wait for imu ... 
time: 1403638180.295097, t: 6.296630 -1.965218 0.329283 q: 0.261975 0.717486 -0.418334 0.491508 
wait for imu ... 
time: 1403638180.395097, t: 6.291554 -2.048847 0.315808 q: 0.263291 0.717369 -0.420261 0.489327 
time: 1403638180.495097, t: 6.286690 -2.136410 0.297238 q: 0.266619 0.718611 -0.418558 0.487157 
wait for imu ... 
time: 1403638180.595097, t: 6.283168 -2.225764 0.276341 q: 0.269362 0.720205 -0.415803 0.485651 
wait for imu ... 
time: 1403638180.695097, t: 6.278982 -2.316819 0.259515 q: 0.269541 0.723922 -0.413650 0.481849 
time: 1403638180.795097, t: 6.275269 -2.410286 0.249911 q: 0.265972 0.728420 -0.412991 0.477600 
time: 1403638180.895097, t: 6.275506 -2.508337 0.248764 q: 0.262497 0.730150 -0.411688 0.478006 
time: 1403638180.995097, t: 6.278497 -2.610652 0.247606 q: 0.259480 0.729694 -0.410462 0.481391 
wait for imu ... 
time: 1403638181.095097, t: 6.283960 -2.716686 0.240992 q: 0.256688 0.728944 -0.409003 0.485251 
time: 1403638181.195097, t: 6.289751 -2.827560 0.229137 q: 0.253975 0.726465 -0.408439 0.490838 
time: 1403638181.295097, t: 6.295472 -2.941585 0.214514 q: 0.253417 0.718608 -0.410447 0.500915 
wait for imu ... 
time: 1403638181.395097, t: 6.297674 -3.058914 0.194907 q: 0.256443 0.708129 -0.418336 0.507725 
wait for imu ... 
time: 1403638181.495097, t: 6.294898 -3.178135 0.171218 q: 0.261449 0.694321 -0.432456 0.512390 
time: 1403638181.595097, t: 6.286406 -3.296534 0.146461 q: 0.275299 0.674306 -0.445699 0.520457 
time: 1403638181.695097, t: 6.267557 -3.414893 0.124628 q: 0.292671 0.663738 -0.458336 0.513541 
time: 1403638181.795097, t: 6.241884 -3.534994 0.110056 q: 0.308975 0.657309 -0.471931 0.499760 
wait for imu ... 
time: 1403638181.895097, t: 6.207012 -3.653351 0.106245 q: 0.324790 0.653593 -0.484889 0.481883 
time: 1403638181.995097, t: 6.170745 -3.768483 0.107968 q: 0.332764 0.649262 -0.498813 0.467881 
time: 1403638182.095097, t: 6.133732 -3.876991 0.117116 q: 0.334677 0.646833 -0.511178 0.456394 
wait for imu ... 
wait for imu ... 
time: 1403638182.195097, t: 6.096551 -3.988570 0.129199 q: 0.335674 0.644714 -0.520200 0.448395 
time: 1403638182.295097, t: 6.059403 -4.097694 0.140221 q: 0.330555 0.641914 -0.529657 0.445132 
time: 1403638182.395097, t: 6.020535 -4.206336 0.149127 q: 0.325653 0.640402 -0.535577 0.443839 
time: 1403638182.495097, t: 5.979336 -4.322020 0.160964 q: 0.328984 0.644899 -0.533778 0.436985 
time: 1403638182.595097, t: 5.930881 -4.474355 0.159701 q: 0.334707 0.651880 -0.527653 0.429658 
wait for imu ... 
time: 1403638182.695097, t: 5.894980 -4.556222 0.209150 q: 0.336879 0.655129 -0.524823 0.426472 
time: 1403638182.795097, t: 5.856843 -4.678246 0.239299 q: 0.335893 0.655708 -0.523005 0.428589 
time: 1403638182.895097, t: 5.823991 -4.802230 0.265565 q: 0.336272 0.654659 -0.520570 0.432839 
time: 1403638182.995097, t: 5.790361 -4.925185 0.288291 q: 0.338818 0.651480 -0.516778 0.440132 
wait for imu ... 
time: 1403638183.095097, t: 5.757738 -5.050956 0.306076 q: 0.343515 0.649015 -0.511441 0.446323 
time: 1403638183.195097, t: 5.725369 -5.178952 0.318493 q: 0.348644 0.649193 -0.506437 0.447791 
wait for imu ... 
time: 1403638183.295097, t: 5.693656 -5.307178 0.326084 q: 0.348690 0.653988 -0.505218 0.442120 
time: 1403638183.395097, t: 5.663627 -5.435358 0.328594 q: 0.342932 0.658760 -0.508498 0.435731 
wait for imu ... 
time: 1403638183.495097, t: 5.636569 -5.567894 0.328288 q: 0.340368 0.663767 -0.509901 0.428444 
time: 1403638183.595097, t: 5.615927 -5.701762 0.323389 q: 0.339339 0.666277 -0.510337 0.424830 
time: 1403638183.695097, t: 5.600923 -5.839746 0.320396 q: 0.344845 0.663485 -0.506441 0.429404 
time: 1403638183.795097, t: 5.589290 -5.980625 0.324640 q: 0.352152 0.658109 -0.501382 0.437604 
wait for imu ... 
time: 1403638183.895097, t: 5.581659 -6.118086 0.335363 q: 0.359148 0.653240 -0.496602 0.444609 
time: 1403638183.995097, t: 5.577342 -6.248987 0.352050 q: 0.359982 0.652393 -0.496494 0.445298 
time: 1403638184.095097, t: 5.575618 -6.378477 0.374994 q: 0.355899 0.654518 -0.499781 0.441770 
time: 1403638184.195097, t: 5.581155 -6.500334 0.395468 q: 0.350033 0.658495 -0.504880 0.434692 
time: 1403638184.295097, t: 5.588078 -6.624668 0.411225 q: 0.347187 0.660156 -0.507691 0.431167 
wait for imu ... 
time: 1403638184.395097, t: 5.599500 -6.749953 0.422478 q: 0.349905 0.657949 -0.506343 0.433919 
time: 1403638184.495097, t: 5.614636 -6.877034 0.430737 q: 0.354129 0.655872 -0.503776 0.436618 
time: 1403638184.595097, t: 5.633287 -7.003643 0.436212 q: 0.355783 0.653976 -0.503226 0.438746 
time: 1403638184.695097, t: 5.654544 -7.131622 0.441703 q: 0.356429 0.653291 -0.502948 0.439559 
time: 1403638184.795097, t: 5.679278 -7.258105 0.447300 q: 0.355569 0.652056 -0.503683 0.441244 
time: 1403638184.895097, t: 5.705138 -7.383445 0.456051 q: 0.356717 0.652652 -0.503388 0.439771 
wait for imu ... 
time: 1403638184.995097, t: 5.733674 -7.506205 0.467293 q: 0.357615 0.651236 -0.502956 0.441632 
wait for imu ... 
time: 1403638185.095097, t: 5.763833 -7.627832 0.481100 q: 0.357375 0.652000 -0.503002 0.440646 
time: 1403638185.195097, t: 5.796737 -7.748238 0.495065 q: 0.358107 0.653188 -0.502113 0.439303 
time: 1403638185.295097, t: 5.830974 -7.867881 0.509433 q: 0.361149 0.655423 -0.499139 0.436867 
wait for imu ... 
time: 1403638185.495097, t: 5.914785 -8.099706 0.538403 q: 0.367380 0.659515 -0.484783 0.441654 
time: 1403638185.595097, t: 5.965779 -8.212084 0.553941 q: 0.365026 0.665106 -0.472832 0.448130 
time: 1403638185.695097, t: 6.021734 -8.325530 0.568857 q: 0.360154 0.669598 -0.462832 0.455756 
time: 1403638185.795097, t: 6.082941 -8.433772 0.583091 q: 0.347079 0.671093 -0.461091 0.465365 
wait for imu ... 
time: 1403638185.895097, t: 6.146145 -8.534005 0.594756 q: 0.324117 0.670511 -0.469353 0.474415 
time: 1403638185.995097, t: 6.207818 -8.629430 0.600719 q: 0.308950 0.670824 -0.474519 0.478934 
time: 1403638186.195097, t: 6.319961 -8.832994 0.599984 q: 0.313836 0.679942 -0.466812 0.470396 
time: 1403638186.295097, t: 6.372698 -8.935338 0.601761 q: 0.316513 0.682035 -0.464217 0.468136 
time: 1403638186.395097, t: 6.426338 -9.037835 0.611388 q: 0.318477 0.683507 -0.462950 0.465906 
wait for imu ... 
time: 1403638186.495097, t: 6.479824 -9.136861 0.627074 q: 0.320381 0.682742 -0.462135 0.466530 
wait for imu ... 
time: 1403638186.595097, t: 6.533623 -9.237071 0.645633 q: 0.323253 0.683967 -0.460973 0.463897 
time: 1403638186.695097, t: 6.588817 -9.335081 0.658316 q: 0.327624 0.685664 -0.458685 0.460583 
wait for imu ... 
time: 1403638186.795097, t: 6.647719 -9.431166 0.665049 q: 0.332781 0.689385 -0.451560 0.458366 
time: 1403638186.895097, t: 6.711174 -9.523283 0.666169 q: 0.333140 0.696115 -0.441862 0.457384 
time: 1403638186.995097, t: 6.780618 -9.612849 0.664007 q: 0.325323 0.704045 -0.430603 0.461593 
wait for imu ... 
time: 1403638187.095097, t: 6.859452 -9.700807 0.669442 q: 0.309705 0.709471 -0.416712 0.476535 
time: 1403638187.195097, t: 6.942661 -9.785592 0.681902 q: 0.293123 0.714623 -0.397933 0.495017 
wait for imu ... 
time: 1403638187.295097, t: 7.026035 -9.867350 0.702691 q: 0.278135 0.719747 -0.375648 0.513317 
time: 1403638187.395097, t: 7.107401 -9.947875 0.730860 q: 0.266297 0.724294 -0.355092 0.527630 
wait for imu ... 
time: 1403638187.495097, t: 7.186004 -10.025122 0.762197 q: 0.257311 0.728869 -0.339585 0.535932 
time: 1403638187.595097, t: 7.259726 -10.097614 0.793329 q: 0.248326 0.736366 -0.331339 0.535082 
wait for imu ... 
time: 1403638187.695097, t: 7.330850 -10.164227 0.822189 q: 0.241923 0.743586 -0.327571 0.530330 
time: 1403638187.795097, t: 7.400660 -10.229037 0.846239 q: 0.241709 0.748005 -0.323535 0.526678 
time: 1403638187.895097, t: 7.468117 -10.286840 0.866413 q: 0.247113 0.749909 -0.318536 0.524506 
wait for imu ... 
wait for imu ... 
time: 1403638188.095097, t: 7.605095 -10.383387 0.897887 q: 0.263267 0.745889 -0.309939 0.527520 
time: 1403638188.195097, t: 7.676550 -10.422112 0.905577 q: 0.270568 0.742595 -0.306943 0.530219 
time: 1403638188.295097, t: 7.749562 -10.450944 0.907780 q: 0.270018 0.732214 -0.309002 0.543573 
time: 1403638188.395097, t: 7.820704 -10.468422 0.906910 q: 0.268249 0.719236 -0.311253 0.560236 
wait for imu ... 
time: 1403638188.495097, t: 7.884776 -10.473021 0.902731 q: 0.266276 0.709505 -0.313507 0.572200 
time: 1403638188.595097, t: 7.940836 -10.466399 0.897460 q: 0.264438 0.704219 -0.314040 0.579247 
time: 1403638188.695097, t: 7.985675 -10.444167 0.897548 q: 0.259921 0.708109 -0.311435 0.577954 
time: 1403638188.795097, t: 8.022816 -10.411719 0.905789 q: 0.251977 0.717612 -0.308362 0.571361 
time: 1403638188.895097, t: 8.049872 -10.369282 0.923653 q: 0.245077 0.725214 -0.305366 0.566351 
time: 1403638188.995097, t: 8.070163 -10.319155 0.952213 q: 0.239695 0.731182 -0.302714 0.562391 
wait for imu ... 
time: 1403638189.095097, t: 8.080477 -10.256972 0.987299 q: 0.231726 0.735137 -0.297489 0.563362 
time: 1403638189.195097, t: 8.089319 -10.190777 1.020602 q: 0.220851 0.739814 -0.288516 0.566267 
wait for imu ... 
time: 1403638189.295097, t: 8.093235 -10.118550 1.047116 q: 0.207103 0.747331 -0.276542 0.567564 
wait for imu ... 
time: 1403638189.395097, t: 8.092437 -10.042890 1.066200 q: 0.193275 0.760462 -0.264940 0.560490 
time: 1403638189.495097, t: 8.091334 -9.966801 1.084143 q: 0.181104 0.774413 -0.256137 0.549436 
wait for imu ... 
time: 1403638189.595097, t: 8.087572 -9.889890 1.110085 q: 0.171995 0.782610 -0.250166 0.543467 
time: 1403638189.695097, t: 8.085915 -9.814490 1.140454 q: 0.163642 0.788839 -0.247732 0.538130 
time: 1403638189.795097, t: 8.087072 -9.741633 1.165706 q: 0.156228 0.794150 -0.248759 0.532013 
time: 1403638189.895097, t: 8.091182 -9.673006 1.184121 q: 0.153885 0.799447 -0.248661 0.524758 
wait for imu ... 
time: 1403638189.995097, t: 8.100806 -9.610473 1.197642 q: 0.154286 0.800771 -0.248525 0.522682 
time: 1403638190.095097, t: 8.117409 -9.553463 1.206992 q: 0.158025 0.795353 -0.246934 0.530533 
time: 1403638190.195097, t: 8.136790 -9.501045 1.210484 q: 0.164646 0.787602 -0.244056 0.541305 
time: 1403638190.295097, t: 8.156664 -9.450231 1.208997 q: 0.178023 0.780548 -0.233564 0.551816 
time: 1403638190.395097, t: 8.174861 -9.397514 1.201297 q: 0.189692 0.777391 -0.217074 0.559070 
wait for imu ... 
time: 1403638190.495097, t: 8.192449 -9.339530 1.188325 q: 0.194087 0.778646 -0.204016 0.560730 
time: 1403638190.595097, t: 8.208717 -9.273903 1.170348 q: 0.188055 0.781562 -0.199005 0.560530 
wait for imu ... 
time: 1403638190.695097, t: 8.226611 -9.201696 1.150683 q: 0.181131 0.783247 -0.197041 0.561151 
time: 1403638190.795097, t: 8.242792 -9.123154 1.134143 q: 0.172517 0.783489 -0.197433 0.563385 
time: 1403638190.895097, t: 8.259684 -9.037507 1.124831 q: 0.161237 0.784178 -0.201571 0.564302 
wait for imu ... 
time: 1403638190.995097, t: 8.275129 -8.947927 1.124350 q: 0.155939 0.784273 -0.202838 0.565204 
time: 1403638191.095097, t: 8.287418 -8.856295 1.130409 q: 0.154685 0.781269 -0.202388 0.569851 
time: 1403638191.195097, t: 8.297415 -8.763807 1.141963 q: 0.152659 0.785204 -0.203564 0.564546 
time: 1403638191.295097, t: 8.305214 -8.672425 1.160233 q: 0.148785 0.792598 -0.206926 0.553925 
time: 1403638191.395097, t: 8.314259 -8.581654 1.182608 q: 0.149608 0.797362 -0.207233 0.546704 
wait for imu ... 
time: 1403638191.495097, t: 8.322694 -8.494191 1.202301 q: 0.148839 0.798890 -0.208887 0.544048 
time: 1403638191.595097, t: 8.332523 -8.412134 1.219237 q: 0.150963 0.799042 -0.208277 0.543472 
wait for imu ... 
time: 1403638191.695097, t: 8.345868 -8.334574 1.231231 q: 0.154572 0.799949 -0.206369 0.541849 
time: 1403638191.795097, t: 8.361452 -8.259865 1.238289 q: 0.160338 0.801045 -0.202591 0.539977 
time: 1403638191.895097, t: 8.383417 -8.182752 1.239340 q: 0.162624 0.801523 -0.201502 0.538991 
time: 1403638191.995097, t: 8.409818 -8.103663 1.239558 q: 0.161757 0.801569 -0.202067 0.538973 
time: 1403638192.095097, t: 8.440628 -8.022132 1.245763 q: 0.163165 0.801552 -0.201074 0.538944 
time: 1403638192.195097, t: 8.478449 -7.936978 1.259101 q: 0.160698 0.799990 -0.202483 0.541473 
wait for imu ... 
time: 1403638192.295097, t: 8.519505 -7.849913 1.285185 q: 0.158560 0.795359 -0.203530 0.548487 
time: 1403638192.395097, t: 8.564686 -7.758218 1.318680 q: 0.157591 0.791057 -0.203687 0.554893 
wait for imu ... 
time: 1403638192.495097, t: 8.608956 -7.658586 1.358375 q: 0.156785 0.788726 -0.203998 0.558313 
wait for imu ... 
time: 1403638192.595097, t: 8.652633 -7.557484 1.402397 q: 0.158254 0.785077 -0.203185 0.563316 
time: 1403638192.695097, t: 8.695304 -7.453829 1.445843 q: 0.159081 0.777697 -0.203183 0.573234 
wait for imu ... 
time: 1403638192.795097, t: 8.733397 -7.346924 1.483875 q: 0.159424 0.770456 -0.203383 0.582767 
time: 1403638192.895097, t: 8.764413 -7.233814 1.516950 q: 0.155965 0.762091 -0.205626 0.593810 
time: 1403638192.995097, t: 8.787159 -7.119041 1.546139 q: 0.147420 0.749847 -0.210127 0.609790 
time: 1403638193.095097, t: 8.796904 -7.003088 1.573556 q: 0.138235 0.747433 -0.209821 0.614988 
wait for imu ... 
time: 1403638193.195097, t: 8.788810 -6.890477 1.606819 q: 0.133801 0.756961 -0.202430 0.606737 
time: 1403638193.295097, t: 8.766797 -6.777346 1.647774 q: 0.132174 0.765447 -0.193954 0.599169 
wait for imu ... 
time: 1403638193.395097, t: 8.732412 -6.666689 1.698892 q: 0.135463 0.770923 -0.184136 0.594493 
time: 1403638193.495097, t: 8.685787 -6.561973 1.750908 q: 0.137087 0.771816 -0.177335 0.595029 
time: 1403638193.595097, t: 8.633542 -6.454369 1.798046 q: 0.135787 0.773587 -0.174202 0.593952 
time: 1403638193.695097, t: 8.573292 -6.346207 1.834964 q: 0.132652 0.781245 -0.174088 0.584597 
time: 1403638193.795097, t: 8.506505 -6.239173 1.865337 q: 0.127470 0.788817 -0.176032 0.574919 
wait for imu ... 
time: 1403638193.895097, t: 8.440770 -6.128928 1.889281 q: 0.126102 0.793071 -0.176918 0.569067 
time: 1403638193.995097, t: 8.376916 -6.015606 1.908389 q: 0.124627 0.795468 -0.178254 0.565618 
time: 1403638194.095097, t: 8.314419 -5.902991 1.924687 q: 0.127067 0.793374 -0.177470 0.568257 
time: 1403638194.195097, t: 8.251506 -5.792179 1.935284 q: 0.129576 0.787894 -0.176780 0.575484 
wait for imu ... 
time: 1403638194.295097, t: 8.184611 -5.683656 1.939903 q: 0.130531 0.784712 -0.176696 0.579627 
time: 1403638194.395097, t: 8.115068 -5.576586 1.939040 q: 0.128176 0.788542 -0.178906 0.574252 
time: 1403638194.495097, t: 8.043863 -5.471059 1.941778 q: 0.125210 0.792577 -0.181725 0.568437 
time: 1403638194.595097, t: 7.970107 -5.366723 1.951729 q: 0.124940 0.796364 -0.182654 0.562878 
time: 1403638194.695097, t: 7.898152 -5.260573 1.966069 q: 0.123928 0.802003 -0.184265 0.554508 
wait for imu ... 
time: 1403638194.795097, t: 7.829386 -5.156946 1.978675 q: 0.124372 0.806071 -0.185069 0.548207 
time: 1403638194.895097, t: 7.764392 -5.055141 1.986746 q: 0.125099 0.809157 -0.185750 0.543242 
wait for imu ... 
time: 1403638194.995097, t: 7.706841 -4.955633 1.986859 q: 0.125379 0.810778 -0.186075 0.540643 
wait for imu ... 
time: 1403638195.095097, t: 7.653134 -4.858911 1.983517 q: 0.125818 0.811909 -0.185930 0.538891 
wait for imu ... 
time: 1403638195.195097, t: 7.607218 -4.765370 1.973866 q: 0.123832 0.815336 -0.187851 0.533483 
time: 1403638195.295097, t: 7.566070 -4.674777 1.959159 q: 0.119692 0.823385 -0.190858 0.520850 
time: 1403638195.395097, t: 7.533867 -4.592382 1.942921 q: 0.118705 0.825837 -0.191532 0.516932 
time: 1403638195.495097, t: 7.509037 -4.513366 1.927505 q: 0.121313 0.816998 -0.189939 0.530773 
time: 1403638195.595097, t: 7.488553 -4.436075 1.909750 q: 0.124266 0.807361 -0.187738 0.545417 
wait for imu ... 
time: 1403638195.695097, t: 7.470542 -4.360916 1.887281 q: 0.125033 0.804642 -0.186632 0.549624 
time: 1403638195.895097, t: 7.439407 -4.214650 1.858232 q: 0.122275 0.811341 -0.187583 0.539988 
time: 1403638195.995097, t: 7.436356 -4.151310 1.852292 q: 0.120487 0.815782 -0.188588 0.533307 
time: 1403638196.095097, t: 7.448190 -4.098562 1.855855 q: 0.120691 0.815978 -0.188432 0.533016 
time: 1403638196.195097, t: 7.456013 -4.042502 1.867593 q: 0.122589 0.811257 -0.186604 0.540382 
time: 1403638196.295097, t: 7.467680 -3.989835 1.884211 q: 0.124341 0.806177 -0.185191 0.548016 
time: 1403638196.395097, t: 7.482887 -3.939403 1.896763 q: 0.124253 0.804499 -0.185175 0.550503 
wait for imu ... 
time: 1403638196.495097, t: 7.500765 -3.890109 1.902527 q: 0.123711 0.805011 -0.185966 0.549608 
time: 1403638196.595097, t: 7.520293 -3.844722 1.902154 q: 0.121234 0.808229 -0.188305 0.544618 
wait for imu ... 
time: 1403638196.695097, t: 7.542421 -3.804215 1.896269 q: 0.118123 0.814449 -0.191147 0.534960 
wait for imu ... 
time: 1403638196.895097, t: 7.595793 -3.731668 1.875759 q: 0.119202 0.814227 -0.191180 0.535047 
time: 1403638196.995097, t: 7.628847 -3.699813 1.868017 q: 0.120915 0.809002 -0.189423 0.543152 
wait for imu ... 
time: 1403638197.095097, t: 7.665232 -3.671983 1.866698 q: 0.122295 0.805394 -0.188640 0.548452 
time: 1403638197.195097, t: 7.702199 -3.646962 1.870431 q: 0.125252 0.804014 -0.186568 0.550514 
wait for imu ... 
time: 1403638197.295097, t: 7.742662 -3.623050 1.882270 q: 0.132504 0.801456 -0.181130 0.554349 
time: 1403638197.395097, t: 7.783189 -3.599211 1.901114 q: 0.141052 0.798690 -0.175038 0.558176 
wait for imu ... 
time: 1403638197.495097, t: 7.824398 -3.573488 1.926549 q: 0.144363 0.796471 -0.172483 0.561286 
time: 1403638197.595097, t: 7.863004 -3.546150 1.957694 q: 0.143012 0.795224 -0.172810 0.563297 
wait for imu ... 
time: 1403638197.695097, t: 7.900899 -3.517486 1.993778 q: 0.142916 0.795066 -0.172355 0.563683 
time: 1403638197.795097, t: 7.937252 -3.487434 2.027785 q: 0.142044 0.795127 -0.172190 0.563869 
wait for imu ... 
time: 1403638197.895097, t: 7.972715 -3.454826 2.055581 q: 0.137340 0.791709 -0.174460 0.569120 
time: 1403638197.995097, t: 8.005960 -3.416994 2.075446 q: 0.135485 0.782558 -0.174732 0.581993 
wait for imu ... 
time: 1403638198.095097, t: 8.034802 -3.377394 2.076155 q: 0.134102 0.780082 -0.175211 0.585482 
wait for imu ... 
time: 1403638198.195097, t: 8.058908 -3.333408 2.057275 q: 0.131087 0.783091 -0.177272 0.581515 
wait for imu ... 
time: 1403638198.295097, t: 8.080833 -3.285457 2.025787 q: 0.131211 0.786493 -0.177315 0.576864 
time: 1403638198.395097, t: 8.100578 -3.234406 1.989337 q: 0.132895 0.790312 -0.176034 0.571627 
wait for imu ... 
time: 1403638198.495097, t: 8.119730 -3.180835 1.949306 q: 0.138815 0.793461 -0.171975 0.567076 
wait for imu ... 
time: 1403638198.595097, t: 8.140109 -3.122620 1.906666 q: 0.152212 0.795370 -0.162419 0.563771 
time: 1403638198.695097, t: 8.159477 -3.058275 1.863897 q: 0.169585 0.794096 -0.149983 0.564055 
wait for imu ... 
time: 1403638198.795097, t: 8.177596 -2.982904 1.826544 q: 0.182384 0.791638 -0.140510 0.565952 
time: 1403638198.895097, t: 8.195419 -2.892075 1.798077 q: 0.185257 0.791025 -0.138021 0.566489 
wait for imu ... 
time: 1403638198.995097, t: 8.214685 -2.786878 1.777226 q: 0.182981 0.792299 -0.140064 0.564945 
time: 1403638199.095097, t: 8.233816 -2.668506 1.766109 q: 0.179780 0.793113 -0.142928 0.564112 
wait for imu ... 
time: 1403638199.195097, t: 8.254888 -2.537652 1.765950 q: 0.177366 0.792113 -0.145520 0.565617 
time: 1403638199.295097, t: 8.276954 -2.394699 1.775591 q: 0.175659 0.788609 -0.146797 0.570692 
wait for imu ... 
time: 1403638199.395097, t: 8.299407 -2.241008 1.789944 q: 0.178002 0.787407 -0.145685 0.571911 
wait for imu ... 
time: 1403638199.495097, t: 8.320158 -2.074827 1.809821 q: 0.182275 0.789584 -0.143868 0.568009 
time: 1403638199.595097, t: 8.342295 -1.897682 1.837210 q: 0.182940 0.793548 -0.140021 0.563213 
wait for imu ... 
time: 1403638199.695097, t: 8.366242 -1.708921 1.870773 q: 0.173629 0.795789 -0.135823 0.564025 
time: 1403638199.795097, t: 8.389291 -1.509942 1.905970 q: 0.154428 0.798764 -0.138672 0.564710 
time: 1403638199.895097, t: 8.412793 -1.304999 1.935770 q: 0.138941 0.801324 -0.140951 0.564543 
time: 1403638199.995097, t: 8.438015 -1.098009 1.960989 q: 0.129550 0.802804 -0.139745 0.564973 
wait for imu ... 
time: 1403638200.095097, t: 8.463716 -0.891204 1.984032 q: 0.124160 0.804814 -0.131018 0.565415 
time: 1403638200.195097, t: 8.488514 -0.680963 2.005585 q: 0.123136 0.804094 -0.114000 0.570329 
time: 1403638200.295097, t: 8.513911 -0.468689 2.035388 q: 0.115719 0.800674 -0.097394 0.579694 
wait for imu ... 
time: 1403638200.395097, t: 8.534897 -0.252002 2.073771 q: 0.106982 0.798359 -0.080924 0.587052 
time: 1403638200.495097, t: 8.551500 -0.031157 2.118300 q: 0.105752 0.800249 -0.063176 0.586878 
wait for imu ... 
wait for imu ... 
time: 1403638200.595097, t: 8.564365 0.197219 2.169090 q: 0.103017 0.802742 -0.047632 0.585427 
wait for imu ... 
time: 1403638200.695097, t: 8.576423 0.433730 2.225265 q: 0.102227 0.804275 -0.028777 0.584691 
time: 1403638200.795097, t: 8.585699 0.678026 2.282948 q: 0.097315 0.807898 -0.016822 0.580989 
wait for imu ... 
time: 1403638200.895097, t: 8.593206 0.932673 2.333158 q: 0.089642 0.811262 -0.012260 0.577640 
time: 1403638200.995097, t: 8.599181 1.194663 2.376686 q: 0.073384 0.812015 -0.017467 0.578741 
wait for imu ... 
time: 1403638201.095097, t: 8.603093 1.460726 2.413584 q: 0.061258 0.811675 -0.022823 0.580440 
wait for imu ... 
time: 1403638201.195097, t: 8.607654 1.729910 2.441436 q: 0.055678 0.811490 -0.026648 0.581097 
time: 1403638201.295097, t: 8.605513 1.998597 2.461713 q: 0.053488 0.811103 -0.029765 0.581692 
time: 1403638201.395097, t: 8.598721 2.265760 2.476108 q: 0.056056 0.811365 -0.029649 0.581089 
wait for imu ... 
time: 1403638201.495097, t: 8.592711 2.531700 2.485428 q: 0.056503 0.810118 -0.031738 0.582674 
wait for imu ... 
time: 1403638201.595097, t: 8.584741 2.799746 2.485610 q: 0.059950 0.808487 -0.031935 0.584581 
time: 1403638201.695097, t: 8.572411 3.065847 2.476906 q: 0.059538 0.807009 -0.033989 0.586546 
wait for imu ... 
time: 1403638201.795097, t: 8.559029 3.331065 2.459289 q: 0.061340 0.806877 -0.034578 0.586508 
wait for imu ... 
time: 1403638201.895097, t: 8.546332 3.597508 2.435614 q: 0.059504 0.807003 -0.036052 0.586434 
time: 1403638201.995097, t: 8.528920 3.865251 2.412479 q: 0.055451 0.807834 -0.031551 0.585947 
wait for imu ... 
time: 1403638202.095097, t: 8.501223 4.129638 2.391719 q: 0.044755 0.809340 -0.028933 0.584917 
time: 1403638202.195097, t: 8.467394 4.388762 2.374747 q: 0.032855 0.813171 -0.028500 0.580397 
time: 1403638202.295097, t: 8.431973 4.645397 2.364467 q: 0.025072 0.818109 -0.027090 0.573878 
wait for imu ... 
time: 1403638202.395097, t: 8.401058 4.898336 2.361030 q: 0.021135 0.819669 -0.025318 0.571888 
time: 1403638202.495097, t: 8.374913 5.150487 2.354939 q: 0.018593 0.820386 -0.024038 0.571002 
wait for imu ... 
time: 1403638202.595097, t: 8.346926 5.395223 2.341570 q: 0.014117 0.821166 -0.025726 0.569934 
wait for imu ... 
time: 1403638202.695097, t: 8.326507 5.640133 2.323680 q: 0.013389 0.822468 -0.026296 0.568045 
wait for imu ... 
time: 1403638202.795097, t: 8.306258 5.878263 2.300683 q: 0.014765 0.821940 -0.025934 0.568792 
wait for imu ... 
time: 1403638202.895097, t: 8.285704 6.108293 2.274047 q: 0.016427 0.820570 -0.025339 0.570748 
wait for imu ... 
time: 1403638202.995097, t: 8.265070 6.333074 2.247916 q: 0.015259 0.819799 -0.026832 0.571819 
time: 1403638203.095097, t: 8.242475 6.551788 2.225436 q: 0.014714 0.819063 -0.027416 0.572859 
wait for imu ... 
time: 1403638203.195097, t: 8.220934 6.764779 2.213656 q: 0.018036 0.816242 -0.025486 0.576866 
wait for imu ... 
time: 1403638203.295097, t: 8.197954 6.971851 2.207277 q: 0.018513 0.813275 -0.024913 0.581050 
time: 1403638203.395097, t: 8.172201 7.172461 2.202662 q: 0.016667 0.812037 -0.025689 0.582801 
time: 1403638203.495097, t: 8.145768 7.367419 2.191118 q: 0.014830 0.812108 -0.026864 0.582700 
time: 1403638203.595097, t: 8.117936 7.558850 2.175157 q: 0.011780 0.812497 -0.028876 0.582130 
wait for imu ... 
time: 1403638203.695097, t: 8.088167 7.743527 2.160168 q: 0.011253 0.813697 -0.028796 0.580467 
time: 1403638203.795097, t: 8.055233 7.923834 2.155140 q: 0.012735 0.813475 -0.027572 0.580807 
time: 1403638203.895097, t: 8.018693 8.101158 2.154276 q: 0.013051 0.812955 -0.026488 0.581577 
time: 1403638203.995097, t: 7.980660 8.277345 2.159311 q: 0.011563 0.813534 -0.026306 0.580807 
time: 1403638204.095097, t: 7.938524 8.449965 2.172297 q: 0.009981 0.815786 -0.026055 0.577681 
time: 1403638204.195097, t: 7.897705 8.616684 2.193626 q: 0.004707 0.818522 -0.028684 0.573740 
wait for imu ... 
time: 1403638204.295097, t: 7.857472 8.782953 2.219687 q: -0.003935 0.822306 -0.034860 0.567962 
wait for imu ... 
time: 1403638204.395097, t: 7.816822 8.936279 2.248505 q: -0.014354 0.826974 -0.043160 0.560397 
time: 1403638204.495097, t: 7.778833 9.081631 2.276303 q: -0.018406 0.828461 -0.047594 0.557717 
wait for imu ... 
time: 1403638204.595097, t: 7.746543 9.218920 2.300302 q: -0.020050 0.826622 -0.048305 0.560322 
time: 1403638204.695097, t: 7.718270 9.344305 2.318005 q: -0.020222 0.826366 -0.040830 0.561288 
wait for imu ... 
time: 1403638204.795097, t: 7.691554 9.463164 2.327799 q: -0.017789 0.826442 -0.023726 0.562241 
time: 1403638204.895097, t: 7.666761 9.571036 2.331054 q: -0.014415 0.823900 0.003237 0.566543 
time: 1403638204.995097, t: 7.644821 9.676317 2.326240 q: -0.021597 0.822071 0.032958 0.568019 
time: 1403638205.095097, t: 7.626330 9.780997 2.315963 q: -0.035865 0.819279 0.067683 0.568256 
time: 1403638205.195097, t: 7.607751 9.881628 2.306672 q: -0.061192 0.814537 0.104276 0.567373 
wait for imu ... 
time: 1403638205.295097, t: 7.589391 9.987762 2.303837 q: -0.088685 0.807101 0.144352 0.565584 
time: 1403638205.395097, t: 7.573346 10.094963 2.309165 q: -0.116612 0.795954 0.184297 0.564707 
wait for imu ... 
time: 1403638205.495097, t: 7.555157 10.199870 2.321768 q: -0.135135 0.782752 0.222115 0.565423 
time: 1403638205.595097, t: 7.531938 10.302964 2.341065 q: -0.142712 0.770202 0.253269 0.567695 
wait for imu ... 
time: 1403638205.695097, t: 7.502051 10.408965 2.368475 q: -0.145506 0.757164 0.275443 0.574162 
time: 1403638205.795097, t: 7.463677 10.519298 2.401382 q: -0.152091 0.748332 0.291852 0.575925 
wait for imu ... 
time: 1403638205.895097, t: 7.414007 10.633019 2.437040 q: -0.162993 0.743227 0.308133 0.571053 
wait for imu ... 
time: 1403638205.995097, t: 7.352697 10.753515 2.477756 q: -0.180743 0.738445 0.323498 0.563365 
time: 1403638206.095097, t: 7.282062 10.875796 2.524109 q: -0.197292 0.731911 0.340479 0.556288 
wait for imu ... 
time: 1403638206.195097, t: 7.200882 10.995319 2.574980 q: -0.213359 0.723305 0.356962 0.551258 
time: 1403638206.295097, t: 7.112337 11.109524 2.623086 q: -0.230330 0.714794 0.370893 0.546311 
time: 1403638206.395097, t: 7.017588 11.221001 2.663584 q: -0.250239 0.710450 0.376922 0.539047 
time: 1403638206.495097, t: 6.918492 11.330472 2.696722 q: -0.264204 0.706577 0.379592 0.535589 
time: 1403638206.595097, t: 6.818515 11.437617 2.721728 q: -0.272206 0.703661 0.381351 0.534169 
wait for imu ... 
time: 1403638206.695097, t: 6.715834 11.542907 2.741196 q: -0.279687 0.700652 0.383652 0.532610 
time: 1403638206.795097, t: 6.608022 11.637684 2.753288 q: -0.285704 0.697800 0.390519 0.528151 
wait for imu ... 
time: 1403638206.895097, t: 6.496723 11.734037 2.760906 q: -0.289983 0.694203 0.395834 0.526600 
time: 1403638206.995097, t: 6.385326 11.822132 2.761285 q: -0.296261 0.690574 0.397080 0.526939 
wait for imu ... 
time: 1403638207.095097, t: 6.269179 11.904770 2.759513 q: -0.299281 0.687100 0.398246 0.528890 
time: 1403638207.195097, t: 6.149703 11.974652 2.748009 q: -0.303295 0.685617 0.398488 0.528346 
time: 1403638207.295097, t: 6.027236 12.040795 2.728699 q: -0.307576 0.681177 0.403623 0.527715 
time: 1403638207.395097, t: 5.900091 12.100683 2.704043 q: -0.316633 0.673623 0.411163 0.526232 
wait for imu ... 
time: 1403638207.495097, t: 5.772814 12.149771 2.679440 q: -0.327402 0.663667 0.424240 0.521896 
wait for imu ... 
time: 1403638207.595097, t: 5.641274 12.186612 2.661515 q: -0.335047 0.657832 0.439899 0.511361 
wait for imu ... 
time: 1403638207.695097, t: 5.508853 12.209021 2.649655 q: -0.341027 0.658637 0.452518 0.495102 
time: 1403638207.795097, t: 5.376874 12.229119 2.646202 q: -0.345947 0.659400 0.460438 0.483227 
wait for imu ... 
time: 1403638207.895097, t: 5.249096 12.242819 2.649886 q: -0.346562 0.662959 0.466833 0.471644 
wait for imu ... 
time: 1403638207.995097, t: 5.123631 12.251426 2.662240 q: -0.345575 0.664333 0.470616 0.466647 
wait for imu ... 
time: 1403638208.095097, t: 5.000811 12.259120 2.672436 q: -0.346420 0.663182 0.470704 0.467570 
wait for imu ... 
time: 1403638208.195097, t: 4.879452 12.265998 2.676732 q: -0.351237 0.660614 0.466450 0.471854 
time: 1403638208.295097, t: 4.761263 12.269291 2.673713 q: -0.350597 0.659713 0.464679 0.475326 
wait for imu ... 
time: 1403638208.495097, t: 4.536697 12.262465 2.649190 q: -0.344951 0.664081 0.468814 0.469274 
wait for imu ... 
time: 1403638208.595097, t: 4.426056 12.251252 2.639702 q: -0.347501 0.661125 0.476429 0.463866 
wait for imu ... 
time: 1403638208.695097, t: 4.320558 12.238594 2.638193 q: -0.354233 0.655206 0.483921 0.459395 
wait for imu ... 
time: 1403638208.795097, t: 4.218880 12.223277 2.645102 q: -0.360989 0.650306 0.489817 0.454827 
time: 1403638208.895097, t: 4.123539 12.203186 2.653596 q: -0.364949 0.644621 0.495325 0.453794 
wait for imu ... 
time: 1403638208.995097, t: 4.033109 12.181507 2.657172 q: -0.367741 0.640356 0.499450 0.453058 
wait for imu ... 
time: 1403638209.095097, t: 3.942659 12.154379 2.652828 q: -0.370678 0.638390 0.501706 0.450940 
time: 1403638209.195097, t: 3.855113 12.125603 2.641688 q: -0.371217 0.637320 0.503621 0.449874 
wait for imu ... 
time: 1403638209.295097, t: 3.769061 12.095518 2.624686 q: -0.373144 0.637388 0.503421 0.448406 
wait for imu ... 
time: 1403638209.395097, t: 3.684776 12.065332 2.601901 q: -0.374178 0.637963 0.503083 0.447104 
wait for imu ... 
time: 1403638209.495097, t: 3.600963 12.032839 2.572184 q: -0.375965 0.637440 0.501799 0.447793 
wait for imu ... 
time: 1403638209.595097, t: 3.520701 12.000837 2.530799 q: -0.377569 0.636180 0.500024 0.450213 
time: 1403638209.695097, t: 3.437681 11.966351 2.471448 q: -0.376773 0.638024 0.499077 0.449322 
time: 1403638209.795097, t: 3.355835 11.927898 2.393860 q: -0.373735 0.636889 0.500271 0.452133 
wait for imu ... 
time: 1403638209.895097, t: 3.276819 11.887333 2.302085 q: -0.372038 0.634873 0.500560 0.456031 
wait for imu ... 
time: 1403638209.995097, t: 3.201768 11.845177 2.202696 q: -0.373741 0.631137 0.498705 0.461820 
wait for imu ... 
time: 1403638210.095097, t: 3.130237 11.799277 2.103931 q: -0.377421 0.627126 0.495539 0.467662 
wait for imu ... 
time: 1403638210.195097, t: 3.061762 11.747362 2.012121 q: -0.381417 0.623777 0.492497 0.472091 
time: 1403638210.295097, t: 2.989962 11.683610 1.924783 q: -0.382166 0.624157 0.491822 0.471686 
wait for imu ... 
time: 1403638210.395097, t: 2.920167 11.613687 1.840272 q: -0.381247 0.624851 0.492183 0.471135 
wait for imu ... 
time: 1403638210.495097, t: 2.850492 11.536234 1.752753 q: -0.382145 0.625124 0.491246 0.471023 
time: 1403638210.595097, t: 2.781544 11.453783 1.659319 q: -0.381968 0.624782 0.490630 0.472260 
time: 1403638210.695097, t: 2.714411 11.363906 1.561961 q: -0.384409 0.625258 0.488345 0.472017 
wait for imu ... 
time: 1403638210.795097, t: 2.647613 11.266279 1.467436 q: -0.384326 0.625369 0.487991 0.472304 
wait for imu ... 
time: 1403638210.895097, t: 2.582224 11.160066 1.380105 q: -0.383779 0.628522 0.488569 0.467947 
wait for imu ... 
time: 1403638210.995097, t: 2.519305 11.048667 1.300028 q: -0.381126 0.631952 0.490748 0.463191 
time: 1403638211.195097, t: 2.396996 10.812457 1.163948 q: -0.378659 0.637739 0.493304 0.454487 
wait for imu ... 
time: 1403638211.295097, t: 2.341270 10.693835 1.106982 q: -0.376935 0.638928 0.493927 0.453571 
time: 1403638211.395097, t: 2.289950 10.572559 1.055827 q: -0.373711 0.642268 0.490051 0.455721 
wait for imu ... 
time: 1403638211.495097, t: 2.241103 10.448167 0.998931 q: -0.368020 0.649308 0.481976 0.458977 
wait for imu ... 
time: 1403638211.595097, t: 2.195601 10.320320 0.937049 q: -0.362132 0.658695 0.469210 0.463490 
wait for imu ... 
time: 1403638211.695097, t: 2.153204 10.188931 0.869374 q: -0.355273 0.669535 0.451677 0.470629 
wait for imu ... 
time: 1403638211.795097, t: 2.115387 10.055182 0.797245 q: -0.344950 0.684065 0.431384 0.476417 
wait for imu ... 
time: 1403638211.895097, t: 2.082801 9.919226 0.727374 q: -0.335008 0.699114 0.408669 0.481662 
time: 1403638211.995097, t: 2.055738 9.779961 0.665090 q: -0.321655 0.712011 0.387575 0.489248 
time: 1403638212.095097, t: 2.034531 9.637664 0.610459 q: -0.307137 0.722666 0.368106 0.497914 
time: 1403638212.195097, t: 2.018783 9.493913 0.564913 q: -0.290152 0.731154 0.350554 0.508269 
wait for imu ... 
time: 1403638212.395097, t: 1.995037 9.195163 0.499946 q: -0.258014 0.748009 0.313353 0.525092 
time: 1403638212.495097, t: 1.986876 9.040937 0.480355 q: -0.244040 0.755664 0.293137 0.532435 
wait for imu ... 
time: 1403638212.595097, t: 1.979023 8.883439 0.468144 q: -0.229945 0.764078 0.272715 0.537528 
wait for imu ... 
time: 1403638212.695097, t: 1.970220 8.719822 0.461269 q: -0.216187 0.772237 0.251242 0.542024 
time: 1403638212.795097, t: 1.961118 8.550736 0.461379 q: -0.199449 0.779121 0.230492 0.547780 
wait for imu ... 
time: 1403638212.895097, t: 1.951739 8.383768 0.470102 q: -0.184352 0.786806 0.206617 0.551598 
wait for imu ... 
time: 1403638212.995097, t: 1.943378 8.213438 0.483738 q: -0.166407 0.793953 0.182760 0.555469 
wait for imu ... 
time: 1403638213.095097, t: 1.935626 8.041243 0.503043 q: -0.149628 0.800210 0.156549 0.559257 
time: 1403638213.195097, t: 1.928484 7.865542 0.518791 q: -0.135109 0.808718 0.128355 0.557894 
wait for imu ... 
time: 1403638213.295097, t: 1.923863 7.690489 0.529177 q: -0.123153 0.819393 0.098216 0.551165 
time: 1403638213.395097, t: 1.922414 7.506984 0.529432 q: -0.112776 0.828969 0.066993 0.543695 
time: 1403638213.495097, t: 1.929515 7.323530 0.527890 q: -0.103515 0.834594 0.035838 0.539864 
wait for imu ... 
time: 1403638213.595097, t: 1.944315 7.134781 0.524861 q: -0.086277 0.833257 0.015164 0.545902 
time: 1403638213.695097, t: 1.968469 6.940314 0.522905 q: -0.063573 0.824862 0.008318 0.561686 
wait for imu ... 
time: 1403638213.795097, t: 1.996813 6.746943 0.528105 q: -0.044424 0.818019 0.007214 0.573428 
wait for imu ... 
time: 1403638213.995097, t: 2.057402 6.363580 0.556126 q: -0.029118 0.815790 0.006858 0.577573 
time: 1403638214.095097, t: 2.087198 6.175778 0.577647 q: -0.025986 0.821643 0.009233 0.569335 
wait for imu ... 
time: 1403638214.195097, t: 2.119719 5.989034 0.601561 q: -0.026288 0.828517 0.012094 0.559215 
time: 1403638214.295097, t: 2.150483 5.803035 0.622992 q: -0.027798 0.833641 0.015351 0.551393 
time: 1403638214.395097, t: 2.189735 5.615257 0.636545 q: -0.029120 0.836938 0.019539 0.546173 
wait for imu ... 
time: 1403638214.495097, t: 2.235357 5.430546 0.644457 q: -0.030686 0.834737 0.023987 0.549270 
time: 1403638214.595097, t: 2.284598 5.246940 0.645686 q: -0.032170 0.828355 0.027648 0.558595 
time: 1403638214.695097, t: 2.336191 5.064530 0.642474 q: -0.034301 0.821624 0.030874 0.568159 
wait for imu ... 
time: 1403638214.795097, t: 2.384837 4.886669 0.633630 q: -0.036472 0.816249 0.033820 0.575555 
time: 1403638214.895097, t: 2.430488 4.709841 0.619577 q: -0.037828 0.813026 0.036636 0.579841 
time: 1403638214.995097, t: 2.473107 4.536016 0.599780 q: -0.038948 0.811099 0.038447 0.582343 
time: 1403638215.095097, t: 2.515102 4.363290 0.575241 q: -0.038857 0.810830 0.040469 0.582586 
time: 1403638215.195097, t: 2.553119 4.189616 0.547174 q: -0.038740 0.811971 0.041635 0.580920 
wait for imu ... 
time: 1403638215.295097, t: 2.589944 4.018434 0.516784 q: -0.035258 0.813784 0.044292 0.578403 
time: 1403638215.395097, t: 2.625000 3.847008 0.485844 q: -0.031220 0.814239 0.046975 0.577783 
time: 1403638215.495097, t: 2.660110 3.682430 0.461189 q: -0.027547 0.813699 0.049900 0.578485 
wait for imu ... 
time: 1403638215.595097, t: 2.695400 3.521575 0.445738 q: -0.026373 0.812421 0.050792 0.580256 
time: 1403638215.695097, t: 2.727062 3.369000 0.436786 q: -0.029724 0.811809 0.048765 0.581124 
wait for imu ... 
time: 1403638215.795097, t: 2.758168 3.218188 0.430311 q: -0.032751 0.811544 0.045004 0.581635 
wait for imu ... 
time: 1403638215.895097, t: 2.786921 3.071879 0.419430 q: -0.031832 0.812001 0.039322 0.581460 
time: 1403638215.995097, t: 2.809153 2.933063 0.403026 q: -0.030402 0.812038 0.034570 0.581785 
wait for imu ... 
time: 1403638216.095097, t: 2.830773 2.796360 0.383653 q: -0.026910 0.811962 0.032417 0.582188 
time: 1403638216.195097, t: 2.848498 2.664841 0.367798 q: -0.024413 0.812051 0.030875 0.582258 
wait for imu ... 
time: 1403638216.295097, t: 2.862651 2.538033 0.358171 q: -0.021967 0.810997 0.029739 0.583881 
wait for imu ... 
time: 1403638216.395097, t: 2.874246 2.415335 0.355515 q: -0.020125 0.809609 0.029210 0.585897 
wait for imu ... 
time: 1403638216.495097, t: 2.882199 2.297042 0.357573 q: -0.019492 0.809182 0.028666 0.586535 
wait for imu ... 
time: 1403638216.595097, t: 2.887670 2.181514 0.355969 q: -0.017281 0.809934 0.029301 0.585534 
time: 1403638216.695097, t: 2.890329 2.071137 0.345421 q: -0.014217 0.811711 0.030921 0.583067 
time: 1403638216.795097, t: 2.894139 1.961807 0.328865 q: -0.010911 0.810825 0.032435 0.584287 
time: 1403638216.895097, t: 2.895592 1.857813 0.309154 q: -0.007075 0.807330 0.027783 0.589403 
wait for imu ... 
time: 1403638216.995097, t: 2.891314 1.759569 0.287199 q: -0.003627 0.806919 0.017210 0.590401 
time: 1403638217.095097, t: 2.882558 1.666202 0.261753 q: 0.000763 0.809498 0.002436 0.587117 
wait for imu ... 
time: 1403638217.195097, t: 2.869277 1.576776 0.234625 q: 0.007173 0.812066 -0.012055 0.583397 
wait for imu ... 
time: 1403638217.295097, t: 2.853923 1.493288 0.208459 q: 0.014145 0.813880 -0.021387 0.580467 
wait for imu ... 
time: 1403638217.395097, t: 2.837094 1.413331 0.190241 q: 0.019875 0.815314 -0.027752 0.578012 
wait for imu ... 
time: 1403638217.495097, t: 2.819826 1.334320 0.181281 q: 0.024987 0.815930 -0.030807 0.576788 
time: 1403638217.595097, t: 2.801455 1.261436 0.180690 q: 0.031998 0.816865 -0.030193 0.575148 
wait for imu ... 
time: 1403638217.695097, t: 2.783796 1.191096 0.187443 q: 0.040526 0.817018 -0.026166 0.574591 
time: 1403638217.795097, t: 2.765150 1.127263 0.200027 q: 0.046869 0.818250 -0.021570 0.572543 
time: 1403638217.895097, t: 2.746337 1.069523 0.217155 q: 0.049225 0.818623 -0.019032 0.571901 
time: 1403638217.995097, t: 2.729389 1.020331 0.231455 q: 0.050046 0.816276 -0.016462 0.575254 
wait for imu ... 
time: 1403638218.095097, t: 2.714269 0.978703 0.239733 q: 0.050152 0.814764 -0.014465 0.577438 
time: 1403638218.195097, t: 2.698068 0.943146 0.240950 q: 0.047547 0.813024 -0.014194 0.580111 
time: 1403638218.295097, t: 2.679584 0.918165 0.239869 q: 0.045034 0.809299 -0.013088 0.585522 
wait for imu ... 
time: 1403638218.395097, t: 2.662828 0.895811 0.236499 q: 0.038100 0.807243 -0.015097 0.588795 
time: 1403638218.495097, t: 2.641945 0.881480 0.240901 q: 0.032655 0.807604 -0.016800 0.588581 
time: 1403638218.595097, t: 2.619069 0.873860 0.253888 q: 0.030460 0.808741 -0.017037 0.587128 
wait for imu ... 
time: 1403638218.695097, t: 2.592479 0.871810 0.270416 q: 0.028307 0.812707 -0.018737 0.581683 
time: 1403638218.795097, t: 2.564083 0.873283 0.283537 q: 0.031816 0.817398 -0.024007 0.574693 
time: 1403638218.895097, t: 2.535624 0.879056 0.290743 q: 0.035805 0.819723 -0.031764 0.570757 
time: 1403638218.995097, t: 2.508879 0.888869 0.290920 q: 0.026462 0.819793 -0.046803 0.570131 
time: 1403638219.095097, t: 2.484105 0.899236 0.285811 q: 0.018960 0.817800 -0.058950 0.572161 
time: 1403638219.195097, t: 2.459195 0.909882 0.278584 q: 0.022676 0.815400 -0.061415 0.575185 
time: 1403638219.295097, t: 2.432723 0.918856 0.269144 q: 0.031418 0.809607 -0.058863 0.583168 
wait for imu ... 
time: 1403638219.395097, t: 2.404055 0.928123 0.259845 q: 0.037380 0.801927 -0.056572 0.593561 
time: 1403638219.495097, t: 2.371964 0.937949 0.254572 q: 0.041159 0.796605 -0.054616 0.600619 
time: 1403638219.595097, t: 2.335036 0.949409 0.253397 q: 0.039027 0.797346 -0.056263 0.599626 
wait for imu ... 
time: 1403638219.695097, t: 2.294187 0.962762 0.254492 q: 0.033488 0.800038 -0.059723 0.596030 
time: 1403638219.795097, t: 2.247267 0.975175 0.253743 q: 0.026399 0.803650 -0.064263 0.591033 
time: 1403638219.895097, t: 2.196396 0.984527 0.248163 q: 0.017948 0.806865 -0.069786 0.586324 
wait for imu ... 
time: 1403638219.995097, t: 2.143410 0.988883 0.237383 q: 0.010818 0.809505 -0.074498 0.582266 
time: 1403638220.095097, t: 2.088702 0.987236 0.223484 q: 0.008745 0.811856 -0.075777 0.578853 
time: 1403638220.195097, t: 2.034933 0.978348 0.213415 q: 0.016987 0.813893 -0.070114 0.576519 
time: 1403638220.295097, t: 1.982490 0.965951 0.211386 q: 0.032303 0.815846 -0.059606 0.574281 
time: 1403638220.395097, t: 1.929398 0.953626 0.218375 q: 0.041100 0.816141 -0.053823 0.573871 
wait for imu ... 
time: 1403638220.495097, t: 1.875549 0.942910 0.231221 q: 0.044511 0.816298 -0.051503 0.573606 
time: 1403638220.595097, t: 1.820660 0.935122 0.246159 q: 0.045307 0.815692 -0.051971 0.574363 
time: 1403638220.695097, t: 1.766406 0.928529 0.256033 q: 0.046151 0.815271 -0.052782 0.574820 
time: 1403638220.795097, t: 1.712253 0.923811 0.258335 q: 0.045410 0.815512 -0.054681 0.574359 
time: 1403638220.895097, t: 1.660019 0.920844 0.253826 q: 0.045575 0.815440 -0.055910 0.574329 
time: 1403638220.995097, t: 1.607363 0.920609 0.242034 q: 0.044739 0.816302 -0.057731 0.572990 
time: 1403638221.095097, t: 1.554851 0.922373 0.226132 q: 0.045014 0.816742 -0.058664 0.572246 
time: 1403638221.195097, t: 1.502925 0.925263 0.211662 q: 0.045206 0.818080 -0.059259 0.570255 
time: 1403638221.295097, t: 1.451594 0.928726 0.204334 q: 0.043767 0.819543 -0.060727 0.568108 
wait for imu ... 
time: 1403638221.395097, t: 1.400147 0.932583 0.202816 q: 0.041600 0.820739 -0.062932 0.566300 
wait for imu ... 
time: 1403638221.495097, t: 1.350765 0.935488 0.200248 q: 0.039274 0.821095 -0.064834 0.565736 
time: 1403638221.595097, t: 1.302809 0.937243 0.192674 q: 0.037571 0.820380 -0.066762 0.566664 
time: 1403638221.695097, t: 1.259501 0.939188 0.181229 q: 0.036678 0.818678 -0.067344 0.569110 
time: 1403638221.795097, t: 1.217493 0.940057 0.170742 q: 0.034261 0.816604 -0.068669 0.572074 
wait for imu ... 
time: 1403638221.895097, t: 1.175244 0.939260 0.167206 q: 0.036116 0.815355 -0.066736 0.573967 
time: 1403638221.995097, t: 1.132407 0.937955 0.172426 q: 0.039909 0.814547 -0.063386 0.575241 
wait for imu ... 
time: 1403638222.095097, t: 1.092703 0.937889 0.182713 q: 0.043431 0.816120 -0.060873 0.573025 
wait for imu ... 
time: 1403638222.195097, t: 1.052615 0.939359 0.190062 q: 0.044148 0.819959 -0.060694 0.567480 
wait for imu ... 
time: 1403638222.295097, t: 1.012191 0.941587 0.192416 q: 0.043560 0.823425 -0.061670 0.562379 
wait for imu ... 
time: 1403638222.395097, t: 0.974448 0.943412 0.190012 q: 0.042987 0.826379 -0.062341 0.558000 
time: 1403638222.495097, t: 0.940741 0.947557 0.181613 q: 0.042981 0.828644 -0.062293 0.554636 
wait for imu ... 
time: 1403638222.595097, t: 0.911394 0.949583 0.170197 q: 0.042840 0.824887 -0.062124 0.560238 
time: 1403638222.695097, t: 0.886093 0.951434 0.157894 q: 0.041395 0.819575 -0.063050 0.567987 
time: 1403638222.795097, t: 0.862562 0.954369 0.141916 q: 0.042108 0.817193 -0.062661 0.571399 
wait for imu ... 
time: 1403638222.895097, t: 0.839968 0.957366 0.125339 q: 0.043097 0.811551 -0.061644 0.579420 
wait for imu ... 
time: 1403638222.995097, t: 0.821841 0.962767 0.106936 q: 0.041903 0.806933 -0.062011 0.585882 
wait for imu ... 
time: 1403638223.095097, t: 0.806661 0.967330 0.091902 q: 0.042264 0.809739 -0.061522 0.582024 
wait for imu ... 
time: 1403638223.195097, t: 0.778931 0.972722 0.082576 q: 0.040517 0.818882 -0.063158 0.569036 
time: 1403638223.295097, t: 0.749701 0.978375 0.075997 q: 0.035411 0.826696 -0.067024 0.557519 
wait for imu ... 
time: 1403638223.395097, t: 0.723742 0.983546 0.070363 q: 0.032371 0.824924 -0.069599 0.560007 
wait for imu ... 
time: 1403638223.495097, t: 0.698947 0.986775 0.061113 q: 0.021817 0.820232 -0.076929 0.566415 
wait for imu ... 
time: 1403638223.595097, t: 0.675954 0.984400 0.050502 q: 0.020538 0.817771 -0.077869 0.569882 
wait for imu ... 
time: 1403638223.695097, t: 0.654386 0.977559 0.037826 q: 0.031309 0.817164 -0.070674 0.571199 
wait for imu ... 
time: 1403638223.795097, t: 0.633834 0.965021 0.026546 q: 0.041851 0.817860 -0.063344 0.570387 
wait for imu ... 
time: 1403638223.895097, t: 0.614864 0.955251 0.012095 q: 0.047198 0.818278 -0.059257 0.569808 
wait for imu ... 
time: 1403638223.995097, t: 0.596501 0.948956 -0.004348 q: 0.050984 0.818486 -0.056557 0.569459 
time: 1403638224.095097, t: 0.579645 0.944086 -0.023656 q: 0.050519 0.822503 -0.056631 0.563676 
time: 1403638224.195097, t: 0.565488 0.941908 -0.045300 q: 0.048724 0.828889 -0.057842 0.554278 
time: 1403638224.295097, t: 0.567654 0.944760 -0.061096 q: 0.048264 0.828347 -0.058245 0.555084 
wait for imu ... 
time: 1403638224.395097, t: 0.560153 0.947090 -0.076647 q: 0.045240 0.822248 -0.060906 0.564050 
time: 1403638224.495097, t: 0.555094 0.952343 -0.091694 q: 0.039744 0.814794 -0.064614 0.574766 
wait for imu ... 
time: 1403638224.595097, t: 0.552653 0.957161 -0.105370 q: 0.041319 0.811399 -0.063243 0.579590 
wait for imu ... 
time: 1403638224.795097, t: 0.540858 0.970527 -0.133893 q: 0.042863 0.827580 -0.062747 0.556181 
wait for imu ... 
time: 1403638224.895097, t: 0.541046 0.978450 -0.138605 q: 0.038492 0.823923 -0.065423 0.561595 
wait for imu ... 
time: 1403638224.995097, t: 0.547213 0.983868 -0.131403 q: 0.029801 0.816172 -0.070371 0.572733 
wait for imu ... 
time: 1403638225.095097, t: 0.553412 0.984994 -0.123307 q: 0.028463 0.812420 -0.070058 0.578149 
time: 1403638225.195097, t: 0.556920 0.985347 -0.118968 q: 0.034164 0.815612 -0.065132 0.573905 
wait for imu ... 
time: 1403638225.295097, t: 0.558660 0.985675 -0.114536 q: 0.038052 0.822857 -0.061656 0.563610 
wait for imu ... 
time: 1403638225.395097, t: 0.563127 0.985721 -0.108619 q: 0.040357 0.821990 -0.059547 0.564941 
time: 1403638225.495097, t: 0.569797 0.985567 -0.108332 q: 0.041916 0.813820 -0.058261 0.576668 
time: 1403638225.595097, t: 0.575655 0.985486 -0.115219 q: 0.043901 0.802963 -0.057119 0.591659 
wait for imu ... 
time: 1403638225.695097, t: 0.576032 0.987454 -0.130066 q: 0.044660 0.797749 -0.056371 0.598686 
wait for imu ... 
time: 1403638225.795097, t: 0.570672 0.991216 -0.157025 q: 0.044366 0.804915 -0.056532 0.589023 
wait for imu ... 
time: 1403638225.895097, t: 0.561995 0.996378 -0.191513 q: 0.044657 0.817437 -0.056402 0.571508 
wait for imu ... 
time: 1403638225.995097, t: 0.553744 1.003457 -0.228650 q: 0.041215 0.825864 -0.058773 0.559282 
time: 1403638226.095097, t: 0.556020 1.015621 -0.227535 q: 0.022015 0.829737 -0.068619 0.553482 
time: 1403638226.195097, t: 0.563480 1.025910 -0.225268 q: 0.023029 0.834789 -0.065794 0.546139 
time: 1403638226.295097, t: 0.563752 1.030412 -0.224048 q: 0.034941 0.826524 -0.064908 0.558055 
time: 1403638226.395097, t: 0.556031 1.036569 -0.236364 q: 0.041375 0.830400 -0.053706 0.553027 
time: 1403638226.495097, t: 0.549633 1.034820 -0.219687 q: 0.040824 0.830287 -0.055705 0.553040 
time: 1403638226.595097, t: 0.567096 1.013734 -0.205304 q: 0.040125 0.830285 -0.054417 0.553223 
wait for imu ... 
time: 1403638226.695097, t: 0.561516 1.024881 -0.198540 q: 0.041361 0.830487 -0.055153 0.552755 
wait for imu ... 
time: 1403638226.795097, t: 0.561246 1.022547 -0.195571 q: 0.041598 0.830359 -0.055186 0.552926 
time: 1403638226.895097, t: 0.559292 1.019339 -0.195505 q: 0.041237 0.830595 -0.055284 0.552589 
wait for imu ... 
time: 1403638226.995097, t: 0.559210 1.015375 -0.185492 q: 0.040186 0.830853 -0.055865 0.552220 
wait for imu ... 
time: 1403638227.095097, t: 0.558126 1.015009 -0.177483 q: 0.040134 0.830790 -0.056055 0.552300 
time: 1403638227.195097, t: 0.556691 1.014543 -0.169449 q: 0.040378 0.830791 -0.055890 0.552297 
time: 1403638227.295097, t: 0.556257 1.013327 -0.161266 q: 0.040658 0.830852 -0.055652 0.552209 
time: 1403638227.395097, t: 0.554347 1.010841 -0.153156 q: 0.040792 0.830874 -0.055473 0.552183 
time: 1403638227.495097, t: 0.550428 1.008637 -0.144842 q: 0.040612 0.830919 -0.055560 0.552121 
time: 1403638227.595097, t: 0.546698 1.008362 -0.136299 q: 0.040424 0.830894 -0.055666 0.552161 
time: 1403638227.695097, t: 0.543040 1.008441 -0.127459 q: 0.040310 0.830956 -0.055793 0.552064 
time: 1403638227.795097, t: 0.539678 1.007988 -0.118589 q: 0.040275 0.830964 -0.055828 0.552051 
time: 1403638227.895097, t: 0.536142 1.006696 -0.109720 q: 0.040323 0.831003 -0.055750 0.551997 
time: 1403638227.995097, t: 0.531990 1.004626 -0.100711 q: 0.040293 0.830994 -0.055761 0.552011 
time: 1403638228.095097, t: 0.527354 1.003253 -0.091600 q: 0.040318 0.831018 -0.055705 0.551978 
time: 1403638228.195097, t: 0.523104 1.002830 -0.082121 q: 0.040256 0.831029 -0.055754 0.551962 
wait for imu ... 
time: 1403638228.295097, t: 0.517364 1.003026 -0.072649 q: 0.040199 0.830999 -0.055837 0.552003 
wait for imu ... 
time: 1403638228.395097, t: 0.517165 1.001588 -0.062505 q: 0.040039 0.831050 -0.055864 0.551934 
time: 1403638228.495097, t: 0.513461 1.001008 -0.052528 q: 0.040011 0.831039 -0.055843 0.551955 
wait for imu ... 
time: 1403638228.595097, t: 0.509057 1.000005 -0.042556 q: 0.039935 0.831098 -0.055796 0.551878 
time: 1403638228.695097, t: 0.504639 0.999502 -0.032324 q: 0.039960 0.831104 -0.055825 0.551863 
time: 1403638228.795097, t: 0.500104 0.999453 -0.021889 q: 0.039955 0.831151 -0.055834 0.551792 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720480771.815415248]: Shutdown request received.[0m
[33m[ WARN] [1720480771.815459310]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720480771.816307577]: Shutdown request received.[0m
[33m[ WARN] [1720480771.816340779]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/443aa942-3d80-11ef-adf9-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
